CN108127692A - The noise-reduction method and system of a kind of mechanical arm - Google Patents
The noise-reduction method and system of a kind of mechanical arm Download PDFInfo
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- CN108127692A CN108127692A CN201711460135.6A CN201711460135A CN108127692A CN 108127692 A CN108127692 A CN 108127692A CN 201711460135 A CN201711460135 A CN 201711460135A CN 108127692 A CN108127692 A CN 108127692A
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- mechanical arm
- speed reducer
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- noise
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The present invention provides the noise-reduction method and system of a kind of mechanical arm, method includes：The torque parameter of mechanical arm on S10 calculating robots；S20 according to the torque parameter of the mechanical arm, the nominal torque of motor, the motor working efficiency, calculate the reduction ratio of speed reducer；S30 readjusts the speed reducer, in the case where the speed reducer output speed is constant, reduces the input speed of the speed reducer, reduce noise according to the reduction ratio being calculated.The present invention can effectively reduce the noise that machine man-hour its mechanical arm is sent out, and improve the usage experience sense of robot.
Description
Technical field
The present invention relates to robot field, the noise-reduction method and system of espespecially a kind of mechanical arm.
Background technology
With the development of science and technology, very more intellectual products has been emerged, it is very more to our live and work band
Facility.For example the industrial robot in factory realizes production automation, the service humanoid robot in family improves people
Quality of the life, the also such as specialized robot of search and rescue robot, transportation robot etc..
In the mechanical arm of R ＆ D design robot, due to by conditions such as its length, volume, weight, joint freedom degrees
Constraint, internal joint motor uses parallel speed-reducing machine structure, after full speed running is got up, since motor speed is than comparatively fast, sending out
Noise is much higher than the acceptable noise level of people.
The noise sent out at work therefore, it is necessary to reduce robot as far as possible improves robot usage experience sense.
Invention content
The object of the present invention is to provide the noise-reduction methods and system of a kind of mechanical arm, can effectively reduce machine man-hour
The noise that its mechanical arm is sent out improves the usage experience sense of robot.
Technical solution provided by the invention is as follows：
The present invention provides a kind of noise-reduction method of mechanical arm, including step：The torque of mechanical arm on S10 calculating robots
Parameter；S20 according to the torque parameter of the mechanical arm, the nominal torque of motor, the motor working efficiency, calculate deceleration
The reduction ratio of machine；S30 readjusts the speed reducer, turns in speed reducer output according to the reduction ratio being calculated
In the case that speed is constant, the input speed of the speed reducer is reduced, reduces noise.
Preferably, step S10 specifically includes step：S11 is measured and is recorded the quality of the mechanical arm；S12 is measured and is remembered
The center of gravity of the mechanical arm is recorded to the displacement at robot axis center；Quality of the S13 according to the mechanical arm, the mechanical arm
Center of gravity to the displacement at robot axis center, calculate the torque parameter of the mechanical arm.
Preferably, step S12 is specifically included：S121 fixes a support element in the horizontal plane, and the mechanical arm is kept
Balance is placed on the support element；S122 is measured and is recorded the contact point of the mechanical arm and the support element to the mechanical arm
The distance of rotating shaft center in the horizontal direction, and using this apart from the center of gravity as the mechanical arm to robot axis center
Displacement.
Preferably, step S12 is specifically included：S123 fixes a support element in the horizontal plane, and the mechanical arm is kept
Balance is placed on the support element；S124 is measured using the contact point of the mechanical arm and the support element as with reference to focus point
And the distance with reference to focus point to the robot axis center is recorded, and using this distance as the weight of the mechanical arm
The heart is to the displacement at robot axis center.
Preferably, it is rotated in the step S13 according to the quality of the mechanical arm, the center of gravity of the mechanical arm to mechanical arm
The displacement of axis center, calculates the torque parameter of the mechanical arm, and formula is：
M=mg × L；
Wherein, M is the torque parameter of the mechanical arm, and m is the quality of the mechanical arm, and g is acceleration of gravity, and L is institute
The center of gravity of mechanical arm is stated to the displacement at robot axis center.
Preferably, the step S20 is according to the torque parameter of the mechanical arm, the nominal torque of the motor, the electricity
The working efficiency of machine, calculates the reduction ratio of the speed reducer, and formula is：
Wherein, GR is the reduction ratio of the speed reducer, and Te is the torque parameter of the mechanical arm, and Tm is the volume of the motor
Determine torque, η is the working efficiency of the motor.
The present invention also provides a kind of noise reduction system of mechanical arm, including：Processor, for the upper mechanical arm of calculating robot
Torque parameter；The processor is additionally operable to the torque parameter according to the mechanical arm, the nominal torque of motor, the motor
Working efficiency, calculate the reduction ratio of speed reducer；Speed reducer, for according to the reduction ratio being calculated, readjusting
The speed reducer；Motor is connect with the speed reducer drive, and the speed reducer is sequentially connected with the mechanical arm, subtracts described
In the case that fast machine output speed is constant, the input speed of the speed reducer is reduced, reduces noise.
Preferably, it further includes：Quality measurement apparatus, for measuring and recording the quality of the mechanical arm；Displacement measurement is set
It is standby, it is additionally operable to measure and records the center of gravity of the mechanical arm to the displacement at robot axis center；The processor, is additionally operable to
According to the displacement of the quality of the mechanical arm, the center of gravity of the mechanical arm to robot axis center, the machinery is calculated
The torque parameter of arm.
Preferably, the processor is additionally operable to the quality according to the mechanical arm, the center of gravity of the mechanical arm to mechanical arm
The displacement of rotating shaft center, calculates the torque parameter of the mechanical arm, and formula is：
M=mg × L；
Wherein, M is the torque parameter of the mechanical arm, and m is the quality of the mechanical arm, and g is acceleration of gravity, and L is institute
The center of gravity of mechanical arm is stated to the displacement at robot axis center.
Preferably, the processor, be additionally operable to the torque parameter according to the mechanical arm, the motor nominal torque,
The working efficiency of the motor, calculates the reduction ratio of the speed reducer, and formula is：
Wherein, GR is the reduction ratio of the speed reducer, and Te is the torque parameter of the mechanical arm, and Tm is the volume of the motor
Determine torque, η is the working efficiency of the motor.
By the present invention also provides a kind of mechanical arm noise-reduction method and system, following at least one can be brought beneficial
Effect：
1st, due to usually, when designing speed reducer, the torque parameter of mechanical arm is all discreet value, the deceleration being calculated
Compare high, lead to the speed reducer designed at work, motor is needed to improve input speed to reach expected requirement.The present invention
After robot arm torque and reduction ratio is accurately calculated, can speed reducer be redesigned according to reduction ratio, be come with this
The output speed of motor is reduced, so as to reduce the input speed of speed reducer, effectively reduces noise.
2nd, the method for displacement of the center of gravity provided by the invention for calculating the mechanical arm to robot axis center, has
Very strong practicability, it is simple to operation；And the displacement accuracy calculated is higher, can be brought directly to calculated torque parameter
It is calculated in formula.
3rd, it is the working efficiency of the motor with subtracting by the torque parameter of mechanical arm, for nominal torque, the η of the motor
The relationship of fast ratio can derive the calculation formula of reduction ratio.Since the torque parameter of mechanical arm reduces, obtained reduction ratio
It can reduce, in the case where speed reducer output speed is constant, only reduce the input speed of speed reducer, that is, reduce the output of motor
Rotating speed, so as to effectively reduce noise.
Description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of noise reduction side of mechanical arm
Above-mentioned characteristic, technical characteristic, advantage and its realization method of method and system are further described.
Fig. 1 is a kind of flow chart of one embodiment of the noise-reduction method of mechanical arm of the present invention；
Fig. 2 is a kind of flow chart of another embodiment of the noise-reduction method of mechanical arm of the present invention；
Fig. 3 is the front view of the speed reducer and motor in the embodiment of the present invention；
Fig. 4 is the surveys view of the speed reducer and motor in the embodiment of the present invention；
Fig. 5 is the rearview of the speed reducer and motor in the embodiment of the present invention；
Fig. 6 is speed reducer Parameter Map of the present invention；
Fig. 7 is a kind of structure diagram of one embodiment of the noise reduction system of mechanical arm of the present invention.
Drawing reference numeral explanation：
1- motors, 2- speed reducers, 3- mechanical arms, 4- quality measurement apparatus, 5- displacement measuring equipments, 6- processors.
Specific embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The specific embodiment of the present invention.It should be evident that the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form is easy to understand, there is identical structure or function in some figures
Component only symbolically depicts one of those or has only marked one of those.Herein, "one" is not only represented
" only this " can also represent the situation of " more than one ".
As shown in Figure 1, a kind of one embodiment of the noise-reduction method of mechanical arm of the present invention, including：
The torque parameter of mechanical arm on S10 calculating robots；
S20 according to the torque parameter of the mechanical arm, the nominal torque of motor, the motor working efficiency, calculate
The reduction ratio of speed reducer；
S30 readjusts the speed reducer, in the speed reducer output speed not according to the reduction ratio being calculated
In the case of change, the input speed of the speed reducer is reduced, reduces noise.
Specifically, robot during operation, generates many because being known as of noise, mainly including following side
Face：1st, mechanical oscillation noise；2nd, the noise that Bearing Abnormal Vibration generates；3rd, brush slip noise；4th, fluid noise；5th, electromagnetism is made an uproar
Sound；6th, the noise that motor rotation is sent out.When wherein motor works, rotating speed is too fast, and the noise sent out is caused to be much higher than people's energy
Therefore the noise level enough received, in the case where meeting robot arm work, will reduce the rotating speed of motor as far as possible,
Achieve the purpose that reduce noise.
When speed reducer is designed, usual mechanical arm torque parameter setting value is all bigger than normal, to reach the torque of requirement/turn
Speed can only use the method for improving motor speed or improving speed reducer reduction ratio, while select high class gear, strengthen simultaneously
Join the driven Design of speed reducer connection babinet, improve machining accuracy and installation accuracy.But reduction ratio=input speed/defeated
Go out rotating speed, it is known that in the case where keeping output speed constant, improve the reduction ratio of speed reducer, the input of speed reducer can be caused to turn
Speed improves, that is, improves the output speed of motor, brings the noise of bigger.Therefore it in order to achieve the purpose that reduce noise, only drops
Low reduction ratio achievees the purpose that noise reduction with this.
By the torque parameter of precision computer tool arm again in the present invention, the torque parameter of mechanical arm is redefined, is counted
Calculation obtains the reduction ratio of speed reducer, according to the reduction ratio being calculated, redesigns speed reducer, turns in speed reducer output
In the case that speed is constant, the input speed of the speed reducer is reduced, so as to reduce noise.
As shown in Fig. 2, a kind of another embodiment of the noise-reduction method of mechanical arm of the present invention, including：
S11 measures the quality of the mechanical arm；
S12 calculates the center of gravity of the mechanical arm to the displacement at robot axis center；
Preferably, step S12 is specifically included：
S121 fixes a support element in the horizontal plane, balance is kept to be placed on the support element mechanical arm；
S122 is measured and recorded the contact point of the mechanical arm and the support element to exist to the robot axis center
Distance in horizontal direction, and using this distance as the mechanical arm center of gravity to robot axis center displacement.
Preferably, step S12 is specifically included：
S123 fixes a support element in the horizontal plane, balance is kept to be placed on the support element mechanical arm；
S124 is measured using the contact point of the mechanical arm and the support element as with reference to focus point and is recorded the reference
Focus point to the robot axis center distance, and using this distance as the mechanical arm center of gravity to mechanical arm rotation
The displacement of axis center.
S13 is calculated according to the displacement of the quality of the mechanical arm, the center of gravity of the mechanical arm to robot axis center
Go out the torque parameter of the mechanical arm.
S20 according to the torque parameter of the mechanical arm, the nominal torque of motor, the motor working efficiency, calculate
The reduction ratio of speed reducer；
S30 readjusts the speed reducer, in the speed reducer output speed not according to the reduction ratio being calculated
In the case of change, the input speed of the speed reducer is reduced, reduces noise.
Specifically, in the present embodiment, elaborate how to calculate the center of gravity of the mechanical arm to robot axis center
The two methods of displacement：
First method is as shown in step S121, step S122, when being placed on support element due to mechanical arm holding balance,
Center of gravity is inside mechanical arm, and on the vertical direction of mechanical arm and the contact point of support element, therefore, by contact point to the machine
The distance of Xie Bei rotating shaft center in the horizontal direction as the mechanical arm center of gravity to robot axis center displacement,
The numerical value that can make measurement is more accurate, it is ensured that the precision subsequently calculated.
Second method can be measured directly in contact point to robot axis as shown in step S123, step S124
The distance of the heart, as mechanical arm center of gravity to robot axis center displacement.Relative to first method, due to contact point
Direction angle relative to horizontal direction to robot axis center is little, can be approximate by contact point to robot axis
The distance at center as mechanical arm center of gravity to the displacement at robot axis center, this method is operationally more convenient,
The precision subsequently calculated is influenced also little.
Mechanical arm described in survey calculation center of gravity to robot axis center displacement when, can fix on the table
One blade, complete mechanical arm is placed on blade, it is made to keep balance on the support element；And using contact point as ginseng
Examine focus point, calculate it is described with reference to focus point to the distance at the robot axis center, and using this apart from as the machine
The center of gravity of tool arm is to the displacement at robot axis center.Or the contact point of the mechanical arm and the support element is calculated to institute
The distance of robot axis center in the horizontal direction is stated, and is revolved this distance as the center of gravity of the mechanical arm to mechanical arm
The displacement of spindle central.
The distance that two methods obtain is not much different in fact, can approximation regard robot central as to robot axis
The displacement at center, the mechanical arm thus calculated can meet the requirement of design.
A kind of one embodiment of the noise-reduction method of mechanical arm of the present invention, including：
S11 measures the quality of the mechanical arm；
S12 calculates the center of gravity of the mechanical arm to the displacement at robot axis center；
Preferably, step S12 is specifically included：
S121 fixes a support element in the horizontal plane, balance is kept to be placed on the support element mechanical arm；
S122 is measured and recorded the contact point of the mechanical arm and the support element to exist to the robot axis center
Distance in horizontal direction, and using this distance as the mechanical arm center of gravity to robot axis center displacement.
Preferably, step S12 is specifically included：
S123 fixes a support element in the horizontal plane, balance is kept to be placed on the support element mechanical arm；
S124 is measured using the contact point of the mechanical arm and the support element as with reference to focus point and is recorded the reference
Focus point to the robot axis center distance, and using this distance as the mechanical arm center of gravity to mechanical arm rotation
The displacement of axis center.
S13 is calculated according to the displacement of the quality of the mechanical arm, the center of gravity of the mechanical arm to robot axis center
Go out the torque parameter of the mechanical arm；
M=mg × L；
Wherein, M is the torque parameter of the mechanical arm, and m is the quality of the mechanical arm, and g is acceleration of gravity, and L is institute
The center of gravity of mechanical arm is stated to the displacement at robot axis center.
S20 according to the torque parameter of the mechanical arm, the nominal torque of motor, the motor working efficiency, calculate
The reduction ratio of speed reducer；
Wherein, GR is the reduction ratio of the speed reducer, and Te is the torque parameter of the mechanical arm, and Tm is the volume of the motor
Determine torque, η is the working efficiency of the motor.
S30 readjusts the speed reducer, in the speed reducer output speed not according to the reduction ratio being calculated
In the case of change, the input speed of the speed reducer is reduced, reduces noise.
Specifically, in the present embodiment, the calculating of the calculation formula and reduction ratio of mechanical arm torque parameter is shown in particular
Formula.
When speed reducer is designed, we generally can directly estimate such as 8Nm of larger mechanical arm torque parameter, root
When coordinating motor and manipulator motion, the noise measured other than 30cm has the speed reducer that parameter designing comes out accordingly
63dB has been more than the receptible normal noise of human body institute.The present embodiment is set again by accurately measuring the torque parameter of mechanical arm
Count speed reducer, with this come achieve the purpose that reduce noise.
A kind of peak torque rotated accurately to estimate whole mechanical arm around rotary shaft, it is proposed that service robot mechanical arm
Around the torque evaluation method of rotary shaft rotation.Specific evaluation method and step are as follows：
1st, the quality m of complete arm is accurately measured；
2nd, a blade is fixed on the table, complete arm is placed on blade, finds the point that can balance arm, the point
Position is the center of gravity place of whole arm；
3rd, center of gravity is measured to the displacement L of rotating shaft center；
4th, single only complete arm is as follows around the torque arithmetic formula that rotary shaft rotates：
M=mg*L
The peak torque parameter of mechanical arm that above-mentioned evaluation method obtains is used as 6.2Nm, using this parameter as index, design
With motor as shown in Fig. 3, Fig. 4, Fig. 5, speed reducer and motor parallel are sequentially connected speed reducer out, speed reducer and mechanical arm string
Connection is sequentially connected.In figure, speed reducer is connect by a transmission shaft with mechanical arm, and transmission shaft is cylindrical for class, a diameter of
8 ° of -0.02mm of φ, it is 6.9 ± 0.1mm to stretch out speed reducer partial-length.Motor is cylindric, the two axle center phase with speed reducer
Away from 30mm, motor and speed reducer are all fixed on connector, and bottom plate is 56.9 ± 0.3mm with motor total length, and motor body is long
It spends for 45mm, a diameter of 28mm；Speed reducer body length is 45mm, a diameter of 30mm.In Fig. 5, chassis both ends are semicircle,
A diameter of 30mm, it is intermediate for rectangle, total length 60mm, width 30mm；Chassis is equipped with connecting hole, for locking bottom
Disk.
The structure of Fig. 4 lower parts is motor, and superstructure is speed reducer.After speed reducer speed is than reducing, due to reduction ratio=electricity
Machine output speed/speed reducer output speed, when the original rated speed of motor is constant, corresponding speed reducer output speed increase；
In the case that decelerating motor requirement output speed is constant, the output speed of reduction motor that can be suitably, rotating speed is reduced, will be brought
The noise and vibration level of motor reduces.
As shown in Figure 6, it can be seen that, according to the speed reducer that the torque parameter of 6.2Nm designs cooperation motor with
And during mechanical arm work, the noise that detected outside 30cm has been reduced to 55dB hereinafter, noise can be reduced effectively.
A kind of another embodiment of the noise reduction system of mechanical arm of the present invention, including：
Processor 6, for the torque parameter of the upper mechanical arm 3 of calculating robot；
Preferably, system further includes：Quality measurement apparatus 4, for measuring and recording the quality of the mechanical arm 3；Displacement
Measuring apparatus 4 is additionally operable to measure and records the center of gravity of the mechanical arm 3 to the displacement of 3 rotating shaft center of mechanical arm；The processing
Device 6 is additionally operable to the displacement according to the quality of the mechanical arm 3, the center of gravity of the mechanical arm 3 to 3 rotating shaft center of mechanical arm, meter
The torque parameter of the mechanical arm 3 is calculated, formula is：
M=mg × L；
Wherein, M is the torque parameter of the mechanical arm 3, and m is the quality of the mechanical arm 3, and g is acceleration of gravity, and L is
The center of gravity of the mechanical arm 3 is to the displacement of 3 rotating shaft center of mechanical arm.
The processor 6 is additionally operable to the torque parameter according to the mechanical arm 3, the nominal torque of motor 1, the motor 1
Working efficiency, calculate the reduction ratio of speed reducer 2, formula is：
Wherein, GR is the reduction ratio of the speed reducer 2, and Te is the torque parameter of the mechanical arm 3, and Tm is the motor 1
Nominal torque, η be the motor 1 working efficiency.
Speed reducer 2, for according to the reduction ratio being calculated, readjusting the speed reducer 2；
Motor 1 is sequentially connected with the speed reducer 2, and the speed reducer 2 is sequentially connected with the mechanical arm 3, subtracts described
In the case that fast 2 output speed of machine is constant, the input speed of the speed reducer 2 is reduced, reduces noise.
Specifically, in the present embodiment, the quality of robot measurement mechanical arm 3, the center of gravity of the mechanical arm 3 to mechanical arm 3
The displacement of rotating shaft center and correlation computations can be completed by computer and relevant measuring instrument, be formed certainly
Dynamicization is measured and is calculated.
The quality of mechanical arm 3 can be measured by measurement module first, qualitative data is transmitted to computer；Then pass through
Computing module is additionally operable to calculate the center of gravity of the mechanical arm 3 to the displacement of 3 rotating shaft center of mechanical arm, and displacement data is passed
Defeated to arrive computer, computer makes the calculating of torque parameter.User is by the nominal torque of the motor 1, the work of the motor 1
After efficiency input computer, corresponding reduction ratio is calculated.According to reduction ratio, speed reducer 2 is redesigned, it is man-machine meeting machine
In the case that tool arm 3 moves, since reduction ratio reduces, it is only necessary to reduce the rotating speed of motor 1.1 rotating speed of motor reduces, and will bring good
Good noise reduction.Other measurement process have illustrated in the above-described embodiments, reference can be made to above-described embodiment, no longer superfluous herein
It states.
It should be noted that above-described embodiment can be freely combined as needed.The above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of noise-reduction method of mechanical arm, which is characterized in that including step：
The torque parameter of mechanical arm on S10 calculating robots；
S20 according to the torque parameter of the mechanical arm, the nominal torque of motor, the motor working efficiency, calculate deceleration
The reduction ratio of machine；
S30 readjusts the speed reducer according to the reduction ratio being calculated, constant in the speed reducer output speed
In the case of, the input speed of the speed reducer is reduced, reduces noise.
2. the noise-reduction method of a kind of mechanical arm according to claim 1, which is characterized in that step S10 specifically includes step：
S11 is measured and is recorded the quality of the mechanical arm；
S12 is measured and is recorded the center of gravity of the mechanical arm to the displacement at robot axis center；
S13 calculates institute according to the displacement of the quality of the mechanical arm, the center of gravity of the mechanical arm to robot axis center
State the torque parameter of mechanical arm.
3. the noise-reduction method of a kind of mechanical arm according to claim 2, which is characterized in that step S12 is specifically included：
S121 fixes a support element in the horizontal plane, balance is kept to be placed on the support element mechanical arm；
S122 is measured and is recorded the contact point of the mechanical arm and the support element to the robot axis center in level
Distance on direction, and using this distance as the mechanical arm center of gravity to the robot axis center displacement.
4. the noise-reduction method of a kind of mechanical arm according to claim 2, which is characterized in that step S12 is specifically included：
S123 fixes a support element in the horizontal plane, balance is kept to be placed on the support element mechanical arm；
S124 is measured and is recorded described with reference to center of gravity using the contact point of the mechanical arm and the support element as with reference to focus point
Point arrives the distance at the robot axis center, and using this distance as in the center of gravity to robot axis of the mechanical arm
The displacement of the heart.
5. a kind of noise-reduction method of mechanical arm according to claim 2, it is characterised in that：
The step S13 according to the displacement of the quality of the mechanical arm, the center of gravity of the mechanical arm to robot axis center,
The torque parameter of the mechanical arm is calculated, formula is：
M=mg × L；
Wherein, M is the torque parameter of the mechanical arm, and m is the quality of the mechanical arm, and g is acceleration of gravity, and L is the machine
The center of gravity of tool arm is to the displacement at robot axis center.
6. a kind of noise-reduction method of mechanical arm according to any one of claims 1 to 5, it is characterised in that：
The step S20 is imitated according to the work of the torque parameter of the mechanical arm, the nominal torque of the motor, the motor
Rate, calculates the reduction ratio of the speed reducer, and formula is：
Wherein, GR is the reduction ratio of the speed reducer, and Te is the torque parameter of the mechanical arm, and Tm is the specified torsion of the motor
Square, η are the working efficiency of the motor.
7. a kind of noise reduction system of mechanical arm, which is characterized in that including：
Processor, for the torque parameter of the upper mechanical arm of calculating robot；
The processor, the work for being additionally operable to the torque parameter according to the mechanical arm, the nominal torque of motor, the motor are imitated
Rate calculates the reduction ratio of speed reducer；
Speed reducer, for according to the reduction ratio being calculated, readjusting the speed reducer；
Motor is connect with the speed reducer drive, and the speed reducer is sequentially connected with the mechanical arm, is exported in the speed reducer
In the case that rotating speed is constant, the input speed of the speed reducer is reduced, reduces noise.
8. the noise reduction system of a kind of mechanical arm according to claim 7, which is characterized in that further include：
Quality measurement apparatus, for measuring and recording the quality of the mechanical arm；
Displacement measuring equipment is additionally operable to measure and records the center of gravity of the mechanical arm to the displacement at robot axis center；
The processor is additionally operable to the quality according to the mechanical arm, the center of gravity of the mechanical arm to robot axis center
Displacement, calculate the torque parameter of the mechanical arm.
9. a kind of noise reduction system of mechanical arm according to claim 8, it is characterised in that：
The processor is additionally operable to the quality according to the mechanical arm, the center of gravity of the mechanical arm to robot axis center
Displacement, calculate the torque parameter of the mechanical arm, formula is：
M=mg × L；
Wherein, M is the torque parameter of the mechanical arm, and m is the quality of the mechanical arm, and g is acceleration of gravity, and L is the machine
The center of gravity of tool arm is to the displacement at robot axis center.
10. a kind of noise reduction system of mechanical arm according to any one of claim 7~9, it is characterised in that：
The processor, be additionally operable to the torque parameter according to the mechanical arm, the nominal torque of the motor, the motor work
Make efficiency, calculate the reduction ratio of the speed reducer, formula is：
Wherein, GR is the reduction ratio of the speed reducer, and Te is the torque parameter of the mechanical arm, and Tm is the specified torsion of the motor
Square, η are the working efficiency of the motor.
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