CN209875867U

CN209875867U - RV speed reducer capable of realizing closed-loop control

Info

Publication number: CN209875867U
Application number: CN201920127410.0U
Authority: CN
Inventors: 宋彬
Original assignee: Chengdu Double Times Technology Co
Current assignee: Chengdu Double Times Technology Co
Priority date: 2019-01-25
Filing date: 2019-01-25
Publication date: 2019-12-31
Anticipated expiration: 2029-01-25

Abstract

The utility model discloses a realize closed-loop control's RV speed reducer, the RV speed reducer comprises casing and bearing frame, the casing is equipped with round erection joint dish outward, the bearing frame divide into input bearing frame and output shaft bearing, be equipped with the optical code dish in the RV speed reducer, the optical code dish is located the input bearing frame or on the terminal surface of RV speed reducer output, is equipped with the code reader who corresponds with the optical code dish on the RV speed reducer. Compared with the prior art, the utility model discloses a real-time output drive control process realizes closed-loop control's RV speed reducer to accurate understanding RV speed reducer's output error and clearance are convenient for adjust automatically, realize the accurate closed-loop control of robot driver part.

Description

RV speed reducer capable of realizing closed-loop control

Technical Field

The utility model relates to a RV speed reducer especially relates to a realize closed-loop control's RV speed reducer.

Background

The existing robot joint driving method adopts a motor to provide power, and the RV reducer is used for driving and controlling the motion of the robot. The existing RV reducer does not have a position detection function, and the running accuracy of the robot can only completely depend on the mechanical precision. However, the RV reducer has working errors such as backlash and errors in a rotating shaft, a bearing and a gear in the long-term working process, and the system cannot obtain the feedback of the running parameters of the RV reducer, so that the robot arm of the robot is not driven accurately and cannot reach an accurate position.

The mode that adopts on the market at present can only adopt the encoder to detect input and output shaft's precision, or install the encoder additional on the motor, can't get rid of the working error that RV speed reducer itself exists. Moreover, an encoder is difficult to be additionally arranged on the conventional RV reducer, so that the driving result of the RV reducer cannot be detected, and a closed-loop control cannot be formed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a solve above-mentioned problem, according to the structure and the operational connection mode of RV speed reducer, integrate the RV speed reducer of closed-loop control in with the encoder.

In order to realize the purpose, the utility model discloses a technical scheme is: the utility model provides a realize closed-loop control's RV speed reducer, the RV speed reducer comprises casing and bearing frame, the casing is equipped with round erection joint dish outward, the bearing frame divide into input bearing frame and output shaft bearing, be equipped with the optical code dish in the RV speed reducer, the optical code dish is located the input bearing frame or on the terminal surface of RV speed reducer output, is equipped with the code reader who corresponds with the optical code dish on the RV speed reducer.

Preferably, the optical code disc is in an annular belt shape and sleeved on the outer diameter of the input bearing seat, and the optical code disc is in interference fit with the input bearing seat.

Preferably, the optical code reader further comprises an L-shaped code reader, one end of the code reader is provided with a code reading head matched with the optical code disc, the other end of the code reader is provided with a fastening screw, and the mounting connecting disc is provided with a threaded connecting hole matched with the fastening screw.

Preferably, the reading head reading direction is perpendicular to the axial lead of the RV reducer.

Preferably, the optical code disc is in an annular disc shape, the optical code disc is bonded on the shell of the output end of the RV reducer, and the optical code disc and the output shaft bearing seat are located on the same axial line.

Preferably, the optical code reader further comprises an L-shaped code reader, one end of the code reader is provided with a code reading head matched with the optical code disc, the other end of the code reader is provided with a fastening screw, and the output bearing seat is provided with a threaded connecting hole matched with the fastening screw.

Preferably, the reading head reading direction is parallel to the axial lead of the RV reducer.

Preferably, the mounting land is fixed to the housing.

Preferably, the mounting connection disc is provided with bolt connection holes which are convenient to fix on the frame to be mounted, and the bolt connection holes are uniformly distributed at intervals along the circumferential direction of the mounting connection disc.

Compared with the prior art, the utility model has the advantages of: the utility model discloses a real-time output drive control process realizes closed-loop control's RV speed reducer to accurate understanding RV speed reducer's output error and clearance are convenient for adjust automatically, realize the accurate closed-loop control of robot driver part.

Drawings

Fig. 1 is a schematic side view of the present invention;

fig. 2 is a schematic structural diagram of the input end of the present invention;

FIG. 3 is a schematic structural diagram of the annular strip-shaped optical code disc of the present invention;

fig. 4 is a schematic structural view of the output end of the present invention;

fig. 5 is a schematic structural diagram of the annular disc-shaped optical code disc of the present invention.

In the figure: 1. a housing; 2. mounting a connecting disc; 3. an optical code disc; 4. a code reader; 5. an input bearing seat; 6. connecting holes of bolts; 7. connecting a threaded hole; 8. fastening screws; 9. and an output bearing seat.

Detailed Description

The present invention will be further explained below.

Example 1: the utility model provides a realize closed-loop control's RV speed reducer, the RV speed reducer comprises casing 1 and bearing frame, casing 1 is equipped with round erection joint dish 2 outward, the bearing frame divide into input bearing frame 5 and output shaft bearing 9, be equipped with optical code wheel 3 in the RV speed reducer, optical code wheel 3 is located input bearing frame 5 or on the terminal surface of RV speed reducer output, is equipped with the code reader 4 that corresponds with optical code wheel 3 on the RV speed reducer. And outputting a driving control result of the RV reducer in real time. The reading through optical code wheel 3 can be accurate know the transmission position of actuating mechanism arm, compares with the motor drive result, can know the output error of RV speed reducer to accurate understanding RV speed reducer's output error and clearance are convenient for adjust automatically, realize the accurate closed-loop control of robot driver part.

Two ways are adopted, one is: referring to fig. 1, 2 and 3, the optical code disc 3 is in an annular belt shape and is sleeved on the outer diameter of the input bearing seat 5, and the optical code disc 3 is in interference fit with the input bearing seat 5. Because the end face of the input bearing seat 5 needs to be connected with the output shaft of the motor, the optical code disc 3 cannot be installed, and the optical code disc 3 is arranged on the outer diameter of the input bearing seat 5, so that the bearing rotation of the RV reducer is detected. The annular belt shape is convenient for being sleeved on the bearing seat.

The optical code reading device is characterized by further comprising an L-shaped code reader 4, wherein one end of the code reader 4 is provided with a code reading head matched with the optical code disc 3, the other end of the code reader is provided with a fastening screw 8, a threaded connecting hole 7 matched with the fastening screw 8 is formed in the mounting connecting disc 2, the code reader 4 is fastened and mounted on the mounting connecting disc 2 through the fastening screw 8, relative movement between the code reader 4 and the rotating optical code disc 3 is achieved, and code reading operation is carried out. The reading direction of the reading head is perpendicular to the axial lead of the RV reducer, and the code reader 4 is positioned on the side face, so that the driving control of a motor is not influenced. Because the code reader 4 cannot be installed on the shell 1 due to the volume limitation, the code reader is connected to the installation connecting disc by fastening screws 8, the length of the code reader head is increased, and the code reader head extends to the installation connecting disc 2.

Two modes are adopted, two modes are as follows: the optical code disc 3 is in a ring disc shape, referring to fig. 4 and 5, the optical code disc 3 is bonded on the shell 1 at the output end of the RV reducer, the optical code disc 3 and the output shaft bearing seat 9 are positioned on the same axial line, because the output end of the RV reducer is connected with the driving structure mechanical arm, a gap is left between the output end of the RV reducer and the driving structure mechanical arm, the optical code disc 3 and the code reader 4 can be installed by utilizing the gap, therefore, the optical code disc 3 is fixed on the end surface of the output end of the RV reducer and is adhered and fixed on the shell 1, the code reader 4 is fixed on the output bearing and rotates along with the output bearing, the optical code disk device is relatively rotated with the optical code disk 3 to read rotating data in real time, preferably, the optical code disk device further comprises an L-shaped code reader 4, one end of the code reader 4 is provided with a code reading head matched with the optical code disk 3, the other end of the code reader 4 is provided with a fastening screw 8, and the output bearing block 9 is provided with a threaded connecting hole 7 matched with the fastening screw 8. The reading direction of the reading head is parallel to the axial lead of the RV reducer, and the optical code disc 3 is read. The code reader 4 cannot be mounted on the housing 1 due to its volume limitation, and is therefore mounted on the end face of the output bearing block 9.

The mounting connecting disc 2 is fixed on the shell 1, and the structural stability is strong. The mounting connection pad 2 is provided with bolt connection holes 6 convenient to fix on the frame to be mounted, and the code reader 4 is convenient to mount, the bolt connection holes 6 are uniformly distributed along the circumferential direction of the mounting connection pad 2 at intervals, and the RV reducer is ensured to be stably mounted through the mounting connection pad 2 and the mounting frame fixed connection of the RV reducer.

Both of the above approaches may also coexist.

The RV reducer for realizing closed-loop control provided by the present invention has been described in detail above, and the present document applies specific examples to explain the principle and the implementation of the present invention, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; while the invention has been described in terms of specific embodiments and applications, it will be apparent to those skilled in the art that numerous variations and modifications can be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a realize closed-loop control's RV speed reducer which characterized in that: the RV speed reducer comprises casing and bearing frame, the casing is equipped with round erection joint dish outward, the bearing frame divide into input bearing frame and output shaft bearing, be equipped with the optical code dish in the RV speed reducer, the optical code dish is located the input bearing frame or on the terminal surface of RV speed reducer output, is equipped with the code reader who corresponds with the optical code dish on the RV speed reducer.

2. The RV reducer for realizing closed-loop control according to claim 1, characterized in that: the optical code disc is in an annular belt shape and sleeved on the outer diameter of the input bearing seat, and the optical code disc is in interference fit with the input bearing seat.

3. The RV reducer for realizing closed-loop control according to claim 2, wherein: the optical code reader is characterized by further comprising an L-shaped code reader, one end of the code reader is provided with a code reading head matched with the optical code disc, the other end of the code reader is provided with a fastening screw, and the mounting connection disc is provided with a threaded connection hole matched with the fastening screw.

4. The RV reducer realizing closed-loop control according to claim 3, characterized in that: the reading direction of the reading head is perpendicular to the axial lead of the RV reducer.

5. The RV reducer for realizing closed-loop control according to claim 1, characterized in that: the optical code disc is in an annular disc shape, the optical code disc is bonded on the shell of the output end of the RV reducer, and the optical code disc and the output shaft bearing are located on the same axis.

6. The RV reducer realizing closed-loop control according to claim 4, characterized in that: and the output bearing seat is provided with a threaded connecting hole matched with the fastening screw.

7. The RV reducer for realizing closed-loop control according to claim 6, characterized in that: the reading direction of the reading head is parallel to the axial lead of the RV reducer.

8. The RV reducer for realizing closed-loop control according to claim 1, characterized in that: the mounting connecting disc is fixed on the shell.

9. The RV reducer for realizing closed-loop control according to claim 1, characterized in that: the mounting connection disc is provided with bolt connection holes convenient to fix on the frame to be mounted, and the bolt connection holes are uniformly distributed at intervals along the circumferential direction of the mounting connection disc.