WO2021006169A1 - Correction device and correction method - Google Patents

Correction device and correction method Download PDF

Info

Publication number
WO2021006169A1
WO2021006169A1 PCT/JP2020/025969 JP2020025969W WO2021006169A1 WO 2021006169 A1 WO2021006169 A1 WO 2021006169A1 JP 2020025969 W JP2020025969 W JP 2020025969W WO 2021006169 A1 WO2021006169 A1 WO 2021006169A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
angle transmission
displacement
transmission error
rotation
Prior art date
Application number
PCT/JP2020/025969
Other languages
French (fr)
Japanese (ja)
Inventor
佳晨 盧
横井　昭佳
Original Assignee
アズビル株式会社
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 アズビル株式会社 filed Critical アズビル株式会社
Publication of WO2021006169A1 publication Critical patent/WO2021006169A1/en

Links

Images

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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear

Definitions

  • the present invention relates to a correction device and a correction method for correcting an angle transmission error of a strain wave gearing reducer.
  • the angle transmission error is the difference between the theoretical rotation angle output from the wave gear reducer and the actual rotation angle when an arbitrary rotation angle is input to the wave gear reducer.
  • reference numeral 501 indicates a theoretical output rotation angle
  • reference numeral 502 indicates an actual output rotation angle
  • reference numeral 503 indicates an angle transmission error.
  • the relationship between the angle transmission error of the wave gear reducer and the phase of the actuator that drives the wave gear reducer is measured in advance, and the angle transmission error is corrected based on the relationship.
  • the present invention has been made to solve the above problems, and an object of the present invention is to provide a correction device capable of correcting a phase shift of an angle transmission error without performing remeasurement.
  • the correction device includes a rotation detector that detects the rotation position of the actuator that drives the flexspline of the wave gear reducer, and a sensor that detects the displacement of the circular spline due to the rotation of the wave generator in the wave gear reducer.
  • the angle transmission is based on the phase relationship between the displacement detected by the sensor and the time change of the displacement detected by the sensor in the preliminary measurement and the time change of the initial value of the angle transmission error of the wave gear reducer. It is characterized by including a calculation unit for calculating an error correction value and a control unit for controlling an actuator based on the correction value calculated by the calculation unit and the rotation position detected by the rotation detector.
  • FIG. 4A and 4B are diagrams for explaining the operation of the calculation unit according to the first embodiment
  • FIG. 4A is a diagram showing an example of a time change of the angle transmission error
  • FIG. 4B is a diagram detected by a sensor.
  • FIG. 4A is a diagram showing an example of a time change of the angle transmission error
  • FIG. 4B is a diagram detected by a sensor.
  • FIG. 4A is a diagram showing an example of the time change of the displacement
  • FIG. 4B is a diagram detected by a sensor.
  • FIG. 4B is a diagram detected by a sensor.
  • It is a figure which shows an example of the time change of the displacement.
  • It is a figure for demonstrating the angle transmission error of a strain wave gearing reducer.
  • FIG. 1 is a diagram showing a configuration example of the correction device 1 according to the first embodiment.
  • the correction device 1 is a device that corrects the angle transmission error of the strain wave gearing reducer 2.
  • the correction device 1 includes a rotation detector 11, a sensor 12, a storage unit 13, a calculation unit 14, and a control unit 15.
  • the arithmetic unit 14 and the control unit 15 are realized by a processing circuit such as a system LSI (Large Scale Integration), a CPU (Central Processing Unit) that executes a program stored in a memory or the like, or the like.
  • FIG. 1 shows a strain wave gearing reducer 2 and an actuator 3 in addition to the correction device 1.
  • the strain wave gearing reducer 2 is a speed reducer that utilizes the differential between an ellipse and a perfect circle. As shown in FIG. 2, the strain wave gearing reducer 2 has a circular spline 21, a wave generator 22, and a flex spline 23.
  • the circular spline 21 is a ring-shaped rigid body component.
  • the circular spline 21 has teeth engraved on the inner circumference, and has two more teeth than the flex spline 23.
  • the circular spline 21 is usually fixed to the casing.
  • the wave generator 22 is a component in which a thin ball bearing is combined with the outer circumference of an elliptical cam. In ball bearings, the inner ring is fixed to the cam, but the outer ring is elastically deformed via the ball.
  • the wave generator 22 is usually attached to an input shaft (actuator 3).
  • the flexspline 23 is a thin-walled cup-shaped metal elastic component.
  • the flexspline 23 has teeth engraved on the outer periphery of the opening.
  • the bottom of the flexspline 23 is called a diaphragm and is usually attached to an output shaft (eg, a robot arm).
  • the flexspline 23 is bent in an elliptical shape by the wave generator 22, and the teeth mesh with the circular spline 21 at the long axis portion, and the teeth are completely separated from each other at the short axis portion.
  • the flexspline 23 is elastically deformed, and the tooth meshing position with the circular spline 21 is sequentially moved.
  • the flexspline 23 moves counterclockwise by the difference in the number of teeth by two.
  • the actuator 3 drives the wave generator 22 included in the strain wave gearing reducer 2.
  • the rotation detector 11 detects the rotation position of the actuator 3.
  • an encoder can be used as the rotation detector 11
  • the sensor 12 detects the displacement of the circular spline 21 due to the rotation of the wave generator 22 in the strain wave gearing reducer 2.
  • the sensor 12 detects, for example, stress on the circular spline 21 or deformation of the circular spline 21 as the displacement of the circular spline 21.
  • a strain sensor, a photoelectric sensor, or the like can be used as the sensor 12.
  • FIG. 2 shows a case where a strain sensor is used as the sensor 12, and shows a case where the strain sensor is attached to the circular spline 21.
  • the photoelectric sensor is arranged to face the circular spline 21 and the deformation of the circular spline 21 can be detected by measuring the distance from the photoelectric sensor to the circular spline 21.
  • the storage unit 13 stores information indicating the phase relationship between the time change of the displacement detected by the sensor 12 in the preliminary measurement and the time change of the initial value of the angle transmission error of the strain wave gearing reducer 2.
  • the storage unit 13 is composed of an HDD (Hard Disk Drive), a DVD (Digital entirely Disc), a memory, or the like.
  • FIG. 1 shows a case where the storage unit 13 is provided inside the correction device 1.
  • the present invention is not limited to this, and the storage unit 13 may be provided outside the correction device 1.
  • the calculation unit 14 calculates the correction value of the angle transmission error based on the displacement detected by the sensor 12 and the phase relationship indicated by the information stored in the storage unit 13. At this time, the calculation unit 14 estimates the phase shift of the angle transmission error based on the displacement generation timing and the phase relationship between the displacement and the angle transmission error in the preliminary measurement, and the angle transmission according to the phase shift. Calculate the error correction value.
  • the control unit 15 controls the actuator 3 based on the correction value calculated by the calculation unit 14 and the rotation position detected by the rotation detector 11.
  • the control unit 15 corrects the angle transmission error of the strain wave gearing reducer 2.
  • the storage unit 13 stores information indicating the phase relationship between the time change of the displacement detected by the sensor 12 in the preliminary measurement and the time change of the initial value of the angle transmission error of the strain wave gearing reducer 2.
  • the rotation detector 11 first detects the rotation position of the actuator 3 (step ST301).
  • the sensor 12 detects the displacement of the circular spline 21 due to the rotation of the wave generator 22 (step ST302).
  • the calculation unit 14 calculates the correction value of the angle transmission error based on the displacement detected by the sensor 12 and the phase relationship indicated by the information stored in the storage unit 13 (step ST303).
  • the calculation unit 14 estimates the phase shift of the angle transmission error based on the occurrence timing of the displacement and the phase relationship between the displacement and the angle transmission error in the preliminary measurement. Then, the calculation unit 14 calculates the correction value of the angle transmission error according to the estimated phase shift.
  • the time change of the displacement detected by the sensor 12 in the storage unit 13 in advance measurement and the initial value of the angle transmission error of the strain wave gearing speed reducer 2 are set.
  • Information indicating the phase relationship with the time change is stored, and the sensor 12 detects the displacement of the circular spline 21 due to the rotation of the wave generator 22.
  • both the angle transmission error and the displacement detected by the sensor 12 occur twice during one rotation of the wave generator 22. Further, the phase relationship between the displacement detected by the sensor 12 and the angle transmission error does not change even if the phase of the actuator 3 changes due to replacement of the actuator 3 or the like.
  • the calculation unit 14 can calculate the phase shift of the angle transmission error from the phase of the displacement detected by the sensor 12.
  • reference numeral 401 indicates a time change of the initial value of the angle transmission error in the preliminary measurement
  • reference numeral 402 indicates a time change of the displacement detected by the sensor 12 in the preliminary measurement
  • reference numeral 403 indicates a time change of displacement detected by the sensor 12 after the phase is changed due to replacement of the actuator 3 or the like.
  • reference numeral 404 indicates a phase shift of the angle transmission error
  • reference numeral 405 indicates a time change of the angle transmission error when the phase shift estimated by the calculation unit 14 occurs.
  • control unit 15 controls the actuator 3 based on the correction value calculated by the calculation unit 14 and the rotation position detected by the rotation detector 11 (step ST304).
  • the rotation detector 11 has a battery for backup (phase recording).
  • a battery for backup phase recording
  • the rotation detector 11 runs out, it is necessary to recalibrate the origin of the rotation detector 11 by replacing the battery, and as a result, it is necessary to disassemble the device to which the wave gear reducer 2 is attached. Become.
  • the correction device 1 according to the first embodiment even when the battery is replaced, the phase shift of the angle transmission error before and after the battery replacement of the rotation detector 11 can be detected, and the device can be disassembled. Angle transmission error can be corrected online without.
  • the correction device 1 includes a rotation detector 11 for detecting the rotational position of the actuator 3 for driving the flexspline 23 of the wave gear reducer 2, and a wave gear reducer 2.
  • Sensor 12 that detects the displacement of the circular spline 21 due to the rotation of the wave generator 22 in No. 2, the displacement detected by the sensor 12, the time change of the displacement detected by the sensor 12 in the preliminary measurement, and the wave gear reducer 2
  • the correction value calculated by the calculation unit 14 and the rotation detector 11 are detected by the calculation unit 14 that calculates the correction value of the angle transmission error based on the phase relationship with the time change of the initial value of the angle transmission error.
  • a control unit 15 for controlling the actuator 3 is provided based on the rotational position.
  • the present invention can be modified from any component of the embodiment or can be omitted from any component of the embodiment.
  • the correction device can correct the phase shift of the angle transmission error without performing remeasurement, and is suitable for use as a correction device for correcting the angle transmission error of the strain wave gearing reducer.

Abstract

The present invention comprises: a rotation detector (11) which detects the rotational position of an actuator (3) that drives a flexspline (23) of a wave gear speed reducer (2); a sensor (12) which detects the displacement of a circular spline (21) due to the rotation of the wave generator (22) in the wave gear speed reducer (2); a calculation unit (14) which calculates a correction value for an angle transmission error, on the basis of a displacement detected by the sensor (12), and the phase relationship between a temporal change of the displacement detected by the sensor (12) in the preliminary measurement, and a temporal change of the initial value of the angle transmission error of the wave gear speed reducer (2); and a control unit (15) which controls the actuator (3), on the basis of the correction value calculated by the calculation unit (14) and the rotational position detected by the rotation detector (11).

Description

補正装置及び補正方法Correction device and correction method
　この発明は、波動歯車減速機の角度伝達誤差を補正する補正装置及び補正方法に関する。 The present invention relates to a correction device and a correction method for correcting an angle transmission error of a strain wave gearing reducer.
　従来、波動歯車減速機の角度伝達誤差を補正する方法として、事前測定方式が挙げられる（例えば特許文献１参照）。角度伝達誤差は、図５に示すように、波動歯車減速機に任意の回転角を入力した際に波動歯車減速機から出力される理論上の回転角と実際の回転角との差である。図５において、符号５０１は理論上の出力回転角を示し、符号５０２は実際の出力回転角を示し、符号５０３は角度伝達誤差を示している。事前測定方式では、事前に、波動歯車減速機の角度伝達誤差と、波動歯車減速機を駆動するアクチュエータの位相との関係を測定し、その関係に基づいて角度伝達誤差の補正を行う。 Conventionally, as a method of correcting the angle transmission error of the strain wave gearing reducer, a pre-measurement method can be mentioned (see, for example, Patent Document 1). As shown in FIG. 5, the angle transmission error is the difference between the theoretical rotation angle output from the wave gear reducer and the actual rotation angle when an arbitrary rotation angle is input to the wave gear reducer. In FIG. 5, reference numeral 501 indicates a theoretical output rotation angle, reference numeral 502 indicates an actual output rotation angle, and reference numeral 503 indicates an angle transmission error. In the pre-measurement method, the relationship between the angle transmission error of the wave gear reducer and the phase of the actuator that drives the wave gear reducer is measured in advance, and the angle transmission error is corrected based on the relationship.
特開平１１－２６４４４８号公報Japanese Unexamined Patent Publication No. 11-264448
　しかしながら、事前測定方式では、アクチュエータの交換等によってアクチュエータの位相が変わると、角度伝達誤差に位相ずれが生じてしまう。そのため、このような場合には、角度伝達誤差とアクチュエータの位相との関係を再測定する必要がある。 However, in the pre-measurement method, if the phase of the actuator changes due to replacement of the actuator or the like, a phase shift occurs in the angle transmission error. Therefore, in such a case, it is necessary to remeasure the relationship between the angle transmission error and the phase of the actuator.
　この発明は、上記のような課題を解決するためになされたもので、再測定を行うことなく、角度伝達誤差の位相ずれを補正可能な補正装置を提供することを目的としている。 The present invention has been made to solve the above problems, and an object of the present invention is to provide a correction device capable of correcting a phase shift of an angle transmission error without performing remeasurement.
　この発明に係る補正装置は、波動歯車減速機が有するフレクスプラインを駆動するアクチュエータの回転位置を検出する回転検出器と、波動歯車減速機におけるウェーブジェネレータの回転に伴うサーキュラスプラインの変位を検出するセンサと、センサにより検出された変位、及び、事前測定で当該センサにより検出された変位の時間変化と波動歯車減速機の角度伝達誤差の初期値の時間変化との位相関係に基づいて、当該角度伝達誤差の補正値を算出する演算部と、演算部により算出された補正値及び回転検出器により検出された回転位置に基づいて、アクチュエータを制御する制御部とを備えたことを特徴とする。 The correction device according to the present invention includes a rotation detector that detects the rotation position of the actuator that drives the flexspline of the wave gear reducer, and a sensor that detects the displacement of the circular spline due to the rotation of the wave generator in the wave gear reducer. The angle transmission is based on the phase relationship between the displacement detected by the sensor and the time change of the displacement detected by the sensor in the preliminary measurement and the time change of the initial value of the angle transmission error of the wave gear reducer. It is characterized by including a calculation unit for calculating an error correction value and a control unit for controlling an actuator based on the correction value calculated by the calculation unit and the rotation position detected by the rotation detector.
　この発明によれば、上記のように構成したので、再測定を行うことなく、角度伝達誤差の位相ずれを補正可能となる。 According to the present invention, since it is configured as described above, it is possible to correct the phase shift of the angle transmission error without performing remeasurement.
実施の形態１に係る補正装置の構成例を示す図である。It is a figure which shows the structural example of the correction apparatus which concerns on Embodiment 1. FIG. 実施の形態１におけるセンサの配置例を示す図である。It is a figure which shows the arrangement example of the sensor in Embodiment 1. FIG. 実施の形態１に係る補正装置の動作例を示すフローチャートである。It is a flowchart which shows the operation example of the correction apparatus which concerns on Embodiment 1. FIG. 図４Ａ、図４Ｂは、実施の形態１における演算部の動作を説明するための図であって、図４Ａは角度伝達誤差の時間変化の一例を示す図であり、図４Ｂはセンサにより検出された変位の時間変化の一例を示す図である。4A and 4B are diagrams for explaining the operation of the calculation unit according to the first embodiment, FIG. 4A is a diagram showing an example of a time change of the angle transmission error, and FIG. 4B is a diagram detected by a sensor. It is a figure which shows an example of the time change of the displacement. 波動歯車減速機の角度伝達誤差を説明するための図である。It is a figure for demonstrating the angle transmission error of a strain wave gearing reducer.
　以下、この発明の実施の形態について図面を参照しながら詳細に説明する。
実施の形態１．
　図１は実施の形態１に係る補正装置１の構成例を示す図である。
　補正装置１は、波動歯車減速機２の角度伝達誤差を補正する装置である。補正装置１は、図１に示すように、回転検出器１１、センサ１２、記憶部１３、演算部１４及び制御部１５を備えている。なお、演算部１４及び制御部１５は、システムＬＳＩ（Ｌａｒｇｅ　Ｓｃａｌｅ　Ｉｎｔｅｇｒａｔｉｏｎ）等の処理回路、又はメモリ等に記憶されたプログラムを実行するＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）等により実現される。図１では、補正装置１に加え、波動歯車減速機２及びアクチュエータ３を示している。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1.
FIG. 1 is a diagram showing a configuration example of the correction device 1 according to the first embodiment.
The correction device 1 is a device that corrects the angle transmission error of the strain wave gearing reducer 2. As shown in FIG. 1, the correction device 1 includes a rotation detector 11, a sensor 12, a storage unit 13, a calculation unit 14, and a control unit 15. The arithmetic unit 14 and the control unit 15 are realized by a processing circuit such as a system LSI (Large Scale Integration), a CPU (Central Processing Unit) that executes a program stored in a memory or the like, or the like. FIG. 1 shows a strain wave gearing reducer 2 and an actuator 3 in addition to the correction device 1.
　波動歯車減速機２は、楕円と真円の差動を利用した減速機である。波動歯車減速機２は、図２に示すように、サーキュラスプライン２１、ウェーブジェネレータ２２及びフレクスプライン２３を有している。 The strain wave gearing reducer 2 is a speed reducer that utilizes the differential between an ellipse and a perfect circle. As shown in FIG. 2, the strain wave gearing reducer 2 has a circular spline 21, a wave generator 22, and a flex spline 23.
　サーキュラスプライン２１は、リング状の剛体部品である。サーキュラスプライン２１は、内周に歯が刻まれており、フレクスプライン２３より歯数が２枚多い。サーキュラスプライン２１は、通常、ケーシングに固定される。
　ウェーブジェネレータ２２は、楕円状のカムの外周に薄肉のボールベアリングを組合わせた部品である。ボールベアリングでは、内輪はカムに固定されているが、外輪はボールを介して弾性変形する。ウェーブジェネレータ２２は、通常、入力軸（アクチュエータ３）に取付けられる。
　フレクスプライン２３は、薄肉カップ状の金属弾性体部品である。フレクスプライン２３は、開口部外周に歯が刻まれている。フレクスプライン２３の底をダイヤフラムと呼び、通常、出力軸（例えばロボットアーム）に取付けられる。 The circular spline 21 is a ring-shaped rigid body component. The circular spline 21 has teeth engraved on the inner circumference, and has two more teeth than the flex spline 23. The circular spline 21 is usually fixed to the casing.
The wave generator 22 is a component in which a thin ball bearing is combined with the outer circumference of an elliptical cam. In ball bearings, the inner ring is fixed to the cam, but the outer ring is elastically deformed via the ball. The wave generator 22 is usually attached to an input shaft (actuator 3).
The flexspline 23 is a thin-walled cup-shaped metal elastic component. The flexspline 23 has teeth engraved on the outer periphery of the opening. The bottom of the flexspline 23 is called a diaphragm and is usually attached to an output shaft (eg, a robot arm).
　フレクスプライン２３は、ウェーブジェネレータ２２により楕円状に撓められ、長軸の部分でサーキュラスプライン２１と歯が噛合い、短軸の部分では歯が完全に離れた状態となる。サーキュラスプライン２１を固定してウェーブジェネレータ２２を時計方向に回すと、フレクスプライン２３は弾性変形し、サーキュラスプライン２１との歯の噛合い位置が順次移動していく。ウェーブジェネレータ２２が１回転すると、歯数差２枚分だけフレクスプライン２３は反時計方向へ移動する。 The flexspline 23 is bent in an elliptical shape by the wave generator 22, and the teeth mesh with the circular spline 21 at the long axis portion, and the teeth are completely separated from each other at the short axis portion. When the circular spline 21 is fixed and the wave generator 22 is turned clockwise, the flexspline 23 is elastically deformed, and the tooth meshing position with the circular spline 21 is sequentially moved. When the wave generator 22 makes one rotation, the flexspline 23 moves counterclockwise by the difference in the number of teeth by two.
　アクチュエータ３は、波動歯車減速機２が有するウェーブジェネレータ２２を駆動する。 The actuator 3 drives the wave generator 22 included in the strain wave gearing reducer 2.
　回転検出器１１は、アクチュエータ３の回転位置を検出する。回転検出器１１としては、例えばエンコーダを用いることができる。 The rotation detector 11 detects the rotation position of the actuator 3. As the rotation detector 11, for example, an encoder can be used.
　センサ１２は、波動歯車減速機２におけるウェーブジェネレータ２２の回転に伴うサーキュラスプライン２１の変位を検出する。センサ１２は、サーキュラスプライン２１の変位として、例えば、サーキュラスプライン２１に対する応力又はサーキュラスプライン２１の変形を検出する。センサ１２としては、例えば、歪センサ又は光電センサ等を用いることができる。図２では、センサ１２として歪センサを用いた場合を示し、歪センサがサーキュラスプライン２１に取付けられた場合を示している。センサ１２として光電センサを用いる場合には、光電センサをサーキュラスプライン２１に対向配置し、光電センサからサーキュラスプライン２１までの距離を測定することでサーキュラスプライン２１の変形を検出可能である。 The sensor 12 detects the displacement of the circular spline 21 due to the rotation of the wave generator 22 in the strain wave gearing reducer 2. The sensor 12 detects, for example, stress on the circular spline 21 or deformation of the circular spline 21 as the displacement of the circular spline 21. As the sensor 12, for example, a strain sensor, a photoelectric sensor, or the like can be used. FIG. 2 shows a case where a strain sensor is used as the sensor 12, and shows a case where the strain sensor is attached to the circular spline 21. When a photoelectric sensor is used as the sensor 12, the photoelectric sensor is arranged to face the circular spline 21 and the deformation of the circular spline 21 can be detected by measuring the distance from the photoelectric sensor to the circular spline 21.
　記憶部１３は、事前測定でセンサ１２により検出された変位の時間変化と波動歯車減速機２の角度伝達誤差の初期値の時間変化との位相関係を示す情報を記憶する。記憶部１３は、ＨＤＤ（Ｈａｒｄ　Ｄｉｓｋ　Ｄｒｉｖｅ）、ＤＶＤ（Ｄｉｇｉｔａｌ　Ｖｅｒｓａｔｉｌｅ　Ｄｉｓｃ）又はメモリ等によって構成される。 The storage unit 13 stores information indicating the phase relationship between the time change of the displacement detected by the sensor 12 in the preliminary measurement and the time change of the initial value of the angle transmission error of the strain wave gearing reducer 2. The storage unit 13 is composed of an HDD (Hard Disk Drive), a DVD (Digital Versailles Disc), a memory, or the like.
　なお図１では、記憶部１３が補正装置１の内部に設けられた場合を示している。しかしながら、これに限らず、記憶部１３は補正装置１の外部に設けられていてもよい。 Note that FIG. 1 shows a case where the storage unit 13 is provided inside the correction device 1. However, the present invention is not limited to this, and the storage unit 13 may be provided outside the correction device 1.
　演算部１４は、センサ１２により検出された変位及び記憶部１３に記憶された情報が示す位相関係に基づいて、角度伝達誤差の補正値を算出する。この際、演算部１４は、変位の発生タイミング及び事前測定での当該変位と角度伝達誤差との位相関係に基づいて当該角度伝達誤差の位相ずれを推定し、当該位相ずれに応じて当該角度伝達誤差の補正値を算出する。 The calculation unit 14 calculates the correction value of the angle transmission error based on the displacement detected by the sensor 12 and the phase relationship indicated by the information stored in the storage unit 13. At this time, the calculation unit 14 estimates the phase shift of the angle transmission error based on the displacement generation timing and the phase relationship between the displacement and the angle transmission error in the preliminary measurement, and the angle transmission according to the phase shift. Calculate the error correction value.
　制御部１５は、演算部１４により算出された補正値及び回転検出器１１により検出された回転位置に基づいて、アクチュエータ３を制御する。この制御部１５により、波動歯車減速機２の角度伝達誤差を補正する。 The control unit 15 controls the actuator 3 based on the correction value calculated by the calculation unit 14 and the rotation position detected by the rotation detector 11. The control unit 15 corrects the angle transmission error of the strain wave gearing reducer 2.
　次に、図１に示す実施の形態１に係る補正装置１の動作例について、図３を参照しながら説明する。なお、記憶部１３は、事前測定でセンサ１２により検出された変位の時間変化と波動歯車減速機２の角度伝達誤差の初期値の時間変化との位相関係を示す情報を記憶している。
　図１に示す実施の形態１に係る補正装置１の動作例では、図３に示すように、まず、回転検出器１１は、アクチュエータ３の回転位置を検出する（ステップＳＴ３０１）。 Next, an operation example of the correction device 1 according to the first embodiment shown in FIG. 1 will be described with reference to FIG. The storage unit 13 stores information indicating the phase relationship between the time change of the displacement detected by the sensor 12 in the preliminary measurement and the time change of the initial value of the angle transmission error of the strain wave gearing reducer 2.
In the operation example of the correction device 1 according to the first embodiment shown in FIG. 1, as shown in FIG. 3, the rotation detector 11 first detects the rotation position of the actuator 3 (step ST301).
　また、センサ１２は、ウェーブジェネレータ２２の回転に伴うサーキュラスプライン２１の変位を検出する（ステップＳＴ３０２）。 Further, the sensor 12 detects the displacement of the circular spline 21 due to the rotation of the wave generator 22 (step ST302).
　次いで、演算部１４は、センサ１２により検出された変位及び記憶部１３に記憶された情報が示す位相関係に基づいて、角度伝達誤差の補正値を算出する（ステップＳＴ３０３）。ここで、アクチュエータ３の交換等によってアクチュエータ３の位相が変わると、角度伝達誤差に位相ずれが生じてしまう。そこで、演算部１４は、上記変位の発生タイミング及び事前測定での当該変位と角度伝達誤差との位相関係に基づいて当該角度伝達誤差の位相ずれを推定する。そして、演算部１４は、推定した位相ずれに応じ、角度伝達誤差の補正値を算出する。 Next, the calculation unit 14 calculates the correction value of the angle transmission error based on the displacement detected by the sensor 12 and the phase relationship indicated by the information stored in the storage unit 13 (step ST303). Here, if the phase of the actuator 3 changes due to replacement of the actuator 3, or the like, a phase shift occurs in the angle transmission error. Therefore, the calculation unit 14 estimates the phase shift of the angle transmission error based on the occurrence timing of the displacement and the phase relationship between the displacement and the angle transmission error in the preliminary measurement. Then, the calculation unit 14 calculates the correction value of the angle transmission error according to the estimated phase shift.
　このように、図１に示す実施の形態１に係る補正装置１では、記憶部１３が事前測定でセンサ１２により検出された変位の時間変化と波動歯車減速機２の角度伝達誤差の初期値の時間変化との位相関係を示す情報を記憶し、センサ１２がウェーブジェネレータ２２の回転に伴うサーキュラスプライン２１の変位を検出している。そして、図４に示すように、角度伝達誤差とセンサ１２により検出される変位は、共に、ウェーブジェネレータ２２が１回転する間に２回発生する。また、センサ１２により検出される変位と角度伝達誤差との位相関係は、アクチュエータ３の交換等によりアクチュエータ３の位相が変化しても変化しない。そのため、演算部１４では、センサ１２により検出される変位の位相から角度伝達誤差の位相ずれを算出可能である。なお図４Ａにおいて、符号４０１は事前測定での角度伝達誤差の初期値の時間変化を示し、符号４０２は事前測定でセンサ１２により検出された変位の時間変化を示している。また、符号４０３はアクチュエータ３の交換等により位相が変化した後においてセンサ１２により検出された変位の時間変化を示している。また、符号４０４は角度伝達誤差の位相ずれを示し、符号４０５は演算部１４により推定された位相ずれが生じた場合での角度伝達誤差の時間変化を示している。 As described above, in the correction device 1 according to the first embodiment shown in FIG. 1, the time change of the displacement detected by the sensor 12 in the storage unit 13 in advance measurement and the initial value of the angle transmission error of the strain wave gearing speed reducer 2 are set. Information indicating the phase relationship with the time change is stored, and the sensor 12 detects the displacement of the circular spline 21 due to the rotation of the wave generator 22. Then, as shown in FIG. 4, both the angle transmission error and the displacement detected by the sensor 12 occur twice during one rotation of the wave generator 22. Further, the phase relationship between the displacement detected by the sensor 12 and the angle transmission error does not change even if the phase of the actuator 3 changes due to replacement of the actuator 3 or the like. Therefore, the calculation unit 14 can calculate the phase shift of the angle transmission error from the phase of the displacement detected by the sensor 12. In FIG. 4A, reference numeral 401 indicates a time change of the initial value of the angle transmission error in the preliminary measurement, and reference numeral 402 indicates a time change of the displacement detected by the sensor 12 in the preliminary measurement. Further, reference numeral 403 indicates a time change of displacement detected by the sensor 12 after the phase is changed due to replacement of the actuator 3 or the like. Further, reference numeral 404 indicates a phase shift of the angle transmission error, and reference numeral 405 indicates a time change of the angle transmission error when the phase shift estimated by the calculation unit 14 occurs.
　次いで、制御部１５は、演算部１４により算出された補正値及び回転検出器１１により検出された回転位置に基づいて、アクチュエータ３を制御する（ステップＳＴ３０４）。
　以上の動作により、実施の形態１に係る補正装置１では、アクチュエータ３の位相が変化した場合でも再測定せずに角度伝達誤差を補正可能となる。 Next, the control unit 15 controls the actuator 3 based on the correction value calculated by the calculation unit 14 and the rotation position detected by the rotation detector 11 (step ST304).
By the above operation, in the correction device 1 according to the first embodiment, even if the phase of the actuator 3 changes, the angle transmission error can be corrected without remeasurement.
　また、回転検出器１１は、バックアップ（位相記録）用の電池を有している。一方、従来では、回転検出器１１の電池が切れた場合、電池交換による回転検出器１１の原点の再校正が必要となり、その結果、波動歯車減速機２が取付けられた装置の分解が必要となる。これに対し、実施の形態１に係る補正装置１では、上記電池交換を行った場合でも、回転検出器１１の電池交換前後での角度伝達誤差の位相ずれを検出可能であり、装置を分解せずに角度伝達誤差をオンラインで補正できる。 Further, the rotation detector 11 has a battery for backup (phase recording). On the other hand, conventionally, when the battery of the rotation detector 11 runs out, it is necessary to recalibrate the origin of the rotation detector 11 by replacing the battery, and as a result, it is necessary to disassemble the device to which the wave gear reducer 2 is attached. Become. On the other hand, in the correction device 1 according to the first embodiment, even when the battery is replaced, the phase shift of the angle transmission error before and after the battery replacement of the rotation detector 11 can be detected, and the device can be disassembled. Angle transmission error can be corrected online without.
　以上のように、この実施の形態１によれば、補正装置１は、波動歯車減速機２が有するフレクスプライン２３を駆動するアクチュエータ３の回転位置を検出する回転検出器１１と、波動歯車減速機２におけるウェーブジェネレータ２２の回転に伴うサーキュラスプライン２１の変位を検出するセンサ１２と、センサ１２により検出された変位、及び、事前測定でセンサ１２により検出された変位の時間変化と波動歯車減速機２の角度伝達誤差の初期値の時間変化との位相関係に基づいて、当該角度伝達誤差の補正値を算出する演算部１４と、演算部１４により算出された補正値及び回転検出器１１により検出された回転位置に基づいて、アクチュエータ３を制御する制御部１５とを備えた。これにより、実施の形態１に係る補正装置１は、再測定を行うことなく、角度伝達誤差の位相ずれを補正可能となる。 As described above, according to the first embodiment, the correction device 1 includes a rotation detector 11 for detecting the rotational position of the actuator 3 for driving the flexspline 23 of the wave gear reducer 2, and a wave gear reducer 2. Sensor 12 that detects the displacement of the circular spline 21 due to the rotation of the wave generator 22 in No. 2, the displacement detected by the sensor 12, the time change of the displacement detected by the sensor 12 in the preliminary measurement, and the wave gear reducer 2 The correction value calculated by the calculation unit 14 and the rotation detector 11 are detected by the calculation unit 14 that calculates the correction value of the angle transmission error based on the phase relationship with the time change of the initial value of the angle transmission error. A control unit 15 for controlling the actuator 3 is provided based on the rotational position. As a result, the correction device 1 according to the first embodiment can correct the phase shift of the angle transmission error without performing remeasurement.
　なお、本願発明はその発明の範囲内において、実施の形態の任意の構成要素の変形、若しくは実施の形態の任意の構成要素の省略が可能である。 It should be noted that, within the scope of the invention, the present invention can be modified from any component of the embodiment or can be omitted from any component of the embodiment.
　この発明に係る補正装置は、再測定を行うことなく、角度伝達誤差の位相ずれを補正可能となり、波動歯車減速機の角度伝達誤差を補正する補正装置に用いるのに適している。 The correction device according to the present invention can correct the phase shift of the angle transmission error without performing remeasurement, and is suitable for use as a correction device for correcting the angle transmission error of the strain wave gearing reducer.
１　補正装置
２　波動歯車減速機
３　アクチュエータ
１１　回転検出器
１２　センサ
１３　記憶部
１４　演算部
１５　制御部
２１　サーキュラスプライン
２２　ウェーブジェネレータ
２３　フレクスプライン 1 Correction device 2 Strain wave gearing reducer 3 Actuator 11 Rotation detector 12 Sensor 13 Storage unit 14 Calculation unit 15 Control unit 21 Circular spline 22 Wave generator 23 Flex spline

Claims (4)

  1. 　波動歯車減速機が有するフレクスプラインを駆動するアクチュエータの回転位置を検出する回転検出器と、
    　前記波動歯車減速機におけるウェーブジェネレータの回転に伴うサーキュラスプラインの変位を検出するセンサと、
    　前記センサにより検出された変位、及び、事前測定で当該センサにより検出された変位の時間変化と前記波動歯車減速機の角度伝達誤差の初期値の時間変化との位相関係に基づいて、当該角度伝達誤差の補正値を算出する演算部と、
    　前記演算部により算出された補正値及び前記回転検出器により検出された回転位置に基づいて、前記アクチュエータを制御する制御部と
    　を備えた補正装置。     A rotation detector that detects the rotational position of the actuator that drives the flexspline of the strain wave gearing reducer, and
    A sensor that detects the displacement of the circular spline due to the rotation of the wave generator in the strain wave gearing reducer, and
    The angle transmission is based on the phase relationship between the displacement detected by the sensor and the time change of the displacement detected by the sensor in the preliminary measurement and the time change of the initial value of the angle transmission error of the wave gear reducer. A calculation unit that calculates the error correction value, and
    A correction device including a control unit that controls the actuator based on a correction value calculated by the calculation unit and a rotation position detected by the rotation detector.
  2. 　前記センサは、前記サーキュラスプラインに対する応力又は当該サーキュラスプラインの変形を検出する
    　ことを特徴とする請求項１記載の補正装置。     The correction device according to claim 1, wherein the sensor detects stress on the circular spline or deformation of the circular spline.
  3. 　前記演算部は、変位の発生タイミング及び事前測定での当該変位と角度伝達誤差の初期値との位相関係に基づいて当該角度伝達誤差の位相ずれを推定し、当該位相ずれに応じて当該角度伝達誤差の補正値を算出する
    　ことを特徴とする請求項１又は請求項２記載の補正装置。     The calculation unit estimates the phase shift of the angle transmission error based on the phase relationship between the displacement occurrence timing and the initial value of the angle transmission error in the preliminary measurement, and the angle transmission according to the phase shift. The correction device according to claim 1 or 2, wherein the correction value of the error is calculated.
  4. 　波動歯車減速機が有するフレクスプラインを駆動するアクチュエータの回転位置を検出する回転検出器と、前記波動歯車減速機におけるウェーブジェネレータの回転に伴うサーキュラスプラインの変位を検出するセンサとを備えた補正装置による補正方法であって、
    　前記センサにより検出された変位、及び、事前測定で当該センサにより検出された変位の時間変化と前記波動歯車減速機の角度伝達誤差の初期値の時間変化との位相関係に基づいて、当該角度伝達誤差の補正値を算出する演算ステップと、
    　前記演算ステップにおいて算出した補正値及び前記回転検出器により検出された回転位置に基づいて、前記アクチュエータを制御する制御ステップとを有する
    　ことを特徴とする補正方法。     A correction device including a rotation detector that detects the rotational position of the actuator that drives the flexspline of the wave gear reducer and a sensor that detects the displacement of the circular spline due to the rotation of the wave generator in the wave gear reducer. It ’s a correction method,
    The angle transmission is based on the phase relationship between the displacement detected by the sensor and the time change of the displacement detected by the sensor in the preliminary measurement and the time change of the initial value of the angle transmission error of the wave gear reducer. Calculation steps to calculate the error correction value and
    A correction method comprising a control step for controlling the actuator based on a correction value calculated in the calculation step and a rotation position detected by the rotation detector.
PCT/JP2020/025969 2019-07-11 2020-07-02 Correction device and correction method WO2021006169A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-129563 2019-07-11
JP2019129563A JP7345299B2 (en) 2019-07-11 2019-07-11 Correction device and correction method

Publications (1)

Publication Number Publication Date
WO2021006169A1 true WO2021006169A1 (en) 2021-01-14

Family

ID=74115252

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/025969 WO2021006169A1 (en) 2019-07-11 2020-07-02 Correction device and correction method

Country Status (2)

Country Link
JP (1) JP7345299B2 (en)
WO (1) WO2021006169A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0481907A (en) * 1990-07-24 1992-03-16 Harmonic Drive Syst Ind Co Ltd Minute positioning device
JP2008090692A (en) * 2006-10-04 2008-04-17 Harmonic Drive Syst Ind Co Ltd Method for suppressing position fluctuation of actuator
JP2011220380A (en) * 2010-04-05 2011-11-04 Yaskawa Electric Corp Actuator and robot
JP2016156637A (en) * 2015-02-23 2016-09-01 株式会社ロボテック Torque sensor for transmission, and transmission with torque sensor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0481907A (en) * 1990-07-24 1992-03-16 Harmonic Drive Syst Ind Co Ltd Minute positioning device
JP2008090692A (en) * 2006-10-04 2008-04-17 Harmonic Drive Syst Ind Co Ltd Method for suppressing position fluctuation of actuator
JP2011220380A (en) * 2010-04-05 2011-11-04 Yaskawa Electric Corp Actuator and robot
JP2016156637A (en) * 2015-02-23 2016-09-01 株式会社ロボテック Torque sensor for transmission, and transmission with torque sensor

Also Published As

Publication number Publication date
JP2021014874A (en) 2021-02-12
JP7345299B2 (en) 2023-09-15

Similar Documents

Publication Publication Date Title
WO2021006170A1 (en) Malfunction determination device and malfunction determination method
US10259121B2 (en) Robot apparatus, and measuring method of rotation driving apparatus
US8912928B2 (en) Encoder, driving apparatus, method for calculating absolute position, and method for manufacturing encoder
US10363658B2 (en) Angle detection method, angle detection apparatus, rotation drive apparatus, robot apparatus, and storage medium
JP4241012B2 (en) Rotation angle detector
JP4824080B2 (en) Synchronous control system
US8013560B2 (en) Method for compensating for angular transmission error of an actuator
JPWO2007099627A1 (en) Screw tightening device
JPWO2007099629A1 (en) Motor control device and motor control method
JPWO2017014189A1 (en) Encoder device, drive device, stage device, robot device, rotation information acquisition method, and rotation information acquisition program
JP7173010B2 (en) Calibration device, encoder device, drive device, stage device, robot device, manufacturing method of encoder device, and calibration program
JP4837724B2 (en) Actuator speed fluctuation suppression method
WO2021006169A1 (en) Correction device and correction method
JP2021096105A (en) Rotation angle detection sensor, torque detection sensor, and power transmission device
WO2018150833A1 (en) Angle detection device
JP6684165B2 (en) Output control device for reduction gear system, reduction gear system, and output control method for reduction gear system
JP2017187490A (en) Device and method for measuring angle
JP3853563B2 (en) Plastic gear performance test method and apparatus
JP2014238117A (en) Speed reducer-incorporated actuator and articulated robot with the same
JP2016206009A (en) Method for correcting torque sensor zero-point error
JP2023018918A (en) sensor device
JP2008257571A (en) Servo control method
JP2016156637A (en) Torque sensor for transmission, and transmission with torque sensor
KR20200085840A (en) Correction method of zero point error in torque sensor
JP5061591B2 (en) Image forming apparatus

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20837602

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 20837602

Country of ref document: EP

Kind code of ref document: A1