CN205325690U

CN205325690U - Many joints transmission structure of robot without speed reducer

Info

Publication number: CN205325690U
Application number: CN201620037005.6U
Authority: CN
Inventors: 徐伟业; 柴晓峰; 章华群
Original assignee: HANGZHOU SPANNERHZ MECHANICAL EQUIPMENT CO Ltd
Current assignee: Hangzhou history Technology Co., Ltd.
Priority date: 2016-01-15
Filing date: 2016-01-15
Publication date: 2016-06-22
Anticipated expiration: 2026-01-15

Abstract

The utility model relates to a many joints transmission structure of robot without speed reducer, including motor, arm, the rotor shaft of motor form by front axle and rear axle, the front axle of this motor is connected with the arm, is equipped with the encoder on the rear axle of motor, the signal output line of encoder is connected with the signal input interface of electronics closed -loop control ware, the input power line of motor is connected with the power output interface of electronics closed -loop control ware, the input cable conductor of electronics closed -loop control ware is connected with the power cord, electron closed -loop control ware in control system include LM629 chip and PIC16F877 singlechip, the utility model has the advantages of transmission flexible, precision height, simple structure, manufacturing are easy, good reliability, longe -lived, low price, maintenance work volume less, convenient to use.

Description

Robot multi-joint drive mechanism without reductor

Technical field

This utility model belongs to articulated robot technical field, particularly relates to a kind of robot multi-joint drive mechanism without reductor。

Background technology

1, articulated robot currently on the market, all adopts the drive method of servomotor+reductor, the function exporting moment of torsion to reduce output speed to improve。

2, owing to transmission accuracy is required significantly high by articulated robot, so the mechanical transmission errors of reductor must control within the scope of " μm " level。Domestic reductor does not reach this level, can not meet the requirement supporting with articulated robot。

3, the drive disk assembly of current domestic articulated robot, most high performance servo motors all adopting import and high accuracy harmonic wave or RV reductor, expensive。Two critical components just account for the 50% of whole articulated robot production cost。

4, high performance servo motor has become the bottleneck of the domestic articulated robot industry development of restriction with high accuracy reductor。

Summary of the invention

The purpose of this utility model is in that the deficiency overcoming prior art to exist, and provides the robot multi-joint drive mechanism without reductor that a kind of simple in construction, precision are higher。

The purpose of this utility model completes by following technical solution, including motor, mechanical arm, the armature spindle of described motor is made up of front axle and rear axle, the front axle of this motor is connected with mechanical arm, equipped with encoder on the rear axle of motor, the output line of encoder is connected with the signal input interface of electronic closed loop controller, and the input power cord of motor is connected with the power output interface of electronic closed loop controller, and the input cable line of electronic closed loop controller is connected with power line。

As preferably, the described control system in electronic closed loop controller includes LM629 chip and PIC16F877 single-chip microcomputer, PIC16F877 single-chip microcomputer is connected with the data in LM629 chip and control mouth die block with control line by data wire, PID controller in LM629 chip is controlled in L298N power chip by PWM amplitude and direction signal module, this L298N power chip is connected with motor, the encoder that motor passes through to be connected on its rear axle is by the location of instruction module in feedback signal transmission to LM629 chip, this location of instruction module is connected with PID controller, this location of instruction module is also connected with the data in LM629 chip and control mouth die block simultaneously。

As preferably, described LM629 chip is connected with the I/O of PIC16F877 single-chip microcomputer by 6 position datawires and 6 control lines。

As preferably, described PIC16F877 single-chip microcomputer is connected with PC by communication。

The beneficial effects of the utility model by: electromechanical integrated structure new technique has surmounted the technical merit of useful servomotor+speed reducer structure transmission on existing market, the drive system precision making articulated robot reaches a new height, it is particularly well-suited to the operating condition needs of high accuracy drive apparatus, can be widely applied to the industries such as automobile, electric welding, carrying, heap frame, lathe, machining, weaving, printing and dyeing, printing, packaging, metallurgy, medical treatment, transmission, there is very big using value and application market。

Accompanying drawing explanation

Fig. 1 is electric machine structure of the present utility model and operation logic schematic diagram。

Fig. 2 is electronic closed loop controller system of the present utility model and operation logic schematic diagram。

Fig. 3 is electronic closed loop controller drive motor of the present utility model and mechanical arm schematic diagram。

Fig. 4 is robot of the present utility model multi-joint drive mechanism schematic diagram。

Label in accompanying drawing is respectively as follows: 1, motor；2, encoder；3, electronic closed loop controller；4, mechanical arm；11, front axle；12, rear axle。

Detailed description of the invention

Below in conjunction with accompanying drawing, this utility model done detailed introduction: as shown in accompanying drawing 1 to 4, this utility model includes motor 1, mechanical arm 4, the armature spindle of described motor 1 is made up of front axle 11 and rear axle 12, the front axle 11 of this motor is connected with mechanical arm 4, equipped with encoder 2 on the rear axle 12 of motor, the output line of encoder 2 is connected with the signal input interface of electronic closed loop controller 3, the input power cord of motor 1 is connected with the power output interface of electronic closed loop controller 3, and the input cable line of electronic closed loop controller 3 is connected with power line。

Described motor 1 is low speed high torque servomotor, being characterized in that of this motor 1: both there is the feature that response is fast, permanent torque, control accuracy are high, overload capacity is strong, the speed of service is steady of high performance servo motor, there is again harmonic wave and that rotating speed of RV reductor is low, moment of torsion big, the feature of transmission precision, the specific operation needs of robot multiple joint manipulator motion, the kind of drive of the high performance servo motor+accurate retarding machine of simplification and replacement conventional machines people's multi-joint can be met。

Electronic closed loop controller 3 is built with the transmission program of an articulated robotic arm, and electronic closed loop controller 3 can store control program and service data, can drive and control the operating change of motor 1；The rotor feedback signal of encoder 2 output on the rear axle 12 of motor 1 can be accepted；Can automatically detect, calculate, compare the difference of the data of encoder feedback signal and the operational factor being stored in electronic closed loop controller and requirement on motor 1；The output speed of motor be can automatically change, rotating speed and the positioning precision of output shaft revised。

Motor 1 output speed and orientation angle are carried out closed loop control by encoder 2 feedback signal on rotor axis of electric by electronic closed loop controller 3, make the rotating speed of motor output shaft and orientation angle reach the accurately errorless requirement set by program。

Electronic closed loop controller 3 can by various service condition service requirements, freely set and change various program parameter, motor 1 ruuning situation is carried out closed loop accurately control, and then reach that the ruuning situation of the mechanical arm 4 on the front axle 11 being connected to motor 1 is carried out closed loop and accurately control。

The described control system in electronic closed loop controller 3 includes LM629 chip and PIC16F877 single-chip microcomputer, PIC16F877 single-chip microcomputer is connected with the data in LM629 chip and control mouth die block with control line by data wire, PID controller in LM629 chip is controlled in L298N power chip by PWM amplitude and direction signal module, this L298N power chip is connected with motor 1, the encoder 2 that motor 1 passes through to be connected on its rear axle 12 is by the location of instruction module in feedback signal transmission to LM629 chip, this location of instruction module is connected with PID controller, this location of instruction module is also connected with the data in LM629 chip and control mouth die block simultaneously；Described LM629 chip is connected with the I/O of PIC16F877 single-chip microcomputer by 6 position datawires and 6 control lines。

PIC16F877 single-chip microcomputer sends position or speed command by data alignment LM629 chip, sets PID controller and regulates parameter, and from LM629 chip the numerical value such as reading speed, acceleration。Pulsewidth modulation range signal and the direction signal of the output of LM629 chip directly drive L298N power chip, through power amplification rear drive motor。During the operating of motor drag robot arm, the encoder on motor shaft provides the feedback signal (A.B.IN) needed for closed loop control, and ladder diagram generator calculates the required running orbit controlled under position or velocity mode。

PIC16F877 single-chip microcomputer provides acceleration, speed and target location amount for LM629 chip, calculates the order made new advances and position set-point in each sampling period by these values, it can be used as command value。

Detected the physical location of motor shaft by encoder 2, its output signal is decoded after LM629 chip quadruple, forming position value of feedback。

The difference of command value and value of feedback is as the input of Digital PID Controller correction link, calculated by several PID controller, LM629 chip output pulse width modulation signal PWMM and direction signal PWMS, for controlling L298N power chip, and then drive motor 1 move to appointment position, then by motor 1 drag joint of robot arm reach specify position。

LM629 chip is while carrying out position control, also speed is controlled, LM629 chip after receiving the position signalling that main frame is sent here, generate by ladder diagram accelerate, at the uniform velocity, the rate curve that slows down, the area that curve and coordinate banner surround refers to allocation。

Ratio in PID controller algorithm, integration and differential coefficient, sometimes for modifying, therefore, are stored in the E2PROM of PIC16F877 single-chip microcomputer, and PIC16F877 single-chip microcomputer and PC carry out serial communication by wireless transmit and receiver module。

Operation logic of the present utility model is:

1. electronic closed loop controller 3 sends programmed instruction to motor 1---and-drive motor 1 follow procedure requires to rotate；

2. the front axle 11 of motor 1 drags joint of robot arm and makees upper and lower, left and right, advance, retrogressing, spinning movement；

3. the turn signal of motor 1 is fed back to electronic closed loop controller 3 by the encoder 2 on the rear axle 12 of motor 1；

4. electronic closed loop controller 3 calculates actual motion speed and the position angle of motor 1 from each feedback signal；

5. the data calculated and the operational factor being stored in electronic closed loop controller 3 are compared, automatically revise, change the precision of the rotating speed of motor 1, position and angle, reach the accurately errorless requirement set by program；

6. sending new command value to motor 1, order motor 1 drags joint of robot arm, by accurate constant speed locating rotation。

This utility model is not limited to above-mentioned embodiment, no matter making any change, every employing structural design provided by the utility model on its shape or material are constituted, being all a kind of deformation of the present utility model, being all considered as within this utility model protection domain。

Claims

1. the robot multi-joint drive mechanism without reductor, including motor (1), mechanical arm (4), it is characterized in that: the armature spindle of described motor (1) is made up of front axle (11) and rear axle (12), the front axle (11) of this motor is connected with mechanical arm (4), equipped with encoder (2) on the rear axle (12) of motor, the output line of encoder (2) is connected with the signal input interface of electronic closed loop controller (3), the input power cord of motor (1) is connected with the power output interface of electronic closed loop controller (3), the input cable line of electronic closed loop controller (3) is connected with power line。

2. the robot multi-joint drive mechanism without reductor according to claim 1, it is characterized in that: the described control system in electronic closed loop controller (3) includes LM629 chip and PIC16F877 single-chip microcomputer, PIC16F877 single-chip microcomputer is connected with the data in LM629 chip and control mouth die block with control line by data wire, PID controller in LM629 chip is controlled in L298N power chip by PWM amplitude and direction signal module, this L298N power chip is connected with motor (1), motor (1) by the encoder (2) that is connected on its rear axle (12) by the location of instruction module in feedback signal transmission to LM629 chip, this location of instruction module is connected with PID controller, this location of instruction module is also connected with the data in LM629 chip and control mouth die block simultaneously。

3. the robot multi-joint drive mechanism without reductor according to claim 2, it is characterised in that: described LM629 chip is connected with the I/O of PIC16F877 single-chip microcomputer by 6 position datawires and 6 control lines。

4. the robot multi-joint drive mechanism without reductor according to claim 2, it is characterised in that: described PIC16F877 single-chip microcomputer is connected with PC by communication。