1. A multi-joint robot speed reducer and a type selection method of a motor are characterized in that: the method comprises the following steps:

setting the minimum acceleration and deceleration time t, the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a and the maximum rotation speed n of the single joint connected with the selected speed reducer and the motor_max；

Determining a driving joint, wherein the driving joint comprises a speed reducer and all joints required to be driven by a motor;

confirming a rotation central shaft of the single joint;

adjusting the postures of all the joints in the driving joints to enable the vertical distance from the gravity center O' of the whole driving joint to the rotating central shaft to be the largest;

acquiring a moment of inertia J, a vertical distance L from the center of gravity O' to the rotating central shaft and a total weight M of the driving joint;

according to the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a and the maximum rotation speed n_maxCalculating the actual constant speed running time t 2;

according to the actual acceleration time t1, the actual uniform speed running time t2, the actual deceleration time t3, the joint total weight M, the gravity center distance L, the moment of inertia J and the maximum rotating speed n_maxCalculating the acceleration stage reducer impact torque T1, the deceleration stage reducer impact torque T3 and the constant speed stage reducer impact torque T2;

carrying out weighted average on the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the uniform speed stage speed reducer impact torque T2 to obtain an average load torque Ta;

selecting a preselected speed reducer according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the average load torque Ta;

selecting a preselected reduction ratio b;

selecting a preselected motor and obtaining the rated torque T of the preselected motor_{Forehead (forehead)}；

Measuring and obtaining the output torque T when the pre-selection motor is connected with the pre-selection speed reducer and idles at a constant speed_xTo calculate the transmission efficiency eta;

according to the transmission efficiency eta, carrying out weighted average on the impact torque T1 of the speed reducer in the acceleration stage, the impact torque T3 of the speed reducer in the deceleration stage and the impact torque T2 of the speed reducer in the uniform speed stage to calculate the average load torque T of the motor_m；

According to the average load torque T of the motor_mCalculating a motor load rate gamma with the rated torque T of the pre-selected motor; if the motor load factor gamma is less than 0.8, then the type selection nodeBundling; if the motor load factor gamma is not less than 0.8, reselecting the preselected speed reducer ratio b and reselecting the motor; if the motor load rate gamma is not less than 0.8 in the reduction ratio b calculation of the preselected speed reducer, resetting the actual acceleration time t1 and the actual deceleration time t3 and reselecting the preselected speed reducer and the preselected motor until the motor load rate gamma is less than 0.8.

2. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: pre-selecting the motor and obtaining the rated torque T of the pre-selected motor_{Forehead (forehead)}The method comprises the following steps:

calculating a motor starting torque Tc1, a motor constant speed torque Tc2 and a motor braking torque Tc3 according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the preselected reduction ratio b;

according to the maximum rotation speed n_maxAnd the pre-selected reduction ratio b is used for calculating the maximum rotating speed n of the motor_omax；

According to the maximum rotation speed n_maxThe pre-selected speed reduction ratio b, the actual acceleration time t1, the actual uniform speed running time t2 and the actual deceleration time t3 are used for obtaining the average rotating speed n of the motor_α；

According to the motor starting torque Tc1, the motor uniform speed torque Tc2, the motor braking torque Tc3 and the motor maximum rotating speed n_omaxAnd the average rotating speed n of the motor_αPerforming a pre-selection of the pre-selection motor.

3. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: the actual uniform running time

4. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the constant speed stage speed reducer impact torque T2 are calculated and obtained according to the following formula:

wherein ω is the maximum angular velocity with unit rad/min and the maximum angular velocity ω is 2 π n_maxA/60; in the acceleration stage, t is the actual acceleration time t 1; in the constant speed stage, t is the constant speed running time t 2; in the deceleration phase, t is the actual deceleration time t 3.

5. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: the average load torque

6. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: when a preselected speed reducer is selected according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the average load torque Ta, the instantaneous maximum torque of the preselected speed reducer is required to be greater than T1 and T2; the start stop torque of the preselected speed reducer is greater than T1 and T3; and the rated torque of the preselected speed reducer is greater than Ta.

7. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: the transmission efficiency

8. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: average load torque of the motor

9. The multi-joint robot speed reducer and the model selection method for the motor according to claim 1, characterized in that: load factor of the motor

Background

With the development of industry, robots are gradually replacing manual operations due to the advantages of high-intensity work, adaptability to various working environments, high motion precision and the like. The robot drives the speed reducer to move mainly through the motor, so that the selection of the speed reducer and the motor of the robot has important significance on the performance of the robot, such as speed, acceleration, precision and the like.

Traditionally, the model selection of a speed reducer and a motor of a robot is mainly to calculate ideal parameters such as ideal output power, ideal transmission ratio, ideal output rotating speed and ideal output torque required by a terminal according to working conditions, then match and select models according to the existing motor and the speed reducer and measure whether actual parameters are within the tolerance range of the ideal parameters. However, the traditional model selection method has certain difficulty, large workload and poor precision.

For this reason, some solutions for reducing the workload of type selection have been proposed. Referring to fig. 1, the patent with publication number CN104537244B discloses a method for calculating and selecting models of a wrist motor and a speed reducer of a multi-degree-of-freedom robot, which calculates parameters such as rated torque, maximum torque, rated rotating speed and the like of the motor and the speed reducer according to the maximum moving speed, the allowed moment of the wrist and the allowed inertia of the wrist of a robot terminal, selects models of the motor and the speed reducer, and finally verifies the models.

However, in order to improve the precision of the movement, the structure and the movement mode of the existing robot become more and more complicated, and a plurality of joints connected with each other are generally arranged, and the joints are influenced and associated with each other in the movement process. Therefore, the model selection mode based on the parameters output by the terminal can not adapt to the model selection of the robot speed reducer and the motor with increasingly complex structures and motion modes obviously, and the accuracy is poor.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a multi-joint robot speed reducer and a method for selecting a type of a motor, which are suitable for a multi-joint robot having an increasingly complicated structure and a more complicated motion method.

The technical scheme adopted by the invention is as follows:

a multi-joint robot speed reducer and a type selection method of a motor comprise the following steps:

setting the minimum acceleration and deceleration time t, the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a and the maximum rotation speed n of the single joint connected with the selected speed reducer and the motor_max；

Determining a driving joint, wherein the driving joint comprises a speed reducer and all joints required to be driven by a motor;

confirming a rotation central shaft of the single joint;

adjusting the postures of all the joints in the driving joints to enable the distance from the gravity center O' of the whole driving joint to the rotation center O to be maximum;

acquiring a moment of inertia J, a vertical distance L from the center of gravity O' to the rotating central shaft and a total weight M of the driving joint;

according to the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a and the maximum rotation speed n_maxCalculating the actual constant speed running time t 2;

according to the actual acceleration time t1, the actual uniform speed running time t2, the actual deceleration time t3, the joint total weight M, the gravity center distance L, the moment of inertia J and the maximum rotating speed n_maxCalculating the acceleration stage reducer impact torque T1, the deceleration stage reducer impact torque T3 and the constant speed stage reducer impact torque T2;

carrying out weighted average on the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the uniform speed stage speed reducer impact torque T2 to obtain an average load torque Ta;

selecting a preselected speed reducer according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the average load torque Ta;

selecting a preselected reduction ratio b;

selecting a pre-selection motor, and acquiring the rated torque T of the pre-selection motor;

measuring and obtaining the output torque T when the pre-selection motor is connected with the pre-selection speed reducer and idles at a constant speed_xTo calculate the transmission efficiency eta;

according to the transmission efficiency eta, carrying out weighted average on the impact torque T1 of the speed reducer in the acceleration stage, the impact torque T3 of the speed reducer in the deceleration stage and the impact torque T2 of the speed reducer in the uniform speed stage to calculate the average load torque T of the motor_m；

According to the average load torque T of the motor_mCalculating a motor load rate gamma with the rated torque T of the pre-selected motor; if the motor load factor gamma is less than 0.8, finishing the model selection; if the motor load factor gamma is not less than 0.8, reselecting the preselected speed reducer ratio b and reselecting the motor; if the motor load rate gamma is less than 0.8, the actual acceleration time t1 and the actual deceleration time t3 are reset, and the preselected speed reducer and the preselected motor are reselected until the motor load rate gamma is less than 0.8.

Compared with the prior art, the multi-joint robot speed reducer and the type selection method of the motor accord with the load state of the multi-joint robot during actual operation by selecting the type of the speed reducer and the type of the motor according to the joints to be driven by the speed reducer and the motor and in the processes of acceleration, deceleration and uniform speed, the selected speed reducer is closely associated with the motor in actual operation, and the method is suitable for the type selection of the multi-joint robot speed reducer and the motor which are complex in structure and variable in motion, and improves the accuracy of the type selection of the multi-joint robot speed reducer and the motor.

Further, the pre-selecting the motor and obtaining the rated torque T of the pre-selected motor comprises the following steps:

calculating a motor starting torque Tc1, a motor constant speed torque Tc2 and a motor braking torque Tc3 according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the preselected reduction ratio b;

according to the maximum rotation speed n_maxAnd the preselected reduction ratio b is used for calculating the maximum rotating speed no of the motor_max；

According to the maximum rotation speed n_maxThe pre-selected speed reduction ratio b, the actual acceleration time t1, the actual uniform speed running time t2 and the actual deceleration time t3 are used for obtaining the average rotating speed n of the motor_α；

According to the motor starting torque Tc1, the motor uniform speed torque Tc2, the motor braking torque Tc3, the motor maximum rotating speed nomax and the motor average rotating speed n_αPerforming a pre-selection of the pre-selection motor.

The range of selecting the pre-selection motor is reduced through the steps, and the efficiency and the precision of type selection are improved.

Further, the actual uniform running time

Further, the acceleration stage reducer impact torque T1, the deceleration stage reducer impact torque T3, and the constant speed stage reducer impact torque T2 are calculated and obtained according to the following formula:

wherein ω is the maximum angular velocity with unit rad/min and the maximum angular velocity ω is 2 π n_maxA/60; in the acceleration stage, t is the actual acceleration time t 1; in the constant speed stage, t is the constant speed running time t 2; in the deceleration phase, t is the actual deceleration time t 3.

Further, the average load torque

Further, when a preselected speed reducer is selected according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the average load torque Ta, the instantaneous maximum torque of the preselected speed reducer is required to be greater than T1 and T2; the start stop torque of the preselected speed reducer is greater than T1 and T3; and the rated torque of the preselected speed reducer is greater than Ta.

Further, the transmission efficiency

Further, the motor average load torque

Further, the motor load factor

For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic flow chart of a calculation and model selection method for a wrist motor and a reducer of a multi-degree-of-freedom robot in the prior art;

FIG. 2 is a schematic flow chart illustrating a method for selecting a type of a multi-joint robot reducer and a motor according to the present invention;

FIG. 3 is a view of the analysis of bending moment of a single joint according to the present invention;

FIG. 4 is a force balance analysis diagram of a single joint according to the present invention;

FIG. 5 is a schematic view of a single joint movement process of the present invention;

fig. 6 is a schematic structural diagram of a multi-joint robot according to an embodiment of the present invention.

Detailed Description

Referring to fig. 2, the method for selecting the type of the multi-joint robot speed reducer and the motor of the present invention includes the following steps:

step S10: according toThe performance design of the reducer needing to be type-selected and the single joint connected with the motor requires that the minimum acceleration time t, the actual acceleration time t1, the actual deceleration time t3, the maximum rotation angle a (unit is rad) and the maximum rotation speed n of the reducer needing to be type-selected and the single joint connected with the motor in the design movement process_max(r/min), wherein t1 and t3 are both greater than the minimum acceleration and deceleration time t.

Step S20: and determining a driving joint according to the multi-joint connection relation of the multi-joint robot and the joint driven by the single joint, wherein the driving joint comprises all joints driven by a speed reducer and a motor, namely the single joint and the joint moving along with the single joint.

Step S30: and determining a rotating central shaft a-a' of the single joint, which is directly driven by the speed reducer and the motor to rotate.

Step S40: determining the center of gravity O 'of the leading joint, and adjusting the posture of the leading joint to change the position of the center of gravity O' so that the leading joint is in a posture in which the vertical distance between the center of gravity O 'and the rotation center axis a-a' is the largest. The required static torque is maximum in this attitude.

When the articulated robot is placed on a horizontal plane, the vertical distance between the center of gravity O 'and the rotation center axis a-a' is the distance between the center of gravity O 'and the rotation center axis a-a' in a direction perpendicular to the horizontal plane.

Step S50: and acquiring the moment of inertia J during rotation or bending, the vertical distance L between the gravity center O 'and the central rotation axis a-a', and the total weight M of the driving joint.

The moment of inertia J is obtained through calculation of a robot design drawing and a mechanical engineering manual, or is measured through simulation of CAD software after modeling through the CAD software. In one embodiment, the CAD software is SolidWorks.

The barycentric distance L may be measured in the CAD software after modeling by the CAD software.

The total weight M of the driving joint comprises the total mass of all parts which form the single joint and move along with the single joint, namely the total mass of all parts driven by the speed reducer and the motor.

Step S60: calculating to obtain the actual constant speed running time t2

Suppose that the individual joint accelerates from a speed of 0 to a maximum speed n within an acceleration time t1_maxAnd at a maximum speed n during a constant operating time t2_maxAfter the uniform speed operation, the speed is reduced for a time t3 from the maximum speed n_maxWhen the rotating speed is reduced to 0, the rotating angle in the process is the maximum rotating angle a of the single joint. From the velocity-displacement equation:

and due to said maximum rotation speed n_maxIs given as r/min, and the maximum rotation angle a is given as rad, and the conversion of units and the shift term are obtained according to 1 rad-180/pi °:

step S70: and respectively calculating acceleration stage speed reducer impact torque T1, deceleration stage speed reducer impact torque T3 and constant speed stage speed reducer impact torque T2 corresponding to the actual acceleration time T1, the actual constant speed running time T2 and the actual deceleration time T3.

Since power is transmitted from the motor to the single joint through the speed reducer and then transmitted to the other joints through the single joint, the impact on the single joint first affects the speed reducer. According to the moment balance principle in theoretical mechanics, the speed reducer needs to provide corresponding impact torque T to realize rotation.

Assuming that for the single joint in the horizontal position and in the static state, referring to fig. 3, the bending moment T4 suffered by the single joint according to the mechanical stress formula is:

T₄MgL formula (2)

Accelerate or decelerate it, see fig. 4, according to the momentThe scale can be derived as:wherein ω is the maximum angular velocity, with unit being rad/min, t is the minimum acceleration/deceleration time, J is the moment of inertia, L is the center of gravity distance, M is the total weight of the driving joint, and g is the acceleration of gravity.

Referring to fig. 5, in order to ensure the rapid response of the robot, the speed increase/decrease should be close to a linear increase/decrease in the acceleration or deceleration phase, wherein the acceleration/deceleration is the slope of the straight line in the acceleration or deceleration phase. Namely, it isSubstituting the formula and shifting terms can obtain the calculation formula of the impact torque T:

wherein the maximum angular velocity ω ═ 2 π n_max/60。

And respectively substituting the actual acceleration time T1 of the acceleration stage, the constant speed running time T2 of the constant speed stage and the actual deceleration time T3 of the deceleration stage into a formula (3) to respectively calculate the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the constant speed stage speed reducer impact torque T2.

Step S80: and carrying out weighted average calculation on the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3 and the uniform speed stage speed reducer impact torque T2 to obtain the average load torque Ta of the speed reducer.

Step S90: selecting a preselected speed reducer according to the acceleration stage speed reducer impact torque T1, the deceleration stage speed reducer impact torque T3, the constant speed stage speed reducer impact torque T2 and the average load torque Ta, wherein the instantaneous maximum torque of the speed reducer is required to be greater than T1 and T2; the start-stop torque of the speed reducer is greater than T1 and T3; the rated torque of the speed reducer is greater than Ta.

Step S100: after the speed reducer is selected, a preselected reduction ratio b is set.

A standard reduction gear is generally provided with a plurality of commonly used reduction ratios b, one of which is selected as a preselected reduction ratio b.

Step S110: and calculating and acquiring motor starting torque Tc1, motor constant speed torque Tc2 and motor braking torque Tc 3.

Wherein, the motor starting torque Tc1 is the acceleration stage reducer impact torque T1/preselected reduction ratio b;

the motor uniform speed torque Tc2 is equal to the uniform speed stage speed reducer impact torque T2/preselected reduction ratio b;

the motor braking torque Tc3 is the deceleration stage reducer impact torque T3/preselected reduction ratio b.

Step S120: calculating to obtain the maximum rotating speed no of the motor_max。

Therein, no_maxMaximum speed n_maxPreselected reduction ratio b.

Step S130: calculating to obtain the average rotating speed n of the motor_α；

Wherein the content of the first and second substances,

step S140: according to the motor starting torque Tc1, the motor uniform speed torque Tc2, the motor braking torque Tc3 and the motor maximum rotating speed no_maxAnd the average rotating speed n of the motor_αPerforming motor pre-selection, wherein the starting and stopping torque of the pre-selected motor is required to be larger than the motor starting torque Tc1 and the motor braking torque Tc 3; the maximum rotational speed of the preselected motor is greater than the maximum rotational speed no of the motor_max(ii) a The rated rotating speed of the pre-selected motor is larger than the average rotating speed n of the motor_α。

Step S150: and measuring and obtaining the transmission efficiency eta at a constant speed.

Connecting and installing a pre-selection motor and a pre-selection speed reducer, idling at a constant speed, and measuring the torque T output by the motor at the moment by using a motor torque measuring tool_xAnd calculating according to formula (6) based on the rated torque T of the preselected motor, thereby obtaining the transmission efficiency η:

step S160: calculating and obtaining the average load torque T of the motor_m。

According to the transmission efficiency eta, carrying out weighted average calculation on the impact torque T1 of the speed reducer in the acceleration stage, the impact torque T3 of the speed reducer in the deceleration stage and the impact torque T2 of the speed reducer in the uniform speed stage to obtain the average load torque T of the motor_m：

Step S170: according to the average load torque T of the motor_mAnd calculating with the rated torque T of the pre-selected motor to obtain the motor load rate gamma.

If the motor load factor gamma is less than 0.8, the model selection is finished, and the pre-selection motor and the pre-selection speed reducer are the required motor and speed reducer; if the motor load rate gamma is not less than 0.8, reselecting the speed reducer ratio b, repeating the step S110 to the step S160 to select the model, if all the speed reducer ratios b of the preselected speed reducers cannot meet the condition that the motor load rate gamma is less than 0.8, modifying the actual acceleration time t1 and the actual deceleration time t3, repeating the step S10 to the step S160, and reselecting the speed reducers and the motors until the motor load rate gamma is less than 0.8.

Example (b):

now, the model selection procedure will be described specifically by taking the articulated robot shown in fig. 6 as an example according to the above method. The articulated robot is including connecting gradually and relative pivoted base 10, one axle swivel mount 11, two big arms 12, three axle swivel mount 13, four-axis forearm 14 and terminal 15, now drives two big arm 12 pivoted speed reducer and motor carry out the lectotype:

step S10: designing the design parameters of the movement performance of the two-axis large arm 12: acceleration/deceleration minimum time t 0.1s, actual acceleration time t1 0.5s, actual deceleration time t3 0.5s, and maximum rotation speed n_max16r/min, and 165 ° for the maximum rotation angle a.

Step S20: because the two-axis large arm 12 drives the three-axis swivel mount 13, the four-axis small arm 14 and the terminal 15 rotate, the drive joint comprises the two-axis large arm 12, the three-axis swivel mount 13, the four-axis small arm 14 and the terminal 15.

Step S30: modeling is carried out under SolidWorks, so that the two-shaft large arm 12 is in shaft joint with the one-shaft rotary seat 11, and the connecting shaft at the shaft joint is a rotary central shaft a-a'.

Step S40: according to the SolidWorks model, the postures of the two-axis upper arm 12, the three-axis swivel base 13, the four-axis lower arm 14 and the terminal 15 are adjusted, so that the vertical distance L from the center of gravity O' of the whole driving joint composed of the two-axis upper arm 12, the three-axis swivel base 13, the four-axis lower arm 14 and the terminal 15 to the rotation central axis is maximum.

Step S50: the rotational inertia J obtained by simulation measurement of SolidWorks is 62kg/m²。

The barycentric distance L was 0.527m as measured in SolidWorks.

And measuring the total weight of the parts of the two-axis large arm 12, the three-axis swivel mount 13, the four-axis small arm 14 and the terminal 15 to obtain the total weight M of the driving joint as 117 kg.

Step S60: the actual constant speed running time t2 is calculated to be 98s according to the formula (1).

Step S70: calculating according to the formulas (2) and (3) to obtain the acceleration stage speed reducer impact torque T1-811.92N-m, the constant speed stage speed reducer impact torque T2-604.62N-m, and the deceleration stage speed reducer impact torque T3-811.92N-m.

Step S80: the average load torque Ta is calculated from equation (4) to 680.75N · m.

Step S90: after looking up the product manual, the RV-80E reducer of a manufacturer, which is a imperial person, can meet the condition that the instantaneous maximum torque of the reducer is greater than T1 and T2; the start-stop torque of the speed reducer is greater than T1 and T3; the speed reducer rated torque is larger than Ta, so the speed reducer is selected as a pre-selection speed reducer.

Step S100: the preselected reduction ratio b is set 121 according to the imperial RV reducer manual.

Step S110: and calculating according to the motor starting torque Tc1, the acceleration stage speed reducer impact torque T1/preselected speed reduction ratio b, the motor constant speed torque Tc2, the deceleration stage speed reducer impact torque T2/preselected speed reduction ratio b and the motor braking torque Tc3, the deceleration stage speed reducer impact torque T3/preselected speed reduction ratio b to obtain the motor starting torque Tc1, the motor braking torque Tc3, and the motor constant speed torque Tc2, respectively, 6.7N-m and 14.65N-m.

Step S120: according to n_omaxMaximum speed n_maxCalculating the maximum rotating speed n of the motor by the x preselected reduction ratio b_omax＝2178r/min。

Step S130: calculating according to a formula (5) to obtain the average rotating speed n of the motor_α＝1466.67r/min。

Step S140: after looking up the model selection manual, the motor of the manufacturer in the Fuchuan is in accordance with the condition that the starting and stopping torque of the pre-selected motor is greater than the starting torque Tc1 of the motor and the braking torque Tc3 of the motor; the maximum rotation speed of the preselected motor is greater than the maximum rotation speed n of the motor_omax(ii) a The rated rotating speed of the pre-selected motor is larger than the average rotating speed n of the motor_αAnd is therefore selected as the preselected motor.

Step S150: after a manual of relevant performance parameters of the pre-selected motor is consulted, the rated torque T of the motor is obtained to be 1.8kw, and the transmission efficiency eta is measured and calculated according to the formula (6) to be 0.8.

Step S160: the motor average load torque Tm is calculated according to equation (7) to be 6.39N · m.

Step S170: and (3) calculating according to a formula (8) to obtain the motor load factor gamma of 0.76<0.8, meeting the requirement, finishing the type selection, and selecting the motor using the emperor RV-80E speed reducer and the Huichuan rated torque T of 1.8 kw.

Compared with the prior art, the multi-joint robot speed reducer and the type selection method of the motor accord with the load state of the multi-joint robot during actual operation by selecting the type of the speed reducer and the type of the motor according to the joints to be driven by the speed reducer and the motor and in the processes of acceleration, deceleration and uniform speed, the selected speed reducer is closely associated with the motor in actual operation, and the method is suitable for the type selection of the multi-joint robot speed reducer and the motor which are complex in structure and variable in motion, and improves the accuracy of the type selection of the multi-joint robot speed reducer and the motor. And the motor is further preselected according to the performance of the speed reducer, so that the model selection efficiency is improved. The multi-joint robot speed reducer and the type selection method of the motor are strong in operation, high in accuracy and good in type selection efficiency.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.