| 摘要 |
PROBLEM TO BE SOLVED: To provide a method capable of easily and accurately measuring the amount of backlash in a rack and a pinion arranged in a vertical shaft without being affected by gravity and provide a direct-acting robot system. SOLUTION: The method for measuring the amount of backlash of the direct-acting robot system is provided with: a servomotor 6 having reduction gears 7; the pinion 3 connected to an output shaft of the reduction gears; a vertically provided rack 2 interlocked with the pinion; a movable body 8 for holding the servomotor and moving over the rack; a detection part provided for the servomotor for detecting torque and rotational positions; and a control part for controlling the servomotor. By rotating the servomotor, moving the movable body downward, placing the movable body on a fixed base 5 provided below the movable body, and using pulse values of the rotational position of the detection part from the time torque turns zero until the direction of the torque reverses, the amount of backlash of the rack and the pinion is computed. COPYRIGHT: (C)2009,JPO&INPIT
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