JP3139467B2 - High precision rotary drive - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary drive device, and more particularly to a high-precision rotary drive device capable of realizing high-precision rotary drive control using a coarse angle detector.

[0002]

2. Description of the Related Art Hitherto, in order to obtain high-precision rotation angle detection accuracy in a rotary drive device, various methods have been proposed, such as using a reduction gear mechanism or increasing the accuracy of the angle detector itself. ing.

For example, if a large speed reduction mechanism is constructed by using a large-diameter gear, high-precision rotation angle accuracy can be obtained.
In addition, in order to improve the accuracy of the angle detector itself, the manufacturing cost increases and the device must be large.

[0004]

However, the above-described conventional high-precision rotary driving devices have respective problems. That is, the first problem is that when a reduction gear mechanism is used, discontinuity due to gear engagement occurs,
There is a disadvantage that smooth rotation characteristics cannot be obtained.
In addition, the method of improving the accuracy of the angle detector itself has a disadvantage that the outer diameter is increased and the manufacturing cost is extremely increased. Further, the conventional gimbal mechanism has a drawback that it is difficult to draw out a wiring cord or the like and the wire is entangled.

An object of the present invention is to provide a high-precision rotary drive device which improves the above-mentioned drawbacks of the prior art and enables high-precision rotary drive control without increasing the outer diameter and weight. It is.

[0006]

In order to achieve the above-mentioned object, the present invention employs the following basic technical structure. That is, as a first aspect according to the present invention, a first motor, a first shaft that is rotationally driven by the first motor, and a cylinder disposed around the first shaft, A second motor for rotating and driving the cylindrical body, and a first motor attached at a predetermined angle α to an axis of the cylindrical body.
A driving plate connected to the tip of the first shaft and rotatably attached to the first support member; and a predetermined angle inclined with respect to the first support member. And a driving object mounted as
By rotating the first shaft 360 degrees by the motor of
A high-precision rotary drive device for rotating the drive target within a range of ± α.

Further, the first motor and the second motor are high-precision rotary drive devices disposed coaxially. Further, the driving plate is connected to a distal end of the first shaft via a flexible member. Further, the object to be driven is driven to rotate non-linearly. Further, the first support member and the drive plate are rotatably mounted via bearings.

[0008]

DETAILED DESCRIPTION OF THE INVENTION
In order to solve the problems in the prior art described above, in a rotation drive mechanism using a coarse angle detector, a method of improving rotation accuracy using a normal reduction gear mechanism,
To solve the disadvantage of discontinuity caused by gear,
This is a high-precision rotary drive device using an active universal joint (AUJ). In particular, high-precision and stepless continuous rotation control is possible.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a high-precision rotary drive according to the present invention. FIG.
1 is an overall perspective view showing an embodiment of the high-precision rotary drive device of the present invention, and FIG. 2 is a schematic configuration diagram showing the internal structure of the high-precision rotary drive device of the present invention.

As is apparent from the drawing, as a first specific example of the high-precision rotary driving device 10 according to the present invention, a first motor 11 and a first motor 11 driven by the first motor 11 are rotated. A shaft 12, a resolver 13 for detecting a rotation angle of the first shaft 12, a cylinder 14 rotatably disposed around the first shaft 12, and a second rotating the cylinder 14. A motor 15, a resolver 16 for detecting a rotation angle of the cylinder 14, a first support member 17 attached with an end face having a predetermined angle α with respect to an axis of the cylinder 14, A drive plate 18 connected to the tip of the first shaft 12 and rotatably attached to the first support member 17
And a driving object 19 attached to the first support member 17 at a predetermined angle.
By rotating the first shaft 12 by 360 degrees by the motor 11, the object to be driven 19 is rotationally driven within a range of ± α.

That is, the support cylinder 21 rotatably supported by the bearing 20 with respect to the apparatus main body 10a in the present invention.
Is fixed to the first shaft 12. The first motor 11 is attached to the support cylinder 21, and drives the first shaft 12 to rotate. A resolver 13 is provided around the support cylinder 21 so that the rotation angles of the first shaft 12 and the support cylinder 21 can be detected.

A cylindrical body 14 is provided around the first shaft 12.
Are rotatably disposed via a bearing 22.
The first support member 17 fixed to the end of the cylindrical body 14
Is rotatably supported by the apparatus main body 10a via a bearing 23. The end face 17 a of the first support member 17 is formed to be inclined at a predetermined angle α with respect to the axis of the first shaft 12. The angle α determines the angle range in which the driving object 19 is swung, and the driving object 19
Swings in the range of 2α.

The drive plate 18 is rotatably supported by the first support member 17 via bearings and the like, and is connected to the end of the first shaft 12. Here, the first shaft 12
The drive plate 18 is connected to a member having flexibility, for example, a coil spring 24. Therefore, power is smoothly transmitted from the first shaft 12 to the drive plate 18.

The end face 18a of the drive plate 18 is also inclined at an angle α with respect to the axis of the first shaft 12. Further, as shown in FIG. 1, the leg 25 attaches the driving target 19 to the driving plate 18 at a predetermined angle β. This angle β is determined by the direction in which light from the light source is desired to be reflected, for example, when the driving object 19 is a mirror. When used for inter-satellite communication or the like, it is determined by the angle at which each artificial satellite faces each other.

FIG. 3 is an explanatory diagram showing an operation state of the high-precision rotary drive device of the present invention. In the high-precision rotary drive device 10 of the present invention, when the first shaft 12 rotates along the rotation axis of the first motor 11, the drive target 19 is rotationally driven in the corresponding rotation direction.

FIG. 4 is an explanatory diagram showing the relationship between the rotation angle of the motor and the rotation angle of the object to be driven in the high-precision rotary drive device of the present invention. In the figure, the horizontal axis indicates the rotation angle of the motor, and the vertical axis indicates the rotation angle of the driving target 19. When the motor rotates 360 degrees in the figure, the driving target 19 rotates 28 degrees. This is the case where α = 14 degrees described above. That is, 360
The degree ÷ 2/28 degrees = 6.4, and an angle accuracy of 6.4 times (average value) the accuracy of the resolver (angle detector) 13 attached to the first shaft 12 is obtained. The smaller the mounting angle α of the driving plate 18 is, the more the first motor 11
The swing range for one rotation is reduced, and the angular accuracy is improved in inverse proportion thereto.

Further, since the curve 26 obtained is non-linear as shown in FIG. 4, even if the inclination angle α is the same depending on which part of the rotation angle of the motor is used, importance is placed on accuracy or responsiveness. It depends on what you value.

Incidentally, the present invention is not limited to the above-described embodiment, and various design changes can be made based on the technical idea of the present invention.

[0019]

The first effect is that an angle detector (resolver) is used.
It is possible to control the rotation angle with high accuracy within a set range of several times to several tens times without improving the accuracy of the device itself. The reason is that, while the amount of rotation of the drive source is 180 degrees and the predetermined angle to be controlled is α, 180 degrees is obtained.
The accuracy can be improved by a factor of / 2α = 90 ° α.

The second effect is that, although high-precision angle control can be realized, a large gear or the like is not required, so that the apparatus can be downsized. Further, the weight and durability of the device can be improved. Further, continuity of rotation is maintained as compared with a normal reduction gear, and smooth rotation drive characteristics are obtained. Further, in the high-precision rotary drive device of the present invention, the wiring cord and the like do not move, so that the harness processing is easy.

[Brief description of the drawings]

FIG. 1 is an overall perspective view showing one embodiment of a high-precision rotary drive device of the present invention.

FIG. 2 is a schematic configuration diagram showing an internal structure of a high-precision rotary drive device of the present invention.

FIG. 3 is an explanatory diagram showing an operation state of the high-precision rotary drive device of the present invention.

FIG. 4 is an explanatory diagram showing a relationship between a rotation angle of a motor and a rotation angle of a driven object of the high-precision rotation drive device of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... High-precision rotation drive device 10a ... Device main body 11 ... 1st motor 12 ... 1st shaft 13 ... Resolver 14 ... Cylindrical body 15 ... 2nd motor 16 ··· Resolver 17 ··· First support member 17a ··· End face 18 ··· Driving plate 19 ··· Driving object 20 ··· Bearing 21 ··· Support cylinder 22 ··· Bearing 23 Bearing 24 ・ ・ ・ Coil spring 25 ・ ・ ・ Leg 26 ・ ・ ・ Curve

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G02B 7/00 G02B ⁷ /18-7/24 G02B 26/00-26/10 H01Q 1 / 12,3 / 16

Claims (6)

(57) [Claims] 1. A first motor, a first shaft rotatably driven by the first motor, a cylinder disposed around the first shaft, and a first shaft rotatably driving the cylinder. Motor, a first support member mounted at a predetermined angle α with respect to the axis of the cylindrical body, and a first support member connected to a tip of the first shaft. A driving plate rotatably mounted on the first support member, and a driving object mounted at a predetermined angle with respect to the first support member. A high-precision rotation drive device characterized in that the object to be driven is rotationally driven within a range of ± α by being rotated by degrees. 2. The high-precision rotation drive device according to claim 1, wherein the first motor and the second motor are arranged coaxially. 3. The high-precision rotary drive device according to claim 1, wherein the drive plate is connected to a tip of the first shaft via a flexible member. 4. The high-precision rotation drive device according to claim 1, wherein the drive target is driven to rotate non-linearly. 5. The first support member and the driving plate,
2. The high-precision rotation drive device according to claim 1, wherein the high-speed rotation drive device is rotatably mounted via a bearing. 6. The high-precision rotary drive device according to claim 1, wherein the drive target is a mirror.