Planetary geared motor and joint robot capable of full closed-loop control

Abstract

The invention relates to a planetary geared motor capable of realizing full-closed-loop control and a joint robot using the geared motor. The invention not only has high assembly precision but also realizes high-precision full-closed-loop control. Its main structure includes the planetary reducer part and the motor part; it also includes a full-closed-loop control device; the full-closed-loop control device includes a transmission shaft and a grating encoder; the grating encoder is located outside the motor housing and installed on the tail end of the motor housing Above; the rotor and the sun gear of the first-stage planetary reduction mechanism in the planetary reducer are fixedly connected by interference fit; the front end of the motor casing and the reducer casing are directly fixed by screws; and each stage of the planetary reduction mechanism : At least two planetary holes in the planet carrier have a circumferential offset with respect to positions distributed in the circumferential direction of the planetary gears, which are used to reduce backlash.

Description

technical field [0001] The invention relates to a gear transmission mechanism, in particular to a planetary geared motor and a joint robot capable of realizing full-closed-loop control. Background technique [0002] In the planetary gear transmission scheme, due to the existence of machining errors and assembly errors, there is a backlash between the sun gear and the planetary gear, between the planetary gear and the internal gear, and there is a bearing clearance between the planetary gear and the planetary gear shaft. Backlash exists due to tooth backlash and bearing play. [0003] At the same time, there are large assembly errors in the connection structure between the reducer and the drive motor. [0004] Existing planetary geared motors generally adopt semi-closed-loop control, which can only detect the rotational position of the motor shaft of the drive motor at the input end, and factors such as transmission accuracy, torsional deformation, and backlash of the reduce...

AI Technical Summary

Problems solved by technology

[0003] At the same time, there is a large assembly error in the connection structure of the reducer and the drive motor

[0004] Existing planetary geared motors generally adopt semi-closed-loop control, which can only detect the rotational position of the motor shaft of the drive motor at the input end, and factors such as transmission accuracy, torsional deformation, and backlash of the reducer cannot be effectively detected and compensated

[0005] Therefore, in some occasions where the control requires high precision, the semi-closed-loop control method to control the planetary geared motor cannot meet the normal use requirements.

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