Magnetic suspension intelligent flexible reducer system of robot and control method thereof

Abstract

The invention provides a magnetic suspension intelligent flexible reducer system of a robot and a control method of the magnetic suspension intelligent flexible reducer system of the robot. The magnetic suspension intelligent flexible reducer system of the robot comprises an intelligent flexible reducer system and an intelligent control electrical system. The intelligent flexible reducer system comprises a precise mechanical reducer and a magnetic suspension transmission system. The intelligent control electrical system comprises a man-machine interaction system, a remote wireless communication system, a data collection and feedback system, a control system and a mechanism execution system. The magnetic suspension intelligent flexible reducer system of the robot adopts an advanced intelligent control technology and conducts intelligent control and automatic operation, real-time data collection, storage, display, remote wireless communication, data transmission and control of displacement change of a reducer rotating shaft are adopted, the magnetic suspension intelligent flexible reducer system of the robot has the functions of system self-actuator variation stability control and fault self-diagnosis, all tasks of the magnetic suspension intelligent flexible reducer of the robot are achieved, and the magnetic suspension intelligent flexible reducer system of the robot provides the indispensable effective and reliable key equipment for intelligent manufacturing, environmental protection and energy saving.

Description

technical field [0001] The present invention relates to the technical field of intelligent robots, in particular to a robot magnetic levitation intelligent flexible reducer system and its control method, which are widely used in various industrial robots, AGV vehicles, aerospace vehicles, medical equipment, welding positioners, CNC machine tools Intelligent and automated industrial equipment such as library, precision rotary table and other precision transmission control. Background technique [0002] The current status of my country's industrial robot reducer industry: [0003] 1. The demand for industrial robots is increasing and developing rapidly, and the matching domestic precision reducer enterprises are rare [0004] As of the end of 2016, the sales volume of domestic industrial robots was 28,000 units, an increase of 16.8% year-on-year, accounting for 33% of the total sales volume of industrial robots in my country, which is a big increase compared with the same per...

AI Technical Summary

Problems solved by technology

[0005] 2. The technical performance index of domestic precision reducer is low, which cannot meet the functional requirements of most robot equipment

[0006] The technical barrier of the precision reducer is the highest among the core components of the robot. In a system with precise fit, a small deviation of the clearance or interference fit will cause a multiplied difference in the contact stiffness or mesh stiffness, and then The technical difficulty of the RV reducer is that the component must not only transmit a large torque, but also withstand a large overload impact, and ensure the expected working life, which requires the processing of parts The precision is extremely high. The domestic RV reducer has high quality control and manufacturing There is still a large gap between the above technical performance indicators and similar foreign products;

[0007] 3. The formulation of domestic robot precision reducer standards is lagging behind, and the technology is immature

[0008] my country's research on robot reducers started late, and the technology is still immature. Most manufacturing companies are still in the stage of small batch trial production and stability testing, especially for the tensile strength, bending stiffness, toughness, and yield strength of materials. The test and value selection, the dynamic load stiffness, wear resistance, fatigue limit of the bearing, the processing technology of the tooth profile, and the heat treatment process of the parts are still in the stage of gradual test and continuous improvement, so the national standard of the domestic robot reducer At present, it is still in the draft for approval and needs to be continuously revised and improved;

[0009] 4. The planning of the robot industry is unreasonable, and the investment in the research and development of basic key core components is too small

[0010] my country's current robot industry layout, most manufacturing companies focus on the integration of industrial robots, but invest too little in the research and development of their core key components, especially precision reducers, servo motors, controllers, sensors and other core components Insufficient research and development has resulted in a single-legged sprint situation, which can neither meet the needs of the market nor be controlled by others in terms of key technologies, which is not compatible with the increasing demand for robotic equipment in the market;

[0011] 5. Insufficient innovation and low intelligence of domestic robot precision reducers

[0012] At present, domestic precision reducers are all non-intelligent, and most of them lack flexible automation operating systems, which cannot meet the requirements of some special robot equipment. At the same time, it is difficult to realize effective remote management of informatization, and also realize modular intelligent Internet of Things for robot systems. Management has brought certain obstacles and increased management costs

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