Double ring detecting mechanism for robot joint speed reducer flexibility

A technology of robot joints and detection mechanisms, which is applied in the direction of manipulators, joints, manufacturing tools, etc., can solve the problems of the control influence of the system motion and the inability to quantitatively detect the flexibility error of the reducer, so as to improve the control speed and precision, which is conducive to accurate The effect of control and effective detection

Inactive Publication Date: 2005-10-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

An obvious disadvantage of this single-loop detection system is that it cannot quantitatively detect the flexibility error of the reducer
When the flexibility error of the reducer is large, the system's control of motion will be affected

Method used

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  • Double ring detecting mechanism for robot joint speed reducer flexibility
  • Double ring detecting mechanism for robot joint speed reducer flexibility
  • Double ring detecting mechanism for robot joint speed reducer flexibility

Examples

Experimental program
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Embodiment Construction

[0018] The embodiment of this device is as follows:

[0019] The first step: if figure 1 As shown in , the rotating end of the motor ⑨ is connected with the input end ⑥ of the reducer through a synchronous transmission belt to drive the joint movement. The photoelectric shaft angle encoder ⑧ is installed on the rotating shaft of the motor. The output end ④ of the harmonic reducer ⑦ realizes the relative rotation with the fixed end ① of the potentiometer through the bearing ⑤. According to the sensor installation criterion proposed in the technical proposal, the potentiometer ② is fixedly connected with the fixed end of the potentiometer, and the rotating shaft of the potentiometer It is connected to the output end of the reducer through a flexible coupling ③, so that the potentiometer can measure the relative rotation angle of the output end of the reducer. The coaxiality between the potentiometer and the output shaft of the reducer mainly depends on the processing accuracy ...

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Abstract

The present invention relates to a double ring detecting mechanism for robot joint speed reducer flexibility comprising angle detecting system, signal processing system and mechanism structure. Rotation angle detecting sensors are installed separately to the output end of the motor shaft and the output end of the reducer to measure the rotation angle of the motor shaft and the rotation angle of the joint; and the measured information is fed to the signal processing system to constitute the double ring detecting system capable of detecting the flexible rotation error of the joint reducer effectively and accurately.

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...

Claims

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Application Information

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IPC IPC(8): B25J13/00B25J17/00B25J19/02
Inventor 黄强张伟民董永进
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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