JP6448942B2 - Traction power transmission reduction device and motor with reduction device - Google Patents

Description

  The present invention relates to a traction power transmission reduction device and a motor with a reduction gear.

  2. Description of the Related Art Conventionally, a gear transmission mechanism having a structure in which a plurality of gears having different numbers of teeth is meshed is used as a speed reducer or a speed increaser. In the gear transmission mechanism, a mechanical gap (backlash) is provided in a meshing portion between the gears in order to make the rotation of the gears smooth. However, the backlash can be a factor that reduces the transmission accuracy of the rotational motion. Therefore, a gear transmission mechanism with backlash is not suitable for precision processing machines and 3D measuring devices that require highly accurate motion transmission. In the gear transmission mechanism, backlash causes vibration and noise.

Therefore, a traction power transmission mechanism is used as a speed reducer or speed increaser that does not use a gear transmission mechanism. In the traction power transmission mechanism, a precision roller is used in place of the gear, the conductive surface is brought into contact at a high pressure, and the shear resistance force (traction force) of the high-viscosity oil film formed by rolling motion is used. Thereby, rotational power can be transmitted without interposing a mechanical gap between the input side roller and the output side roller. As a result, the traction power transmission mechanism can reduce vibration and noise compared to the gear transmission mechanism. In addition, the traction power transmission mechanism can easily realize highly accurate motion transmission compared to the gear transmission mechanism. A conventional traction power transmission mechanism is disclosed in, for example, Japanese Patent Application Laid-Open No. 2010-14268.
JP 2010-14268 A

  As described above, the traction power transmission mechanism easily realizes highly accurate motion transmission. For this reason, it is mounted on equipment that requires precise position control, such as a robot arm. However, in the robot arm, when the arm to be operated comes into contact with an obstacle, the slip may occur between the input side roller and the output side roller of the traction power transmission mechanism. If slippage occurs, there is a possibility that the rotation synchronization between the input shaft and the output shaft is out of order, and the arm position cannot be accurately controlled. Therefore, it is necessary to detect slip quickly and stop the supply of power to the input shaft.

  Also, even in an electric wheelchair that does not require highly accurate position control as much as a robot arm, when a tire that is an output destination comes into contact with an obstacle, there is a gap between the input side roller and the output side roller of the traction power transmission mechanism. Slip may occur. If the supply of power to the input shaft is continued with slipping, the rollers may be worn.

  An object of the present invention is to provide a technique for quickly detecting slip in a traction power transmission reduction device.

An exemplary first invention of the present application is a traction power transmission reduction device that performs traction power transmission between a rotation input shaft and a rotation output shaft and has a reduction ratio of L, and includes rotational position information of the rotation input shaft. A rotation input detection means for converting the rotation position information of the rotation output shaft into an output shaft pulse signal, and a traction slip detection means, the rotation input detection The means outputs one pulse of the input shaft pulse signal every time the rotation input shaft rotates 1 / M, and the rotation output detection means outputs the output shaft pulse signal every time the rotation output shaft rotates 1 / N. The traction slip detection means outputs 1 to the floor function with the output number of the input axis pulse signal being nLM / N within a period in which the output number of the output axis pulse signal is n times. If the example was several more, and outputs a stop signal, M, N, and n are both Ri natural numbers der has a relationship of N ≧ M, a traction power transmission reduction gear.

An exemplary second invention of the present application is a traction power transmission reduction device that performs traction power transmission between a rotation input shaft and a rotation output shaft and has a reduction ratio of L, and rotational position information of the rotation input shaft. A rotation input detection means for converting the rotation position information of the rotation output shaft into an output shaft pulse signal, and a traction slip detection means, the rotation input detection The means outputs one pulse of the input shaft pulse signal every time the rotation input shaft rotates 1 / M, and the rotation output detection means outputs the output shaft pulse signal every time the rotation output shaft rotates 1 / N. The traction slip detection means outputs the number of outputs of the output axis pulse signal from the floor function of nN / ML within a period in which the number of outputs of the input axis pulse signal is n times. If it does not reach the number obtained by subtracting, to output a stop signal, M, N, and n are both Ri natural numbers der has a relationship of N ≧ M, a traction power transmission reduction gear.

  According to the first and second exemplary inventions of the present application, slip detection can be quickly performed in the traction power transmission reduction device.

FIG. 1 is a cross-sectional view of a motor with a reduction gear according to the first embodiment. FIG. 2 is a block diagram showing a control system of the motor with a reduction gear according to the first embodiment. FIG. 3 is a block diagram illustrating a configuration of the slip detection unit according to the first embodiment. FIG. 4 is a flowchart showing the flow of the slip detection process of the motor with the reduction gear according to the first embodiment. FIG. 5 is a diagram illustrating an example of each signal of the motor with the speed reducer according to the first embodiment. FIG. 6 is a block diagram showing the configuration of the slip detection unit according to the second embodiment. FIG. 7 is a diagram illustrating an example of each signal of the motor with a reduction gear according to the second embodiment. FIG. 8 is a block diagram showing the configuration of the slip detection unit according to the first modification. FIG. 9 is a flowchart showing the flow of the slip detection process of the motor with a reduction gear according to the first modification. FIG. 10 is a diagram illustrating an example of each signal of the motor with a reduction gear according to the first modification. FIG. 11 is a block diagram illustrating a configuration of a slip detection unit according to the second modification. FIG. 12 is a flowchart showing the flow of the slip detection process of the motor with a reduction gear according to the second modification. FIG. 13 is a diagram illustrating an example of each signal of the motor with a reduction gear according to the second modification.

  Hereinafter, exemplary embodiments of the present invention will be described with reference to the drawings. In this application, the direction parallel to the central axis of the motor is the “axial direction”, the direction orthogonal to the central axis of the motor is the “radial direction”, and the direction along the arc centered on the central axis of the motor is the “circumferential direction”. , Respectively. In the present application, the shape and positional relationship of each part will be described with the axial direction as the vertical direction and the speed reduction device side as “upper” with respect to the drive part. However, this is defined as upper and lower for convenience of explanation, and does not limit the direction when the motor according to the present invention is used.

<1. First Embodiment>
FIG. 1 is a cross-sectional view of a motor 1 according to this embodiment. FIG. 2 is a block diagram showing a control system of the motor 1. The motor 1 is a motor with a traction power transmission reduction device. The motor 1 is provided, for example, in a robot joint and is used to drive the arm. The motor 1 may be used in an electric wheelchair to drive the tire to rotate, or may be used for other purposes.

  As shown in FIG. 1, the motor 1 includes a drive unit 11 and a speed reducer 12. The configuration of the drive unit 11, the configuration of the speed reduction device 12, and the slip detection in the speed reduction device 12 will be described below.

<1-1. About the configuration of the drive unit>
First, the structure of the drive part 11 is demonstrated, referring FIG. 1 and FIG. The drive unit 11 includes a stationary unit 2 and a rotating unit 3. The stationary part 2 includes a housing 21, a cap 22, a stator 23, a bearing part 24, and a circuit board 25.

  The housing 21 is a bottomed cylindrical member that extends along the central axis 9 and has a bottom portion below. An outer ring of a lower bearing 241 described later of the bearing portion 24 is fixed to the bottom portion of the housing 21.

  The cap 22 is a covered cylindrical member that extends along the central axis 9 and has a lid portion on the upper side. An outer ring of an upper bearing 242 (described later) of the bearing portion 24 is fixed to the lid portion of the cap 22.

  Inside the housing constituted by the housing 21 and the cap 22, a stator 23, at least a part of the circuit board 25, and a rotor 32 described later of the rotating unit 3 are accommodated. The housing 21 and the cap 22 are made of a metal such as a galvanized steel plate or SUS, for example. Although the housing 21 and the cap 22 of the present embodiment are formed of the same material, the housing 21 and the cap 22 may be formed of different materials.

  The stator 23 is an armature composed of a stator core 231, an insulator 232, and a coil 233. The stator 23 is disposed on the radially outer side of the rotor 32.

  Stator core 231 is formed of laminated electromagnetic steel sheets. The stator core 231 includes an annular core back 201 and a plurality of teeth 202 protruding radially inward from the core back 201. The outer peripheral surface of the core back 201 is fixed to the inner peripheral surface of the housing 21. The plurality of teeth 202 are arranged at substantially equal intervals in the circumferential direction.

  The insulator 232 is a resin member that covers a part of the surface of the stator core 231. An upper surface, a lower surface, and both end surfaces in the circumferential direction of each tooth 202 are covered with an insulator 232. The coil 233 is configured by a conductive wire wound around each tooth 202 via an insulator 232.

  The bearing portion 24 includes a lower bearing 241 and an upper bearing 242. The outer rings of the lower bearing 241 and the upper bearing 242 are fixed to the housing 21 and the cap 22 as described above. Further, the inner rings of the lower bearing 241 and the upper bearing 242 are fixed to the outer peripheral surface of the drive shaft 31 described later. Thereby, the bearing part 24 supports the drive shaft 31 rotatably. In addition, although the bearing part 24 of this embodiment is comprised with a ball bearing, it may be comprised with other bearing mechanisms, such as a slide bearing and a fluid bearing, for example.

  Various electronic components are arranged on the circuit board 25 to constitute an electronic circuit. The electronic circuit configured on the circuit board 25 functions as the control unit 10 shown in FIG. The circuit board 25 according to the present embodiment is disposed in a space surrounded by the housing 21 and the cap 22. A magnetic sensor 251 that detects the rotational position of the rotor 32 is provided on the lower surface of the circuit board 25. The magnetic sensor 251 is a magnet position detection element that detects a circumferential position of a magnet 323 described later. Thereby, the magnetic sensor 251 detects the rotational position S251 of the rotor 32. For example, a Hall element is used for the magnetic sensor 251.

  As shown in FIG. 2, the control unit 10 includes a motor drive unit 101 and a slip detection unit 102. The motor drive unit 101 controls the drive unit 11 based on a drive command signal input from the outside and a rotational position S251 input from the magnetic sensor 251. Specifically, the drive unit 11 is controlled by supplying a drive current S101 from the motor drive unit 101 to the coil 233 of the stator 23. The control unit 10 is electrically connected to an external device via a lead wire 252. As a result, a drive current necessary for driving the drive unit 11 is supplied to the control unit 10.

  The slip detection unit 102 is a traction slip detection unit that detects slip between rollers in the speed reducer 12. The slip detection unit 102 of the present embodiment is electrically connected to the speed reduction device 12 via a lead wire 252. Thereby, according to the detection signal from the reduction gear 12, the slip between the rollers in the reduction gear 12 is detected. The slip detection process in the slip detection unit 102 will be described later.

  The rotating part 3 is supported so as to be rotatable about the central axis 9 with respect to the stationary part 2. As shown in FIG. 1, the rotating unit 3 of the present embodiment includes a drive shaft 31 and a rotor 32.

  The drive shaft 31 is a columnar member extending along the central axis 9. As the material of the drive shaft 31, for example, a metal such as stainless steel is used. The drive shaft 31 rotates around the central axis 9 while being supported by the bearing portion 24. The upper end portion of the drive shaft 31 protrudes upward from the cap 22 and is fixed to the rotation input shaft 51 of the speed reducer 12. As a result, the driving force generated by the drive unit 11 is input from the drive shaft 31 to the rotation input shaft 51 of the speed reducer 12.

  The rotor 32 includes a rotor core 321, two rotor holders 322, and a magnet 323. The rotor 32 rotates with the drive shaft 31.

  The rotor core 321 is formed in a cylindrical shape by laminated electromagnetic steel plates. The rotor core 321 is disposed so as to surround the drive shaft 31. The inner surface of the rotor core 321 is fixed to the drive shaft 31.

  The two rotor holders 322 are made of a ferromagnetic material such as steel. The rotor holder 322 of this embodiment is a so-called press product in which a plate-like material is formed by pressing. Each of the rotor holders 322 has a cylindrical inner peripheral portion fixed to the outer peripheral surface of the drive shaft 31 and a cylindrical outer peripheral portion fixed to the inner peripheral surface of the magnet 323. One of the rotor holders 322 is disposed above the rotor core 321, and the other is disposed below the rotor core 321.

  The magnet 323 is an annular magnet centered on the central axis 9. The outer peripheral surface of the magnet 323 faces the inner end of the teeth 202 of the stator core 231 in the radial direction. Further, N poles and S poles are alternately magnetized in the circumferential direction on the outer peripheral surface of the magnet 323. A plurality of magnets may be used instead of the annular magnet 323. In this case, a plurality of magnets may be arranged in the circumferential direction so that the N pole magnetic pole surface and the S pole magnetic pole surface are alternately arranged.

  The magnet 323 is located on the radially outer side of the rotor core 321 and the rotor holder 322 and below the magnetic sensor 251. The magnet 323 is fixed to the drive shaft 31 via the rotor core 321 and the two rotor holders 322. Therefore, the magnet 323 rotates together with the drive shaft 31. The rotor core 321 and the two rotor holders 322 function as a back yoke for the magnet 323. Thereby, the magnetic flux which goes to the stator core 231 from the magnet 323 can be increased. That is, the torque performance of the drive unit 11 can be improved.

  When a drive current is applied to the coil 233 via the circuit board 25, a radial magnetic flux is generated in each tooth 202 of the stator core 231. A circumferential torque is generated by the action of magnetic flux between the teeth 202 and the magnet 323. As a result, the rotating unit 3 rotates around the central axis 9 with respect to the stationary unit 2. Thereby, a rotational driving force is input from the drive shaft 31 to the rotational input shaft 51 of the speed reducer 12.

<1-2. About the structure of the reduction gear>
Next, the configuration of the reduction gear 12 will be described with reference to FIG. The speed reduction device 12 includes a casing 4, an input rotation unit 5, an output rotation unit 6, a rotation input detection unit 50, and a rotation output detection unit 60.

  The casing 4 includes a first casing 41 and a second casing 42. The first casing 41 is a substantially cylindrical member centered on the central axis 9. A first bearing portion 411 is fixed to the inner peripheral surface of the first casing 41. The first casing 41 rotatably supports the input rotating unit 5 via the first bearing portion 411.

  The second casing 42 is disposed above the first casing. The second casing 42 is a substantially covered cylindrical member centered on the central axis 9. That is, the second casing 42 includes a substantially cylindrical cylindrical portion 421 that extends around the central axis 9 and a disc portion 422 that covers an opening above the cylindrical portion 421. A lower end portion of the second casing 42 is fixed to the first casing 41.

  The disc portion 422 is provided with a through hole 423 penetrating in the axial direction. A second bearing portion 424 is fixed to the inner peripheral surface forming the through hole 423 of the disc portion 422. A third bearing portion 425 is fixed to the inner peripheral surface of the cylindrical portion 421. The second casing 42 rotatably supports the output rotation unit 6 via the second bearing portion 424 and the third bearing portion 425.

  In the present embodiment, the first bearing portion 411, the second bearing portion 424, and the third bearing portion 425 are configured by ball bearings, but may be configured by other bearing mechanisms.

  An internal ring 43 is arranged inside the casing 4. The internal ring 43 is an annular member that is arranged around the central axis 9. In the present embodiment, the internal ring 43 is fixed to the casing 4 by being sandwiched between the upper surface of the first casing 41 and the stepped surface of the cylindrical portion 421 of the second casing 42. The internal ring 43 is disposed at a position that overlaps each of a sun roller 53 and a planetary roller 63 described later in the axial direction. The function of the internal ring 43 will be described later.

  The input rotation unit 5 includes a rotation input shaft 51, a first support unit 52, and a sun roller 53. The rotation input shaft 51 is a columnar portion extending along the central axis 9. The lower end portion of the rotation input shaft 51 protrudes downward from the casing 4 and is connected to the upper end portion of the drive shaft 31 of the drive unit 11. As a result, when the drive unit 11 is driven, a rotational driving force is input from the drive shaft 31 to the rotational input shaft 51.

  The first support portion 52 is a columnar portion that is disposed above the rotation input shaft 51 and extends along the central axis 9. The lower end portion of the first support portion 52 and the upper end portion of the rotation input shaft 51 are connected. Further, the outer peripheral surface of the first support portion 52 is fixed to the inner peripheral surface of the first bearing portion 411. Thereby, the input rotation part 5 is rotatably supported by the first casing 41 via the first bearing part 411.

  The sun roller 53 is a cylindrical portion that is disposed above the first support portion 52 and extends along the central axis 9. The upper end portion of the sun roller 53 and the lower end portion of the first support portion 52 are connected. That is, the sun roller 53 is indirectly connected to the rotation input shaft 51 via the first support portion 52. Thus, when a rotational driving force is input from the drive unit 11 to the rotational input shaft 51, the sun roller 53 rotates with the rotational input shaft 51.

  In addition, the input rotation part 5 of this embodiment is a continuous member in which the rotation input shaft 51, the 1st support part 52, and the sun roller 53 were integrally formed. However, the rotation input shaft 51, the first support portion 52, and the sun roller 53 may be separate members.

  The output rotation unit 6 includes a planet carrier 61, a planet shaft 62, a planet roller 63, and a rotation output shaft 64.

  The planet carrier 61 includes a second support portion 611 and a planet support portion 612. The second support portion 611 is a substantially columnar portion disposed inside the through hole 423 of the second casing 42. The second support portion 611 extends along the central axis 9. The planetary support portion 612 is a substantially disk-shaped portion that extends in the radial direction about the central axis 9. The lower surface of the planetary support portion 612 faces the upper end portion of the sun roller 53. The second support part 611 and the planetary support part 612 are arranged coaxially with the central axis 9 as the center.

  The lower end portion of the second support portion 611 is connected to the planet support portion 612. The outer peripheral surface of the second support part is fixed to the inner ring of the second bearing part 424. Further, the outer peripheral surface of the planetary support portion 612 is fixed to the inner ring of the third bearing portion 425. Thereby, the planet carrier 61 is rotatably supported by the second casing 42.

  The planetary shaft 62 is a member for supporting the planetary roller 63. The output rotating unit 6 of this embodiment has three planetary shafts 62 and three planetary rollers 63. In FIG. 1, only one planetary shaft 62 and one planetary roller 63 are illustrated among the three planetary shafts 62 and the three planetary rollers 63. Each of the planetary shafts 62 extends along the planetary axis 91. The upper end portion of the planetary shaft 62 is fixed to the planetary support portion 612 of the planetary carrier 61.

  In the present embodiment, the planetary shaft 91 and the planetary shaft 62 are slightly inclined with respect to the central axis 9. Specifically, the distance from the central axis 9 of the planetary shaft 91 and the planetary shaft 62 increases as it goes downward. The planetary shaft 91 and the planetary shaft 62 may be parallel to the central axis 9.

  Each of the planetary rollers 63 is rotatably supported by the planetary shaft 62 via a planetary bearing 631. Thereby, the planetary roller 63 is supported so as to be rotatable about the planetary shaft 91. In the present embodiment, the three planetary rollers 63 have the same shape. Further, the three planetary rollers 63 are arranged at equal intervals in the circumferential direction on the radially outer side of the sun roller 53. Note that the number of planetary shafts and planetary rollers included in the speed reducer is not necessarily limited to three. Further, the planetary shaft and the planetary roller are not necessarily arranged at equal intervals in the circumferential direction.

  The rotation output shaft 64 is a columnar part extending along the central axis 9. The lower end portion of the rotation output shaft 64 is connected to the upper end portion of the second support portion 611 of the planet carrier 61. Thereby, the rotation output shaft 64 rotates around the central axis 9 together with the planet carrier 61.

  As described above, the internal ring 43 is fixed to the casing 4 by being sandwiched between the first casing 41 and the second casing 42 from above and below. That is, the internal ring 43 is pressurized from above and below by the first casing 41 and the second casing 42. Thereby, the inner peripheral surface of the internal ring 43 is elastically deformed radially inward. As a result, each of the planetary rollers 63 is pressed radially inward by the inner peripheral surface of the internal ring 43 and pressed against the sun roller 53.

  The outer peripheral surface of the planetary roller 63 is in contact with the outer peripheral surface of the sun roller 53 via traction oil on the radially inner side. The outer peripheral surface of the planetary roller 63 is in contact with the internal ring 43 via traction oil on the radially outer side. As the traction oil, for example, naphthenic lubricating oil or paraffinic lubricating oil is used. Traction oil has characteristics as a lubricant and a low viscosity in a normal low surface pressure state. On the other hand, traction oil rapidly increases the traction coefficient under high surface pressure.

  When a rotational driving force is input to the rotational input shaft 51, the input rotating unit 5 rotates about the central shaft 9. Thereby, the sun roller 53 rotates around the central axis 9. When the sun roller 53 rotates while being pressed against the planetary roller 63, the rotation of the sun roller 53 is transmitted to the planetary roller 63 by the shear resistance force of the traction oil. As a result, each planetary roller 63 rotates around the planetary shaft 91. Hereinafter, the rotation of each planetary roller 63 around the planetary shaft 91 is referred to as “spinning”.

  When each planetary roller 63 rotates while being pressed against the internal ring 43, traction is generated between each planetary roller 63 and the internal ring 43 via traction oil. Since the internal ring 43 is fixed to the casing 4, each planetary roller 63 rotates around the central axis 9 by the traction. Hereinafter, the rotation around the central axis 9 of each planetary roller 63 is referred to as “revolution”.

  When each planetary roller 63 revolves, each planetary shaft 62 rotates about the central axis 9 together with each planetary roller 63. Therefore, the planet carrier 61 fixed to each planetary shaft 62 also rotates together with each planetary roller 63. Thus, the entire output rotating unit 6 rotates with each planetary roller 63. Therefore, the rotation output shaft 64 also rotates around the central shaft 9 together with the planetary rollers 63.

  At this time, the rotation speed of the output shaft 64 is smaller than the rotation speed of the rotation input shaft 51. On the other hand, the torque of the rotation output shaft 64 is larger than the torque of the rotation input shaft 51. That is, the rotational driving force input to the rotational input shaft 51 is converted into a low rotational speed and high torque and output from the rotational output shaft 64.

  The rotation input detection unit 50 is a reflective rotary encoder. The rotation input detection unit 50 includes a first code unit 501 and a first detector 502 including a light source and a light receiving element. In the present embodiment, the first cord portion 501 is provided on the outer peripheral surface of the rotary input shaft 51. A plurality of reflective surfaces parallel to the central axis 9 are arranged in the first code portion 501 at intervals in the circumferential direction. The first detector 502 is arranged such that its light source and light receiving element face the first code portion 501.

  When a rotational driving force is input to the rotation input shaft 51 and the input rotation unit 5 rotates about the central axis 9, the first code unit 501 also rotates together with the rotation input shaft 51. The first detector 502 detects the reflected light from the first code unit 501 with the light receiving element while irradiating the first code unit 501 with laser light from the light source.

  Here, the resolution of the rotation input detection unit 50 is M [number of pulses / rotation]. That is, the first detector 502 outputs one pulse of the input shaft pulse signal S50 to the slip detection unit 102 of the control unit 10 every time the input rotation unit 5 rotates 1 / M.

  The rotation output detection unit 60 is a reflective rotary encoder. The rotation output detection unit 60 includes a second code unit 601 and a second detector 602 including a light source and a light receiving element. In the present embodiment, the second cord portion 601 is provided on the upper surface of the planet support portion 612 of the planet carrier 61. The second code portion 601 has a plurality of radial reflecting surfaces arranged at intervals in the circumferential direction. The second detector 602 is disposed such that the light source and the light receiving element face the second code portion 601.

  When the output rotating unit 6 rotates about the central axis 9, the second cord unit 601 also rotates with the output rotating unit 6. The second detector 602 detects the reflected light from the second code unit 601 with the light receiving element while irradiating the second code unit 601 with laser light from the light source.

  Here, the resolution of the rotation output detection unit 60 is N [number of pulses / rotation]. That is, the second detector 602 outputs one pulse of the output shaft pulse signal S60 to the slip detection unit 102 of the control unit 10 every time the output rotation unit 6 rotates 1 / N.

<1-3. About slip detection processing of the reduction gear>
In a traction power transmission reduction device such as the reduction device 12, rotation of the rotation output shaft 64 may stop when an external force is applied to the output side. If the rotation input shaft 51 continues to rotate when the rotation of the rotation output shaft 64 is forcibly stopped by an external force, a slip occurs between the sun roller 53 and the planetary roller 63.

  If the rotation input shaft 51 continues to rotate while slipping between the sun roller 53 and the planetary roller 63, the sun roller 53 and the planetary roller 63 may be worn. In addition, in a device such as a robot arm that requires precise position control, the rotation input shaft 51 and the rotation output shaft 64 may be synchronized in rotation. In this case, if a slip occurs between the sun roller 53 and the planetary roller 63, rotation synchronization may be out of order, and it may be difficult to perform accurate position control. Therefore, when a slip occurs between the sun roller 53 and the planetary roller 63, it is necessary to immediately stop the supply of rotational power to the rotary input shaft 51 and correct the synchronization position.

  The slip detection process in the present embodiment will be described below with reference to FIGS. FIG. 3 is a block diagram illustrating a configuration of the slip detection unit 102. FIG. 4 is a flowchart showing the flow of the slip detection process in the motor 1. FIG. 5 is a diagram illustrating an example of each signal of the motor 1. In the present embodiment, the reduction ratio of the reduction gear 12 is L = 5, the resolution of the rotation input detection unit 50 is M = 1024 [number of pulses / rotation], and the resolution of the rotation output detection unit 60 is N = 2048 [number of pulses]. / Rotation]. L may be another value, and M and N may be other natural numbers.

  In this embodiment, as described above, the resolution N = 2048 [number of pulses / rotation] of the rotation output detection unit 60 is larger than the resolution M = 1024 [number of pulses / rotation] of the rotation input detection unit 50. That is, it has a relationship of N ≧ M. In the speed reducer 12, the rotation output shaft 64 is slower in rotation speed than the rotation input shaft 51. Therefore, if the resolution M of the rotation input detection unit 50 and the resolution N of the rotation output detection unit 60 are the same, the rotation output detection unit 60 has a unit time than the number of pulses that the rotation input detection unit 50 outputs per unit time. The number of pulses output per hit is smaller. If the resolution M on the rotation output shaft 64 side is made higher than the resolution N on the rotation input shaft 51 side as in the present embodiment, the rotation input shaft 51 side and the rotation output shaft 64 side output data per unit time. The difference in the number of pulses can be reduced. Thereby, slip detection accuracy can be improved efficiently.

  For this reason, when it is assumed that there is no slip between the sun roller 53 and the planetary roller 63, the rotation input shaft 51 receives the input shaft pulse signal S50 during the period in which the output shaft pulse signal S60 is input n times. It rotates by an angle corresponding to the number of pulses nLM / N. Note that nLM / N is not necessarily an integer depending on the values of n, N, M, and L.

  Actually, when a rotational driving force is transmitted from the sun roller 53 to the planetary roller 63, the traction oil interposed between the sun roller 53 and the planetary roller 63 receives the driving force and elastically deforms due to shear. Therefore, the planetary roller 63 transmits the rotation to the sun roller 53 with a slight delay. This slight delay is hereinafter referred to as “microslip”. In consideration of the micro-slip, the rotation input shaft 51 rotates at an angle slightly larger than the angle corresponding to the pulse number nLM / N times of the input shaft pulse signal S50 during the period when the output shaft pulse signal S60 is input n times. To do.

  Now, the configuration of the slip detection unit 102 of the present embodiment will be described. As shown in FIG. 3, the slip detection unit 102 includes an output side binary counter 71, an output side setting unit 72, an output side comparator 73, an input side binary counter 81, an input side setting unit 82, and an input side comparator 83. . Each of these units is realized by, for example, an electronic component disposed on the circuit board 25.

  The output-side binary counter 71 is a counter that increments the output count number Cout every time the output shaft pulse signal S60 is input. The output axis pulse signal S60 from the second detector 602 is input to the count-up input terminal of the output-side binary counter 71.

  The reset signal S73 from the output-side comparator 73 is input to the reset input terminal of the output-side binary counter 71. When the reset signal S73 is input, the output-side binary counter 71 resets the output count number Cout to Cout = 0. Further, the output side binary counter 71 outputs the output count number Cout to the output side comparator 73.

  The output side setting unit 72 sets the reference value n of the output shaft pulse signal S60 based on an instruction from the user. In the present embodiment, the reference value n is n = 2. The reference value n is a natural number of 1 or more that can be arbitrarily set. The output side setting unit 72 outputs n−1 obtained by subtracting 1 from the reference value n to the output side comparator 73 as the output side set value S72.

  The output-side comparator 73 is a comparator that determines whether or not the output count number Cout has reached the reference value n. The output count number Cout output from the output side binary counter 71 is input to the input terminal a of the output side comparator 73. The output side set value S 72 output from the output side setting unit 72 is input to the input terminal b of the output side comparator 73.

  The output side comparator 73 outputs a reset signal S73 when the output count number Cout is larger than the output side set value n-1, and resets when the output count number Cout is equal to or less than the output side set value n-1. The output of the signal S73 is stopped. That is, the output side comparator 73 outputs the reset signal S73 to the output side binary counter 71 and the input side binary counter 81 when the output count number Cout reaches the reference value n.

  The input-side binary counter 81 is a counter that increments the input count number Cin every time the input axis pulse signal S50 is input. The input axis pulse signal S50 from the first detector 502 is input to the count-up input terminal of the input side binary counter 81.

  In the present embodiment, the reset signal S 73 from the output side comparator 73 is input to the reset input terminal of the input side binary counter 81. For this reason, the input side binary counter 81 resets the input count number Cin to Cin = 0 when the reset signal S73 becomes an ON signal. Further, the input side binary counter 81 outputs the input count number Cin to the input side comparator 83.

  The input side setting unit 82 sets the input side set value S82 based on an instruction from the user. In the present embodiment, [nLM / N] is set as the input side set value S82. In the present application, the Gaussian symbol [x] represents the floor function of x. The input side setting unit 82 outputs the input side set value S82 to the input side comparator 83.

  The input-side comparator 83 is a comparator that determines whether or not the input count number Cin is larger than the input-side set value [nLM / N]. The input count number Cin output from the input side binary counter 81 is input to the input terminal A of the input side comparator 83. The input side set value S82 output from the input side setting unit 82 is input to the input terminal B of the input side comparator 83.

  When the input count number Cin is larger than the input side set value [nLM / N], the input side comparator 83 outputs a stop signal S102 to the motor drive unit 101, and the input count number Cin is set to the input side set value [nLM / N]. N], the output of the stop signal S102 is stopped. That is, the input-side comparator 83 outputs the stop signal S102 to the motor drive unit 101 when the input count number Cin, which is a natural number, reaches [nLM / N] +1.

  Next, the flow of the slip detection process will be described with reference to FIGS. 4 and 5. When the drive of the motor 1 is started, the slip detection process shown in FIG. 4 is also started simultaneously.

  When the slip detection process is started, first, the output side binary counter 71 and the input side binary counter 81 are reset (step ST101). That is, the output count number Cout is reset to Cout = 0, and the input count number Cin is reset to Cin = 0.

  As shown in FIG. 5, during the slip detection process, every time the rotation input shaft 51 rotates 1 / M, one pulse of the input shaft pulse signal S50 is input to the input side binary counter 81, and the input count number Cin is incremented. . Further, every time the rotation output shaft 64 rotates 1 / N, one pulse of the output shaft pulse signal S60 is input to the output side binary counter 71, and the output count number Cout is incremented.

  During the slip detection process, the output-side comparator 73 continues to determine whether or not the output count number Cout has become n or more (step ST102). In this embodiment, since the reference value n = 2, the output-side comparator 73 determines whether or not the output count number Cout is equal to or greater than the reference value n = 2.

  If it is determined in step ST102 that the output count Cout is not n or more, the process proceeds to step ST103. On the other hand, when it is determined in step ST102 that the output count Cout is n or more, the output-side comparator 73 outputs a reset signal S73. Thereby, the process returns to step ST101, and the output side binary counter 71 and the input side binary counter 81 are reset.

  In FIG. 5, times T0, T1, and T2 are times when the input count number Cin and the output count number Cout are reset, respectively. Time T1 is the time when the output shaft pulse signal S60 is input n times, that is, twice after time T0. Time T2 is the time when the output shaft pulse signal S60 is input n times, that is, twice after time T1. As shown in FIG. 5, at time T1 and time T2, the output side comparator 73 outputs a reset signal S73, whereby the input count number Cin and the output count number Cout are reset.

  During the slip detection process, the input-side comparator 83 continues to determine whether or not the input count number Cin is equal to or greater than [nLM / N] +1 (step ST103). In this embodiment, since nLM / N = 5, the input-side comparator 83 determines whether or not the input count number Cin is [nLM / N] + 1 = 6 or more.

  If it is determined in step ST103 that the input count Cin is not [nLM / N] + 1 = 6 or more, the process returns to step ST102. On the other hand, if it is determined in step ST103 that the input count Cin is [nLM / N] + 1 = 6 or more, the input-side comparator 83 outputs a stop signal S102 (step ST104).

  In FIG. 5, time T3 is the time when the input count number Cin becomes the input side set value [nLM / N] + 1 = 6. That is, time T3 is the time when input shaft pulse signal S50 is input six times after time T2. As shown in FIG. 5, when the state becomes time T <b> 3, the input-side comparator 83 outputs a stop signal S <b> 102 to the motor driving unit 101. Thereby, the input of the rotational driving force to the rotational input shaft 51 can be stopped.

  As described above, in this embodiment, the number of outputs of the input shaft pulse signal S50 is equal to or more than the number obtained by adding 1 to the floor function of nLM / N within the period in which the number of outputs of the output shaft pulse signal S60 is n times. In this case, the slip detection unit 102 outputs a stop signal S102. As a result, it is possible to detect a traction slip in the reduction gear 12 at a rotation angle sufficiently smaller than when the rotation output shaft 64 makes one rotation, that is, when the number of outputs of the output shaft pulse signal S60 is N = 2048. That is, the slip detection can be quickly performed in the reduction gear 12 that is a traction power transmission reduction gear. Further, even when the rotational speeds of the rotation input shaft 51 and the rotation output shaft 64 are not constant, it is possible to detect a traction slip in the speed reducer 12.

  Therefore, the slip detection process of the present embodiment is particularly useful for a robot arm that operates with a rotation angle smaller than 360 ° per rotation and the rotation speed is not constant.

<2. Second Embodiment>
FIG. 6 is a block diagram showing a configuration of the slip detection unit 102A according to the second embodiment. Instead of the slip detection unit 102 of the first embodiment, the slip detection unit 102A of FIG. 6 may be used. FIG. 7 is a diagram illustrating an example of each signal of the motor having the slip detection unit 102A of the example of FIG.

  In the present embodiment, the slip occurs when the number of outputs of the input shaft pulse signal S50 is equal to or greater than the number obtained by adding 1 to the floor function of LM / N within the period in which the number of outputs of the output shaft pulse signal S60 is one. The detection unit 102A outputs a stop signal S102A. That is, the reference value n in the above embodiment is n = 1. Here, the following description will be made assuming that LM / N = 5.

  As illustrated in FIG. 6, the slip detection unit 102 </ b> A includes an input side binary counter 81, an input side setting unit 82, and an input side comparator 83. Each of these units is realized by, for example, an electronic component disposed on the circuit board 25.

  The input-side binary counter 81 is a counter that increments the input count number Cin every time the input axis pulse signal S50 is input. The input axis pulse signal S50 from the first detector 502 is input to the count-up input terminal of the input side binary counter 81.

  In the present embodiment, the output axis pulse signal S60 from the second detector 602 is input to the reset input of the input side binary counter 81. The input-side binary counter 81 resets the input count number Cin to Cin = 0 when the output shaft pulse signal S60 is input. Further, the input side binary counter 81 outputs the input count number Cin to the input side comparator 83.

  The input side setting unit 82 sets the input side set value S82 based on an instruction from the user. In the present embodiment, [LM / N] is set as the input side set value S82. The input side setting unit 82 outputs the input side set value S82 to the input side comparator 83.

  The input side comparator 83 is a comparator that determines whether or not the input count number Cin is larger than the input side set value [LM / N]. The input count number Cin output from the input side binary counter 81 is input to the input terminal A of the input side comparator 83. The input side set value S82 output from the input side setting unit 82 is input to the input terminal B of the input side comparator 83.

  When the input count number Cin is larger than the input side set value [LM / N], the input side comparator 83 outputs a stop signal S102 to the motor drive unit 101, and the input count number Cin is set to the input side set value [LM / N]. N], the output of the stop signal S102 is stopped. That is, the input-side comparator 83 outputs the stop signal S102 to the motor drive unit 101 when the input count number Cin, which is a natural number, reaches [LM / N] +1.

  Next, the flow of the slip detection process will be described with reference to FIG. When the slip detection process is started, first, the input side binary counter 81 is reset.

  During the slip detection process, every time the rotary input shaft 51 rotates 1 / M, one pulse of the input shaft pulse signal S50 is input to the input side binary counter 81, and the input count number Cin is incremented. Further, every time the rotation output shaft 64 rotates 1 / N, one pulse of the output shaft pulse signal S60 is input to the output side binary counter 71, and the input side binary counter 81 is reset.

  In FIG. 7, times T0, T1, and T2 are times when the input count number Cin is reset. Time T1 is the time when the output shaft pulse signal S60 is input once after time T0. Time T2 is the time when the output shaft pulse signal S60 is input once after time T1. That is, at time T1 and time T2, the output side comparator 73 outputs the reset signal S73, thereby resetting the input count number Cin.

  During the slip detection process, the input-side comparator 83 continues to determine whether or not the input count number Cin is equal to or greater than [LM / N] +1. In this embodiment, since LM / N = 5, the input-side comparator 83 determines whether or not the input count number Cin is [LM / N] + 1 = 6 or more.

  In FIG. 7, time T3 is the time when the input count number Cin becomes the input side set value [LM / N] + 1 = 6. That is, time T3 is the time when input shaft pulse signal S50 is input six times after time T2. At the time T3, the input-side comparator 83 outputs a stop signal S102 to the motor driving unit 101. Thereby, the input of the rotational driving force to the rotational input shaft 51 can be stopped.

  Thus, in the present embodiment, the number of outputs of the input axis pulse signal S50 is equal to or greater than the number obtained by adding 1 to the floor function of LM / N within the period in which the number of outputs of the output axis pulse signal S60 is n = 1. In this case, the slip detection unit 102 outputs a stop signal S102.

  Further, by setting the reference value n to n = 1 as described above, the output side binary counter 71, the output side setting unit 72, and the output side comparator 73 are compared with the slip detection unit 102 of the first embodiment. Can be omitted. Thereby, the circuit configuration of the control unit 10 can be simplified. Further, by setting the value of n to the minimum value, it is possible to detect traction slip at a small rotation angle. Therefore, slipping of traction can be detected more quickly.

<3. Modification>
As mentioned above, although exemplary embodiment of this invention was described, this invention is not limited to said embodiment.

<3-1. First Modification>
FIG. 8 is a block diagram showing a configuration of the slip detection unit 102B according to the first modification. Instead of the slip detection units 102 and 102A of the above embodiment, the slip detection unit 102B of FIG. 8 may be used. FIG. 9 is a flowchart showing the flow of a slip detection process using the slip detection unit 102B of the first modification. FIG. 10 is a diagram illustrating an example of each signal of the motor having the slip detection unit 102B of the first modified example.

  In the first modification, as in the second embodiment, 1 is added to the floor function with the output count of the input shaft pulse signal S50 being LM / N within the period in which the output count of the output shaft pulse signal S60 is one. When the number is greater than or equal to the number, the slip detection unit 102B outputs a stop signal S102. That is, the reference value n in the above embodiment is n = 1. Here, the following description will be made assuming that LM / N = 5.

  As shown in FIG. 8, the slip detection unit 102B has a loadable down counter 81B and an input side setting unit 82.

  The loadable down counter 81B is a counter that decrements the input count number Cin every time the input shaft pulse signal S50 is input. The input shaft pulse signal S50 from the first detector 502 is input to the countdown input terminal of the loadable down counter 81B.

  In the first modification, the output shaft pulse signal S60 from the second detector 602 is input to the load input terminal of the loadable down counter 81B. Thus, when the output shaft pulse signal S60 is input, the loadable down counter 81B resets the input count number Cin to the input side set value S82 input from the input side setting unit 82. Also, the loadable down counter 81B outputs a stop signal S102 to the motor drive unit 101 when the input count number Cin becomes less than zero.

  The input side setting unit 82 sets an input side set value S82. In the first modification, [LM / N] is set as the input side set value S82. The input side setting unit 82 outputs the input side set value S82 to the loadable down counter.

  Compared with the second embodiment, in this modification, the input side comparator 83 can be omitted by using the loadable down counter 81B instead of the input side binary counter 81. Thereby, the circuit configuration of the control unit 10 can be further simplified.

  Next, the flow of the slip detection process in the first modification will be described with reference to FIGS. 9 and 10. When the drive of the motor 1 is started, the slip detection process shown in FIG. 9 is also started simultaneously.

  When the slip detection process is started, first, the loadable down counter 81B is reset (step ST201). That is, the input count number Cin is reset to Cin = [LM / N].

  As shown in FIG. 10, every time the rotation input shaft 51 rotates 1 / M during the slip detection process, one pulse of the input shaft pulse signal S50 is input to the loadable down counter 81B, and the input count number Cin is decremented. .

  During the slip detection process, the loadable down counter 81B continues to determine whether or not an output shaft pulse signal has been input to the load input terminal (step ST202). If it is determined in step ST202 that the output shaft pulse signal is not input to the load input terminal, the process proceeds to step ST203. On the other hand, if it is determined in step ST202 that the output shaft pulse signal has been input to the load input terminal, the process returns to step ST201. As a result, the loadable down counter 81B resets the input count number Cin to Cin = [LM / N].

  In FIG. 10, times T0, T1, and T2 are times when the input count number Cin is reset. Time T1 is the time when the output shaft pulse signal S60 is input after time T0. Time T2 is the time when the output shaft pulse signal S60 is input after time T1. As shown in FIG. 10, at time T1 and time T2, the input count number Cin is reset by inputting the output shaft pulse signal to the load input of the loadable down counter 81B.

  During the slip detection process, the loadable down counter 81B continues to determine whether or not the input count number Cin is 0 or more (step ST203). If it is determined in step ST203 that the input count Cin is 0 or more, the process returns to step ST202. On the other hand, when it is determined in step ST203 that the input count number Cin is less than 0, the loadable down counter 81B outputs a stop signal S102 (step ST204).

  In FIG. 10, time T3 is the time when the input count number Cin becomes the input side set value -1. That is, time T3 is the time when input shaft pulse signal S50 is input six times after time T2. As shown in FIG. 10, when the time T3 is reached, the loadable down counter 81B outputs a stop signal S102 to the motor drive unit 101. Thereby, the input of the rotational driving force to the rotational input shaft 51 can be stopped.

  As in the first modification, instead of the input-side binary counter 81, a down counter that decrements the input count number Cin each time the input shaft pulse signal S50 is input may be used as the input-side counter. In the first modification, the loadable down counter 81B resets the input count number Cin to a floor function of LM / N and outputs a stop signal when the input count number Cin is less than zero.

  As the down counter, every time the input axis pulse signal S50 is input, the input count is decremented, and every time the output axis pulse signal S60 is input, the input count is a natural number with a floor function of LM / N. A down counter that resets to a value obtained by adding m may be used. In that case, the slip detection part 102 should just have the said down counter and the comparator which outputs a stop signal, when the input count number from the said down counter is m-1 or less.

<3-2. Second Modification>
FIG. 11 is a block diagram illustrating a motor control system according to a second modification. FIG. 12 is a flowchart showing the flow of slip detection processing in the second modification. FIG. 13 is a diagram illustrating an example of each signal of the motor in the slip detection process in the second modification.

  In the above embodiment and the first modification, the counter is reset every time the output shaft pulse signal S60 is output n times. However, in the present invention, the counter may be reset every time the input shaft pulse signal S50 is output n times. In the slip detection process in the second modified example, the input count number Cin and the output count number Cout are reset every time the input shaft pulse signal S50 is output n times.

  In the second modification example, as indicated by a broken line in FIG. 11, a magnetic sensor 251 provided in the stationary unit 2 of the driving unit 11 that detects the position of the magnet 323 and an input shaft pulse generating unit 103 </ b> C of the control unit 10. A rotation input detection unit 50C as rotation input detection means is configured. The input shaft pulse generator 103C generates an input shaft pulse signal S50C based on the rotational position S251 of the rotor 32 input from the magnetic sensor 251. Since the magnet 323 rotates together with the rotation input shaft 51, the input shaft pulse signal S50C generated based on the rotation position S251 that is the rotation position information of the magnet 323 is used as a signal based on the rotation position information of the rotation input shaft 51. Can be considered.

  In the second modified example, since the drive unit 11 is an 8-pole motor, the resolution of the rotation input detection unit 50C is M = 8 [number of pulses / rotation]. The reduction ratio of the reduction gear 12 is L = 5, and the resolution of the rotation output detection unit 60 is N = 128 [number of pulses / rotation]. Therefore, each value has a relationship of nN / LM = 6.4 and N / LM = 3.2.

  In the second modification, the input shaft pulse signal S50C and the output shaft pulse signal S60 have a relationship of N ≧ LM. As described above, if the resolution M on the rotation output shaft 64 side is made higher than the value obtained by multiplying the resolution N on the rotation input shaft 51 side by the reduction ratio L, the number of output shaft pulse signals S60 output per unit time is increased. To increase. Therefore, the slip detection accuracy can be increased efficiently. Note that M and N may be other natural numbers.

  The rotation input detection means in the second modification example includes a magnetic sensor that is a magnet position detection element. However, the rotation input detection means may include a counter electromotive force detection means that detects reverse power induced in the stator 23 that is an armature, instead of the magnetic sensor. Further, the rotation input detection means may include a current ripple detection means for detecting a current ripple included in an armature current flowing through the stator 23 which is an armature. Even in these cases, the input shaft pulse signal can be generated based on the rotational position information of the magnet 323 that rotates together with the rotational input shaft 51.

  As shown in FIG. 12, in the second modification, when the slip detection process is started, first, the output count number Cout is reset to Cout = 0, and the input count number Cin is reset to Cin = 0. (Step ST301).

  As shown in FIG. 13, during the slip detection process, every time the input shaft rotates 1 / M, one pulse of the input shaft pulse signal S50 is output and the input count number Cin is incremented. Further, every time the output shaft rotates 1 / N, the output shaft pulse signal S60 is output by one pulse, and the output count number Cout is incremented.

  During the slip detection process, the slip detection unit 102 continues to determine whether or not the input count number Cin is greater than or equal to n (step ST302). In the second modified example, since n = 2, the slip detection unit determines whether the input count number Cin is n = 2 or more.

  If it is determined in step ST302 that the input count Cin is not n or more, the process returns to step ST302. On the other hand, when it is determined in step ST302 that the input count number Cin is n or more, the process proceeds to step ST303.

  In step ST303, the slip detection unit determines whether or not the output count number Cout is [nN / LM] −1 or more when the input count number Cin becomes n or more. In FIG. 13, since nN / LM = 6.4, the slip detection unit determines whether or not the output count number Cout is [nN / LM] −1 = 5 or more.

  If it is determined in step ST303 that the output count number Cout is [nN / LM] -1 = 5 or more, the process returns to step ST301, and the input count number Cin and the output count number Cout are reset. On the other hand, when it is determined in step ST303 that the output count number Cout is less than [nN / LM] −1 = 5, the slip detection unit outputs a stop signal S102 (step ST304).

  In FIG. 13, times T0, T1, and T2 are times when the input count number Cin and the output count number Cout are reset, respectively. Time T1 is the time when the input shaft pulse signal S50 is input n times, that is, twice after time T0. Time T2 is the time when the input shaft pulse signal S50 is input n times, that is, twice after time T1. At time T1 and time T2, the output count number Cout reaches [nN / LM] −1 = 5. Therefore, the input count number Cin and the output count number Cout are reset at time T1 and time T2.

  In FIG. 13, time T3 is the time when the input shaft pulse signal S50 is input n times, that is, twice after time T2. At time T3, the output count number Cout does not reach [nN / LM] −1 = 5. For this reason, it turns out that the output shaft is insufficiently rotated. Therefore, at time T3, the slip detection unit outputs a stop signal S102.

  Thus, the counter may be reset every time the input shaft pulse signal S50 is output n times. Even in this case, it is possible to detect slip of the traction in the speed reducer with a sufficiently smaller rotation angle than when the output shaft makes one rotation, that is, when the output shaft pulse signal S60 is output N times. Further, even when the rotational speeds of the input shaft and the output shaft are not constant, it is possible to detect a traction slip in the reduction gear 12.

<3-3. Other variations>
In the above embodiment, the electronic component provided on the circuit board in the drive unit constitutes the slip detection unit, but the present invention is not limited to this. The slip detection unit may be provided in the speed reduction device separately from the motor driving unit, or may be realized by a personal computer connected to the outside of the driving unit and the speed reduction device.

  Moreover, the shape of the details of each member may be different from the shape shown in each drawing of the present application. Moreover, you may combine suitably each element which appeared in said embodiment and modification in the range which does not produce inconsistency.

  The present invention can be used for a traction power transmission reduction device and a motor with a reduction device.

DESCRIPTION OF SYMBOLS 1 Motor 2 Static part 3 Rotating part 4 Casing 5 Input rotating part 6 Output rotating part 9 Central axis 10 Control part 11 Drive part 12 Reduction gear 23 Stator 25 Circuit board 31 Drive shaft 32 Rotor 101 Motor drive part 102,102A, 102B Detection unit 103C Input shaft pulse generation unit 251 Magnetic sensor 323 Magnet 43 Internal ring 50, 50C Rotation input detection unit 51 Input shaft 53 Sun roller 60 Rotation output detection unit 61 Planet carrier 62 Planetary shaft 63 Planetary roller 64 Output shaft 71 Output side Binary counter 72 Output side setting unit 73 Output side comparator 81 Input side binary counter 81B Loadable down counter 82 Input side setting unit 83 Input side comparator 83 Input side setting unit 91 Planetary axis S50, S50C Input axis pulse Signal S60 output shaft pulse signal S72 output setting value S73 reset signal S82 input setting value S102, S102A stop signal S251 rotational position

Claims (13)

A traction power transmission reduction device that performs traction power transmission between a rotation input shaft and a rotation output shaft, and the reduction ratio is L,
Rotational input detection means for converting rotational position information of the rotational input shaft into an input shaft pulse signal;
Rotational output detection means for converting rotational position information of the rotational output shaft into an output shaft pulse signal;
Traction slip detection means;
Have
The rotation input detecting means outputs one pulse of the input shaft pulse signal every time the rotation input shaft rotates 1 / M,
The rotation output detecting means outputs one pulse of the output shaft pulse signal every time the rotation output shaft rotates 1 / N,
The traction slip detection means is configured when the number of output times of the input axis pulse signal is equal to or more than the number obtained by adding 1 to the floor function of nLM / N within a period in which the number of times of output of the output axis pulse signal is n times. , Output a stop signal,
M, N, and n are both Ri natural number der,
N ≧ M
A traction power transmission speed reducer having the relationship The traction power transmission reduction device according to claim 1,
The traction slip detection means includes
A counter that increments the input count every time the input axis pulse signal is input, and resets the input count to 0 every time the output axis pulse signal is input n times;
A comparator that outputs the stop signal when the input count is input and the input count is equal to or greater than the number of floor functions of nLM / N plus one;
A traction power transmission speed reducer. The traction power transmission reduction device according to claim 1,
The traction slip detection means includes
Each time the input axis pulse signal is input, the input count is decremented, and each time the output axis pulse signal is input n times, the input count is added to the floor function of nLM / N by a natural number m. Has a counter that resets to a value,
The traction slip detection unit is a traction power transmission reduction device that outputs the stop signal when the input count is less than or equal to m-1. The traction power transmission reduction device according to claim 1,
The traction slip detection means includes
The count is decremented each time the input axis pulse signal is input, the count is reset to a floor function of nLM / N each time the output axis pulse signal is input, and the count is less than zero. A traction power transmission reduction device having a comparator that outputs the stop signal in the case of A traction power transmission reduction device that performs traction power transmission between a rotation input shaft and a rotation output shaft, and the reduction ratio is L,
Rotational input detection means for converting rotational position information of the rotational input shaft into an input shaft pulse signal;
Rotational output detection means for converting rotational position information of the rotational output shaft into an output shaft pulse signal;
Traction slip detection means;
Have
The rotation input detecting means outputs one pulse of the input shaft pulse signal every time the rotation input shaft rotates 1 / M,
The rotation output detecting means outputs one pulse of the output shaft pulse signal every time the rotation output shaft rotates 1 / N,
The traction slip detection means is configured when the number of outputs of the output axis pulse signal does not reach the number obtained by subtracting 1 from the floor function of nN / ML within a period in which the number of outputs of the input axis pulse signal is n times. , Output a stop signal,
M, N, and n are both Ri natural number der,
N ≧ M
A traction power transmission speed reducer having the relationship A traction power transmission reduction device according to any one of claims 1 to 5 ,
N ≧ LM
A traction power transmission speed reducer having the relationship The traction power transmission reduction device according to any one of claims 1 to 6 ,
The natural number n is
n = 1
A traction power transmission reduction device. The traction power transmission reduction device according to any one of claims 1 to 7 ,
The rotation output detecting means is a traction power transmission reduction device that is an encoder provided around the rotation output shaft. The traction power transmission reduction device according to any one of claims 1 to 8 ,
The rotation input detecting means is a traction power transmission reduction device, which is an encoder provided around the rotation input shaft. The traction power transmission reduction device according to any one of claims 1 to 9 ,
A casing,
A sun roller that is rotatably supported by the casing and rotates about a central axis together with the input shaft;
A plurality of planetary rollers arranged on the outer side in the radial direction of the sun roller, each rotating about a planetary axis;
A plurality of planetary shafts rotatably supporting the plurality of planetary rollers,
A planet carrier that is rotatably supported by the casing and rotates about the central axis;
An annular internal ring that is disposed radially outside the plurality of planetary rollers and is fixed to the casing;
Have
A plurality of planetary shaft ends are fixed to the planet carrier,
Each of the sun roller and the planetary roller is in contact via traction oil,
Each of the planetary rollers and the inner peripheral surface of the internal ring are in contact via traction oil,
The inner peripheral surface of the internal ring presses the planetary roller radially inward at the contact point,
Each of the planetary rollers presses the sun roller radially inward at a contact point,
The rotation output shaft is a traction power transmission reduction device that rotates about the central axis together with the planet carrier. A motor comprising the traction power transmission reduction device according to any one of claims 1 to 10 ,
A stationary part having an armature;
A rotating unit connected to the rotating input shaft and rotating together with the rotating input shaft;
Having a motor. A motor comprising the traction power transmission reduction device according to any one of claims 1 to 9 ,
A stationary part having an armature;
A rotating unit connected to the rotating input shaft and rotating together with the rotating input shaft;
Have
The rotating part has a magnet facing the armature in the radial direction,
The rotation input detecting means is
A magnet position detecting element that is provided in the stationary part and detects the position of the magnet;
Back electromotive force detection means for detecting back electromotive force induced in the armature;
Or
Current ripple detecting means for detecting a current ripple included in an armature current flowing through the armature;
Including any of the motors. The motor according to claim 11 or 12 ,
A circuit board for supplying a driving current to the armature;
The circuit board is a motor having the traction slip detection means.

Images