CN113400339B - Multi-joint robot speed reducer and type selection method of motor - Google Patents

Multi-joint robot speed reducer and type selection method of motor Download PDF

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CN113400339B
CN113400339B CN202110678158.4A CN202110678158A CN113400339B CN 113400339 B CN113400339 B CN 113400339B CN 202110678158 A CN202110678158 A CN 202110678158A CN 113400339 B CN113400339 B CN 113400339B
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motor
speed reducer
torque
speed
preselected
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CN113400339A (en
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卢冬冬
蔡国庆
程群超
周文
王刻强
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Borunte Robot Co Ltd
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Borunte Robot Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

Abstract

A multi-joint robot speed reducer and a model selection method of a motor are characterized in that the minimum acceleration and deceleration time t, the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a and the maximum rotation speed n of a single joint connected with the selected speed reducer and the motor are designedmaxAnd performance parameters such as the vertical distance L from the gravity center O' to the rotating central shaft, the total weight M of the driving joint and the like are subjected to pre-selection of the speed reducer, then the motor is pre-selected and judged according to the performance parameters of the pre-selected speed reducer, and finally the speed reducer and the motor which meet the requirements are selected. Compared with the prior art, the multi-joint robot speed reducer and the motor can meet the requirement of type selection of the multi-joint robot speed reducer and the motor with increasingly complex structures and motion modes, and are high in precision.

Description

Multi-joint robot speed reducer and type selection method of motor
Technical Field
The invention relates to the technical field of robots, in particular to a multi-joint robot speed reducer and a model selection method of a motor.
Background
With the development of industry, robots are gradually replacing manual operations due to the advantages of high-intensity work, adaptability to various working environments, high motion precision and the like. The robot drives the speed reducer to move mainly through the motor, so that the selection of the speed reducer and the motor of the robot has important significance on the performance of the robot, such as speed, acceleration, precision and the like.
Traditionally, the model selection of a speed reducer and a motor of a robot is mainly to calculate ideal parameters such as ideal output power, ideal transmission ratio, ideal output rotating speed and ideal output torque required by a terminal according to working conditions, then match and select models according to the existing motor and the speed reducer and measure whether actual parameters are within the tolerance range of the ideal parameters. However, the traditional model selection method has certain difficulty, large workload and poor precision.
For this reason, some solutions for reducing the workload of type selection have been proposed. Referring to fig. 1, the patent with publication number CN104537244B discloses a method for calculating and selecting models of a wrist motor and a speed reducer of a multi-degree-of-freedom robot, which calculates parameters such as rated torque, maximum torque, rated rotating speed and the like of the motor and the speed reducer according to the maximum moving speed, the allowed moment of the wrist and the allowed inertia of the wrist of a robot terminal, selects models of the motor and the speed reducer, and finally verifies the models.
However, in order to improve the precision of the movement, the structure and the movement mode of the existing robot become more and more complicated, and a plurality of joints connected with each other are generally arranged, and the joints are influenced and associated with each other in the movement process. Therefore, the model selection mode based on the parameters output by the terminal can not adapt to the model selection of the robot speed reducer and the motor with increasingly complex structures and motion modes obviously, and the accuracy is poor.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a multi-joint robot speed reducer and a method for selecting a type of a motor, which are suitable for a multi-joint robot having an increasingly complicated structure and a more complicated motion method.
The technical scheme adopted by the invention is as follows:
a multi-joint robot speed reducer and a type selection method of a motor comprise the following steps:
setting the minimum acceleration and deceleration time t, the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a and the maximum rotation speed n of the single joint connected with the selected speed reducer and the motormax；
Determining a driving joint, wherein the driving joint comprises a speed reducer and all joints required to be driven by a motor;
confirming a rotation central shaft of the single joint;
adjusting the postures of all the joints in the driving joints to enable the distance from the gravity center O' of the whole driving joint to the rotation center O to be maximum;
obtaining a moment of inertia J, a vertical distance L from the center of gravity O' to the rotating central shaft and a total weight M of the driving joint;
according to the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a and the maximum rotation speed nmaxCalculating the actual constant speed running time t 2;
according to the actual acceleration time t1, the actual uniform speed running time t2, the actual deceleration time t3, the joint total weight M, the gravity center distance L, the moment of inertia J and the maximum rotating speed nmaxCalculating the acceleration stage reducer impact torque T1, the deceleration stage reducer impact torque T3 and the constant speed stage reducer impact torque T2;
carrying out weighted average on the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the uniform speed stage speed reducer impact torque T2 to obtain an average load torque Ta;
selecting a preselected speed reducer according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the average load torque Ta;
selecting a preselected reduction ratio b;
selecting a pre-selection motor, and acquiring the rated torque T of the pre-selection motor;
measuring and obtaining the output torque T when the pre-selection motor is connected with the pre-selection speed reducer and idles at a constant speedxTo calculate the transmission efficiency eta;
according to the transmission efficiency eta, the impact torque T1 of the speed reducer in the acceleration stage, the impact torque T3 of the speed reducer in the deceleration stage and the impact torque T of the speed reducer in the uniform speed stage are applied2, carrying out weighted average to calculate the average load torque T of the motorm；
According to the average load torque T of the motormCalculating a motor load rate gamma with the rated torque T of the pre-selected motor; if the motor load factor gamma is less than 0.8, finishing the model selection; if the motor load factor gamma is not less than 0.8, reselecting the preselected speed reducer ratio b and reselecting the motor; if the motor load rate gamma is less than 0.8, the actual acceleration time t1 and the actual deceleration time t3 are reset, and the preselected speed reducer and the preselected motor are reselected until the motor load rate gamma is less than 0.8.
Compared with the prior art, the multi-joint robot speed reducer and the type selection method of the motor accord with the load state of the multi-joint robot during actual operation by selecting the type of the speed reducer and the type of the motor according to the joints to be driven by the speed reducer and the motor and in the processes of acceleration, deceleration and uniform speed, the selected speed reducer is closely associated with the motor in actual operation, and the method is suitable for the type selection of the multi-joint robot speed reducer and the motor which are complex in structure and variable in motion, and improves the accuracy of the type selection of the multi-joint robot speed reducer and the motor.
Further, the pre-selecting the motor and obtaining the rated torque T of the pre-selected motor comprises the following steps:
calculating motor starting torque Tc1, motor constant speed torque Tc2 and motor braking torque Tc3 according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the preselected reduction ratio b;
according to the maximum rotation speed nmaxAnd the preselected reduction ratio b is used for calculating the maximum rotating speed no of the motormax；
According to the maximum rotation speed nmaxThe pre-selected reduction ratio b, the actual acceleration time t1, the actual uniform speed running time t2 and the actual deceleration time t3 are used for obtaining the average rotating speed n of the motorα；
According to the motor starting torque Tc1, the motor rotates at a constant speedTorque Tc2, braking torque Tc3, maximum speed nomax of the electric machine and mean speed n of the electric machineαPerforming a pre-selection of the pre-selection motor.
The range of selecting the pre-selection motor is reduced through the steps, and the efficiency and the precision of type selection are improved.
Further, the actual uniform running time
Figure BDA0003121654610000031
Further, the acceleration stage reducer impact torque T1, the deceleration stage reducer impact torque T3, and the constant speed stage reducer impact torque T2 are calculated and obtained according to the following formula:
Figure BDA0003121654610000032
wherein ω is the maximum angular velocity with unit rad/min and the maximum angular velocity ω is 2 π nmaxA/60; in the acceleration stage, t is the actual acceleration time t 1; in the constant speed stage, t is the constant speed running time t 2; in the deceleration phase, t is the actual deceleration time t 3.
Further, the average load torque
Figure BDA0003121654610000033
Further, when a preselected speed reducer is selected according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the average load torque Ta, the instantaneous maximum torque of the preselected speed reducer is required to be greater than T1 and T2; the start stop torque of the preselected speed reducer is greater than T1 and T3; and the rated torque of the preselected speed reducer is greater than Ta.
Further, the transmission efficiency
Figure BDA0003121654610000034
Further, the motorAverage load torque
Figure BDA0003121654610000035
Further, the motor load factor
Figure BDA0003121654610000036
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic flow chart of a calculation and model selection method for a wrist motor and a reducer of a multi-degree-of-freedom robot in the prior art;
FIG. 2 is a schematic flow chart illustrating a method for selecting a type of a multi-joint robot reducer and a motor according to the present invention;
FIG. 3 is a view of the analysis of bending moment of a single joint according to the present invention;
FIG. 4 is a force balance analysis diagram of a single joint according to the present invention;
FIG. 5 is a schematic view of a single joint movement process according to the present invention;
fig. 6 is a schematic structural diagram of a multi-joint robot according to an embodiment of the present invention.
Detailed Description
Referring to fig. 2, the method for selecting the type of the multi-joint robot speed reducer and the motor of the present invention includes the following steps:
step S10: designing the minimum acceleration and deceleration time t, the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a (unit is rad) and the maximum rotation speed n of the reducer to be selected and the single joint connected with the motor in the motion process according to the performance design requirements of the reducer to be selected and the single joint connected with the motormax(r/min), wherein t1 and t3 are both greater than the minimum acceleration and deceleration time t.
Step S20: and determining a driving joint according to the multi-joint connection relation of the multi-joint robot and the joint driven by the single joint, wherein the driving joint comprises all joints driven by a speed reducer and a motor, namely the single joint and the joint moving along with the single joint.
Step S30: and determining a rotating central shaft a-a' of the single joint, which is directly driven by the speed reducer and the motor to rotate.
Step S40: determining the center of gravity O 'of the leading joint, and adjusting the posture of the leading joint to change the position of the center of gravity O' so that the leading joint is in a posture in which the vertical distance between the center of gravity O 'and the rotation center axis a-a' is the largest. The required static torque is maximum in this attitude.
When the articulated robot is placed on a horizontal plane, the vertical distance between the center of gravity O 'and the rotation center axis a-a' is the distance between the center of gravity O 'and the rotation center axis a-a' in a direction perpendicular to the horizontal plane.
Step S50: and acquiring the moment of inertia J during rotation or bending, the vertical distance L between the gravity center O 'and the central rotation axis a-a', and the total weight M of the driving joint.
The moment of inertia J is obtained through calculation of a robot design drawing and a mechanical engineering manual, or is measured through simulation of CAD software after modeling through the CAD software. In one embodiment, the CAD software is SolidWorks.
The barycentric distance L may be measured in the CAD software after modeling by the CAD software.
The total weight M of the driving joint comprises the total mass of all parts which form the single joint and move along with the single joint, namely the total mass of all parts driven by the speed reducer and the motor.
Step S60: calculating to obtain the actual constant speed running time t2
Suppose that the individual joint accelerates from a speed of 0 to a maximum speed n within an acceleration time t1maxAnd at a maximum speed n during a constant operating time t2maxAfter the uniform speed operation, the speed is reduced for a time t3 from the maximum speed nmaxThe rotating speed is reduced to 0, and the rotated angle in the process is the maximum rotating angle a of the single joint. From the velocity-displacement equation:
Figure BDA0003121654610000051
and due to said maximum speed nmaxIs given as r/min, and the maximum rotation angle a is given as rad, and the conversion of units and the shift term are obtained according to 1 rad-180/pi °:
Figure BDA0003121654610000052
step S70: and respectively calculating acceleration stage speed reducer impact torque T1, deceleration stage speed reducer impact torque T3 and constant speed stage speed reducer impact torque T2 corresponding to the actual acceleration time T1, the actual constant speed running time T2 and the actual deceleration time T3.
Because power is transmitted to the single joint from the motor through the speed reducer and then transmitted to other joints through the single joint, the speed reducer is firstly influenced by the impact on the single joint. According to the moment balance principle in theoretical mechanics, the speed reducer needs to provide corresponding impact torque T to realize rotation.
Assuming that for the single joint in the horizontal position and in the static state, referring to fig. 3, the bending moment T4 suffered by the single joint according to the mechanical stress formula is:
T4MgL formula (2)
To accelerate or decelerate, see fig. 4, the moment balance can be derived as:
Figure BDA0003121654610000053
wherein ω is the maximum angular velocity, with unit being rad/min, t is the minimum acceleration/deceleration time, J is the moment of inertia, L is the center of gravity distance, M is the total weight of the driving joint, and g is the acceleration of gravity.
Referring to fig. 5, in order to ensure the rapid response of the robot, the speed increase/decrease should be close to a linear increase/decrease in the acceleration or deceleration phase, wherein the acceleration/deceleration is the slope of the straight line in the acceleration or deceleration phase. Namely, it is
Figure BDA0003121654610000054
Substituting the formula and shifting terms can obtain the calculation formula of the impact torque T:
Figure BDA0003121654610000055
wherein the maximum angular velocity ω ═ 2 π nmax/60。
And respectively substituting the actual acceleration time T1 of the acceleration stage, the constant speed running time T2 of the constant speed stage and the actual deceleration time T3 of the deceleration stage into a formula (3) to respectively calculate the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the constant speed stage speed reducer impact torque T2.
Step S80: and performing weighted average calculation on the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the constant speed stage speed reducer impact torque T2 to obtain the average load torque Ta of the speed reducer.
Figure BDA0003121654610000061
Step S90: selecting a preselected speed reducer according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the average load torque Ta, wherein the instantaneous maximum torque of the speed reducer is required to be greater than T1 and T2; the start-stop torque of the speed reducer is greater than T1 and T3; the rated torque of the speed reducer is greater than Ta.
Step S100: after the speed reducer is selected, a preselected reduction ratio b is set.
A standard reduction gear is generally provided with a plurality of commonly used reduction ratios b, one of which is selected as a preselected reduction ratio b.
Step S110: and calculating and obtaining motor starting torque Tc1, motor constant speed torque Tc2 and motor braking torque Tc 3.
Wherein, the motor starting torque Tc1 is the acceleration stage reducer impact torque T1/preselected reduction ratio b;
the motor uniform speed torque Tc2 is equal to the uniform speed stage speed reducer impact torque T2/preselected reduction ratio b;
the motor braking torque Tc3 is the deceleration stage reducer impact torque T3/preselected reduction ratio b.
Step S120: calculating to obtain the maximum rotating speed no of the motormax。
Therein, nomaxMaximum speed nmaxPreselected reduction ratio b.
Step S130: calculating to obtain the average rotating speed n of the motorα；
Wherein the content of the first and second substances,
Figure BDA0003121654610000062
step S140: according to the motor starting torque Tc1, the motor uniform speed torque Tc2, the motor braking torque Tc3 and the motor maximum rotating speed nomaxAnd the average rotating speed n of the motorαPerforming motor pre-selection, wherein the starting and stopping torque of the pre-selected motor is required to be larger than the motor starting torque Tc1 and the motor braking torque Tc 3; the maximum rotational speed of the preselected motor is greater than the maximum rotational speed no of the motormax(ii) a The rated rotating speed of the pre-selected motor is larger than the average rotating speed n of the motorα。
Step S150: and measuring and obtaining the transmission efficiency eta at a constant speed.
Connecting and installing a pre-selection motor and a pre-selection speed reducer, idling at a constant speed, and measuring the torque T output by the motor at the moment by using a motor torque measuring toolxAnd calculating according to formula (6) based on the rated torque T of the preselected motor, thereby obtaining the transmission efficiency η:
Figure BDA0003121654610000063
step S160: calculating and obtaining the average load torque T of the motorm。
Impacting torque T1 and the reduction to the speed reducer in the acceleration stage according to the transmission efficiency etaThe impact torque of the speed reducer in the speed stage is T3, and the impact torque T2 of the speed reducer in the speed stage is subjected to weighted average calculation to obtain the average load torque T of the motorm：
Figure BDA0003121654610000071
Step S170: according to the average load torque T of the motormAnd calculating with the rated torque T of the pre-selected motor to obtain the motor load rate gamma.
Figure BDA0003121654610000072
If the motor load factor gamma is less than 0.8, the model selection is finished, and the pre-selection motor and the pre-selection speed reducer are the required motor and speed reducer; if the motor load rate gamma is not less than 0.8, reselecting the speed reducer ratio b, repeating the step S110 to the step S160 to select the model, if all the speed reducer ratios b of the preselected speed reducers cannot meet the condition that the motor load rate gamma is less than 0.8, modifying the actual acceleration time t1 and the actual deceleration time t3, repeating the step S10 to the step S160, and reselecting the speed reducers and the motors until the motor load rate gamma is less than 0.8.
Example (b):
now, the model selection procedure will be described specifically by taking the articulated robot shown in fig. 6 as an example according to the above method. The articulated robot is including connecting gradually and relative pivoted base 10, one axle swivel mount 11, two big arms 12, three axle swivel mount 13, four-axis forearm 14 and terminal 15, now drives two big arm 12 pivoted speed reducer and motor carry out the lectotype:
step S10: designing the design parameters of the movement performance of the two-axis large arm 12: acceleration/deceleration minimum time t 0.1s, actual acceleration time t1 0.5s, actual deceleration time t3 0.5s, and maximum rotation speed nmax16r/min, and 165 ° for the maximum rotation angle a.
Step S20: because the two-axis large arm 12 drives the three-axis swivel mount 13, the four-axis small arm 14 and the terminal 15 rotate, the drive joint comprises the two-axis large arm 12, the three-axis swivel mount 13, the four-axis small arm 14 and the terminal 15.
Step S30: modeling is carried out under SolidWorks, so that the two-shaft large arm 12 is in shaft joint with the one-shaft rotary seat 11, and the connecting shaft at the shaft joint is a rotary central shaft a-a'.
Step S40: according to the model of SolidWorks, the postures of the two-axis upper arm 12, the three-axis swivel base 13, the four-axis lower arm 14 and the terminal 15 are adjusted so that the vertical distance L from the center of gravity O' of the entire articulated joint composed of the two-axis upper arm 12, the three-axis swivel base 13, the four-axis lower arm 14 and the terminal 15 to the central axis of rotation is maximized.
Step S50: the rotational inertia J obtained by simulation measurement of SolidWorks is 62kg/m2。
The barycentric distance L was 0.527m as measured in SolidWorks.
And measuring the total weight of the parts of the two-axis large arm 12, the three-axis swivel mount 13, the four-axis small arm 14 and the terminal 15 to obtain the total weight M of the driving joint as 117 kg.
Step S60: the actual constant speed running time t2 is calculated to be 98s according to the formula (1).
Step S70: calculating according to the formulas (2) and (3) to obtain the acceleration stage speed reducer impact torque T1-811.92N-m, the constant speed stage speed reducer impact torque T2-604.62N-m, and the deceleration stage speed reducer impact torque T3-811.92N-m.
Step S80: the average load torque Ta is calculated from equation (4) to 680.75N · m.
Step S90: after looking up the product manual, the RV-80E reducer of the emperor manufacturer can meet the requirement that the instantaneous maximum torque of the reducer is larger than T1 and T2; the start-stop torque of the speed reducer is greater than T1 and T3; the speed reducer rated torque is larger than Ta, so the speed reducer is selected as a pre-selection speed reducer.
Step S100: the preselected reduction ratio b is set 121 according to the imperial RV reducer manual.
Step S110: and calculating according to the motor starting torque Tc1, the acceleration stage speed reducer impact torque T1/preselected speed reduction ratio b, the motor constant speed torque Tc2, the deceleration stage speed reducer impact torque T2/preselected speed reduction ratio b and the motor braking torque Tc3, the deceleration stage speed reducer impact torque T3/preselected speed reduction ratio b to obtain the motor starting torque Tc1, the motor braking torque Tc3, and the motor constant speed torque Tc2, the motor constant speed torque Tc3, and the motor constant speed torque Tc2 are 14.65N m.
Step S120: according to nomaxMaximum speed nmaxCalculating the maximum rotating speed n of the motor by the x preselected reduction ratio bomax＝2178r/min。
Step S130: calculating according to a formula (5) to obtain the average rotating speed n of the motorα＝1466.67r/min。
Step S140: after looking up the model selection manual, the motor of the manufacturer in the Fuchuan is in accordance with the condition that the starting and stopping torque of the pre-selected motor is greater than the starting torque Tc1 of the motor and the braking torque Tc3 of the motor; the maximum rotation speed of the preselected motor is greater than the maximum rotation speed n of the motoromax(ii) a The rated rotating speed of the pre-selected motor is larger than the average rotating speed n of the motorαAnd is therefore selected as the preselected motor.
Step S150: after a manual of relevant performance parameters of the pre-selected motor is consulted, the rated torque T of the motor is obtained to be 1.8kw, and the transmission efficiency eta is measured and calculated according to the formula (6) to be 0.8.
Step S160: the motor average load torque Tm is calculated according to equation (7) to be 6.39N · m.
Step S170: and (3) calculating according to a formula (8) to obtain the motor load factor gamma of 0.76<0.8, meeting the requirement, finishing the type selection, and selecting the motor using the emperor RV-80E speed reducer and the Huichuan rated torque T of 1.8 kw.
Compared with the prior art, the multi-joint robot speed reducer and the type selection method of the motor accord with the load state of the multi-joint robot during actual operation by selecting the type of the speed reducer and the type of the motor according to the joints to be driven by the speed reducer and the motor and in the processes of acceleration, deceleration and uniform speed, the selected speed reducer is closely associated with the motor in actual operation, and the method is suitable for the type selection of the multi-joint robot speed reducer and the motor which are complex in structure and variable in motion, and improves the accuracy of the type selection of the multi-joint robot speed reducer and the motor. And the motor is further preselected according to the performance of the speed reducer, so that the model selection efficiency is improved. The multi-joint robot speed reducer and the type selection method of the motor are strong in operation, high in accuracy and good in type selection efficiency.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (9)

1. A multi-joint robot speed reducer and a type selection method of a motor are characterized in that: the method comprises the following steps:
setting the minimum acceleration and deceleration time t, the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a and the maximum rotation speed n of the single joint connected with the selected speed reducer and the motormax；
Determining a driving joint, wherein the driving joint comprises a speed reducer and all joints required to be driven by a motor;
confirming a rotation central shaft of the single joint;
adjusting the postures of all the joints in the driving joints to enable the vertical distance from the gravity center O' of the whole driving joint to the rotating central shaft to be the largest;
acquiring a moment of inertia J, a vertical distance L from the center of gravity O' to the rotating central shaft and a total weight M of the driving joint;
according to the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a and the maximum rotation speed nmaxCalculating the actual constant speed running time t 2;
according to the actual acceleration time t1, the actual uniform speed running time t2, the actual deceleration time t3, the joint total weight M, the vertical distance L, the moment of inertia J and the maximum rotating speed nmaxCalculating an acceleration stage speed reducer impact torque T1, a deceleration stage speed reducer impact torque T3 and a constant speed stage speed reducer impact torque T2;
carrying out weighted average on the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the uniform speed stage speed reducer impact torque T2 to obtain an average load torque Ta;
selecting a preselected speed reducer according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the average load torque Ta;
selecting a preselected reduction ratio b;
selecting a preselected motor and obtaining the rated torque T of the preselected motorForehead (forehead)；
Measuring and obtaining the output torque T when the pre-selection motor is connected with the pre-selection speed reducer and idles at a constant speedxTo calculate the transmission efficiency eta;
according to the transmission efficiency eta, carrying out weighted average on the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the constant speed stage speed reducer impact torque T2 to calculate the average load torque T of the motorm；
According to the average load torque T of the motormAnd rated torque T of the preselected motorForehead (forehead)Calculating the load rate gamma of the motor; if the motor load factor gamma is less than 0.8, finishing the model selection; if the motor load factor gamma is not less than 0.8, reselecting the preselected speed reducer ratio b and reselecting the motor; if the motor load rate gamma is not less than 0.8 in the reduction ratio b calculation of the preselected speed reducer, resetting the actual acceleration time t1 and the actual deceleration time t3 and reselecting the preselected speed reducer and the preselected motor until the motor load rate gamma is less than 0.8.
2. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: pre-selecting the motor and obtaining the rated torque T of the pre-selected motorForehead (forehead)Comprises the following stepsThe method comprises the following steps:
calculating motor starting torque Tc1, motor constant speed torque Tc2 and motor braking torque Tc3 according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the preselected reduction ratio b;
according to the maximum rotation speed nmaxAnd the pre-selected reduction ratio b is used for calculating the maximum rotating speed n of the motoromax；
According to the maximum rotation speed nmaxThe pre-selected reduction ratio b, the actual acceleration time t1, the actual uniform speed running time t2 and the actual deceleration time t3 are used for obtaining the average rotating speed n of the motorα；
According to the motor starting torque Tc1, the motor uniform speed torque Tc2, the motor braking torque Tc3 and the motor maximum rotating speed nommxAnd the average rotating speed n of the motorαPerforming a pre-selection of the pre-selection motor.
3. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: the actual uniform running time
Figure FDA0003627365160000021
4. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the constant speed stage speed reducer impact torque T2 are calculated and obtained according to the following formula:
Figure FDA0003627365160000022
where ω is the maximum angular velocity in rad/min and said maximum angular velocity ω is 2 π nmmxA/60; in the acceleration stage, t is the actual acceleration time t 1; in the uniform velocity stage, t isThe constant-speed running time t 2; in the deceleration phase, t is the actual deceleration time t 3.
5. The multi-joint robot speed reducer and the method for selecting the type of the motor according to claim 1, wherein: the average load torque
Figure FDA0003627365160000023
6. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: when a preselected speed reducer is selected according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the average load torque Ta, the instantaneous maximum torque of the preselected speed reducer is required to be greater than T1 and T2; the start stop torque of the preselected speed reducer is greater than T1 and T3; and the rated torque of the preselected speed reducer is greater than Ta.
7. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: the transmission efficiency
Figure FDA0003627365160000024
8. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: average load torque of the motor
Figure FDA0003627365160000031
9. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: load factor of the motor
Figure FDA0003627365160000032
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