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Speed reducer angular transmission error identification system and speed reducer angular transmission error identification method

A technology of transmission error and identification method, which is applied in the field of identification system of angle transmission error of reducer, can solve the problems of time-consuming phase difference, etc., and achieve the effects of suppressing vibration, low manufacturing cost, and beneficial to manufacturing

Active Publication Date: 2020-01-07
KAWASAKI HEAVY IND LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the robot control device described in Patent Document 1 obtains the phase difference of the correction signal by a heuristic method, so there is a problem that identification of the phase difference sometimes takes time.

Method used

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  • Speed reducer angular transmission error identification system and speed reducer angular transmission error identification method
  • Speed reducer angular transmission error identification system and speed reducer angular transmission error identification method
  • Speed reducer angular transmission error identification system and speed reducer angular transmission error identification method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0053] figure 1 It is a diagram schematically showing a configuration example of the robot system 100 including the reduction gear angle transmission error identification system according to the first embodiment. figure 2 is a schematic representation figure 1 A block diagram of a configuration example of a control system of the robot system 100.

[0054] like figure 1 As shown, a robot system 100 including a reducer angle transmission error identification system includes a robot 1 and a control device 2 .

[0055] [Structure Example of Robot]

[0056] The robot 1 is an industrial robot (an articulated robot) of an articulated robot.

[0057] The robot 1 includes a base 3 , a robot arm 4 , and a robot hand 5 . The base 3 is fixed and placed on the ground, for example, and supports the robot arm 4 and the robot hand 5 .

[0058] The robot arm 4 is provided with a plurality of joints, and is connected so that the base end can rotate relative to the base 3 . Regarding the...

Embodiment approach 2

[0136] In Embodiment 1 described above, the angular transmission error identification unit 46 calculates a periodic function that models the periodic variation of the angular transmission error of the first reduction gear 13 using the predetermined amplitude A.

[0137] In the present embodiment, the configuration is such that the robot 1 is operated by compensating the angular transmission error using a periodic function, wherein the periodic function is set according to the phase recognition unit. 45 Calculated functions to find the phase Specified frequency f, and arbitrary amplitude value.

Embodiment approach 3

[0139] The structure and operation of Embodiment 3 will be described below focusing on differences from Embodiment 1. FIG.

[0140] In the present embodiment, the average phase calculation unit 44 calculates the following first virtual average phase for each variation data set 51 and the second virtual mean phase

[0141]

[0142]

[0143]In addition, the fluctuation data acquisition unit 342 controls the robot 1 via the command unit 41 to operate the robot 1 , and first acquires the third fluctuation data and the fourth fluctuation data. The third change data is used to set the phase The rotation angle of the output shaft 11a of the first motor 11 and the speed deviation of the terminal side joint 8 when the robot 1 is operated in the corresponding region are compensated by using a periodic function of a predetermined frequency f and a predetermined amplitude A. or data indicating the relationship between the rotation angle of the output shaft 11 a of the first mo...

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Abstract

A speed reducer angular transmission error identification system and a speed reducer angular transmission error identification method are provided. The speed reducer angular transmission error identification system includes: a variable data acquisition unit (42) that acquires first variable data that is data indicating periodic variations in the movement of a second joint caused by an angular transmission error of a first motor (11) when a first joint control unit (24) causes the output shaft (11a) of the first motor to rotate in a first direction at a constant first target speed at the same time that a second joint control unit (27) causes the output shaft (16a) of a second motor (16) to rotate at a constant second target speed, and second variable data that is data indicating periodic variations in the movement of the second joint caused by angular transmission error of the first motor when the first joint control unit causes the output shaft of the first motor to rotate in a seconddirection at the constant first target speed at the same time that the second joint control unit causes the output shaft of the second motor to rotate at the constant second target speed; a periodic function calculation unit (43) that calculates first and second periodic functions modeling the first and second variable data; an average phase calculation unit (44) that calculates the average phaseof the periodic functions; and an angular transmission error identification unit (46) that calculates the periodic variations of the angular transmission error of a first speed reducer on the basis ofthe average phase.

Description

technical field [0001] The invention relates to a reducer angle transmission error identification system and a reducer angle transmission error identification method. Background technique [0002] Conventionally, a robot controller is known (for example, refer to Patent Document 1). [0003] This robot control device includes a correction signal generating unit that outputs a correction signal for canceling error vibration (rotation unevenness) of a Hamenaco Drive (registered trademark) reducer. This correction signal generating unit has a phase setter for setting a phase difference a of the correction signal, and the phase difference a can be obtained by actual measurement to obtain the phase difference with the smallest error vibration. [0004] Patent Document 1: Japanese Patent Application Laid-Open No. 63-153610 [0005] However, since the robot control device described in Patent Document 1 obtains the phase difference of the correction signal by a heuristic method, t...

Claims

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Application Information

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IPC IPC(8): B25J13/00B25J9/10
CPCB25J9/1653B25J9/1641G05B2219/49292G05B2219/49197G05B2219/41122G05B2219/39195B25J9/102B25J9/1674
Inventor 坪井信高
Owner KAWASAKI HEAVY IND LTD