DE102019216974A1 - REDUCTION GEAR SYSTEM, CORRECTION PROCEDURE FOR A COMMAND VALUE FOR A DRIVE UNIT, METHOD FOR GENERATING CORRECTION DATA, AND METHOD FOR PRODUCING THE REDUCTION GEAR SYSTEM - Google Patents

Abstract

The task is based on a machine tool in which correction data are predetermined in advance on the basis of an individual difference and conditions of use of the machine tool, and which enables initial start-up (start setting) at an early stage, a drive unit and a control of the machine tool, a correction process by these and a To provide methods for generating correction data therefrom. [Means to solve] The present application is configured in the machine tool 1 according to an embodiment of the present invention such that the correction data 11 corresponds to an individual difference with respect to a position error for each individual machine tool 1 during manufacture the machine tool 1 and the conditions of use of the machine tool 1 are entered.

Description

[Technical field]

The present invention relates to a reduction gear system, a correction method of a command value to a drive unit, a method for generating correction data and a method for producing the reduction gear system.

[Background technique]

Conventionally, it is known that when e.g. B . a robot (machine tool) for use of laser welding or plasma welding is operated linearly in a horizontal plane, a wave-shaped movement, etc. is generated in the direction of gravity, which negatively affects the machining accuracy. It is believed that the undulating motion is caused by an angular transmission error of a reduction gear attached to the shaft for changing the hand position of the robot in the direction of gravity. Various methods have been proposed so far, e.g. B . a method in which a means for detecting the rotational speed is provided at the input and output of the reduction gear and an angular transmission error is measured directly for each one.

Patent Document 1 is known as a device for identifying a correction parameter of the angular transmission error for an assembled robot in a robot operating location with a narrow working space without requiring artificial adjustment means. Patent Document 1 discloses an apparatus for identifying a robot arm position correction parameter that is added to an angle command for each motor in a robot comprising a motor that rotates at each joint, a reduction gear connected to the motor, and a robot arm connected to the reduction gear correcting a tracking error of a hand position of a robot, identifying the phase parameter of the correction value, based on a phase of the sine wave with the same period as the torque command, which takes a maximum value at a connection angle at which the torque command for the motor is maximum, and the difference between the hand position of the robot, which is performed by performing a forward kinematics calculation for the sum of a correction value, which is calculated using the identified phase parameter and any amplitude parameter, and the like nd the angle command is obtained, and the current hand position of the robot, the integral value is calculated within the operating time of the robot, and an amplitude parameter with which the integral value is minimal is identified as the amplitude parameter of the correction value.

[Prior art technical documents]

[Patent documents]

[Patent Document 1] JP 2011-212823

SUMMARY OF THE INVENTION

OBJECT OF THE INVENTION TO BE SOLVED

However, the problem with the device disclosed in Patent Document 1 was that it takes time to identify the correction parameter for the angular transmission error, which is the individual difference of the robot (the machine tool), and it is necessary to stop the plant while generating the correction parameter that productivity is reduced. Since the correction parameter is only a correction parameter which relates to the individual difference of the robot, there was also the problem that a final adjustment of the robot is necessary. In addition, it was difficult to say that the accuracy of the operation of the robot is not always sufficient because the correction parameter relates to the individual difference of the robot and does not correspond to the conditions of use of the robot.

One of the objects of the present invention is a reduction gear system that enables the initial start-up (start setting) at an early stage to provide a correction method of a command value to a drive unit, a method for generating correction data and a method for producing the reduction gear system.

[Means for Solving the Task]

A reduction gear system according to an embodiment of the present invention includes a reduction gear, and a memory that stores correction data based on individual information regarding a position error of the reduction gear and correction information under use conditions under which the reduction gear is used.

In the reduction gear system according to an embodiment of the present invention, the correction data are generated on the basis of position data which are collected from the use of the reduction gear under the conditions of use.

In the reduction gear system according to an embodiment of the present invention, the correction data is input to a drive unit of a robot for which the reduction gear is used.

In the reduction gear system according to an embodiment of the present invention, the correction data is input to a controller of a drive unit of a robot for which the reduction gear is used.

In the reduction gear system according to an embodiment of the present invention, the controller corrects a command value to the drive unit based on the correction data.

In the reduction gear system according to an embodiment of the present invention, the position error includes at least one of (a) an angular transmission error of the reduction gear, (b) a torsion error, and (c) a friction error.

In the reduction gear system according to the embodiment of the present invention, the usage conditions include at least one of (a) the type of the reduction gear, (b) the type of the robot for which the reduction gear is used, (c) the purpose of the robot for which the reduction gear is used (d) the weight of an object handled by the robot for which the reduction gear is used, (e) the distance of movement of the object handled by the robot for which the reduction gear is used, and (f) the speed of the object handled by the robot for which the reduction gear is used.

A reduction gear system according to an embodiment of the present invention includes a drive unit and a controller of the drive unit that corrects the drive unit using the correction data recorded in the memory.

A robot according to an embodiment of the present invention includes one of the reduction gear systems described above.

A correction method according to an embodiment of the present invention corrects a command value to the drive unit with correction data based on individual information regarding a position error of the reduction gear and correction information under use conditions under which the reduction gear is used.

A method for generating correction data according to an embodiment of the present invention generates correction data based on individual information regarding a position error of the reduction gear and correction information under use conditions under which the reduction gear is used, and records the correction data in the memory.

A method for manufacturing the reduction gear system according to an embodiment of the present invention is a method for manufacturing the reduction gear system from the reduction gear and the memory, which generates correction data based on individual information regarding a position error of the reduction gear and correction information under use conditions under which the reduction gear is used , which records correction data in the memory and combines the reduction gear with the memory.

Effects of the Invention

A reduction gear system that enables the initial start-up (start setting) at an early stage, a correction method of a command value to a drive unit, a method for generating correction data and a method for producing the reduction gear system are provided.

Figure list

• 1 die schematische Darstellung eines Roboters, der ein Untersetzungsgetriebesystem in einer Ausführungsform der vorliegenden Erfindung umfasst;
• 2 eine Darstellung, die die Korrekturdaten in einer Ausführungsform der vorliegenden Erfindung schematisch erläutert; sowie
• 3 eine Darstellung, die das Abgabeverfahren der Korrekturdaten in einer Ausführungsform der vorliegenden Erfindung erläutert.

Show it:

• 1 is a schematic illustration of a robot that includes a reduction gear system in an embodiment of the present invention;
• 2nd a diagram that schematically explains the correction data in an embodiment of the present invention; such as
• 3rd a diagram explaining the delivery method of the correction data in an embodiment of the present invention.

Embodiment of the Invention

1 shows the schematic representation of a machine tool with a reduction gear system according to an embodiment of the present invention. The machine tool includes a robot, a machining center, a positioner, etc. In the present description, mainly an embodiment in which the robot is explained 100 is used as a machine tool.

As shown, the robot includes 100 according to one embodiment, a reduction gear system 1 and an arm 6 , which is driven by a driving force generated by this reduction gear system 1 is fed. The reduction gear system 1 includes a controller 2nd to control the robot 100 , a drive unit 3rd and a reduction gear 4th . The control 2nd comprises, for example, a computer processor (not shown) and a memory 5 . The computer processor is a computing device that contains a control program for controlling the reduction gear 4th or loads other programs and executes commands that are contained in the loaded programs. The memory 5 is a memory device accessed by the computer processor. The memory 5 is, for example, a magnetic disk, an optical disk, a semiconductor memory or various other storage devices other than those described above that can store data.

The drive unit 3rd is, for example, an electric motor. The reduction gear 4th reduces the driving force from the drive unit 3rd is entered and transfers it to the arm 6 . The arm 6 is driven by the reduction gear 4th driven. The memory 5 stores correction data that will be described later. The control 2nd can also be outside the robot 100 be provided. Control is in one aspect 2nd outside the robot 100 with the drive unit 3rd provided communicable. The drive unit 3rd can also be designed such that the reduction gear 4th includes. You can also save them in memory 5 saved correction data also in the drive unit 3rd can be entered.

The control 2nd is designed such that an operating command for the robot 100 will generate and the drive unit 3rd that on each axis (e.g. a joint) of the robot 100 is mounted, is controlled based on the operation command. E.g. controls the control 2nd the drive unit 3rd by generating a command value (command signal) which is an operation command for the robot 100 shows, and this command value in the drive unit 3rd enters. The driving force by the drive unit 3rd is in the reduction gear 4th entered and the arm 6 is driven by the exit. Although this is not shown, the drive unit is 3rd of the robot 100 with a position detector, an angle detector, an encoder and sensors other than this in a suitable manner.

Next is the correction data 11 with reference to 2nd explained in more detail. To generate the correction data 11 are first individual information 9 provided, the individual differences in position error for the individual robot 100 in the manufacture of the robot 100 demonstrate. In one embodiment of the present invention, the individual information includes 9 For example, an angle transmission error, a torsion error, a friction error and position error information other than that of the robot 100 or the reduction gear 4th .

It also provides correction information 10th regarding the conditions of use of the robot 100 provided. In one embodiment of the present invention, the correction information includes 10th at least one of the type of reduction gear 4th , the type of robot 100 , the intended use of the robot 100 , the weight of one from the robot 100 treated object, the movement distance of the robot 100 treated object, the speed of the robot 100 treated object, and information about conditions of use of the robot 100 as this.

In one embodiment of the present invention, the correction data 11 based on the individual information 9 and the correction information 10th generated. The correction data 11 can also based on information other than the individual information 9 and the correction information 10th also be generated.

In one embodiment of the present invention, the correction data 11 in the robot 100 entered. The control 2nd is designed such that a command value for driving the drive unit 3rd based on the correction data 11 to correct. As described above, those are in the robot 100 entered correction data 11 based on the individual information 9 , the individual differences of the robot 100 show, and the correction information 10th regarding the conditions of use of the robot 100 generated. By correcting the data 11 before the initial start-up (start setting) of the robot 100 be prepared and this correction data in the robot 100 can be entered, the initial commissioning can be carried out in a short time.

In one embodiment of the present invention, the correction data 11 into the drive unit 3rd can also be entered. The correction data 11 can in memory 5 also be saved. The one from the store 5 read correction data 11 can in the drive unit 3rd can also be entered. In one embodiment, the command value may be from the controller 2nd based on the correction data 11 through the drive unit 3rd Getting corrected.

In one embodiment of the present invention, the correction data 11 in the control 2nd can also be entered. The one from the store 5 read correction data 11 can in the controller 2nd can also be entered.

The correction method according to an embodiment of the present invention comprises a step for generating correction data 11 based on the individual information 9 and the correction information 10th , and a step of correcting a command value from the controller 2nd to the drive unit 3rd based on the correction data 11 . In the correction method according to an embodiment, the command value based on the correction data 11 is corrected in the drive unit 3rd can also be entered. The one based on the correction data 11 corrected command value can be in the controller 2nd can also be entered.

The procedure for generating the correction data 11 according to an embodiment of the present invention comprises a step for generating the correction data 11 based on the individual information 9 and the correction information 10th and a step for storing the generated correction data 11 In the storage room 5 . The method for generating correction data can additionally include a step for collecting correction information 10th also be provided. The correction information 10th can for any robot 100 to be collected. The one for a single robot 100 Correction information collected may differ from that for the other robots 100 differentiate the correction information collected. The one in a single robot 100 correction data used 11 can be based on that for a single robot 100 collected correction information 10th and the individual information 9 of the robot 100 also be generated.

Next, a delivery process of the correction data 11 with reference to 3rd described.

The manufacturer M of the reduction gear 4th measures the manufacturing position error for each reduction gear manufactured 4th and records this position error as individual information 9 on. The manufacturer M also collects the correction information 10th via the reduction gear 4th (or the robot 100 ) by the user of the reduction gear 4th (or the robot 100 ) when the reduction gear 4th (or the robot 100 ) is used. The manufacturer M generates the correction data 11 based on the individual information 9 and the correction information 10th .

Because the manufacturer M the correction data 11 collects the correction data 11 that relate to the reduction gear 4th refer, together with the reduction gear 4th deploy when he gives a customer the reduction gear 4th provides. The users (customer A to customer D1 ) of the reduction gear 4th can the initial commissioning (start setting) on the basis of the manufacturer M provided correction data 11 make. This allows the users of the reduction gear 4th carry out the initial commissioning in a short time.

The correction data 11 can by wired or wireless communication from the manufacturer M to the customer (e.g. the customer A ) be transmitted. A security gateway can be set up in this wired or wireless communication path. With this security gateway the correction data can 11 sent and received while maintaining security. The correction data 11 can also be stored in a memory. The manufacturer M can the memory in which the correction data 11 are saved with the reduction gear 4th also combine. In this case, the correction data 11 from manufacturer M together with the reduction gear 4th the customer (e.g. the customer B ) provided. The correction data 11 can in one from the reduction gear 4th separate storage medium can also be recorded. In this case, the storage medium in which the correction data 11 saved by the manufacturer M the customer (e.g. the customer C. ) provided. D . i.e. by the storage medium from the manufacturer M is provided to the customer, the correction data stored in the storage medium 11 be provided to the customer. The correction data 11 can also be recorded on paper media. In this case, the customer (e.g. the customer D ) a paper medium is provided on which the correction data 11 are saved. In this way, the correction data 11 together with the reduction gear 4th to be provided.

[Industrial applicability]

The principle of the embodiment described above cannot only be applied to the machine tool such as the robot 100 etc., but also can be applied to various operating devices, moving devices and other devices.

Reference list

1

Robot (machine tool)

2nd

control

3rd

Drive unit

4th

Reduction gear

5

Storage

6

poor

9

individual information

10th

Correction information

11

Correction data

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for better information for the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• JP 2011212823 [0004]

Claims (12)

Reduction gear system comprising: a reduction gear 4, a memory 5, the correction data 11 based on individual information 9 regarding a position error of the reduction gear 4 and Correction information 10 is stored under use conditions under which the reduction gear is used. Reduction gear system after Claim 1 , wherein the correction data 11 are generated on the basis of position data which are collected from the use of the reduction gear 4 under the conditions of use. Reduction gear system after Claim 1 , the correction data 11 being input into a drive unit 3 of a robot 1 for which the reduction gear 4 is used. Reduction gear system after Claim 1 , the correction data 11 being input into a controller 2 of the drive unit 3 of the robot 1, for which the reduction gear 4 is used. Reduction gear system after Claim 1 , wherein the controller 2 corrects a command value to the drive unit 3 based on the correction data 11. Reduction gear system after Claim 1 , wherein the position error comprises at least one of (a) an angle transmission error of the reduction gear 4, (b) a torsion error, and (c) a friction error. Reduction gear system after Claim 1 , the conditions of use being at least one of (a) the type of reduction gear 4, (b) the type of robot 1 for which the reduction gear 4 is used, (c) the purpose of the robot 1 for which the reduction gear 4 is used, (d) the weight of an object handled by the robot 1 for which the reduction gear 4 is used, (e) the moving distance of the object treated by the robot 1 for which the reduction gear 4 is used, and (f) the speed of the object being handled by the robot 1 for which the reduction gear 4 is used. Reduction gear system after Claim 1 , comprising: a drive unit 3, and a controller 2 of the drive unit 3, which corrects the drive unit 3 using the correction data 11 recorded in the memory 5. Robot 1 following a reduction gear system Claim 1 includes. Correction method in which a command value to a drive unit 3 is corrected with correction data 11 on the basis of individual information 9 regarding a position error of a reduction gear 4 and correction information 10 under conditions of use under which the reduction gear 4 is used. Method for generating correction data 11, correction data 11 being generated on the basis of individual information 9 relating to a position error of a reduction gear 4 and correction information 10 under use conditions under which the reduction gear 4 is used, and the correction data 11 are recorded in a memory 5. Method for producing a reduction gear system, which consists of a reduction gear 4 and a memory 5, in which Correction data 11 is generated on the basis of individual information 9 regarding a position error of the reduction gear 4 and correction information 10 under conditions of use under which the reduction gear 4 is used; the correction data 11 are recorded in the memory 5; and the reduction gear 4 is combined with the memory 5.

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