Planetary reduction motor capable of achieving full closed-loop control and articulated robot

Abstract

The invention relates to a planetary reduction motor capable of realizing full closed-loop control and an articulated robot using the reduction motor. According to the invention, the assembly accuracyis high, and high-precision full closed-loop control is realized. The main structure of the motor includes a planetary reducer part, a motor part and a full closed-loop control device. The full closed-loop control device includes a drive shaft and a grating encoder. The grating encoder is located outside the motor casing body and is arranged on the rear end surface of the motor casing body. A rotor and the sun gear of a first-stage planetary reduction mechanism in the planetary reducer are fixedly connected through interference fit. The front end of the motor casing body and the reducer casing body are directly fixed by screws. In each stage of the planetary reduction mechanism, at least two planetary holes in a planet carrier have a circumferential offset relative to the positions of planet wheels distributed in the circumferential direction, which is used to reduce backlash.

Description

technical field [0001] The invention relates to a gear transmission mechanism, in particular to a planetary geared motor and a joint robot capable of realizing full-closed-loop control. Background technique [0002] In the planetary gear transmission scheme, due to the existence of machining errors and assembly errors, there is a backlash between the sun gear and the planetary gear, between the planetary gear and the internal gear, and there is a bearing clearance between the planetary gear and the planetary gear shaft. Backlash exists due to tooth backlash and bearing play. [0003] At the same time, there are large assembly errors in the connection structure between the reducer and the drive motor. [0004] The existing planetary geared motors generally adopt semi-closed-loop control, which can only detect the rotational position of the motor shaft of the drive motor at the input end, and the transmission accuracy, torsional deformation, backlash and other factors of the ...

AI Technical Summary

Problems solved by technology

[0003] At the same time, there is a large assembly error in the connection structure of the reducer and the drive motor

[0004] The existing planetary geared motors generally adopt semi-closed-loop control, which can only detect the rotational position of the motor shaft of the drive motor at the input end, and the transmission accuracy, torsional deformation, backlash and other factors of the reducer cannot be effectively detected and compensated

[0005] Therefore, in some occasions where the control requires high precision, the semi-closed-loop control method to control the planetary geared motor cannot meet the normal use requirements.

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