CN113686569A - Transmission mechanism torque detection method, device, equipment and storage medium - Google Patents
Transmission mechanism torque detection method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a transmission mechanism torque detection method, a transmission mechanism torque detection device, transmission mechanism torque detection equipment and a storage medium, and relates to the field of automatic control. The method comprises the following steps: acquiring the output torque of each torque output shaft; judging whether the output torque meets a preset torque abnormal condition or not according to a preset reference torque value; and when the output torque meets the preset torque abnormal condition, judging that the transmission mechanism is in a torque abnormal state. The output torque fed back by each torque output shaft is judged according to the preset abnormal condition, so that whether the transmission mechanism is in the torque abnormal state or not is determined, the torque state is automatically identified, the response speed is higher compared with that of manual identification, the potential safety hazard of a multi-shaft transmission system is favorably found, and the safety is improved.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a transmission mechanism torque detection method, a transmission mechanism torque detection device, transmission mechanism torque detection equipment and a storage medium.
Background
The driving devices such as the motor and the like need to transmit the output torque to the executing mechanism through the transmission mechanism, and the stability of the transmission mechanism has great influence on the stability of the whole control system. If the transmission mechanism breaks or slips, equipment damage or personnel injury can be caused, and therefore the method has important significance in timely finding the abnormity of the transmission mechanism. At present, when a part of main shafts of a multi-shaft transmission system have problems, the influence of the multi-shaft transmission system is not immediately reflected, and the detection difficulty is high; moreover, manual detection is mostly adopted, and the detection efficiency is low.
Disclosure of Invention
The invention mainly aims to provide a transmission mechanism torque detection method, a transmission mechanism torque detection device, transmission mechanism torque detection equipment and a transmission mechanism torque detection storage medium, and aims to solve the technical problem that in the prior art, when a torque abnormal state of a multi-shaft transmission system is detected, the detection efficiency is low.
In order to achieve the aim, the invention provides a torque detection method of a transmission mechanism, wherein the transmission mechanism comprises a transmission shaft and a plurality of torque output shafts connected with the transmission shaft;
the transmission mechanism torque detection method comprises the following steps:
acquiring the output torque of each torque output shaft;
judging whether the output torque meets a preset torque abnormal condition or not according to a preset reference torque value;
and when the output torque meets the preset torque abnormal condition, judging that the transmission mechanism is in a torque abnormal state.
Optionally, the preset reference torque value includes a torque lower limit value;
judging whether the output torque meets the preset torque abnormal condition or not according to the preset reference torque value, wherein the judging step comprises the following steps:
comparing the output torque with a torque lower limit value to obtain a comparison result;
and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result.
Optionally, before obtaining the output torque of each torque output shaft, the method further includes:
acquiring a first moment when the transmission mechanism is in an idle state and a second moment when the transmission mechanism is in a load state;
and taking the average value of the first moment and the second moment as a moment lower limit value.
Optionally, the preset reference torque value includes a torque upper limit value;
judging whether the output torque meets the preset torque abnormal condition or not according to the preset reference torque value, wherein the judging step comprises the following steps:
comparing the output torque with the torque upper limit value to obtain a comparison result;
and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result.
Optionally, judging whether the output torque meets a preset torque abnormal condition according to the comparison result includes:
when the output torque is smaller than or equal to the torque upper limit value, judging that the output torque does not meet the preset torque abnormal condition;
when the output torque is larger than the torque upper limit value, determining the operation time of the transmission mechanism;
and when the running time is longer than the preset time, judging that the output torque meets the preset torque abnormal condition.
Optionally, the preset reference torque value includes a torque deviation value;
judging whether the output torque meets the preset torque abnormal condition or not according to the preset reference torque value, wherein the judging step comprises the following steps:
determining a torque difference value between torque output shafts on the same side in the transmission mechanism according to the output torque;
comparing the moment difference value with the moment deviation value to obtain a comparison result;
and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result.
Optionally, when the output torque meets the preset torque abnormality condition, it is determined that the transmission mechanism is in the torque abnormality state, including:
when the output torque meets the preset torque abnormity condition, counting the torque abnormity times of the transmission mechanism;
and when the moment abnormal times reach the preset times, judging that the transmission mechanism is in the moment abnormal state.
In addition, in order to achieve the above object, the present invention further provides a torque detection device for a transmission mechanism, wherein the transmission mechanism comprises a transmission shaft and a plurality of torque output shafts connected with the transmission shaft; the transmission mechanism torque detection device includes:
the acquisition module is used for acquiring the output torque of each torque output shaft;
the judging module is used for judging whether the output torque meets the preset torque abnormal condition or not according to the preset reference torque value;
and the judging module is also used for judging that the transmission mechanism is in a torque abnormal state when the output torque meets the preset torque abnormal condition.
In addition, in order to achieve the above object, the present invention also provides a transmission mechanism torque detection apparatus, including: the device comprises a memory, a processor and a transmission mechanism torque detection program which is stored on the memory and can run on the processor, wherein the transmission mechanism torque detection program realizes the transmission mechanism torque detection method when being executed by the processor.
In addition, in order to achieve the above object, the present invention further provides a storage medium, in which a transmission torque detection program is stored, and the transmission torque detection program is executed by a processor to implement the transmission torque detection method.
In the invention, the output torque of each torque output shaft is obtained; judging whether the output torque meets a preset torque abnormal condition or not according to a preset reference torque value; and when the output torque meets the preset torque abnormal condition, judging that the transmission mechanism is in a torque abnormal state. The output torque fed back by each torque output shaft is judged according to the preset abnormal condition, so that whether the transmission mechanism is in the torque abnormal state or not is determined, the torque state is automatically identified, the response speed is higher compared with that of manual identification, the potential safety hazard of a multi-shaft transmission system is favorably found, and the safety is improved.
Drawings
FIG. 1 is a schematic structural diagram of a transmission torque detection device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a torque detection method for a transmission mechanism according to a first embodiment of the present invention;
FIG. 3 is a schematic flow chart of a torque detection method for a transmission mechanism according to a second embodiment of the present invention;
FIG. 4 is a schematic flow chart of a torque detection method for a transmission mechanism according to a third embodiment of the present invention;
FIG. 5 is a schematic flow chart of a torque detection method for a transmission mechanism according to a fourth embodiment of the present invention;
fig. 6 is a block diagram showing the construction of the first embodiment of the torque detection device of the transmission mechanism of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a transmission mechanism torque detection device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the transmission torque detection apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of the transmission torque sensing apparatus, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in FIG. 1, memory 1005, identified as one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a transmission torque detection program.
In the torque detection device of the transmission mechanism shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the transmission mechanism torque detection device calls a transmission mechanism torque detection program stored in the memory 1005 through the processor 1001, and executes the transmission mechanism torque detection method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the torque detection method of the transmission mechanism is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a torque detection method of a transmission mechanism according to a first embodiment of the present invention.
In a first embodiment, the transmission mechanism comprises a transmission shaft and a plurality of torque output shafts connected with the transmission shaft, and the transmission mechanism torque detection method comprises the following steps:
step S10: and acquiring the output torque of each torque output shaft.
It should be understood that the execution subject of this embodiment is the transmission mechanism torque detection device, the transmission mechanism torque detection device has functions of data processing, data communication, program operation, and the like, the transmission mechanism torque detection device may be a computer device such as a computer or a server, and of course, other devices having similar functions may also be used, and this embodiment is not limited thereto.
It should be noted that the transmission shaft may be a lead screw, and the torque output shaft may be a shaft connected to the motor. For example, taking a multi-spindle sheet metal bending machine as an example, the output shaft of each motor is connected with the corresponding spindle through a belt, and the spindle is connected with a screw rod. When the high-load running is carried out for a long time, phenomena such as belt aging or lead screw abrasion and slipping can occur, so that the load is uneven, and overload damage is caused to other load shafts to damage mechanical structures. Of course, the transmission mechanism may also be applied to other apparatuses, and the present embodiment is not limited thereto.
In a specific implementation, the output torque of each torque output shaft can be determined according to the rotating speed of the motor corresponding to each torque output shaft. The torque detection device of the transmission mechanism receives the rotating speed fed back by each motor, and then calculates according to a torque formula to obtain the output torque of the torque output shaft corresponding to each motor, and the calculation of the torque has a mature technical scheme, which is not repeated herein. Of course, the output torque may be obtained in other ways.
Step S20: and judging whether the output torque meets the preset torque abnormal condition or not according to the preset reference torque value.
It will be appreciated that the output torque of each torque output shaft should be within a predetermined torque range during normal operation of the transmission. If the output torque of the torque output shaft exceeds the preset torque interval, the transmission mechanism is possibly abnormal.
The predetermined reference moment value may be expressed in an interval, such as (1000N · m to 1050N · m), or in a specific value, such as 1000N · m. During specific implementation, the output torque of each torque output shaft is respectively compared with a preset reference torque value, and when the torque exceeding the preset torque interval exists in each output torque, the condition that the preset torque abnormity is met is judged; otherwise, it is not satisfied. For example, the preset reference torque value is (1000N · m to 1050N · m), and the output torque of each torque output shaft is, for example, T1 — 996N · m, T2 — 1005N · m, T3 — 1010N · m, and T4 — 1040N · m. Through comparison, T1 is not within the preset torque interval, so it can be determined that the preset torque abnormality condition is satisfied.
Of course, in order to make the determination of whether the torque is abnormal more accurate, an error value may be set, and when the difference value of the torque exceeding the preset torque interval is smaller than the error value, it may be determined that the preset torque abnormal condition is not satisfied. For example, assuming that the error value is 5N · m, the difference value corresponding to T1 is 4N · m. At this time, it may be determined that the preset torque abnormality condition is not satisfied. Of course, the preset reference torque value may also be expressed in other forms, and this embodiment is not limited to this.
Step S30: and when the output torque meets the preset torque abnormal condition, judging that the transmission mechanism is in a torque abnormal state.
It should be noted that, in order to ensure the safety of the equipment and personnel, after the transmission mechanism is judged to be in the abnormal moment state, the transmission mechanism can be closed, so that the equipment enters a shutdown mode; and simultaneously, an alarm is given out to improve the abnormal transmission of the operators. If the output torque does not meet the preset torque abnormal condition, the current running state of the transmission mechanism is normal, and the running of the current running state can be guaranteed at the moment.
In addition, in order to ensure the accuracy of the determination, when the output torque meets the preset torque abnormal condition, the determining that the transmission mechanism is in the torque abnormal state may include: when the output torque meets the preset torque abnormity condition, counting the torque abnormity times of the transmission mechanism; and when the moment abnormal times reach the preset times, judging that the transmission mechanism is in the moment abnormal state.
It can be understood that the output torque of the transmission mechanism has certain fluctuation during the operation process, and the occasional torque abnormality does not represent the abnormality of the transmission mechanism, so the embodiment also counts the torque abnormality times of the transmission mechanism. In specific implementation, the torque detection device of the transmission mechanism may be provided with a counter, and when the output torque is determined to meet the preset torque abnormal condition, the counter is incremented by 1, and the current count value of the counter is determined, and if the current count value reaches a preset value (such as 10 or 15), the transmission mechanism is determined to be in a torque abnormal state; while the counter is cleared. The preset value may be set according to user requirements, which is not limited in this embodiment.
Besides, the counter may be cleared when it is determined that the transmission mechanism is in the abnormal torque state, and the clear time may be set, for example, 10 minutes or 20 minutes. And if the current count value of the counter does not reach the preset value within the zero clearing time, clearing and counting again. The method can also count the state of the transmission mechanism in the preset time period by setting the zero clearing time, so that the accuracy of judging whether the torque is abnormal is improved.
In the first embodiment, the output torque of each torque output shaft is obtained; judging whether the output torque meets a preset torque abnormal condition or not according to a preset reference torque value; and when the output torque meets the preset torque abnormal condition, judging that the transmission mechanism is in a torque abnormal state. According to the embodiment, the output torque fed back by each torque output shaft is judged according to the preset abnormal condition, so that whether the transmission mechanism is in the torque abnormal state or not is determined, the torque state is automatically identified, the response speed is higher compared with that of manual identification, the potential safety hazard of a multi-shaft transmission system is favorably found, and the safety is improved.
Referring to fig. 3, fig. 3 is a schematic flow chart of a torque detection method of a transmission mechanism according to a second embodiment of the present invention, and the torque detection method of the transmission mechanism according to the second embodiment of the present invention is provided based on the first embodiment.
In the second embodiment, the preset reference torque value includes a torque lower limit value, and the step S20 may include:
step S201: and comparing the output torque with the torque lower limit value to obtain a comparison result.
The torque lower limit value is used to limit the output torque of each torque output shaft, and if the output torque is lower than the torque lower limit value, it indicates that the transmission mechanism is in an abnormal state. The lower torque limit value may be determined by referring to a preset torque interval in the first embodiment, for example, taking the minimum value of the torque interval as the lower torque limit value, or taking the minimum value of the torque interval as the lower torque limit value after being adjusted.
In the present embodiment, before step S10, to obtain the torque lower limit value more accurately, the method further includes: acquiring a first moment when the transmission mechanism is in an idle state and a second moment when the transmission mechanism is in a load state; and taking the average value of the first moment and the second moment as a moment lower limit value.
It should be noted that the no-load state refers to that each torque output shaft is not connected with a load, for example, each torque output shaft may be disconnected from the transmission shaft, so that each torque output shaft is in the no-load state; accordingly, the torque output shafts can be connected to the drive shaft, so that the respective torque output shafts are in a loaded state.
During specific implementation, a first torque is obtained by measuring the output torque of each torque output shaft in an unloaded state, and a second torque is obtained by measuring the output torque of each torque output shaft in a loaded state. In order to further enable the measured torque to better measure the state of the transmission mechanism, when the first torque is measured, the torque values of the torque output shafts in different rotating speeds and directions can be measured, and then the average value of the torque values is used as the first torque. When the second moment is measured, the moment values of the stable motion of each moment output shaft in the forward direction and the reverse direction can be measured, and then the minimum value of the moment values is used as the second moment.
The torque lower limit values for the respective torque output shafts may be different or the same. That is, when the comparison is performed, the output torque corresponding to each torque output shaft is compared with the corresponding torque lower limit value, or the output torque corresponding to each torque output shaft is compared with the same torque lower limit value. The specific comparison method may be set according to the user requirement, and this embodiment is not limited thereto.
Step S202: and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result.
It can be understood that if the comparison result shows that the output torque is smaller than the torque lower limit value, it indicates that the transmission mechanism may be in a disconnected state; otherwise, if the comparison result shows that the output torque is greater than or equal to the torque lower limit value, the transmission mechanism is in a normal state.
If any torque in the output torques is smaller than the torque lower limit value, the comparison result can be judged to be that the output torque is smaller than the torque lower limit value. Meanwhile, in order to improve the accuracy of the determination, a corresponding error value may be further set, and when the output torque is smaller than the torque lower limit value, if the difference between the output torque and the torque lower limit value is smaller than the error value, it may be determined that the comparison result is not that the output torque is smaller than the torque lower limit value.
In the second embodiment, the output torque is compared with the torque lower limit value to obtain a comparison result; and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result. The embodiment can determine whether the transmission mechanism is in the disconnected state or not through the lower limit value of the torque, and the accuracy of torque judgment is improved.
Referring to fig. 4, fig. 4 is a schematic flow chart of a torque detection method of a transmission mechanism according to a third embodiment of the present invention, and the torque detection method of the transmission mechanism according to the third embodiment of the present invention is proposed based on the first embodiment and the second embodiment.
In the third embodiment, the preset reference torque value includes a torque upper limit value, and the step S20 may further include:
step S203: and comparing the output torque with the torque upper limit value to obtain a comparison result.
It should be noted that the present embodiment may be used together with the second embodiment to determine whether the output torque satisfies the preset torque abnormality condition, and when the present embodiment and/or the second embodiment determines whether the output torque satisfies the preset torque abnormality condition, it is determined that the transmission mechanism is in the torque abnormality state, that is, step S203 may be executed after step S202 in the second embodiment, or step S201 in the second embodiment may be executed after step S204 in the present embodiment. Of course, the present embodiment may also be implemented separately for determining whether the output torque satisfies the preset torque abnormality condition. For convenience of explanation, the following description will be given by taking a single embodiment as an example.
The torque upper limit value is used for limiting the output torque of each torque output shaft, and if the output torque is higher than the torque upper limit value, the transmission mechanism is in an abnormal state. The torque upper limit value may be determined by referring to a preset torque interval in the first embodiment, for example, taking the maximum value of the torque interval as the torque upper limit value, or taking the maximum value of the torque interval as the torque upper limit value after being adjusted. Of course, the torque upper limit value may also be set according to the user requirement, and this embodiment is not limited to this.
In a specific implementation, the torque upper limit values corresponding to the torque output shafts may be different or the same. When the comparison is carried out, the output torque corresponding to each torque output shaft is respectively compared with the corresponding torque upper limit value, or the output torque corresponding to each torque output shaft is compared with the same torque upper limit value. The specific comparison method may be set according to the user requirement, and this embodiment is not limited thereto.
Step S204: and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result.
It can be understood that if the comparison result shows that the output torque is greater than the torque upper limit value, it indicates that the transmission mechanism may be in an overrun state; otherwise, if the comparison result shows that the output torque is smaller than or equal to the torque upper limit value, the transmission mechanism is in a normal state.
If any torque in the output torques is greater than the torque upper limit value, the comparison result can be judged that the output torque is greater than the torque upper limit value. Meanwhile, in order to improve the accuracy of the determination, a corresponding error value may be further set, and when the output torque is greater than the torque upper limit value, if the difference between the output torque and the torque upper limit value is smaller than the error value, it may be determined that the comparison result is not that the output torque is greater than the torque upper limit value, which may specifically refer to the first embodiment or the second embodiment, which is not described herein again.
In addition, in order to further improve the accuracy, in step S204, when the output torque is less than or equal to the torque upper limit value, it may be determined that the output torque does not satisfy the preset torque abnormality condition; when the output torque is larger than the torque upper limit value, determining the operation time of the transmission mechanism; and when the running time is longer than the preset time, judging that the output torque meets the preset torque abnormal condition.
It should be noted that, because the torque of the transmission mechanism fluctuates in the operation process, to avoid the misjudgment, the time that the transmission mechanism is in the overrun state may be judged, and if the transmission mechanism is in the overrun state for a long time, the risk that the transmission mechanism is damaged is higher. The preset time may be set according to the user requirement, which is not limited in this embodiment.
In the third embodiment, the output torque is compared with the torque upper limit value to obtain a comparison result; and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result. The embodiment can determine whether the transmission mechanism is in the overrun state or not through the torque upper limit value, and the accuracy of torque judgment is improved.
Referring to fig. 5, fig. 5 is a schematic flow chart of a fourth embodiment of the torque detection method of the transmission mechanism of the present invention, and the fourth embodiment of the torque detection method of the transmission mechanism of the present invention is proposed based on the first embodiment, the second embodiment and the third embodiment.
In the fourth embodiment, the preset reference torque value includes a torque deviation value, and the step S20 may further include:
step S205: and determining the torque difference value between the torque output shafts on the same side in the transmission mechanism according to the output torque.
It should be noted that the present embodiment may be used together with the second embodiment and the third embodiment to determine whether the output torque satisfies the preset torque abnormality condition, and when the present embodiment and/or the second embodiment and/or the third embodiment determines whether the output torque satisfies the preset torque abnormality condition, it determines that the transmission mechanism is in the torque abnormality state. The precedence order of this embodiment, the second embodiment and the third embodiment may be combined as desired, for example, step S205 may be executed after step S204 in the second embodiment, or step S201 in the second embodiment may be executed after step S207 in this embodiment. Of course, the present embodiment may also be implemented separately for determining whether the output torque satisfies the preset torque abnormality condition. For convenience of explanation, the following description will be given by taking a single embodiment as an example.
In the multi-shaft transmission mechanism, the output torque difference between the torque output shafts on the same side is smaller, and if any torque output shaft is abnormal, the output torque difference between the other torque output shafts on the same side is increased, so that whether the torque output shafts are abnormal or not can be determined by judging the torque difference between the torque output shafts on the same side. The moment deviation value may be set according to a user requirement, which is not limited in this embodiment.
Step S206: and comparing the moment difference value with the moment deviation value to obtain a comparison result.
In a specific implementation, the torque deviation values corresponding to the torque output shafts on different sides may be different or the same. Namely, when the comparison is carried out, the torque difference values corresponding to the torque output shafts on different sides are respectively compared with the corresponding torque deviation values, or the torque difference values corresponding to the torque output shafts on different sides are compared with the same force torque deviation value. The specific comparison method may be set according to the user requirement, and this embodiment is not limited thereto.
Step S207: and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result.
It can be understood that if the comparison result is that the torque difference value is greater than the torque deviation value, it indicates that the transmission mechanism may be in an overrun state; otherwise, if the torque difference value is smaller than or equal to the torque deviation value, the transmission mechanism is in a normal state. Meanwhile, in order to improve the accuracy of the judgment, a corresponding error value can be set, and when the torque difference value is larger than the torque deviation value, if the difference value between the torque difference value and the torque deviation value is smaller than the error value, the comparison result is judged that the output torque is not larger than the torque upper limit value. Specifically, reference may be made to the first embodiment, the second embodiment or the third embodiment, and this implementation is not described herein in detail.
In a fourth embodiment, the torque difference between torque output shafts on the same side in the transmission mechanism is determined according to the output torque; comparing the moment difference value with the moment deviation value to obtain a comparison result; and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result. The embodiment can determine whether the torque output shaft on one side of the transmission mechanism is in an abnormal state or not through the torque deviation value, and the accuracy of torque judgment is improved.
In addition, an embodiment of the present invention further provides a storage medium, where a transmission torque detection program is stored on the storage medium, and the transmission torque detection program, when executed by a processor, implements the steps of the transmission torque detection method described above.
Since the storage medium may adopt the technical solutions of all the embodiments, at least the beneficial effects brought by the technical solutions of the embodiments are achieved, and are not described in detail herein.
In addition, referring to fig. 6, fig. 6 is a structural block diagram of a first embodiment of the transmission mechanism torque detection device of the present invention.
In the embodiment, the transmission mechanism comprises a transmission shaft and a plurality of torque output shafts connected with the transmission shaft; the transmission mechanism torque detection device includes:
the obtaining module 100 is configured to obtain output torque of each torque output shaft.
The judging module 200 is configured to judge whether the output torque meets a preset torque abnormality condition according to a preset reference torque value.
The determining module 200 is further configured to determine that the transmission mechanism is in the torque abnormal state when the output torque meets a preset torque abnormal condition.
In the embodiment, the output torque of each torque output shaft is obtained; judging whether the output torque meets a preset torque abnormal condition or not according to a preset reference torque value; and when the output torque meets the preset torque abnormal condition, judging that the transmission mechanism is in a torque abnormal state. According to the embodiment, the output torque fed back by each torque output shaft is judged according to the preset abnormal condition, so that whether the transmission mechanism is in the torque abnormal state or not is determined, the torque state is automatically identified, the response speed is higher compared with that of manual identification, the potential safety hazard of a multi-shaft transmission system is favorably found, and the safety is improved.
In one implementation of the present invention, the preset reference torque value includes a torque lower limit value; the judging module 200 is further configured to compare the output torque with a torque lower limit value to obtain a comparison result; and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result.
In one implementation of the present invention, the obtaining module 100 is further configured to obtain a first torque when the transmission mechanism is in an idle state, and a second torque when the transmission mechanism is in a loaded state; and taking the average value of the first moment and the second moment as a moment lower limit value.
In one implementation of the present invention, the preset reference torque value includes a torque upper limit value; the judging module 200 is further configured to compare the output torque with the torque upper limit value to obtain a comparison result; and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result.
In one implementation of the present invention, the determining module 200 is further configured to determine that the output torque does not satisfy the preset torque abnormality condition when the output torque is less than or equal to the torque upper limit value; when the output torque is larger than the torque upper limit value, determining the operation time of the transmission mechanism; and when the running time is longer than the preset time, judging that the output torque meets the preset torque abnormal condition.
In one embodiment of the present invention, the predetermined reference torque value includes a torque deviation value; the judging module 200 is further configured to determine a torque difference between torque output shafts on the same side in the transmission mechanism according to the output torque; comparing the moment difference value with the moment deviation value to obtain a comparison result; and judging whether the output torque meets the preset torque abnormal condition or not according to the comparison result.
In one implementation of the present invention, the determining module 200 is further configured to count the number of times of torque abnormality of the transmission mechanism when the output torque meets a preset torque abnormality condition; and when the moment abnormal times reach the preset times, judging that the transmission mechanism is in the moment abnormal state.
Other embodiments or specific implementation manners of the torque detection device of the transmission mechanism of the present invention may refer to the above method embodiments, so that at least the beneficial effects brought by the technical solutions of the above embodiments are achieved, and details are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A torque detection method for a transmission mechanism is characterized in that the transmission mechanism comprises a transmission shaft and a plurality of torque output shafts connected with the transmission shaft;
the torque detection method of the transmission mechanism comprises the following steps:
acquiring the output torque of each torque output shaft;
judging whether the output torque meets a preset torque abnormal condition or not according to a preset reference torque value;
and when the output torque meets the preset torque abnormal condition, judging that the transmission mechanism is in a torque abnormal state.
2. The transmission torque detection method of claim 1, wherein the preset reference torque value includes a torque lower limit value;
the step of judging whether the output torque meets the preset torque abnormal condition or not according to the preset reference torque value comprises the following steps:
comparing the output torque with the torque lower limit value to obtain a comparison result;
and judging whether the output torque meets a preset torque abnormal condition or not according to the comparison result.
3. The method for detecting torque in a transmission of claim 2, wherein prior to obtaining the output torque of each torque output shaft, further comprising:
acquiring a first moment when the transmission mechanism is in an unloaded state and a second moment when the transmission mechanism is in a loaded state;
and taking the average value of the first moment and the second moment as a moment lower limit value.
4. The transmission torque detection method of claim 1, wherein the preset reference torque value includes a torque upper limit value;
the step of judging whether the output torque meets the preset torque abnormal condition or not according to the preset reference torque value comprises the following steps:
comparing the output torque with the torque upper limit value to obtain a comparison result;
and judging whether the output torque meets a preset torque abnormal condition or not according to the comparison result.
5. The torque detection method of the transmission mechanism according to claim 4, wherein the determining whether the output torque satisfies a predetermined torque abnormality condition according to the comparison result includes:
when the output torque is smaller than or equal to the torque upper limit value, judging that the output torque does not meet a preset torque abnormal condition;
when the output torque is larger than the torque upper limit value, determining the running time of the transmission mechanism;
and when the running time is greater than the preset time, judging that the output torque meets the abnormal condition of the preset torque.
6. The transmission torque detection method of claim 1, wherein the preset reference torque value includes a torque bias value;
the step of judging whether the output torque meets the preset torque abnormal condition or not according to the preset reference torque value comprises the following steps:
determining a torque difference value between torque output shafts on the same side in the transmission mechanism according to the output torque;
comparing the moment difference value with the moment deviation value to obtain a comparison result;
and judging whether the output torque meets a preset torque abnormal condition or not according to the comparison result.
7. The transmission torque detection method according to any one of claims 1 to 6, wherein determining that the transmission is in a torque abnormality state when the output torque satisfies the preset torque abnormality condition includes:
when the output torque meets the preset torque abnormity condition, counting the torque abnormity times of the transmission mechanism;
and when the moment abnormal times reach preset times, judging that the transmission mechanism is in a moment abnormal state.
8. A torque detection device of a transmission mechanism is characterized in that the transmission mechanism comprises a transmission shaft and a plurality of torque output shafts connected with the transmission shaft; the transmission mechanism torque detection device includes:
the acquisition module is used for acquiring the output torque of each torque output shaft;
the judging module is used for judging whether the output torque meets a preset torque abnormal condition or not according to a preset reference torque value;
the judging module is further used for judging that the transmission mechanism is in a torque abnormal state when the output torque meets the preset torque abnormal condition.
9. A transmission mechanism torque detection apparatus characterized by comprising: a memory, a processor, and a transmission torque detection program stored on the memory and executable on the processor, the transmission torque detection program when executed by the processor implementing the transmission torque detection method of any one of claims 1 to 7.
10. A storage medium having a transmission torque detection program stored thereon, the transmission torque detection program, when executed by a processor, implementing the transmission torque detection method according to any one of claims 1 to 7.
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