A multi-motor synchronous rotary drive system and its drive method
A rotary drive and multi-motor technology, which is applied in multiple motor speed adjustments, transmission devices, fluid transmission devices, etc., can solve problems such as limitations, slow response, and inability to accurately adjust rotary displacement in real time, achieving high positioning accuracy and improving positioning Accuracy, the effect of improving multi-tasking adaptability
Active Publication Date: 2019-12-24
HANGZHOU DIANZI UNIV
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Problems solved by technology
[0004] CN 203362667 U, hydraulic motor synchronous drive system and construction machinery designed by Zoomlion Heavy Industry Co., Ltd., mainly used in concrete mixers, the disadvantage is that it completely relies on the oil circuit to adjust the synchronous performance of the dual motors, and the response is slow, so it is not applicable multi-degree-of-freedom manipulator system
Moreover, none of the above-mentioned patents involves the feedback and compensation of rotation accuracy, and it is impossible to accurately adjust the rotation displacement in real time, which has caused great restrictions on its application to multi-degree-of-freedom robotic arm systems.
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[0052] The present invention will be further described below in conjunction with accompanying drawing.
[0053] Such as figure 1 As shown, a multi-motor synchronous rotary drive system includes a rotary body, a rotary drive assembly, a drive oil circuit, a signal feedback module and an online error correction system. The slewing body includes a fixed base 1 and a slewing platform 2 . The fixed base 1 is used to support the entire rotary drive system. The outer ring of the supporting bearing is in interference fit with the fixed base 1, and the inner ring is fixed with the rotary platform. The bottom of the rotary platform 2 is fixed with the outer ring gear 6 . When the outer ring gear 6 is meshed and subjected to torque, it can drive the rotary platform to rotate around the center of the fixed base 1 .
[0054] The rotary drive assembly includes an electro-hydraulic servo motor 3 , a planetary reducer 4 and a drive gear 5 . The driving gear 5 is supported on the fixed ba...
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The invention discloses a multi-motor synchronous rotation drive system and a drive method thereof. Existing manipulator rotation drive systems do not feed back and compensate for the rotation precision and cannot accurately adjust rotation displacement in real time. The multi-motor synchronous rotation drive system comprises a rotation body, a rotation drive assembly, a drive oil path and a signal feedback module. The rotation body comprises a fixed base and a rotation platform. The rotation drive assembly comprises an electric-hydraulic servo motor, a planetary reducer and a drive gear. Thedrive oil path comprises a first filter, a second filter, an energy accumulator, a first safety valve, a second safety valve, a plunger type hydraulic pump, a one-way valve, an oil tank, an electric-hydraulic proportional valve and an electric-hydraulic overflow valve. The signal feedback module comprises a rotary encoder and an oil path pressure transmitter. In the rotation process, optimizationof drive voltage is continuously conducted according to the condition of previous rotation, so that the positioning precision of the rotation platform becomes higher and higher, and then the positioning precision of a multi-degree-of-freedom manipulator is effectively improved.
Description
technical field [0001] The invention belongs to the technical field of slewing drive, and in particular relates to a multi-motor synchronous slewing drive system suitable for a multi-degree-of-freedom mechanical arm and a driving method thereof. Background technique [0002] The multi-degree-of-freedom robotic arm is an automated production equipment that can imitate the functions of human limbs and allow it to be automatically controlled, so that it can transport workpieces or manipulate tools for production operations according to predetermined requirements. At present, the multi-degree-of-freedom robotic arm system is widely used in production automation industries such as steel, marine, petroleum, chemical, and logistics handling, which greatly reduces the labor intensity and working conditions of workers, improves production efficiency, and stabilizes product quality. Most of the existing multi-degree-of-freedom mechanical arm slewing mechanisms are driven by multiple m...
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IPC IPC(8): F16H47/08B25J9/10B25J9/12B25J9/14H02P5/46
CPCB25J9/102B25J9/12B25J9/14F16H47/08H02P5/46
Inventor 蒙臻张旗刘湘琪倪敬
Owner HANGZHOU DIANZI UNIV