JP2001277176A - Turning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a stop position accuracy of a turning shaft driven by a motor having a reduction gear. SOLUTION: The turning device 10 has an auxiliary motor 50 capable of applying an auxiliary torque to a turning shaft 13. When a motor 20 for turning applies a stop torque to the turning shaft 13 to stop the turning shaft 13, the auxiliary motor 50 applies an auxiliary torque for removing backlash smaller than the stop torque to the turning shaft 13.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a turning device.

[0002]

2. Description of the Related Art Conventionally, an arm provided with a holding portion for holding a work has been provided on a turning shaft for transferring a work, etc., and a position control of a servomotor or the like has been performed so that the turning shaft can be turned and stopped. There is one that uses a possible turning motor and transmits the output torque of the turning motor to the turning shaft via a gear train of a speed reducer.

[0003]

However, the prior art has the following problems. When the stop control of the turning shaft is performed, even if a stop torque is applied to the turning shaft by the turning motor, in the presence of the gear train of the speed reducer, the gear directly connected to the turning shaft is at least engaged with the gear on the turning motor that meshes with the gear. In the range of the backlash, and a certain stop position accuracy cannot be secured on the turning axis. FIG. 6 shows the engagement between the gear 1 on the turning motor side and the gear 2 directly connected to the turning shaft. FIG. FIG. 6B shows a state in which the gear 2 is rotated by inertia when the gear 1 is stopped and the tooth surface 2A is separated from the gear 1, and FIG. 6C is a state in which the gear 2 is also stopped. This shows a state where the stop position of the gear 2 (also the stop position of the turning shaft directly connected to the gear 2) varies within the range of the backlash with the gear 1.

[0004] In order to control the rotation axis at high speed, such as acceleration control such as start-up and deceleration control such as braking, it is necessary to use a high output motor as a rotation motor. However, a high-output motor becomes large and the inertia of the motor itself increases, and even during high-speed constant-speed rotation at which a small output is sufficient, the loss power consumed for rotation of the motor itself increases, resulting in poor motor rotation efficiency. .

An object of the present invention is to improve the stop position accuracy of a turning shaft driven by a motor with a speed reducer.

Another object of the present invention is to turn a turning shaft at high speed and with high efficiency.

[0007]

According to a first aspect of the present invention, there is provided a turning motor having a position controllable, and an output torque of the turning motor is transmitted to a turning shaft via a gear train of a speed reducer. In a turning device capable of turning and stopping the turning axis, an auxiliary motor that can apply an auxiliary torque to the turning axis is provided, and when the turning motor applies stop torque to the turning axis to control the stop of the turning axis, An auxiliary motor, having a control device for controlling so as to apply a backlash removal auxiliary torque smaller than the stop torque to the turning axis,
The backlash between the gear directly connected to the turning shaft and the gear on the turning motor side meshing with the gear is removed to stop the turning shaft at a predetermined stop position.

According to a second aspect of the present invention, in the first aspect of the present invention, the control device is further configured to directly connect the direction of the backlash removing auxiliary torque applied to the turning shaft by the auxiliary motor to the turning shaft. The rotation direction is set to be opposite to the rotation direction before the rotation of the gear on the turning motor meshing with the gear.

According to a third aspect of the present invention, in the first aspect of the present invention, the control device is further configured to directly connect the direction of the backlash removing auxiliary torque applied to the turning shaft by the auxiliary motor to the turning shaft. The rotation direction is set to the same rotation direction as the rotation direction before the stop of the gear on the turning motor meshing with the gear.

The present invention described in claim 4 is the first to third aspects of the present invention.
In the invention according to any one of the above, further, when the control device controls the acceleration of the turning axis by applying an energizing torque to the turning axis by the turning motor, the control device performs an auxiliary motor, and the turning motor turns the turning axis. Is controlled so as to apply the assisting torque for applying the same rotation direction as the applying torque to the turning shaft to the turning shaft.

[0011] The present invention described in claim 5 provides the invention according to claims 1-4.
In the invention according to any one of the above, further, when the control device controls the deceleration control of the turning shaft by applying a braking torque to the turning shaft by the turning motor, the control device performs an auxiliary motor, and the turning motor turns the turning shaft. Is controlled so as to apply a braking auxiliary torque in the same rotational direction as the braking torque applied to the turning shaft.

[0012]

According to the first aspect of the present invention, the following operations are provided. When the turning motor applies stop torque to the turning shaft to control the turning shaft to stop, in the presence of a gear train of the speed reducer, between the gear directly connected to the turning shaft and the gear on the turning motor that meshes with the gear. Even if there is backlash, the auxiliary motor applies an auxiliary torque for removing backlash to the turning shaft, and presses the tooth surface of the gear directly connected to the turning shaft against the tooth surface of the gear on the turning motor side, and the gear directly connected to the turning shaft. Can be prevented, and as a result, the stop position accuracy of the turning shaft can be improved. The auxiliary torque for removing the backlash of the auxiliary motor is smaller than the stop torque of the turning motor, and does not disturb the stop position of the turning shaft.

According to the second aspect of the invention, the following operation is provided. The direction of the auxiliary torque for removing the backlash of the auxiliary motor is set to a direction opposite to the rotation direction before the stop of the gear on the rotation motor side that meshes with the gear directly connected to the rotation shaft. Therefore, the tooth surface of the gear directly connected to the rotation shaft when the rotation shaft stops is pressed against the tooth surface on the anti-rotation direction side of the gear on the rotation motor side. Therefore, when the gear on the turning motor side is rotated in the opposite direction to the immediately preceding rotation direction (the turning axis is also turned in the opposite direction) during the next turning operation following the above-mentioned stop, the turning motor side gear is rotated. The gear can start pushing without rotating a gear directly connected to the rotating shaft in the pressed state in the rotation direction. That is, when the turning direction of the turning shaft is alternately reversed in the forward direction and the reverse direction each time the turning operation of the turning motor is repeated, the turning motor starts turning without generating backlash in the gear train. it can.

According to the third aspect of the invention, the following operation is provided. The direction of the auxiliary torque for removing the backlash of the auxiliary motor is set to the same rotation direction as the rotation direction before the stop of the gear on the rotation motor side that meshes with the gear directly connected to the rotation shaft. Therefore, the tooth surface of the gear directly connected to the turning shaft when the turning shaft stops is pressed against the tooth surface on the rotation direction side of the gear on the turning motor side. Therefore, when the gear on the turning motor side is rotated in the same direction as the immediately preceding rotation direction (the turning axis is also turned in the same direction) in the next turning operation following the above-mentioned stop, the turning motor side The gear can start pushing without rotating a gear directly connected to the rotating shaft in the pressed state in the rotation direction. That is, when the turning direction of the turning shaft is rotated in the same direction every time the turning operation of the turning motor is repeated, the turning motor can start turning without generating any play in the gear train.

According to the fourth aspect of the invention, the following operation is provided. During acceleration control such as when the turning motor starts the turning axis,
The auxiliary motor assists the turning motor. Therefore, when the acceleration of the turning shaft is to be controlled at a high speed, a turning motor having a lower output can be employed as compared with the case where the turning motor is used alone. As a result, the inertia of the motor itself of the turning motor is reduced, the power loss consumed by the rotation of the motor itself at the time of high-speed constant-speed rotation with a small output is reduced, and the rotation efficiency of the motor can be improved.

According to the fifth aspect of the invention, the following effects are obtained. During deceleration control such as when the turning motor brakes the turning axis,
The auxiliary motor assists the turning motor. Therefore, when deceleration control of the turning axis is to be performed at a high speed, a turning motor having a lower output can be employed as compared with a case where the turning motor is used alone. As a result, the inertia of the motor itself of the turning motor is reduced, the power loss consumed for rotation of the motor itself at the time of high-speed constant-speed rotation with a small output is small, and the rotation efficiency of the motor can be improved.

[0017]

FIG. 1 is a schematic diagram showing a turning device, FIG. 2 is a schematic diagram showing a gear train provided in a speed reducer of a turning motor, and FIG. FIG. 4 is a schematic diagram showing a gear meshing state after a turning in the direction, FIG. 4 is a schematic diagram showing a forward turning / stopping state in a turning shaft stop control method (part 1), and FIG. And FIG. 5 is a schematic diagram showing the turning / stop state in the turning axis stop control method (No. 2).

As shown in FIG. 1, the turning device 10 is used to constitute a transfer device that transfers the work 100 by, for example, moving up, turning, and moving down from the first position to the second position. An arm 12 having a holding part 11 for sucking (or gripping) the workpiece 100 is provided on a turning shaft 13.
Is supported on the machine base 14 so as to be able to turn and move linearly (vertically).

The pivot shaft 13 has a spline portion 15 for a ball spline at one end and a screw portion 16 for a ball screw at an intermediate portion.

The machine base 14 is integrally provided with an upper support 14B and a lower support 14C on both sides of the intermediate support 14A, and a turning motor 20 is fixed to the lower support 14C.
The motor 30 for linear movement is fixed to the upper part 14B, and the upper support part 14B is provided with a bearing part 17 for supporting the revolving shaft 13 to be able to turn and move linearly.

The turning motor 20 is composed of a servomotor, and a speed reducer 21 is connected to an output shaft of the servo motor. The output of the speed reducer 21 is a rotary head 22. In the present embodiment, the rotary head 22 is used as an output end. I have. A spline tube 23 is fixed to the rotary head 22 of the turning motor 20 by bolt connection, and a spline portion 15 provided on the turning shaft 13 is spline-connected to the spline tube 23 in a state where there is no play in the rotation direction. . That is, the turning motor 20 transmits the output torque to the turning shaft 13 via the gear train 24 (FIG. 2) of the speed reducer 21.

The linear motion motor 30 is composed of a servomotor and has a toothed pulley 31 on its output shaft. At this time, a two-way angular bearing 32 is fixed to the upper support portion 14B of the machine base 14 by bolting, and a nut 33 coaxial with the turning shaft 13 is supported by the bearing 32 so that it can rotate only. , A toothed pulley 34 is fixed by bolts. The pulley 31 of the linear motion motor 30 and the pulley 34 of the nut 33 are connected via a toothed belt 35, and the screw portion 16 provided on the turning shaft 13 is screwed to the nut 33.

The turning device 10 has a control device 40. The turning motor 20 and the linear motion motor 3 are controlled by the control device 40.
By the control of 0, the turning / linear movement of the turning shaft 13 is controlled as follows.

(1) Linear movement The rotation of the rotation motor 20 is restricted, so that the rotation shaft 13 can be linearly moved only in the axial direction by spline connection with the spline cylinder 23. In this state, by rotating the motor 30 for linear movement, the rotation of the motor 30 for linear movement rotates the nut 33 via the belt 35, and the rotating shaft 13 which is relatively screwed with the nut 33 is rotated. Moves linearly by the rotation angle of the motor 30 for linear movement under the above-described restricted state in which only linear movement is allowed. Therefore, the holding portion 11 provided on the arm 12 of the turning shaft 13 is
The motor moves up and down by a length corresponding to the control amount of the rotation angle of the linear motion motor 30.

(2) Rotation By rotating the rotation motor 20, the rotation of the output end (rotary head 22) of the rotation motor 20 directly rotates the spline cylinder 23. Swivel shaft 13 connected by spline
Turns by the rotation angle of the turning motor 20. At this time, the relative rotation between the turning shaft 13 and the nut 33 caused by the turning motor 20 turning the turning shaft 13 is performed by rotating the nut 33 by the linear motion motor 30.
By rotating in the same direction by the same angle as the turning angle of No. 3, unexpected rotation of the turning shaft 13 due to screwing with the nut 33 is prevented. Therefore, the holding portion 11 provided on the arm 12 of the turning shaft 13 turns by an angle corresponding to the control amount of the rotation angle of the turning motor 20.

However, the turning device 10 comprises (A) the turning shaft 13
Stop motor (1), (B) stop control of the turning shaft 13 (2), (C) acceleration control of the turning shaft 13, and (D) deceleration control of the turning shaft 13. 50 is provided.

The auxiliary motor 50 is composed of a servomotor and has a toothed pulley 51 on its output shaft. On the other hand, as shown in FIG. 2, a rotating motor 22 (an output end of the rotating motor 20) fixed to a spline cylinder 23 that is spline-coupled to the rotating shaft 13 without play as described above is provided. The output end gear 61 constituting the gear train 24 of the speed reducer 21 included in the gear 20 is fixed, and the toothed pulley 5
2 is fixed. The auxiliary motor 50 connects the toothed pulley 51 and the toothed pulley 52 with a toothed belt 53 and applies an auxiliary torque to the turning shaft 13.

Hereinafter, the auxiliary motor 50 by the control device 40
Will be described. (A) Stop Control of Swing Axis 13 (Part 1) (A-1) The control device 40 performs stop control of the swivel shaft 13 in the following procedure. (1) The turning motor 20 moves the turning shaft 13 in the forward direction (S direction).
Is turning. At this time, in the gear train 24 of the speed reducer 21, the tooth surface 60A on the rotation direction (R direction) side of the gear (hereinafter referred to as a drive gear) 60 on the side of the turning motor 20 with which the output end gear 61 meshes is output. End gear 61
3A is pressed against the tooth surface 61A on the anti-rotation direction side of FIG.
(A)).

(2) When the turning motor 20 starts decelerating to stop the turning shaft 13, the output end gear 61 rotates by inertia, and the tooth surface 61 A of the output end gear 61 changes to the driving gear 6.
0 (see FIG. 3B).

(3) When the turning motor 20 applies stop torque to the turning shaft 13 to stop the turning shaft 13, the auxiliary motor 50 turns the backlash removing auxiliary torque T smaller than the stopping torque. Applied to the shaft 13. At this time, the direction of the backlash removing auxiliary torque T applied by the auxiliary motor 50 is determined by the output end gear 6 directly connected to the turning shaft 13.
The rotation direction (counterclockwise) is set opposite to the rotation direction (R direction (clockwise)) of the drive gear 60 on the side of the turning motor 20 meshing with the rotation gear 1 before stopping (FIG. 3C).

Thus, in the presence of the gear train 24 of the reduction gear 21, even if there is a backlash between the output end gear 61 directly connected to the turning shaft 13 and the driving gear 60 on the side of the turning motor 20 meshing with the output end gear 61. The auxiliary motor 50 applies the auxiliary torque T for removing backlash to the turning shaft 13 and pushes the tooth surface 61B of the output end gear 61 directly connected to the turning shaft 13 against the tooth surface 60B of the drive gear 60 on the side of the turning motor 20. This prevents play of the output end gear 61 directly connected to the turning shaft 13, thereby improving the stop position accuracy of the turning shaft 13.

(A-2) The control device 40 performs the following turning control of the turning shaft 13 stopped by the above (A-1) in the following procedure. (1) It is assumed that the revolving shaft 13 has been stopped by the operation (3) of (A-1) (FIG. 4A).

(2) In the next turning operation of the turning motor 20,
The rotation direction of the turning shaft 13 by the turning motor 20 is described above (A
-1) Direction (W direction) opposite to previous rotation direction (S direction)
(FIG. 4B). At this time, the turning motor 20 sets the rotation direction of the drive gear 60 to the U direction in FIG. 4B, and the drive gear 60
At the stage of (3), the tooth surface 60B is replaced with the tooth surface 6 of the output end gear 61.
1B without backlash and the direction of rotation (U
Direction), the output end gear 61 is already pressed against the output end gear 61, and the output end gear 61 directly connected to the turning shaft 13 can be pushed in the opposite direction (W direction) without any play.

(3) When the turning motor 20 applies stop torque to the turning shaft 13 to stop the turning shaft 13,
The auxiliary motor 50 applies an auxiliary torque T for backlash removal smaller than the stop torque to the turning shaft 13.
At this time, the direction of the auxiliary torque T for backlash removal applied by the auxiliary motor 50 is determined by the drive gear 60 on the side of the turning motor 20 that meshes with the output end gear 61 directly connected to the turning shaft 13.
Is set in the direction of rotation (clockwise) opposite to the direction of rotation (clockwise (counterclockwise) in U) before stopping (FIG. 4C). As a result, similarly to (3) of (A-1), the play of the output end gear 61 directly connected to the turning shaft 13 is prevented, and as a result, the stop position accuracy of the turning shaft 13 is improved. .

Therefore, according to the above-described (A) stop control of the turning shaft 13 using the auxiliary motor 50, the following operation is obtained. When a stop torque is applied to the turning shaft 13 by the turning motor 20 to control the stop of the turning shaft 13, in the presence of the gear train 24 of the speed reducer 21, the output end gear 61 directly connected to the turning shaft 13 and turning engaged with the output end gear 61. Even if there is a backlash between the driving gear 60 on the side of the
Applies an auxiliary torque for removing backlash to the turning shaft 13, presses the tooth surface of the output end gear 61 directly connected to the turning shaft 13 against the tooth surface of the gear on the turning motor 20 side, and outputs the output end directly connected to the turning shaft 13. The play movement of the gear 61 is prevented, and as a result, the stop position accuracy of the turning shaft 13 can be improved. The auxiliary torque for removing the backlash of the auxiliary motor 50 is equal to that of the turning motor 2.
0, and does not disturb the stop position of the turning shaft 13.

The direction of the auxiliary torque for removing the backlash of the auxiliary motor 50 is the output end gear 61 directly connected to the turning shaft 13.
The rotation direction of the gear on the side of the turning motor 20 that meshes with the rotation direction is set to a direction opposite to the rotation direction before the stop. Therefore, the pivot 13
Is stopped, the tooth surface of the output end gear 61 directly connected to the turning shaft 13 is pressed against the tooth surface on the anti-rotation direction side of the gear on the turning motor 20 side. Therefore, when the gear on the side of the turning motor 20 is rotated in the opposite direction to the immediately preceding rotation direction (the turning shaft 13 is also turned in the opposite direction) in the next turning operation following the above-mentioned stop, the turning motor is rotated. The gear on the 20 side can start pushing without the output end gear 61 directly connected to the turning shaft 13 in the pressed state in the rotation direction. That is, each time the turning operation of the turning motor 20 is repeated, the turning shaft 1
When the turning direction of No. 3 is alternately reversed in the forward direction and the reverse direction, the turning motor 20 can start turning without generating a backlash in the gear train 24.

(B) Stop Control of the Swing Axis 13 (Part 2) The control device 40 can also perform stop control of the swivel shaft 13 in the following procedure. (1) The turning motor 20 is the turning shaft 1
3 is turned in one direction (W direction). At this time, in the gear train 24 of the speed reducer 21, the tooth surface 60 </ b> B in the rotation direction of the drive gear 60 on the side of the turning motor 20 that meshes with the output end gear 61 directly connected to the turning shaft 13 is opposite to the output end gear 61. Pushing the tooth surface 61B on the rotation direction side (FIG. 5)
(A)).

(2) When the turning motor 20 starts decelerating to stop the turning shaft 13, the output end gear 61 rotates by inertia, and the tooth surface 61 B of the output end gear 61 changes to the drive gear 6.
0 (see FIG. 5B).

(3) When the turning motor 20 applies stop torque to the turning shaft 13 to control the turning shaft 13 to stop, the auxiliary motor 50 turns the backlash removing auxiliary torque T smaller than the stopping torque. Applied to the shaft 13. At this time, the direction of the backlash removing auxiliary torque T applied by the auxiliary motor 50 is determined by the output end gear 6 directly connected to the turning shaft 13.
The rotation direction (counterclockwise) is set to be the same as the rotation direction (U direction (counterclockwise)) before the stop of the drive gear 60 on the side of the turning motor 20 that meshes with 1 (FIG. 5C).

Thus, in the presence of the gear train 24 of the speed reducer 21, even if there is a backlash between the output end gear 61 directly connected to the turning shaft 13 and the driving gear 60 on the side of the turning motor 20 meshing with the output end gear 61. The auxiliary motor 50 applies the auxiliary torque T for removing backlash to the turning shaft 13 and pushes the tooth surface 61B of the output end gear 61 directly connected to the turning shaft 13 against the tooth surface 60B of the drive gear 60 on the side of the turning motor 20. This prevents play of the output end gear 61 directly connected to the turning shaft 13, thereby improving the stop position accuracy of the turning shaft 13.

In the next turning operation of the turning motor 20,
The rotation direction of the turning shaft 13 by the turning motor 20 is described above.
Control is performed in the same direction as the rotation direction (W direction) immediately before (1).
At this time, the turning motor 20 changes the rotation direction of the drive gear 60 to the U direction in FIG.
Presses the tooth surface 60B of the drive gear 60 and the tooth surface 61B of the output end gear 61 without backlash in the stage (3), and has already been pressed against the output end gear in the rotation direction (U direction). Thus, the pushing operation can be started in the same rotation direction (W direction) as described above without leaving the output end gear 61 directly connected to the turning shaft 13.

Therefore, according to the above-mentioned (B) stop control of the turning shaft 13 using the auxiliary motor 50, the following operation is obtained. When a stop torque is applied to the turning shaft 13 by the turning motor 20 to control the stop of the turning shaft 13, in the presence of the gear train 24 of the speed reducer 21, the output end gear 61 directly connected to the turning shaft 13 and turning engaged with the output end gear 61. Even if there is a backlash between the driving gear 60 on the side of the
Applies an auxiliary torque for removing backlash to the turning shaft 13, presses the tooth surface of the output end gear 61 directly connected to the turning shaft 13 against the tooth surface of the gear on the turning motor 20 side, and outputs the output end directly connected to the turning shaft 13. The play movement of the gear 61 is prevented, and as a result, the stop position accuracy of the turning shaft 13 can be improved. The auxiliary torque for removing the backlash of the auxiliary motor 50 is equal to that of the turning motor 2.
0, and does not disturb the stop position of the turning shaft 13.

The direction of the auxiliary torque for removing the backlash of the auxiliary motor 50 is the output end gear 61 directly connected to the turning shaft 13.
The rotation direction is set to be the same as the rotation direction before the stop of the drive gear 60 on the side of the turning motor 20 meshing with the rotation gear. Therefore, when the turning shaft 13 stops, the tooth surface of the output end gear 61 directly connected to the turning shaft 13 is pressed against the tooth surface on the rotation direction side of the driving gear 60 on the turning motor 20 side. Therefore, the turning motor 2
When the 0-side drive gear 60 is rotated in the same direction as the immediately preceding rotation direction (the rotation shaft 13 is also rotated in the same direction) in the next turning operation following the above-described stop,
The drive gear 60 on the side of the turning motor 20 can start pushing without the output end gear 61 directly connected to the turning shaft 13 in the pressed state in the rotation direction. That is, when the turning direction of the turning shaft 13 is rotated in the same direction each time the turning operation of the turning motor 20 is repeated, the turning motor 20 can start turning without generating a backlash in the gear train 24.

(C) Acceleration control of the turning shaft 13 The control device 40 controls the auxiliary motor 50 when the turning motor 13 applies an energizing torque to the turning shaft 13 to control the acceleration of the turning shaft 13 at the time of start-up or the like. And turning motor 2
0 makes the turning shaft 13 apply an assisting torque for applying the same rotational direction as the applying torque applied to the turning shaft 13.

Therefore, according to the acceleration control of the turning shaft 13 using the auxiliary motor 50 described in the above (C), the following effects are obtained.
The auxiliary motor 50 assists the turning motor 20 during acceleration control, such as when the turning motor 20 starts the turning shaft 13. Therefore, when the acceleration of the turning shaft 13 is to be controlled at a high speed, the turning motor 20 having a lower output can be employed as compared with the case where the turning motor 20 is used alone. Thereby, the inertia of the motor itself of the turning motor 20 is reduced,
Loss of power consumed for rotation of the motor itself during high-speed constant-speed rotation at which small output is sufficient can be reduced, and the rotation efficiency of the motor can be improved.

(D) Deceleration control of the turning shaft 13 The controller 40 controls the auxiliary motor 50 when the turning motor 20 applies a braking torque to the turning shaft 13 to control the deceleration of the turning shaft 13 during braking or the like. And turning motor 2
0 causes the turning shaft 13 to apply a braking assist torque in the same rotational direction as the braking torque applied to the turning shaft 13.

Therefore, according to the above-mentioned (D) deceleration control of the turning shaft 13 using the auxiliary motor 50, the following effects are obtained.
The auxiliary motor 50 assists the turning motor 20 during deceleration control such as braking of the turning shaft 13 by the turning motor 20. Therefore, when deceleration control of the turning shaft 13 is to be performed at a high speed, the turning motor 20 having a lower output can be employed as compared with the case where the turning motor 20 is used alone. As a result, the inertia of the motor itself of the turning motor 20 is reduced, the power loss consumed for rotation of the motor itself at the time of high-speed constant-speed rotation with a small output is reduced, and the rotation efficiency of the motor can be improved.

The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration of the present invention is not limited to this embodiment, and the design may be changed without departing from the scope of the present invention. The present invention is also included in the present invention. For example, in the present invention, the speed reducer 21 included in the turning motor 20 is provided.
The gear train 24 may have any number of stages, and if the gear train 24 is a total of two stages, the drive gear 60 is directly connected to the output shaft of the turning motor 20.

Further, with respect to the stop control of the turning shaft, in the above-described embodiment, an example has been described in which the auxiliary torque T for removing the backlash by the auxiliary motor 50 is applied after the turning motor 20 starts to decelerate. The auxiliary torque for backlash removal may be applied simultaneously with the start of deceleration of the motor 20 or before (preferably immediately before) the start of deceleration.

[0050]

As described above, according to the present invention, it is possible to improve the stop position accuracy of the turning shaft driven by the motor with the speed reducer.

Further, according to the present invention, the turning shaft can be turned at high speed and with high efficiency.

[Brief description of the drawings]

FIG. 1 is a schematic view showing a turning device.

FIG. 2 is a schematic diagram showing a gear train provided in a speed reducer of a turning motor.

FIG. 3 is a schematic diagram illustrating a gear meshing state after forward turning in a turning shaft stop control method (1).

FIG. 4 is a schematic view showing a forward turning / stop state in a turning axis stop control method (1), and a schematic view showing a reverse turning / stop state in a turning axis stop control method (1). It is.

FIG. 5 is a schematic diagram showing a turning / stop state in a turning axis stop control method (2).

FIG. 6 is a schematic view showing a turning / stop state of a conventional example.

[Explanation of symbols]

 Reference Signs List 10 turning device 13 turning shaft 20 turning motor 21 reduction gear 24 gear train 40 control device 50 auxiliary motor 60 drive gear (gear on turning motor side) 61 output end gear (gear directly connected to turning shaft)

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F060 AA01 CA21 DA09 DA10 EB12 GA00 GA05 GA13 GB02 GB19 GB29 HA40

Claims (5)

[Claims] 1. A turning device that uses a turning motor whose position can be controlled, transmits output torque of the turning motor to a turning shaft via a gear train of a speed reducer, and controls turning and stopping of the turning shaft. An auxiliary motor that can apply an auxiliary torque to the turning axis is provided. When the turning motor applies stop torque to the turning axis to control the stop of the turning axis, the auxiliary motor is used to remove backlash smaller than the stop torque. It has a control device that controls so that the auxiliary torque is applied to the turning shaft. The backlash between the gear directly connected to the turning shaft and the gear on the turning motor side that meshes with the gear is removed to stop the turning shaft at a predetermined stop position. A swivel device characterized by the following. 2. The control device according to claim 1, wherein a direction of the backlash removing auxiliary torque applied to the turning shaft by the auxiliary motor is opposite to a rotation direction of the gear of the turning motor which is meshed with a gear directly connected to the turning shaft before the stop. The turning device according to claim 1, wherein the turning direction is set in the rotation direction. 3. The control device according to claim 1, wherein the direction of the auxiliary torque for backlash removal applied to the turning shaft by the auxiliary motor is the same as the rotation direction of the gear on the turning motor, which meshes with the gear directly connected to the turning shaft, before the stop. The turning device according to claim 1, wherein the turning direction is set. 4. When the control device applies an energizing torque to the swivel axis by the swivel motor to perform acceleration control of the swivel axis, the control device operates an auxiliary motor to reduce the energizing torque applied by the swivel motor to the swivel axis. The turning device according to any one of claims 1 to 3, wherein the turning device is controlled so as to apply the assisting torque for energizing in the same rotation direction to the turning shaft. 5. When the control device controls the deceleration of the turning shaft by applying a braking torque to the turning shaft by the turning motor, the controller operates an auxiliary motor to control a braking torque applied by the turning motor to the turning shaft. The turning device according to any one of claims 1 to 4, wherein the turning device is controlled so that braking assist torque in the same rotational direction is applied to the turning shaft.