JPS5937092A - Driving and measuring device for joint section of robot - Google Patents
Driving and measuring device for joint section of robotInfo
- Publication number
- JPS5937092A JPS5937092A JP14883382A JP14883382A JPS5937092A JP S5937092 A JPS5937092 A JP S5937092A JP 14883382 A JP14883382 A JP 14883382A JP 14883382 A JP14883382 A JP 14883382A JP S5937092 A JPS5937092 A JP S5937092A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- measuring device
- motor
- driving
- rotating shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
この発明は、ロボットのアームを回動し、制御するロボ
ット関節部の駆動計測装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a drive measuring device for a robot joint that rotates and controls an arm of a robot.
従来、ロボットの７−ムの回転は、関節部においてモー
タを回転し、減速機を介して７−ムの回転軸に伝達して
いた。Conventionally, the rotation of the robot's 7-arm was transmitted to the rotating shaft of the 7-arm via a speed reducer by rotating a motor at the joint.
ところで、上記のように減速機を介して駆動する装置は
、構造上からがたと摩擦の影響が大きく、アームの位胃
を正確に、かつ精度よく駆動し制御することが難かしい
欠点があった。By the way, the above-mentioned device that is driven via a speed reducer has the disadvantage that it is susceptible to rattling and friction due to its structure, and that it is difficult to drive and control the position of the arm accurately and precisely. .
この発明は、上記の欠点を除去するためになされたもの
で、回転軸にモータ、タコジェネレータ。This invention was made to eliminate the above-mentioned drawbacks, and uses a motor and a tacho generator on the rotating shaft.
エンコーダを直結することにより精度のよいロボットの
駆動計測装置を提供するものである。以下この発明につ
いて説明する。The present invention provides a highly accurate robot drive measuring device by directly connecting an encoder. This invention will be explained below.
図面はこの発明の一実施例を示す構成図で、１はロボッ
トの関節部の要部を示すもので、ｔｌ１節部１を形成す
る固定部２１回転部の７−ム３，７−ム３の駆動源とな
るモータ４，７−ム３の回転速度を検出するタコジェネ
レータ５．アーム３０角度を検出するエンコーダ６によ
り構成されている。The drawing is a configuration diagram showing one embodiment of the present invention, and 1 shows the main parts of the joint part of the robot, including a fixed part 21 forming a tl1 joint part 1, a rotating part 7-m3, 7-m3 A tacho generator 5. detects the rotational speed of the motor 4, 7-me 3 which serves as a drive source. It is composed of an encoder 6 that detects the angle of the arm 30.
１１は前記固定部２を形成する筐体、１２は前記７−ム
３の回転軸で、その軸方向の一端側１２ａにはアーム本
体１３が一体に形成されている。１４は前記モータ４の
回転電機子で、回転軸１２に焼きばめ等の手段により直
接取り付けられている。Reference numeral 11 denotes a housing forming the fixed portion 2, 12 a rotation shaft of the 7-arm 3, and an arm main body 13 is integrally formed at one end 12a in the axial direction. Reference numeral 14 denotes a rotating armature of the motor 4, which is directly attached to the rotating shaft 12 by shrink fitting or the like.
１５は前記モータ４の固定子で、筐体１１に固着されて
いる。１６．１７は前記タフジエネレータ５０回回転機
子と固定子で、いずれもモータ４の場合と同様に回転１
ｔｌ１１２とは体１１に固着されている。１日は前記エ
ンコーダ６のエンコーダ本体で、筐体１１に取り付けら
れている。１９は前記エンコーダ本体１Ｂの回転軸で、
カンプリング２０を介して７一ム３０回転軸１２の軸方
向の他端側１２ｂと連結されている。２１．２２．２３
は前ｄ１３７−ム３０回転軸１２を支承する軸受、２４
は前記筺体１１の蓋である。15 is a stator of the motor 4, which is fixed to the housing 11. 16.17 is the 50-rotation rotor and stator of the Toughge generator, both of which have 1 rotation as in the case of motor 4.
tl112 is fixed to the body 11. 1 is the encoder body of the encoder 6, which is attached to the housing 11. 19 is a rotation axis of the encoder main body 1B;
The 7-mm 30 is connected to the other end 12b in the axial direction of the rotating shaft 12 via the camp ring 20. 21.22.23
is a front d137-me 30 bearing that supports the rotating shaft 12, 24
is the lid of the housing 11.
次に動作を説明する。モータ４に通電することにより回
転電機子１４は回動する。この回転速度に比例してタコ
ジェネレータ５から出力電圧が発生する。一方、エンコ
ーダ６により回転軸１２０回転角度が検出される。した
がって目的とする回転角度に一致するように、かつ所要
の回転速度でモータ４を駆動すればよい。Next, the operation will be explained. By energizing the motor 4, the rotating armature 14 rotates. An output voltage is generated from the tacho generator 5 in proportion to this rotational speed. On the other hand, the encoder 6 detects the rotation angle of the rotation shaft 120. Therefore, it is sufficient to drive the motor 4 at a required rotational speed to match the desired rotational angle.
以上説明したように、この発明はアームを取り付けた回
転軸に、回転軸を駆動するモータの回転電機子と、回転
軸の回転速度を検出するタコジエネ１／−夕と、さらに
回転軸の回転角度を検出するエンコーダを取り付けたの
で、駆動側、計測側共にがたが全くなく剛性の高いサー
ボ特性が得られる。また、減速機を用いないため、モー
タの駆動トルクがそのま＼７−人の回転軸に伝達される
ので、精度の高い、かつ力の強い制御が可能となる。As explained above, the present invention provides a rotating shaft to which an arm is attached, a rotating armature of a motor that drives the rotating shaft, a tachometer for detecting the rotational speed of the rotating shaft, and a rotation angle of the rotating shaft. Since an encoder is installed to detect this, highly rigid servo characteristics can be obtained with no play on either the drive side or the measurement side. Furthermore, since no reduction gear is used, the drive torque of the motor is directly transmitted to the rotating shaft of the person, allowing for highly accurate and powerful control.
さらに、構造が簡単であるので、耐久性があり保守が非
常に容易である等の利点を有する。Furthermore, since the structure is simple, it has advantages such as durability and very easy maintenance.
図面はこの発明の一実施例を示す構成図である。 The drawing is a configuration diagram showing an embodiment of the present invention.
Claims (1)
ータの回転電機子を取り付け、前記回転軸の回転速度を
検出するタコジェネレータの回転電機子を前記回転軸に
取り付け、さらに前記回転軸の回転角度を検出するエン
コーダを前記回転軸に取り付けたことを特徴とするロボ
ット関節部の駆動計測装置。7-A rotary armature of a motor that drives this rotary shaft is attached to the rotary shaft to which the rotary shaft is attached, a rotary armature of a tachogenerator that detects the rotational speed of the rotary shaft is attached to the rotary shaft, and 1. A drive measuring device for a robot joint, characterized in that an encoder for detecting the rotation angle of the shaft is attached to the rotation shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14883382A JPS5937092A (en) | 1982-08-27 | 1982-08-27 | Driving and measuring device for joint section of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14883382A JPS5937092A (en) | 1982-08-27 | 1982-08-27 | Driving and measuring device for joint section of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5937092A true JPS5937092A (en) | 1984-02-29 |
Family
ID=15461748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14883382A Pending JPS5937092A (en) | 1982-08-27 | 1982-08-27 | Driving and measuring device for joint section of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5937092A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6296088U (en) * | 1985-12-05 | 1987-06-19 | ||
| JPS62191716A (en) * | 1986-02-19 | 1987-08-22 | Tamagawa Seiki Kk | Tacho-encoder |
| JPS62213982A (en) * | 1986-03-15 | 1987-09-19 | フアナツク株式会社 | Direct drive-motor driving robot |
| JPS63191585A (en) * | 1987-01-31 | 1988-08-09 | フアナツク株式会社 | Direct-drive type multi-joint robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5198863A (en) * | 1975-02-27 | 1976-08-31 | ||
| JPS55157494A (en) * | 1979-05-22 | 1980-12-08 | Fujitsu Ltd | Joint structure of robot |
-
1982
- 1982-08-27 JP JP14883382A patent/JPS5937092A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5198863A (en) * | 1975-02-27 | 1976-08-31 | ||
| JPS55157494A (en) * | 1979-05-22 | 1980-12-08 | Fujitsu Ltd | Joint structure of robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6296088U (en) * | 1985-12-05 | 1987-06-19 | ||
| JPS62191716A (en) * | 1986-02-19 | 1987-08-22 | Tamagawa Seiki Kk | Tacho-encoder |
| JPS62213982A (en) * | 1986-03-15 | 1987-09-19 | フアナツク株式会社 | Direct drive-motor driving robot |
| JPS63191585A (en) * | 1987-01-31 | 1988-08-09 | フアナツク株式会社 | Direct-drive type multi-joint robot |
| JPH0372439B2 (en) * | 1987-01-31 | 1991-11-18 | Fanuc Ltd |
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