JP4644450B2 - Transmission belt design support method, transmission belt design support apparatus, and recording medium in a transmission belt mechanism - Google Patents

Transmission belt design support method, transmission belt design support apparatus, and recording medium in a transmission belt mechanism Download PDF

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JP4644450B2
JP4644450B2 JP2004210802A JP2004210802A JP4644450B2 JP 4644450 B2 JP4644450 B2 JP 4644450B2 JP 2004210802 A JP2004210802 A JP 2004210802A JP 2004210802 A JP2004210802 A JP 2004210802A JP 4644450 B2 JP4644450 B2 JP 4644450B2
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transmission belt
strain
design support
driven pulley
load
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兪　　波
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Ricoh Co Ltd
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本発明は、伝動ベルト機構における伝動ベルト設計支援方法と伝動ベルト設計支援装置、並びに、記録媒体に関し、詳しくは、ゴム材等の伝動ベルトの特性を効率よく、高精度に反映した伝動ベルトの設計に応用される、駆動プーリと従動プーリの複数のプーリと複数のプーリに巻きつける伝動ベルトを有する伝動ベルト機構の動特性を解析する伝動ベルト設計支援方法と、その装置、並びに、コンピュータを実行させるためのプログラムを記載した記録媒体に関する。   TECHNICAL FIELD The present invention relates to a transmission belt design support method, a transmission belt design support device, and a recording medium in a transmission belt mechanism, and more specifically, a transmission belt design that efficiently and highly accurately reflects the characteristics of a transmission belt such as a rubber material. , A transmission belt design support method for analyzing dynamic characteristics of a transmission belt mechanism having a plurality of pulleys of a driving pulley and a driven pulley and a transmission belt wound around the plurality of pulleys, a device thereof, and a computer The present invention relates to a recording medium in which a program for recording is described.

従来から、伝動ベルト機構は、複写機、ファクシミリ装置、プリンタあるいはこれ等の複合機等の画像形成装置や他の情報機器等にも多く使われている。
これらの場合、より高精度で駆動することが不可欠である。
伝動ベルト機構を備える複写機などの開発現場では、設計された伝動ベルト機構を実機本体に取り付け、チューニングしながら開発を進めている。
またプリンタや複写機のカラー化や、品種多様化に伴い、伝動ベルト機構にもより高精度で駆動し、短期間で開発することが要求されている。
そこで、ベルト軸系生成部で、ＣＡＤシステムの図面データから解析対象とするベルト軸系を抽出し、それを単位ベルト軸系生成部で一本のベルトから構成される単位ベルト軸系に分割して、運動方程式自動生成部で各単位ベルト軸系についての運動方程式を自動生成し、その後全体系運動方程式自動生成部により、単位ベルト軸系の運動方程式を合成して、全体系の運動方程式を自動生成して、ベルト軸系負荷トルク等の動作特性の解析を手軽に行えるようにするベルト軸系動特性解析システムは公知である（特許文献１を参照）。
特開平６−２８２６１１号公報 2. Description of the Related Art Conventionally, a transmission belt mechanism has been widely used in image forming apparatuses such as copying machines, facsimile machines, printers, or multifunction machines thereof, and other information devices.
In these cases, it is essential to drive with higher accuracy.
At the development site of copiers equipped with a transmission belt mechanism, the designed transmission belt mechanism is attached to the actual machine body, and development is proceeding while tuning.
As printers and copiers are colorized and the types are diversified, it is also required to drive the transmission belt mechanism with higher accuracy and develop it in a short period of time.
Therefore, the belt shaft system generation unit extracts the belt shaft system to be analyzed from the CAD system drawing data, and the unit belt shaft system generation unit divides it into unit belt shaft systems composed of one belt. Then, the motion equation automatic generation unit automatically generates a motion equation for each unit belt shaft system, and then the overall system motion equation automatic generation unit synthesizes the motion equation of the unit belt shaft system to obtain the motion equation of the entire system. A belt shaft system dynamic characteristic analysis system that automatically generates and can easily analyze an operation characteristic such as a belt shaft system load torque is known (see Patent Document 1).
JP-A-6-282611

しかしながら、伝動ベルトは、ゴム材料のものは一般的である。ゴム材料は、時間依存粘弾性特性と言う、時間に伴う非線形的な現象が現れ、前記解析手法におけるベルト特性に関する各マトリックスを定数では表現しきれなくなるという問題があった。
例えば、伝動ベルトの引張り条件の違いによる材料特性、荷重−ひずみ特性等が変化を生じるため、この特性を考慮しない場合には、伝動ベルト機構の挙動は計算上に誤差が大きくなる。
また、単に運動方程式による機構解析の場合には、伝動ベルトの形状、材質などの影響を考慮できないだけでなく、有限要素解析のような煩雑の計算が行われていた。このため、伝動ベルトの特性の決定の効率が悪く、従動プーリの動きの解析の精度も良くなく、伝動ベルトの最適設計が出来ないと言う不具合が生じていた。
そこで本発明の課題は、このような問題点を解決するものである。即ち、伝動ベルトの特性を煩雑な計算を行うことなく効率よく高精度に決定し、伝動ベルト機構の挙動を精度良く解析して、伝動ベルトの最適設計が出来る伝動ベルト機構における伝動ベルト設計支援方法と、その装置、並びに記録媒体を提供することを目的とする。 However, the transmission belt is generally made of a rubber material. The rubber material has a problem that time-dependent viscoelastic properties, which are nonlinear with time, appear, and each matrix related to the belt characteristics in the analysis method cannot be expressed by constants.
For example, since the material characteristics, load-strain characteristics, and the like change due to the difference in the tension conditions of the transmission belt, if the characteristics are not taken into account, the behavior of the transmission belt mechanism has a large error in calculation.
In addition, in the case of mechanical analysis based on the equation of motion, not only the influence of the shape and material of the transmission belt cannot be taken into account, but also complicated calculations such as finite element analysis have been performed. For this reason, the efficiency of determining the characteristics of the transmission belt is poor, the accuracy of the analysis of the movement of the driven pulley is not good, and there is a problem that the optimum design of the transmission belt cannot be performed.
Therefore, an object of the present invention is to solve such problems. In other words, the transmission belt design support method in the transmission belt mechanism that can determine the characteristics of the transmission belt efficiently and accurately without complicated calculations, analyze the behavior of the transmission belt mechanism accurately, and optimize the transmission belt design And an apparatus for the same, and a recording medium.

上記目的を達成するために、請求項１に記載の本発明は、駆動プーリと従動プーリと、これらのプーリ間に巻きつける伝動ベルトとにより構成される伝動ベルト機構の動特性を解析する伝動ベルト機構における伝動ベルト設計支援方法において、伝動ベルト特性取得工程と、上記伝動ベルト特性取得工程で取得した伝動ベルト荷重−ひずみ特性に基づいて、伝動ベルト機構モデルにより駆動プーリと従動プーリに巻きつける伝動ベルトの張力を算出する機構解析工程と、上記機構解析工程によって算出された上記伝動ベルトの張力の釣り合いから上記従動プーリの動きを解析して上記従動プーリの回転むらを最小にする設計条件を決定する設計条件決定工程と、からなり、前記伝動ベルト特性取得工程は、Ｌａ）＝（Ｌinitial）＊（ｋ）＝（Ｌinitial）＊（ｆ（ａ））（但し、Ｌａ：加速度ごとの伝動ベルト荷重−ひずみ特性、Ｌinitial：伝動ベルト荷重−ひずみ特性の初期値、ｋ：伝動ベルトシフト量係数、ｆ（ａ）：伝動ベルトシフト量係数の関数、ａ：モータ駆動加速度ｋ：駆動条件と伝動ベルトシフト量係数）を用いて伝動ベルト荷重−ひずみ特性を算出することを特徴とする。
また請求項２に記載の本発明は、駆動プーリと従動プーリと、これらのプーリ間に巻きつける伝動ベルトとにより構成される伝動ベルト機構の動特性を解析する伝動ベルト機構における伝動ベルト設計支援装置において、伝動ベルト特性取得手段と、上記伝動ベルト特性取得手段で取得した伝動ベルト荷重−ひずみ特性に基づいて、伝動ベルト機構モデルにより駆動プーリと従動プーリに巻きつける伝動ベルトの張力を算出する機構解析手段と、上記機構解析手段によって算出された上記伝動ベルトの張力の釣り合いから上記従動プーリの動きを解析して上記従動プーリの回転むらを最小にする設計条件を決定する設計条件決定手段と、を備え、前記伝動ベルト特性取得手段は、Ｌａ）＝（Ｌinitial）＊（ｋ）＝（Ｌinitial）＊（ｆ（ａ））（但し、Ｌａ：加速度ごとの伝動ベルト荷重−ひずみ特性、Ｌinitial：伝動ベルト荷重−ひずみ特性の初期値、ｋ：伝動ベルトシフト量係数、ｆ（ａ）：伝動ベルトシフト量係数の関数、ａ：モータ駆動加速度ｋ：駆動条件と伝動ベルトシフト量係数）を用いて伝動ベルト荷重−算出することを特徴とする。 In order to achieve the above object, the present invention according to claim 1 is a transmission belt for analyzing dynamic characteristics of a transmission belt mechanism including a driving pulley, a driven pulley, and a transmission belt wound between these pulleys. in the transmission belt design support method in mechanism, and transfer the dynamic belt characteristic acquisition step, the transmission belt load acquired at transmission belt characteristic acquisition step - based on the distortion characteristics, wound on the driving pulley and a driven pulley by a transmission belt mechanism model transmission A mechanism analysis step for calculating the belt tension and a design condition for minimizing the rotation unevenness of the driven pulley by analyzing the movement of the driven pulley from the balance of the tension of the transmission belt calculated by the mechanism analysis step. the design condition determination step of, consist, the transmission belt characteristic acquisition step, La) = (Linitial) * (k) = (L initial) * (f (a)) (where La: transmission belt load-strain characteristics for each acceleration, Linitial: initial value of transmission belt load-strain characteristics, k: transmission belt shift coefficient, f (a): transmission The transmission belt load-strain characteristic is calculated using a function of a belt shift amount coefficient, a: motor drive acceleration k: drive condition and transmission belt shift amount coefficient) .
According to a second aspect of the present invention, there is provided a transmission belt design support device in a transmission belt mechanism for analyzing dynamic characteristics of a transmission belt mechanism constituted by a drive pulley, a driven pulley, and a transmission belt wound between these pulleys. in the heat dynamic belt characteristics acquisition unit, the transmission belt load acquired at transmission belt characteristics acquisition unit - strain based on the characteristics, a mechanism for calculating the tension of the transmission belt wound around the drive pulley and the driven pulley by a transmission belt mechanism model Design condition determining means for analyzing the movement of the driven pulley from the balance of tension of the transmission belt calculated by the mechanism analyzing means and determining a design condition for minimizing rotation unevenness of the driven pulley; wherein the transmission belt characteristics acquisition unit, La) = (Linitial) * (k) = (Linitial) * (f (a)) ( La: Transmission belt load-strain characteristic for each acceleration, Linitial: Initial value of transmission belt load-strain characteristic, k: Transmission belt shift amount coefficient, f (a): Function of transmission belt shift amount coefficient, a: Motor The driving belt load is calculated by using the driving acceleration k: driving condition and transmission belt shift amount coefficient) .

また請求項３に記載の本発明は、請求項２に記載の伝動ベルト機構における伝動ベルト設計支援装置において、伝動ベルトの種類に応じた伝動ベルト荷重−ひずみ特性の初期値と、駆動条件と伝動ベルトシフト量係数の関係ファイルを予め用意しておくことを特徴とする。
また請求項４に記載の本発明は、請求項２又は３に記載の伝動ベルト機構における伝動ベルト設計支援装置において、上記機構解析手段は、上記伝動ベルト特性取得手段で取得した伝動ベルト荷重−ひずみ特性に基づいて伝動ベルト機構モデルにより従動プーリの動きを解析することを特徴とする。
請求項５に記載の本発明は、請求項２乃至４の何れか一項に記載の伝動ベルト機構における伝動ベルト設計支援装置において、上記機構解析手段は、上記伝動ベルト特性取得手段で取得した伝動ベルト荷重−ひずみ特性を伝動ベルト機構モデルに定義し、伝動ベルト機構の挙動を解析する際に、その演算途中で伝動ベルト荷重−ひずみ特性のデータを参照して、駆動プーリと従動プーリに巻きつける伝動ベルトの張力の値を決定することを特徴とする。 The present invention described in claim 3 is the transmission belt design supporting apparatus in a transmission belt mechanism according to claim 2, transmission belt load according to the type of the transmission belt - transmission and the initial value of the distortion characteristics, and driving conditions A relation file of belt shift amount coefficients is prepared in advance.
According to a fourth aspect of the present invention, there is provided the transmission belt design support device for the transmission belt mechanism according to the second or third aspect , wherein the mechanism analysis means includes a transmission belt load-strain acquired by the transmission belt characteristic acquisition means. The movement of the driven pulley is analyzed by a transmission belt mechanism model based on the characteristics.
According to a fifth aspect of the present invention, in the power transmission belt design support device for the power transmission belt mechanism according to any one of the second to fourth aspects, the mechanism analysis means is a power transmission acquired by the power transmission belt characteristic acquisition means. Define the belt load-strain characteristics in the transmission belt mechanism model and refer to the transmission belt load-strain characteristics data during the calculation to analyze the behavior of the transmission belt mechanism and wrap it around the drive pulley and the driven pulley. The value of the tension of the transmission belt is determined.

請求項６に記載の本発明は、請求項２乃至５に記載の何れか一項に記載の伝動ベルト機構における伝動ベルト設計支援装置において、上記機構解析手段は、上記駆動プーリと上記従動プーリの回転運動による伝動ベルトの巻き取り変化量に、上記駆動プーリと上記従動プーリの間にかかる上記伝動ベルトの長さを除算することによって、上記伝動ベルトの瞬間ひずみを求め、更に、上記伝動ベルトの初期張力による上記伝動ベルトの初期ひずみを加算して、上記伝動ベルトのひずみ量を求めることを特徴とする。
請求項７に記載の本発明は、請求項２乃至６の何れか一項に記載の伝動ベルト機構における伝動ベルト設計支援装置において、上記設計条件決定手段は、上記機構解析手段による従動プーリの解析結果に基づいて、伝動ベルトの種類、駆動条件、又は、初期張力を最適化計算により、上記従動プーリの回転むらが最小になるように決定することを特徴とする。
請求項８に記載の本発明は、請求項２乃至７の何れか一項に記載の伝動ベルト機構における伝動ベルト設計支援装置において、伝動ベルト荷重−ひずみ特性の初期値や駆動条件と伝動ベルトシフト量係数の関係等のデータを記録する記録装置と、伝動ベルトの特性値情報を入力する入力装置と、機構解析ソルバにより演算を行う演算装置と、演算結果を出力する出力装置とからなることを特徴とする。
請求項９に記載の本発明は、請求項１に記載の伝動ベルト機構における伝動ベルト設計支援方法、または、請求項２乃至請求項７のいずれか一項に記載の伝動ベルト機構における伝動ベルト設計支援装置を実現するためのプログラムをコンピュータが読み取り可能な形式で記録されていることを特徴とする。 According to a sixth aspect of the present invention, in the transmission belt design support device for the transmission belt mechanism according to any one of the second to fifth aspects, the mechanism analysis means includes the drive pulley and the driven pulley. By dividing the length of the transmission belt between the drive pulley and the driven pulley by the amount of change in winding of the transmission belt due to the rotational motion, the instantaneous strain of the transmission belt is obtained, and further, the transmission belt The initial strain of the transmission belt due to the initial tension is added to obtain the strain amount of the transmission belt.
According to a seventh aspect of the present invention, in the transmission belt design support device for the transmission belt mechanism according to any one of the second to sixth aspects, the design condition determining means is an analysis of a driven pulley by the mechanism analysis means. Based on the result, the type, drive condition, or initial tension of the transmission belt is determined by optimization calculation so that the rotation unevenness of the driven pulley is minimized.
The present invention according to claim 8 is the transmission belt design support device for the transmission belt mechanism according to any one of claims 2 to 7 , wherein the initial value of the transmission belt load-strain characteristic, the drive condition, and the transmission belt shift. It consists of a recording device that records data such as quantity coefficient relationships, an input device that inputs characteristic value information of the transmission belt, an arithmetic device that performs an operation by a mechanism analysis solver, and an output device that outputs an operation result. Features.
The present invention according to claim 9 is a transmission belt design support method in the transmission belt mechanism according to claim 1 or a transmission belt design in the transmission belt mechanism according to any one of claims 2 to 7. A program for realizing the support device is recorded in a computer-readable format.

本発明は、以下に説明するように構成されているので、請求項１の発明によれば、伝動ベルトの特性を煩雑な計算を行うことなく簡単、且つ、効率よく高精度に決定し、伝動ベルト機構の挙動を精度良く解析して伝動ベルトの最適設計が出来る伝動ベルト機構における伝動ベルト設計支援方法を提供することが出来るようになった。
請求項２の発明によれば、駆動条件下の伝動ベルトの特性を煩雑な計算を行うことなく簡単、且つ、効率よく高精度に決定し、伝動ベルト機構の挙動を精度良く解析して、伝動ベルトの最適設計が出来る伝動ベルト機構における伝動ベルト設計支援装置を提供することが出来るようになった。
請求項３の発明によれば、駆動条件下の伝動ベルトの特性を煩雑な計算を行うことなく簡単、且つ、効率よく高精度に決定して容易に得ることが出来て、伝動ベルト機構の挙動を精度良く解析して、伝動ベルトの最適設計が出来る伝動ベルト設計支援装置を提供することが出来るようになった。
請求項４の発明によれば、駆動条件下の伝動ベルトの特性を煩雑な計算を行うことなく効率よく高精度に決定し、伝動ベルト機構の挙動の従動プーリの動きを精度良く解析して、伝動ベルトの最適設計が出来る伝動ベルト設計支援装置を提供することが出来るようになった。
請求項５の発明によれば、駆動条件下の伝動ベルトの特性を煩雑な計算を行うことなく効率よく高精度に決定し、伝動ベルトの張力を決定することで伝動ベルト機構の挙動の従動プーリの動きを精度良く解析して、伝動ベルトの最適設計が出来る伝動ベルト設計支援装置を提供することが出来るようになった。 Since the present invention is configured as described below, according to the first aspect of the present invention, the characteristics of the transmission belt can be determined easily and efficiently with high accuracy without performing complicated calculations. It is now possible to provide a transmission belt design support method in a transmission belt mechanism that can analyze the behavior of the belt mechanism with high accuracy and perform the optimal design of the transmission belt.
According to the second aspect of the present invention, the characteristics of the transmission belt under the driving conditions can be determined easily and efficiently with high accuracy without performing complicated calculations , and the behavior of the transmission belt mechanism can be analyzed with high accuracy. it has become possible to provide a transmission belt design support apparatus according to the transmission belt mechanism optimal design of the belt can be.
According to the third aspect of the present invention, the characteristics of the transmission belt mechanism can be easily obtained by determining the characteristics of the transmission belt under driving conditions easily and efficiently with high accuracy without performing complicated calculations. It is now possible to provide a transmission belt design support device that can accurately analyze the transmission belt and optimize the transmission belt design.
According to the invention of claim 4 , the characteristics of the transmission belt under the driving conditions are determined efficiently and accurately without performing complicated calculations, and the movement of the driven pulley of the behavior of the transmission belt mechanism is analyzed with high accuracy, A transmission belt design support device capable of optimal design of the transmission belt can be provided.
According to the invention of claim 5 , the characteristics of the transmission belt under driving conditions are determined efficiently and accurately without performing complicated calculations, and the tension of the transmission belt is determined to determine the behavior of the transmission belt mechanism. It is now possible to provide a transmission belt design support device that can accurately analyze the movement of the belt and can optimize the design of the transmission belt.

請求項６の発明によれば、駆動条件下の伝動ベルトの特性を煩雑な計算を行うことなく効率よく高精度に決定し、伝動ベルトの初期張力を考慮することで伝動ベルト機構の挙動の従動プーリの動きを精度良く解析して、伝動ベルトの最適設計が出来る伝動ベルト設計支援装置を提供することが出来るようになった。
請求項７の発明によれば、駆動条件下の伝動ベルトの特性を煩雑な計算を行うことなく効率よく高精度に決定し、伝動ベルト機構の挙動の従動プーリの回転むらを最小に抑えて精度良く解析して、伝動ベルトの最適設計が出来る伝動ベルト設計支援装置を提供することが出来るようになった。
請求項８の発明によれば、駆動条件下の伝動ベルトの特性を煩雑な計算を行うことなく効率よく高精度に決定し、伝動ベルト機構の挙動を精度良く解析して、簡単な装置で伝動ベルトの最適設計が出来る伝動ベルト設計支援装置を提供することが出来るようになった。
請求項９の発明によれば、プログラムの移動や更新が容易に行うことが出来て、伝動ベルトの特性を煩雑な計算を行うことなく効率よく高精度に決定し、伝動ベルト機構の挙動を精度良く解析して、伝動ベルトの最適設計が出来る記録媒体を提供することが出来るようになった。 According to the sixth aspect of the present invention, the characteristics of the transmission belt under the driving conditions are determined efficiently and accurately without performing complicated calculations, and the initial tension of the transmission belt is taken into account to follow the behavior of the transmission belt mechanism. It has become possible to provide a transmission belt design support device that can analyze the movement of the pulley with high accuracy and can optimize the design of the transmission belt.
According to the seventh aspect of the present invention, the characteristics of the transmission belt under the driving conditions are determined efficiently and accurately without performing complicated calculations, and the rotation unevenness of the driven pulley in the behavior of the transmission belt mechanism is minimized and the accuracy is improved. It has become possible to provide a transmission belt design support device that can be analyzed well and optimally design the transmission belt.
According to the invention of claim 8 , the characteristics of the transmission belt under driving conditions are determined efficiently and accurately without performing complicated calculations, the behavior of the transmission belt mechanism is analyzed accurately, and the transmission is performed with a simple device. It is now possible to provide a power transmission belt design support device capable of optimal belt design.
According to the ninth aspect of the invention, the program can be easily moved and updated, the characteristics of the transmission belt can be determined efficiently and accurately without complicated calculations, and the behavior of the transmission belt mechanism can be accurately determined. By analyzing well, it has become possible to provide a recording medium capable of optimal design of the transmission belt.

次に、本発明の実施の形態は、図面を参照して詳細に説明する。
図１乃至図４において、駆動プーリと従動プーリの複数のプーリと複数のプーリに巻きつける伝動ベルトを有する伝動ベルト機構の動特性を解析する伝動ベルト機構における伝動ベルト設計支援装置０は、伝動ベルト荷重−ひずみ特性の初期値（Ｌinitial）に駆動条件に応じた伝動ベルトシフト量係数（ｋ）をかけて伝動ベルト荷重−ひずみ特性を取得する伝動ベルト特性取得手段１と、上記伝動ベルト特性取得手段１で取得した伝動ベルト荷重−ひずみ特性に基づいて、図2に示す伝動ベルト機構モデル２の駆動プーリ３と従動プーリ４に巻きつける伝動ベルト５の張力を算出する機構解析手段６と、上記機構解析手段６によって算出された上記伝動ベルト５の張力の釣り合いから上記従動プーリ４の動きを解析して上記従動プーリ４の回転むらを最小にする設計条件を決定する設計条件決定手段７とを有して、伝動ベルト荷重−ひずみ特性の初期値（Ｌinitial）、駆動条件と伝動ベルトシフト量係数（ｋ）の関係で伝動ベルト荷重−ひずみ特性（Ｌａ）を決定する方法と、機構解析ソルバにより演算を行う方法と、その演算結果を出力する方法とからなる伝動ベルト機構における伝動ベルト設計支援方法により、上記伝動ベルト５の特性を煩雑な計算を行うことなく効率よく高精度に決定し、伝動ベルト機構０ａの挙動を精度良く解析して、上記伝動ベルト５の最適設計を行うことが出来る。
上記伝動ベルト機構における伝動ベルト設計支援装置（以下、「伝動ベルト設計支援装置」という）０は、図１に示すように、有限要素モデルによる有限要素法解析手段の上記伝動ベルト特性取得手段１と、上記伝動ベルト機構モデル２による上記機構解析手段６、及び、上記設計条件決定手段７等より構成されている。 Next, embodiments of the present invention will be described in detail with reference to the drawings.
1 to 4, a transmission belt design support device 0 in a transmission belt mechanism for analyzing the dynamic characteristics of a transmission belt mechanism having a plurality of pulleys of a driving pulley and a driven pulley and a transmission belt wound around the plurality of pulleys is a transmission belt. A transmission belt characteristic acquisition unit 1 for acquiring a transmission belt load-strain characteristic by multiplying an initial value (Linitial) of a load-strain characteristic by a transmission belt shift amount coefficient (k) corresponding to a driving condition, and the transmission belt characteristic acquisition unit The mechanism analysis means 6 for calculating the tension of the transmission belt 5 wound around the drive pulley 3 and the driven pulley 4 of the transmission belt mechanism model 2 shown in FIG. The movement of the driven pulley 4 is analyzed from the balance of the tension of the transmission belt 5 calculated by the analyzing means 6 to rotate the driven pulley 4. Design condition determining means 7 for determining a design condition that minimizes the transmission condition, and the transmission belt is determined by the relationship between the initial value (Linitial) of the transmission belt load-strain characteristic, the drive condition, and the transmission belt shift coefficient (k). The characteristics of the transmission belt 5 are determined by the transmission belt design support method in the transmission belt mechanism, which includes a method for determining the load-strain characteristic (La), a method for calculating with a mechanism analysis solver, and a method for outputting the calculation result. Can be determined efficiently and accurately without complicated calculations, and the behavior of the transmission belt mechanism 0a can be analyzed with high accuracy, so that the optimal design of the transmission belt 5 can be performed.
A transmission belt design support device (hereinafter referred to as “transmission belt design support device”) 0 in the transmission belt mechanism includes a transmission belt characteristic acquisition unit 1 of a finite element method analysis unit based on a finite element model, as shown in FIG. The mechanism analyzing means 6 based on the transmission belt mechanism model 2, the design condition determining means 7, and the like.

上記伝動ベルト機構０ａの一例は図２に示すようになる。この場合、図示しないモータ等で直接回転駆動される上記駆動プーリ３、上記従動プーリ４、及び、上記駆動プーリ３と上記従動プーリ４との間に巻きかけられた上記伝動ベルト５より構成されている。
まず、予め上記伝動ベルト５の種類によって用意された伝動ベルト荷重(応力)−ひずみ特性の初期値（Ｌinitial）、例えば、図３に示すような引張り試験から得られた荷重−ひずみ特性である。
上記伝動ベルト特性取得手段１は、この初期値（Ｌinitial）の特性に、伝動ベルトシフト量係数（ｋ）をかけることで、伝動ベルト荷重(応力)−ひずみ特性を取得して決定する。
（Ｌａ）＝（Ｌinitial）*（ｋ）＝（Ｌinitial）*（ｆ(a)）・・・（式１）
但し、Ｌａ：加速度ごとの伝動ベルト荷重−ひずみ特性、Ｌinitial：伝動ベルト荷重−ひずみ特性の初期値、ｋ：伝動ベルトシフト量係数、ｆ(a)：伝動ベルトシフト量係数の関数（図４を参照）、ａ：モータ駆動加速度、駆動条件と伝動ベルトシフト量係数（ｋ）の関係は、例えば、図４に示すようなモータの立上加速度とシフト量の関係である。
上記伝動ベルト特性取得手段１は、複数種類の上記伝動ベルト５に対応して、このような関係を格納したファイルを、予め用意しておき、図４の場合、モータの立上加速度に応じて、伝動ベルトシフト量係数（ｋ）を選択し、この伝動ベルトシフト量係数（ｋ）を用いて、伝動ベルト荷重(応力)−ひずみ特性の初期値（Ｌinitial）をかけることで、伝動ベルト荷重(応力)−ひずみ特性を簡単、且つ、容易に決定することが出来るようになった。 An example of the transmission belt mechanism 0a is as shown in FIG. In this case, the drive pulley 3, the driven pulley 4, and the transmission belt 5 wound between the drive pulley 3 and the driven pulley 4 are directly rotated by a motor (not shown). Yes.
First, the initial value (Linitial) of the transmission belt load (stress) -strain characteristic prepared according to the type of the transmission belt 5 in advance, for example, the load-strain characteristic obtained from a tensile test as shown in FIG.
The transmission belt characteristic acquisition means 1 acquires and determines the transmission belt load (stress) -strain characteristic by multiplying the characteristic of the initial value (Linitial) by the transmission belt shift amount coefficient (k).
(La) = (Linitial) * (k) = (Linitial) * (f (a)) (Equation 1)
Where La: transmission belt load-strain characteristic for each acceleration, Linitial: initial value of transmission belt load-strain characteristic, k: transmission belt shift amount coefficient, f (a): transmission belt shift amount function (see FIG. 4) Reference: a) The relationship between the motor drive acceleration and drive condition and the transmission belt shift amount coefficient (k) is, for example, the relationship between the motor startup acceleration and the shift amount as shown in FIG.
The transmission belt characteristic acquisition means 1 prepares in advance a file storing such a relationship corresponding to a plurality of types of the transmission belt 5, and in the case of FIG. 4, according to the startup acceleration of the motor. , The transmission belt shift amount coefficient (k) is selected, and the transmission belt load (stress) -initial value (Linitial) of the strain characteristic is applied using the transmission belt shift amount coefficient (k). The (stress) -strain characteristics can be determined easily and easily.

図５と図６において、次に、求められた前記伝動ベルト荷重(応力)−ひずみ特性を上記伝動ベルト機構モデル２に入力し、図５に示すような手順で、機構解析を行う。
図６は、図２に示した上記伝動ベルト機構０ａの上記伝動ベルト機構モデル２である。
下記の（式２）と（式３）は、上記伝動ベルト機構モデル２の運動方程式である。
｛Ｆ｝＝［Ｋ］｛Ｗ｝＋［ｃ］（ｄ｛Ｗ｝／ｄｔ）＋ [J]（ｄ2｛Ｗ｝／ｄｔ2）＋｛Ｆ0｝・・・（式２）
｛Ｗ｝＝ ［r］｛θ｝・・・（式３）
但し、｛Ｆ｝：タイミングベルトの張力ベクトル、｛Ｆ0｝：タイミングベルトの初期張力ベクトル、｛Ｗ｝：各プーリの巻き取り量ベクトル、［Ｋ］：タイミングベルトバネ剛性マトリックス、［ｃ］：タイミングベルトバネ粘性マトリックス、[J]：各プーリの慣性モーメントマトリックス、［r］：プーリ半径マトリックス、｛θ｝：ドラム回転角ベクトルである。
これに基づいたモデルに、タイミングベルトの初期張力、前記有限要素法解析手段の上記伝動ベルト特性取得手段１による伝動ベルト荷重−ひずみ特性（Ｌａ）、巻き取り量はモデル中に定義する。
特に、上記伝動ベルト特性取得手段１による伝動ベルト荷重−ひずみ特性（Ｌａ）を（式２）の［Ｋ］により定義し、巻き取り量を（式３）の［Ｗ］により定義し、ベルト初期張力を（式２）の｛Ｆ0｝により定義する。
これらの情報に基づいて、上記駆動プーリ３と上記従動プーリ４にかかる張力を算出する。そして、この張力を各上記駆動プーリ３と上記従動プーリ４に与え、（式２）の運動方程式を解いて、各上記駆動プーリ３と上記従動プーリ４の釣り合い位置を判定する。
このようにして両上記駆動プーリ３と上記従動プーリ４の回転位置を求め、更に、解析時間が終了したかを判断し、解析時間に達していない場合には、時間が解析ステップΔｔ時間を進んで、運動方程式中の数値を変更し、再び前記各ステップに戻って解析を行い、解析時間に達するまで繰り返す。
一方、処理が終了している場合には、各解析ステップ時間ごとに保存し、演算結果を時系列にして出力する。出力された演算結果は、上記伝動ベルト機構０ａにある全ての上記駆動プーリ３と上記従動プーリ４の動きを表すことになる。 5 and 6, the obtained transmission belt load (stress) -strain characteristic is input to the transmission belt mechanism model 2 and a mechanism analysis is performed according to the procedure shown in FIG.
FIG. 6 shows the transmission belt mechanism model 2 of the transmission belt mechanism 0a shown in FIG.
The following (Equation 2) and (Equation 3) are equations of motion of the transmission belt mechanism model 2.
{F} = [K] {W} + [c] (d {W} / dt) + [J] (d 2 {W} / dt 2 ) + {F 0 } (Formula 2)
{W} = [r] {θ} (Formula 3)
Where {F}: timing belt tension vector, {F 0 }: timing belt initial tension vector, {W}: winding amount vector of each pulley, [K]: timing belt spring stiffness matrix, [c]: Timing belt spring viscosity matrix, [J]: inertia moment matrix of each pulley, [r]: pulley radius matrix, {θ}: drum rotation angle vector.
Based on this model, the initial tension of the timing belt, the transmission belt load-strain characteristic (La) by the transmission belt characteristic acquisition means 1 of the finite element method analysis means, and the winding amount are defined in the model.
In particular, the transmission belt load-strain characteristic (La) by the transmission belt characteristic acquisition means 1 is defined by [K] in (Expression 2), and the winding amount is defined by [W] in (Expression 3). The tension is defined by {F 0 } in (Equation 2).
Based on these pieces of information, the tension applied to the drive pulley 3 and the driven pulley 4 is calculated. Then, this tension is applied to each of the drive pulleys 3 and the driven pulleys 4 and the equation of motion of (Equation 2) is solved to determine the balance position of each of the drive pulleys 3 and the driven pulleys 4.
In this way, the rotational positions of both the drive pulley 3 and the driven pulley 4 are obtained, and it is further determined whether or not the analysis time has ended. If the analysis time has not been reached, the time advances the analysis step Δt time. Then, change the numerical value in the equation of motion, return to each step again to perform analysis, and repeat until the analysis time is reached.
On the other hand, when the processing is completed, the data is stored for each analysis step time, and the calculation results are output in time series. The output calculation result represents the movement of all the drive pulleys 3 and the driven pulleys 4 in the transmission belt mechanism 0a.

上記伝動ベルト特性取得手段１で算出した伝動ベルト荷重−ひずみ特性（Ｌａ）を上記伝動ベルト機構モデル２に予め定義し、上記伝動ベルト５の巻き取り変化量により、上記伝動ベルト５ひずみ量を算出し、計算途中でこの結果に基づいて、前記伝動ベルト荷重−ひずみ特性（Ｌａ）データを参照して、上記伝動ベルト５の張力の値を決定する。
従って、上記従動プーリ４の動きを精度良く解析し、上記伝動ベルト機構０ａにおける上記伝動ベルト５を最適設計する上記伝動ベルト設計支援装置を提供することが出来るようになった。
各上記駆動プーリ３と上記従動プーリ４の巻き取り量は前記（式３）により算出し、この結果に基づいて、（式４）に示したように相隣両上記駆動プーリ３と上記従動プーリ４の巻き取り量の差分を取って、これに上記駆動プーリ３と上記従動プーリ４の間にかかる上記伝動ベルト５の長さを除算し、更に、上記伝動ベルト５の初期張力による上記伝動ベルト５の初期ひずみを加算することによって、上記伝動ベルト５のひずみ量を求める。
上記伝動ベルト５のひずみ量＝相隣上記駆動プーリ３と上記従動プーリ４の巻き取り量の差／相隣上記駆動プーリ３と上記従動プーリ４間にかかる上記伝動ベルト５の長さ＋上記伝動ベルト５の初期張力による上記伝動ベルト５の初期ひずみ・・・（式４）
従って、上記従動プーリ４の動きを精度良く解析し、上記伝動ベルト機構０ａにおける上記伝動ベルト５を最適設計する上記伝動ベルト設計支援装置０を提供することが出来るようになった。
上記伝動ベルト５に加わるひずみが引張りひずみか圧縮ひずみかを前記算出された上記伝動ベルト５のひずみ量によって判別し、上記伝動ベルト５のひずみ量が正になったときには、上記伝動ベルト５に加わるひずみが引張りひずみであり、計算を行う。
一方、上記伝動ベルト５のひずみ量が負になったときには、上記伝動ベルト５に加わるひずみが圧縮ひずみであり、上記伝動ベルト５の張力を零値に変更する。
上記機構解析手段６による上記従動プーリ４の解析結果に基づいて、例えば、上記従動プーリ４の回転むらを許容される回転むら内になるように、上記伝動ベルト５の種類、駆動条件、初期張力などを、
（∂ｙ／∂ｘ）＝（ｙNEW―ｙNoW／ｘNEW―ｘNoW）・・・（式５）
の最適化計算により、設計条件を決定する。
従って、上記従動プーリ４の回転むらを最小に抑える上記伝動ベルト設計支援装置０を提供することが出来るようになった。 The transmission belt load-strain characteristic (La) calculated by the transmission belt characteristic acquisition unit 1 is defined in advance in the transmission belt mechanism model 2, and the transmission belt 5 strain amount is calculated from the winding change amount of the transmission belt 5. Then, based on this result during the calculation, the tension value of the transmission belt 5 is determined with reference to the transmission belt load-strain characteristic (La) data.
Therefore, it is possible to provide the transmission belt design support device that analyzes the movement of the driven pulley 4 with high accuracy and optimally designs the transmission belt 5 in the transmission belt mechanism 0a.
The winding amount of each of the drive pulleys 3 and the driven pulleys 4 is calculated by the above (Equation 3), and based on this result, the drive pulleys 3 and the driven pulleys adjacent to each other as shown in (Equation 4). 4 is taken, and the length of the transmission belt 5 applied between the drive pulley 3 and the driven pulley 4 is divided by this, and further, the transmission belt due to the initial tension of the transmission belt 5 is divided. By adding the initial strain of 5, the strain amount of the transmission belt 5 is obtained.
Strain amount of the transmission belt 5 = difference in winding amount between the adjacent drive pulley 3 and the driven pulley 4 / length of the transmission belt 5 between the adjacent drive pulley 3 and the driven pulley 4 + the transmission Initial strain of the transmission belt 5 due to the initial tension of the belt 5 (Equation 4)
Therefore, it is possible to provide the transmission belt design support device 0 that analyzes the movement of the driven pulley 4 with high accuracy and optimally designs the transmission belt 5 in the transmission belt mechanism 0a.
Whether the strain applied to the transmission belt 5 is tensile strain or compression strain is determined based on the calculated strain amount of the transmission belt 5, and when the strain amount of the transmission belt 5 becomes positive, the strain is applied to the transmission belt 5. The strain is the tensile strain and calculation is performed.
On the other hand, when the strain amount of the transmission belt 5 becomes negative, the strain applied to the transmission belt 5 is compression strain, and the tension of the transmission belt 5 is changed to zero.
Based on the analysis result of the driven pulley 4 by the mechanism analysis means 6, for example, the type, driving conditions, and initial tension of the transmission belt 5 so that the rotation unevenness of the driven pulley 4 is within the allowable rotation unevenness. Etc.
(∂y / ∂x) = (y NEW -y NoW / x NEW -x NoW) ··· ( Equation 5)
The design conditions are determined by the optimization calculation.
Therefore, it is possible to provide the transmission belt design support device 0 that minimizes the rotation unevenness of the driven pulley 4.

図７において、上記伝動ベルト設計支援装置０は、伝動ベルト荷重−ひずみ特性の初期値（Ｌinitial）や駆動条件と伝動ベルトシフト量係数（ｋ）の関係等のデータを記録する記録装置１０と、上記伝動ベルト５の特性値情報を入力する入力装置１１と、機構解析ソルバにより演算を行う演算装置１２と、演算結果を出力する出力装置１３とからなり、これらの簡単な装置で上記伝動ベルト機構０ａにおける上記伝動ベルト５の最適設計を行うことが出来る。
上記伝動ベルト設計支援装置０は、設計者が駆動設計を行うための設計条件などを入力する上記入力装置１１の駆動条件入力操作部１１ａと、これによって駆動条件に対応する伝動ベルト荷重−ひずみ特性を決定する上記設計条件決定７の設計条件決定部７ａと、伝動ベルト荷重−ひずみ特性を機構解析を行うための解析条件等を入力する上記入力装置１１の機構解析モデル入力操作部１１ｂに出力する上記入力装置１１の上記機構解析モデル入力操作部１１ｂに出力する上記出力装置１３の荷重−ひずみ特性の出力部１３ａと、決定した設計条件を画面や紙等に出力する上記出力装置２３の出力部１３ｂと、上記入力装置１１の上記機構解析モデル入力部１１ｂの指示に従って上記伝動ベルト機構０ａの動作を解析し、解析結果に基づいて設計条件を決定する上記設計条件決定手段７の設計条件決定部７ｂとを有している。
上記設計条件決定手段７の上記設計条件決定部７ａは、前記伝動ベルト荷重−ひずみ特性を決定するための必要なデータを記憶する上記記憶装置１０のメモリ部１０ａと、上記記憶装置１０の上記メモリ部１０ａに記憶されたデータに基づいて伝動ベルト荷重−ひずみ特性を決定する上記演算装置１２の演算装置１２ａとを有している。
上記記憶装置１０の上記メモリ部１０ａには、前記伝動ベルト荷重−ひずみ特性の初期値（Ｌinitial）、駆動条件と伝動ベルトシフト量係数（ｋ）の関係などのデータを格納したファイル等の伝動ベルト荷重−ひずみ特性を決定するための必要なデータが記憶されている。
そして、上記演上記演算装置１２の上記演算装置１２ａは、上記入力装置１１の上記駆動条件入力操作部１１ａにより入力された駆動条件等の設計条件に基づいて、前記伝動ベルト荷重−ひずみ特性を算出する。 In FIG. 7, the transmission belt design support device 0 includes a recording device 10 that records data such as an initial value (Linitial) of a transmission belt load-strain characteristic, a relationship between a driving condition and a transmission belt shift amount coefficient (k), and the like. The transmission belt mechanism includes an input device 11 that inputs characteristic value information of the transmission belt 5, an arithmetic device 12 that performs an operation by a mechanism analysis solver, and an output device 13 that outputs an operation result. The optimum design of the transmission belt 5 at 0a can be performed.
The transmission belt design support device 0 includes a drive condition input operation unit 11a of the input device 11 for inputting a design condition for a designer to perform drive design, and a transmission belt load-strain characteristic corresponding to the drive condition. Is output to the design condition determination unit 7a of the design condition determination 7 and the mechanism analysis model input operation unit 11b of the input device 11 for inputting the analysis conditions for performing the mechanism analysis of the transmission belt load-strain characteristics. The output unit 13a of the load-strain characteristic of the output device 13 that outputs to the mechanism analysis model input operation unit 11b of the input device 11, and the output unit of the output device 23 that outputs the determined design condition to a screen, paper, etc. 13b and the operation of the transmission belt mechanism 0a according to the instruction of the mechanism analysis model input unit 11b of the input device 11, and based on the analysis result And a design condition determination section 7b of the design condition determination means 7 to determine the total condition.
The design condition determination unit 7a of the design condition determination means 7 includes a memory unit 10a of the storage device 10 that stores necessary data for determining the transmission belt load-strain characteristics, and the memory of the storage device 10. And an arithmetic device 12a of the arithmetic device 12 for determining the transmission belt load-strain characteristic based on the data stored in the section 10a.
The memory unit 10a of the storage device 10 has a transmission belt such as a file in which data such as an initial value (Linitial) of the transmission belt load-strain characteristic and a relationship between a driving condition and a transmission belt shift amount coefficient (k) are stored. Necessary data for determining load-strain characteristics is stored.
The arithmetic unit 12a of the arithmetic unit 12 calculates the transmission belt load-strain characteristic based on the design conditions such as the driving conditions input by the driving condition input operation unit 11a of the input device 11. To do.

上記設計条件決定手段７の上記設計条件決定部７ｂは、機構解析に必要なデータを記憶する上記記憶装置１０のメモリ部１０ｂと、上記記憶装置１０の上記メモリ部１０ｂに記憶されたデータに基づいて演算処理する上記演算装置１２の演算装置１２ｂの機構解析ソルバと前記機構解析結果に基づいて伝動ベルト設計条件を最適化する伝動ベルト設計条件最適化ソルバとを有している。
上記演算装置１２の上記演算装置１２ｂの機構解析ソルバは、上記入力装置１１の上記機構解析モデル入力操作部１１ｂにより入力された前記伝動ベルト荷重−ひずみ特性やベルト初期張力などの設計条件に基づいて、上記伝動ベルト５の張力を算出し、算出された張力から上記伝動ベルト機構０ａの釣り合いを判定し、上記駆動プーリ３と上記従動プーリ４の動きを解析する。
そして、伝動ベルト設計条件最適化ソルバは、前記機構解析結果に基づいて上記ベルト５の最適な設計条件を決定する。
コンピュータを実行させるためのプログラムを記載した伝動ベルト機構における伝動ベルト設計支援記録媒体２０は、上記伝動ベルト設計支援装置０における伝動ベルト荷重−ひずみ特性の解析方法、及び、機構の解析を実行するプログラムを記載されているものである。
従って、前記各解析方法、手段を記録し、上記伝動ベルト機構における伝動ベルト設計支援記録媒体２０を持ち運ぶことで、プログラムの移動や更新が容易に行うことが出来るようになった。 The design condition determination unit 7b of the design condition determination means 7 is based on the memory unit 10b of the storage device 10 that stores data necessary for mechanism analysis and the data stored in the memory unit 10b of the storage device 10. A mechanism analysis solver of the arithmetic device 12b of the arithmetic device 12 that performs arithmetic processing and a transmission belt design condition optimization solver that optimizes the transmission belt design conditions based on the mechanism analysis result.
The mechanism analysis solver of the arithmetic device 12b of the arithmetic device 12 is based on the design conditions such as the transmission belt load-strain characteristic and the initial belt tension inputted by the mechanism analysis model input operation unit 11b of the input device 11. Then, the tension of the transmission belt 5 is calculated, the balance of the transmission belt mechanism 0a is determined from the calculated tension, and the movements of the drive pulley 3 and the driven pulley 4 are analyzed.
The transmission belt design condition optimization solver determines the optimum design condition of the belt 5 based on the mechanism analysis result.
A transmission belt design support recording medium 20 in a transmission belt mechanism in which a program for causing a computer to execute is described. A transmission belt load-strain characteristic analysis method in the transmission belt design support apparatus 0 and a program for executing a mechanism analysis Is described.
Therefore, by recording each analysis method and means and carrying the transmission belt design support recording medium 20 in the transmission belt mechanism, the program can be easily moved and updated.

本発明の実施の形態例を示す伝動ベルト機構における伝動ベルト設計支援方法、及び、伝動ベルト設計支援装置の主要部を説明する説明図である。It is explanatory drawing explaining the principal part of the transmission belt design assistance method in the transmission belt mechanism which shows the embodiment of this invention, and a transmission belt design assistance apparatus. 本発明の実施の形態例を示す伝動ベルト機構を説明する説明図である。It is explanatory drawing explaining the transmission belt mechanism which shows the embodiment of this invention. 本発明の実施の形態例を示す伝動ベルト機構における伝動ベルト設計支援方法、及び、伝動ベルト設計支援装置の他の主要部のひずみと荷重の特性を説明する説明図である。It is explanatory drawing explaining the characteristic of the distortion and load of the other principal part of the transmission belt design assistance method in the transmission belt mechanism which shows the example of embodiment of this invention, and a transmission belt design assistance apparatus. 本発明の実施の形態例を示す伝動ベルト機構における伝動ベルト設計支援方法、及び、伝動ベルト設計支援装置の他の主要部のモータの立上加速度とシフト量の特性を説明する説明図である。It is explanatory drawing explaining the characteristic of the starting acceleration and the shift amount of the motor of the other main part of the transmission belt design assistance method in the transmission belt mechanism which shows the example of embodiment of this invention, and a transmission belt design assistance apparatus. 本発明の他の実施の形態例を示す伝動ベルト機構における伝動ベルト設計支援方法、及び、伝動ベルト設計支援装置の他の主要部の動作を説明する説明図である。It is explanatory drawing explaining operation | movement of the other main part of the transmission belt design assistance method in a transmission belt mechanism which shows the other embodiment of this invention, and a transmission belt design assistance apparatus. 本発明の実施の形態例を示す伝動ベルト機構モデルを説明する説明図である。It is explanatory drawing explaining the transmission belt mechanism model which shows the embodiment of this invention. 本発明の実施の形態例を示す伝動ベルト設計支援装置を説明する説明図である。It is explanatory drawing explaining the transmission belt design assistance apparatus which shows the embodiment of this invention.

符号の説明Explanation of symbols

０ 伝動ベルト設計支援装置、 ０ａ 伝動ベルト機構、１ 伝動ベルト特性取得手段、２ 伝動ベルト機構モデル、３ 駆動プーリ、４ 従動プーリ、５ 伝動ベルト、６ 機構解析手段、７ 設計条件決定手段、７ａ 設計条件決定部、７ｂ 設計条件決定部、１０ 記録装置、１０ａ メモリ部、 １０ｂ メモリ部、１１ 入力装置、１１ａ 駆動条件入力操作部、１１ｂ 機構解析モデル入力操作部、１２ 演算装置、１２ａ 演算装置、１２ｂ 演算装置、１３ 出力装置、１３ａ 荷重−ひずみ特性の出力部、１３ｂ 出力部、２０ 伝動ベルト機構における伝動ベルト設計支援記録媒体   0 transmission belt design support device, 0a transmission belt mechanism, 1 transmission belt characteristic acquisition means, 2 transmission belt mechanism model, 3 drive pulley, 4 driven pulley, 5 transmission belt, 6 mechanism analysis means, 7 design condition determination means, 7a design Condition determining unit, 7b Design condition determining unit, 10 recording device, 10a memory unit, 10b memory unit, 11 input device, 11a drive condition input operation unit, 11b mechanism analysis model input operation unit, 12 arithmetic device, 12a arithmetic device, 12b Arithmetic device, 13 output device, 13a load-strain characteristic output unit, 13b output unit, 20 transmission belt design support recording medium in transmission belt mechanism

Claims (9)

駆動プーリと従動プーリと、これらのプーリ間に巻きつける伝動ベルトとにより構成される伝動ベルト機構の動特性を解析する伝動ベルト機構における伝動ベルト設計支援方法において、
伝動ベルト特性取得工程と、上記伝動ベルト特性取得工程で取得した伝動ベルト荷重−ひずみ特性に基づいて、伝動ベルト機構モデルにより駆動プーリと従動プーリに巻きつける伝動ベルトの張力を算出する機構解析工程と、上記機構解析工程によって算出された上記伝動ベルトの張力の釣り合いから上記従動プーリの動きを解析して上記従動プーリの回転むらを最小にする設計条件を決定する設計条件決定工程と、からなり、
前記伝動ベルト特性取得工程は、
（Ｌａ）＝（Ｌinitial）＊（ｋ）＝（Ｌinitial）＊（ｆ（ａ））
（但し、Ｌａ：加速度ごとの伝動ベルト荷重−ひずみ特性、
Ｌinitial：伝動ベルト荷重−ひずみ特性の初期値、
ｋ：伝動ベルトシフト量係数、
ｆ（ａ）：伝動ベルトシフト量係数の関数、
ａ：モータ駆動加速度
ｋ：駆動条件と伝動ベルトシフト量係数）
を用いて伝動ベルト荷重−ひずみ特性を算出することを特徴とする伝動ベルト設計支援方法。 In the transmission belt design support method in the transmission belt mechanism for analyzing the dynamic characteristics of the transmission belt mechanism constituted by the drive pulley, the driven pulley, and the transmission belt wound between these pulleys,
And transfer the dynamic belt characteristic acquisition step, the transmission belt load acquired at transmission belt characteristic acquisition step - strain based on the characteristics, mechanism analysis step of calculating the tension of the transmission belt wound around the drive pulley and the driven pulley by a transmission belt mechanism model And a design condition determination step for analyzing the movement of the driven pulley from the balance of tension of the transmission belt calculated by the mechanism analysis step and determining a design condition for minimizing the rotation unevenness of the driven pulley. The
The transmission belt characteristic acquisition step includes:
(La) = (Linitial) * (k) = (Linitial) * (f (a))
(However, La: Transmission belt load-strain characteristics for each acceleration,
Linitial: initial value of transmission belt load-strain characteristics,
k: Transmission belt shift coefficient,
f (a): function of transmission belt shift coefficient,
a: Motor drive acceleration
k: Driving condition and transmission belt shift coefficient)
A power transmission belt load-strain characteristic is calculated using a power transmission belt design support method. 駆動プーリと従動プーリと、これらのプーリ間に巻きつける伝動ベルトとにより構成される伝動ベルト機構の動特性を解析する伝動ベルト機構における伝動ベルト設計支援装置において、
伝動ベルト特性取得手段と、上記伝動ベルト特性取得手段で取得した伝動ベルト荷重−ひずみ特性に基づいて、伝動ベルト機構モデルにより駆動プーリと従動プーリに巻きつける伝動ベルトの張力を算出する機構解析手段と、上記機構解析手段によって算出された上記伝動ベルトの張力の釣り合いから上記従動プーリの動きを解析して上記従動プーリの回転むらを最小にする設計条件を決定する設計条件決定手段と、を備え、
前記伝動ベルト特性取得手段は、
（Ｌａ）＝（Ｌinitial）＊（ｋ）＝（Ｌinitial）＊（ｆ（ａ））
（但し、Ｌａ：加速度ごとの伝動ベルト荷重−ひずみ特性、
Ｌinitial：伝動ベルト荷重−ひずみ特性の初期値、
ｋ：伝動ベルトシフト量係数、
ｆ（ａ）：伝動ベルトシフト量係数の関数、
ａ：モータ駆動加速度
ｋ：駆動条件と伝動ベルトシフト量係数）
を用いて伝動ベルト荷重−ひずみ特性を算出することを特徴とする伝動ベルト設計支援装置。 In the transmission belt design support device in the transmission belt mechanism for analyzing the dynamic characteristics of the transmission belt mechanism constituted by the drive pulley, the driven pulley, and the transmission belt wound between these pulleys,
And transfer the dynamic belt characteristics acquisition unit, the transmission belt load acquired at transmission belt characteristics acquisition unit - strain based on the characteristics, mechanism analysis means for calculating the tension of the transmission belt wound around the drive pulley and the driven pulley by a transmission belt mechanism model And design condition determining means for analyzing the movement of the driven pulley from the balance of tension of the transmission belt calculated by the mechanism analyzing means and determining a design condition for minimizing the rotation unevenness of the driven pulley. ,
The transmission belt characteristic acquisition means includes
(La) = (Linitial) * (k) = (Linitial) * (f (a))
(However, La: Transmission belt load-strain characteristics for each acceleration,
Linitial: initial value of transmission belt load-strain characteristics,
k: Transmission belt shift coefficient,
f (a): function of transmission belt shift coefficient,
a: Motor drive acceleration
k: Driving condition and transmission belt shift coefficient)
A transmission belt design support device that calculates a transmission belt load-strain characteristic using a motor . 請求項２に記載の伝動ベルト機構における伝動ベルト設計支援装置において、伝動ベルトの種類に応じた伝動ベルト荷重−ひずみ特性の初期値と、駆動条件と伝動ベルトシフト量係数の関係ファイルを予め用意しておくことを特徴とする伝動ベルト設計支援装置。 In the transmission belt design support apparatus for the transmission belt mechanism according to claim 2 , an initial value of the transmission belt load-strain characteristic according to the type of the transmission belt, a relation file of the drive condition and the transmission belt shift amount coefficient are prepared in advance. and Den moving belt design support apparatus that be characterized in that it should. 請求項２又は３に記載の伝動ベルト機構における伝動ベルト設計支援装置において、上記機構解析手段は、上記伝動ベルト特性取得手段で取得した伝動ベルト荷重−ひずみ特性に基づいて伝動ベルト機構モデルにより従動プーリの動きを解析することを特徴とする伝動ベルト設計支援装置。 4. The transmission belt design support apparatus for a transmission belt mechanism according to claim 2 or 3 , wherein the mechanism analysis means is a driven pulley by a transmission belt mechanism model based on a transmission belt load-strain characteristic acquired by the transmission belt characteristic acquisition means. Den dynamic belt design support apparatus characterized by analyzing motion. 請求項２乃至４の何れか一項に記載の伝動ベルト機構における伝動ベルト設計支援装置において、上記機構解析手段は、上記伝動ベルト特性取得手段で取得した伝動ベルト荷重−ひずみ特性を伝動ベルト機構モデルに定義し、伝動ベルト機構の挙動を解析する際に、その演算途中で伝動ベルト荷重−ひずみ特性のデータを参照して、駆動プーリと従動プーリに巻きつける伝動ベルトの張力の値を決定することを特徴とする伝動ベルト設計支援装置。 In transmission belt design supporting apparatus in a transmission belt mechanism according to any one of claims 2 to 4, the mechanism analysis means, transmission belt load acquired at transmission belt characteristics acquisition unit - transmission distortion characteristics belt mechanism model When analyzing the behavior of the transmission belt mechanism, determine the tension value of the transmission belt wound around the drive pulley and the driven pulley by referring to the transmission belt load-strain characteristics data during the calculation. Den dynamic belt design support apparatus said. 請求項２乃至５に記載の何れか一項に記載の伝動ベルト機構における伝動ベルト設計支援装置において、上記機構解析手段は、上記駆動プーリと上記従動プーリの回転運動による伝動ベルトの巻き取り変化量に、上記駆動プーリと上記従動プーリの間にかかる上記伝動ベルトの長さを除算することによって、上記伝動ベルトの瞬間ひずみを求め、更に、上記伝動ベルトの初期張力による上記伝動ベルトの初期ひずみを加算して、上記伝動ベルトのひずみ量を求めることを特徴とする伝動ベルト設計支援装置。 In transmission belt design supporting apparatus in a transmission belt mechanism according to any one of claim 2 to 5, the mechanism analysis means, winding the variation of the transmission belt by rotational movement of said drive pulley and said driven pulley In addition, the instantaneous strain of the transmission belt is obtained by dividing the length of the transmission belt between the drive pulley and the driven pulley, and the initial strain of the transmission belt due to the initial tension of the transmission belt is further calculated. addition to, heat kinematic belt design support apparatus you and obtains the strain amount of the transmission belt. 請求項２乃至６の何れか一項に記載の伝動ベルト機構における伝動ベルト設計支援装置において、上記設計条件決定手段は、上記機構解析手段による従動プーリの解析結果に基づいて、伝動ベルトの種類、駆動条件、又は、初期張力を最適化計算により、上記従動プーリの回転むらが最小になるように決定することを特徴とする伝動ベルト設計支援装置。 In the transmission belt design support device in the transmission belt mechanism according to any one of claims 2 to 6 , the design condition determining means is based on an analysis result of the driven pulley by the mechanism analysis means, driving conditions, or by optimization calculation to initial tension, heat kinematic belt design support apparatus you characterized in that rotation unevenness is determined so as to minimize the driven pulley. 請求項２乃至７の何れか一項に記載の伝動ベルト機構における伝動ベルト設計支援装置において、伝動ベルト荷重−ひずみ特性の初期値や駆動条件と伝動ベルトシフト量係数の関係等のデータを記録する記録装置と、伝動ベルトの特性値情報を入力する入力装置と、機構解析ソルバにより演算を行う演算装置と、演算結果を出力する出力装置とからなることを特徴とする伝動ベルト設計支援装置。 In the transmission belt design support device in the transmission belt mechanism according to any one of claims 2 to 7 , data such as an initial value of a transmission belt load-strain characteristic and a relationship between a driving condition and a transmission belt shift amount coefficient is recorded. recording apparatus and an input device for inputting characteristic value information of the transmission belt, mechanism and arithmetic unit for performing arithmetic by analysis solver computation result transfer kinetic belt design support apparatus you, comprising the output device that outputs . 請求項１に記載の伝動ベルト設計支援方法、または、請求項２乃至請求項７のいずれか一項に記載の伝動ベルト設計支援装置を実現するためのプログラムをコンピュータが読み取り可能な形式で記録されていることを特徴とする記録媒体。 Den dynamic belt design support method according to claim 1, or, in claims 2 to 7 or a programmable read a computer format for implementing the transfer movement belt design support apparatus according to one of A recording medium which is recorded.
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