JP4711120B2 - Servo motor selection device, servo motor selection method, program, and recording medium - Google Patents

Description

The present invention relates to a servo motor selection device, a servo motor selection method, a program, and a recording medium used when designing a servo system.

Conventionally, the selection method of the servo motor that constitutes the servo system compares the required maximum rotation speed, required maximum torque and effective torque calculated from the values in the motor specification table and the load operation pattern, and the motor selected by the user. (For example, refer to the conventional example of Patent Document 1).
Japanese Patent No. 3296419

In the conventional servo motor selection method, the required maximum rotation speed, required maximum torque, and effective torque are only individually compared with the values in the motor specification table, so the correlation between the motor rotation speed and output torque is not taken into account. There is a problem that the motor is erroneously determined to be applicable even in the region of the rotation speed at which a large output torque cannot be obtained. In addition, since a brake option is selected after selecting a motor and compatibility is judged again, there is a problem that recalculation is necessary in consideration of the moment of inertia of the brake. In addition, when adding an oil seal, it was necessary to review the rated output, and when selecting a motor with a reduction gear, it was necessary to calculate it by separately considering the reduction ratio and efficiency.
The present invention has been made in view of such problems, and can determine whether a motor can be applied correctly and select a servo motor efficiently even in a rotational speed region where a sufficient output torque cannot be obtained. And to provide a program.

In order to solve the above problems, the present invention takes the following method.
The invention described in claim 1 is a servo system selection unit driven by a servo motor , a mechanical specification input unit of the servo system, a motion pattern input unit of a load of the servo system, and the servo system selection unit. on the basis of the output result of mechanical specifications input means and the load motion pattern input means and said arithmetic means for obtaining the required specification of the servo motor, based on the required specifications determined in the computing means, said servo system In the servo motor selection device having a search means for an adapted servo motor, the servo motor search means includes a required maximum rotation speed comparison means of the servo motor, a required maximum torque of the servo motor, a sum of a steady torque and a frictional component torque. And an execution torque comparison means and a rotation speed-torque characteristic comparison means of the servo motor. First, the required maximum rotational speed comparing means determines whether the servo motor is compatible, and then the required maximum torque of the servo motor, the sum of the steady torque and the frictional torque, and the effective torque are compared in the means for comparing the servo motor. The determination is made in any order, and finally the servo motor compatibility determination is made in the rotation speed-torque characteristic comparison means of the servo motor.
The invention according to claim 2 is characterized in that the rotational speed-torque characteristic is expressed by a functional expression.
According to a third aspect of the invention, the servo motor is a servo motor with a brake, and the calculation procedure for obtaining the required specifications of the servo motor includes that the inertia moment of the brake is included in the load inertia moment of the servo motor in advance. It has a calculation means.
According to a fourth aspect of the present invention, the servo motor is a servo motor with an oil seal,
The calculation procedure for obtaining the required specification of the servo motor is characterized in that the rated torque when the oil seal is added is calculated as the rated torque of the servo motor.
According to a fifth aspect of the present invention, the servo motor is a servo motor with a reduction gear, and the calculation procedure for obtaining the required specifications of the servo motor includes calculation means that uses the reduction gear efficiency for calculating total efficiency. It is a feature.
According to a sixth aspect of the present invention, the servo motor is a servo motor to which a brake, an oil seal, and a speed reducer are arbitrarily added, and the calculation procedure for obtaining the required specifications of the servo motor is based on the moment of inertia of the brake. Computation means included in the load inertia moment of the servo motor in advance, computation speed when the oil seal is added is computed as the rated torque of the servo motor, and computation means that uses the reduction gear efficiency for overall efficiency It is characterized by.
The invention according to claim 7 processes a selection procedure of a servo system driven by a servo motor , processes a machine specification input procedure of the servo system, and processes a motion pattern input procedure of the load of the servo system. , on the basis of the servo system selection procedure with the machine specification input procedure the load motion pattern input procedure of the output, the processes calculation procedure for obtaining the required specification of the servo motor, the required specifications determined in the calculation procedure In the servo motor selection method for processing a search procedure for a servo motor suitable for the servo system, the servo motor search procedure may be performed after the servo motor speed specification comparison procedure is processed and the servo motor torque. A specification comparison procedure is processed.
In the invention according to claim 8, in the servo motor search procedure, the required maximum rotation speed of the servo motor is compared, and the required maximum torque of the servo motor, the sum of the steady torque and the frictional torque, and the execution torque are in no particular order. The rotation speed-torque characteristics of the servo motors are compared, and the servo motors are compared.
The invention according to claim 9 is characterized in that the rotational speed-torque characteristic is expressed by a functional expression.
According to a tenth aspect of the present invention, the servo motor is a servo motor with a brake, and the calculation procedure for obtaining the required specifications of the servo motor includes that the inertia moment of the brake is included in the load inertia moment of the servo motor in advance. It has a calculation procedure.
According to an eleventh aspect of the present invention, the servo motor is a servo motor with an oil seal, and the calculation procedure for obtaining the required specifications of the servo motor is based on the rated torque when the oil seal is added as the rated torque of the servo motor. It is characterized by calculating.
The invention according to claim 12 is characterized in that the servo motor is a servo motor with a speed reducer,
The calculation procedure for obtaining the required specifications of the servo motor has a calculation means that uses the reduction gear efficiency for calculating the total efficiency.
According to a thirteenth aspect of the present invention, the servo motor is a servo motor to which a brake, an oil seal, and a speed reducer are arbitrarily added, and the calculation procedure for obtaining the required specifications of the servo motor is based on the moment of inertia of the brake. Computation means included in the load inertia moment of the servo motor in advance, computation speed when the oil seal is added is computed as the rated torque of the servo motor, and computation means that uses the reduction gear efficiency for overall efficiency It is characterized by.
The invention described in claim 14 is a computer-readable program for searching for a servo motor suitable for a servo system driven by a servo motor, wherein the servo system selection procedure and mechanical specification input of the servo system are performed. and instructions, on the basis of the the procedure motion pattern input load of the servo system, the servo system selection procedure with the machine specification input procedure and the load motion pattern input procedure of the output, obtaining the required specifications of the servo motor operation Procedure and
After the servo motor speed specification comparison procedure is processed based on the required specifications obtained in the calculation procedure, the computer executes a servo motor search procedure in which the servo motor torque specification comparison procedure is processed. It is characterized by.
In the invention according to claim 15, in the servo motor search procedure, the necessary maximum rotational speeds of the servo motors are compared, and the necessary maximum torque of the servo motor, the sum of the steady torque and the frictional torque, and the execution torque are in no particular order. This is a procedure in which the comparison is made and the rotational speed-torque characteristics of the servo motor are compared.
The invention described in claim 16 is characterized in that the rotational speed-torque characteristic is expressed by a functional expression.
According to a seventeenth aspect of the present invention, the servo motor is a servo motor with a brake, and the calculation procedure for obtaining the required specifications of the servo motor includes that the inertia moment of the brake is included in the load inertia moment of the servo motor in advance. It has a calculation procedure.
The invention according to claim 18 is that the servo motor is a servo motor with an oil seal, and the calculation procedure for obtaining the required specifications of the servo motor uses the rated torque when the oil seal is added as the rated torque of the servo motor. It is characterized by calculating.
The invention according to claim 19 is characterized in that the servo motor is a servo motor with a reduction gear,
The calculation procedure for obtaining the required specifications of the servo motor has a calculation unit that uses the reduction gear efficiency for calculating the total efficiency.
The invention according to claim 20 is a servo motor in which a brake, an oil seal, and a speed reducer are arbitrarily added to the servo motor, and a calculation procedure for obtaining a required specification of the servo motor is:
The brake has a calculating means in which the inertia moment of the brake is included in the load inertia moment of the servo motor in advance, the rated torque when the oil seal is added is calculated as the rated torque of the servo motor, and the reduction gear efficiency becomes the total efficiency It has the calculating means to be used, It is characterized by the above-mentioned.
A twenty-first aspect of the present invention is a computer-readable recording medium that records the servo motor selection program according to any one of the fourteenth to twentieth aspects.

According to the present invention, the suitability determination is performed from a procedure with a short calculation time, so that the calculation time for selection can be reduced.
In addition, since the rotational speed-torque characteristics are taken into consideration in the motor search procedure, it is possible to correctly determine whether the motor can be applied even in a rotational speed region where a sufficient output torque cannot be obtained.
Further, since the rotational speed-torque characteristic is simply expressed by a functional expression, the characteristic data can be stored with a small amount of data.
In addition, the servo motor specification table includes the brake inertia moment value, the brake inertia moment is included in the load inertia moment of the servo motor in advance, and then the compatibility is determined by comparing the values in the servo motor specification table. This eliminates the need for recalculation and re-judgment after motor selection, reducing the selection time.
Also, the servo motor specification table has a rated torque when an oil seal is added considering the friction torque of the oil seal, and when using an oil seal, compatibility is determined based on the rated torque, so recalculation after selecting the motor And no re-determination is required, and the selection time can be shortened.
In addition, the servo motor specification table has the specifications of the servo motor with a reduction gear and the reduction gear efficiency, and the suitability is judged by the same calculation means regardless of whether the reduction gear efficiency is used or not with the reduction gear efficiency. Recalculation and re-determination after motor selection are not required, and selection time can be shortened.
The servo motor specification table has the brake inertia moment value, the rated torque when the oil seal is added in consideration of the friction torque of the oil seal, the servo motor specification with the reducer and the reducer efficiency, and the brake, oil seal, reducer, In any combination, compatibility is determined by an equivalent calculation means, so that recalculation and re-determination after selection of the motor are unnecessary, and the selection time can be shortened.

  Hereinafter, specific examples of the method of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a servo motor selection device according to the present invention, which includes a display device 101, a computer main body 102 and an input device 103. FIG. 2 is a block diagram of the computer, which includes an arithmetic unit 201 and a storage unit 203. The storage unit 203 includes a servo motor selection program body (not shown), a servo motor specification table 204, and an operating system (not shown). Is not stored). The storage device 203 may be a ROM, a floppy (registered trademark) disk, a CD-ROM, a DVD-ROM, a memory card, a magneto-optical disk, or the like.

  The procedure of the servo motor selection method in the above configuration is shown in FIG. When the program is executed on the operating system, the servo system is selected by the servo system selection means. In this embodiment, a servo system driven by a servo motor using the input device 103, for example, a ball screw mechanism is selected (procedure 301: servo system selection procedure). Next, in the machine specification input means, the machine specification related to the selected servo system is input (procedure 302: machine specification input procedure). Next, the load exercise pattern input means inputs the load exercise pattern (procedure 303: load exercise pattern input procedure), and the calculation means requests the servo motor based on the input contents of steps 301 to 303. Specifications are required (calculation procedure not shown). Next, when a servo motor search execution command is input, a search for servo motors is executed in the search means (procedure 304: search procedure). At this time, when a servo motor suitable for the condition is retrieved from the servo motor specification table 204 by the arithmetic unit 201 (procedure 305), the compatible servo motor is displayed in a list on the display device 101, and the servo motor to be applied is selected ( Procedure 306). If no compatible servo motor is searched (procedure 305) or if the speed is exceeded (procedure 307), the user of the program slows down the operation pattern input speed, or if the speed is other than the speed, the machine specification input is used for loading. The above operation is repeated until a suitable servo motor is searched.

Here, as an application example of this embodiment, a servo motor selection method of a ball screw mechanism (FIG. 4) including a servo motor 401, a speed reducer 402, a coupling 403, a load 404, a cargo bed 405, a rail 406, and a ball screw 407 is used. Show.
The machine specifications of the ball screw mechanism include load mass m _W , load carrier mass m _T , load mass dependent friction coefficient μ, reduction ratio R, inertia moment J _G of reducer and coupling, ball screw pitch P _B , ball screw Defining the diameter d _B , ball screw length l _B , ball screw density ρ _B , overall efficiency η, gravitational acceleration g, external force F _C to load and coefficient K _vn = (P _B / R), the required motor specifications Is obtained as follows.

(1) Servo motor shaft equivalent load torque (friction component torque T _FR ), servo motor shaft equivalent steady torque T _C , servo motor shaft equivalent steady + friction component torque T _CFR , and servo motor shaft seek the moment of inertia J _L of the conversion. First, the frictional force F _FR of the screw receiver is obtained as shown in Equation 1.

F _FR = μ (m _W + m _T ) g (1)

From Equation 1, the load torque (friction component torque T _FR ) is obtained as Equation 2.

T _FR = F _FR K _vn / (2πη) (2)
Constant torque T _C of the servo motor shaft conversion is determined by Equation 3.
T _C = F _C K _vn / (2πη) (3)
From this, the steady + friction torque _{TCFR in} terms of the servo motor shaft is obtained as shown in Equation 4.
_{T CFR = | T C | +} T FR (4)

Next, the screw portion moment of inertia J _MC is determined as Equation 5.

_{J MC = πρ B l B d} B 4 / (32R 2) (5)

On the other hand, the moment of inertia _JW corresponding to the load mass is obtained as shown in Equation 6.
J _W = (m _W + m _T ) (K _vn / 2π) ² (6)

Therefore, the load moment of inertia J _L is calculated as in Equation 7.

J _L = J _MC + J _G + J _W (7)

Here, assuming that the rotor inertia moment of the servo motor is J _M , the total inertia moment J _A is obtained as shown in Equation 8.

J _A = J _L + J _M (8)

(2) Obtain the required maximum rotational speed, section required torque, required maximum torque, and execution torque of the servo motor. Driving pattern is section i = 1. . . Assuming that n is the section end time t _i and the section arrival speed v _i , the section rotational speed n _Mi of the servo motor is obtained as shown in Equation 9.

_{n Mi = v i / K vn} (9)

The required maximum rotation speed n _MAX is obtained as in Expression 10.

_nMAX = max ( _nMi ) (i = 1 ... n) (10)

Since the section acceleration torque T _Ai is obtained as in Expression 11, the section required torque T _i required for the motor can be obtained as in Expression 12.

_{T Ai = 2πJ A (v i} - v i-1) / K vn (t i - t i-1) (11)

When in the forward interval _v i> 0 or _v i = 0 for _{v i-1> 0 T i} = T Ai + T FR - T C (12a)
Reverse rotation interval v _i <0 or v _i = 0, and v _i-1 <0, T _i = T _Ai −T _FR −T _C (12b)
Stop _v i = 0 and _{v i-1} = the relationship of _{T FR} and _{T C} is the time of 0 _{| T} C _|> T _FR and T when _{T C> 0 i = -T C} + T FR (12c)
| _T C |> _{T FR} and time of _{T C <0 T i = -T} C -T FR (12d)
| Time of ≦ _{T FR} | T C
T _i = 0 (12e)

Therefore, the necessary maximum torque T _MAX is obtained as in Expression 13.

T _MAX = max (T _i ) (i = 1... N) (13)

Further, the effective torque T _RMS is obtained as in Expression 14.
T _RMS = √ ((Σ ⁿ _{i = 1} T _i ² (t _i −t _i−1 )) / t _n ) (14)

FIG. 8 shows a flow for searching for a compatible motor from the specifications required for the servo motor thus obtained and the servo motor specification table (1) (FIG. 5) stored in the storage device 203.
In FIG. 8, the servo motor search procedure is as follows. First, the required maximum rotation speed comparing means compares the required maximum rotation speed with the instantaneous maximum rotation speed for any servo motor (step 802). In the case of conformity, in the means for comparing the sum of the steady torque and the frictional torque, the total of the steady torque and the frictional torque is compared with the rated torque (procedure 803). In the case of conformity, the required maximum torque is compared with the instantaneous maximum torque in the required maximum torque comparing means (step 804). In the case of conformity, the effective torque is compared with the rated torque in the execution torque comparison means (procedure 805). In the case of conformity, the rotational speed-torque characteristic comparison means compares the section rotational speed and the section torque with the rotational speed-torque characteristics shown in FIG. 7 (procedure 806). Here, the rotational speed-torque characteristics table shown in FIG. 7 is a table showing the results of sampling the rotational speed-torque characteristics shown in FIG. 6 for each rotational speed of 10 min ⁻¹ . In each of the above procedures, when it is determined as non-conforming, the flow immediately proceeds to the right, and it is immediately determined as non-conforming without determining other conformity. The procedure 802 is a speed specification comparison procedure, and the procedures 803 to 806 are torque specification comparison procedures. In this embodiment, after the speed specification comparison procedure is processed, the torque specification comparison procedure is processed.
Here, conditions for determining suitability in steps 802 to 806 are shown below.
(Procedure 802) Required maximum rotational speed n _MAX <instantaneous maximum rotational speed
(Procedure 803) Steady state + Friction torque T _CFR <Rated torque
(Procedure 804) Required maximum torque T _MAX <Instantaneous maximum torque (Procedure 805) Effective torque T _RMS <Rated torque (Procedure 806) Section rotational speed, section required torque (n _Mi , T _i )
<Rotational speed-torque characteristics (i = 1 ... n)
However, since the section rotational speed n _Mi does not necessarily match the rotational speed value in the rotational speed-torque characteristic table, the torque is compared with a speed value complemented by the previous and subsequent values.

Here, since the speed is generally expressed as an integer value, the data type can be expressed as an integer. On the other hand, the torque can be expressed as a float type. At this time, the comparison operation between the integer types (int) has a smaller calculation amount than the operation between the float types (float) types. Therefore, in step 802, the speed with a small amount of calculation is compared first, and a motor that does not conform is immediately determined to be non-conforming, so there is no need to consider torque comparison (steps 803 to 805) with a large amount of computation for a non-conforming motor. There is an effect of reducing the amount of calculation.
The procedures 803 to 805 are not limited to the order of this embodiment, and may be arbitrary.

  As described above, since the rotational speed-torque characteristics are considered in the motor search procedure, it is possible to correctly determine whether the motor is applicable even in a rotational speed region where a sufficient output torque cannot be obtained. In addition, since suitability is determined from a procedure with a short calculation time, the calculation time required for selection can be reduced.

  Equation 15 represents the rotational speed-torque characteristic shown in FIG. 6 as a functional equation.

0 <n _M , n _M ≦ 3000 [section 1] T ₁ = f (n _M1 )
= 0.96 (15a)
3000 <n _M ≦ 4500 [section 2] when T ₂ = f _{(n M2)}
= -2.48 × 10 ^-4 + 2.244 (15b)
3000 <n _M ≦ 4500 [section 3] when T ₃ = f _{(n M3)}
= 0 (15c)

In the motor search procedure 806 shown in the first embodiment, the section rotational speed n _Mi and the section necessary torque T _i in the section i (i = 1, 2, 3) are expressed as T _i = f ( n _Mi ) (i = 1,2,3).
In addition, what is necessary is just to express the expression of Formula 15 according to the motor for comparison. Further, the number of sections is not limited to three, and may be a section that appropriately represents the characteristics of the servo motor.
Thus, in order to express the rotation speed-torque characteristics in a functional manner, it is possible to store the rotation speed-torque characteristics data with a smaller amount of data compared to storing the rotation speed-torque characteristics data in the data table format shown in FIG. it can.

FIG. 10 is a schematic external view showing a servo motor without brake, and FIG. 11 is a schematic view showing a servo motor with brake. In FIG. 10, the brake is directly incorporated in the servo motor without going through the speed reducer. In this embodiment, when a servo motor with a brake is designated in the procedure 302 of the servo motor selection procedure (FIG. 3), the dynamic calculation is performed in consideration of the brake inertia moment in the motor specification table (2) shown in FIG. , To determine suitability.
In the dynamic calculation in the first embodiment, assuming that the brake inertia moment is J _BR , the load inertia moment J _L is obtained as in Expression 16.

J _L = J _MC + J _G + J _W + J _BR (16)

Since non-load inertia J _L can be calculated unchanged from Example 1, it can be exactly the same of the rest. Further, the motor search procedure shown in FIG. 8 can be performed in the same manner as in the first embodiment.

  Thus, if the brake specifications are given together with the machine specifications, it is not necessary to recalculate after selecting the motor as in the conventional example, and the selection time can be shortened.

FIG. 13 is a schematic external view of a servo motor with an oil seal.
In FIG. 13, the oil seal covers the gap between the motor body and the rotor shaft so that moisture and oil from the outside of the motor do not enter the motor.
FIG. 12 is a servo motor specification table (3), which includes data of rated torque with oil seal when an oil seal option is added to the servo motor in addition to the servo motor specification table of FIG.
In this embodiment, when a servo motor with an oil seal is designated in the procedure 302 of the servo motor selection procedure (FIG. 3), the procedure 803 in FIG. 8 and the procedure 805 in FIG. The conformity is judged using the rated torque with oil seal. The dynamic calculation is the same as that in the first embodiment, and the selection can be made in the same procedure only by setting the rated torque to be referred to when determining the compatibility as the rated torque with the oil seal.

  In this way, if it is given together with the machine specifications whether or not to use an oil seal, there is no need to recalculate after selecting the motor as in the conventional example, and the selection time can be shortened.

FIG. 15 is a schematic external view of a servo motor with a reduction gear. Small-sized embedded servo motors that require precise operation and downsizing are manufactured as a single servo motor product that incorporates a dedicated reducer that matches the external dimensions of the motor, instead of mounting a commercially available reducer separately. The
FIG. 14 is a servo motor specification table (4), which includes data on reduction gear efficiency and reduction ratio in addition to the servo motor specification table of FIG. The characteristics of both a normal servo motor and a servo motor with a reduction gear are included.
In this embodiment, when the servo motor with a reduction gear is selected in the procedure 302 of the servo motor selection procedure (FIG. 3), the reduction gear efficiency in the motor specification table (4) shown in FIG. 14 is taken into consideration. It is a mechanical calculation to determine suitability.
In the dynamic calculation in the first embodiment, when the load-side efficiency is η _W and the reduction gear efficiency is η _G , the total efficiency η is obtained as shown in Equation 17.

_{η = η W η G (17} )

  Other than the overall efficiency η can be calculated as in the first embodiment, the remaining processing can be made exactly the same. Further, the motor search procedure shown in FIG. 8 can be performed in the same manner as in the first embodiment. In this way, if a servo motor specification table with a reduction gear is given and whether or not the reduction gear can be applied together with the machine specifications, there is no need to recalculate or select a reduction gear after selecting the motor as in the conventional example, Selection time can be shortened.

FIG. 17 is a schematic external view of a motor with a brake, an oil seal, and a speed reducer. Small embedded servo motors that require precise operation and miniaturization are manufactured as a single product by assembling brakes, oil seals, and reducers.
FIG. 16 is a servo motor specification table (5), which includes, in addition to the servo motor specification table of FIG. 9, brake inertia moment, rated torque when an oil seal is added, reduction gear efficiency and reduction ratio.
In this embodiment, when the servo motor with brake, oil seal, and reduction gear is selected in the procedure 302 of the servo motor selection procedure (FIG. 3), the brake inertia in the motor specification table (5) shown in FIG. Dynamic calculation is performed using moment, rated torque with oil seal, and reduction gear efficiency to determine suitability.
In the dynamic calculation in the first embodiment, assuming that the brake inertia moment is J _BR , the load inertia moment J _L is obtained as in Expression 18.

J _L = J _MC + J _G + J _W + J _BR (18)

When the load-side efficiency is η _W and the speed reducer efficiency is η _G , the total efficiency η is obtained as shown in Equation 19.

_{η = η W η G (19} )

Except the load inertia J _L and covering efficiency η it can be calculated unchanged from the first embodiment. In the suitability determination, the suitability is determined using the rated torque with oil seal in the servo motor specification table (5) in FIG. 16 in steps 803 and 805 in FIG. As described above, in selecting a brake, an oil seal, and a servomotor with a speed reducer, the remaining calculations can be made exactly the same by combining the corresponding portions of the procedures shown in the third, fourth, and fifth embodiments.
Similarly, even if these brakes, oil seals, and speed reducers are combined in any number, it is necessary to recalculate after selecting the motor as in the conventional example by combining the appropriate parts of this procedure as appropriate. The selection time can be shortened.

  The servo motor selection method of the present invention can be applied to any servo system such as a rack and pinion mechanism, a timing belt mechanism, etc., as well as the servo system shown in the first and third embodiments.

It can be applied to all types of motors such as pulse motors and ultrasonic motors that have been selected in the same way as conventional servo motors.

Configuration diagram showing a servo motor selection device of the present invention Internal configuration diagram of an electronic computer Flow chart showing the procedure of servo motor selection method Configuration diagram of servo system in embodiment 1 Specification table showing servo motor specifications (1) Characteristic chart showing rotation speed-torque characteristics of servo motor Rotation speed-torque characteristics table obtained from servo motor rotation speed-torque characteristics chart A flowchart showing a servo motor search procedure of the method of the present invention. Specification table showing servo motor specifications (2) Illustration of servo motor Illustration of servo motor with brake Specification table (3) showing specifications of servo motor including servo motor with oil seal Illustration of servo motor with oil seal Specification table showing the specifications of servo motors including servo motors with reduction gears (4) Illustration of servo motor with reduction gear Specification table showing specifications of servo motors including brakes, oil seals, servo motors with reduction gears (5) Illustration of servo motor with brake, oil seal and reducer

Explanation of symbols

1a, 1b, 1c, 1d, 1e Servo motors 2a, 2b, 2c, 2d, 2e Encoders 3a, 3b, 3c, 3d, 3e Rotor shaft 4, 4e Brake 5, 5e Oil seal 6, 6e Reducer 101 Display device 102 Computer main body 103 Input device 201 Arithmetic device 203 Storage device 204 Servo motor specification table 401 Servo motor 402 Reducer 403 Coupling 404 Load 405 Loading platform (screw receiver)
406 Rail 407 Ball screw

Claims (25)

It said selection means of the servo system is driven by a servo motor, and machine specifications input means of the servo system, and the load of the motion pattern input means of the servo system, and the servo system selection means and the mechanical specifications input means Based on the output result of the load motion pattern input means, calculation means for obtaining the required specifications of the servo motor, and search means for servo motors suitable for the servo system based on the required specifications obtained by the calculation means. In the servo motor selection device that has
The servo motor search means includes
The required maximum rotational speed comparison means of the servo motor,
Means for comparing the required maximum torque of the servo motor, the sum of the steady torque and the frictional torque, and the execution torque,
The rotation speed-torque characteristic comparison means of the servo motor,
First, the required maximum rotational speed comparison means determines whether the servo motor is compatible,
Next, in the means for comparing the necessary maximum torque of the servomotor, the sum of the steady torque and the frictional torque, and the execution torque, the conformity determination of the servomotor is made in any order,
Finally, a servo motor compatibility determination is made in the rotational speed-torque characteristic comparison means of the servo motor. The servo motor selection device according to claim 1, wherein the rotational speed-torque characteristic is expressed by a functional expression. The servo motor is a servo motor with a brake,
2. The servo motor selection apparatus according to claim 1, wherein the calculation procedure for obtaining the required specifications of the servo motor includes calculation means in which the inertia moment of the brake is included in the load inertia moment of the servo motor in advance. The servo motor is a servo motor with an oil seal,
2. The servo motor selection device according to claim 1, wherein the calculation procedure for obtaining the required specifications of the servo motor calculates a rated torque when the oil seal is added as a rated torque of the servo motor. The servo motor is a servo motor with a speed reducer,
2. The servo motor selection device according to claim 1, wherein the calculation procedure for obtaining the required specification of the servo motor includes a calculation unit that uses the reduction gear efficiency for calculation of total efficiency. The servo motor is a servo motor to which a brake, an oil seal, and a speed reducer are arbitrarily added,
The calculation procedure for obtaining the required specifications of the servo motor has calculation means in which the inertia moment of the brake is included in the load inertia moment of the servo motor in advance.
Calculate the rated torque when the oil seal is added as the rated torque of the servo motor,
The servo motor selection device according to claim 1, further comprising a calculation unit that uses the reduction gear efficiency as a total efficiency. A servo system driven by a servo motor ; a servo system selection procedure; a servo system mechanical specification input procedure; a servo system load motion pattern input procedure; a servo system selection procedure; based on the output results of the specification input procedure and the load motion pattern input procedure, process the calculation procedure for obtaining the required specifications of the servo motor, based on the required specifications determined in the calculation procedure, adapted to the servo system In the servo motor selection method that processes the search procedure for servo motors
The servo motor search procedure is characterized in that the servo motor torque specification comparison procedure is processed after the servo motor speed specification comparison procedure is processed. The servo motor search procedure is as follows:
The required maximum rotational speed of the servo motor is compared,
The required maximum torque of the servo motor, the sum of the steady torque and the frictional torque, and the execution torque are compared in any order,
The servo motor selection method according to claim 7, wherein rotation speed-torque characteristics of the servo motors are compared. The servo motor selection method according to claim 8, wherein the rotational speed-torque characteristic is expressed by a functional expression. The servo motor is a servo motor with a brake,
The servo motor selection method according to claim 7, wherein the calculation procedure for obtaining the required specification of the servo motor includes a calculation procedure in which the inertia moment of the brake is included in the load inertia moment of the servo motor in advance. The servo motor is a servo motor with an oil seal,
The servo motor selection method according to claim 7, wherein the calculation procedure for obtaining the required specification of the servo motor calculates a rated torque when the oil seal is added as a rated torque of the servo motor. The servo motor is a servo motor with a speed reducer,
The servo motor selection method according to claim 7, wherein the calculation procedure for obtaining the required specifications of the servo motor includes calculation means that uses the reduction gear efficiency for calculation of total efficiency. The servo motor is a servo motor to which a brake, an oil seal, and a speed reducer are arbitrarily added,
The calculation procedure for obtaining the required specifications of the servo motor has calculation means in which the inertia moment of the brake is included in the load inertia moment of the servo motor in advance.
Calculate the rated torque when the oil seal is added as the rated torque of the servo motor,
The servo motor selection method according to claim 7, further comprising a calculation unit that uses the reduction gear efficiency as a total efficiency. A computer readable program for searching for a servo motor suitable for a servo system driven by a servo motor,
And selection procedure of the servo system,
Mechanical specification input procedure of the servo system;
A motion pattern input procedure of the load of the servo system;
Based on the servo system selection procedure with the machine specification input procedure and the load motion pattern input procedure of the output, a calculation procedure for obtaining the required specifications of the servo motor,
In order to cause the computer to execute a servo motor search procedure in which the servo motor torque specification comparison procedure is processed after the servo motor speed specification comparison procedure is processed based on the required specifications obtained in the calculation procedure Servo motor selection program. The servo motor search procedure is as follows:
The required maximum rotational speed of the servo motor is compared,
The required maximum torque of the servo motor, the sum of the steady torque and the frictional torque, and the execution torque are compared in any order,
15. The servo motor selection program according to claim 14, wherein the servo motor rotation speed-torque characteristics are compared. The servo motor selection program according to claim 15, wherein the rotational speed-torque characteristic is expressed by a functional expression. The servo motor is a servo motor with a brake,
15. The servo motor selection program according to claim 14, wherein the calculation procedure for obtaining the required specification of the servo motor includes a calculation procedure in which the inertia moment of the brake is included in the load inertia moment of the servo motor in advance. The servo motor is a servo motor with an oil seal,
The calculation procedure for obtaining the required specifications of the servo motor is as follows:
The servo motor selection method according to claim 14, wherein a rated torque when the oil seal is added is calculated as a rated torque of the servo motor. The servo motor is a servo motor with a speed reducer,
The servo motor selection method according to claim 14, wherein the calculation procedure for obtaining the required specification of the servo motor includes a calculation unit that uses the reduction gear efficiency for calculation of total efficiency. The servo motor is a servo motor to which a brake, an oil seal, and a speed reducer are arbitrarily added,
The calculation procedure for obtaining the required specifications of the servo motor has calculation means in which the inertia moment of the brake is included in the load inertia moment of the servo motor in advance.
Calculate the rated torque when the oil seal is added as the rated torque of the servo motor,
The servo motor selection method according to claim 14, further comprising a calculation unit that uses the reduction gear efficiency as a total efficiency. A computer-readable recording medium on which the servo motor selection program according to any one of claims 14 to 20 is recorded. A motor selected by the servo motor selection device according to claim 1. A servo system that is driven by a motor selected by the servo motor selection device according to claim 1. A motor selected by the servo motor selection method according to claim 7. A servo system that is driven by a motor selected by the servo motor selection method according to claim 7.

Images