Deceleration driving device based on double servo motors, drive system and control method

Abstract

The invention discloses a deceleration driving device based on double servo motors, a drive system and a control method. According to the deceleration driving device, the double servo motors are adopted to be combined with worm wheels and worms, the two servo motors are provided with the worms correspondingly, meanwhile, the worm wheels rotate, then the large transmission ratio can be obtained, the bearing capability is high, and the drive torque is large. A gap can be removed when the respective forward rotation and reverse rotation of the two servo motors reach certain tension, the structure is stable and reliable, the deceleration driving device is suitable for the industrial robot drive system, high control precision can be provided, the situation that due to long-time usage, the gap becomes large is avoided, and the phenomenon of vibration is reduced as well; and high output stability is achieved, cost is lower than cost of a harmonic reducer, and practicability is higher. Meanwhile, the control method applied to the drive system is further provided. It is guaranteed that the set torque value is reached during gap removing through the opposite movement, the consistency of the difference value of the torque values of the two servo motors is also guaranteed during forward or reverse movement, and accordingly it is guaranteed that in the moving process, the function of gap removal is achieved.

Description

technical field [0001] The invention relates to the technical field of industrial robot servo drives and reducers, in particular to a deceleration drive device based on double servo motors, a drive system using the deceleration drive device and a control method for eliminating output gaps. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. It can be directed by a human, or it can run according to a pre-programmed program. At present, the reducer used by industrial robots is usually a harmonic reducer. The harmonic reducer uses flex splines and wave generators as transmission components. It has the characteristics of small transmission gap, high transmission efficiency, and high precision. However, the harmonic reducer has the following insufficient: [...

AI Technical Summary

Problems solved by technology

[0003] 1. The driving torque is small; 2. The processing precision is high, so the price is expensive, usually more than 3,000 yuan, and the import can reach 6,000 yuan a piece

3. After the harmonic reducer is used for a long time, the gap will become larger. Because the length of the mechanical arm is dozens of times the radius of the reducer, the gap will be enlarged, resulting in a serious drop in positioning accuracy.

Therefore, when the harmonic deceleration causes the force change due to the change of the external force, it will act on the servo motor, causing the stress response of the servo motor, which will lead to the difficulty of adjusting the parameters of the servo motor, and will also cause the motion to change due to the stress response of the motor. Vibration, which also affects accuracy and speed

5. The harmonic reducer is unilateral output, so the robot usually makes the mechanical arm very thick and heavy due to rigidity and other requirements, which further increases the power requirement of the servo motor and the weight of the entire robot

6. The harmonic reducer does not have a self-locking function, so the robot must add a brake device to the servo motor shaft, resulting in an increase in cost

7. When the robot connects the servo motor to the harmonic deceleration as a rotary joint, the wiring of the robot can only be routed from the side of the motor, and when the line cannot rotate with the joint, it is limited to the rotation angle of the joint, resulting in the robot's greatly reduced working range

But the cost will increase, the hollow harmonic reducer is 30% more expensive than ordinary, and the mechanism will be more complicated

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