JP2007010608A - Rotating angle error analysis system of gear mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily evaluate rotation characteristics of a test gear mechanism G. <P>SOLUTION: The rotation angle error analysis system is provided with: a data collection means 11 for reading output signals S1 and S2 of encoders E1 and E2 connected to an input shaft D1 and an output shaft D2 of the test gear mechanism G; a memory means 12 for storing data collected by the data collection means 11; and a data processing means 13 for frequency-analyzing an angle transmission error by processing data read from the memory means 12, and calculating backlash based on the angle transmission error during reverse rotation when positively rotating the test gear mechanism G. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a rotation angle error analysis device for a gear mechanism that can easily and accurately evaluate the rotation characteristics of a gear mechanism including a backlash.

  A measuring device that automatically measures the backlash of a gear has been proposed (Patent Document 1).

This is an arithmetic unit that interposes a test gear between the input shaft and the output shaft, connects an encoder for detecting the rotation angle to each of the input shaft and the output shaft, and processes output data of the encoder. It is provided and configured. The arithmetic unit can calculate the gear angle transmission error at the time of forward rotation and reverse rotation based on the output data of each encoder, and can calculate the gear backlash from the difference between the two. The angle transmission error and the backlash based thereon can be continuously calculated as change data during one rotation of the output shaft.
Japanese Unexamined Patent Publication No. 1-165929

  When such a prior art is used, the arithmetic unit can only calculate the backlash of the test gear in correspondence with the rotation angle of the output shaft, and does not calculate any further evaluation data. There was a problem that it was difficult to accurately evaluate.

  Therefore, in view of the problems of the prior art, the configuration of the present invention makes it possible to more easily and accurately evaluate the rotational characteristics of the gear mechanism under test by performing frequency analysis of angle transmission errors in addition to calculating backlash. An object of the present invention is to provide a rotation angle error analysis device for a gear mechanism that can be used.

  In order to achieve the above object, the configuration of the present invention includes a data collecting means for reading an output signal of an encoder for detecting a rotation angle connected to an input shaft and an output shaft of a test gear mechanism, and data collected by the data collecting means. Memory means for storing and data processing means for processing the data read from the memory means, the data processing means outputs a backlash based on an angular transmission error during forward rotation and reverse rotation of the gear mechanism under test. The gist is to calculate the angle according to the rotation angle of the shaft and to analyze the frequency of the angle transmission error.

  In addition, the pulley which applies the torque load by a heavy cone can be connected with an output shaft, and a pulley can be connected with an output shaft via a reduction gear.

  According to such a configuration of the invention, the data processing means calculates the backlash of the gear mechanism under test and, in addition to frequency analysis of the angle transmission error, the microscopic fluctuation of the rotational speed of the output shaft is concretely determined. Numerical data for evaluation can be presented. Note that the angle transmission error is the gear ratio i = a / b of the gear mechanism under test (where a and b are integers corresponding to the number of gear teeth on the output shaft and input shaft, respectively, and a> b) ), In order to check the combination of all teeth of the gears constituting the test gear mechanism, the least common multiple c of a and b is based on data at a rotation amount at least equal to or greater than c / a rotation of the output shaft. It is preferable to calculate by

  The data processing means can estimate the cause of the angle transmission error by analyzing the frequency of the angle transmission error and displaying the respective basic waveforms on the output shaft side and the input shaft side in a graph. That is, if the fundamental component on the output shaft side that matches the rotation cycle of the output shaft is significant, the eccentricity of the gear on the output shaft may be excessive, and the input that matches the rotation cycle of the input shaft When the fundamental wave component on the shaft side is significant, the amount of eccentricity of the gear on the input shaft may be excessive. However, the fundamental wave on the output shaft side and the input shaft side refers to a sine wave component whose period coincides with the rotation period of the output shaft and the input shaft, among the waveform components included in the angle transmission error. Therefore, if the reduction ratio 1 / n (n is an integer) of the test gear mechanism, the fundamental wave on the input shaft side matches the nth harmonic on the output shaft side.

  In addition, the data processing means analyzes the angle transmission error and displays the specified harmonic waveforms on the output shaft side and input shaft side in a graph, thereby investigating the cause of problems such as noise and vibration, It can be used for improvement evaluation. For example, if a specific harmonic waveform is significant, a defective formation of a specific tooth that meshes with the period of the harmonic waveform is considered. In addition, by knowing the existence and magnitude of the fundamental wave component and harmonic component with the same frequency as the natural frequency of the target device in which the test gear mechanism is incorporated, the vibration when the test gear mechanism is incorporated in the target device. It is possible to predict and evaluate the situation of occurrence. Note that the data processing means can present the same useful evaluation data by calculating the fundamental wave and the specified harmonic component for the output shaft side and the input shaft side, respectively, and displaying them in a graph.

  If a pulley for applying a torque load by a heavy cone is connected to the output shaft side of the test gear mechanism, the test gear mechanism can be driven in either the direction of lowering or lifting the heavy cone. A torque load in a certain direction can be applied to each gear in the trial gear mechanism, and evaluation data close to the actual operation state can be collected. The torque load due to the heavy cone is not limited as long as the tooth surface of the gear in the test gear mechanism is stably meshed in a predetermined direction, and is generally several percent of the rated output torque of the test gear mechanism. What is necessary is just to add several tens of percent to the output shaft, and it is not always necessary to add the rated output torque. Further, if the pulley is connected to the output shaft via a reduction gear, the required effective stroke of the heavy cone can be shortened according to the reduction ratio of the reduction gear.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  The gear mechanism rotation angle error analysis device 10 includes a data collecting means 11, a memory means 12, and a data processing means 13 (FIG. 1). However, output signals S1 and S2 of encoders E1 and E2 connected to the input shaft D1 and output shaft D2 of the test gear mechanism G are input to the data collecting means 11, respectively.

  The test gear mechanism G has gears Ga and Gb on the input shaft D1 and the output shaft D2, respectively, and the gears Ga and Gb mesh with each other. However, the test gear mechanism G may include a multi-stage gear between the input shaft D1 and the output shaft D2, and the gears Ga and Gb may be any type of gear including a worm gear. The test gear mechanism G is mounted on a test apparatus T having a servo motor M for driving and encoders E1 and E2, and the servomotor M and encoder E1 are connected to the input shaft D1 through a coupling C1, respectively. The encoder E2 is connected to the output shaft D2 via a coupling C2.

  The output of the data collection unit 11 is connected to the data processing unit 13 via the memory unit 12, and the output of the data processing unit 13 is connected to the display 15 and the printer 16. The output of the condition setting unit 14 is individually connected to the data collection unit 11 and the data processing unit 13. However, the data collecting means 11, the memory means 12, the data processing means 13, and the condition setting means 14 are constituted by software incorporated in a personal computer, for example, and the display 15 and the printer 16 constitute a part of the condition setting means 14. A peripheral device of a personal computer is used together with a keyboard and a mouse (not shown).

  When the input shaft D1 of the test gear mechanism G is rotated forward and backward on the test apparatus T via the servo motor M, the encoders E1 and E2 set the rotation angles β and α of the input shaft D1 and the output shaft D2, respectively. It can be detected and output continuously as output signals S1 and S2. Therefore, the data collecting means 11 can obtain the combination data of the rotation angles β and α by repeatedly scanning the output signals S1 and S2 at high speed, and store them in the memory means 12 for storage. At this time, for example, the reduction ratio 1 / i = b / a of the test gear mechanism G, the rated rotational speed No of the output shaft D2, the lower limit rotational speed N1 <No, the upper limit rotational speed N2> are passed through the condition setting means 14. No or the like can be set, and the data collecting means 11 acquires, for example, rotation angles β and α as valid data while the rotation speed N of the output shaft D2 is N1 ≦ N ≦ N2. However, the rotation angles β and α detected by the encoders E1 and E2 are the absolute angles of the input shaft D1 and the output shaft D2, respectively.

  Based on the rotation angles β and α stored in the memory unit 12, the data processing unit 13 sets the angle transmission error γ = α−β / i at the rotation angle α of the output shaft D 2 based on the command from the condition setting unit 14. It can be calculated sequentially and displayed on the display 15 as a graph (FIG. 2). However, in FIG. 2, curves (1) and (2) indicate the angular transmission error γ during forward rotation and reverse rotation of the output shaft D2 corresponding to the rotational angle α of the output shaft D2, respectively. ing. Further, the data processing means 13 can graphically display the backlash B for one rotation of the output shaft D2 by calculating and plotting the difference between the curves (2) and (1) in FIG. 2 (FIG. 3). ).

  Further, the data processing means 13 calculates the average value, the upper limit value, and the lower limit value of the angle transmission error γ during forward rotation and reverse rotation per predetermined rotation amount of the output shaft D2, and calculates the rotation angle of the output shaft D2. A graph can be displayed corresponding to α (FIG. 4). The data processing means 13 performs frequency analysis of the angle transmission error γ during forward rotation and reverse rotation, calculates the basic waveform of the output shaft D2 side and the input shaft D1 side, and corresponds to the rotation angle α of the output shaft D2. It is also possible to display a graph (FIG. 5), and it is also possible to display the specified harmonic waveforms on the output shaft D2 side and the input shaft D1 side in the same manner (not shown). However, in FIG. 5, the basic waveform on the input shaft D1 side is shown superimposed on the basic waveform on the output shaft D2 side for convenience.

  Further, the data processing means 13 analyzes the frequency of the angular transmission error γ during forward rotation and reverse rotation, and displays each component Q of the fundamental wave on the output shaft D2 side and the harmonics up to the specified order D in a graph. (Fig. 6). In FIG. 6, the horizontal axis indicates the order D, the order D = 1 is the fundamental wave, and the order D ≧ 2 is the D-order harmonic. The component Q at the order D = 0 indicates the average (DC component) of the angle transmission error γ, and the difference in the component Q at the time of forward rotation and reverse rotation at the order D = 0 is the difference between the input shaft D1 and the output shaft D2. The average backlash is shown.

  Further, the data processing means 13 frequency-analyzes the angle transmission error γ during forward rotation and reverse rotation, and displays each component Q of the fundamental wave on the input shaft D1 side and the harmonics up to the specified order D in a graph. (Fig. 7). In FIG. 7, the component Q in the order D on the horizontal axis and the order D = 0 is the same as that in FIG. 6.

  4 to 7 are examples of actual measurement data for a test gear mechanism G configured by meshing a worm having a double thread on the input shaft D1 and a worm wheel having 37 teeth on the output shaft D2. is there. The component Q for the fundamental wave of the order D = 1 on the output axis D2 side is remarkable (FIG. 6), and the component Q for each harmonic of the order D = 2, 4,. 7), the angular transmission error γ is excessive due to the eccentricity of the worm wheel on the output shaft D2 and the misalignment of the double thread of the worm on the input shaft D1, and it fluctuates greatly as the output shaft D2 rotates. (FIGS. 4 and 5) and there is room for further improvement.

  The condition setting means 14 can specify, for example, which one rotation of the output shaft D2 is to be displayed when the graphs of FIGS. 2 and 3 are displayed. Further, the condition setting means 14 can designate which of the plurality of rotations is to be calculated when displaying the graphs of FIGS. 4 and 5, and when displaying the graphs of FIGS. 6 and 7, Frequency analysis for any harmonics up to any order D, or any harmonics of any order D, or any of the upper limit, average, and lower limit of the angle transmission error γ in FIG. You can specify whether to display the results. The condition setting means 14 can arbitrarily set display forms such as display scale enlargement / reduction, display curve color designation, and character designation when displaying the graphs of FIGS. Further, the condition setting means 14 can arbitrarily print out the graph display on the display 15 by the printer 16 as necessary. However, the display data shown in FIGS. 2 and 3 and the display data shown in FIGS. 4 to 7 are test data of different test gear mechanisms G.

  In the above description, the data collecting means 11 replaces the rotational angle β and α of the input shaft D1 and output shaft D2 with the memory means 12 in order, and instead stores the rotational angle α and the angle transmission error γ = ( Combination data of α−β / i) may be sequentially stored in the memory means 12. If an external storage medium such as a floppy, MD, or CD is used as the memory means 12, the data collecting means 11 and the data processing means 13 can be constructed on another computer, and the data processing means 13 can be operated offline. Is possible.

Other embodiments

  The test apparatus T can connect a pulley P that suspends the heavy cone W to the output shaft D2 side of the test gear mechanism G (FIGS. 8 and 9). However, in FIG. 9, the servomotor M for driving on the input shaft D1 side is not shown, and for example, it is assumed that it is connected to the shaft on the side of the double-shaft encoder E1 that is not shown.

  One end of a flexible strong cord-like body W1 such as a wire rope, string, or teg is fixed and wound around the pulley P. The other end of the cord-like body W1 is passed through a guide pulley P1. A heavy cone W is suspended. The test apparatus T is installed on the table T1, and the heavy cone W is suspended outside the table T1 via the cord-like body W1.

  The heavy cone W adds a torque load TQ = wd / 2 in a specific direction to the output shaft D2 depending on the winding direction of the cord W1 around the pulley P, and the tooth surfaces of the gears Ga and Gb of the test gear mechanism G The evaluation data close to the driving state can be collected by bringing them into contact in one direction. Here, w and d are the weight of the heavy cone W and the effective diameter of the pulley P, respectively. The test gear mechanism G is operated in a direction in which the cord W1 is unwound from the pulley P from the state where the heavy cone W is wound up high, and after unwinding all the cord W1 on the pulley P, the test is performed. When the gear mechanism G is further operated in the same direction, the heavy cone W turns upward through the bottom dead center, and at this time, the direction of the torque load TQ applied to the test gear mechanism G can be reversed. That is, by operating the test gear mechanism G in the same direction, reversing the winding direction of the cord W1 with respect to the pulley P and reciprocatingly driving the heavy cone W within the effective stroke, Thus, it is possible to collect evaluation data of two kinds of operation states to which the torque load TQ in the reverse direction is applied at once.

  The pulley P that suspends the heavy cone W may be attached to the output shaft of the speed reducer R that is connected to the output shaft D2 of the test gear mechanism G, and may be connected to the output shaft D2 via the speed reducer R (see FIG. 10).

  The input shaft of the speed reducer R is connected to the output shaft D2 via the timing belt R1, and the timing belt R1 includes a timing pulley R2 on the output shaft D2 and a timing pulley R3 on the input shaft of the speed reducer R. Between them. Since the rotational speed of the pulley P can be reduced according to the reduction ratio r> 1 of the reduction gear R, the required effective stroke of the heavy cone W can be shortened. However, since the torque load applied to the output shaft D2 decreases to TQ = wd / (2r), it is preferable to set the weight of the heavy cone W large to rw.

Overall configuration block diagram Output data diagram (1) Output data diagram (2) Output data diagram (3) Output data diagram (4) Output data diagram (5) Output data diagram (6) Main part block system diagram showing another embodiment Main part structure perspective view which shows other embodiment (1) Main part composition perspective view showing other embodiments (2)

Explanation of symbols

G ... Gear mechanism D1 ... Input shaft D2 ... Output shaft E1, E2 ... Encoder S1, S2 ... Output signal W ... Heavy cone P ... Pulley R ... Speed reducer γ ... Angle transmission error B ... Backlash α ... Rotation angle TQ ... Torque load 11 ... Data collection means 12 ... Memory means 13 ... Data processing means

Patent Applicant Shin-Tech Co., Ltd.
Attorney Tadaaki Matsuda, Attorney

Claims (3)

  Data collecting means for reading the output signal of the encoder for detecting the rotation angle connected to the input shaft and output shaft of the test gear mechanism, memory means for storing the data collected by the data collecting means, and reading from the memory means Data processing means for processing the data, and the data processing means calculates a backlash based on an angle transmission error at the time of forward rotation and reverse rotation of the test gear mechanism in accordance with the rotation angle of the output shaft. A rotation angle error analysis device for a gear mechanism, characterized in that an angle transmission error is frequency-analyzed.   The rotation angle error analysis device for a gear mechanism according to claim 1, wherein a pulley for applying a torque load by a heavy cone is connected to the output shaft. The rotation angle error analysis device for a gear mechanism according to claim 2, wherein the pulley is connected to an output shaft via a reduction gear.

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