CN117450226A - Self-monitoring planetary roller screw pair and monitoring method thereof - Google Patents
Self-monitoring planetary roller screw pair and monitoring method thereof Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 88
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- 230000000694 effects Effects 0.000 description 4
- 230000001050 lubricating effect Effects 0.000 description 4
- 239000004519 grease Substances 0.000 description 3
- 230000007774 longterm Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
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- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000009529 body temperature measurement Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
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- 238000005461 lubrication Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
- F16H25/2252—Planetary rollers between nut and screw
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention relates to the field of transmission devices, in particular to a self-monitoring planetary roller screw pair and a monitoring method thereof. The invention adopts an embedded structure, and the sensing elements of the pre-tightening force monitoring module, the temperature monitoring module and the vibration monitoring module are embedded into the planetary roller screw pair, so that the overall size of the planetary roller screw pair is not increased, the sensing elements are more close to a test source, the influence of environmental factors on a monitoring value is reduced, and the monitoring precision is improved; the planet roller screw pair adopts the rotating external pre-tightening nut to adjust the pre-tightening force of the planet roller screw pair, so that the pre-tightening force of the planet roller screw pair is uniformly distributed in the circumferential direction, the pre-tightening force is easy to adjust, and the problems that the pre-tightening force is unevenly distributed and needs to be adjusted in multiple steps due to adoption of multi-bolt adjustment are avoided.
Description
Technical Field
The invention relates to the field of transmission devices, in particular to a self-monitoring planetary roller screw pair and a monitoring method thereof.
Background
The planetary roller screw pair is widely applied to national strategic emerging industries such as aerospace, weaponry, new energy equipment and the like due to the advantages of high bearing, high reliability, high response speed and the like. As a core component for high-end assembly, once the performance of the planetary roller screw pair is degraded or fails, the service performance of the high-end equipment is greatly influenced, and even the personal safety is threatened, so that great economic loss is caused.
Due to the characteristics of multiple bodies, multiple pairs and multiple points of contact of the planetary roller screw pair and the existence of manufacturing/assembly errors, a certain axial clearance exists on the roller-nut side of the planetary roller screw pair, so that the transmission precision and the axial rigidity of the planetary roller screw pair are reduced. In order to solve the above problems, patent CN113609616B, et al, in "a design method of a double-nut planetary roller screw pre-tightening part" and "research on a pin type double-nut planetary roller screw pre-tightening mechanism" in literature, propose a method of pre-tightening by a double-nut structure, placing an elastic element between two nuts, and adjusting a plurality of pre-tightening bolts uniformly distributed in the circumferential direction to achieve the purpose of eliminating the axial gap of a planetary roller screw pair and improving the axial rigidity. Although the method can pre-tighten the planetary roller screw pair, the method cannot accurately control the pre-tightening force, and the pre-tightening force is easy to be unevenly distributed due to the fact that a plurality of pre-tightening bolts are screwed, so that extra torque is generated, and the performance of the planetary roller screw pair is affected. In addition, after the planetary roller screw pair runs for a period of time, the nut pretightening force can be reduced due to the fact that rollers, nuts and the like deform, threads are worn, and the like, however, the pretightening force of the nut pretightening device cannot be monitored in real time. When the pretightening force is smaller, the preset clearance value and the stiffness value cannot be achieved; when the pretightening force is larger, friction and abrasion are increased, and the service life is shortened.
The planetary roller screw pair has the characteristics of uneven load distribution, so that the contact force of front teeth of the roller is larger, and the contact force of rear teeth of the roller is smaller, so that the temperature of the front teeth of the roller is higher in the long-term operation process, and particularly under the heavy-load high-speed working condition. When the temperature is too high, the lubricating grease in the planetary roller screw pair can be carbonized and blackened, and the lubricating effect is greatly reduced. In addition, the materials of the screw, the roller and the nut of the planetary roller screw pair are usually bearing steel, the working temperature of the bearing steel is not higher than 100 ℃, and when the internal temperature of the planetary roller screw pair exceeds the rated temperature, contact fatigue failure is caused by the fact that the contact surfaces of the screw-roller side thread raceways and the roller-nut side thread raceways are continuously subjected to alternating stress. In order to monitor the temperature change of the planetary roller screw pair, the document Thermal characteristics analysis and experimental study of the planetary roller screw mechanism discloses that the temperature change of the nut at different time points is acquired by adopting an external infrared thermal imager and a thermal resistance temperature sensor. Although the mode can accurately record the temperature value of the planetary roller screw pair, the mode occupies a large space and has scattered parts, and is mainly used for the performance test stage of the planetary roller screw pair.
Since the planetary roller screw pair usually exists in the form of mechanical single redundancy, the stability and reliability of the planetary roller screw pair determine the reliability of the whole mechanical system, so that the real-time state of the planetary roller screw pair needs to be monitored and fault diagnosed. Niu Maodong et al propose a planetary roller screw pair fault diagnosis model and a fault monitoring method in literature 'planetary roller screw fault detection adopting a single classification method' and patent CN116561684A 'as a planetary roller screw fault diagnosis model construction method based on federal learning and lightweight models', and vibration signals are acquired through an external acceleration sensor on a nut. Although the method can diagnose the faults of lubrication failure, roller tooth breakage and the like of the planetary roller screw pair by collecting vibration signals, the method for detecting pretightening force attenuation, excessive temperature rise and the like is lacked, and the whole structure is scattered.
In order to realize performance monitoring of the planetary roller screw pair, the prior art adopts an external structure, although the external structure does not damage the structural integrity of the planetary roller screw pair and does not influence the performance index of the planetary roller screw pair, a sensor and the like are arranged outside the periphery of the planetary roller screw pair, so that the overall size of the planetary roller screw pair can be greatly influenced, a sensing element is far away from a measuring signal source, and measured data can be influenced by environmental noise to a certain extent, so that data processing is more complex and even measuring accuracy is influenced.
Therefore, it is necessary to design a planetary roller screw pair with an intelligent monitoring function, which adopts a built-in structure form, embeds various sensing elements such as a temperature sensor, an acceleration sensor and the like into the planetary roller screw pair, and does not influence the performance of the planetary roller screw pair, so that the sensing elements are closer to a signal source during measurement.
Disclosure of Invention
When the existing planetary roller screw pair with pre-tightening operates under extreme working conditions such as high speed, heavy load and the like for a long time, the pre-tightening force of the planetary roller screw pair is gradually reduced, so that partial performance of the planetary roller screw pair is reduced, as the planetary roller screw pair has uneven load distribution, partial roller thread contact stress of the planetary roller screw pair is larger, the internal temperature of the planetary roller screw pair is higher, the planetary roller screw thread is enabled to be invalid such as gluing or pitting, and when the planetary roller screw pair fails, the vibration of the planetary roller screw pair is aggravated. The invention aims to provide a self-monitoring planetary roller screw pair capable of monitoring temperature rise, pretightening force and vibration in real time and a monitoring method thereof.
In order to solve the technical problems, the present invention firstly provides a self-monitoring planetary roller screw pair, comprising:
The planetary roller screw pair comprises a screw rod, two annular gears, rollers, a lower nut, an outer pre-tightening nut, an upper nut, two retainers, a pre-tightening spring, an oil baffle plate, an integrated circuit board and an oil baffle end cover; the lower nut and the upper nut are sleeved on the outer side of the screw rod, the upper nut is positioned above the lower nut, the upper nut, the lower nut and the screw rod are coaxially arranged, and the rollers are uniformly distributed along the circumference of the screw rod and are positioned between the screw rod and the upper nut and between the roller rod and the lower nut; the two retainers are respectively arranged on the optical axis sections at the two ends of the roller and used for maintaining the positions of the roller in the moving process; the lower nut comprises an auxiliary boss, a first internal thread, a second external shaft section, a first external shaft section, a lower step and a lower assembly section, wherein the auxiliary boss is arranged at the upper end of the boss; the outer pre-tightening nut comprises an inner thread section positioned on the upper side of the inner wall, a clearance section positioned on the middle upper part of the inner wall, a second inner shaft section positioned on the middle lower part of the inner wall and a first inner shaft section positioned on the lower side of the inner wall; the upper nut comprises an upper mounting section positioned on the upper side of the inner wall, an upper step positioned in the middle of the inner wall, an external thread section positioned on the lower side of the outer wall, a second internal thread positioned on the lower side of the inner wall and an upper assembly section positioned on the inner wall and positioned between the upper mounting section and the upper step; the two inner gear rings are respectively arranged in the lower assembly section and the upper assembly section; the pre-tightening spring is arranged on the outer side of the auxiliary boss of the lower nut and is in contact with the lower end face of the upper nut, and the pre-tightening spring and the screw rod are coaxially arranged; the outer pre-tightening nut is coaxially arranged at the outer sides of the lower nut and the upper nut, an inner thread section of the outer pre-tightening nut is in threaded engagement with an outer thread section of the upper nut, and a second inner shaft section and a first inner shaft section of the outer pre-tightening nut are respectively matched with a second outer shaft section and a first outer shaft section of the lower nut; the aim of adjusting the pretightening force of the planetary roller screw pair can be achieved by rotating the outer pretightening nut, and the pretightening force is uniform in the circumferential direction, so that the axial clearance of the planetary roller screw pair is reduced, and the transmission precision and the rigidity are improved; the oil baffle is arranged in the upper mounting section of the upper nut, an annular integrated circuit board is arranged at the upper end of the oil baffle, an oil baffle end cover is arranged above the integrated circuit board, and lubricating grease is prevented from polluting and damaging the integrated circuit board through the oil baffle and the oil baffle end cover.
The pre-tightening force monitoring module comprises a hollow piezoelectric ceramic, wherein the piezoelectric ceramic is of an annular structure, is installed on the inner side of an auxiliary boss of the lower nut, the initial height of the piezoelectric ceramic is the same as the height of the pre-tightening spring, and the inner diameter of the piezoelectric ceramic is larger than the large diameter of the first internal thread of the lower nut. Based on the positive piezoelectric effect of the piezoelectric ceramics, the pre-tightening force monitoring module not only can detect whether the pre-tightening force reaches a preset value after the planetary roller screw pair is assembled, but also can change the voltage value when the pre-tightening force of the planetary roller screw pair changes. When the voltage value of the pretightening force monitoring module is reduced, the pretightening force of the planetary roller screw pair is also reduced; when the voltage value is reduced to the threshold value, the external pre-tightening nut is required to be re-screwed, so that the voltage value corresponding to the preset pre-tightening force is reached.
And the temperature monitoring module is arranged on the inner side of the lower step of the lower nut and the inner side of the upper step of the upper nut and is used for monitoring the temperature change of the contact part of the planetary roller screw pair in real time.
And the vibration monitoring module is arranged on the inner side of the upper step of the upper nut and is used for simultaneously detecting the vibration conditions of the planetary roller screw pair in the X, Y direction and the Z direction.
The wireless transmission module is integrated in the integrated circuit board, and transmits the pretightening force condition, the temperature change and the vibration condition of the planetary roller screw pair to the upper computer in real time in a wireless transmission mode, so that an operator can judge whether the planetary roller screw pair fails or not according to the real-time monitoring values of the pretightening force condition, the temperature change and the vibration condition, and control of the whole life cycle of the planetary roller screw pair is realized.
As some embodiments of the invention, the temperature monitoring module comprises a first temperature sensor and a second temperature sensor, wherein the first temperature sensor is arranged on the inner side of a lower step of the lower nut and is used for monitoring the change of the temperature of the lower end of the contact part of the planetary roller screw pair in real time; the second temperature sensor is arranged on the inner side of the upper step of the upper nut, and is used for monitoring the change of the temperature of the upper end of the contact part of the planetary roller screw pair in real time. When the planetary roller screw pair is in operation, partial screw thread contact stress is larger due to uneven contact force distribution, so that the internal temperature of the planetary roller screw pair is increased, and the internal temperature change of the planetary roller screw pair can be tracked in real time through the first temperature sensor and the second temperature sensor; and when the temperature value exceeds a temperature threshold value, indicating that the planetary roller screw pair is stuck or excessively worn and failed. The temperature monitoring module is arranged inside the planetary roller screw pair, so that the temperature monitoring module is closest to the test source to the greatest extent, the influence of environmental factors is avoided as much as possible, the accuracy of temperature measurement is improved, and the overall size of the planetary roller screw pair is not increased.
As some embodiments of the present invention, the vibration monitoring module includes a three-way acceleration sensor mounted inside an upper step of the upper nut. The vibration conditions of the planetary roller screw pair in the three directions of X, Y and Z are detected simultaneously through the three-way acceleration sensor, and the integral vibration condition of the planetary roller screw pair is judged according to the vibration acceleration of the planetary roller screw pair in the three directions, so that the real-time monitoring of the vibration of the planetary roller screw pair is realized.
As some embodiments of the invention, the number of rollers is ten.
As some embodiments of the invention, the pre-tension spring has an inner diameter that is the same as an outer diameter of the auxiliary boss.
As some embodiments of the present invention, the outer diameter of the piezoelectric ceramic is the same as the inner diameter of the auxiliary boss.
As some embodiments of the present invention, the first temperature sensor and the second temperature sensor are magnetically mounted, and are respectively attracted to the inner side of the lower step of the lower nut and the inner side of the upper step of the upper nut by magnetic force.
The three-way acceleration sensor and the second temperature sensor are arranged oppositely, namely, the three-way acceleration sensor and the second temperature sensor are respectively positioned at two sides of the upper ladder, so that the three-way acceleration sensor and the second temperature sensor are mutually spaced, and mutual interference is avoided.
As the preference of some embodiments of the invention, the piezoelectric ceramic is NAC2115, which is hollow and highly linear, and can be used at high temperature (limit temperature is not lower than 100 ℃); the first temperature sensor and the second temperature sensor are KYW-CX1, and the temperature range of the first temperature sensor and the second temperature sensor is covered at-50 ℃ to 200 ℃; the three-way acceleration sensor is selected from Dytran 3243, and the frequency response range is 2 Hz-7000 Hz.
The embodiment of the invention also provides a monitoring method of the self-monitoring planetary roller screw pair, which adopts any one of the self-monitoring planetary roller screw pair and comprises the following specific steps:
s1, presetting a voltage threshold I, a voltage threshold II, a temperature threshold I and a temperature threshold II in an upper computer; the voltage threshold I is an ideal voltage value corresponding to the piezoelectric ceramic when the minimum pretightening force requirement of the planetary roller screw pair is met, the voltage threshold II is a voltage value corresponding to the piezoelectric ceramic when the planetary roller screw pair is under the ideal pretightening force, the temperature threshold I is a maximum temperature value when the planetary roller screw pair works normally, and the temperature threshold II is a temperature value when the planetary roller screw pair is jammed.
S2, acquiring a temperature value, a voltage value and an acceleration value of the planetary roller screw pair in real time through a first temperature sensor, a second temperature sensor, piezoelectric ceramics and a three-way acceleration sensor which are arranged in the planetary roller screw pair, and transmitting the acquired temperature value, voltage value and acceleration value to an upper computer in real time.
S3, comparing the acquired temperature value with a temperature threshold II:
if the acquired temperature value exceeds a temperature threshold value II, judging the temperature fault II, displaying the temperature fault II by an upper computer and sending out an alarm signal, and stopping the operation and replacing the planetary roller screw pair at the moment; if the acquired temperature value is lower than the temperature threshold value II, comparing the acquired temperature value with the temperature threshold value I:
if the acquired temperature value exceeds a temperature threshold value I, judging the temperature fault I, displaying the temperature fault I by an upper computer, and sending out an alarm signal, wherein the planetary roller screw pair is required to stop working and be used after the temperature is reduced; if the acquired temperature value is lower than the temperature threshold value I, the planetary roller screw pair is in an operating state without temperature faults;
the temperature fault II indicates that clamping stagnation occurs in the planetary roller screw pair, and the temperature fault I indicates that the temperature in the planetary roller screw pair is too high.
S4, comparing the acquired voltage value with a voltage threshold II:
if the voltage value acquired for the first time or the voltage value acquired for the first time after the re-tightening exceeds a voltage threshold II or is lower than a voltage threshold I, judging that the initial pre-tightening fault is generated, displaying the initial pre-tightening fault by an upper computer and sending an alarm signal, and stopping the operation of the planetary roller screw pair at the moment and enabling the planetary roller screw pair to reach a given pre-tightening parameter value by adjusting an outer pre-tightening nut; if the voltage value acquired for the first time is not equal to the voltage threshold value I, judging that the voltage value acquired for the first time is equal to the voltage threshold value I, and displaying the pre-tightening fault I by the upper computer and sending out an alarm signal, wherein at the moment, the planetary roller screw pair needs to stop working and reaches a given pre-tightening parameter value by adjusting an external pre-tightening nut; if the acquired voltage value exceeds the voltage threshold I but does not exceed the voltage threshold II, the planetary roller screw pair is in an operating state without pretightening force fault;
The initial pre-tightening fault indicates that the initial pre-tightening force of the planetary roller screw pair does not reach a given pre-tightening parameter value, and the pre-tightening fault I indicates that the pre-tightening force of the planetary roller screw pair fails.
S5, carrying out Kalman filtering on the acquired acceleration signals to remove the influence of environmental factors; constructing a fault diagnosis model-hidden Markov model of the planetary roller screw pair, and extracting state information of the planetary roller screw pair from the acquired acceleration signals through the model; the Viterbi algorithm is adopted to effectively identify the sequence to be detected, the likelihood probability of a hidden Markov model under different state information is calculated respectively, and the state of the current planetary roller screw pair is judged based on the maximum likelihood probability value; if the identification result is within the functional failure point of the planetary roller screw pair, indicating that the planetary roller screw pair has functional disorder, and displaying the functional failure I by the upper computer and sending out an alarm signal; if the identification result is beyond the functional failure point of the planetary roller screw pair, indicating that the planetary roller screw pair is in an operation state without functional failure;
the Kalman filtering is a high-efficiency autoregressive filtering data processing technology, and can optimally estimate the system state of a series of measurement data containing noise to realize the filtering of environmental noise; the hidden Markov model is a probability model about time sequence for describing the Markov process containing unknown parameters, and the observation result at any moment only depends on the state at the moment; the Viterbi algorithm is to solve the problem of prediction of the hidden Markov model by using a dynamic programming method, randomly generate a sequence to be detected by using the hidden Markov chain, and solve the most probable hidden state sequence at each moment according to the sequence to be detected as output.
And S6, waiting for the next state monitoring to start when no temperature fault, pre-tightening fault and functional fault exist.
And S7, realizing self-monitoring and fault alarming of the planetary roller screw pair through the circulating steps S1 to S6.
As some embodiments of the present invention, steps S3-S5 are not required to be sequential, and can be performed simultaneously or in steps.
As some embodiments of the invention, after the upper computer sends out the alarm signal, the personnel can be reminded by one or more of means including but not limited to an audible and visual alarm, an upper computer popup window, vibration, short message sending, mail sending and the like.
Compared with the prior art, the invention has the beneficial effects that:
(1) In order to not increase the overall size of the planetary roller screw pair, the invention adopts an embedded structure, the sensing elements of the pretightening force monitoring module, the temperature monitoring module and the vibration monitoring module are embedded into the planetary roller screw pair, and the sensing elements are more close to a test source, thereby reducing the influence of environmental factors on a monitoring value and improving the monitoring precision.
(2) According to the invention, the external pre-tightening nut is added, and the pre-tightening force of the planetary roller screw pair is adjusted by rotating the external pre-tightening nut, so that the pre-tightening force of the planetary roller screw pair is uniformly distributed in the circumferential direction, the pre-tightening force is easy to adjust, and the problems that the pre-tightening force is unevenly distributed and needs to be adjusted in multiple steps due to adoption of multiple-bolt adjustment are avoided.
(3) According to the invention, the piezoelectric ceramic sensor is arranged in the planetary roller screw pair, the piezoelectric ceramic positive piezoelectric effect is utilized, and whether the initial pre-tightening force reaches the standard can be judged by checking the voltage value, so that the problems of shortened service life of the planetary roller screw pair or reduced precision caused by too large pre-tightening force are avoided; and whether the pre-tightening fails or not can be judged by monitoring the voltage in real time so as to re-tighten in time, and long-term high-performance operation of the planetary roller screw pair is ensured.
(4) According to the invention, the built-in temperature sensor is directly close to the temperature source, so that the problems of large space occupation and scattered parts are avoided; in addition, through real-time monitoring temperature, can avoid the too high problem that leads to contact surface lubrication failure of temperature to improve planetary roller screw pair's life.
(5) According to the invention, the vibration monitoring module is integrated in the planetary roller screw pair, the three-way acceleration sensor in the vibration monitoring module is used for monitoring the vibration of the planetary roller screw pair X, Y and the Z three-way direction, and whether the planetary roller screw pair operates normally is judged according to the vibration acceleration frequency spectrum value.
(6) The invention has compact structure, high integration and intelligent degree, can monitor the temperature rise, pretightening force, vibration and other key performances of the planetary roller screw pair in real time, can diagnose and alarm faults of the planetary roller screw pair, is convenient for a worker to maintain the planetary roller screw pair in time, ensures the reliability of the planetary roller screw pair, and further ensures the long-term use of high-end equipment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for the description of the embodiments or the prior art will be briefly described, and it is apparent that the drawings in the following description are only one embodiment of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic cross-sectional view of a self-monitoring planetary roller screw assembly according to an embodiment of the present invention.
Fig. 2 is a schematic cross-sectional view of a nut according to an embodiment of the present invention.
Fig. 3 is a schematic cross-sectional view of a nut according to an embodiment of the present invention.
Fig. 4 is a schematic cross-sectional view of an embodiment of the present invention.
Fig. 5 is a schematic cross-sectional view of the roller of the present invention.
Fig. 6 is a flow chart of a monitoring method of the self-monitoring planetary roller screw pair according to the embodiment of the invention.
The marks in the drawings are: 11. a screw rod; 12. an inner gear ring; 13. a roller; 13a, optical axis section; 14. a lower nut; 14a, auxiliary bosses; 14b, first internal threads; 14c, a second outer shaft section; 14d, a first outer shaft section; 14e, descending a ladder; 14f, a lower assembly section; 15. an outer pre-tightening nut; 15a, an internal thread segment; 15b, an empty space section; 15c, a second inner shaft section; 15d, a first inner shaft section; 16. a top nut; 16a, upper mounting section; 16b, upper assembly section; 16c, stepping; 16d, an external thread section; 16e, second internal threads; 17. a retainer; 18. a pre-tightening spring; 21. a first temperature sensor; 22. piezoelectric ceramics; 23. a second temperature sensor; 24. an oil baffle plate; 25. an integrated circuit board; 26. an oil retaining end cap; 27. a three-way acceleration sensor.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the present invention easy to understand, the technical solutions in the embodiments of the present invention are clearly and completely described below to further illustrate the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all versions.
Example 1: the present embodiment is a self-monitoring planetary roller screw pair, as shown in fig. 1 to 5, including:
the planetary roller screw pair comprises a screw rod 11, two annular gears 12, rollers 13, a lower nut 14, an outer pre-tightening nut 15, an upper nut 16, two retainers 17, a pre-tightening spring 18, an oil baffle 24, an integrated circuit board 25 and an oil baffle end cover 26; the lower nut 14 and the upper nut 16 are sleeved outside the screw rod 11, the upper nut 16 is positioned above the lower nut 14, the upper nut 16, the lower nut 14 and the screw rod 11 are coaxially arranged, and the rollers 13 are uniformly distributed along the circumference of the screw rod 11 and positioned between the screw rod 11 and the upper nut 16 and between the rollers of the lower nut 14; two retainers 17 are respectively mounted on the optical axis sections 13a at both ends of the roller 13 for retaining the position of the roller 13 during movement; as shown in fig. 3, the lower nut 14 includes an auxiliary boss 14a protruding at an upper end, a first internal thread 14b located at an upper side of the inner wall, a second outer shaft section 14c located at a middle portion of the outer wall, a first outer shaft section 14d located at a lower side of the outer wall, a lower step 14e located at a middle portion of the inner wall, and a lower fitting section 14f located at a lower side of the inner wall; as shown in fig. 4, the outer pretensioning nut 15 includes an internal thread section 15a located on the upper side of the inner wall, a clearance section 15b located on the middle upper portion of the inner wall, a second internal shaft section 15c located on the middle lower portion of the inner wall, and a first internal shaft section 15d located on the lower side of the inner wall; as shown in fig. 2, the upper nut 16 includes an upper mounting section 16a located at an upper side of the inner wall, an upper step 16c located at a middle portion of the inner wall, an external thread section 16d located at a lower side of the outer wall, a second internal thread 16e located at a lower side of the inner wall, and an upper fitting section 16b located at the inner wall and located between the upper mounting section 16a and the upper step 16 c; the two inner gear rings 12 are respectively installed in the lower assembly section 14f and the upper assembly section 16b; the pre-tightening spring 18 is arranged outside the auxiliary boss 14a of the lower nut 14 and is contacted with the lower end surface of the upper nut 16, and the pre-tightening spring 18 is coaxially arranged with the screw rod 11; the outer pre-tightening nut 15 is coaxially installed at the outer sides of the lower nut 14 and the upper nut 16, and an inner thread section 15a of the outer pre-tightening nut 15 is in threaded engagement with an outer thread section 16d of the upper nut 16, and a second inner shaft section 15c and a first inner shaft section 15d of the outer pre-tightening nut 15 are respectively matched with a second outer shaft section 14c and a first outer shaft section 14d of the lower nut 14; the aim of adjusting the pretightening force of the planetary roller screw pair can be achieved by rotating the outer pretightening nut 15, and the pretightening force is uniform in the circumferential direction, so that the axial clearance of the planetary roller screw pair is reduced, and the transmission precision and the rigidity are improved; the oil baffle 24 is arranged in the upper mounting section 16a of the upper nut 16, an annular integrated circuit board 25 is arranged at the upper end of the oil baffle 24, an oil baffle end cover 26 is arranged above the integrated circuit board 25, and the oil baffle 24 and the oil baffle end cover 26 prevent lubricating grease from polluting and damaging the integrated circuit board 25.
The pretension monitoring module comprises a hollow piezoelectric ceramic 22, the piezoelectric ceramic 22 is of an annular structure, the piezoelectric ceramic 22 is installed on the inner side of an auxiliary boss 14a of the lower nut 14, the initial height of the piezoelectric ceramic 22 is the same as the height of the pretension spring 18, and the inner diameter of the piezoelectric ceramic 22 is larger than the large diameter of a first internal thread 14b of the lower nut 14. Based on the positive piezoelectric effect of the piezoelectric ceramic 22, the pre-tightening force monitoring module not only can detect whether the pre-tightening force reaches a preset value after the planetary roller screw pair is assembled, but also can change the voltage value when the pre-tightening force of the planetary roller screw pair changes. When the voltage value of the pretightening force monitoring module is reduced, the pretightening force of the planetary roller screw pair is also reduced; when the voltage value decreases to the threshold value, the outer pre-tightening nut 15 needs to be re-tightened to reach the voltage value corresponding to the preset pre-tightening force.
The temperature monitoring module comprises a first temperature sensor 21 and a second temperature sensor 23, wherein the first temperature sensor 21 is arranged on the inner side of a lower step 14e of the lower nut 14 and is used for monitoring the change of the temperature of the lower end of the contact part of the planetary roller screw pair in real time; the second temperature sensor 23 is installed inside the upper step 16c of the upper nut 16 to monitor the change of the temperature of the upper end of the contact portion of the planetary roller screw pair in real time. When the planetary roller screw pair is in operation, partial screw threads of the planetary roller screw pair are in larger contact stress due to uneven contact force distribution, so that the internal temperature of the planetary roller screw pair is increased, and the internal temperature change of the planetary roller screw pair can be tracked in real time through the first temperature sensor 21 and the second temperature sensor 23; and when the temperature value exceeds a temperature threshold value, indicating that the planetary roller screw pair is stuck or excessively worn and failed. The temperature monitoring module is arranged inside the planetary roller screw pair, so that the temperature monitoring module is closest to the test source to the greatest extent, the influence of environmental factors is avoided as much as possible, the accuracy of temperature measurement is improved, and the overall size of the planetary roller screw pair is not increased.
The vibration monitoring module includes a three-way acceleration sensor 27, and the three-way acceleration sensor 27 is installed inside the upper step 16c of the upper nut 16. The vibration conditions of the planetary roller screw pair in the three directions of X, Y and Z are detected simultaneously through the three-way acceleration sensor 27, and the integral vibration condition of the planetary roller screw pair is judged according to the vibration acceleration of the planetary roller screw pair in the three directions, so that the vibration of the planetary roller screw pair is monitored in real time.
The wireless transmission module is integrated in the integrated circuit board 25, and transmits the pretightening force condition, the temperature change and the vibration condition of the planetary roller screw pair to the upper computer in real time in a wireless transmission mode, so that an operator can judge whether the planetary roller screw pair fails or not according to the pretightening force condition, the temperature change and the vibration condition in real time, and control of the whole life cycle of the planetary roller screw pair is realized.
In the present embodiment, the rollers 13 are ten in total.
The inner diameter of the pretensioning spring 18 is the same as the outer diameter of the auxiliary boss 14a of the lower nut 14.
The outer diameter of the piezoelectric ceramic 22 is the same as the inner diameter of the auxiliary boss 14a of the lower nut 14.
The first temperature sensor 21 and the second temperature sensor 23 are magnetically attached, and magnetically attached to the inner side of the lower step 14e of the lower nut 14 and the inner side of the upper step 16c of the upper nut 16, respectively.
The three-way acceleration sensor 27 is disposed opposite to the mounting position of the second temperature sensor 23, that is, the three-way acceleration sensor 27 and the second temperature sensor 23 are respectively located at both sides of the upper step 16c so as to be spaced apart from each other, thereby avoiding mutual interference.
In the present embodiment, the piezoelectric ceramic 22 is a type NAC2115, which is hollow in structure and highly linear, and can be used at a high temperature (limit temperature is not lower than 100 ℃); the model numbers of the first temperature sensor 21 and the second temperature sensor 23 are KYW-CX1, and the temperature range of the first temperature sensor and the second temperature sensor is covered at-50 ℃ to 200 ℃; the model of the three-way acceleration sensor 27 is Dytran 3243, and the frequency response range is 2 Hz-70000 Hz.
Example 2: the present embodiment is a monitoring method of a self-monitoring planetary roller screw pair, which adopts the self-monitoring planetary roller screw pair of embodiment 1. The specific flow chart of the method is shown in fig. 6, and comprises the following specific steps:
s1, presetting a voltage threshold I, a voltage threshold II, a temperature threshold I and a temperature threshold II in an upper computer; the voltage threshold I is an ideal voltage value corresponding to the piezoelectric ceramic 22 when the minimum pretightening force requirement of the planetary roller screw pair is met, the voltage threshold II is a voltage value corresponding to the piezoelectric ceramic 22 when the planetary roller screw pair is under the ideal pretightening force, the temperature threshold I is a maximum temperature value when the planetary roller screw pair works normally, and the temperature threshold II is a temperature value when the planetary roller screw pair is jammed.
S2, acquiring a temperature value, a voltage value and an acceleration value of the planetary roller screw pair in real time through a first temperature sensor 21, a second temperature sensor 23, a piezoelectric ceramic 22 and a three-way acceleration sensor 27 which are arranged in the planetary roller screw pair, and transmitting the acquired temperature value, voltage value and acceleration value to an upper computer in real time.
S3, comparing the acquired temperature value with a temperature threshold II:
if the acquired temperature value exceeds a temperature threshold value II, judging the temperature fault II, displaying the temperature fault II by an upper computer and sending out an alarm signal, and stopping the operation and replacing the planetary roller screw pair at the moment; if the acquired temperature value is lower than the temperature threshold value II, comparing the acquired temperature value with the temperature threshold value I:
if the acquired temperature value exceeds a temperature threshold value I, judging the temperature fault I, displaying the temperature fault I by an upper computer, and sending out an alarm signal, wherein the planetary roller screw pair is required to stop working and be used after the temperature is reduced; if the acquired temperature value is lower than the temperature threshold value I, the planetary roller screw pair is in an operating state without temperature faults;
the temperature fault II indicates that clamping stagnation occurs in the planetary roller screw pair, and the temperature fault I indicates that the temperature in the planetary roller screw pair is too high.
S4, comparing the acquired voltage value with a voltage threshold II:
if the voltage value acquired for the first time or the voltage value acquired for the first time after the re-tightening exceeds a voltage threshold II or is lower than a voltage threshold I, an initial pre-tightening fault is judged, an upper computer displays the initial pre-tightening fault and sends out an alarm signal, and at the moment, the planetary roller screw pair needs to stop working and reaches a given pre-tightening parameter value by adjusting an outer pre-tightening nut 15; if the voltage value acquired for the first time is not equal to the voltage threshold value I, judging that the voltage value acquired for the first time is equal to the voltage threshold value I, displaying the pre-tightening fault I by an upper computer, and sending out an alarm signal, wherein at the moment, the planetary roller screw pair needs to stop working and reaches a given pre-tightening parameter value by adjusting an outer pre-tightening nut 15; if the acquired voltage value exceeds the voltage threshold I but does not exceed the voltage threshold II, the planetary roller screw pair is in an operating state without pretightening force fault;
the initial pre-tightening fault indicates that the initial pre-tightening force of the planetary roller screw pair does not reach a given pre-tightening parameter value, and the pre-tightening fault I indicates that the pre-tightening force of the planetary roller screw pair fails.
S5, carrying out Kalman filtering on the acquired acceleration signals to remove the influence of environmental factors; constructing a fault diagnosis model-hidden Markov model of the planetary roller screw pair, and extracting state information of the planetary roller screw pair from the acquired acceleration signals through the model; the Viterbi algorithm is adopted to effectively identify the sequence to be detected, the likelihood probability of a hidden Markov model under different state information is calculated respectively, and the state of the current planetary roller screw pair is judged based on the maximum likelihood probability value; if the identification result is within the functional failure point of the planetary roller screw pair, indicating that the planetary roller screw pair has functional disorder, and displaying the functional failure I by the upper computer and sending out an alarm signal; if the identification result is beyond the functional failure point of the planetary roller screw pair, indicating that the planetary roller screw pair is in an operation state without functional failure;
The Kalman filtering is a high-efficiency autoregressive filtering data processing technology, and can optimally estimate the system state of a series of measurement data containing noise to realize the filtering of environmental noise; the hidden Markov model is a probability model about time sequence for describing the Markov process containing unknown parameters, and the observation result at any moment only depends on the state at the moment; the Viterbi algorithm is to solve the problem of prediction of the hidden Markov model by using a dynamic programming method, randomly generate a sequence to be detected by using the hidden Markov chain, and solve the most probable hidden state sequence at each moment according to the sequence to be detected as output.
And S6, waiting for the next state monitoring to start when no temperature fault, pre-tightening fault and functional fault exist.
And S7, realizing self-monitoring and fault alarming of the planetary roller screw pair through the circulating steps S1 to S6.
The steps S3 to S5 may be performed simultaneously or stepwise, without any sequential requirement.
After the upper computer sends out an alarm signal, in order to remind the staff in time, the staff is reminded through the audible and visual alarm, the upper computer popup window and means for sending short messages to the mobile phone of the staff in the embodiment.
Having described the main technical features and fundamental principles of the present invention and related advantages, it will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The above detailed description is, therefore, to be taken in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present disclosure describes embodiments in terms of various embodiments, not every embodiment is described in terms of a single embodiment, but rather that the descriptions of embodiments are merely provided for clarity, and that the descriptions of embodiments in terms of various embodiments are provided for persons skilled in the art on the basis of the description.
Claims (10)
1. A self-monitoring planetary roller screw pair, comprising:
The planetary roller screw pair comprises a screw rod (11), two inner gear rings (12), rollers (13), a lower nut (14), an outer pre-tightening nut (15), an upper nut (16), two retainers (17), a pre-tightening spring (18), an oil baffle plate (24), an integrated circuit board (25) and an oil baffle end cover (26); the lower nut (14) and the upper nut (16) are sleeved on the outer side of the screw rod (11), the upper nut (16) is positioned above the lower nut (14), the upper nut (16), the lower nut (14) and the screw rod (11) are coaxially arranged, and the rollers (13) are uniformly distributed along the circumference of the screw rod (11) and are positioned between the screw rod (11) and the upper nut (16) and between the screw rod (14); the two retainers (17) are respectively arranged on optical axis sections (13 a) at two ends of the roller (13) and are used for maintaining the position of the roller (13) in the moving process; the lower nut (14) comprises an auxiliary boss (14 a) protruding at the upper end, a first internal thread (14 b) located on the upper side of the inner wall, a second outer shaft section (14 c) located in the middle of the outer wall, a first outer shaft section (14 d) located on the lower side of the outer wall, a lower step (14 e) located in the middle of the inner wall and a lower assembly section (14 f) located on the lower side of the inner wall; the outer pre-tightening nut (15) comprises an inner thread section (15 a) positioned on the upper side of the inner wall, a clearance section (15 b) positioned on the middle upper part of the inner wall, a second inner shaft section (15 c) positioned on the middle lower part of the inner wall and a first inner shaft section (15 d) positioned on the lower side of the inner wall; the upper nut (16) comprises an upper mounting section (16 a) positioned on the upper side of the inner wall, an upper step (16 c) positioned in the middle of the inner wall, an external thread section (16 d) positioned on the lower side of the outer wall, a second internal thread (16 e) positioned on the lower side of the inner wall and an upper assembling section (16 b) positioned on the inner wall and positioned between the upper mounting section (16 a) and the upper step (16 c); the two inner gear rings (12) are respectively arranged in the lower assembly section (14 f) and the upper assembly section (16 b); the pre-tightening spring (18) is arranged outside an auxiliary boss (14 a) of the lower nut (14) and is in contact with the lower end face of the upper nut (16), and the pre-tightening spring (18) and the screw rod (11) are coaxially arranged; the outer pre-tightening nut (15) is coaxially arranged on the outer sides of the lower nut (14) and the upper nut (16), an inner threaded section (15 a) of the outer pre-tightening nut (15) is in threaded engagement with an outer threaded section (16 d) of the upper nut (16), and a second inner shaft section (15 c) and a first inner shaft section (15 d) of the outer pre-tightening nut (15) are respectively matched with a second outer shaft section (14 c) and a first outer shaft section (14 d) of the lower nut (14); the oil baffle (24) is arranged in an upper mounting section (16 a) of the upper nut (16), an annular integrated circuit board (25) is arranged at the upper end of the oil baffle (24), and an oil baffle end cover (26) is arranged above the integrated circuit board (25);
The pre-tightening force monitoring module is used for detecting whether pre-tightening force reaches a preset value after the planetary roller screw pair is assembled and monitoring the real-time pre-tightening force condition of the planetary roller screw pair, and comprises a hollow piezoelectric ceramic (22), wherein the piezoelectric ceramic (22) is of an annular structure and is arranged on the inner side of an auxiliary boss (14 a) of the lower nut (14), the initial height of the piezoelectric ceramic (22) is the same as the height of the pre-tightening spring (18), and the inner diameter of the piezoelectric ceramic (22) is larger than the large diameter of a first internal thread (14 b) of the lower nut (14);
the temperature monitoring module is arranged on the inner side of a lower step (14 e) of the lower nut (14) and the inner side of an upper step (16 c) of the upper nut (16) and is used for monitoring the temperature change of the contact part of the planetary roller screw pair in real time;
the vibration monitoring module is arranged at the inner side of an upper step (16 c) of the upper nut (16) and is used for simultaneously detecting the vibration conditions of the planetary roller screw pair in the X, Y direction and the Z direction;
and the wireless transmission module is integrated in the integrated circuit board (25) and transmits the pretightening force condition, the temperature change and the vibration condition of the planetary roller screw pair to the upper computer in real time in a wireless transmission mode.
2. A self-monitoring planetary roller screw pair according to claim 1, characterized in that the temperature monitoring module comprises a first temperature sensor (21) and a second temperature sensor (23), the first temperature sensor (21) being mounted inside a lower step (14 e) of the lower nut (14), the second temperature sensor (23) being mounted inside an upper step (16 c) of the upper nut (16).
3. A self-monitoring planetary roller screw pair according to claim 2, characterized in that the vibration monitoring module comprises a three-way acceleration sensor (27), the three-way acceleration sensor (27) being mounted inside an upper step (16 c) of the upper nut (16).
4. A self-monitoring planetary roller screw pair according to claim 3, characterized in that the number of rollers (13) is ten.
5. A self-monitoring planetary roller screw assembly according to claim 3, characterized in that the inner diameter of the pre-tightening spring (18) is the same as the outer diameter of the auxiliary boss (14 a).
6. A self-monitoring planetary roller screw pair according to claim 3, characterized in that the outer diameter of the piezoelectric ceramic (22) is the same as the inner diameter of the auxiliary boss (14 a);
the first temperature sensor (21) and the second temperature sensor (23) are in magnetic attraction installation type;
the three-way acceleration sensor (27) is disposed opposite to the mounting position of the second temperature sensor (23).
7. A self-monitoring planetary roller screw pair according to claim 3, characterized in that the piezoelectric ceramic (22) model number NAC2115; the model numbers of the first temperature sensor (21) and the second temperature sensor (23) are KYW-CX1; the model of the three-way acceleration sensor (27) is Dytran 3243.
8. A method for monitoring a self-monitoring planetary roller screw pair, characterized in that the method adopts the self-monitoring planetary roller screw pair according to any one of claims 3 to 7, and comprises the following steps:
s1, presetting a voltage threshold I, a voltage threshold II, a temperature threshold I and a temperature threshold II in an upper computer; the voltage threshold I is an ideal voltage value corresponding to the piezoelectric ceramic (22) when the minimum pretightening force requirement of the planetary roller screw pair is met, the voltage threshold II is a voltage value corresponding to the piezoelectric ceramic (22) when the planetary roller screw pair is under the ideal pretightening force, the temperature threshold I is a maximum temperature value when the planetary roller screw pair works normally, and the temperature threshold II is a temperature value when the planetary roller screw pair is jammed;
s2, respectively acquiring a temperature value, a voltage value and an acceleration value of the planetary roller screw pair in real time through a first temperature sensor (21), a second temperature sensor (23), piezoelectric ceramics (22) and a three-way acceleration sensor (27) which are arranged in the planetary roller screw pair, and transmitting the acquired temperature value, voltage value and acceleration value to an upper computer in real time;
s3, comparing the acquired temperature value with a temperature threshold II:
if the acquired temperature value exceeds a temperature threshold value II, judging the temperature fault II, displaying the temperature fault II by an upper computer and sending out an alarm signal, and stopping the operation and replacing the planetary roller screw pair at the moment; if the acquired temperature value is lower than the temperature threshold value II, comparing the acquired temperature value with the temperature threshold value I:
If the acquired temperature value exceeds a temperature threshold value I, judging the temperature fault I, displaying the temperature fault I by an upper computer, and sending out an alarm signal, wherein the planetary roller screw pair is required to stop working and be used after the temperature is reduced; if the acquired temperature value is lower than the temperature threshold value I, the planetary roller screw pair is in an operating state without temperature faults;
the temperature fault II indicates that clamping stagnation occurs in the planetary roller screw pair, and the temperature fault I indicates that the temperature in the planetary roller screw pair is too high;
s4, comparing the acquired voltage value with a voltage threshold II:
if the voltage value acquired for the first time or the voltage value acquired for the first time after the re-tightening exceeds a voltage threshold II or is lower than a voltage threshold I, an initial pre-tightening fault is judged, an upper computer displays the initial pre-tightening fault and sends out an alarm signal, and at the moment, the planetary roller screw pair needs to stop working and reaches a given pre-tightening parameter value by adjusting an outer pre-tightening nut (15); if the voltage value acquired for the first time is not equal to or is not equal to the voltage threshold value I, judging that the voltage value acquired for the first time is equal to or is not equal to the voltage threshold value I, displaying the pre-tightening fault I by an upper computer, sending out an alarm signal, and stopping the working of the planetary roller screw pair and enabling the planetary roller screw pair to reach a given pre-tightening parameter value by adjusting an outer pre-tightening nut (15); if the acquired voltage value exceeds the voltage threshold I but does not exceed the voltage threshold II, the planetary roller screw pair is in an operating state without pretightening force fault;
The initial pre-tightening fault indicates that the initial pre-tightening force of the planetary roller screw pair does not reach a given pre-tightening parameter value, and the pre-tightening fault I indicates that the pre-tightening force of the planetary roller screw pair fails;
s5, carrying out Kalman filtering on the acquired acceleration signals to remove the influence of environmental factors; constructing a fault diagnosis model-hidden Markov model of the planetary roller screw pair, and extracting state information of the planetary roller screw pair from the acquired acceleration signals through the model; the Viterbi algorithm is adopted to effectively identify the sequence to be detected, the likelihood probability of a hidden Markov model under different state information is calculated respectively, and the state of the current planetary roller screw pair is judged based on the maximum likelihood probability value; if the identification result is within the functional failure point of the planetary roller screw pair, indicating that the planetary roller screw pair has functional disorder, and displaying the functional failure I by the upper computer and sending out an alarm signal; if the identification result is beyond the functional failure point of the planetary roller screw pair, indicating that the planetary roller screw pair is in an operation state without functional failure;
s6, waiting for the next state monitoring to start when no temperature fault, pre-tightening fault and functional fault exist;
and S7, realizing self-monitoring and fault alarming of the planetary roller screw pair through the circulating steps S1 to S6.
9. The method for monitoring the self-monitoring planetary roller screw pair according to claim 8, wherein the processes of the steps S3 to S5 are performed simultaneously or stepwise.
10. The method for monitoring the planetary roller screw pair according to claim 8, wherein after the upper computer sends out the alarm signal, the staff is reminded by one or more means of an audible and visual alarm, an upper computer popup window, vibration, sending a short message or sending a mail.
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| CN202311766278.5A CN117450226A (en) | 2023-12-21 | 2023-12-21 | Self-monitoring planetary roller screw pair and monitoring method thereof |
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| CN202311766278.5A CN117450226A (en) | 2023-12-21 | 2023-12-21 | Self-monitoring planetary roller screw pair and monitoring method thereof |
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