Double ring detecting mechanism for robot joint speed reducer flexibility
Patent Information
- Authority / Receiving Office
- CN · China
- Current Assignee / Owner
- BEIJING INSTITUTE OF TECHNOLOGYGY
- Publication Date
- 2005-10-19
- Estimated Expiration
- Not applicable · inactive patent
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Abstract
Description
Technical field:
[0001] The invention is a flexible error detection mechanism for a robot joint reducer, which belongs to the field of robot technology and automation, and can effectively detect the mechanical flexibility error in the transmission system of the robot joint reducer. Background technique:
[0002] At present, reducers such as harmonic reducers, gear reducers, etc. are commonly used in the joints of robots to convert the high-speed, low-torque motion of the motor into low-speed, high-torque motion, and then drive the joint motion. However, there is a significant mechanical flexibility error problem in the reducer transmission system. Theoretically, the ratio of the input and output of the reducer is its reduction ratio. But in fact, any object will always deform to different degrees when it is subjected to an external force, so when the output end of the reducer is subjected to a certain torque, the actual output of the reducer always deviates from the theoret...