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A method for on-line monitoring of transmission error of rv reducer

A technology of transmission error and reducer, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the difficulty of installing angle encoders, and achieve the effects of improving production efficiency, reducing safety accidents, and mature technology

Active Publication Date: 2019-02-26
HUBEI UNIV OF TECH
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Problems solved by technology

This monitoring method, due to the advantages of mature speed sensor technology and small size, solves the problem of difficult installation of angle encoders

Method used

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  • A method for on-line monitoring of transmission error of rv reducer
  • A method for on-line monitoring of transmission error of rv reducer
  • A method for on-line monitoring of transmission error of rv reducer

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Embodiment Construction

[0028] As for the transmission error index, in fact, only two physical quantities are needed to calculate the real-time transmission error index of the RV reducer in the running state. One is the input angle of the RV reducer, and the other is the actual output angle of the RV reducer. Among them, when the RV reducer works in the joint arm of the robot, it is also connected to the motor. The input angle of the RV reducer is the output angle of the motor, which can be obtained through programming control; but the actual output angle signal of the RV reducer However, it cannot be directly measured with an angular displacement sensor, because the RV reducer is packaged in the articulated arm of the robot. For example, a grating sensor or encoder needs to be directly installed on the output shaft of the RV reducer, but this is very important for packaging in the articulated arm. For the RV reducer in the RV, if you want to increase the space for the sensor in the articulated arm, o...

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Abstract

The invention discloses an online monitoring method of transmission error of a RV reducer. The method is characterized in that the transmission error of the RV reducer is defined as TE(t)=theta 2(t)-itheta 1(t) after the RV reducer is mounted in a service environment, wherein theta 2(t) is the input angle of the RV reducer; theta 2(t) is the output angle of the RV reducer; i is the transmission ratio of the RV reducer. The method comprises the steps of acquiring an output rotating speed signal through a speed sensor; performing A / D conversion on the picked rotating speed signal; removing DCto obtain a rotating speed signal without DC; integrating the rotating speed signal without the DC to obtain a rotating angle; multiplying the input rotating angle by the transmission ratio; calculating the difference between the input rotating angle and the output rotating angle; and then calculating the real-time transmission error TE(t) of the mounted RV reducer. With the adoption of the method, the transmission error of the RV reducer can be monitored in real time; the speed sensor has the advantages of being mature in technology, and small in size, so that the problem of difficulty in mounting of an angle encoder can be solved.

Description

Technical field [0001] The invention belongs to the field of state monitoring of heavy-duty articulated industrial robots, relates to a real-time state monitoring technology of an RV reducer for a heavy-duty articulated industrial robot, and specifically relates to an online monitoring method for transmission errors of an RV reducer. Background technique [0002] Under the urgent need of vigorously developing smart factories, with the development of smart manufacturing technology, real-time status monitoring of the core components of industrial robots on the production line is of great significance for ensuring the safe and reliable operation of automated production lines. As an important precision transmission component of a heavy-duty articulated industrial robot, the RV reducer is installed in the robot's articulated arm. It is the key to a series of issues such as accuracy, carrying capacity, motion safety and stability of the robot during practical application. Transmission ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J19/00B25J9/16
CPCB25J9/1653B25J17/00B25J19/0095
Inventor 吴震宇赵大兴王思明陈少男罗欣维
Owner HUBEI UNIV OF TECH
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