Robot precise joint speed reducer

Abstract

The invention belongs to the technical field of robots, and discloses a robot precise joint speed reducer. The robot precise joint speed reducer comprises a power module, a primary torque transmissionmodule, a secondary torque transmission module, a gear transmission detection module, a central control module, a wireless signal transmission module, a storage module, an electric power module and an alarm module. According to the robot precise joint speed reducer, the front surface and the back surface of an eccentric gear assembly are engaged with the contact print through a collection micro camera, the collected contact print image is denoised through an image processing unit, the collected front surface and the back surface of the eccentric gear assembly are engaged with the contact print through an image measurement unit to be measured and recorded, the processing result is compared and analyzed with a preset threshold value, so that the transmission error and the abrasion state ofmeshing of a rigid gear and an output shaft can be found in time, precision control is facilitated, and by means of the machining method of the eccentric gear assembly, the machining precision of therigid gear can be improved, and the service life is prolonged.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot precision joint reducer. Background technique [0002] At present, with the development of science and technology and industry, robots have attracted more and more attention due to their powerful functions, and have gradually developed from the industrial production industry to replace many positions in people's lives. The main service functions of the robot are realized by the transformation activities of the joint parts of the robot, and the joint position and core components of the robot are reducers; [0003] The reducer mainly adopts rigid input and rigid output, such as RV reducer, which adopts rigid input and rigid output, and the power on the input shaft is transmitted to the output shaft through rigid gears. This will cause a large transmission error when the rigid gear meshes with the output shaft, which is not conducive to the control of output accu...

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Problems solved by technology

[0003] The reducer mainly adopts rigid input and rigid output, such as RV reducer, which adopts rigid input and rigid output, and the power on the input shaft is transmitted to the output shaft through rigid gears. This will cause a large transmission error when the rigid gear meshes with the output shaft, which is not conducive to the control of output accuracy, and after the gear reducer has been working for a long time, the wear will become greater and greater, and the gyration clearance will also increase. ;Because it uses rigid gears to mesh with the output shaft, it requires high machining accuracy for rigid gears, making the processing of rigid gears more difficult

[0005] (1) The rigid gear will be worn during the transmission process, which will cause a large transmission error when the rigid gear meshes with the output shaft, which is not conducive to the control of output accuracy, and after the gear reducer has been working for a long time, the wear will become more and more serious. The larger the gyration clearance will be, the larger it will be;

[0006] (2) Since the rigid gear meshes with the output shaft, the machining accuracy of the rigid gear is required to be high, which makes the processing of the rigid gear more difficult

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