JPH043330U - - Google Patents
Info
- Publication number
- JPH043330U JPH043330U JP4434590U JP4434590U JPH043330U JP H043330 U JPH043330 U JP H043330U JP 4434590 U JP4434590 U JP 4434590U JP 4434590 U JP4434590 U JP 4434590U JP H043330 U JPH043330 U JP H043330U
- Authority
- JP
- Japan
- Prior art keywords
- motor
- pulse interval
- reference value
- detecting device
- generates
- 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.)
- Pending
Links
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
第１図は本考案のトルク検出装置の一実施例の
ブロツク構成図、第２図は締付けトルクとエンコ
ーダパルス間隔との関係を示す特性図、第３図Ａ
〜Ｄ及び第４図Ａ〜Ｃは本考案装置各部の動作説
明用タイミングチヤート、第５図は本考案装置を
捩子締め装置に適用した場合の締付けトルクの時
間的変化を示す特性図、第６図は本考案装置を適
用した捩子締めロボツトのシステム概要図である
。
１……ＣＬＫ発生回路、２……フイルタ、３…
…エツジ検出回路、４，７……カウンタ、５，９
……デイジタル値設定回路、６……ＦＦ、８……
コンパレータ、１０……トルク検出装置、１１…
…モータドライバ、１２……ロータリーエンコー
ダ、１３……ＣＤモータ、１４……ドライバ。
Figure 1 is a block diagram of an embodiment of the torque detection device of the present invention, Figure 2 is a characteristic diagram showing the relationship between tightening torque and encoder pulse interval, and Figure 3A.
-D and FIGS. 4A to 4C are timing charts for explaining the operation of each part of the device of the present invention, FIG. 5 is a characteristic diagram showing temporal changes in tightening torque when the device of the present invention is applied to a screw tightening device, and FIG. FIG. 6 is a system outline diagram of a screw tightening robot to which the device of the present invention is applied. 1...CLK generation circuit, 2...Filter, 3...
...Edge detection circuit, 4, 7...Counter, 5, 9
...Digital value setting circuit, 6...FF, 8...
Comparator, 10...Torque detection device, 11...
...Motor driver, 12...Rotary encoder, 13...CD motor, 14...Driver.
Claims (1)
、 そのエンコーダ出力パルスを入力されて、パル
ス間隔を予め定められた基準値と比較し、パルス
の間隔が基準値より大きくなつた場合に出力信号
を発生する回転検出装置とを備えて、モータを停
止させるよう構成したことを特徴とするトルク検
出装置。[Scope of Claim for Utility Model Registration] When a rotary encoder directly connected to a DC motor and its encoder output pulses are input, the pulse interval is compared with a predetermined reference value, and the pulse interval becomes larger than the reference value. 1. A torque detecting device comprising: a rotation detecting device that generates an output signal at a time, and is configured to stop a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4434590U JPH043330U (en) | 1990-04-25 | 1990-04-25 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4434590U JPH043330U (en) | 1990-04-25 | 1990-04-25 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH043330U true JPH043330U (en) | 1992-01-13 |
Family
ID=31557562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4434590U Pending JPH043330U (en) | 1990-04-25 | 1990-04-25 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH043330U (en) |
-
1990
- 1990-04-25 JP JP4434590U patent/JPH043330U/ja active Pending
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