| 摘要 |
PURPOSE:To perform an accurate servo control by engaging a plurality of motors having pinions at output shafts with a large gear secured to the final output shaft, providing rotary sensors at an equal interval between one pitch of teeth of the large gear, and forming a feedback circuit. CONSTITUTION:Pinions 20A-D are respectively secured to rotational shafts of four motors 10A-D to be engaged with a large gear 18 secured to the final output shafts 12. A rotary detector 24 which has a plurality of gear sensors at an equal interval between one pitch of the teeth of the gear 18 is opposed to the gear 18 to output a servo signal (a) and an inverter signal (b), to the inputs of a servo circuit 22A and an inverter circuit 22B of a controller 22. The servo circuit 22A outputs a control signal (d) which exhibits the difference between a servo reference signal (c) and the signal (a), and the interval circuit 22B intermediately outputs electric power (e) of the prescribed voltage and current corresponding to the signal (d) to the motors in synchronization with the signal (b). In this manner, large torque can be obtained at a low speed, thereby shortening the entire length of the motors and improving the servo performance. |
