CN1683123A - Double ring detecting mechanism for robot joint speed reducer flexibility - Google Patents
Double ring detecting mechanism for robot joint speed reducer flexibility Download PDFInfo
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- CN1683123A CN1683123A CN 200410068822 CN200410068822A CN1683123A CN 1683123 A CN1683123 A CN 1683123A CN 200410068822 CN200410068822 CN 200410068822 CN 200410068822 A CN200410068822 A CN 200410068822A CN 1683123 A CN1683123 A CN 1683123A
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Abstract
The present invention relates to a double ring detecting mechanism for robot joint speed reducer flexibility comprising angle detecting system, signal processing system and mechanism structure. Rotation angle detecting sensors are installed separately to the output end of the motor shaft and the output end of the reducer to measure the rotation angle of the motor shaft and the rotation angle of the joint; and the measured information is fed to the signal processing system to constitute the double ring detecting system capable of detecting the flexible rotation error of the joint reducer effectively and accurately.
Description
Affiliated technical field:
The present invention is the robot joint speed reducer flexibility error detection mechanism, belongs to Robotics and automatic field, effectively the mechanical flexibility error in the detection machine person joint decelerator transmission system.
Background technology:
At present, generally use decelerator such as harmonic speed reducer, gear reduction unit etc. in the joint of robot, being used for the high rotating speed of motor, low rotating torque conversion of motion is low velocity, the motion of high rotating torque, drives joint motions then.But there is the problem of a significant mechanical flexibility error in the decelerator transmission system.In theory, the ratio of the input and output of decelerator is its speed reducing ratio.But in fact any object always produces the different distortion of degree when being subjected to external force, so when the output of decelerator bears certain moment of torsion, the actual output of decelerator is always exported deviation to some extent with theory, be not to be equal to input divided by speed reducing ratio, we are called the mechanical flexibility error of decelerator this deviation.
Current, robot control system mostly adopts detection means such as shaft-position encoder or potentiometer to detect the angle that rotate in the joint, and these senser elements or be installed in motor and rotate end perhaps are installed in the output of decelerator.A distinct disadvantage of this monocycle detection system is exactly the flexible error that can't quantitatively detect decelerator.When the flexible error of decelerator was very big, system will be affected to the control of motion.
Summary of the invention:
In order to detect the flexible error of decelerator transmission system,, the present invention proposes a kind of speed reducer flexibility error detection mechanism based on dicyclo for control system provides useful reference information.
The technical solution used in the present invention is: whole system comprises angle detection system, signal processing system and mechanical mechanism three parts.Wherein angle detection system is made up of motor rotation angle detecting sensor and decelerator output rotation angle detecting sensor and interface circuit; Signal processing system is made up of with corresponding software signals collecting and process computer; Mechanical mechanism partly is used for the support of entire system, and guarantees the correctness that senser element is installed.
Its main technical schemes is: the turning cylinder of motor links to each other with the importation of decelerator, and the output of decelerator is connected with the parts that will drive.Setting angle detecting sensor on the turning cylinder of motor is used for detecting the rotational angle of motor.During installation, need to satisfy certain axiality requirement between the turning cylinder of the sensor of installing on the turning cylinder of motor and the motor shaft.Must follow following principle during installation: the nonrotational part of sensor be installed in motor on or with fixed electrical machinery parts not in relative rotation on the parts, the turning cylinder of its turning cylinder and motor or link to each other with parts that turning cylinder is connected; Or the turning cylinder of sensor is installed on the motor or with fixed electrical machinery parts not in relative rotation on the parts, the turning cylinder of nonrotational part and motor or link to each other with parts that turning cylinder is connected.Simultaneously, setting angle detecting sensor on the output of decelerator, installation requirement and on motor rotation axis sensor installation require similarly, promptly mounted sensor must be able to be measured the rotational angle of decelerator output with respect to input.
Then with signal of sensor through interface circuit, (analog signal must carry out A/D conversion) in this way is transferred in the signal process computer.The measured angle information of sensor that is installed on the motor shaft does not comprise flexible error component, and the measured angle information of the sensor that is installed in the decelerator output includes flexible error component, so can obtain the information of flexible error from the information of the two.
The invention has the beneficial effects as follows:
1. can effectively detect the flexibility of joint error, detecting reliability is strong.
2. help the accurate control of joint motions.Detected control information is fed back in the control computer, and the adjusting by algorithm can improve control rate and the precision to the robot motion.
Description of drawings:
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is a concrete application example frame for movement schematic diagram (profile)
Fig. 2 is the overall diagram of application example mechanical mechanism
Fig. 3 is the optical electric axial angle encoder pictorial diagram
Fig. 4 is a potentiometer size schematic diagram
Fig. 5 is the schematic diagram of dicyclo detection system
Among Fig. 1: 1. potentiometer stiff end 2. potentiometers 3. flexible shaft joint 4. decelerator outputs 5. bearings 6. decelerator inputs 7. harmonic speed reducers 8. optical electric axial angle encoders 9. motors
The specific embodiment:
The embodiment of this device is as follows:
The first step: as shown in fig. 1,6. motor rotation end 9. links to each other with the decelerator input by synchronous belt, to drive joint motions.8. optical electric axial angle encoder is installed in the rotating shaft of motor.5. 4. harmonic speed reducer output 7. realized and potentiometer stiff end relatively rotating 1. by bearing, according to the sensor installation guideline that in technical scheme, proposes, 2. potentiometer is connected with the potentiometer stiff end, 3. the turning cylinder of potentiometer links to each other with the decelerator output by flexible shaft joint, so just can guarantee that potentiometer can measure the relative rotation of decelerator output.The axiality of potentiometer and reducer output shaft mainly relies on the machining accuracy of the localization part of potentiometer holder to realize.
Second step: the optical electric axial angle encoder that is installed on the motor shaft is transferred in the signal process computer through interface circuit simultaneously with the measuring-signal that is installed in the potentiometer on the decelerator output, by analysis, just can calculate the size of the flexible error of decelerator to the difference of the two signal.
Claims (3)
1. the double ring detecting mechanism of a robot joint speed reducer flexibility, it is characterized in that: it comprises angle detection system, signal processing system and mechanical mechanism three parts, and wherein angle detection system is made up of senser element that takes measurement of an angle and interface circuit; Signal processing system is made up of signals collecting and process computer and corresponding software; The effect of mechanical mechanism is a support integral and the correct installation that guarantees senser element.
2. the double ring detecting mechanism of a kind of robot joint speed reducer flexibility as claimed in claim 1, it is characterized in that: setting angle detecting sensor such as optical electric axial angle encoder on motor rotation axis, to measure the rotational angle of motor rotation axis, while setting angle detecting sensor such as potentiometer on the output of decelerator, to measure the output corner of decelerator, the two common joint Transmission Error Measuring system that constitutes a dicyclo, the measured value of the two can reflect the information of flexibility of joint error.
3. as the double ring detecting mechanism of claim 1,2 described a kind of robot joint speed reducer flexibilities, it is characterized in that: can there be multiple choices and combination in the type and the installation site that are installed in the angular surveying sensor (as optical electric axial angle encoder and potentiometer) of motor rotation axis and decelerator output, can select flexibly as the case may be, as optical electric axial angle encoder all being installed at motor rotation axis and decelerator output; Output at motor rotation axis and decelerator is all installed potentiometer; Turning cylinder at motor is installed optical electric axial angle encoder, at the output of decelerator potentiometer is installed; Turning cylinder at motor is installed potentiometer, at the output of decelerator optical electric axial angle encoder etc. is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410068822XA CN100354078C (en) | 2004-07-08 | 2004-07-08 | Double ring detecting mechanism for robot joint speed reducer flexibility |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410068822XA CN100354078C (en) | 2004-07-08 | 2004-07-08 | Double ring detecting mechanism for robot joint speed reducer flexibility |
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| CN1683123A true CN1683123A (en) | 2005-10-19 |
| CN100354078C CN100354078C (en) | 2007-12-12 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102069116A (en) * | 2010-11-11 | 2011-05-25 | 哈尔滨华崴焊切股份有限公司 | Tube panel angle forming automatic control device |
| CN102941577A (en) * | 2011-09-06 | 2013-02-27 | 北京理工大学 | Robot integrated joint location detecting method based on double-rotation change coaxial design |
| CN102950594A (en) * | 2011-08-19 | 2013-03-06 | 株式会社安川电机 | Robot and robot system |
| CN103240752A (en) * | 2012-02-14 | 2013-08-14 | 库卡罗伯特有限公司 | Method for determining a torque and industrial robot |
| CN103817695A (en) * | 2014-02-28 | 2014-05-28 | 浙江大学 | Control method and drive device for robot flexible joints |
| CN104076825A (en) * | 2013-03-31 | 2014-10-01 | 深圳市大疆创新科技有限公司 | Drive device, carrier with drive device and control method of carrier |
| US9663244B2 (en) | 2013-03-31 | 2017-05-30 | SZ DJI Technology Co., Ltd. | Payload mounting platform |
| CN107160366A (en) * | 2017-06-20 | 2017-09-15 | 成都黑盒子电子技术有限公司 | One kind service articulated robot arm structure and joint angle correction method |
| CN107336259A (en) * | 2017-08-09 | 2017-11-10 | 江苏木盟智能科技有限公司 | A kind of joint of robot and robot |
| CN107953362A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint of robot rotational angle testing agency and robot |
| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint of robot driving mechanism and robot |
| CN108015799A (en) * | 2017-12-29 | 2018-05-11 | 重庆卓来科技有限责任公司 | A kind of list coder module joint and joint position determine method |
| CN111071417A (en) * | 2019-12-09 | 2020-04-28 | 中国船舶重工集团公司第七一九研究所 | Compact electric watertight joint |
| CN112697175A (en) * | 2020-12-30 | 2021-04-23 | 武汉理工大学 | Side shaft type encoder system and calibration method thereof |
| CN114670237A (en) * | 2022-03-25 | 2022-06-28 | 复旦大学 | High-load and high-flexibility robot joint |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2580502B2 (en) * | 1986-12-15 | 1997-02-12 | 工業技術院長 | Force / torque control method for motor with reduction gear |
| JP3102447B2 (en) * | 1992-06-29 | 2000-10-23 | 大阪機工株式会社 | Robot arm position control method and position control device |
| US5523662A (en) * | 1994-05-02 | 1996-06-04 | Engineering Services, Inc. | Modular, expandable and reconfigurable robot |
| CN1234510C (en) * | 2003-03-03 | 2006-01-04 | 北京航空航天大学 | Fish-like propelling robot with prior stability |
-
2004
- 2004-07-08 CN CNB200410068822XA patent/CN100354078C/en not_active Expired - Fee Related
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069116A (en) * | 2010-11-11 | 2011-05-25 | 哈尔滨华崴焊切股份有限公司 | Tube panel angle forming automatic control device |
| CN102950594A (en) * | 2011-08-19 | 2013-03-06 | 株式会社安川电机 | Robot and robot system |
| CN102950594B (en) * | 2011-08-19 | 2015-10-28 | 株式会社安川电机 | Robot and robot system |
| CN102941577A (en) * | 2011-09-06 | 2013-02-27 | 北京理工大学 | Robot integrated joint location detecting method based on double-rotation change coaxial design |
| CN103240752A (en) * | 2012-02-14 | 2013-08-14 | 库卡罗伯特有限公司 | Method for determining a torque and industrial robot |
| US9329092B2 (en) | 2012-02-14 | 2016-05-03 | Kuka Roboter Gmbh | Method for determining a torque and an industrial robot |
| CN103240752B (en) * | 2012-02-14 | 2016-12-21 | 库卡罗伯特有限公司 | For determining method and the industrial robot of torque |
| CN104076825A (en) * | 2013-03-31 | 2014-10-01 | 深圳市大疆创新科技有限公司 | Drive device, carrier with drive device and control method of carrier |
| US11001395B2 (en) | 2013-03-31 | 2021-05-11 | SZ DJI Technology Co., Ltd. | Payload mounting platform |
| US10179658B2 (en) | 2013-03-31 | 2019-01-15 | SZ DJI Technology Co., Ltd. | Payload mounting platform |
| US9663244B2 (en) | 2013-03-31 | 2017-05-30 | SZ DJI Technology Co., Ltd. | Payload mounting platform |
| US9663245B2 (en) | 2013-03-31 | 2017-05-30 | SZ DJI Technology Co., Ltd. | Payload mounting platform |
| US10556708B2 (en) | 2013-03-31 | 2020-02-11 | SZ DJI Technology Co., Ltd. | Payload mounting platform |
| CN103817695B (en) * | 2014-02-28 | 2015-10-21 | 浙江大学 | A kind of control method of robot flexibility joint and drive unit |
| CN103817695A (en) * | 2014-02-28 | 2014-05-28 | 浙江大学 | Control method and drive device for robot flexible joints |
| CN107160366A (en) * | 2017-06-20 | 2017-09-15 | 成都黑盒子电子技术有限公司 | One kind service articulated robot arm structure and joint angle correction method |
| CN107336259A (en) * | 2017-08-09 | 2017-11-10 | 江苏木盟智能科技有限公司 | A kind of joint of robot and robot |
| CN107953362A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint of robot rotational angle testing agency and robot |
| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint of robot driving mechanism and robot |
| CN108015799A (en) * | 2017-12-29 | 2018-05-11 | 重庆卓来科技有限责任公司 | A kind of list coder module joint and joint position determine method |
| CN108015799B (en) * | 2017-12-29 | 2024-02-09 | 重庆卓来科技有限责任公司 | Single encoder modularized joint and joint position determining method |
| CN111071417A (en) * | 2019-12-09 | 2020-04-28 | 中国船舶重工集团公司第七一九研究所 | Compact electric watertight joint |
| CN112697175A (en) * | 2020-12-30 | 2021-04-23 | 武汉理工大学 | Side shaft type encoder system and calibration method thereof |
| CN114670237A (en) * | 2022-03-25 | 2022-06-28 | 复旦大学 | High-load and high-flexibility robot joint |
| CN114670237B (en) * | 2022-03-25 | 2023-09-01 | 复旦大学 | High flexible robot joint of heavy-load |
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| CN100354078C (en) | 2007-12-12 |
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