JP4997553B2 - Output torque measuring device for spherical actuator and torque measuring device using the same - Google Patents

Description

  The present invention relates to an output torque measuring device for a spherical actuator whose output shaft operates on a spherical track and a torque measuring device using the same.

As a conventional torque measuring device, as a torque measuring device for a single-shaft rotary motor, there is a method using a torque detector (see, for example, Patent Document 1 and Patent Document 2).
When measuring torque of a spherical actuator whose output shaft operates on a spherical path, when performing torque measurement using such a conventional method, the torque generation direction of the spherical actuator to be measured and detection of the torque detector An installation stage for adjusting and fixing the position of the spherical actuator itself or the torque detector is necessary so that the directions coincide.
In addition, as another method, there is a method of calculating a torque value from a force measurement value and a distance value obtained from an installation position of the force measurement device using a force measurement device such as a force gauge, a load cell, Also in this case, the spherical actuator itself or an installation stage for adjusting and fixing the force measuring device is necessary so that the direction of torque generation of the spherical actuator to be measured and the direction of detection of the force measuring device coincide.
Japanese Patent No. 3529591 (FIG. 1) JP 2005-37389 A (Figure)

In the conventional torque measurement method described above, when measuring the torque of a spherical actuator whose output shaft operates on a spherical path, when measuring the output torque in any direction at any position within the operating range, a torque detector or force It was necessary to re-set the measuring instrument each time. In general, when performing torque measurement as an evaluation of motors and actuators, it is possible to measure data on torque generation in all directions at all positions within the motor's operating range, and evaluate data variations. is there. Therefore, if a large amount of data is required and setting is performed each time, the measurement is inefficient, and at the same time, there is a problem that the measurement accuracy is lowered due to a position error accompanying the setting.
Further, the method of measuring using a force measuring device has a problem that an error is likely to occur in the distance value, and the accuracy of the measured value is deteriorated.
SUMMARY OF THE INVENTION An object of the present invention is to provide a torque measuring device that can efficiently and accurately measure an output torque in an arbitrary direction at an arbitrary position within an operating range of a spherical actuator.

In order to solve the above problem, the present invention is configured as follows.
The invention according to claim 1 relates to an output torque measuring device for a spherical actuator, and is a torque measuring device for measuring the output torque of a spherical actuator whose output shaft operates on a spherical orbit, for installing the spherical actuator. An actuator-mounted stage, two arc-shaped arms disposed right above the actuator-mounted stage, each having an arc-shaped arm having a through-hole formed in the center in the longitudinal direction, and the spherical actuator The output shaft extending member that is attached to the output shaft and passes through the rotation center of the two arc-shaped arms arranged orthogonally, and the torque that is connected to the respective ends of the two arc-shaped arms via a joint A detector, an encoder disposed at the end opposite to the connection side of each torque detector, and each of the torque detectors. Is characterized by comprising: a brake to continue, the.
According to a second aspect of the present invention, in the output torque measuring device for the spherical actuator according to the first aspect, the actuator mounting stage is a horizontal position for aligning the rotational center of the arcuate arm and the rotational center of the spherical actuator. An adjustment stage, a vertical position adjustment stage for enabling output torque measurement of spherical actuators of different sizes, and a rotation stage for enabling the spherical actuator itself to rotate about the vertical axis It is characterized by.
According to a third aspect of the present invention, in the output torque measuring device for the spherical actuator according to the first aspect, the arc-shaped arm eliminates the influence of the torque detected by the torque detector due to the weight of the arc-shaped arm. And a counterweight for canceling the weight of the arcuate arm.
According to a fourth aspect of the present invention, in the output torque measuring device for the spherical actuator according to the first aspect, the output shaft extending member is attached with a rotating body having a small sliding resistance, and is a length provided on the arc-shaped arm. The output torque of the spherical actuator is transmitted to the arc-shaped arm by contact between the flat surface portion of the hole and the outer peripheral curved surface portion of the rotating body.
The invention according to claim 5 relates to an output torque measuring device for a spherical actuator, wherein the output torque measuring device for the spherical actuator according to any one of claims 1 to 4 and a brake controller for adjusting the braking force of each brake. A torque detector amplifier that amplifies the output of the torque detector, a data processing unit that processes output from the torque detector and the encoder, and a display unit that displays each data processed by the data processing unit And a system controller provided with a system controller.
According to a sixth aspect of the present invention, in the spherical actuator output torque measuring device according to the fifth aspect, the spherical actuator is configured in a state in which a braking force equal to or greater than a maximum torque of the spherical actuator is set for the brake by the setting of the brake controller. The stationary torque of the spherical actuator can be acquired by taking in the output data of the torque detector and the encoder, and the brake controller is set so that the brake is less than the maximum torque of the spherical actuator. The spherical actuator is operated with the braking force set, and the torque at the time of operation of the spherical actuator can be obtained by taking in the output data of the torque detector and the encoder. There.

According to the first aspect of the present invention, the measurement can be performed by the procedure of measuring the torque at the position after the movement to the position where the output shaft of the arc-shaped arm and the spherical actuator is measured. The output torque in any direction at any position can be measured efficiently.
Further, when changing the output shaft position of the spherical actuator, it depends only on the bearing portion accuracy of the spherical actuator and the bearing portion accuracy of the arcuate arm, so that the output torque of the spherical actuator can be measured with high accuracy.
According to the second aspect of the present invention, since the horizontal position of the arcuate arm and the rotation center of the spherical actuator can be aligned by the horizontal position adjustment stage, the position of the spherical actuator can be measured with high accuracy.
In addition, since the vertical position of the spherical actuator can be changed and set by the vertical position adjustment stage, it is possible to measure the torque of spherical actuators of different sizes.
In addition, the spherical actuator itself can be rotated to an arbitrary position around the vertical axis with respect to the torque measurement in the operation direction of the spherical actuator, which cannot be detected by the torque detector, by a rotary stage that allows the spherical actuator itself to rotate around the vertical axis. Thus, torque measurement can be performed, so that output torque in an arbitrary direction at an arbitrary position within the operation range of the spherical actuator can be efficiently measured.
According to the third aspect of the invention, the influence of the torque detected by the torque detector due to the dead weight of the arc-shaped arm can be eliminated, so that the output torque of the spherical actuator can be measured with high accuracy.
According to the fourth aspect of the present invention, the output torque of the spherical actuator is transmitted to the arc-shaped arm by the contact between the flat portion provided on the arc-shaped arm and the outer peripheral curved surface portion of the rotating body of the output shaft extension member attached to the spherical actuator. Therefore, the output torque in an arbitrary direction at an arbitrary position within the operation range of the spherical actuator can be measured. In addition, since a rotating body with low sliding resistance is attached to the output shaft extension member, the sliding resistance can be reduced in torque transmission when measuring the output torque during operation of the spherical actuator, so the output torque during operation of the spherical actuator can be reduced. It can measure with high accuracy.
According to a fifth aspect of the present invention, the spherical actuator output torque measuring device according to any one of the first to fourth aspects is provided with a brake controller for adjusting the braking force of each brake and a torque detection for amplifying the output of the torque detector. The output torque of the spherical actuator can be measured efficiently and with high accuracy by providing a data processing unit that processes the output from the amplifier, torque detector, and encoder, and a display unit that displays each data processed by the data processing unit. A possible measuring device is obtained.
According to the sixth aspect of the invention, the stationary torque of the spherical actuator can be acquired and the torque during operation can be acquired by setting the braking force.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 is a top view of the torque measuring device of the present invention, FIG. 2 is a side view of the torque measuring device of the present invention of FIG. 1, and FIG. 3 is a perspective view for explaining an actuator mounting stage of the torque measuring device of the present invention. FIG. 4 is a view for explaining a penetration state between an output shaft extending member of an output shaft of a spherical actuator which is an object to be measured attached to the torque measuring instrument of the present invention and the rotation centers of two orthogonal arc-shaped arms. It is a perspective view.
1-4, 1 is a base, 2 is an actuator mounting stage, 3 is an arm frame, 4 is an X-axis arc-shaped arm, 5 is a Y-axis arc-shaped arm, 6 is a counterweight, and 7 is an X-axis torque detector. , 8 is a Y-axis torque detector, 9 is a coupling, 10 is an X-axis brake, 11 is a Y-axis brake, 12 is an X-axis encoder, 13 is a Y-axis encoder, 14 is an output shaft extension member, and 15 is a rotating body ( 4), 16 is an X feed stage (FIG. 3), 17 is a Y feed stage (FIG. 3), 18 is a Z feed stage (FIG. 3), and 19 is a rotary stage (FIG. 3). K is a spherical actuator which is an object to be measured.
As the spherical actuator K, for example, actuators described in Patent Documents: Japanese Patent Application Laid-Open Nos. 2003-088089, 2004-320947, and 11-018459 are used. In this embodiment, the object to be measured is described as a spherical actuator K. In addition, if the movable part moves on a spherical path, for example, it can be used for measuring output torque of a robot joint composed of two axes. Can also be applied.
In the torque measuring instrument according to the present invention, an actuator mounting stage 2 on which a spherical actuator K to be measured is mounted is mounted on a base 1, and the X and Y axes orthogonal to each other at the center position of the actuator mounting stage 2 are mounted thereon. Arm frames 3 are arranged on both sides of the actuator mounting stage 2, and an X-axis arcuate arm 4 is rotatably attached to the X-axis by a bearing (not shown) attached to the arm frame 3. A Y-axis arcuate arm 5 is rotatably attached to the Y-axis by an attached bearing (not shown). The X-axis arc-shaped arm 4 and the Y-axis arc-shaped arm 5 are mounted on the opposite side of the arc portion with respect to the rotation center so that the position of the counterweight 6 can be adjusted. The unbalanced portion of the arc-shaped arm can be balanced by adjusting the mounting position of the counterweight 6. Therefore, the influence of the torque detected by the X-axis torque detector 7 and the Y-axis torque detector 8 due to the weight of the arcuate arm can be eliminated, so that the output torque of the spherical actuator K can be measured with high accuracy.
One end of each of the X-axis arcuate arm 4 and the Y-axis arcuate arm 5 is connected to the input shafts of the X-axis torque detector 7 and the Y-axis torque detector 8 via a coupling 9. The shaft portions opposite to the input shafts of the X-axis torque detector 7 and the Y-axis torque detector 8 are connected to the X-axis brake 10 and the Y-axis brake 11 via couplings 9, respectively. An X-axis encoder 12 and a Y-axis encoder 13 are arranged on the opposite side of the X-axis arc-shaped arm 4 and the Y-axis arc-shaped arm 5 from the connection of the torque detector 7 and the Y-axis torque detector 8, respectively.
After the spherical actuator K is attached to the actuator mounting stage 2, the output shaft extension member 14 (FIG. 2) is attached to the output shaft K1 of the spherical actuator K.
The output shaft extending member 14 is attached with a rotating body 15 (FIG. 2) that rotates coaxially with the output shaft K1 of the spherical actuator K, specifically, a component configured using a bearing, a bushing, or the like. The output shaft extending member 14 has such a size that the outer peripheral curved surface portion of the rotating body 15 and the flat portion of the U-shaped groove machined into the X-axis arcuate arm 4 and the Y-axis arcuate arm 5 abut. Since torque is transmitted by contact in this way, distortion occurs due to the axial displacement of the axis K1 of the spherical actuator K, the torque detector 7 and the Y-axis torque detector 8, and no error occurs in the torque measurement value. High-precision measurement is possible.
The spherical actuator K is attached to the actuator mounting stage 2, and the positional deviation between the outer peripheral portion of the X-axis arcuate arm 4 and the Y-axis arcuate arm 5 subjected to arc machining and the output shaft extension member 14 attached to the spherical actuator K is monitored. However, the X-feed stage 16 (FIG. 3), the Y-feed stage 17 (FIG. 3), and the Z-feed stage 18 (see FIG. 3) of the actuator mounting stage 2 are operated so as to operate within the operation range of the spherical actuator K and minimize the positional deviation. The position is adjusted in FIG.
As a feed mechanism of the X feed stage 16, the Y feed stage 17, and the Z feed stage 18, there is a feed screw system, but there is another method of adjusting the position by inserting a spacer.
When measuring the torque of spherical actuators K of different sizes, the Z feed stage 18 is positioned so that the rotation centers of the X-axis arcuate arm 4 and Y-axis arcuate arm 5 coincide with the rotation center of the spherical actuator K. The torque can be measured by adjusting the size of the output shaft extending member 14 while making the adjustment.
In this embodiment, the position of the spherical actuator K to be measured can be adjusted using the Z feed stage 18, but the position of the arm actuator 3 can be adjusted by fixing the spherical actuator K and adjusting the position. There is also a way to make it adjustable.
Since the X feed stage 16 and the Y feed stage 17 can match the rotation center of the X-axis arcuate arm 4 and the Y-axis arcuate arm 5 with the rotation center of the spherical actuator K in the X and Y directions, respectively. The output shaft position of K can be measured with high accuracy.

FIG. 5 is a block diagram for explaining the configuration of a torque measuring device as a system including the torque measuring device of the present invention. In FIG. 5, reference numeral 100 denotes a torque measuring device according to the present invention, which includes a torque measuring device 20 and a system controller 21. The torque measuring device 20 has already been described with reference to FIGS. The system controller 21 includes an X-axis torque detector amplifier 22, a Y-axis torque detector amplifier 23, an X-axis brake controller 24, a Y-axis brake controller 25, a CPU 26, and a CRT 27. In the block diagram of FIG. 5, the braking force can be set by input to the X-axis brake controller 24 and the Y-axis brake controller 25. The CPU 26 in the system controller 21 selects a total of four output values from the X-axis torque detector 7, the Y-axis torque detector 8, the X-axis encoder 12, and the Y-axis encoder 13 according to the output form. Are taken in via an installed input board (not shown).
When acquiring the static torque of the spherical actuator K, the output shaft of the spherical actuator K is operated at the position to be measured while referring to the display of the CRT 27 connected to the system controller 21, and the X-axis brake controller 24 is operated at that position. Then, a brake force that is equal to or greater than the maximum torque of the spherical actuator K is set by input to the Y-axis brake controller 25. The X-axis brake 10 and the Y-axis brake 11 are selected so that the brake capacity is equal to or greater than the maximum torque of the spherical actuator K to be measured.
Next, the measurement program is operated to obtain a data file. When the measurement program installed in the CPU starts measurement, the time, the output values from the X-axis torque detector 7, the Y-axis torque detector 8, the X-axis encoder 12, and the Y-axis encoder 13, a total of five data files Is programmed to be created.

When acquiring the operating torque of the spherical actuator K, refer to the display of the CRT 27 connected to the system controller 21 and operate the output shaft of the spherical actuator K at the position where the measurement is to be started. A desired braking force is set with less than the maximum torque of the spherical actuator K by input to the controller 24 and the Y-axis brake controller 25. From this state, the spherical actuator K is operated, and at the same time, the measurement program is operated to obtain a data file. The torque fluctuation data of the spherical actuator K can also be evaluated by performing measurement during operation.
Since the rotating body 15 of the output shaft extension member 14 attached to the output shaft of the spherical actuator K uses a bearing or bushing having a low sliding resistance, the mechanical loss can be reduced and the output torque when the spherical actuator K is operated is increased. It can be measured accurately.
The outer peripheral curved surface portion of the rotating body 15 of the output shaft extension member 14 attached to the output shaft of the spherical actuator K and the flat portion of the U-shaped groove machined into the X-axis arcuate arm 4 and the Y-axis arcuate arm 5 abut. Therefore, if the operation direction of the spherical actuator K coincides with the rotation axis of one of the torque detectors, the torque detector on the coincident side may not transmit the torque. .
Therefore, the spherical actuator K cannot be measured for all the operating directions of the spherical actuator K only by installing it once on the actuator mounting stage 2. Therefore, measurement is performed in all operating directions of the spherical actuator K by performing measurement by rotating the spherical actuator K about the vertical axis by the rotary stage 19 that enables the spherical actuator K to rotate about the vertical axis. Enable.
Since the rotary stage 19 is disposed on the X feed stage, the Y feed stage, and the Z feed stage, it is necessary to adjust the position in the X, Y, and Z directions again when measuring by rotating the spherical actuator K. Therefore, torque can be measured efficiently.

It is a top view of the torque measuring device which shows 1st Example of this invention. It is a side view of the torque measuring device of this invention of FIG. It is a perspective view for demonstrating the actuator mounting stage of the torque measuring device of this invention. It is a perspective view for demonstrating the penetration state of the output-axis extension member of the output shaft of the spherical actuator which is a to-be-measured object attached to the torque measuring device of this invention, and the rotation center of two orthogonal arc-shaped arms. is there. It is a block diagram which shows the system configuration | structure of the torque measuring apparatus containing the torque measuring device of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Base 2 Actuator mounting stage 3 Arm frame 4 X-axis arc-shaped arm 5 Y-axis arc-shaped arm 6 Counterweight 7 X-axis torque detector 8 Y-axis torque detector 9 Coupling 10 X-axis brake 11 Y-axis brake 12 X-axis Encoder 13 Y-axis encoder 14 Output shaft extension member 15 Rotating body 16 X-feed stage 17 Y-feed stage 18 Z-feed stage 19 Rotation stage 20 Spherical actuator output torque measuring instrument 21 System controller 22 X-axis torque detector amplifier 23 Y-axis torque Detector amplifier 24 X-axis brake controller 25 Y-axis brake controller 26 CPU
27 CRT
100 Spherical Actuator Output Torque Measuring Device K Spherical Actuator K1 Spherical Actuator Output Shaft

Claims (6)

A torque measuring device for measuring an output torque of a spherical actuator whose output shaft operates on a spherical path,
An actuator mounting stage for installing the spherical actuator;
Two arc-shaped arms respectively disposed perpendicularly to the actuator mounting stage, each having an arc-shaped arm having a through-hole formed in the center in the longitudinal direction;
An output shaft extension member attached to the output shaft of the spherical actuator and penetrating the rotation center of the two arc-shaped arms arranged orthogonally;
A torque detector connected to each end of the two arc-shaped arms via a joint;
An encoder disposed at the end opposite to the connection side of each torque detector;
A brake connected to each of the torque detectors;
An output torque measuring device for a spherical actuator, comprising:   The actuator mounting stage includes a horizontal position adjustment stage for aligning the rotation center of the arc-shaped arm and the rotation center of the spherical actuator, and a vertical direction for enabling output torque measurement of spherical actuators of different sizes. The output torque measuring device for a spherical actuator according to claim 1, further comprising: a position adjusting stage; and a rotary stage that enables the spherical actuator itself to rotate about a vertical axis.   The arc-shaped arm includes a counterweight for canceling the weight of the arc-shaped arm in order to eliminate the influence of torque detected by the torque detector due to the weight of the arc-shaped arm. The spherical actuator output torque measuring instrument according to 1.   The output shaft extending member is attached with a rotating body having a small sliding resistance, and the output torque of the spherical actuator is determined by contact between the flat portion of the long hole provided in the arc-shaped arm and the outer peripheral curved surface portion of the rotating body. The torque output device for a spherical actuator according to claim 1, wherein the torque is transmitted to the arc-shaped arm. A spherical actuator output torque measuring instrument according to any one of claims 1 to 4,
A brake controller for adjusting the braking force of each brake;
A torque detector amplifier that amplifies the output of the torque detector;
A data processing unit for processing output from the torque detector and the encoder;
A system controller comprising: a display unit for displaying each data processed by the data processing unit;
An output torque measuring device for a spherical actuator, comprising:   The spherical actuator is operated by operating the spherical actuator in a state in which a braking force equal to or greater than the maximum torque of the spherical actuator is set for the brake by setting of the brake controller, and capturing output data of the torque detector and the encoder And the spherical actuator is operated in a state where a braking force less than the maximum torque of the spherical actuator is set for the brake according to the setting of the brake controller, and the torque detector and the encoder 6. The spherical actuator output torque measuring apparatus according to claim 5, wherein the torque at the time of operation of the spherical actuator can be acquired by taking in the output data.

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