JPS6034503A - Controller of hydraulic pressure rocking motor - Google Patents

Abstract

PURPOSE:To contrive compactness of a controller and to perform control of the angular velocity of a driving shaft highly accurately, by connecting a controlling mechanism with the driving shaft through a velocity increasing mechanism. CONSTITUTION:A controlling mechanism 3 is connected with a driving shaft 1A through a velocity increasing mechanism 2. With this construction, the quantity of angular displacement of the driving shaft 1A of a fluid pressure rocking motor 1 can be transmitted to the controlling mechanism 3 under an amplified state and a state wherein its torque is made as small as possible. When the controlling mechanism 3, therefore, is a brake, it can be managed with small braking capacity even through output torque of the driving shaft 1A is made large and compactness of a controller can be contrived. When the controlling mechanism 3 is a pulse encoder, resolving power of the quantity of the angular displacement of the driving shaft 1A is improved and control of an angular velocity of the driving shaft 1A can be performed highly accurately.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention mainly relates to an actuating device i'? of an industrial robot or the like.
Noriru jl (fluid pressure swing motor 1 used as a drive source with angular displacement movement in the range of P or less) 7+Ikawa-J
-Z, In conventional fluid pressure swing motors, when performing speed control or position control of the actuating device, the angular velocity of the drive shaft is set on the opposite side of the drive shaft of the fluid pressure swing motor from its output section. However, this system had the following drawbacks:

That is, when the control mechanism is a brake, the larger the output (zref) of the drive shaft of the swing motor, the larger the brake capacity becomes, which tends to increase the size of the entire control device. If the control mechanism is a pulse encoder, the angular displacement itself of the drive shaft cannot be directly captured, and the ability to resolve the amount of angular displacement is low, and the control accuracy of the actuating device tends to be rough.

An object of the present invention is to improve the above-mentioned drawbacks by rationally modifying the transmission system between the drive shaft of the hydraulic oscillating motor and the control mechanism.

A characteristic configuration of the control device for a fluid pressure swing motor according to the present invention, which has been adopted to achieve such an object, resides in that the control mechanism is linked to the drive shaft 111b via a speed increasing mechanism.

The effects of the above characteristic configuration are as follows.

<Function> Since the amount of angular displacement of the drive shaft of the fluid pressure swing motor can be amplified and the torque can be transmitted to the control mechanism in a state that is as small as possible, for example, If the mechanism is a brake, the output torque of the drive shaft can be increased while the brake capacity is small, and the control device can be made more compact. Further, when the control device (bamboo) is a pulse encoder, the ability to resolve the amount of angular displacement of the drive shaft is improved, and the angular velocity of the drive shaft can be controlled with high precision.

<Effects> Therefore, the conventional drawbacks can be improved by simply modifying the transmission system between the drive shaft and the control mechanism of the fluid pressure swing motor described in No. 111 by simply inserting a speed increaser (1) as described above. I ended up getting it.

Hereinafter, embodiments of the configuration of the present invention will be described in detail based on the drawings.

As shown in FIGS. 1 and 2, the drive shaft (IA) of the single vane type fluid pressure swing motor f1+ is connected to the output section (
On the opposite side to the side 1a), there is a speed increasing mechanism using a planetary gear mechanism (
2), and is a component of a mechanism (3) that automatically controls the angular velocity of the drive shaft (IA), and the output shaft (2A) is connected to the output shaft (2A) of the speed increasing mechanism (2). An electromagnetic brake (8A) capable of applying braking force to the output shaft (2A)
) is provided with a pulse encoder (8B) that detects the amount of rotation of the motor.

The fluid pressure swing motor (11 is a closed motor case (
A vane (IC) that is in sliding contact with the inner peripheral surface of the motor case (IB) is fixed to the drive shaft (IA) supported by the motor case (IB). ) and a wall (IF) that divides the interior of the motor case (IB) into two chambers (ID) and (lE), and a pressure fluid can be supplied to both chambers (ID) and (tE). It is configured by providing an opening (IG) and an opening (IH).

The speed increasing mechanism (2) includes the output shaft (two people) and the drive shaft (
Sun gear (2B) and carrier (2B) are attached to the adjacent ends of IA).
A planetary gear (21) which meshes with and interlocks with the sun gear (2B) is pivotally attached to the carrier (2C), and a planetary gear (21)) is fixed to the carrier (2C).
The deceleration case (2E) fixedly connected to the front
j[4, iI'i: It is constructed by fixing an internal gear Y (2F) that meshes with the base gear (2D) and moves 1ilf.

If the number of teeth of the sun gear (2B) and the internal gear (2F) are ZA and ZB, respectively, the speed increase rate of the speed increase mechanism (2) is calculated by two people and one chamber of the motor case (IB). (II+
), the vane (IC) is rotated while gradually increasing the volume of this chamber (ID) and simultaneously discharging the pressure medium in the other chamber (IE); The drive shaft (IA) is rotated by the pressure applied to the vane Qc). Along with this, the output shaft (2 persons) rotates via the speed increasing mechanism (2), and at the same time the pulse encoder (8B)
The input shaft also rotates.

The output signal of the pulse encoder (8B) is counted by a controller, and when it matches a set value, the control signal of the controller closes the electromagnetic pulp in the pressure fluid circuit. At the same time, operate the electromagnetic brake (8A).

If the speed increasing ratio of the speed increasing mechanism (2) is, for example, 10, the pulse encoder (
The input shaft of 8B) rotates by /θ. Therefore, if the resolution φ of the pulse encoder is /θ0, then the drive axis (IA
) The accuracy of the swing angle control is 10 860 1 If ψ=1°, the accuracy is 0.1°.

Furthermore, since the torque of the output shaft (2A) is reduced, the brake capacity of the electromagnetic brake (8A) can be reduced.

It is preferable to use a microcomputer or the like as the controller to which the pulse encoder (8B) is connected.

Note that as the pressure fluid, any of hydraulic pressure, water pressure, pneumatic pressure, etc. may be used.

Next, another embodiment will be described.

(1) In addition to the single vane type in the above-mentioned embodiment, the fluid pressure swing motor 0) includes a double vane type and a triple vane type, and the 4-ton screw type includes a rack and pinion type and a pinion type. There are helical spline types, piston chain types, piston link types, etc., and any type may be used.

[11 The speed increasing mechanism (2) may be anything other than a planetary gear mechanism.

[1tl] A dynamo is used as the control mechanism (3). In this case, the angular velocity of the drive shaft (IA) may be controlled by changing the resistance value on the dynamo side.
It may also be used as a control power source.

uv]: rr, s The figure shows an example of the use of the fluid pressure swing motor (A) configured as described above, which is rotatable around the vertical axis on the base (4) and 1+ and 11. Arene,
(6) an industrial robot equipped with an arm (6) that can freely swing up and down about a horizontal axis with respect to the rotary frame (5); and (B), a drive source for the rotary frame (6). It was used in

[Brief explanation of drawings]

The drawings show an embodiment of the control device for a fluid pressure swing motor according to the present invention, and FIG. 1 is a partially cutaway side view, FIG. 2 is a sectional view taken along the line ■-■ in FIG. 1, and FIG. It is a perspective view showing an example of a state. +11...Fluid pressure swing motor, (IA)...
... Drive shaft, (18) ... Output section, (2).
... speed increasing mechanism, (3) ... control mechanism,
(8A)... Electromagnetic brake, (8B)...
...Pulse encoder.

Claims (1)

[Claims] ■ A mechanism (3) for automatically controlling the angular velocity of the drive shaft (IA) is provided on the drive shaft (IA) of the fluid pressure swing motor fil on the side opposite to its output section (la) side. Associated fluid U
f. A control device for a hydraulic oscillating motor, wherein the control mechanism (3) is linked to the drive shaft (IA) via a speed increasing mechanism (2). rJA qiJ control mechanism (8) is brake (8A)
and a pulse encoder (8B).