Transmission control method and control device for worm and gear mechanism
A worm gear and worm gear transmission technology, applied in the field of robotics, can solve the problems of high manufacturing cost of the mechanical arm, inability to adapt to the micro environment, and the size of the joint of the mechanical arm is large.
Pending Publication Date: 2022-07-05
河北易沃克机器人科技有限公司
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Problems solved by technology
On the one hand, the installation of special goniometric instruments or goniometric mechanisms leads to the large size of the joints of the manipulator, which cannot adapt to the tiny environment
On the other hand, setting a special goniometric instrument or goniometric mechanism leads to higher manufacturing costs of the manipulator
Method used
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[0031] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
[0032] In the description of the present invention, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. In this article, "and / or" is only an association relationship to describe the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can mean that A exists alone, A and B exist at the same...
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The invention provides a transmission control method and device for a worm and gear mechanism. The worm and gear mechanism comprises a motor, a worm in transmission connection with an output shaft of the motor and a worm gear in transmission connection with the worm. The transmission control method comprises the steps that a transmission instruction is received, wherein the transmission instruction comprises target position information indicating worm gear transmission to; encoder accumulated pulses of the motor are obtained, and current position information of the worm gear is determined based on the encoder accumulated pulses; and generating a motor control instruction based on the current position information and the target position information of the worm gear, the motor control instruction being used for indicating the rotation direction and rotation time of the motor so that the worm gear is driven to the target position. According to the mechanical arm, transmission control over the worm and gear mechanism can be achieved, an angle measuring instrument does not need to be arranged, the size of the joint of the mechanical arm composed of the worm and gear mechanism is reduced, and the manufacturing cost of the mechanical arm is reduced.
Description
technical field [0001] The invention relates to the technical field of robots, and in particular, to a transmission control method, a control device and an electronic device for a worm gear structure. Background technique [0002] The worm gear and worm drive structure is a widely used mechanism for transferring motion between interlaced shafts in space. It has the advantages of compact structure, stable operation, small shock and vibration, and can obtain a large single-stage transmission ratio. Because of its own good self-locking The performance can be applied to the worm gear and worm clearance adjustment assembly for mechanical arm joints. For example, the transmission mode of the worm gear and worm clearance adjustment assembly for the joint of the explosion-proof mechanical arm is mostly worm gear transmission. [0003] At present, in the control process of worm gears, special angle measuring instruments or angle measuring mechanisms are often used to measure the rota...
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IPC IPC(8): B25J9/00B25J9/16B25J17/00B25J17/02
CPCB25J9/0009B25J9/1664B25J17/00B25J17/02
Inventor 龙海生
Owner 河北易沃克机器人科技有限公司