Dual-Drive Robot Joint Control for Precision and Load Balancing
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Solution Overview
Problem
Existing industrial robot joint control systems require identical drives for precision and redundancy, limiting flexibility in mounting orientations and increasing complexity, especially when load balancing is needed.
Innovation Solution
A robot movement control device using two drives with differing accuracy requirements, where the first drive is high-precision and the second drive is lower precision, allowing for load sharing and simplified implementation, and enabling load balancing without complex arrangements, by using a high-precision motor and gear box for the first drive and a lower precision motor and gear box for the second drive.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If two identical high-precision drives are used for redundancy and load sharing, then reliability and load capacity are improved, but device complexity and cost increase
Solution Approach 1:
The patent applies local quality by assigning different precision levels to different drives based on their specific functions. The first drive (motor 22 and gear box 20) is designed with high precision for primary position control, while the second drive (motor 36 and gear box 34) uses lower precision components for load balancing and torque control. This differentiation resolves the contradiction by maintaining reliability through functional redundancy while reducing overall device complexity and cost through selective precision application.
2Force
If load balancing arrangements with springs and counterpoises are used, then load on motor and gear box is reduced, but device complexity and adaptability to different mounting orientations deteriorate
Solution Approach 1:
The patent replaces the mechanical load balancing system (springs and counterpoises) with a second motor-driven system. The second motor (36) and gear box (34) actively control the load distribution and counterbalance forces through electronic control, eliminating the need for passive mechanical elements. This substitution resolves the contradiction by reducing the load on the primary motor while maintaining adaptability to different mounting orientations through programmable control, unlike fixed mechanical arrangements.
3Ease of manufacture
If two drives of different accuracy are used, then cost and simplicity are improved, but control precision may deteriorate
Solution Approach 1:
The patent segments the control functions between two drives with different precision capabilities. The first drive (motor 22, gear box 20) handles high-precision position control for the robot joint, while the second drive (motor 36, gear box 34) handles load balancing and torque control functions. The controller coordinates these segmented functions, allowing the system to achieve overall precision through the primary drive while the secondary drive provides cost-effective load management. This segmentation resolves the contradiction by assigning precision requirements only where absolutely necessary.
Data Source
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AI summary
The invention concerns a robot arrangement, robot movement control device, and computer program product for controlling an industrial robot comprising a moveable arm section, a first motor (22) for moving the arm section, a first gear box between the first motor and the arm section, a second motor (36) for applying torque to the arm section and a second gear box between the second motor and the arm section. The robot movement control device (32) comprises a first control unit (42) configured to control the first motor (22) using position control and a second control unit (44)configured to control the second motor (36) using torque control.