JPH054010Y2 - - Google Patents
Info
- Publication number
- JPH054010Y2 JPH054010Y2 JP3483386U JP3483386U JPH054010Y2 JP H054010 Y2 JPH054010 Y2 JP H054010Y2 JP 3483386 U JP3483386 U JP 3483386U JP 3483386 U JP3483386 U JP 3483386U JP H054010 Y2 JPH054010 Y2 JP H054010Y2
- Authority
- JP
- Japan
- Prior art keywords
- rotation
- unevenness
- output shaft
- rotational
- input 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.)
- Expired - Lifetime
Links
- 230000005540 biological transmission Effects 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 17
- 239000003638 chemical reducing agent Substances 0.000 description 24
- 238000005452 bending Methods 0.000 description 2
- 238000010297 mechanical methods and process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001934 delay Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
Landscapes
- Control Of Velocity Or Acceleration (AREA)
- Retarders (AREA)
Description
【考案の詳細な説明】
産業上の利用分野
本考案は、減速機等の回転ムラを発生する可能
性のある回転伝達系の入力軸と出力軸との間に生
ずる回転ムラを補償するための機構に係り、特
に、上記回転伝達系の予め知られている回転ムラ
特性に応じてそのムラを打ち消すような回転ムラ
補償機構に関するものである。[Detailed description of the invention] Industrial field of application The present invention is a method for compensating for rotational unevenness that occurs between the input shaft and output shaft of a rotation transmission system that may cause rotational unevenness in a reduction gear, etc. The present invention relates to a mechanism, and particularly to a rotational unevenness compensation mechanism that cancels out unevenness according to the previously known rotational unevenness characteristics of the rotation transmission system.
従来技術及びその問題点
産業用ロボツトやNC機械等においては、回転
ムラが振動の原因になつたりする。特に多関節型
の多軸を合成して工具軌跡を得る産業用ロボツト
やその周辺機器（ワークポジシヨナ、ロボツトス
ライダ）においては、振動が工具軌跡の歪となつ
て現れることが知られている。Prior art and its problems In industrial robots, NC machines, etc., uneven rotation can cause vibration. In particular, it is known that vibration appears as distortion of the tool trajectory in industrial robots and their peripheral equipment (work positioners, robot sliders) that obtain tool trajectories by synthesizing multiple joints and multiple axes.
これらの回転ムラには、サーボ制御性能の悪さ
や、位置検出機の分解能や角度誤差等による影響
を受ける場合もあるが、減速機等の回転伝達機構
の部分における角度伝達誤差によつて生じる回転
ムラも大きな影響を与える。 These rotational irregularities may be affected by poor servo control performance, the resolution of the position detector, angular errors, etc., but rotations caused by angular transmission errors in the rotation transmission mechanism such as reducers etc. Unevenness also has a big impact.
上記のような回転伝達機構の一例としてハーモ
ニツクドライブ減速機における伝達ムラにつき第
２図、第３図に従つて説明する。 As an example of the above rotation transmission mechanism, transmission unevenness in a harmonic drive reduction gear will be explained with reference to FIGS. 2 and 3.
第２図に示すように、モータ１には位置検出器
２が取り付けられており、モータの出力軸１′は、
回転伝達系一例であるハーモニツクドライブ減速
機８を介して出力軸６に連結されている。上記ハ
ーモニツクドライブ減速機８は、ウエーブジエネ
レータ３、サーキユラスプライン４、フレクスプ
ライン５により構成され、前記出力軸６は送りネ
ジ７やロボツトのアーム等に連結されている。 As shown in FIG. 2, a position detector 2 is attached to the motor 1, and the output shaft 1' of the motor is
It is connected to the output shaft 6 via a harmonic drive reducer 8, which is an example of a rotation transmission system. The harmonic drive reducer 8 is composed of a wave generator 3, a circular spline 4, and a flex spline 5, and the output shaft 6 is connected to a feed screw 7, a robot arm, etc.
上記ハーモニツクドライブ減速機８は、その入
力軸１′の回転角度と出力軸６の回転角度との間
に第３図に示すグラフのような関係を有してい
る。第３図のグラフは横軸に出力軸の回転角度を
また、縦軸に出力軸の回転角度を取つたもので、
45°の実線ｉによつて回転伝達ムラがない場合の
入力軸と出力軸との回転伝達の関係が示されてい
る。しかし、実際には、図に示す曲線ｊのように
入力軸１回転あたり２周期のムラを有する出力軸
の回転が得られることが知られている。従つて図
示の如く、曲線ｊの幅δはハーモニツクドライブ
減速機８の回転伝達誤差を示す。 The harmonic drive speed reducer 8 has a relationship between the rotation angle of its input shaft 1' and the rotation angle of its output shaft 6 as shown in the graph shown in FIG. The graph in Figure 3 shows the rotation angle of the output shaft on the horizontal axis and the rotation angle of the output shaft on the vertical axis.
A 45° solid line i indicates the rotational transmission relationship between the input shaft and the output shaft when there is no rotational transmission unevenness. However, in reality, it is known that the output shaft rotates with unevenness of two cycles per input shaft rotation, as shown by the curve j shown in the figure. Therefore, as shown in the figure, the width δ of the curve j indicates the rotational transmission error of the harmonic drive reducer 8.
このように、ハーモニツクドライブ減速機８で
回転伝達ムラが生じる原因は、入力軸及び出力軸
の製作誤差によるものや、内部駆動部の特質によ
るものが考えられるが、いずれにしても、入力軸
１回転あたり２周期の正弦波的ムラが発生すると
いう特性がある。 In this way, the cause of rotation transmission unevenness in the harmonic drive reducer 8 is thought to be due to manufacturing errors of the input shaft and output shaft, or due to the characteristics of the internal drive part. It has a characteristic that two cycles of sinusoidal unevenness occur per rotation.
考案の目的
本考案は上記したように、入力軸１回転に対し
て定周期のムラを生じる減速機の特性と自在軸継
手における回転ムラの特性を巧妙に組み合わせて
回転伝達系における回転ムラを補償することを目
的としたものである。Purpose of the invention As mentioned above, the present invention compensates for rotational unevenness in the rotation transmission system by cleverly combining the characteristics of the reducer, which causes unevenness at a fixed period per rotation of the input shaft, and the characteristics of rotational unevenness in the universal joint. It is intended to.
考案の構成
上記目的を達成するために、本考案が採用する
主たる手段は、回転伝達系の入力軸と出力軸との
間に生じる回転ムラを補償するための機構におい
て、駆動源と上記回転伝達系の入力軸との間に自
在軸継手を介在させると共に、上記自在軸継手の
入力軸の軸芯に対して出力軸の軸芯を上記回転伝
達系の回転ムラに応じた角度分だけ屈折させた点
を要旨とする回転ムラ補償機構である。Composition of the Invention In order to achieve the above object, the main means adopted by the present invention is to provide a mechanism for compensating for uneven rotation occurring between the input shaft and the output shaft of the rotation transmission system. A universal joint is interposed between the input shaft of the system and the shaft center of the output shaft is bent with respect to the shaft center of the input shaft of the universal joint by an angle corresponding to rotational unevenness of the rotation transmission system. This is a rotational unevenness compensation mechanism that has the following points as its main points.
実施例
続いて、本考案を具体化した実施例に付き図を
参照しつつ説明し、本考案の理解に供する。Embodiments Next, embodiments embodying the present invention will be described with reference to the drawings to provide an understanding of the present invention.
ここに第１図は本考案の一実施例にかかる回転
ムラ補償機構の正断面図である。 FIG. 1 is a front sectional view of a rotational unevenness compensation mechanism according to an embodiment of the present invention.
尚、以下の実施例は本考案の一具体例に過ぎ
ず、本考案の技術的範囲を限定する性格のもので
はない。 It should be noted that the following example is only one specific example of the present invention, and is not intended to limit the technical scope of the present invention.
第１図において、ウエーブジエネレータ３、サ
ーキユラスプライン４、フレクスプライン５より
なるハーモニツクドライブ減速機８の入力軸８ａ
は、自在軸継手９を介して、モータ１の出力軸
１′に連結されている。上記自在軸継手９は、そ
の入力軸（モータ１の出力軸１′）軸芯において
出力軸（減速器８の入力軸８ａ）と軸芯が角度α
分だけ折れ曲がつた状態となるように形状が設定
されたモータ１の取付座１０の内部に収容されて
いる。 In FIG. 1, an input shaft 8a of a harmonic drive reducer 8 consisting of a wave generator 3, a circular spline 4, and a flexspline 5 is shown.
is connected to the output shaft 1' of the motor 1 via a universal joint 9. The above-mentioned universal joint 9 has an angle α between the input shaft (output shaft 1' of the motor 1) and the output shaft (input shaft 8a of the reducer 8).
It is housed inside the mounting seat 10 of the motor 1, which has a shape set so as to be in a bent state.
上記屈折角度αは、ハーモニツクドライブ減速
機８の入力軸と出力軸との角度伝達誤差の振幅を
予め測定しておき、これに合わせて設定する。 The refraction angle α is determined in accordance with the amplitude of the angular transmission error between the input shaft and the output shaft of the harmonic drive reducer 8 which is measured in advance.
一般的に自在軸継手の入力軸と出力軸との間に
角度αをつけると、自在軸継手の入力軸の角度
θaと出力軸の回転角度θbとの間には(1)式が成り
立つことが知られている。 Generally speaking, if an angle α is set between the input shaft and the output shaft of a universal joint, equation (1) holds true between the angle θa of the input shaft and the rotation angle θb of the output shaft of the universal joint. It has been known.
tanθb＝１／cosαtanθa …(1)
このθaとθbとの間には、１回転中に２周期の
ムラが存在し、角度αはそのムラの振幅を決定す
る。 tanθb=1/cosαtanθa (1) Between θa and θb, two periods of unevenness exist during one rotation, and the angle α determines the amplitude of the unevenness.
従つて、第１図に示すモータ取付座１０の減速
機取付座１１に対する取り付け角度をボルト１２
により調整して自在軸継手９のハーモニツクドラ
イブ減速機８に対する取付位置を調整することに
より、予め測定されたハーモニツクドライブ減速
機８の回転誤差の周期に対して自在軸継手９の回
転ムラがこれを打ち消すような位相となるように
取り付けることができる。このような取付構造に
よりハーモニツクドライブ減速機８の出力軸が回
転ムラを打ち消されて平滑に回転する。 Therefore, the mounting angle of the motor mounting seat 10 to the reducer mounting seat 11 shown in FIG.
By adjusting the mounting position of the universal joint 9 with respect to the harmonic drive reducer 8, the uneven rotation of the universal joint 9 can be corrected with respect to the period of the rotation error of the harmonic drive reducer 8 measured in advance. It can be installed so that the phase cancels out this. With such a mounting structure, the output shaft of the harmonic drive reducer 8 can rotate smoothly with rotational unevenness canceled.
第１図に示した例では、モータ取付座１０の形
れているが、このような自在軸継手９の回転ムラ
を設定するための屈折角度αはハーモニツクドラ
イブ減速機８の特性に対応して変化させ得るよう
にすることが望ましく、その場合、ヒンジ継手を
介して、前記モータ取付座１０を揺動可能に減速
機取付座１１に取り付けるようにする。これによ
り、予め減速機の角度伝達誤差（周期、振幅）を
測定しておき、前記(1)式でこの回転伝達誤差に相
当するムラを生じる屈折角度αを逆算して、これ
に合わせて屈折角度αを設定することができる。 In the example shown in FIG. 1, the shape of the motor mounting seat 10 is such that the bending angle α for setting the uneven rotation of the universal joint 9 corresponds to the characteristics of the harmonic drive reducer 8. In this case, the motor mounting seat 10 is swingably mounted to the reducer mounting seat 11 via a hinge joint. As a result, the angular transmission error (period, amplitude) of the reducer is measured in advance, and the refraction angle α that causes unevenness corresponding to this rotation transmission error is calculated backwards using equation (1) above, and the refraction angle is adjusted accordingly. Angle α can be set.
尚、ハーモニツクドライブ減速機の回転伝達ム
ラは機種が決まれば、それほど大きく変化しない
ので、屈折角度αを固定にしておいても実用面で
は、かなり有効であることは言うまでもない。 Incidentally, since the rotational transmission unevenness of the harmonic drive reducer does not change significantly once the model is determined, it goes without saying that it is quite effective in practice even if the refraction angle α is fixed.
尚、上記したようなハーモニツクドライブ減速
機の場合には、回転ムラが入力軸１回転中に２周
期となり、前記自在軸継手における回転ムラと一
致しているので、これらを第１図に示す如く、直
結することにより補償が可能となるが、例えば、
１回転中２周期以外の回転ムラを発生させる他の
変速機に対しては、減速機と自在軸継手との間に
減速（増速）機構を設けることで周期を合わせ、
これによりあらゆる減速機その他の回転伝達機構
における回転ムラ補償機構に適用し得るものあ
る。 In the case of the harmonic drive reducer as described above, the rotational unevenness occurs in two periods during one rotation of the input shaft, which is consistent with the rotational unevenness in the universal joint, and these are shown in Figure 1. Although compensation is possible by direct connection, for example,
For other transmissions that cause rotational irregularities other than two cycles per rotation, a speed reduction (speed increase) mechanism is provided between the reducer and the universal joint to match the cycle.
As a result, the present invention can be applied to rotational unevenness compensation mechanisms in all kinds of speed reducers and other rotation transmission mechanisms.
考案の効果
本考案は以上述べたように、回転伝達系の入力
軸と出力軸との間に生じる回転ムラを補償するた
めの機構において、駆動源と上記回転伝達系の入
力軸との間に自在軸継手を介在させると共に、上
記自在軸継手の入力軸の軸芯に対して出力軸の軸
芯を上記回転伝達系の回転ムラに応じた角度分だ
け屈折させたことを特徴とする回転ムラ補償機構
であるから、減速機等の回転伝達系の回転ムラを
簡単な機械的方法で打ち消すことが可能となり、
ゲインを低下させたりフイルタを入れる等による
電気的制御方法では制御特性に遅れを生じる等の
欠点があるが、本考案による機械的方法では、こ
れらの虞れがない安定した回転ムラ補償機構を得
ることができる。Effects of the invention As described above, the present invention provides a mechanism for compensating for uneven rotation occurring between the input shaft and the output shaft of the rotation transmission system. A rotation unevenness characterized by interposing a universal joint and bending the axis of the output shaft with respect to the axis of the input shaft of the universal joint by an angle corresponding to the rotation unevenness of the rotation transmission system. Since it is a compensation mechanism, it is possible to cancel rotational irregularities in rotation transmission systems such as reducers with a simple mechanical method.
Electrical control methods such as lowering the gain or inserting a filter have drawbacks such as delays in control characteristics, but the mechanical method of the present invention provides a stable rotational unevenness compensation mechanism that does not have these risks. be able to.
第１図は本考案の一実施例にかかる回転ムラ補
償機構の正断面図、第２図は従来の一般的な減速
機であるハーモニツクドライブ減速機におけるモ
ータとの連結関係を示す正断面図、第３図はハー
モニツクドライブ減速機における入力軸と出力軸
との回転角度関係を示すグラフである。
符号の説明、１……モータ、１′……入力軸、
６……出力軸、８……ハーモニツクドライブ減速
機、９……自在軸継手、１０……モータ取付座、
１１……減速機取付座。
Fig. 1 is a front sectional view of a rotational unevenness compensation mechanism according to an embodiment of the present invention, and Fig. 2 is a front sectional view showing the connection relationship with a motor in a harmonic drive reduction gear, which is a conventional general reduction gear. , FIG. 3 is a graph showing the rotational angle relationship between the input shaft and the output shaft in the harmonic drive reducer. Explanation of symbols, 1...Motor, 1'...Input shaft,
6... Output shaft, 8... Harmonic drive reducer, 9... Universal shaft joint, 10... Motor mounting seat,
11...Reduction gear mounting seat.
Claims (1)
転ムラを補償するための機構において、 駆動源と上記回転伝達系の入力軸との間に自在
軸継手を介在させると共に、 上記自在軸継手の入力軸の軸芯に対して出力軸
の軸芯を上記回転伝達系の回転ムラに応じた角度
分だけ屈折させたことを特徴とする回転ムラ補償
機構。[Scope of Claim for Utility Model Registration] In a mechanism for compensating for uneven rotation occurring between the input shaft and output shaft of a rotation transmission system, a universal joint is provided between the drive source and the input shaft of the rotation transmission system. A rotational unevenness compensation mechanism characterized in that the rotational unevenness compensation mechanism is interposed and the axial center of the output shaft is bent with respect to the axial center of the input shaft of the universal joint by an angle corresponding to the rotational unevenness of the rotational transmission system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3483386U JPH054010Y2 (en) | 1986-03-11 | 1986-03-11 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3483386U JPH054010Y2 (en) | 1986-03-11 | 1986-03-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62147010U JPS62147010U (en) | 1987-09-17 |
| JPH054010Y2 true JPH054010Y2 (en) | 1993-02-01 |
Family
ID=30843754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3483386U Expired - Lifetime JPH054010Y2 (en) | 1986-03-11 | 1986-03-11 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH054010Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012097820A (en) * | 2010-11-02 | 2012-05-24 | Ihi Corp | Roll rotationally driving device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5094688B2 (en) * | 2008-11-27 | 2012-12-12 | シチズン千葉精密株式会社 | Wave gear reducer with motor |
-
1986
- 1986-03-11 JP JP3483386U patent/JPH054010Y2/ja not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012097820A (en) * | 2010-11-02 | 2012-05-24 | Ihi Corp | Roll rotationally driving device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62147010U (en) | 1987-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5271290A (en) | Actuator assembly | |
| JPH0583353B2 (en) | ||
| JP2577410B2 (en) | Manipulator joint mechanism | |
| JP3413730B2 (en) | Horizontal articulated robot | |
| CN111347422B (en) | Control method for improving robot joint precision | |
| JPH0211393B2 (en) | ||
| US4696202A (en) | Wrist mechanism for industrial robot | |
| SU1478999A3 (en) | Mechanical rotating actuator for manipulator arm | |
| JP6998514B2 (en) | Robot control device | |
| JPH0627860Y2 (en) | Rotation unevenness compensation device | |
| JPH08159241A (en) | Gear device capable of regulating backlash and regulation method | |
| CA2294268A1 (en) | A device for pivoting a swinging arm, such as an arm of a manipulator robot, about a vertical axis, and a manipulator robot including the device | |
| JPH0471672B2 (en) | ||
| JPS6362934A (en) | Power transmission device | |
| JPH0630384Y2 (en) | Robot movable part positioning member | |
| JPS60118478A (en) | Position control device for articulated robots | |
| JP2696074B2 (en) | Robot arm structure | |
| JPS6319315B2 (en) | ||
| JPS62100809A (en) | Robot controller | |
| JP2575587Y2 (en) | Output characteristic correction device for drive unit with harmonic transmission | |
| CN222290200U (en) | A joint driving mechanism of an intelligent robot | |
| CN222405713U (en) | Rotary joint assembly and mechanical arm | |
| JPH01228789A (en) | Encoder attaching structure for joint portion of robot | |
| JPH01310881A (en) | Instruction for rotary/straight advance unit | |
| GB2261052A (en) | Actuator assembly, eg. for hand controllers. |