CN206406056U - Speed reducing driving device and drive system based on Dual-Servo Motor - Google Patents
Speed reducing driving device and drive system based on Dual-Servo Motor Download PDFInfo
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- CN206406056U CN206406056U CN201720027789.9U CN201720027789U CN206406056U CN 206406056 U CN206406056 U CN 206406056U CN 201720027789 U CN201720027789 U CN 201720027789U CN 206406056 U CN206406056 U CN 206406056U
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Abstract
A kind of speed reducing driving device and drive system based on Dual-Servo Motor disclosed in the utility model, the speed reducing driving device is combined using Dual-Servo Motor with worm and gear, two servomotors are respectively with worm screw and while worm gear wheel, larger gearratio can so be obtained, bearing capacity is strong, driving moment is big, it is conveyed to certain tension using two servomotors are each positive and negative and can eliminate gap, Stability Analysis of Structures is reliable, suitable for industrial robot drive system, higher control accuracy can be provided, avoid because long-time is used and caused by gap become big, also the generation of seismism is reduced, with higher output stability, cost is less than harmonic wave speed reducing machine, practicality is higher；Servo-drive is carried out using the drive system, ensure move toward one another disappear gap when reach the moment values of setting, when also ensureing to move forward or backwards, the uniformity of the moment values difference between two servomotors so ensures that the effect for also reaching that gap is eliminated in motion process.
Description
Technical field
The utility model is related to industrial robot servo-drive and the technical field of reductor, especially a kind of to be watched based on double
Take the drive system of the speed reducing driving device and application of the motor speed reducing driving device.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, is to lean on self power and control ability to realize a kind of machine of various functions.It can receive mankind commander, also may be used
To be run according to the program of advance layout.The reductor that current industrial robot is used usually harmonic wave speed reducing machine, harmonic reduction
Machine by the use of flexbile gear, wave producer etc. as drive disk assembly, with drive gap is small, transmission efficiency, high precision the features such as, it is but humorous
Ripple reductor has the following disadvantages：
1st, driving moment is smaller；2nd, requirement on machining accuracy is high, so that price, usually more than more than 3000 yuan, import is more
Reach 6000 yuan one.3rd, after the use of harmonic wave speed reducing machine long-time, gap can become big, because mechanical arm length is several times in reductor
Radius, gap value can be amplified, cause positioning precision degradation.4th, harmonic wave speed reducing machine motion is circular motion, servo electricity
Machine is also circular motion.So when harmonic reduction causes stress to change because of the change of external force, can be applied on servomotor, draw
The stress reaction of servomotor is played, so as to cause the difficulty of servomotor adjusting parameter, can also be caused because of the stress reaction of motor
The vibrations of motion, so as to also have influence on precision and speed.5th, harmonic wave speed reducing machine is unilateral output, so robot is wanted because rigidity is waited
Ask, mechanical arm is generally made very thick very heavy, so as to further increase the power requirement and whole robot of servomotor
Weight.6th, harmonic wave speed reducing machine does not possess auto-lock function, so robot must add brake gear on servo motor shaft, leads
Cause cost increase.7th, in the case that robot connects harmonic reduction as a rotary joint by servomotor, the wiring of robot
Can only beside the motor cabling, and circuit is just restricted to the anglec of rotation in joint, so as to cause when can not follow the joint to rotate
The working range of robot is substantially reduced.If adding the structure of belt plus motor using hollow harmonic wave speed reducing machine, such knot
Structure can realize that wiring is passed through from hollow harmonic wave speed reducing machine.But cost can increase, hollow harmonic wave speed reducing machine is than common by expensive 30%, machine
Structure can be more complicated.
Utility model content
In order to solve the deficiency that the harmonic wave speed reducing machine of existing industrial robot is present, the utility model provides a kind of based on double
The speed reducing driving device of servomotor, and using the drive system of the speed reducing driving device, can preferably be applied to industry
Robot, structure is practical reliable.
To achieve these goals, the technical scheme that the utility model is used is：
A kind of speed reducing driving device based on Dual-Servo Motor, including housing, in the housing provided with the first servomotor,
Second servomotor and drive circuit board, the output end of first servomotor and the second servomotor are equipped with worm screw, institute
State and be additionally provided with housing by the synchronously driven worm gear of two worm screws, the worm gear carries output shaft, first servomotor and the
Two servomotors are by drive circuit board output driving.Exported, adopted using the first servomotor and the second servomotor dual drive
Coordinate worm gear to be driven with twin worm, driving moment is big, the gap effect that disappears can be effectively played, used for a long time, drive gap is not
It can become big.
It is preferred that, the worm gear is placed between two worm screws, and the output shaft of the worm gear is perpendicular to worm screw axial direction or and worm screw
It is coaxial.The installation of Industrial robots Mechanical's arm can be flexibly matched with using two kinds of different transmission outbound courses in worm gear.
It is preferred that, the end of two worm screw is respectively equipped with worm bearing, and the worm bearing is fixed on housing.
It is preferred that, the worm gear is provided with Worm Bearing, and the worm gear is fixed on housing by Worm Bearing.
It is preferred that, it is integrated with servo-driver and absolute value encoder on the drive circuit board.Absolute value encoder point
Not Dui Ying two servomotors, the synchronous coding site for obtaining two servomotors, Dual-Servo Motor uses same servo-driver
Control, realizes synchronous driving output, driving accuracy is high, it is also possible to which the double servo-drives of Dual-Servo Motor are controlled.
A kind of drive system of industrial robot, including at least one above-mentioned speed reducing driving device, the deceleration
Device is installed on the mechanical arm of industrial robot, and the worm gear connects the drive shaft of mechanical arm by output shaft.Deceleration
The worm gear of device can use two ends output driving mechanical arm, and it is long that the mechanical arm of industrial robot just considerably increases its stress arm of force
Degree, so that with thinner lighter material, Ye Nengshi robots reach more preferable rigidity and speed.According to the driving number of axle of mechanical arm
Amount sets the quantity of speed reducing driving device, i.e., set speed reducing driving device, deceleration in each drive axle position of mechanical arm
Device, by the drive shaft turns of worm gear driving mechanical arm, so, passes through driving by Dual-Servo Motor output driving worm gear wheel
The arm swing of axle driving mechanical is to complete a variety of operations.
It is preferred that, the output shaft of the worm gear is hollow structure, and the two ends of the output shaft extend and same to worm gear both sides
When be connected with mechanical arm.Worm gear uses hollow output shaft, facilitates cabling to pass through output shaft, solves because joint is walking for rotary motion
Line problem.
The beneficial effects of the utility model：Speed reducing driving device of the present utility model uses Dual-Servo Motor and worm and gear
With reference to, two servomotors are respectively with worm screw and while worm gear wheel, can so obtain larger gearratio, and bearing capacity is strong,
Driving moment is big, is conveyed to certain tension using two servomotors are each positive and negative and can eliminate gap, zero clearance can be achieved and exports,
And worm-and-wheel gear has auto-lock function, it is not necessary to separately add brake gear in servomotor, Stability Analysis of Structures is reliable, it is adaptable to work
Industry drive system of robot, using the teaching of the invention it is possible to provide higher control accuracy, it is to avoid because long-time is used and caused by gap become big.Also subtract
The generation of few seismism, with higher output stability, cost is less than harmonic wave speed reducing machine, and practicality is higher；Utilize the drive
Dynamic system carries out servo-drive, it is ensured that move toward one another disappear gap when reach the moment values of setting, when also ensureing to move forward or backwards,
The uniformity of moment values difference between two servomotors, so ensures that the work for also reaching that gap is eliminated in motion process
With.
Brief description of the drawings
Embodiment of the present utility model is described further below in conjunction with the accompanying drawings.
Fig. 1 is a kind of structural representation of speed reducing driving device of the present utility model；
Fig. 2 is Fig. 1 structure schematic diagram；
Fig. 3 is the structural representation that speed reducing driving device of the present utility model is connected with mechanical swing arm；
Fig. 4 is another structural representation of speed reducing driving device of the present utility model；
Fig. 5 is the structural representation of embodiment one in drive system of the present utility model；
Fig. 6 is the structural representation of embodiment two in drive system of the present utility model；
Fig. 7 is the flow chart of the control method of drive system in the utility model；
Fig. 8 be during the gap of the present utility model that disappears two worm screws while the structural representation contacted with worm gear.
Embodiment
To describe technology contents of the present utility model, construction feature, the objects and the effects in detail, below in conjunction with implementation
Mode simultaneously coordinates accompanying drawing to be explained in detail.
A kind of speed reducing driving device based on Dual-Servo Motor provided referring to Fig. 1, the utility model, including housing 5, institute
State and the first servomotor 1, the second servomotor 2 and drive circuit board 6, first servomotor 1 and second are provided with housing 5
The output end of servomotor 2, which is equipped with worm screw 3, the housing 5, to be additionally provided with by the synchronously driven worm gear 4 of two worm screw 3, the snail
Wheel 4 carries output shaft 41, and the servomotor 2 of the first servomotor 1 and second is by the output driving of drive circuit board 6.Using
Dual-Servo Motor is combined with the worm screw of worm gear 4, and two servomotors respectively with worm screw 3 and drive worm gear 4 to rotate simultaneously, can so obtain
To larger gearratio, by force, driving moment is big, and certain tension is conveyed to using two servomotors are each positive and negative for bearing capacity
Gap is eliminated, is used for a long time, drive gap will not become big, and Stability Analysis of Structures is reliable.
As illustrated in fig. 1 and 2, two servomotors are arranged side by side and two worm screws 3 are parallel to each other, and the worm gear 4 is placed in two worm screws 3
Between, the output shaft 41 of the worm gear 4 axially, so, is changed by the drive mechanism of the worm screw of worm gear 4 and exported perpendicular to worm screw 3
Power between direction, two alternating axis of transmission, decelerates to desired winding number, and obtain larger by the winding number of two servomotors
Torque, reduction of speed improves output torque simultaneously, and torque output ratio multiplies speed reducing ratio by servomotor output, and Fig. 3 show retardation gear
The structural representation that dynamic device is connected with mechanical swing arm 7.
As shown in figure 4, two servomotors are arranged side by side and two worm screws 3 are parallel to each other, the worm gear 4 be placed in two worm screws 3 it
Between, the output shaft 41 of the worm gear 4 and worm screw 3 are coaxial, the worm structure of worm gear 4 on the premise of outbound course is not changed,
Also larger torque can be obtained.Industrial robots Mechanical's arm can be flexibly matched with using two kinds of different transmission directions in worm gear 4
8 installation.
The end of above-mentioned two worm screw 3 is respectively equipped with worm bearing 31, and the worm bearing 31 is fixed on housing 5.It is described
Worm gear 4 is provided with Worm Bearing 42, and the worm gear 4 is fixed on housing 5 by Worm Bearing 42.So, the worm screw of worm gear 4 is in work
It is more stable when making, it is prevented effectively from the worm screw of worm gear 4 and produces vibrations.The force of periphery that worm gear 4 is subject to can act on the flank of tooth of worm screw 3, so that
Cause worm screw 3 that shaft strength is installed, do not interfere with servomotor.So when external force changes, not interfering with servomotor
Stress, will not cause servomotor to send out and answer, so as to be easier adjustment servo motor parameter, the motion of robotic arm is more balanced more
Quick
It is preferred that, it is integrated with servo-driver and absolute value encoder on the drive circuit board 6.Specifically, driving electricity
Road plate 6 is fixedly mounted on housing 5, and the absolute value encoder used is magnetic-type absolute value encoder, the rotating shaft of two servomotors
On be respectively equipped with magnet steel corresponding with absolute value encoder, the change of accurate induced field is capable of by absolute value encoder, absolutely
The absolute position of output shaft 41, angle and the number of turns can be remembered to value encoder, once that is, position, angle and the number of turns are fixed, is appointed
The indicating value for when waiting absolute value encoder is all uniquely fixed, including upper electricity after power failure.Absolute value encoder synchronously obtains two servos
The coding site of motor, Dual-Servo Motor is controlled using same servo-driver, can also be controlled using independent servo-driver,
Synchronous driving output is realized, driving accuracy is high.
Referring to Fig. 5, the utility model also provides a kind of drive system of industrial robot, including at least one deceleration
Device, speed reducing driving device is arranged on the mechanical arm 8 of industrial robot, for driving mechanical arm 8 to swing.Embodiment one, institute
The drive shaft that worm gear 4 connects mechanical arm 8 by output shaft 41 is stated, worm gear 4 is driven using unilateral output shaft 41.According to machine
The driving number of axle of tool arm 8 sets the quantity of speed reducing driving device, i.e., set retardation gear in each drive axle position of mechanical arm 8
Dynamic device, speed reducing driving device is rotated by Dual-Servo Motor output driving worm gear 4, by the drive shaft of the driving mechanical arm 8 of worm gear 4
Rotate, so, swing to complete the position servo function of industrial robot by drive shaft driving mechanical arm 8.
Referring to Fig. 6, embodiment two, the output shaft 41 of worm gear 4 is hollow structure, and the two ends of output shaft 41 are respectively connected with machinery
Swing arm 7, when worm gear 4 is operated, the synchronous hunting of mechanical swing arm 7 of both sides.In addition, in the embodiment, also including rotating seat
9, the mechanical swing arm 7 is mounted on rotating seat 9 with speed reducing driving device, and rotating seat 9 is arranged on base 10, the rotation
Transposase 19 is also driven by speed reducing driving device to be rotated, and the rotation of rotating seat 9 drives two mechanical swing arms 7 to rotate, and realizes mechanical swing arm
7 horizontal direction is rotated.Worm gear 4 uses hollow output shaft 41, facilitates cabling to pass through output shaft 41, solves because joint is rotation fortune
Dynamic routing problem.
The worm gear of above-mentioned speed reducing driving device uses two ends output driving mechanical arm, and the mechanical arm 8 of industrial robot is just
Its stress torque arm length is considerably increased, so that with thinner lighter material, above-mentioned two ends mechanical arm is respectively by frivolous sheet material
Bending is formed, and Ye Nengshi robots reach more preferable rigidity and speed.In the above embodiments, control is used as using motion controller
Device processed, motion controller includes processing module, output driving module and the power module for power supply, the processing module
The driver of mechanical arm is obtained by wireless module, the output driving module receives the drive signal from processing module simultaneously
Each speed reducing driving device of output driving, communicates specifically, processing module is set up with the drive circuit board 6 of speed reducing driving device respectively
Connection.Output driving module completes the output of various states and control command, including robot is multi-shaft interlocked, motion control, speed
Degree and Acceleration Control, dynamic compensation etc..Drive system of the present utility model can provide higher control accuracy, it is to avoid because
Use for a long time and cause gap to become big, also reduce the generation of seismism, with higher output stability, be different from existing
Mechanical arm driving structure, cost is less than harmonic wave speed reducing machine, and practicality is higher.
The memory module for storing driver is additionally provided with above-mentioned motion controller, specifically, memory module is deposited
Store up the sequence of operation, motion path, motion mode, movement velocity and the information relevant with production technology.Processing module from storage mould
The driver of industrial robot is obtained in block.In addition, processing module can set up nothing by wireless module and robot demonstrator
Line is connected, and robot demonstrator is used for Remote and operates industrial robot, realizes information exchange, can by robot demonstrator
To control working trajectory and setup parameter, and carry out man-machine interactive operation.
As shown in figure 8, also have, a kind of control method suitable for above-mentioned drive system, including step,
S1：Be first powered up, the first servomotor 1 of control is rotated forward, while the second servomotor 2 is inverted, make two worm screws 3 with
Worm gear 4 is contacted；
S2：Then set the output torque of two servomotors constant；
S3：The coding site of the first servomotor 1 and the second servomotor 2 is recorded, origin is used as；
S4：Position servo control is carried out according to drive signal；
S5：Drive signal instruction is detected whether：When detecting drive signal instruction, the synchronous operation of two servomotors；
Otherwise, operating procedure S4 is returned.
Detailed process is, before energization, and the tooth of two worm screws 3 has gap between the tooth of worm gear 4, when the first servo electricity
When machine 1 is rotated forward, the worm screw 3 of the first servomotor 1 contacts with worm gear 4, meanwhile, the second servomotor 2 is inverted, and it is exported worm screw
3 are also contacted with worm gear 4, and now, worm gear 4 is acted on by two opposite forces, and Fig. 8 show two worm screws 3 with worm gear 4 while contacting
Structural representation, now, gap are eliminated；When worm gear 4 is rotated in either direction, at least a worm screw 3 keeps and worm gear
Contact, i.e. servomotor are not in gap when starting, and are achieved in that elimination gap.
In above-mentioned steps, after two servomotors run a period of time, repeat S1 to S5 steps and disappeared again gap, it is described
Run time has program setting control.Because servomotor is present for a long time using wear problem occurs, using the gap that regularly disappears
Function, for a long time using will not also cause gap to become big because of abrasion.
Above-mentioned drive system is applied to using above-mentioned control method, can so realize driving servomotor while just
To, reversely or move toward one another, and be controlled using torque, it is ensured that move toward one another disappear gap when reach the moment values of setting,
I.e. absolute value sum is setting value, when also ensureing to move forward or backwards, the moment values difference between two servomotors with definitely
Value sum is equal, so ensures that the effect for also reaching that gap is eliminated in motion process.
Described above, simply preferred embodiment of the present utility model, the utility model is not limited to above-mentioned implementation
The structure of mode, as long as it reaches technique effect of the present utility model with identical means, should all belong to guarantor of the present utility model
Protect scope.
Claims (7)
1. a kind of speed reducing driving device based on Dual-Servo Motor, including housing, the housing is provided with the first servomotor, the
Two servomotors and drive circuit board, it is characterised in that：The output end of first servomotor and the second servomotor is all provided with
Have and be additionally provided with worm screw, the housing by the synchronously driven worm gear of two worm screws, the worm gear carries output shaft, first servo
Motor and the second servomotor are by drive circuit board output driving.
2. the speed reducing driving device according to claim 1 based on Dual-Servo Motor, it is characterised in that：The worm gear is placed in
Between two worm screws, the output shaft of the worm gear is axially or coaxial with worm screw perpendicular to worm screw.
3. the speed reducing driving device according to claim 2 based on Dual-Servo Motor, it is characterised in that：Two worm screw
End is respectively equipped with worm bearing, and the worm bearing is fixed on housing.
4. the speed reducing driving device according to claim 3 based on Dual-Servo Motor, it is characterised in that：Set on the worm gear
There is Worm Bearing, the worm gear is fixed on housing by Worm Bearing.
5. the speed reducing driving device according to claim 1 based on Dual-Servo Motor, it is characterised in that：The drive circuit
Servo-driver and absolute value encoder are integrated with plate.
6. a kind of drive system of industrial robot, it is characterised in that：It is any described including at least one the claims 1-5
Speed reducing driving device, the speed reducing driving device is installed on the mechanical arm of industrial robot, and the worm gear passes through output shaft
Connect the drive shaft of mechanical arm.
7. drive system according to claim 6, it is characterised in that：The output shaft of the worm gear is hollow structure, described
The two ends of output shaft are to the extension of worm gear both sides and are connected with mechanical arm simultaneously.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720027789.9U CN206406056U (en) | 2017-01-10 | 2017-01-10 | Speed reducing driving device and drive system based on Dual-Servo Motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720027789.9U CN206406056U (en) | 2017-01-10 | 2017-01-10 | Speed reducing driving device and drive system based on Dual-Servo Motor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737642A (en) * | 2017-01-10 | 2017-05-31 | 江门市蚂蚁机器人有限公司 | Speed reducing driving device, drive system and control method based on Dual-Servo Motor |
| CN108757911A (en) * | 2018-06-19 | 2018-11-06 | 东莞市东启智能设备有限公司 | A kind of bi-motor disappears gap error structure |
| CN112936293A (en) * | 2021-04-02 | 2021-06-11 | 上海节卡机器人科技有限公司 | Brake release method and device of blocking type brake mechanism |
-
2017
- 2017-01-10 CN CN201720027789.9U patent/CN206406056U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737642A (en) * | 2017-01-10 | 2017-05-31 | 江门市蚂蚁机器人有限公司 | Speed reducing driving device, drive system and control method based on Dual-Servo Motor |
| CN108757911A (en) * | 2018-06-19 | 2018-11-06 | 东莞市东启智能设备有限公司 | A kind of bi-motor disappears gap error structure |
| CN112936293A (en) * | 2021-04-02 | 2021-06-11 | 上海节卡机器人科技有限公司 | Brake release method and device of blocking type brake mechanism |
| CN112936293B (en) * | 2021-04-02 | 2022-09-20 | 上海节卡机器人科技有限公司 | Brake release method and device of blocking type brake mechanism |
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