JP2006098356A - Movable mechanism vibration analysis device, and input method of movable mechanism vibration analysis parameter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily input information and operate vibration analysis of a movable mechanism, and to enable a skilled person to rapidly and easily create a model of the movable mechanism, changing of model information or the like. <P>SOLUTION: The model shapes of various movable mechanisms are displayed by a model creating section 14, parameter item data corresponding to the movable mechanism model operated and selected from the display by the user is read from a model DB 11, parameter items are displayed on a display section 22 by control of a model data display controller 15, and physical property data corresponding to the selected movable mechanism model is read from the physical property DB 12 and displayed as a relevant parameter value. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a movable mechanism vibration analysis device for simulating vibration of an arm mechanism composed of flexible components in a robot, vibration of an object transport mechanism, and vibration of a gantry mechanism in which a driving machine that requires positioning is installed. Further, the present invention relates to a movable mechanism vibration analysis parameter input method.

  Conventionally, in designing a movable mechanism system such as an arm mechanism, the link member constituting the mechanism is considered to be a rigid body, and the behavior thereof is analyzed. However, recently, due to the demand for reducing the weight of the mechanism system, the rigidity of the link member has become insufficient, and there are cases where it cannot be considered a rigid body. In addition, there is a strong demand for high-speed and high-accuracy positioning, and micro vibrations that have been ignored so far must be taken into consideration.

  For this reason, it is difficult to consider the motor incorporated in the movable mechanism separately from the mechanism, and it must be considered as a part of the mechanism system. In other words, when considering motor control that satisfies the required operation specifications, the dynamic characteristics of the mechanical system cannot be ignored. For this reason, many simulation programs that can simulate a mechanical system that is a movable mechanism are commercially available, and are becoming established as powerful analysis means that are difficult to release.

As this type of conventional analysis device, for example, there is one described in Non-Patent Document 1.
JP-A-9-280943 Hiroshima Prefectural Industrial Technology Center research report No. 13 (2000) "Research on dynamic evaluation and reliability technology of machines"

  The above-mentioned commercially available program tools for analyzing the vibrations of the conventional moving mechanism emphasize the point of being more versatile and multifunctional, so the program itself becomes larger and the model input information is also complicated. It has become. For example, input information such as mechanism shape, material properties, and physical constants has a very large number of items, and the input items are complicated and difficult to understand. There are also many input items whose physical meaning is unclear. In addition, the analysis time may take several hours as much as the analysis accuracy is emphasized, which makes it more difficult to use the simulation in the field. That is, there is a problem that it is difficult for users such as actual designers and workers (operators) on the site.

Therefore, users are required to be able to handle data that can be analyzed without worrying about unclear input items. On the other hand, for experienced users, model creation and model information are required. There is a need for a simulation program that can quickly and easily execute such changes.
The present invention has been made in view of such problems, and allows a user to easily input and operate information for vibration analysis of the movable mechanism, and allows a skilled person to create a model of the movable mechanism. It is an object of the present invention to provide a movable mechanism vibration analysis apparatus and a movable mechanism vibration analysis parameter input method that can quickly and easily change model information.

  In order to achieve the above object, a movable mechanism vibration analyzing apparatus according to claim 1 of the present invention calculates a natural frequency of a movable mechanism with vibration by applying a parameter value necessary for a mathematical expression for obtaining the natural frequency. In the movable mechanism vibration analyzing apparatus, shape data for displaying model shapes of various movable mechanisms, parameter item data for displaying input items of the parameter values, and physical constants of materials constituting the movable mechanism And storage means for storing physical property data including material properties, and reading the shape data from the storage means to display model shapes of various movable mechanisms, and corresponding to the movable mechanism selected by operation from this display The parameter item data is read from the storage means and displayed, and the physical property data corresponding to the selected movable mechanism is displayed. Characterized in that a control means for displaying as a corresponding parameter values is loading.

  According to this configuration, the shape of various movable mechanisms is displayed, the parameter item data corresponding to the movable mechanism selected by the user from the display is read from the storage means, and the parameter items are displayed and selected. The physical property data corresponding to the movable mechanism was read and displayed as the corresponding parameter value. By displaying in this way, the user can easily input the parameter value of the movable mechanism for which he / she wants the natural frequency and wants to analyze the vibration.

According to a second aspect of the present invention, there is provided the movable mechanism vibration analyzing apparatus according to the first aspect, wherein the control means displays the parameter value displayed by reading the physical property data so that the operation can be changed, When the parameter value changing operation is performed, the parameter value after the changing operation is newly displayed and used.
According to this configuration, since the user can arbitrarily input parameter values corresponding to the physical property data, it is useful for more detailed analysis, analysis of various cases, and the like for the expert. It can be a simulation tool.

According to a third aspect of the present invention, there is provided the movable mechanism vibration analyzing apparatus according to the first or second aspect, wherein the control means displays a list of the parameter values inputted by operation and the parameter values read from the physical property data. It is characterized by.
According to this configuration, since all parameter values can be easily confirmed even if the user is a beginner, it is possible to reduce input mistakes in parameter values when obtaining the natural frequency.

A movable mechanism vibration analyzer according to claim 4 of the present invention. The control means according to any one of claims 1 to 3, wherein the control means displays a description describing the parameter items of the movable mechanism being displayed and an operation instruction for the display contents in characters and symbols.
According to this configuration, even if the user is a beginner, the natural frequency can be obtained by easily inputting parameter values.

  According to a fifth aspect of the present invention, there is provided the movable mechanism vibration analyzing apparatus according to any one of the first to fourth aspects, wherein the natural frequency is analyzed using the parameter values listed by the control means and the parameter values. And further comprising file input / output means for inputting the stored parameter values and shape data to the control means. To do.

  According to this configuration, the user selects from among various movable mechanisms, and displays the parameter value read from the operation input and storage means for the selected movable mechanism and the model shape of the movable mechanism. Therefore, it is possible to easily cope with the case where the user performs an operation such as obtaining the natural frequency of the same movable mechanism by changing the parameter value again.

According to a sixth aspect of the present invention, there is provided the movable mechanism vibration analyzing apparatus according to the fifth aspect, wherein the file input / output means performs a process of inputting / outputting the data file as a text file in a format that can be changed by a general-purpose editor. It is characterized by that.
According to this configuration, the parameter value of the movable mechanism can be directly created in the text file and can be read by the simulation program.

  According to a seventh aspect of the present invention, there is provided a movable mechanism vibration analysis parameter input method for calculating a natural frequency of a movable mechanism with vibration using a mathematical expression for calculating the natural frequency. In the movable mechanism vibration analysis parameter input method for inputting parameter values necessary for the above, shape data for displaying model shapes of various movable mechanisms, parameter item data for displaying input items of the parameter values, A first step of storing physical property data including physical constants and material characteristics of materials constituting the movable mechanism, and reading shape data stored in the first step to display model shapes of various movable mechanisms. The second step and the movable mechanism selected by operation from the model shapes of the various movable mechanisms displayed in the second step. The corresponding parameter item data is read from the data stored in the first step to display the parameter item, and the physical property data corresponding to the selected movable mechanism is read from the stored data. And a third step of displaying as a parameter value.

  According to this method, the shape of various movable mechanisms is displayed, and parameter item data corresponding to the movable mechanism selected and operated by the user is read from the data stored in advance, and the parameter items are displayed. The physical property data corresponding to the selected movable mechanism is read and displayed as the corresponding parameter value. By displaying in this way, the user can easily input the parameter value of the movable mechanism for which he / she wants the natural frequency and wants to analyze the vibration.

  As described above, according to the movable mechanism vibration analysis apparatus of the present invention, a user can easily input information and perform operations for vibration analysis of the movable mechanism, and an expert can create a model of the movable mechanism. And the model information can be changed quickly and easily.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a movable mechanism vibration analyzer according to an embodiment of the present invention.
A movable mechanism vibration analysis apparatus 10 shown in FIG. 1 is a simulation tool for analyzing vibration characteristics of a movable mechanism, and includes a storage unit 13 having a model DB (database) 11 and a physical property DB (database) 12, a model creation unit 14, The model data display control unit 15, the analysis solver unit 16, the analysis result holding unit 17, the file input / output unit 18, and the display unit 22 are configured.

Further, in the movable mechanism vibration analysis apparatus 10 having such components, as an external device, an input device 21 is connected to the model creation unit 14 and a file storage device 23 is connected to the file input / output unit 18. .
The model DB 11 stores shape data for displaying the shape of the model of the movable mechanism and parameter item data for displaying parameter items such as dimensions and mass of the shape. The physical property DB 12 stores physical property data such as physical constants and material characteristics of materials constituting the movable mechanism, which are necessary for analyzing the natural frequency of the movable mechanism.

The input device 21 is used by a user such as an actual designer or an on-site operator (operator) to input parameter values and physical property data of a movable mechanism model to be analyzed, other commands, and the like.
The model creation unit 14 reads shape data for displaying the shapes of various movable mechanisms from the model DB 11, displays the models of the various movable mechanisms on the display unit 22, and displays the model being displayed by the selection operation of the input device 21. The parameter item data of the model selected from the model DB 11 is read from the model DB 11 to display the parameter item, the parameter value input by the operation according to the displayed parameter item, and the parameter based on the physical property data corresponding to the selected model read from the physical property DB 12 Model data is created from values.

However, the physical property data can be selected directly from the input device 21 by the user, not from the physical property DB 12.
The model data display control unit 15 displays a list of all parameter values on the display unit 22 based on the model data created by the model creation unit 14. The displayed parameter value can be corrected by the user operating the input device 21.

The analysis solver unit 16 calculates the motion and vibration characteristics of the movable mechanism to be analyzed based on all the parameter values of the model data created by the model creation unit 14 and displays the analysis result on the display unit 22. .
The analysis result holding unit 17 holds the analysis result obtained by the analysis solver unit 16.
The file input / output unit 18 reads the analysis result held in the analysis result holding unit 17 and outputs it to the file storage device 23, and also reads the analysis result stored in the file storage device 23 and outputs it to the analysis result holding unit 17. To do. The model data created by the model creation unit 14 is output to the file storage device 23 and the model data stored in the file storage device 23 is output to the model creation unit 14.

In addition, the file input / output unit 18 performs processing for configuring a data file input / output to / from the file storage device 23 as a text file in a format that can be changed by a general-purpose editor. As a result, the parameter input value of the model of the movable mechanism can be directly created as a text file and read into the simulation program.
The model creation unit 14, the model data display control unit 15, and the display unit 22 constitute a control means.

In addition, for example, the following four methods (1) to (4) can be used to calculate the motion and vibration characteristics of the movable mechanism in the analysis solver unit 16.
(1) Assume that the movable mechanism is an arm mechanism 30 as shown in FIG. The arm mechanism 30 includes a stage 32 movably attached to a base 31 as indicated by an arrow Y1, an arm 33 formed of a flexible bar-like component member having one end movably attached to the stage 32, and A U-shaped load 34 attached to the tip of the arm 33 is configured so that the arm 33 can move in the work space by moving the stage 32 relative to the base 31.

  When the arm 33 is not sufficiently rigid when the arm 33 is moved in the direction of the arrow Y1 by the stage 32, the arm mechanism 30 has a minute point 35 as a center of rotation as shown in FIG. Vibration Y2 is generated. Therefore, the model of the arm 33 is configured by connecting rigid bodies 33a and 33b with a single spring 36 as shown in FIG. 4, and the vibration characteristic of the arm mechanism 30 is modeled by this spring characteristic.

In the case of this model, the natural frequency f1 of the arm mechanism 30 having the arm 33 made of a flexible component can be accurately calculated by the following equation (1) whose symbol is shown in FIG.
Natural frequency f1 = (1 / 2π) √ (k _θ / J _aLL ) (1)
Spring constant k _θ = 4EI / 3L
Equivalent mass J _aLL = J ₀ + J _a + mL ² + m _a (L / 2) ²
here,
E: Young's modulus of the arm I: Second moment of inertia of the arm (a numerical expression of the degree of ease of deformation such as bending and deflection that changes depending on the shape of the arm cross section)
L: Arm length J ₀ : Moment of inertia about center of gravity 37 of load J _a : Moment of inertia about center of gravity 38 of arm m: Mass of load m _a : Mass of arm

In order to calculate the natural frequency f1 of the arm mechanism 30, the arm mechanism material characteristic (Young's modulus E of the arm 33), the arm mechanism cross-sectional shape characteristic (cross-sectional secondary moment I of the arm 33), and the arm mechanism length The natural frequency f1 is calculated by inputting (arm length L) and arm load mass (mass m of tip load 34 of arm 33 and mass m _{a of} arm 33) as parameters. That is, the input parameter is limited so that the equivalent mass of the above formula (1) becomes J _aLL = mL ² + m _a (L / 2) ² .

From each of these limited parameters, the spring constant k _θ = 4EI / 3L and the equivalent mass J _aLL = mL ² + m _a (L / 2) ² are calculated, and the calculated k _θ and J _aLL are calculated. By applying the above equation (1), the natural frequency f1 of the arm mechanism 30 is calculated. As a result, the natural frequency f1 can be obtained while satisfying practical levels of both calculation load (calculation time) and analysis error.

  (2) Assume that the movable mechanism is a transport mechanism 40 as shown in FIG. The transport mechanism 40 includes a stage 42 that is movably attached to a base 41 as indicated by an arrow Y3, and two columnar structures 43 that are formed of flexible columnar components having one end fixed to the stage 42. The stage 44 is placed and fixed at the tips of the columnar structures 43, and a mounting portion 44a fixed on the stage 44 for mounting and fixing the transport object 45 on the stage 44. The transport object 45 attached to the attachment portion 44 a can be moved by moving the stage 42.

  As shown in FIG. 7, when the stage 42 is moved in the direction of the arrow Y3, the transport mechanism 40 generates minute vibrations Y4 with the virtual point 46 as the center of rotation when the rigidity of the columnar structure 43 is not sufficient. This is inconvenient when the tact time is shortened or positioning is performed with high accuracy. For this reason, vibration analysis of the columnar structure 43 with the transport object 45 attached to the tip is required. 3 represents a vibration state of the columnar structure 43, the stage 44, the attachment portion 44a, and the transport object 45 associated with the minute vibration 16.

Therefore, a model of the columnar structure 43 is configured by connecting rigid bodies 48a and 48b with a single spring 47 as shown in FIG. 8, and the vibration characteristics of the transport mechanism 40 are modeled by the spring characteristics. .
In the case of this model, the natural frequency f2 of the transport mechanism 40 having the columnar structure 43 made of a flexible component can be accurately calculated by the following equation (2) whose symbol is shown in FIG. However, although the same symbol as in the above equation (1) is quoted in the equation (2), it is assumed that all symbols appearing in the description after the equation (2) are cited in the equation (2).

Natural frequency f2 = (1 / 2π) √ (k _θ / J _aLL ) (2)
Spring constant k _θ = 32EI / 3L
Equivalent mass J _aLL = J ₀ + J _a + J _b + mL ² + m _a L _a ² + m _a L _a ²
here,
E: Young's modulus of the columnar structure I: Second moment of inertia of the columnar structure (numerical expression of degree of ease of deformation such as bending and deflection depending on the shape of the columnar structure cross section)
L _m : Distance from the center of rotation 48 of the columnar structure to the center of gravity 49 of the conveyed object L _b : Distance from the center of rotation 48 of the columnar structure to the center of gravity 50 of the stage L _a : Center of gravity of the columnar structure from the center of rotation 48 of the columnar structure Distance to 51 J ₀ : Moment of inertia around the center of gravity 49 of the transported object J _b : Moment of inertia around the center of gravity 50 of the stage J _a : Moment of inertia around the center of gravity 51 of the columnar structure m: Mass of the transported object m _b : Stage Mass m _a : The mass of the columnar structure (rotating part).

In the above equation (2), the natural frequency f2 representing the vibration characteristic of the transport mechanism 40 is calculated only by the columnar structure material, the columnar structure cross-sectional shape, the columnar structure length, and the load mass. Also good. However, the load mass is calculated by J _aLL = mL ² + m _a L _a ² + m _a L _a ² in the above formula (2). Here, L = L _b = √ {L ² + (B / 2) ² }, approximate to L _a = L / 3, L: length of the columnar structure, B: distance between the two columnar structures By adopting dimensions, a more realistic parameter input method is used.
That is, by removing the moments of inertia J ₀ , J _b , and J _a from the input parameters and narrowing down the input parameters from the case of the exact solution, the equivalent mass can be calculated as J _aLL = mL ² + m _a L _a ² + m _a L _a ² It was. Even in this case, an analysis error that can be practically used as a tool is satisfied.

Therefore, the Young's modulus E of the columnar structure 43 material, the cross-sectional secondary moment I of the columnar structure 43, the columnar structure length L, the distance B between the columnar structures, the mass m of the transport object, the stage and mass _{m b,} based on each parameter of the mass _{m a} of the columnar structure, and k θ ₌ 32EI / 3L spring constant, the equivalent mass ^{_{J aLL = mL 2 + m a}} L a 2 + m a L a 2 compute the door, by fitting the the calculated k _theta and J _aLL the above equation (2), to calculate the natural frequency f2 of the transport mechanism 40. As a result, the natural frequency f2 can be obtained while satisfying the practical levels of the calculation load (calculation time) and the analysis error as described above.

  (3) It is assumed that the movable mechanism is a gantry mechanism 60 as shown in FIG. The gantry mechanism 60 includes a leg portion 61 made of a rod-like or plate-like steel material, and a top plate 63 supported by the leg portion 61 and on which a machine 62 is installed. However, the leg portion 61 includes two pedestal legs 61a fixed perpendicularly to the floor surface and separated from each other by a predetermined distance, and a lower part of the two legs 61a for fixing the pedestal legs 61a. It consists of a brace 64a. However, it is assumed that the machine 62 is an armed driver 65 that can hold and carry an object (not shown) in this example. Further, the arm-equipped driver 65 is fixed on the top plate 63 via a moving means such as a stage 66 so that the working space can be moved.

  As shown in FIG. 11, when the arm of the armed drive body 65 is moved in the direction of the arrow Y5 by the stage 66, the gantry mechanism 60 is connected to the gantry leg 61a. The minute vibration Y6 is generated with reference to the fixed point 67 with the floor surface, and the vibration remains even if the armed drive body 65 stops. For this reason, it becomes inconvenient when the tact time is shortened and the arm of the highly accurate armed driving body 65 is positioned. Therefore, vibration analysis of the gantry mechanism 60 is necessary.

In the case of such a model, the natural frequency f3 of the gantry mechanism 60 is usually calculated by the following equation (3). However, in Equation (3), the same symbol as in Equation (2) above is cited, but all symbols appearing in the explanation after Equation (3) are assumed to be quoted in Equation (3).
Natural frequency f3 = (1 / 2π) √ {(1 / M) × (12 nEI / L ³ ) (3)
here,
E: Young's modulus of the pedestal leg I: Second moment of section of the pedestal leg (a numerical expression of the degree of ease of deformation such as bending and deflection depending on the shape of the pedestal leg cross section)
n: Number of pedestal legs m: Total mass of the top plate and the machine on the top plate.

By the way, the actual gantry mechanism 60 is not a simple mechanism like the gantry mechanism 60 shown in FIG. 10, but has a diagonal bracing 64b in the leg portion 61 like the gantry mechanism 60-1 shown in FIG. Since some of them have complicated shapes, the above formula (3) may not be applied as it is.
Therefore, as shown in FIG. 13, each leg 61 a of the gantry leg 10 is regarded as a spring 67 and connected to each other, and the total mass of the top plate 63 and the machine 62 is determined as a connection point of the springs 67. The model is constructed so as to give an equivalent concentrated mass to a point in contact with the top plate 63, that is, a point 69 in contact with the spring 68 regarded as the top plate 63. A stiffness equation is derived for each of the springs 67 and 68 of this model, and the natural frequency f3 is calculated by combining them.

  Here, even if the top plate 63 is regarded as a rigid body, the rigidity of the leg 61a contributes much, so there are few errors with the actual machine. The modeling ignores the influence of the plate 63 portion. With such modeling, the width of the leg portion 61, the depth of the leg portion 61, the height of the leg portion 61, the material of the leg 61a, the cross-sectional shape of the leg 61a, the top plate 63 and the top plate 63 If the respective masses of the machine 62 and the installation state of the legs 61a on the ground contact surface are input as input parameters, analysis accuracy can be secured without particularly modeling the complicated machine 62 part. The natural frequency f3 representing the vibration characteristics of the gantry mechanism 60 can be calculated.

Further, in the calculation of the natural frequency f3, the calculation results vary depending on the setting of the fixed condition of the calculation model. Therefore, the calculation model includes a case where the pedestal leg 61a aligned with the actual machine is completely fixed and a case where it is semi-fixed. Each fixed condition is set with the case of.
Further, for the gantry mechanism 60-1 having a complicated shape having the braces 64a and 64b shown in FIG. 12, as shown in FIG. 14, the gantry mechanism 60-1 is connected to the braces 64a and 64b and the legs 61a. Modeling is performed using a plurality of springs 35 and 25 divided at the joint point 36, and calculation is performed in the same manner as in the case of the gantry mechanism 60. Therefore, when the mechanism 11 is an analysis target, in addition to the above input parameters, the material of the braces 64a and 64b, the cross-sectional shape, the length, and the installation position are input parameters.

Next, the operation of the movable mechanism vibration analyzer 10 will be described.
First, when a user issues an instruction for analyzing a movable mechanism in the input device 21, shape data for displaying the shapes of various movable mechanisms is read from the model DB 11 under the control of the model creation unit 14. In accordance with the shape data, an analysis mechanism selection screen 101 shown as an example in FIG.

On this analysis mechanism selection screen 101, a guidance window 101a in which contents of instructions to the user are described and displayed, and models in which the external shapes of various movable mechanism models 101, 102, 103, and 104 to be analyzed are displayed. A display window 101b is displayed.
In accordance with the guidance described in the guidance window 101a, the user selects a model of the movable mechanism that he / she wants to analyze from the models 101 to 104 displayed in the model display window 101b. For example, it is assumed that a selection operation of the model 102 of the uniaxial arm mechanism is performed in the input device 21.

  As a result, when a selection command is input to the model creation unit 14, a uniaxial arm mechanism parameter input screen 111 shown in FIG. 16 is displayed on the display unit 22 under the control of the model creation unit 14, and guidance on this screen 111 is displayed. In the window 111a, the contents of instructions to the user are described and displayed, and in the parameter explanation window 111b, the shape of the model 102 of the uniaxial arm mechanism is displayed, and the description of parameters such as dimensions and mass of the model 102 is displayed. The

At the same time, the parameter item data of the model 102 of the uniaxial arm mechanism from the model DB 11 and the physical property data of the model 102 of the uniaxial arm mechanism are read from the physical property DB 12 by the control of the model creating unit 14, and the parameter value input window 111c. And a physical property data selection window 111d.
The selection window 111d uses a physical property data from the physical property DB 12 so that an input parameter can be input by selecting a physical property item instead of a numerical value.

The input window 111c can directly input numerical values, but standard numerical values of input values are displayed in advance using physical property data as initial values.
Here, when the user selects an appropriate physical property item in the selection window 111d, inputs a predetermined parameter value in the input window 111c, and performs an operation of moving to the next screen, the display unit 22 displays the figure. 17 shows an arm cross-sectional dimension input screen 121 as an example.

On the arm cross-sectional dimension input screen 121, the contents of instructions to the user are described and displayed in the guidance window 121a, and the shape of the arm cross section of the model 102 of the uniaxial arm mechanism is displayed in the parameter explanation window 121b. A description of parameters such as 102 dimensions and mass is displayed.
Further, a parameter value input window 121c is displayed. In the input window 121c, numerical values can be directly input as described above, but standard numerical values of input values are displayed in advance using physical property data as initial values.

Here, when the user inputs a predetermined parameter value in the input window 111c, the model generation unit 14 generates model data from all the input parameter values and the parameter values based on the physical property data selected or input. Is done.
Then, the model data display control unit 15 displays a list of all parameter values input according to the created model data on the input parameter display screen 131 shown as an example in FIG. Here, the user can also correct the displayed parameter value from the input device 21.

  On the input parameter display screen 131, a parameter explanation window 131b and an input parameter display window 131e displaying a list of all input parameter values are displayed. Further, among the operation buttons, a mechanical property analysis execution button 131f for executing the calculation of the natural frequency of the movable mechanism using the parameter values displayed in the input parameter display window 131e, and the parameter values displayed in a list are displayed. A save button 131g for saving the model data is displayed.

  Here, when the mechanical property analysis execution button 131f is clicked by the user, the natural frequency of the model 102 of the uniaxial arm mechanism to be analyzed is based on all parameter values of the model data in the analysis solver unit 16 as described above. It is calculated as f1, and this analysis result is displayed on the display unit 22. The analysis result is held in the analysis result holding unit 17 and stored in the file storage device 23 via the file input / output unit 18.

  As described above, according to the movable mechanism vibration analyzing apparatus 10 of the present embodiment, the model creation unit 14 displays the model shapes of various movable mechanisms, and the movable mechanism model selected by the user from this display is displayed. The corresponding parameter item data is read from the model DB 11 and the parameter items are displayed on the display unit 22 under the control of the model data display control unit 15, and the physical property data corresponding to the selected movable mechanism model is read from the physical property DB 12. Displayed as the corresponding parameter value. By displaying in this way, the user can easily input the parameter value of the movable mechanism for which he / she wants the natural frequency and wants to analyze the vibration.

  Further, the model data display control unit 15 displays the parameter value of the physical property data so that the operation can be changed, and newly displays the parameter value after the changing operation when the changing operation of the parameter value being displayed is performed. I used it. As a result, the user can arbitrarily input parameter values corresponding to the physical property data. Therefore, the simulation tool is useful for more detailed analysis and analysis of various cases. can do.

In addition, the model data display control unit 15 displays a list of parameter values that have been input by operation and parameter values that have been read from physical property data. Thereby, even if the user is a beginner, all parameter values can be easily confirmed, so that it is possible to reduce input mistakes in parameter values when obtaining the natural frequency.
In addition, the model creation unit 14 displays the guidance describing the parameter items of the movable mechanism model being displayed and the operation instructions for the display contents in characters and symbols. Thereby, even if the user is a beginner, the natural frequency can be obtained by easily inputting the parameter value.

In addition, the file input / output unit 18 stores in the file storage device 23 the parameter values displayed in a list and the shape data for displaying the movable mechanism model shape whose natural frequency is analyzed based on the parameter values. The stored parameter values and shape data are input to the model creation unit 14.
Accordingly, the user selects from among various movable mechanism models, and displays the operation input and parameter values read from the storage unit 13 and the movable mechanism model shape for the selected movable mechanism model. Shape data can be stored. Therefore, it is possible to easily cope with a case where the user performs an operation such as obtaining the natural frequency of the same movable mechanism model again by changing the parameter value.

  Further, the file input / output unit 18 performs a process of inputting / outputting a data file input / output between the model creating unit 14 and the file storage device 23 as a text file in a format format that can be changed by a general-purpose editor. did. As a result, the parameter value of the movable mechanism model can be directly created as a text file and read into the simulation program.

It is a block diagram which shows the structure of the movable mechanism vibration analyzer which concerns on embodiment of this invention. It is a block diagram of the arm mechanism in which a motion is analyzed by the movable mechanism vibration analyzer which concerns on said embodiment. It is a figure which shows the mode of the inconvenient minute vibration produced when arm rigidity of said arm mechanism is not enough. It is a figure which shows the model of an arm in case the arm of said arm mechanism consists of a flexible structural member. It is a figure showing a parameter required for calculation of the natural frequency of said arm mechanism. It is a block diagram of the conveyance mechanism by which a motion is analyzed by said movable mechanism vibration analyzer. It is a figure which shows the mode of the inconvenient micro vibration which arises when the columnar structure rigidity of said conveyance mechanism is not enough. It is a figure which shows the model of a columnar structure in case the columnar structure of said conveyance mechanism consists of a flexible structural member. It is a figure showing a parameter required for calculation of the natural frequency of said conveyance mechanism. It is a block diagram of the gantry mechanism in which a vibration is analyzed by the movable mechanism vibration analyzer which concerns on said embodiment. It is a figure which shows the mode of the inconvenient micro vibration which arises when the rigidity of the leg part of said mount mechanism is not enough. It is a figure which shows the model of the gantry mechanism of a complicated shape which has a diagonal bracing further in said leg part. It is a model figure at the time of considering each base leg and top plate in said movable mechanism as a spring, and connecting them. It is a figure at the time of modeling a gantry mechanism in case the above-mentioned leg part has further diagonal braces with a spring. It is a figure which shows the example of a display of the analysis mechanism selection screen displayed on the movable mechanism vibration analyzer which concerns on said embodiment. It is a figure which shows the example of a display of the parameter input screen (uniaxial arm mechanism parameter input screen) displayed on the movable mechanism vibration analyzer which concerns on said embodiment. It is a figure which shows the example of a display of the parameter input screen (arm cross-sectional dimension input screen) displayed on the movable mechanism vibration analyzer which concerns on said embodiment. It is a figure which shows the example of a display of the input parameter display screen displayed on the movable mechanism vibration analyzer which concerns on said embodiment.

Explanation of symbols

10 Movable mechanism vibration analyzer 11 Model DB (database)
12 Physical property DB (database)
DESCRIPTION OF SYMBOLS 13 Memory | storage part 14 Model creation part 15 Model data display control part 16 Analysis solver part 17 Analysis result holding part 18 File input / output part 21 Input device 22 Display part 23 File storage apparatus 30 Arm mechanism 31 Base 32 Stage 33 Arm 33a, 33b Rigid body 34 Load 35 Virtual point 36 Spring 37 Center of gravity 38 Arm center of gravity 40 Conveying mechanism 42 Stage 43 Columnar structure 44 Stage 44a Mounting portion 45 Conveying object 46 Virtual point 47 Spring 48a, 48b Rigid body 48 Columnar structure Center of rotation 49 Gravity of transported object 50 Stage center of gravity 51 Columnar structure center of gravity 60 Mounting mechanism 61 Leg 61a Mounting leg 62 Machine 63 Top plate 64a Bracing 65 Armed driving body 66 Stage 67 Fixed point 68 Spring 69 Contact 101 Analysis mechanism selection screen 101 , 02, 103, 104 Movable mechanism model 101a Guidance window 101b Model display window 102 Uniaxial arm mechanism model 111 Uniaxial arm mechanism parameter input screen 111a Guidance window 111b Parameter explanation window 111c Input window 111d Selection window 121 Arm cross-sectional dimension input screen 121a Guidance Window 121b Parameter explanation window 121c Input window 131 Input parameter display screen 131b Parameter explanation window 131e Input parameter display window 131f Machine characteristic analysis execution button 131g Save button

Claims (7)

In the movable mechanism vibration analysis device that calculates the natural frequency of the movable mechanism with vibration by applying a parameter value necessary for the mathematical formula for obtaining the natural frequency,
Shape data for displaying model shapes of various movable mechanisms, parameter item data for displaying input items of the parameter values, physical property data including physical constants and material characteristics of materials constituting the movable mechanisms, Storage means for storing
The shape data is read from the storage means to display model shapes of various movable mechanisms, and the parameter item data corresponding to the movable mechanism selected by the operation is read from the storage means to display parameter items. And a control means for reading the physical property data corresponding to the selected movable mechanism and displaying it as a corresponding parameter value. The control means displays the parameter value displayed by reading the physical property data so that the operation can be changed, and newly displays the parameter value after the changing operation when the changing operation of the parameter value being displayed is performed. The movable mechanism vibration analyzer according to claim 1, wherein the movable mechanism vibration analyzer is used. The movable mechanism vibration analysis apparatus according to claim 1, wherein the control unit displays a list of parameter values input by operation and parameter values read from the physical property data. The said control means displays the guidance which described the instruction | indication of the parameter item of the movable mechanism being displayed, and the operation instruction with respect to the display content by the character and the pattern. Movable mechanism vibration analyzer. The parameter values displayed as a list by the control means and the shape data for displaying the model shape of the movable mechanism whose natural frequency is analyzed based on the parameter values are stored in the file storage means, and the stored parameter values 5. The movable mechanism vibration analysis apparatus according to claim 1, further comprising: file input / output means for inputting shape data to the control means. 6. The movable mechanism vibration analyzing apparatus according to claim 5, wherein the file input / output means performs a process of inputting / outputting the data file as a text file in a format that can be changed by a general-purpose editor. In a movable mechanism vibration analysis parameter input method for inputting a parameter value required for the mathematical expression to a movable mechanism vibration analysis apparatus that calculates the natural frequency using a mathematical expression for obtaining the natural frequency of the movable mechanism with vibration,
Shape data for displaying model shapes of various movable mechanisms, parameter item data for displaying input items of the parameter values, physical property data including physical constants and material characteristics of materials constituting the movable mechanisms, A first step of storing
A second step of reading the shape data stored in the first step and displaying model shapes of various movable mechanisms;
The parameter item data corresponding to the movable mechanism selected by the operation from the model shapes of the various movable mechanisms displayed in the second step is read from the data stored in the first step and the parameter item is read. And a third step of reading physical property data corresponding to the selected movable mechanism from the stored data and displaying it as a corresponding parameter value. Method.

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