A motor deceleration system and robot
A technology of reduction system and reducer, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems affecting product accuracy, transmission rigidity position deviation, etc.
Active Publication Date: 2022-06-28
SUZHOU INOVANCE TECH CO LTD
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Problems solved by technology
Due to the limited space of the traditional joint structure, only a single encoder is set to monitor the position and speed of the motor, and the speed and position of the output shaft are judged according to the rotation speed of the motor; however, the reducer and the motor are connected through gear meshing, There may be position deviation caused by backlash, hysteresis, and transmission rigidity, so users cannot know the real position and speed of the output shaft of the reducer through a single encoder, which affects the control of product accuracy
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[0025] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0027] It should be noted that all directional ...
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The invention discloses a motor deceleration system and a robot. The motor deceleration system includes: a motor main body, the motor main body includes a motor shaft; a speed reducer, the speed reducer is meshed with the motor shaft; There is an output shaft, the output shaft is connected to the reducer; a mounting part, the mounting part is provided on the motor body for fixing the motor body; and is located at the junction of the output shaft and the motor shaft; At least two encoders; the mounting part is provided with a main control board, and the main control board is electrically connected to the motor body, the reducer and the encoder respectively, and is used to control the motor body and the reducer; through the set At least two of the encoders respectively detect the rotational speed and position of the output shaft and the motor shaft, so as to clearly know the position and rotational speed of the output shaft and the motor shaft, and quickly find the position deviation between the output shaft and the motor shaft or use than other algorithmic controls.
Description
technical field [0001] The invention belongs to the technical field of motor equipment, and in particular relates to a motor deceleration system and a robot. Background technique [0002] Commonly used industrial robot systems, the body structure usually includes a joint structure and a robot control cabinet. The joint structure is provided with a motor and a reducer system. The traditional joint structure has a motor and a reducer. The gear meshing effect of the motor and the reducer, The rotating force of the motor is converted to the output shaft of the reducer, and the output rotating force of the output shaft acts on the joint. Due to the limited space of the traditional joint structure, only a single encoder is set to monitor the position and speed of the motor, and the speed and position of the output shaft are judged according to the rotation speed of the motor; however, the reducer and the motor are connected by gear meshing, There may be position deviation caused ...
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IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/10B25J9/102B25J9/1602
Inventor 李培伟庞一龙
Owner SUZHOU INOVANCE TECH CO LTD