CN100354078C - 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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- CN100354078C CN100354078C CNB200410068822XA CN200410068822A CN100354078C CN 100354078 C CN100354078 C CN 100354078C CN B200410068822X A CNB200410068822X A CN B200410068822XA CN 200410068822 A CN200410068822 A CN 200410068822A CN 100354078 C CN100354078 C CN 100354078C
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- decelerator
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- 238000009434 installation Methods 0.000 claims description 7
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Abstract
本发明涉及一种机器人关节减速器柔性的双环检测机构，由角度检测系统、信号处理系统和机械机构三部分组成。在电机转动轴和减速器的输出端安装转角检测传感器(如光电轴角编码器或者电位器)以测量电机转动轴的转角和关节的转角，二者的测量信息都反馈到信号处理系统中，构成双环检测系统，能够有效、准确的检测到关节处减速器的柔性传动误差。
The invention relates to a flexible double-ring detection mechanism of a robot joint reducer, which consists of three parts: an angle detection system, a signal processing system and a mechanical mechanism. Install a rotation angle detection sensor (such as a photoelectric shaft angle encoder or potentiometer) at the output end of the motor rotation shaft and the reducer to measure the rotation angle of the motor rotation shaft and the joint rotation angle, and the measurement information of both is fed back to the signal processing system. A double-loop detection system is formed, which can effectively and accurately detect the flexible transmission error of the reducer at the joint.
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 (2)
1. the double ring detecting mechanism of a robot joint speed reducer flexibility, it comprises angle detection system, signal processing system and mechanical mechanism three parts, 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, it is characterized in that: it is the setting angle detecting sensor on motor rotation axis, to measure the rotational angle of motor rotation axis, while setting angle detecting sensor 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 speed reducer flexibility error.
2. the double ring detecting mechanism of a kind of robot joint speed reducer flexibility as claimed in claim 1 is characterized in that: the angular surveying type of sensor and the installation site that are installed in motor rotation axis and decelerator output can have four kinds to select and combination: at motor rotation axis and decelerator output optical electric axial angle encoder is installed all; 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 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 |
Applications Claiming Priority (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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| CN1683123A CN1683123A (en) | 2005-10-19 |
| CN100354078C true CN100354078C (en) | 2007-12-12 |
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| CNB200410068822XA Expired - Fee Related CN100354078C (en) | 2004-07-08 | 2004-07-08 | Double ring detecting mechanism for robot joint speed reducer flexibility |
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| 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 |
| JP5447455B2 (en) * | 2011-08-19 | 2014-03-19 | 株式会社安川電機 | Robot and robot system |
| CN102941577B (en) * | 2011-09-06 | 2015-06-10 | 北京理工大学 | Robot integrated joint location detecting method based on double-rotation change coaxial design |
| DE102012202181A1 (en) | 2012-02-14 | 2013-08-29 | Kuka Roboter Gmbh | Method for determining a torque and industrial robots |
| DK2844560T3 (en) | 2013-03-31 | 2019-08-05 | Sz Dji Technology Co Ltd | Payload Mounting Platform |
| CN104076825B (en) * | 2013-03-31 | 2018-11-16 | 深圳市大疆创新科技有限公司 | Driving device, the carrier of application drive device and its control method |
| CN103817695B (en) * | 2014-02-28 | 2015-10-21 | 浙江大学 | A kind of control method of robot flexibility joint and drive unit |
| CN107160366B (en) * | 2017-06-20 | 2021-05-04 | 成都黑盒子科技有限公司 | Service type 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 robot joint rotation angle detection mechanism and robot |
| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | Robot joint driving mechanism and robot |
| 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 |
| CN112697175B (en) * | 2020-12-30 | 2023-03-21 | 武汉理工大学 | Side shaft type encoder system and calibration method thereof |
| CN114670237B (en) * | 2022-03-25 | 2023-09-01 | 复旦大学 | High flexible robot joint of heavy-load |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63154088A (en) * | 1986-12-15 | 1988-06-27 | Agency Of Ind Science & Technol | Force-torque control system of motor with speed reducer |
| JPH0612111A (en) * | 1992-06-29 | 1994-01-21 | Osaka Kiko Co Ltd | Position controlling method for robot arm and position controller |
| US5523662A (en) * | 1994-05-02 | 1996-06-04 | Engineering Services, Inc. | Modular, expandable and reconfigurable robot |
| CN1439491A (en) * | 2003-03-03 | 2003-09-03 | 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
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63154088A (en) * | 1986-12-15 | 1988-06-27 | Agency Of Ind Science & Technol | Force-torque control system of motor with speed reducer |
| JPH0612111A (en) * | 1992-06-29 | 1994-01-21 | Osaka Kiko Co Ltd | Position controlling method for robot arm and position controller |
| US5523662A (en) * | 1994-05-02 | 1996-06-04 | Engineering Services, Inc. | Modular, expandable and reconfigurable robot |
| CN1439491A (en) * | 2003-03-03 | 2003-09-03 | 北京航空航天大学 | Fish-like propelling robot with prior stability |
Non-Patent Citations (1)
| Title |
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| 基于CAN总线的仿人机器人关节伺服控制系统研究 赵建东等.机器人，第24卷第5期 2002 * |
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| CN1683123A (en) | 2005-10-19 |
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