CN108127692B - Noise reduction method and system for mechanical arm - Google Patents
Noise reduction method and system for mechanical arm Download PDFInfo
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- CN108127692B CN108127692B CN201711460135.6A CN201711460135A CN108127692B CN 108127692 B CN108127692 B CN 108127692B CN 201711460135 A CN201711460135 A CN 201711460135A CN 108127692 B CN108127692 B CN 108127692B
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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
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Abstract
The invention provides a noise reduction method and a system for a mechanical arm, wherein the method comprises the following steps: s10, calculating a torque parameter of a mechanical arm on the robot; s20, calculating the reduction ratio of the speed reducer according to the torque parameter of the mechanical arm, the rated torque of the motor and the working efficiency of the motor; and S30, readjusting the speed reducer according to the calculated reduction ratio, and reducing the input rotation speed of the speed reducer and the noise under the condition that the output rotation speed of the speed reducer is not changed. The invention can effectively reduce the noise emitted by the mechanical arm of the robot when the robot works and improve the use experience of the robot.
Description
Technical Field
The invention relates to the field of robots, in particular to a noise reduction method and a noise reduction system for a mechanical arm.
Background
With the development of science and technology, a great number of intelligent products emerge, and great convenience is brought to the life and work of people. For example, industrial robots in factories realize production automation, service robots in families improve the quality of life of people, and special robots such as search and rescue robots, transportation robots and the like.
When the mechanical arm of the robot is researched and designed, because the mechanical arm is constrained by conditions such as length, volume, weight, joint freedom degree and the like, the internal joint motor adopts a parallel speed reducer structure, and after the mechanical arm runs at full speed, the rotating speed of the motor is higher, so that the emitted noise is greatly higher than the noise level which can be accepted by people.
Therefore, it is necessary to reduce noise generated when the robot operates as much as possible and improve the experience of the robot.
Disclosure of Invention
The invention aims to provide a noise reduction method and a noise reduction system for a mechanical arm, which can effectively reduce noise generated by the mechanical arm when a robot works and improve the use experience of the robot.
The technical scheme provided by the invention is as follows:
the invention provides a noise reduction method of a mechanical arm, which comprises the following steps: s10, calculating a torque parameter of a mechanical arm on the robot; s20, calculating the reduction ratio of the speed reducer according to the torque parameter of the mechanical arm, the rated torque of the motor and the working efficiency of the motor; and S30, readjusting the speed reducer according to the calculated reduction ratio, and reducing the input rotation speed of the speed reducer and the noise under the condition that the output rotation speed of the speed reducer is not changed.
Preferably, step S10 specifically includes the steps of: s11 measuring and recording the mass of the mechanical arm; s12, measuring and recording the displacement from the center of gravity of the mechanical arm to the center of the rotation shaft of the mechanical arm; and S13, calculating the torque parameter of the mechanical arm according to the mass of the mechanical arm and the displacement from the gravity center of the mechanical arm to the center of the rotation shaft of the mechanical arm.
Preferably, step S12 specifically includes: s121, fixing a support on a horizontal plane, and placing the mechanical arm on the support in a balanced manner; s122 measures and records a distance in a horizontal direction from a contact point of the robot arm with the support to the center of the rotation axis of the robot arm, and uses the distance as a displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm.
Preferably, step S12 specifically includes: s123, fixing a support on a horizontal plane, and placing the mechanical arm on the support in a balanced manner; s124 takes a contact point of the robot arm and the support as a reference gravity center point, measures and records a distance from the reference gravity center point to a center of the rotation axis of the robot arm, and takes the distance as a displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm.
Preferably, in step S13, the torque parameter of the robot arm is calculated from the mass of the robot arm and the displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm, and the formula is:
M＝mg×L；
wherein M is a torque parameter of the mechanical arm, M is a mass of the mechanical arm, g is a gravitational acceleration, and L is a displacement from a center of gravity of the mechanical arm to a center of a rotation axis of the mechanical arm.
Preferably, in step S20, the reduction ratio of the speed reducer is calculated according to the torque parameter of the robot arm, the rated torque of the motor, and the operating efficiency of the motor, and the formula is as follows:
where GR is a reduction ratio of the speed reducer, Te is a torque parameter of the robot arm, Tm is a rated torque of the motor, and η is a working efficiency of the motor.
The invention also provides a noise reduction system of the mechanical arm, which comprises: the processor is used for calculating the torque parameter of the mechanical arm on the robot; the processor is further used for calculating the reduction ratio of the speed reducer according to the torque parameter of the mechanical arm, the rated torque of the motor and the working efficiency of the motor; a speed reducer for readjusting the speed reducer according to the calculated reduction ratio; the motor is in transmission connection with the speed reducer, the speed reducer is in transmission connection with the mechanical arm, and under the condition that the output rotating speed of the speed reducer is not changed, the input rotating speed of the speed reducer is reduced, and noise is reduced.
Preferably, the method further comprises the following steps: the quality measuring equipment is used for measuring and recording the quality of the mechanical arm; the displacement measuring equipment is also used for measuring and recording the displacement from the gravity center of the mechanical arm to the center of the rotation shaft of the mechanical arm; the processor is further used for calculating the torque parameter of the mechanical arm according to the mass of the mechanical arm and the displacement from the center of gravity of the mechanical arm to the center of a rotation shaft of the mechanical arm.
Preferably, the processor is further configured to calculate a torque parameter of the mechanical arm according to the mass of the mechanical arm and the displacement from the center of gravity of the mechanical arm to the center of the rotation axis of the mechanical arm, where the formula is as follows:
M＝mg×L；
wherein M is a torque parameter of the mechanical arm, M is a mass of the mechanical arm, g is a gravitational acceleration, and L is a displacement from a center of gravity of the mechanical arm to a center of a rotation axis of the mechanical arm.
Preferably, the processor is further configured to calculate a reduction ratio of the speed reducer according to a torque parameter of the mechanical arm, a rated torque of the motor, and a working efficiency of the motor, where the formula is as follows:
where GR is a reduction ratio of the speed reducer, Te is a torque parameter of the robot arm, Tm is a rated torque of the motor, and η is a working efficiency of the motor.
The invention also provides a noise reduction method and a noise reduction system for the mechanical arm, which can bring at least one of the following beneficial effects:
1. generally speaking, when designing a speed reducer, torque parameters of a mechanical arm are estimated values, and the calculated reduction ratio is high, so that the designed speed reducer needs a motor to increase the input rotating speed to meet the expected requirement when working. After the torque and the reduction ratio of the robot mechanical arm are accurately calculated, the speed reducer can be redesigned according to the reduction ratio, so that the output rotating speed of the motor is reduced, the input rotating speed of the speed reducer is reduced, and the noise is effectively reduced.
2. The method for calculating the displacement from the center of gravity of the mechanical arm to the center of the rotation shaft of the mechanical arm has strong practicability, and is simple and easy to operate; and the calculated displacement has higher precision and can be directly substituted into a formula for calculating the torque parameter for calculation.
3. The reduction ratio can be deduced by using the torque parameter of the mechanical arm, the rated torque of the motor and η as the relation between the working efficiency of the motor and the reduction ratio.
Drawings
The above features, technical features, advantages and implementations of a method and system for reducing noise in a robot arm will be further described in the following detailed description of preferred embodiments in a clearly understandable manner with reference to the accompanying drawings.
FIG. 1 is a flow diagram of one embodiment of a method of noise reduction for a robot of the present invention;
FIG. 2 is a flow chart of another embodiment of a method of noise reduction for a robot of the present invention;
FIG. 3 is a front view of a reducer and motor in an embodiment of the invention;
FIG. 4 is a side view of the reducer and motor in an embodiment of the invention;
FIG. 5 is a rear view of the reducer and motor in an embodiment of the invention;
FIG. 6 is a speed reducer parameter diagram of the present invention;
fig. 7 is a schematic structural diagram of an embodiment of a noise reduction system of a robot arm according to the present invention.
The reference numbers illustrate:
1-motor, 2-speed reducer, 3-mechanical arm, 4-quality measuring equipment, 5-displacement measuring equipment and 6-processor.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
As shown in fig. 1, an embodiment of a noise reduction method for a robot arm according to the present invention includes:
s10, calculating a torque parameter of a mechanical arm on the robot;
s20, calculating the reduction ratio of the speed reducer according to the torque parameter of the mechanical arm, the rated torque of the motor and the working efficiency of the motor;
and S30, readjusting the speed reducer according to the calculated reduction ratio, and reducing the input rotation speed of the speed reducer and the noise under the condition that the output rotation speed of the speed reducer is not changed.
Specifically, during the operation of the robot, there are many factors that generate noise, and the factors mainly include the following aspects: 1. mechanical vibration noise; 2. noise generated by abnormal vibration of the bearing; 3. brush slip noise; 4. fluid noise; 5. electromagnetic noise; 6. the motor rotates and emits noise. Wherein the motor during operation, the rotational speed is too fast, leads to the noise level that the noise that sends to be higher than people can accept greatly, consequently, will be satisfying under the circumstances of robot arm work, reduce the rotational speed of motor as far as possible, reach the purpose of noise reduction.
When designing the speed reducer, usually the set value of the torque parameter of the mechanical arm is large, and to achieve the required torque/rotating speed, only the method of increasing the rotating speed of the motor or increasing the reduction ratio of the speed reducer is adopted, and meanwhile, a high-precision gear is selected, the transmission design of the parallel speed reducer connecting box is strengthened, and the processing precision and the installation precision are improved. However, since the reduction ratio is set to the input rotation speed/the output rotation speed, it is known that increasing the reduction ratio of the reduction gear causes an increase in the input rotation speed of the reduction gear, that is, an increase in the output rotation speed of the motor, and causes a greater noise, while maintaining the output rotation speed. Therefore, in order to reduce noise, only the reduction ratio is reduced, so that the purpose of reducing noise is achieved.
According to the invention, the torque parameter of the mechanical arm is accurately calculated again, the torque parameter of the mechanical arm is determined again, the reduction ratio of the speed reducer is calculated, the speed reducer is redesigned according to the calculated reduction ratio, and the input rotating speed of the speed reducer is reduced under the condition that the output rotating speed of the speed reducer is not changed, so that the noise is reduced.
As shown in fig. 2, another embodiment of the noise reduction method for a robot arm according to the present invention includes:
s11 measuring the mass of the robotic arm;
s12, calculating the displacement from the gravity center of the mechanical arm to the center of the rotation axis of the mechanical arm;
preferably, step S12 specifically includes:
s121, fixing a support on a horizontal plane, and placing the mechanical arm on the support in a balanced manner;
s122 measures and records a distance in a horizontal direction from a contact point of the robot arm with the support to the center of the rotation axis of the robot arm, and uses the distance as a displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm.
Preferably, step S12 specifically includes:
s123, fixing a support on a horizontal plane, and placing the mechanical arm on the support in a balanced manner;
s124 takes a contact point of the robot arm and the support as a reference gravity center point, measures and records a distance from the reference gravity center point to a center of the rotation axis of the robot arm, and takes the distance as a displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm.
And S13, calculating the torque parameter of the mechanical arm according to the mass of the mechanical arm and the displacement from the gravity center of the mechanical arm to the center of the rotation shaft of the mechanical arm.
S20, calculating the reduction ratio of the speed reducer according to the torque parameter of the mechanical arm, the rated torque of the motor and the working efficiency of the motor;
and S30, readjusting the speed reducer according to the calculated reduction ratio, and reducing the input rotation speed of the speed reducer and the noise under the condition that the output rotation speed of the speed reducer is not changed.
Specifically, in the present embodiment, two methods of how to calculate the displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm are described:
in the first method, as shown in steps S121 and S122, when the robot arm is placed on the support in a balanced manner, the center of gravity is located inside the robot arm and in the vertical direction of the contact point of the robot arm with the support, and therefore, the distance from the contact point to the center of the rotation axis of the robot arm in the horizontal direction is used as the displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm, so that the measured value can be more accurate, and the accuracy of subsequent calculation can be ensured.
The second method may directly measure the distance from the contact point to the center of the rotation axis of the robot arm as the displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm, as shown in steps S123 and S124. Compared with the first method, because the angle between the direction from the contact point to the center of the rotating shaft of the mechanical arm and the horizontal direction is not large, the distance from the contact point to the center of the rotating shaft of the mechanical arm can be approximately used as the displacement from the gravity center of the mechanical arm to the center of the rotating shaft of the mechanical arm, the method is more convenient to operate, and the influence on the accuracy of subsequent calculation is not large.
When the displacement from the gravity center of the mechanical arm to the center of the rotation axis of the mechanical arm is measured and calculated, a blade can be fixed on the table top, and the complete mechanical arm is placed on the blade to keep balance on the support; and calculating the distance from the reference gravity center point to the center of the rotation axis of the mechanical arm by using the contact point as the reference gravity center point, and using the distance as the displacement from the gravity center of the mechanical arm to the center of the rotation axis of the mechanical arm. Or calculating the distance from the contact point of the mechanical arm and the support to the center of the rotation axis of the mechanical arm in the horizontal direction, and taking the distance as the displacement from the center of gravity of the mechanical arm to the center of the rotation axis of the mechanical arm.
The distances obtained by the two methods are different, and the distances can be approximately regarded as the displacement from the center of the mechanical arm to the center of the rotation shaft of the mechanical arm, so that the calculated mechanical arm can meet the design requirements.
One embodiment of a method for reducing noise of a robot arm according to the present invention includes:
s11 measuring the mass of the robotic arm;
s12, calculating the displacement from the gravity center of the mechanical arm to the center of the rotation axis of the mechanical arm;
preferably, step S12 specifically includes:
s121, fixing a support on a horizontal plane, and placing the mechanical arm on the support in a balanced manner;
s122 measures and records a distance in a horizontal direction from a contact point of the robot arm with the support to the center of the rotation axis of the robot arm, and uses the distance as a displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm.
Preferably, step S12 specifically includes:
s123, fixing a support on a horizontal plane, and placing the mechanical arm on the support in a balanced manner;
s124 takes a contact point of the robot arm and the support as a reference gravity center point, measures and records a distance from the reference gravity center point to a center of the rotation axis of the robot arm, and takes the distance as a displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm.
S13, calculating a torque parameter of the mechanical arm according to the mass of the mechanical arm and the displacement from the gravity center of the mechanical arm to the center of a rotation shaft of the mechanical arm;
M＝mg×L；
wherein M is a torque parameter of the mechanical arm, M is a mass of the mechanical arm, g is a gravitational acceleration, and L is a displacement from a center of gravity of the mechanical arm to a center of a rotation axis of the mechanical arm.
S20, calculating the reduction ratio of the speed reducer according to the torque parameter of the mechanical arm, the rated torque of the motor and the working efficiency of the motor;
where GR is a reduction ratio of the speed reducer, Te is a torque parameter of the robot arm, Tm is a rated torque of the motor, and η is a working efficiency of the motor.
And S30, readjusting the speed reducer according to the calculated reduction ratio, and reducing the input rotation speed of the speed reducer and the noise under the condition that the output rotation speed of the speed reducer is not changed.
Specifically, in this embodiment, a calculation formula of the torque parameter of the mechanical arm and a calculation formula of the reduction ratio are specifically given.
When designing a speed reducer, a user can directly estimate a large mechanical arm torque parameter such as 8Nm, and when the speed reducer designed according to the parameter is matched with a motor and the mechanical arm to move, the noise measured by the distance of 30cm is 63dB, which exceeds the normal noise acceptable to a human body. In the embodiment, the speed reducer is redesigned by accurately measuring the torque parameters of the mechanical arm, so that the purpose of reducing noise is achieved.
In order to accurately estimate the maximum torque of the whole mechanical arm rotating around the rotating shaft, a torque estimation method for the mechanical arm of the service robot rotating around the rotating shaft is provided. The specific estimation method and steps are as follows:
1. accurately measuring the mass m of the complete arm;
2. fixing a blade on a desktop, placing a complete arm on the blade, and finding a point capable of balancing the arm, wherein the position of the point is the gravity center of the whole arm;
3. measuring the displacement L from the center of gravity to the center of the rotating shaft;
4. the torque calculation formula for a single complete arm rotating around the rotation axis is as follows:
M＝mg*L
the maximum torque parameter of the mechanical arm obtained by the estimation method is 6.2Nm, the parameter is used as an index, the designed speed reducer and the designed motor are in parallel transmission connection as shown in figures 3, 4 and 5, and the speed reducer and the mechanical arm are in series transmission connection. In the figure, the speed reducer is connected with the mechanical arm through a transmission shaft, the transmission shaft is cylindrical, the diameter of the transmission shaft is phi 8-0.02 mm, and the length of the part of the transmission shaft extending out of the speed reducer is 6.9 +/-0.1 mm. The motor and the speed reducer are cylindrical, the distance between the axes of the motor and the speed reducer is 30mm, the motor and the speed reducer are both fixed on the connecting piece, the total length of the bottom plate and the motor is 56.9 +/-0.3 mm, the length of the motor body is 45mm, and the diameter of the motor body is 28 mm; the length of the speed reducer body is 45mm, and the diameter of the speed reducer body is 30 mm. In FIG. 5, the two ends of the chassis are semicircular, the diameter of the chassis is 30mm, the middle of the chassis is rectangular, the total length is 60mm, and the width is 30 mm; the chassis is provided with a connecting hole for locking the chassis.
The lower structure of fig. 4 is a motor, and the upper structure is a speed reducer. After the speed ratio of the speed reducer is reduced, because the reduction ratio is equal to the output rotating speed of the motor/the output rotating speed of the speed reducer, when the original rated rotating speed of the motor is not changed, the output rotating speed of the corresponding speed reducer is increased; under the condition that the output rotating speed required by the speed reducing motor is not changed, the output rotating speed of the motor can be properly reduced, the rotating speed is reduced, and the vibration and noise level of the motor is reduced.
As shown in fig. 6, when the reducer designed according to the torque parameter of 6.2Nm is matched with a motor and a mechanical arm to work, the noise detected by 30cm away is reduced to below 55dB, so that the noise can be effectively reduced.
Another embodiment of the present invention is a noise reduction system for a robot arm, comprising:
the processor 6 is used for calculating the torque parameter of the mechanical arm 3 on the robot;
preferably, the system further comprises: a mass measuring device 4 for measuring and recording the mass of the robot arm 3; the displacement measuring equipment 4 is also used for measuring and recording the displacement from the gravity center of the mechanical arm 3 to the center of the rotating shaft of the mechanical arm 3; the processor 6 is further configured to calculate a torque parameter of the mechanical arm 3 according to the mass of the mechanical arm 3 and the displacement from the center of gravity of the mechanical arm 3 to the center of the rotation axis of the mechanical arm 3, where the formula is as follows:
M＝mg×L；
wherein M is a torque parameter of the mechanical arm 3, M is a mass of the mechanical arm 3, g is a gravitational acceleration, and L is a displacement from a center of gravity of the mechanical arm 3 to a center of a rotation axis of the mechanical arm 3.
The processor 6 is further configured to calculate a reduction ratio of the speed reducer 2 according to the torque parameter of the mechanical arm 3, the rated torque of the motor 1, and the working efficiency of the motor 1, and the formula is as follows:
where GR is a reduction ratio of the speed reducer 2, Te is a torque parameter of the robot arm 3, Tm is a rated torque of the motor 1, and η is a work efficiency of the motor 1.
The speed reducer 2 is used for readjusting the speed reducer 2 according to the calculated reduction ratio;
the motor 1 is in transmission connection with the speed reducer 2, the speed reducer 2 is in transmission connection with the mechanical arm 3, and under the condition that the output rotating speed of the speed reducer 2 is not changed, the input rotating speed of the speed reducer 2 is reduced, and noise is reduced.
Specifically, in this embodiment, the measurement of the mass of the robot arm 3, the displacement from the center of gravity of the robot arm 3 to the center of the rotation axis of the robot arm 3, and the related calculation may be performed by a computer and a related measuring instrument, so as to form automatic measurement and calculation.
Firstly, the mass of the mechanical arm 3 can be measured through a measuring module, and mass data are transmitted to a computer; then, the calculation module is used for calculating the displacement from the center of gravity of the mechanical arm 3 to the center of the rotation axis of the mechanical arm 3, and transmitting the displacement data to the computer, and the computer calculates the torque parameters. And (3) inputting the rated torque of the motor 1 and the working efficiency of the motor 1 into a computer by a user, and calculating a corresponding reduction ratio. The speed reducer 2 is redesigned according to the reduction ratio, and in the case of satisfying the movement of the robot arm 3, only the rotation speed of the motor 1 needs to be reduced due to the reduction ratio. The rotating speed of the motor 1 is reduced, and a good noise reduction effect is brought. Other measurement processes have been described in the above embodiments, and reference may be made to the above embodiments, which are not described herein again.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A noise reduction method of a mechanical arm is characterized by comprising the following steps:
s10, calculating a torque parameter of a mechanical arm on the robot;
step S10 specifically includes the steps of:
s11 measuring and recording the mass of the mechanical arm;
s12, measuring and recording the displacement from the center of gravity of the mechanical arm to the center of the rotation shaft of the mechanical arm;
step S12 specifically includes:
s121, fixing a support on a horizontal plane, and placing the mechanical arm on the support in a balanced manner;
s122, measuring and recording the distance from the contact point of the mechanical arm and the support to the center of the rotation shaft of the mechanical arm in the horizontal direction, and taking the distance as the displacement from the gravity center of the mechanical arm to the center of the rotation shaft of the mechanical arm; or the like, or, alternatively,
s123, fixing a support on a horizontal plane, and placing the mechanical arm on the support in a balanced manner;
s124, taking a contact point of the mechanical arm and the support part as a reference gravity center point, measuring and recording the distance from the reference gravity center point to the center of the rotation shaft of the mechanical arm, and taking the distance as the displacement from the gravity center of the mechanical arm to the center of the rotation shaft of the mechanical arm;
s13, calculating a torque parameter of the mechanical arm according to the mass of the mechanical arm and the displacement from the gravity center of the mechanical arm to the center of a rotation shaft of the mechanical arm;
s20, calculating the reduction ratio of the speed reducer according to the torque parameter of the mechanical arm, the rated torque of the motor and the working efficiency of the motor;
and S30, readjusting the speed reducer according to the calculated reduction ratio, and reducing the input rotation speed of the speed reducer and the noise under the condition that the output rotation speed of the speed reducer is not changed.
2. The method for reducing noise of the mechanical arm according to claim 1, wherein:
in the step S13, a torque parameter of the robot arm is calculated according to the mass of the robot arm and the displacement from the center of gravity of the robot arm to the center of the rotation axis of the robot arm, and the formula is as follows:
M＝mg×L；
wherein M is a torque parameter of the mechanical arm, M is a mass of the mechanical arm, g is a gravitational acceleration, and L is a displacement from a center of gravity of the mechanical arm to a center of a rotation axis of the mechanical arm.
3. The method for reducing noise of the mechanical arm according to any one of claims 1 to 2, wherein:
in the step S20, the reduction ratio of the speed reducer is calculated according to the torque parameter of the mechanical arm, the rated torque of the motor, and the working efficiency of the motor, and the formula is as follows:
where GR is a reduction ratio of the speed reducer, Te is a torque parameter of the robot arm, Tm is a rated torque of the motor, and η is a working efficiency of the motor.
4. A noise reduction system for a robot arm, comprising:
the processor is used for calculating the torque parameter of the mechanical arm on the robot;
the processor is further used for calculating the reduction ratio of the speed reducer according to the torque parameter of the mechanical arm, the rated torque of the motor and the working efficiency of the motor;
a speed reducer for readjusting the speed reducer according to the calculated reduction ratio;
the motor is in transmission connection with the speed reducer, the speed reducer is in transmission connection with the mechanical arm, and the input rotating speed of the speed reducer is reduced and the noise is reduced under the condition that the output rotating speed of the speed reducer is not changed;
the quality measuring equipment is used for measuring and recording the quality of the mechanical arm;
the displacement measuring equipment is also used for measuring and recording the displacement from the gravity center of the mechanical arm to the center of the rotation shaft of the mechanical arm; fixing a support on a horizontal plane, and placing the mechanical arm on the support in a balanced manner; taking a contact point of the mechanical arm and the support part as a reference gravity center point, measuring and recording the distance from the reference gravity center point to the center of the rotation shaft of the mechanical arm, and taking the distance as the displacement from the gravity center of the mechanical arm to the center of the rotation shaft of the mechanical arm;
the processor is further used for calculating the torque parameter of the mechanical arm according to the mass of the mechanical arm and the displacement from the center of gravity of the mechanical arm to the center of a rotation shaft of the mechanical arm.
5. The noise reduction system for a robot arm according to claim 4, wherein:
the processor is further configured to calculate a torque parameter of the mechanical arm according to the mass of the mechanical arm and the displacement from the center of gravity of the mechanical arm to the center of the rotation axis of the mechanical arm, and the formula is as follows:
M＝mg×L；
wherein M is a torque parameter of the mechanical arm, M is a mass of the mechanical arm, g is a gravitational acceleration, and L is a displacement from a center of gravity of the mechanical arm to a center of a rotation axis of the mechanical arm.
6. A noise reduction system of a mechanical arm according to any one of claims 4 to 5, wherein:
the processor is further configured to calculate a reduction ratio of the speed reducer according to the torque parameter of the mechanical arm, the rated torque of the motor, and the working efficiency of the motor, and the formula is as follows:
where GR is a reduction ratio of the speed reducer, Te is a torque parameter of the robot arm, Tm is a rated torque of the motor, and η is a working efficiency of the motor.
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| CN104537244B (en) * | 2014-12-31 | 2017-08-01 | 大连理工大学 | A kind of multi-freedom robot wrist motor, the calculating of decelerator and selection method |
| CN105041993A (en) * | 2015-07-16 | 2015-11-11 | 南京埃斯顿机器人工程有限公司 | Reduction gear for SCARA industrial robot |
| CN205704263U (en) * | 2016-06-02 | 2016-11-23 | 华南理工大学 | A kind of articulated driving equipment of robot |
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