JP2015093360A5

JP2015093360A5 -

Info

Publication number: JP2015093360A5
Application number: JP2013235239A
Authority: JP
Filing date: 2013-11-13
Publication date: 2016-12-28

Description

本発明の駆動装置は、回転モータと、前記回転モータの出力軸の回転を減速する減速機と、前記回転モータの出力軸の回転を前記減速機に伝達するベルトと、前記回転モータの出力軸の回転角度を検出する第１角度検出部と、前記減速機の出力軸の回転角度を検出する第２角度検出部と、前記第１角度検出部により検出された回転角度、及び前記第２角度検出部により検出された回転角度のうちいずれか一方の回転角度を、前記減速機の減速比を用いて角度変換し、角度変換した前記一方の回転角度と他方の回転角度との誤差が許容値よりも大きい場合に、メンテナンスが必要であることを示す信号を出力する制御部と、を備えたことを特徴とする。
The drive device of the present invention includes a rotary motor, a speed reducer that decelerates rotation of the output shaft of the rotary motor, a belt that transmits the rotation of the output shaft of the rotary motor to the speed reducer, and an output shaft of the rotary motor A first angle detection unit that detects a rotation angle of the output shaft, a second angle detection unit that detects a rotation angle of the output shaft of the speed reducer, a rotation angle detected by the first angle detection unit, and the second angle Any one of the rotation angles detected by the detection unit is converted using the reduction ratio of the speed reducer, and an error between the one rotation angle and the other rotation angle after the angle conversion is an allowable value. And a control unit that outputs a signal indicating that maintenance is required when the value is larger than that .

Claims

A rotary motor;
A decelerator that decelerates the rotation of the output shaft of the rotary motor;
A belt for transmitting the rotation of the output shaft of the rotary motor to the speed reducer;
A first angle detector for detecting a rotation angle of the output shaft of the rotary motor;
A second angle detector for detecting a rotation angle of the output shaft of the speed reducer;
One of the rotation angle detected by the first angle detection unit and the rotation angle detected by the second angle detection unit is angle-converted using the reduction ratio of the reduction gear, and the angle And a control unit that outputs a signal indicating that maintenance is required when an error between the converted one rotation angle and the other rotation angle is larger than an allowable value. .

A rotary motor;
A decelerator that decelerates the rotation of the output shaft of the rotary motor;
A belt for transmitting the rotation of the output shaft of the rotary motor to the speed reducer;
A first angle detector for detecting a rotation angle of the output shaft of the rotary motor;
A second angle detector for detecting a rotation angle of the output shaft of the speed reducer;
One of the rotation angle detected by the first angle detection unit and the rotation angle detected by the second angle detection unit is angle-converted using the reduction ratio of the reduction gear, and the angle Control that converts the error between the converted one rotation angle and the other rotation angle into the belt tension, and outputs a signal indicating that maintenance is required when the belt tension falls below a predetermined tension. drive braking system you comprising: the parts, the.

A tension storage unit for storing the relationship between the error and the belt tension;
The drive unit according to claim 2, wherein the control unit obtains a tension of the belt corresponding to the error based on a relationship stored in the tension storage unit.

A rotary motor;
A decelerator that decelerates the rotation of the output shaft of the rotary motor;
A belt for transmitting the rotation of the output shaft of the rotary motor to the speed reducer;
A first angle detector for detecting a rotation angle of the output shaft of the rotary motor;
A second angle detector for detecting a rotation angle of the output shaft of the speed reducer;
Wherein the output shaft of the rotary motor in forward and reverse directions is rotated while changing the frequency, one of the rotation angle detected by the first angle detection unit, and the rotation angle detected by the second angle detector One rotation angle is converted into an angle using the reduction ratio of the speed reducer, a frequency characteristic of an error between the one rotation angle and the other rotation angle after the angle conversion is obtained, and a peak value of the error in the frequency characteristic is obtained. obtains the natural frequency by the belt from the case where the peculiar frequency falls below a predetermined frequency, drive you characterized by comprising a control unit for outputting a signal indicating that maintenance is required dynamic apparatus.

When the inertial mass in the output shaft of the speed reducer is changed, the control unit includes the first peak value having a large frequency change in the frequency characteristic and the second peak value having a small frequency change. the frequency corresponding to the second peak value, before Symbol driving device according to claim 4, characterized in that a unique frequency.

A rotary motor;
A decelerator that decelerates the rotation of the output shaft of the rotary motor;
A belt for transmitting the rotation of the output shaft of the rotary motor to the speed reducer;
An angle detector for detecting a rotation angle of the output shaft of the speed reducer;
A signal indicating that maintenance is required when the output time of the rotation motor is rotated to obtain a response time from the response characteristic of the rotation angle detected by the angle detection unit, and the response time exceeds a predetermined time. And a control unit for outputting the drive unit.

A display unit for displaying an image;
The driving device according to claim 1 , wherein the control unit outputs the signal to the display unit to display that maintenance is necessary .

A plurality of links connected by joints;
A robot apparatus comprising: the driving apparatus according to claim 1 that drives the joint.

A rotation motor; a speed reducer that decelerates rotation of the output shaft of the rotation motor; a belt that transmits rotation of the output shaft of the rotation motor to the speed reducer; a control unit that controls the rotation motor; and the rotation motor A control method for a driving device, comprising: a first angle detection unit that detects a rotation angle of the output shaft of the output shaft; and a second angle detection unit that detects a rotation angle of the output shaft of the speed reducer,
A first angle acquisition step in which the control unit acquires a rotation angle of the output shaft of the rotary motor from the first angle detection unit;
A second angle acquisition step in which the control unit acquires a rotation angle of the output shaft of the speed reducer from the second angle detection unit;
The control unit uses any one of the rotation angles acquired in the first angle acquisition step and the rotation angles acquired in the second angle acquisition step, using the reduction ratio of the speed reducer. And a step of outputting a signal indicating that maintenance is required when an error between the one rotation angle and the other rotation angle after the angle conversion is larger than an allowable value. Control method for the driving device.

  A rotation motor; a speed reducer that decelerates rotation of the output shaft of the rotation motor; a belt that transmits rotation of the output shaft of the rotation motor to the speed reducer; a control unit that controls the rotation motor; and the rotation motor A control method for a driving device, comprising: a first angle detection unit that detects a rotation angle of the output shaft of the output shaft; and a second angle detection unit that detects a rotation angle of the output shaft of the speed reducer,
  A first angle acquisition step in which the control unit acquires a rotation angle of the output shaft of the rotary motor from the first angle detection unit;
  A second angle acquisition step in which the control unit acquires a rotation angle of the output shaft of the speed reducer from the second angle detection unit;
  The control unit uses any one of the rotation angles acquired in the first angle acquisition step and the rotation angles acquired in the second angle acquisition step, using the reduction ratio of the speed reducer. An angle conversion is performed, and an error between the one rotation angle and the other rotation angle converted into an angle is converted into a tension of the belt, and a signal indicating that maintenance is necessary when the tension of the belt falls below a predetermined tension. And a method for controlling the driving device.

  A rotation motor; a speed reducer that decelerates rotation of the output shaft of the rotation motor; a belt that transmits rotation of the output shaft of the rotation motor to the speed reducer; a control unit that controls the rotation motor; and the rotation motor A control method for a driving device, comprising: a first angle detection unit that detects a rotation angle of the output shaft of the output shaft; and a second angle detection unit that detects a rotation angle of the output shaft of the speed reducer,
  A first angle acquisition step in which the control unit acquires a rotation angle of the output shaft of the rotary motor from the first angle detection unit;
  A second angle acquisition step in which the control unit acquires a rotation angle of the output shaft of the speed reducer from the second angle detection unit;
  The control unit rotates the output shaft of the rotary motor while changing the frequency in the forward and reverse directions, the rotation angle acquired in the first angle acquisition step, and the rotation angle acquired in the second angle acquisition step The rotation angle of any one of them is converted using the reduction ratio of the speed reducer, and the frequency characteristic of the error between the one rotation angle and the other rotation angle obtained by the angle conversion is obtained, and the frequency characteristic in the frequency characteristic And a step of obtaining a natural frequency due to the belt from an error peak value and outputting a signal indicating that maintenance is required when the natural frequency falls below a predetermined frequency. Control method of the device.

A rotation motor; a speed reducer that decelerates rotation of the output shaft of the rotation motor; a belt that transmits rotation of the output shaft of the rotation motor to the speed reducer; a control unit that controls the rotation motor; and the speed reducer An angle detection unit for detecting a rotation angle of the output shaft of the driving device,
An angle acquisition step in which the control unit acquires a rotation angle of the output shaft of the speed reducer from the angle detection unit;
When the control unit obtains a response time from the response characteristic of the rotation angle acquired in the angle acquisition step when the output shaft of the rotary motor is rotated, and the response time exceeds a predetermined time, maintenance is necessary. And a step of outputting a signal indicating that there is a drive method.

The program for making a computer perform each process of the control method of the drive device of any one of Claim 9 thru | or 12 .

A computer-readable recording medium on which the program according to claim 13 is recorded.