Robot joint shaft driving structure, robot and control method thereof
A technology of robot joints and control methods, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of reduced production efficiency, low motor work efficiency, and robot inability to operate, and achieve the effect of preventing alarm shutdown and preventing shutdown
Active Publication Date: 2021-02-23
GREE ELECTRIC APPLIANCES INC
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Problems solved by technology
For the horizontal four-joint robot in the prior art, the driving mechanism of each joint shaft is mostly driven by a motor. After the motor is damaged in the single-motor drive system, the robot cannot run, the working efficiency of the motor is low, and the load of the robot exceeds the rated load. When the speed exceeds a certain range, the robot will give an alarm for motor overload, which will reduce production efficiency and fail to meet production requirements, etc.
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[0038] As a specific implementation, the technical solution of the present invention will be described below in conjunction with a horizontal four-joint (axis) robot. Specifically, the first joint axis 1 is installed on a corresponding preset platform through a base 100, so The first main drive motor 11 is arranged in the inner space of the base 100, and because the base 100 has a larger volume and a larger accommodating space inside, the position switching device 31 and the auxiliary drive The motor 32 is also preferably installed inside the base 100, thereby making the structure of the robot more compact.
[0039] The first joint shaft 1 is drivingly connected to the power output shaft of the first main drive motor 11 through a first reduction gear 12, and the second joint shaft 2 is connected to the second main drive motor through a second reduction gear 22. 21 power output shaft driving connection, as a simple implementation, the first reduction gear 12 and the second redu...
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The invention provides a robot joint shaft driving structure, a robot and a control method thereof. The robot joint shaft driving structure comprises a first joint shaft and a second joint shaft, andthe first joint shaft is controlled by drive of a first main driving motor to move; and the second joint shaft is driven by drive of a second main driving motor to move, the structure further comprises a position switching device and an auxiliary driving motor connected to the position switching device, and the auxiliary driving motor can selectively drive the first joint shaft or the second jointshaft to operate under the action of the position switching device. According to the robot joint shaft driving structure, the auxiliary driving motor can be selected to drive the first joint shaft orthe second joint shaft, thereby effectively preventing the alarm shutdown caused by the overload of the first main driving motor or the second main driving motor and the reduction of the production efficiency after the motor is damaged.
Description
technical field [0001] The invention belongs to the technical field of robot design, and in particular relates to a robot joint shaft driving structure, a robot and a control method thereof. Background technique [0002] In recent years, with the rapid development of intelligent equipment technology, horizontal four-joint robots have been widely used in the automotive industry, 3C industry, etc., and the working environment of robots has become more complex. For the horizontal four-joint robot in the prior art, the driving mechanism of each joint shaft is mostly driven by a motor. After the motor is damaged in the single-motor drive system, the robot cannot run, the working efficiency of the motor is low, and the load of the robot exceeds the rated load. When the speed exceeds a certain range, the robot will alarm the motor for overload, reducing production efficiency and failing to meet production requirements. Contents of the invention [0003] Therefore, the technical ...
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IPC IPC(8): B25J17/00B25J19/00
CPCB25J17/00B25J19/00
Inventor 王凯黄斌杨以清康燕张茂盛赵伟威
Owner GREE ELECTRIC APPLIANCES INC