JP2015206747A5

JP2015206747A5 -

Info

Publication number: JP2015206747A5
Application number: JP2014088905A
Authority: JP
Filing date: 2014-04-23
Publication date: 2017-05-18

Description

本発明の第１の態様に従えば、入力軸の回転に関する入力軸情報を検出する第１エンコーダと、入力軸に動力伝達装置を介して接続される出力軸の回転に関する出力軸情報を検出する第２エンコーダと、第１エンコーダが検出した入力軸情報及び第２エンコーダが検出した出力軸情報の少なくとも一方を示す第１軸情報と、第１エンコーダが検出した入力軸情報と第２エンコーダが検出した出力軸情報との差分情報と、を同じ信号線に時分割で出力する出力器と、を備えるエンコーダ装置が提供される。
According to the first aspect of the present invention, the first encoder that detects input shaft information related to the rotation of the input shaft and the output shaft information related to the rotation of the output shaft connected to the input shaft via the power transmission device are detected. First axis information indicating at least one of the second encoder, the input axis information detected by the first encoder and the output axis information detected by the second encoder, the input axis information detected by the first encoder, and the second encoder There is provided an encoder device including an output device that outputs difference information with respect to the output axis information to the same signal line in a time-sharing manner.

本発明の第２の態様に従えば、第１の態様のエンコーダ装置と、入力軸にトルクを供給する駆動部と、出力器から出力された情報に基づいて駆動部を制御する制御部と、を備える駆動装置が提供される。
According to the second aspect of the present invention, the encoder device of the first aspect, a drive unit that supplies torque to the input shaft, a control unit that controls the drive unit based on information output from the output unit, Is provided.

駆動装置１は、概略すると以下のように動作する。モータ２は、トルクを発生し、このトルクを減速機３の入力軸６に供給する。減速機３は、モータ２から供給されたトルクを所定の減速比で調整し、出力軸７を介して負荷８に供給する。エンコーダ装置４は、入力軸６の回転に関する入力軸情報と、出力軸７の回転に関する出力軸情報とを検出する。エンコーダ装置４は、検出した入力軸情報および出力軸情報の少なくとも一部を処理し、処理後の情報をモータ制御部５に供給する。モータ制御部５は、エンコーダ装置４から供給された情報を使って、モータ２の回転を制御する。 The driving device 1 generally operates as follows. The motor 2 generates torque and supplies this torque to the input shaft 6 of the speed reducer 3. The reducer 3 adjusts the torque supplied from the motor 2 with a predetermined reduction ratio, and supplies it to the load 8 via the output shaft 7. The encoder device 4 detects input shaft information related to the rotation of the input shaft 6 and output shaft information related to the rotation of the output shaft 7. The encoder device 4 processes at least a part of the detected input shaft information and output shaft information, and supplies the processed information to the motor control unit 5. The motor control unit 5 controls the rotation of the motor 2 using the information supplied from the encoder device 4.

Claims

A first encoder for detecting input shaft information relating to rotation of the input shaft;
A second encoder for detecting output shaft information relating to rotation of an output shaft connected to the input shaft via a power transmission device;
First axis information indicating at least one of the input axis information detected by the first encoder and the output axis information detected by the second encoder; the input axis information detected by the first encoder; and the second encoder And an output device that outputs the difference information with respect to the output shaft information detected on the same signal line in a time-sharing manner.

The power transmission device includes a speed reducer,
The encoder device according to claim 1, wherein the output unit uses the reduction ratio of the reduction gear to align the units of the input shaft information and the output shaft information and calculates the difference information.

3. The output device according to claim 1, wherein the output unit outputs the input axis information as the first axis information at a first frequency, and outputs the difference information at a second frequency lower than the first frequency. Encoder device.

The input axis information includes at least one of angular position, angular velocity, and angular acceleration,
The encoder device according to any one of claims 1 to 3, wherein the output device outputs the angular position more frequently than either the angular velocity or the angular acceleration.

The encoder device according to any one of claims 1 to 4, wherein the output device outputs the difference information together with a flag for distinguishing from the first axis information.

Based on either the input axis information or the output axis information and the difference information, second axis information indicating information on the other of the input axis information and the output axis information is calculated. The encoder device according to any one of claims 1 to 5, further comprising a 1 calculating unit.

The encoder apparatus according to claim 6, further comprising: a second calculation unit that calculates load information connected to the output shaft based on the input shaft information and the output shaft information.

Information on at least one of the angular position, the angular velocity, and the angular acceleration based on one information among the angular position, angular velocity, and angular acceleration related to one of the input axis and the output axis. The encoder apparatus according to any one of claims 1 to 7, further comprising a third calculation unit that calculates

The encoder device according to any one of claims 1 to 8, wherein the output device outputs information in response to a request from a receiver that receives information from the output device.

The encoder device according to any one of claims 1 to 9,
A drive unit for supplying torque to the input shaft;
And a control unit that controls the drive unit based on information output from the output device.

A moving object;
A stage device comprising: the drive device according to claim 10 that moves the moving object.

A drive device according to claim 10;
A robot apparatus comprising: a first arm and a second arm that are relatively moved by the driving device.