JPS63125855A - Pressure control type friction transmission device - Google Patents

Pressure control type friction transmission device

Info

Publication number
JPS63125855A
JPS63125855A JP26856286A JP26856286A JPS63125855A JP S63125855 A JPS63125855 A JP S63125855A JP 26856286 A JP26856286 A JP 26856286A JP 26856286 A JP26856286 A JP 26856286A JP S63125855 A JPS63125855 A JP S63125855A
Authority
JP
Japan
Prior art keywords
pressure
drive
pressure control
idler
control mechanism
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.)
Granted
Application number
JP26856286A
Other languages
Japanese (ja)
Other versions
JPH0215742B2 (en
Inventor
Yoshiyuki Tomita
良幸 冨田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Heavy Industries Ltd
Original Assignee
Sumitomo Heavy Industries Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Industries Ltd filed Critical Sumitomo Heavy Industries Ltd
Priority to JP26856286A priority Critical patent/JPS63125855A/en
Publication of JPS63125855A publication Critical patent/JPS63125855A/en
Publication of JPH0215742B2 publication Critical patent/JPH0215742B2/ja
Granted legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/025—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a friction shaft

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

PURPOSE:To enable stable positioning by providing a pressure control mechanism and a pressure sensor, thereby controlling pressure generated among a driving roller, an idler and a driving bar. CONSTITUTION:A pressure sensor 13 is firmly fixed to a lever member 9 rotatably supporting a shaft 7 of an idler 4. There is provided a pressure control mechanism comprising a piezoelectric element 12 for controlling pressure generated among a driving roller 3, the idler 4 and a driving bar 2 according to the pressure detected by the pressure sensor 13. Thus the sliding velocity can be controlled by the pressure control mechanism, so that stable positioning can be accomplished.

Description

【発明の詳細な説明】 （産業上の利用分野） 本発明は圧力制御型摩擦駆動装置に関するものである。[Detailed description of the invention] (Industrial application field) The present invention relates to a pressure-controlled friction drive.

（従来技術） 従来、直線移動を目的とした動力伝達機構としては，効
率や精度の点からボールネジが有利とされていた。しか
し長ストローク化に対しては、加工上の問題から精度が
劣ったり、製作コストが増大するという問題があった。(Prior Art) Conventionally, ball screws have been considered advantageous in terms of efficiency and accuracy as power transmission mechanisms for linear movement. However, with a longer stroke, there are problems in terms of processing, resulting in poor accuracy and increased manufacturing costs.

また摩擦駆動方式もあるが、これはすベリの発生を避け
ることができないため、特に高速の位置決めに用いる場
合問題があった。There is also a friction drive system, but this has a problem especially when used for high-speed positioning because it cannot avoid the occurrence of slippage.

（発明の解決しようとする問題点） 摩擦駆動方式における欠点である滑りそのものを認めた
上で、この滑りを制御し、安定した位置決めを可能とす
る摩擦駆動装置を提供しようとするものである。(Problems to be Solved by the Invention) The present invention recognizes the slippage itself, which is a drawback of the friction drive system, and attempts to provide a friction drive device that controls this slippage and enables stable positioning.

（発明による解決手段） 動力を伝達するための駆動ローラーと、駆動ローラーと
同期して回転するアイドラーと、駆動ローラーとアイド
ラー間に挟持されて往復駆動される駆動バーと、駆動ロ
ーラーおよびアイドラーと駆動バー間の圧力を検知する
圧力センサーと、圧力センサーの指令信号にもとづき，
前記圧力を調節する圧電素子を有する圧力制御機構とよ
りなることを特徴とする。(Solution by the Invention) A drive roller for transmitting power, an idler that rotates in synchronization with the drive roller, a drive bar that is held between the drive roller and the idler and is driven back and forth, and the drive roller, the idler, and the drive. Based on the pressure sensor that detects the pressure between the bars and the command signal of the pressure sensor,
It is characterized by comprising a pressure control mechanism having a piezoelectric element that adjusts the pressure.

（実施例） 第１図〜第３図に基いて説明する。１は位置決め対象物
である。２は位置決め対象物に固定された駆動バーで、
駆動ローラ３とアイドラー４に挟まれて摩擦駆動される
。５はモータで、軸６を介し駆動ローラ３を駆動する。(Example) An explanation will be given based on FIGS. 1 to 3. 1 is an object to be positioned. 2 is a drive bar fixed to the object to be positioned;
It is sandwiched between a drive roller 3 and an idler 4 and is driven by friction. A motor 5 drives the drive roller 3 via a shaft 6.

７はアイドラー４の軸で、該軸は軸受８を介し梃子部材
９に回転自在に支持されている。梃子部材９は支点ピン
１０で機枠１１に枢支されている。Reference numeral 7 denotes a shaft of the idler 4, which is rotatably supported by a lever member 9 via a bearing 8. The lever member 9 is pivotally supported on the machine frame 11 by a fulcrum pin 10.

１２は例えば応答速度が高く、また高い圧力を発生でき
る圧電素子よりなる圧力制御機構である。Reference numeral 12 denotes a pressure control mechanism made of, for example, a piezoelectric element that has a high response speed and can generate high pressure.

１３はその発生した圧力を検出する圧力センサーで梃子
部材９に固着されている。A pressure sensor 13 is fixed to the lever member 9 to detect the generated pressure.

この方式での圧電素子１２の駆動制御は次のようにして
行う（第４図）。即ち発生する力を時々刻々圧力センサ
ー１３で検出し、これを圧力指令値が入力されている制
御回路にフィードバックする。Drive control of the piezoelectric element 12 in this method is performed as follows (FIG. 4). That is, the generated force is detected moment by moment by the pressure sensor 13, and this is fed back to the control circuit into which the pressure command value is input.

こ＼で圧力検査値とフィードバック値との差によって圧
電素子駆動アンプを介し圧電素子１２を駆動するように
なっている。Here, the piezoelectric element 12 is driven via the piezoelectric element drive amplifier based on the difference between the pressure test value and the feedback value.

（作用） モータ５で発生するトルクは、駆動ローラ３を介して駆
動バー２に伝達され、対象物１が矢印方向に直線移動す
る。この際、駆動ローラ３と駆動バー２の間のすベリ量
は一般的にその間に働く伝達力の増加に伴ない大きくな
る。また、そのすベリー伝達力特性自体も駆動ローラ３
と駆動バー２間の圧力、駆動速度により変動し、第５図
及び第６図のような特性をもつ。(Operation) Torque generated by the motor 5 is transmitted to the drive bar 2 via the drive roller 3, and the object 1 moves linearly in the direction of the arrow. At this time, the amount of slip between the drive roller 3 and the drive bar 2 generally increases as the transmission force acting therebetween increases. In addition, the very transmission force characteristics of the drive roller 3
The pressure between the drive bar 2 and the drive bar 2 varies depending on the drive speed, and has the characteristics shown in FIGS. 5 and 6.

第５図は駆動ローラ３と駆動バー２間の圧力の影響を示
したものであり、圧力Ｐの増大に伴ないすべり速度が小
さくなる傾向があることを示している。また第６図は駆
動速度の影響を示したものであり、速度の増大に伴ない
すべり速度は大きくなる。すなわち、すべり特性は次式
で表わすことができる。５＝Ｓ（Ｖ、Ｐ、Ｆｔ）・・・
（１）、ただし、Ｓ；すベリ速度、Ｖ；駆動速度、Ｐ；
圧力、Ｆｔ；伝達力、 高速で位置決めを行なう場合、駆動速度や伝達力の変動
が激しく、したがってすべり速度もそれに伴ない変動す
るが、このような系では対象物１を安定に動作させるこ
とが非常に難しくなる。本発明では、圧力Ｐを圧電素子
１２と圧力センサー１３よりなる圧力制御機構Ａにより
制御することによって、すべり速度Ｓを制御し、安定し
た位置決めを実現することが可能となった。FIG. 5 shows the influence of the pressure between the drive roller 3 and the drive bar 2, and shows that as the pressure P increases, the sliding speed tends to decrease. Further, FIG. 6 shows the influence of driving speed, and as the speed increases, the sliding speed increases. That is, the slip characteristics can be expressed by the following equation. 5=S(V, P, Ft)...
(1), where S: slipping speed, V: driving speed, P;
Pressure, Ft: Transmission force, when positioning is performed at high speed, the driving speed and transmission force fluctuate sharply, and therefore the sliding speed also fluctuates accordingly, but in such a system, it is not possible to stably move the object 1. It becomes very difficult. In the present invention, by controlling the pressure P using the pressure control mechanism A made up of the piezoelectric element 12 and the pressure sensor 13, it is possible to control the sliding speed S and realize stable positioning.

（効果） 従来の摩擦駆動機構では、圧力制御機構をもたず、ばね
により一定の圧力で予圧する方式が一般的であったため
、モータの回転速度や負荷の変化によりローラと駆動バ
ー間のすベリ特性が変化し、動力を適切に伝達すること
が困難であった。(Effects) Conventional friction drive mechanisms do not have a pressure control mechanism and are generally preloaded with a constant pressure by a spring. The steering characteristics changed, making it difficult to properly transmit power.

本発明は、圧力制御機構と圧力センサーを備え。The present invention includes a pressure control mechanism and a pressure sensor.

これにより駆動ローラ３、アイドラー４と駆動バー２の
間で発生する圧力を制御することにより、すベリ量その
ものを制御できることが可能となった。This makes it possible to control the amount of slippage itself by controlling the pressure generated between the drive roller 3, idler 4, and drive bar 2.

即ち本発明は、圧力制御機構によりすべりそのものを制
御できるため、伝達力や移動速度の変化によるすべり特
性の変動を抑えることが可能となり、高速な位置決め系
への応用が可能となった。That is, in the present invention, since the slip itself can be controlled by the pressure control mechanism, it is possible to suppress fluctuations in the slip characteristics due to changes in the transmitted force and the moving speed, and it has become possible to apply it to high-speed positioning systems.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の実施例正面図。 第２図は第１図の左側面図。 第３図は第１図の■矢視図。 第４図は圧力制御機構Ａの制御系統図。 第５図は駆動トルク−すべり率特性図で圧力の影響を示
す図。 第６図は同じく速度の影響を示す図である。 図において； １　位置決め対象物　２　駆動バー ３　駆動ローラ　　　　４　アイドラー５　モータ　　
　　　６　モータ軸 ７　アイドラー軸　　　８　軸受 ９　梃子部材　　　　１０　　支点ピン１１　　機枠　
　　　　　１２　　圧電素子１３　　圧力センサー　　
Ａ　圧力制御機構以上 第２図 第３ｒＭFIG. 1 is a front view of an embodiment of the present invention. Figure 2 is a left side view of Figure 1. Figure 3 is a view in the direction of the ■ arrow in Figure 1. FIG. 4 is a control system diagram of the pressure control mechanism A. FIG. 5 is a drive torque-slip rate characteristic diagram showing the influence of pressure. FIG. 6 is a diagram similarly showing the influence of speed. In the figure: 1 Positioning object 2 Drive bar 3 Drive roller 4 Idler 5 Motor
6 Motor shaft 7 Idler shaft 8 Bearing 9 Lever member 10 Fulcrum pin 11 Machine frame
12 Piezoelectric element 13 Pressure sensor
A Pressure control mechanism above Figure 2 3rM

Claims (2)

【特許請求の範囲】[Claims] （１）動力を伝達するための駆動ローラーと、該駆動ロ
ーラーと同期して回転するアイドラーと、該駆動ローラ
ーと該アイドラー間に挟持されて往復駆動される駆動バ
ーと、該駆動ローラーおよび該アイドラーと駆動バー間
の圧力を検知する圧力センサーと、該圧力センサーの指
令信号にもとづき、前記圧力を調節する圧力制御機構と
よりなることを特徴とする圧力制御型摩擦駆動装置。(1) A drive roller for transmitting power, an idler that rotates in synchronization with the drive roller, a drive bar that is held between the drive roller and the idler and driven back and forth, and the drive roller and the idler. 1. A pressure-controlled friction drive device comprising: a pressure sensor that detects pressure between a drive bar and a drive bar; and a pressure control mechanism that adjusts the pressure based on a command signal from the pressure sensor. （２）圧力制御機構は、圧電素子を有することを特徴と
する前記特許請求の範囲第１項記載の圧力制御型摩擦駆
動装置。(2) The pressure control type friction drive device according to claim 1, wherein the pressure control mechanism includes a piezoelectric element.
JP26856286A 1986-11-13 1986-11-13 Pressure control type friction transmission device Granted JPS63125855A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP26856286A JPS63125855A (en) 1986-11-13 1986-11-13 Pressure control type friction transmission device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP26856286A JPS63125855A (en) 1986-11-13 1986-11-13 Pressure control type friction transmission device

Publications (2)

Publication Number Publication Date
JPS63125855A true JPS63125855A (en) 1988-05-30
JPH0215742B2 JPH0215742B2 (en) 1990-04-13

Family

ID=17460248

Family Applications (1)

Application Number Title Priority Date Filing Date
JP26856286A Granted JPS63125855A (en) 1986-11-13 1986-11-13 Pressure control type friction transmission device

Country Status (1)

Country Link
JP (1) JPS63125855A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0285544U (en) * 1988-12-22 1990-07-05
JPH0375346U (en) * 1989-11-27 1991-07-29
US5138885A (en) * 1990-03-16 1992-08-18 Matsushita Electric Industrial Co., Ltd. Piezoelectric-type pressure sensor
WO1999061818A1 (en) * 1998-05-27 1999-12-02 Pbt (Ip) Limited Linear drive

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60147849U (en) * 1984-03-13 1985-10-01 マツダ株式会社 belt adjustment device

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60147849U (en) * 1984-03-13 1985-10-01 マツダ株式会社 belt adjustment device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0285544U (en) * 1988-12-22 1990-07-05
JPH0375346U (en) * 1989-11-27 1991-07-29
US5138885A (en) * 1990-03-16 1992-08-18 Matsushita Electric Industrial Co., Ltd. Piezoelectric-type pressure sensor
WO1999061818A1 (en) * 1998-05-27 1999-12-02 Pbt (Ip) Limited Linear drive

Also Published As

Publication number Publication date
JPH0215742B2 (en) 1990-04-13

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