WO2019196723A1 - Robot joint using three-stage synchronous belt speed reducer and control method therefor - Google Patents

Abstract

Disclosed is a robot joint using a three-stage synchronous belt speed reducer. The robot joint comprises an electric motor rotating shaft (21) and an output rotating shaft (22), which are arranged between a first installation plate (11) and a second installation plate (12) and are parallel to each other; an electric motor (30) for driving the electric motor rotating shaft (21) to rotate; a first synchronous pulley (41), which synchronously rotates along with the electric motor rotating shaft (21); a second synchronous pulley (42), which is rotatably arranged on the output rotating shaft (22) and is connected to the first synchronous pulley (41) via a synchronous belt; a third synchronous pulley (43), which is rotatably arranged on the output rotating shaft (22) and is integrally designed together with the second synchronous pulley (42); a fourth synchronous pulley (44), which is rotatably arranged on the electric motor rotating shaft (21) and connected to the third synchronous pulley (43) via a synchronous belt; a fifth synchronous pulley (45), which is rotatably arranged on the electric motor rotating shaft (21) and is integrally designed together with the fourth synchronous pulley (44); and a sixth synchronous pulley (46), which is fixedly arranged on the output rotating shaft (22) and is connected to the fifth synchronous pulley (45) via a synchronous belt. For the robot joint, the pulleys are driven by the synchronous belts to realize deceleration, the manufacturing cost is low, running noise is low, the structure is compact, and the size is small. Further disclosed is a control method for a robot joint using a three-stage synchronous belt speed reducer.

Description

Robot joint using three-stage synchronous belt reducer and control method thereof Technical field

The present invention relates to the field of robot technology, and in particular to a robot joint using a three-stage synchronous belt reducer and a control method thereof.

Background technique

With the advancement of society and the development of the economy, robots have been widely used in various industries, especially in the industry. Robots can be automatically assembled, painted, transported, welded, etc., and robots are used instead of manual operations to improve the work. Efficiency and precision. The robot is generally composed of an actuator, a driving device, a detecting device and a control system, and a complex machine. The motion pair is often called a joint, and the number of joints is usually the degree of freedom of the robot. Most of the prior art robot joints use harmonics. The reducer is not only costly but also has a relatively high operating noise.

Therefore, the prior art has yet to be improved and developed.

Summary of the invention

In view of the deficiencies of the prior art, the present invention aims to provide a robot joint using a three-stage synchronous belt reducer and a control method thereof, aiming at solving the prior art that the robot joint adopts a harmonic reducer, and the manufacturing success is high and the operation is high. The problem of loud noise.

In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:

A robot joint using a three-stage synchronous belt reducer, comprising:

a first mounting plate and a second mounting plate disposed opposite to each other;

The motor shafts of the first mounting plate and the second mounting plate are respectively rotatably coupled at both ends;

An output shaft that is rotatably connected to the first mounting plate and the second mounting plate and disposed parallel to the motor rotating shaft;

a motor disposed at one end of the motor shaft and fixed to the first mounting plate;

a first timing pulley disposed on a side of the movable end of the motor and rotating in synchronization with the motor shaft;

a second timing pulley that is rotatably disposed on the output shaft and connected to the first timing pulley through a timing belt;

a third timing pulley rotatably disposed on the output shaft and located on a side of the second timing pulley remote from the first mounting plate and synchronously rotating with the second timing pulley;

a fourth timing pulley that is rotatably disposed on the motor shaft and connected to the third timing pulley through the timing belt;

a fifth timing pulley that is rotatably disposed on the motor shaft and located on a side of the fourth timing pulley that is away from the first mounting plate and that rotates in synchronization with the fourth timing pulley;

a sixth timing pulley fixed to the output shaft and connected to the fifth timing pulley through a timing belt for driving the output shaft to rotate synchronously;

The diameter of the second timing pulley is larger than the diameter of the first timing pulley, the diameter of the fourth timing pulley is larger than the diameter of the third timing pulley, and the diameter of the sixth timing pulley is larger than The diameter of the fifth timing pulley;

An output rotary encoder that rotates synchronously with the output shaft is connected to one end of the output shaft connected to the first mounting plate;

The motor rotating shaft is provided with one end of the motor connected with a motor rotary encoder that rotates synchronously with the motor.

Further, an output flange is disposed at one end or one end of the output shaft.

Further, an electromagnetic brake is disposed on the motor.

Further, the motor is connected with a motor controller, and the motor controller adjusts a torque of the motor according to a deviation between an angle value of the output rotary encoder and a command angle value, so as to rotate the output flange. The angle follows the command angle change.

Further, the motor controller receives a position feedback signal of the output rotary encoder or the motor rotary encoder, where the difference between the robot joint and the command angle is less than a preset threshold and the motor speed is lower than the set The value is generated by the output rotary encoder, otherwise it is generated by the motor rotary encoder.

Further, the robot joint can perform torque measurement, and the torque measurement refers to an angle difference between the motor driver and the motor rotary encoder after reading the output rotary encoder and the motor rotary encoder, and the angle difference between the synchronous belt and the torque The difference between the value and the value of the angle difference between the moments and the moment is expressed by the amount of deformation of the timing belt after the force is applied, and the output torque of the output flange is calculated by the amount of deformation.

Further, the amount of deformation of the timing belt after being subjected to the force is varied under different forces, and the value is determined by actual calibration.

Further, the motor is disposed on a side of the first mounting board away from the second mounting board.

Further, a through hole is formed in the middle of the output shaft for connecting the communication and power lines.

Further, a spacing width between the second timing pulley and the sixth timing pulley is not less than a width of the fourth timing pulley, and the fourth timing pulley portion is located in the second timing belt Between the wheel and the sixth timing pulley.

The invention also provides a control method for a robot joint using a three-stage synchronous belt reducer as described above, comprising the following steps:

Reading the angle of the actual rotation of the output shaft by the output rotary encoder;

The angle of the actual rotation of the output shaft is used as a position feedback signal and the set angle of rotation required as a given signal for position adjustment, and the motor is controlled to rotate so that the output shaft follows the change of the command angle;

The position feedback signal is generated by the output rotary encoder when the difference between the rotation angle of the robot joint and the command angle is less than a preset threshold, and when the motor speed is lower than the set value, otherwise generated by the motor rotary encoder;

Since the timing belt will be elongated after being stressed, the amount of deformation can be obtained by reading the angle values of the output rotary encoder and the motor rotary encoder after a uniform angle equivalent, and the angle difference between the synchronous belt and the moment is not affected by the moment. The difference between the values of the angle difference indicates the amount of deformation of the timing belt after the force is applied, and the output torque of the output flange is calculated by the deformation amount;

The amount of deformation of the timing belt after the force is nonlinearly changed under different forces, and the value is determined by actual calibration.

The invention adopts the above technical solution, and has at least the following beneficial effects: the speed reduction is achieved by the timing belt driving the pulley, the manufacturing cost is low, and the running noise is small; the rotary encoder can be set on the output rotating shaft to detect whether the output rotating shaft is turned into position, and according to The rotation error control motor continues to rotate, so that the output shaft is turned to the required position, which solves the problem of poor positioning accuracy of the synchronous belt; three sets of timing belts are set for three-stage deceleration, and the deceleration requirement can be fully achieved; the pulley is a gear, The inner side of the timing belt is also provided with a serrated surface adapted to the gear teeth of the gear, which can increase the friction between the timing belt and the gear to avoid the slip of the synchronous belt; the entire robot joint is set as a module, and the motor and the like are fixed. It does not need to be attached to the robot arm or casing for easy installation and disassembly; the structure is compact, and the fourth timing pulley can be located in the gap between the second timing pulley and the sixth timing pulley, reducing the volume of the entire robot joint, while Setting the three-stage deceleration can greatly reduce the length of each timing belt compared to setting only one level of deceleration. Reduce the length of the robot joint; an electromagnetic brake can also be set on the motor to lock the motor in an unexpected situation to prevent the robot joint from running out of control.

DRAWINGS

The drawings described herein are provided to provide a further understanding of the present application, and constitute a part of the present application. The embodiments of the present application and the description thereof are used to explain the present application and do not constitute an undue limitation of the present application. In the drawing:

FIG. 1 is a schematic view showing the structure of a robot joint without a timing belt installed in the present invention.

2 is a schematic structural view of a robot joint in which a timing belt is mounted.

3 is a schematic cross-sectional structural view of the robot joint of FIG. 2.

4 is a schematic structural view of a robot joint in which a guard plate is mounted according to the present invention.

Fig. 5 is a cross-sectional structural view showing another embodiment of the robot joint of the present invention.

detailed description

The embodiments of the present application will be described in detail below with reference to the accompanying drawings and embodiments, so that the application of the technical means to solve the technical problems and achieve the technical effect can be fully understood and implemented.

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the orientation or positional relationship of the terms "upper", "lower", "inside" and the like is based on the orientation or positional relationship shown in the drawings, only for the convenience of the description of the present invention. The simplifications of the invention are not to be construed as limiting or limiting the invention.

As described in the background art, most of the prior art robot joints use a harmonic reducer, which is not only costly, but also has relatively large running noise. Although some of them are driven by a timing belt to drive the pulley to decelerate, they only use a set of pulleys. Deceleration, that is, the motor drives a pulley to rotate, and the pulley drives the other large diameter pulley to rotate through the timing belt to achieve deceleration, but such a solution, to achieve the specified deceleration requirement, the distance between the two pulleys It needs to be large enough, that is, the length of the timing belt needs to be very long, so that the robot joint is very bulky, and the motor and each pulley are loosely fixed on the arm or the outer casing of the robot, and the entire joint is not designed to be convenient. Modules for installation and removal.

1 is a schematic structural view of a robot joint without a timing belt installed in the present invention; FIG. 2 is a schematic structural view of a robot joint mounted with a timing belt according to the present invention, and FIG. 3 is a schematic cross-sectional structural view of the robot joint of FIG. 2, as shown in FIG. 1 and FIG. As shown in FIG. 3, the present invention performs three-stage deceleration by three sets of pulleys, which can achieve the requirements of deceleration and reduce the length of each timing belt, that is, reduce the distance between the pulleys and reduce the volume of the robot joint. Moreover, the belt is driven by the timing belt to achieve deceleration, which can significantly reduce the manufacturing cost and reduce the running noise compared with the expensive reducer, such as the harmonic reducer.

Specifically, the robot joint of the present invention comprises a first mounting plate 11, a second mounting plate 12, a motor shaft 21, an output shaft 22, a motor 30, a first timing pulley 41, a second timing pulley 42, and a third timing pulley. 43. Fourth timing pulley 44, fifth timing pulley 45, sixth timing pulley 46, first timing belt 51, second timing belt 52 and third timing belt 53, first mounting plate 11 and second mounting The plate 12 serves as a main support for the entire joint, and the two are opposite to each other and disposed parallel to each other. Both ends of the motor shaft 21 and the output shaft 22 are respectively disposed on the first mounting plate 11 and the second mounting plate 12, and the motor shaft 21 and the output shaft 22 is rotatably connected to the first mounting plate 11 and the second mounting plate 12, for example, a bearing is disposed between the rotating shaft and the mounting plate, so that the rotating shaft can be freely rotated on the rotating mounting plate. The first mounting plate 11, the second mounting plate 12, the motor shaft 21 and the output shaft 22 serve as an integral supporting skeleton of the robot joint, and the motor 30, the first timing pulley 41, the second timing pulley 42, and the third timing pulley 43 The fourth timing pulley 44, the fifth timing pulley 45, and the sixth timing pulley 46 are sleeved on the motor shaft 21 or the output shaft 22. As a matter of course, the motor shaft 21 and the output shaft 22 are arranged in parallel, so that the robot of the present invention The joints can be assembled into a single module, and the robot joints can be directly attached to the robot. It is not necessary to install the entire joint parts to the robot, and the quick-release quick release is realized.

The motor 30 may be an outer rotor servo motor, and the motor 30 is disposed at one end of the motor shaft 21, specifically, may be disposed on the motor shaft 21 near one end of the first mounting plate 11, and the fixed end of the motor 30 (the motor rotor is not provided) One end) is fixedly connected to the first mounting plate 11 to realize the mounting and positioning of the motor 30. Since the fixed end of the motor 30 is fixed on the first mounting plate 11, it is obvious that the motor 30 is provided with one end of the motor rotor (ie, the motor) The movable end of 30 faces the second mounting plate 12.

A first timing pulley 41 is disposed at a position of the movable end of the motor 30 adjacent to the movable end of the motor, and the first timing pulley 41 is fixedly coupled to the motor shaft 21, that is, the first timing pulley 41 rotates synchronously with the motor 30. The output of the motor 30 is realized, and the angular velocities of the synchronous rotation and the rotation are the same.

A position corresponding to the first timing pulley 41 on the output shaft 22 is provided with a second timing pulley 42 which is connected to the first timing belt 41 via the first timing belt 51 to first synchronize The rotation of the pulley 41 is transmitted to the second timing pulley 42.

Since the second timing pulley 42 is not the final output of the entire joint, the second timing pulley 42 is rotatably coupled to the output shaft 22, and is supported by the output shaft 22 as a support for the rotatable connection. The bearing is coupled, and a first bearing 61 is disposed between the second timing pulley 42 and the output shaft 22 such that the second timing pulley 42 is rotatably coupled to the output shaft 22.

The second timing pulley 42 is decelerated as the first stage, so the diameter of the second timing pulley 42 is larger than that of the first timing pulley 41, so that the first timing pulley 41 transmits the rotation through the first timing belt 51 to After the second timing pulley 42, the rotation speed of the second timing pulley 42 is slower than that of the first timing pulley 41, that is, the speed is reduced. The principle of deceleration is that the first timing pulley 41 and the second timing pulley 42 are connected by the first timing belt 51, and then the linear speeds of the first timing pulley 41 and the second timing pulley 42 are the same, and will be the second. The diameter of the timing pulley 42 is set larger than that of the first timing pulley 41, and the rotation speed of the second timing pulley 42 is slower than that of the first timing pulley 41.

A third timing pulley 43 is disposed on a side of the second timing pulley 42 away from the first mounting plate 11, and the third timing pulley 43 rotates synchronously with the second timing pulley 42 and the diameter of the third timing pulley 43 is smaller than The diameter of the second timing pulley 42 is such that the third timing pulley 44 having a larger diameter than the third timing pulley 43 is driven by the third timing pulley 43 to achieve the second stage of deceleration. The third timing pulley 43 needs to follow the second timing pulley 42 to rotate around the output shaft 22, so that a second bearing 62 is disposed between the third timing pulley 43 and the output shaft 22, so that the third timing pulley 43 can be Rotate the connection on the output shaft.

Since the third timing pulley 43 is to be rotated in synchronization with the second timing pulley 42, the third timing pulley 43 and the second pulley 42 are combined timing pulleys. For example, preferably, the third timing pulley 43 and the second timing pulley 42 are integrally designed, and the third timing pulley 43 may be integrally formed with the second timing pulley 42 or the third timing pulley 43 may be fixed to the third timing pulley 43. The second timing pulley 42 is fixed by, for example, a screw or a card slot is provided, which is not limited herein. The integrated design of the third timing pulley 43 and the second timing pulley 42 makes the structure more compact and reduces the volume of the entire robot joint.

The fourth timing pulley 44 is disposed on the motor shaft 21 at a position corresponding to the third timing pulley 43, and the diameter of the fourth timing pulley 44 is larger than the diameter of the third timing pulley 43 as described above for the purpose of deceleration. The deceleration here is the second stage deceleration. The fourth timing pulley 44 and the third timing pulley 43 are connected by a second synchronization belt 52. Since the fourth timing pulley 44 is disposed on the motor shaft 21 and supported by the motor shaft 21, but the fourth timing pulley 44 and the motor shaft 21 are not synchronously rotated, the fourth timing pulley 44 and the motor shaft 21 are A third bearing 63 is provided to rotatably connect the fourth timing pulley 44 to the motor shaft 21.

The fifth timing pulley 45 is disposed on a side of the fourth timing pulley 44 away from the first mounting plate 11, and the fifth timing pulley 45 is rotatably disposed on the motor shaft 21, specifically, the fifth timing pulley A fourth bearing 64 is disposed between the 45 and the motor shaft 21. The connection relationship between the fifth timing pulley 45 and the fourth timing pulley 44 is similar to the connection relationship between the third timing pulley 43 and the second timing pulley 42, and is also the fifth timing pulley 45 and the The four timing pulleys 44 are integrally designed, and the diameter of the fifth timing pulley 45 is set smaller than the diameter of the fourth timing pulley 44, and details are not described herein again.

The sixth timing pulley 46 is the final output pulley, the sixth timing pulley 46 is connected to the fifth timing pulley 45 via the third timing belt 53, and the diameter of the sixth timing pulley 46 is smaller than that of the fifth timing pulley 45. Large, such that the combination of the sixth timing pulley 46 and the fifth timing pulley 45 is a third stage of deceleration.

The sixth timing pulley 46 serves as the final output pulley, and rotates synchronously with the output shaft 22, that is, the sixth timing pulley 46 needs to be fixedly connected with the output shaft 22. The specific fixing manner can be selected by screw fixing or spline selection. connection. The so-called spline connection, that is, the card is provided on the outer surface of the output shaft 22, the card slot is provided on the sixth timing pulley 46, and the card key is inserted into the card slot, so that the sixth timing pulley 46 drives the output shaft 22 Rotate synchronously.

In order to output the rotation of the output shaft 22 to the robot, an output flange is provided on the output shaft 22, and the output flange may be disposed at one end of the output shaft 22, or may be disposed at both ends of the output shaft 22, depending on The joint position of the robot joint and the robot is set. For example, if the joint of the robot only needs to connect and output one end of the output shaft 22 to the robot, then the output flange can be set only at one end, and if both ends need to be connected and output, The output flange is set at both ends.

As shown in FIG. 3, an output flange is disposed at both ends, and one end of the output shaft 22 connected to the first mounting plate 11 is provided with a first output flange 71, and the first output flange 71 and the output shaft 22 are connected by a screw connection. , can also be connected to the spline. A fifth bearing 65 is disposed between the first output flange 71 and the first mounting plate 11 to support the first output flange 71 on the first mounting plate 11 and to rotate around the first mounting plate 11. It can be understood that the first output flange 71 is provided with a mounting hole 711 for connecting the first output flange 71 with the rotating member on the robot, and outputting the decelerated rotation to the robot.

In the third embodiment, the second output flange 72 of the output shaft 22 and the second timing plate 12 connected to the second mounting plate 12 are integrally formed, so that the second output flange 72 designed as an integral body and The entirety of the sixth timing pulley 46 may be connected to the output shaft 22, and it is not necessary to connect the second output flange 72 and the sixth timing pulley 46 to the output shaft 22, respectively. A sixth bearing 66 is disposed between the second output flange 72 and the output shaft 22 such that the second output flange 72 and the sixth timing pulley 46 rotate together about the output shaft 22.

It can be understood that since the motor bearing 21 needs to be rotated, a bearing is also disposed between the motor bearing 21 and the first mounting plate 11 and the second mounting plate 12. Specifically, a seventh bearing 67, and an eighth bearing 68 between the motor bearing 21 and the second mounting plate 12 are disposed between the motor bearing 21 and the first mounting plate 11.

As described above, the diameter of the third timing pulley 43 is smaller than that of the second timing pulley 42, and as the reduction wheel, the diameter of the sixth timing pulley 46 is preferably larger than the diameter of the third timing pulley 43, The third timing pulley 43 is disposed corresponding to the fourth timing pulley 44, and a certain gap is formed between the second timing pulley 42 and the sixth timing pulley 46. The width of the gap is approximately equal to the third timing pulley 43. Width so that the fourth timing pulley can be inserted into the gap, that is, the fourth timing pulley 44 is partially located between the second timing pulley 42 and the sixth timing pulley 46, making the robot joint structure of the present invention more compact , further reducing the volume of the entire joint. Of course, in order to partially position the fourth timing pulley 44 between the second timing pulley 42 and the sixth timing pulley 46, the width of the fourth timing pulley 44 should be no greater than the second timing pulley 42 and the sixth timing pulley. The gap width between 46, that is, the width of the fourth timing pulley 44 is not greater than the width of the third timing pulley 43.

Further, a tensioning pulley (not shown) may be provided on the first timing belt 51, the second timing belt 52, and the third timing belt 53 to press the timing belt, and the degree of tightness of the timing belt can be controlled.

Referring to FIG. 4, in order to protect the robot joint of the present invention, a casing 80, that is, a shield plate may be disposed on the first mounting plate 11 and the second mounting plate 12 for preventing the internal pulley and the timing belt from being damaged by collision, or Make the robot joints more modular and easy to install.

As shown in FIG. 3, an output rotary encoder 91 is disposed on the inner side of the flange of the output shaft 22 on which one end of the rotary encoder can be connected to the first mounting plate, and the output rotary encoder 91 can detect the angle at which the output shaft 22 rotates. Specifically, the output rotary encoder 91 can be disposed at one end of the output rotating shaft 22 and the first mounting plate 11 because the output shaft 22 is at a distance from the end of the first mounting plate 11 at a distance from the first mounting plate 11 and is not mounted. It is disposed on the inner side of the first output flange 71. More specifically, the code wheel 911 of the output rotary encoder 91 can be fixed on the first output flange 71, and synchronously rotates following the first output flange 71 to detect the output shaft 22 The angle of rotation of the output rotary encoder 91 can be fixed to the output shaft 22 and fixed, that is, the output shaft 22 is not rotated, so that the dial 911 can be read by the reading head 912. The angle of rotation.

The output rotary encoder 91 can be connected by the motor controller 95. When the output shaft 22 is rotated, the output rotary encoder 91 reads the angle at which the output shaft 22 rotates. Since the timing belt has toughness, the rotation of the motor 30 is transmitted to the output shaft. An error may occur in the process of 22, and the motor controller 95 acquires the rotation angle of the output shaft 22 detected by the output rotary encoder 91 as a position feedback sensor for the position loop angle control, avoiding errors generated during the transmission process, and making the rotation control More precise, the motor rotary encoder 93 acts as a position loop sensor for the motor field orientation and speed loops and when the motor rotates at high speed. The motor controller 95 is a control device including a communication interface, an encoder interface, a motor drive circuit, a power supply, a DSP arithmetic unit, and the like, which are specifically designed to control the rotational accuracy.

In order to avoid joint runaway caused by malfunction or power failure, an electromagnetic brake 92 may be disposed on the motor 30, and the outer outer radial edge of the motor 30 is used as a brake drum of the electromagnetic brake 92, and the electromagnetic brake 92 is connected to the controller, and the power is lost. After the motor is quickly locked, the joint is out of control.

FIG. 5 is a cross-sectional structural view showing another embodiment of the robot joint according to the present invention. As shown in FIG. 5, the motor 30 may be disposed on a side of the first mounting plate 11 away from the second mounting plate 12 instead of being disposed at the first. Between the mounting plate 11 and the second mounting plate 12. The output rotary encoder 91 and the motor rotary encoder 93 may also be located on the side of the first mounting plate 11 away from the second mounting plate 12, rather than between the first mounting plate 11 and the second mounting plate 12.

The present invention also provides a control method based on the above-described robot joint, characterized in that it comprises the following steps:

Reading the angle of the actual rotation of the output shaft by the output rotary encoder;

The angle of the actual rotation of the output shaft is used as a position feedback signal and the set angle of rotation required as a given signal for position adjustment, and the motor is controlled to rotate so that the output shaft follows the change of the command angle;

The position feedback signal is generated by the output rotary encoder when the difference between the rotation angle of the robot joint and the command angle is less than a preset threshold, and when the motor speed is lower than the set value, otherwise generated by the motor rotary encoder;

Since the timing belt will be elongated after being stressed, the amount of deformation can be obtained by reading the angle values of the output rotary encoder and the motor rotary encoder after a uniform angle equivalent, and the angle difference between the synchronous belt and the moment is not affected by the moment. The difference between the values of the angle difference indicates the amount of deformation of the timing belt after the force is applied, and the output torque of the output flange is calculated by the deformation amount;

The amount of deformation of the timing belt after the force is nonlinearly changed under different forces, and the value is determined by actual calibration.

The present invention also provides a robot comprising the robot joint using the three-stage timing belt reducer as described above. Specifically, the robot joint can be installed at a position on the robot that needs to be rotated, for example, the arm of the robot, and the first mounting plate 11 and the second mounting plate 12 of the robot joint are fixed on the robot, and the output flanges at both ends of the output shaft 22 are outputted. The arm that needs to be rotated is connected, or only the output flange of one end of the output shaft 22 is connected with the arm that needs to be rotated, and the arm is rotated by the output flange.

The robot joint of the invention realizes deceleration by driving the belt pulley by the timing belt, has low manufacturing cost and small running noise; and can set a rotary encoder on the output shaft to detect whether the output shaft is turned into position, and the motor continues to rotate according to the error of the rotation, The output shaft is turned to the required position, which solves the problem of poor positioning accuracy of the synchronous belt; three sets of timing belts are set for the three-stage deceleration, and the deceleration requirement can be fully achieved; the pulley is the gear, and the inner side of the timing belt is also correspondingly set. The serrated surface matched with the gear teeth of the gear can increase the friction between the timing belt and the gear to prevent the timing belt from slipping; the entire robot joint is set as a module, and the fixing of the motor and the like does not need to be attached to the robot arm or the outer casing. Easy to install and disassemble; compact structure design, the fourth timing pulley can be located in the gap between the second timing pulley and the sixth timing pulley, reducing the volume of the entire robot joint, and setting the three-stage deceleration relative to only setting One-stage deceleration can greatly reduce the length of each timing belt, thereby reducing the length of the robot joint; on the motor May be an electromagnetic brake, the motor may be locked to prevent runaway robot joints in case of an accident.

It is to be understood that the application of the present invention is not limited to the above-described examples, and those skilled in the art can make modifications and changes in accordance with the above description, all of which are within the scope of the appended claims.

Claims (10)

A robot joint using a three-stage synchronous belt reducer, comprising: a first mounting plate and a second mounting plate disposed opposite to each other; The motor shafts of the first mounting plate and the second mounting plate are respectively rotatably coupled at both ends; An output shaft that is rotatably connected to the first mounting plate and the second mounting plate and disposed parallel to the motor rotating shaft; a motor disposed at one end of the motor shaft and fixed to the first mounting plate; a first timing pulley disposed on a side of the movable end of the motor and rotating in synchronization with the motor shaft; a second timing pulley that is rotatably disposed on the output shaft and connected to the first timing pulley through a timing belt; a third timing pulley rotatably disposed on the output shaft and located on a side of the second timing pulley remote from the first mounting plate and synchronously rotating with the second timing pulley; a fourth timing pulley that is rotatably disposed on the motor shaft and connected to the third timing pulley through the timing belt; a fifth timing pulley that is rotatably disposed on the motor shaft and located on a side of the fourth timing pulley that is away from the first mounting plate and that rotates in synchronization with the fourth timing pulley; a sixth timing pulley fixed to the output shaft and connected to the fifth timing pulley through a timing belt for driving the output shaft to rotate synchronously; The diameter of the second timing pulley is larger than the diameter of the first timing pulley, the diameter of the fourth timing pulley is larger than the diameter of the third timing pulley, and the diameter of the sixth timing pulley is larger than The diameter of the fifth timing pulley; An output rotary encoder that rotates synchronously with the output shaft is connected to one end of the output shaft connected to the first mounting plate; The motor rotating shaft is provided with one end of the motor connected with a motor rotary encoder that rotates synchronously with the motor. A robot joint using a three-stage timing belt reducer according to claim 1, wherein both ends or one end of the output shaft are provided with an output flange. A robot joint using a three-stage timing belt reducer according to claim 1, wherein said motor is provided with an electromagnetic brake. A robot joint using a three-stage synchronous belt reducer according to claim 2, wherein said motor is connected with a motor controller, said motor controller according to said output rotary encoder angle value and command angle value The deviation adjusts the torque of the motor such that the angle of rotation of the output flange follows the command angle. A robot joint using a three-stage synchronous belt reducer according to claim 4, wherein said motor controller receives a position feedback signal of said output rotary encoder or motor rotary encoder, said position feedback signal being When the difference between the robot joint and the command angle is less than the preset threshold and the motor speed is lower than the set value, it is generated by the output rotary encoder, otherwise it is generated by the motor rotary encoder. A robot joint using a three-stage timing belt reducer according to claim 1, wherein said robot joint is capable of performing torque measurement, said torque measurement being a motor drive by reading an output rotary encoder and motor rotary coding After the angle value of the device and the uniform angle equivalent, the difference between the angle difference between the moment when the belt is subjected to the moment and the value of the angle difference between the moments and the moment is expressed by the amount of deformation of the belt after the force is applied. Output torque of the output flange. The synchronizing belt deceleration robot joint according to claim 6, wherein the amount of deformation of the timing belt after the force is applied is varied under different forces, and the value is determined by actual calibration. The timing belt deceleration robot joint according to claim 1, wherein the motor is disposed on a side of the first mounting board away from the second mounting board. A robot joint using a three-stage timing belt reducer according to claim 1, wherein a width between said second timing pulley and said sixth timing pulley is not less than said fourth timing belt The width of the wheel, the fourth timing pulley portion being located between the second timing pulley and the sixth timing pulley. A control method for a robot joint using a three-stage synchronous belt reducer according to claim 1, comprising the following steps: Reading the angle of the actual rotation of the output shaft by the output rotary encoder; The angle of the actual rotation of the output shaft is used as a position feedback signal and the set angle of rotation required as a given signal for position adjustment, and the motor is controlled to rotate so that the output shaft follows the change of the command angle; The position feedback signal is generated by the output rotary encoder when the difference between the rotation angle of the robot joint and the command angle is less than a preset threshold, and when the motor speed is lower than the set value, otherwise generated by the motor rotary encoder; Since the timing belt will be elongated after being stressed, the amount of deformation can be obtained by reading the angle values of the output rotary encoder and the motor rotary encoder after a uniform angle equivalent, and the angle difference between the synchronous belt and the moment is not affected by the moment. The difference between the values of the angle difference indicates the amount of deformation of the timing belt after the force is applied, and the output torque of the output flange is calculated by the deformation amount; The amount of deformation of the timing belt after the force is nonlinearly changed under different forces, and the value is determined by actual calibration.

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