JP6644610B2 - Single pinion type planetary gear device tooth number specifying device and tooth number specifying method - Google Patents

Description

  The present invention relates to a tooth number specifying device and a tooth number specifying method for a single pinion type planetary gear device, and for example, relates to a technology applied to a state monitoring system using a plurality of sensors in a wind power generation device or a large-scale plant.

2. Description of the Related Art Conventionally, in a wind power generator, a large-scale plant, and the like, the state of a rotating component is monitored by measuring physical quantities with various sensors.
In particular, in a rotating machine condition monitoring system, the rotational frequency and the frequency of vibration caused by abnormalities in the rotating parts are specified and monitored from the design specifications of bearings and gears, which are rotating parts, so that abnormalities in each part can be monitored. Diagnose.

  For example, when an abnormal component can be identified as a rolling bearing, a technique has been proposed that focuses only on the frequency caused by the abnormality, which can be calculated from the design specifications of the bearing (for example, see Patent Document 1). Also in the case of a gear, a technique has been proposed in which an abnormal state of the gear is estimated by focusing on a frequency due to meshing, which can be calculated from design specifications of the gear (for example, see Patent Document 2).

JP 2006-234785 A JP-A-2-240536

  However, since the manufacturer of the rotating machine generally does not disclose the design data, the characteristic vibration frequency cannot be specified as described above. Therefore, various characteristic values such as the effective value and the maximum value of the data are calculated, and when a large change is observed as compared with the normal state, it is often regarded as abnormal. In this case, since it is not possible to specify the abnormal part and to estimate the abnormal state, it is difficult to adjust the maintenance time and investigate the cause of the abnormality.

  In a state monitoring target whose gear design data is unknown, it is not possible to sufficiently diagnose a gear abnormality with feature values such as an effective value and a maximum value of data. In particular, in the case of a planetary gear device, since a frequency caused by abnormality or meshing of each gear can be calculated from the number of teeth of the internal gear, the planetary gear, and the sun gear, a technique for specifying the number of teeth from data of normal values is desired. .

  SUMMARY OF THE INVENTION An object of the present invention is to provide a single pinion type planetary gear unit having a number of teeth that is useful for diagnosing a gear abnormality in a planetary gear unit whose gear design specifications are unknown. And a method for specifying the number of teeth.

The single pinion type planetary gear set tooth number specifying device of the present invention includes a single pinion type planetary gear set 15 including one or both of a speed-increasing gear 7 and a speed reducer having a plurality of gear pairs. A tooth number specifying device 38 for specifying
A sensor Sa for detecting meshing vibration generated from each gear pair,
Harmonic region setting means 42, which is set to what number of harmonic regions to investigate with respect to the expected frequency of the meshing frequency of each gear pair,
Investigation frequency range setting means 43 in which a plurality of expected frequency ranges for investigating the meshing frequency are set,
The maximum peak amplitude is calculated from the meshing vibration detected by the sensor Sa in the range of the expected frequency set by the survey frequency range setting unit 43 and in the harmonic region set by the harmonic region setting unit 42. Together with a maximum peak amplitude etc. calculating means 44 for selecting an expected frequency whose difference between the maximum peak amplitudes is equal to or less than a predetermined multiple between the plurality of set expected frequency ranges,
Among the expected frequencies selected by the maximum peak amplitude etc. calculating means 44, the total value of the maximum peak amplitudes calculated within a range of a plurality of set expected frequencies within a predetermined time is k (k is a natural number). Meshing frequency specifying means 45 for specifying the second largest expected frequency as the meshing frequency of the gear pair having the kth largest tooth surface speed;
From the meshing frequency specified by the meshing frequency specifying means 45, the number of teeth of the planetary gear for specifying the number of teeth of the planetary gear device 15 at which the speed ratio is maximized is determined using a predetermined number of teeth condition formula in the planetary gear mechanism. And a specifying means 46.
The predetermined multiple and the predetermined time are respectively a multiple and a time arbitrarily determined by design or the like. For example, an appropriate multiple and time are determined by one or both of a test and a simulation ( The same applies to the method for specifying the number of teeth of a single pinion type planetary gear device described later.)

  According to this configuration, the harmonic region setting means 42 sets how many times the harmonic region is to be investigated with respect to the expected frequency of the meshing frequency. For example, a harmonic region is set on the basis of how many times higher harmonics than the expected frequency often appear in the meshing vibration of a normal gear pair. Inspection frequency range setting means 43 sets a plurality of expected frequency ranges in which the engagement frequency is investigated.

  The maximum peak amplitude calculating means 44 calculates the maximum peak amplitude from the meshing vibration detected by the sensor Sa in the set expected frequency range and in the set harmonic range. At the same time, the maximum peak amplitude etc. calculating means 44 selects an expected frequency in which the difference between the maximum peak amplitudes is equal to or less than a predetermined multiple in a plurality of set expected frequency ranges. By selecting an expected frequency at which the difference between the adjacent maximum peak amplitudes is equal to or less than a predetermined multiple, it is possible to determine the self-excited vibration of the actual machine and the forced vibration such as the meshing frequency.

In the meshing frequency specifying means 45, among the selected expected frequencies, the total value of the maximum peak amplitudes calculated within the range of the plurality of set expected frequencies within a predetermined time is the kth (k is a natural number). The largest expected frequency is specified as the meshing frequency of the gear pair having the k-th largest tooth surface speed. The meshing frequency specifying means 45 utilizes the phenomenon that the meshing vibration of a normal gear pair increases as the tooth surface speed increases. Therefore, it is possible to specify the meshing frequency of each gear pair that is useful for gear abnormality diagnosis.
The planetary gear tooth number specifying means 46 specifies the number of teeth of the planetary gear device 15 at which the speed ratio becomes maximum from the specified meshing frequency by using a predetermined number-of-teeth-condition expression in the planetary gear mechanism. Therefore, it is possible to calculate a frequency useful for gear abnormality diagnosis.

  The harmonic region determination means 42 may set whether to investigate a harmonic region up to three times the expected frequency of the meshing frequency. This is because the meshing vibration of a normal gear pair often causes harmonics up to three times the expected frequency to appear.

  The state monitoring system Stm of the present invention includes any one of the single pinion type planetary gear unit teeth number specifying device 38, and increases or decreases the harmonic component from the specified meshing frequency and / or one or both of the sidebands. It has monitoring means for monitoring appearance. According to this configuration, the meshing frequency becomes known, and the monitoring unit monitors the increase / decrease of the harmonic component or the appearance of the sideband, for example, to calculate the abnormal form of the gear or the wear amount of the tooth surface. Monitoring can be performed.

The method for specifying the number of teeth of a single-pinion type planetary gear device according to the present invention includes the steps of: A method for specifying the number of teeth to be specified,
Using a sensor Sa for detecting the meshing vibration generated from each gear pair,
For the expected frequency of the meshing frequency of each gear pair, a harmonic region setting step of setting how many times a higher harmonic region is to be investigated,
An investigation frequency range setting step of setting a plurality of expected frequency ranges for investigating the meshing frequency,
In the expected frequency range set in the investigation frequency range setting process and in the harmonic region set in the harmonic region setting process, the maximum peak amplitude is calculated from the meshing vibration detected by the sensor Sa, A maximum peak amplitude calculation step of selecting an expected frequency whose difference between the maximum peak amplitudes is not more than a predetermined multiple between the plurality of set expected frequency ranges,
Among the expected frequencies selected in the calculation process of the maximum peak amplitude and the like, the total value of the maximum peak amplitudes calculated within a range of a plurality of set expected frequencies within a predetermined time is k-th (k is a natural number). A meshing frequency specifying process of specifying an expected frequency which is larger than the gear number as a meshing frequency of the gear pair having the kth largest tooth surface speed;
From the meshing frequency specified in the meshing frequency specifying process, a planetary gear tooth number specifying process of specifying the number of teeth of the planetary gear device at which the speed ratio is maximized using a predetermined number of teeth condition formula in the planetary gear mechanism. And characterized in that:

  According to this configuration, in the harmonic region setting process, how many times the harmonic region is to be investigated with respect to the expected frequency of the meshing frequency is set. For example, a harmonic region is set on the basis of how many times higher harmonics than the expected frequency often appear in the meshing vibration of a normal gear pair. In the investigation frequency range setting process, a plurality of expected frequency ranges for investigating the meshing frequency are set.

  In the calculation process of the maximum peak amplitude and the like, the maximum peak amplitude is calculated from the meshing vibration detected by the sensor Sa in the set expected frequency range and in the set harmonic range. At the same time, in the calculation process of the maximum peak amplitude or the like, an expected frequency in which the difference between the maximum peak amplitudes is equal to or less than a predetermined multiple in a plurality of set expected frequency ranges is selected. By selecting an expected frequency at which the difference between the maximum peak amplitudes is equal to or less than a predetermined multiple, it is possible to determine the self-excited vibration of the actual machine and the forced vibration such as the meshing frequency.

In the meshing frequency specifying process, among the selected expected frequencies, the total value of the maximum peak amplitudes calculated within a range of the plurality of set expected frequencies within a predetermined time is the kth largest (k is a natural number). The expected frequency of the gear pair is specified as the meshing frequency of the gear pair having the k-th largest tooth surface speed. This meshing frequency specification process utilizes a phenomenon that meshing vibration of a normal gear pair increases as the tooth surface speed increases.
In the planetary gear tooth number specifying process, the number of teeth of the planetary gear device at which the speed ratio is maximized is specified from the specified meshing frequency by using the tooth number conditional expression. Therefore, it is possible to calculate a frequency useful for gear abnormality diagnosis.

  The single pinion type planetary gear set tooth number specifying device of the present invention specifies the number of teeth of a single pinion type planetary gear set including one or both of a speed-up gear and a speed reducer having a plurality of gear pairs. The number of teeth identification device to be performed, a sensor for respectively detecting the meshing vibration generated from each gear pair, and how many times higher harmonic region is to be investigated with respect to the expected frequency of the meshing frequency of each gear pair. A set harmonic region setting means, a check frequency range setting means in which a plurality of expected frequency ranges for checking the meshing frequency are set, and an expected frequency range set by the check frequency range setting means and the harmonics. In the harmonic region set by the wave region setting means, the maximum peak amplitude is calculated from the meshing vibration detected by the sensor, and the plurality of set predictions are calculated. A maximum peak amplitude etc. calculating means for selecting an expected frequency in which the difference between the maximum peak amplitudes is equal to or less than a predetermined multiple in a range of wave numbers, and a plurality of expected frequencies selected by the maximum peak amplitude etc. calculating means. The total value of the maximum peak amplitudes calculated within the set expected frequency within a predetermined time period is k-th (k is a natural number), but the expected frequency is k-th. From the meshing frequency specifying means specified as the frequency, and the meshing frequency specified by the meshing frequency specifying means, the teeth of the planetary gear device having the maximum speed ratio are determined by using a predetermined number of teeth condition formula in the planetary gear mechanism. Planetary gear teeth number specifying means for specifying the number. Therefore, it is possible to specify the number of teeth of the planetary gear device that is useful for gear abnormality diagnosis.

  The method for specifying the number of teeth of a single pinion type planetary gear device according to the present invention specifies the number of teeth of a single pinion type planetary gear device including one or both of a speed-up gear and a speed reducer having a plurality of gear pairs. A method of detecting the number of harmonics up to the expected frequency of the meshing frequency of each gear pair using a sensor for detecting the meshing vibration generated from each gear pair. Setting a harmonic range, setting a plurality of expected frequency ranges for investigating the meshing frequency, setting an expected frequency range, and setting the expected frequency range set in the set frequency range setting process and the harmonics. In the harmonic region set in the region setting step, the maximum peak amplitude is calculated from the meshing vibration detected by the sensor, and the plurality of set predictions are calculated. A maximum peak amplitude or the like calculation process of selecting an expected frequency in which the difference between the maximum peak amplitudes is equal to or less than a predetermined multiple between the wave number ranges, and a plurality of the expected frequencies selected in the maximum peak amplitude or the like calculation process. The total value of the maximum peak amplitudes calculated within the set expected frequency range within a predetermined time period is k-th (k is a natural number), but the expected frequency is k-th. From the meshing frequency specifying process specified as the frequency and the meshing frequency specified in the meshing frequency specifying process, using the determined number of teeth condition formula in the planetary gear mechanism, the gear ratio of the planetary gear device in which the speed ratio is maximized. Specifying the number of planetary gear teeth. Therefore, it is possible to specify the number of teeth of the planetary gear device that is useful for gear abnormality diagnosis.

1 is a diagram schematically illustrating an overall configuration of a state monitoring system according to an embodiment of the present invention. It is a figure which shows the wind power generator which is the monitoring target of the same condition monitoring system schematically. It is sectional drawing of the speed increaser of the same wind power generator. It is a block diagram of a control system of the same state monitoring system. It is a figure which shows the meshing frequency of each gear pair specified by the meshing frequency specifying means of the same state monitoring system. It is a flowchart which shows the engagement frequency specification method by the same engagement frequency identification means. It is a flowchart which shows the process of specifying the number of teeth of the planetary gear device of the gearbox. It is a flowchart which shows the process of specifying the number of teeth of the two-stage parallel shaft gear device of the gearbox. It is a figure showing the frequency domain of the measurement data in each sensor at the time of rating operation in a test.

A state monitoring system according to an embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the state monitoring system Stm is a system for monitoring the state of a speed increaser of a wind turbine generator (also referred to as a “windmill”) 1, and includes a monitor device 2, a data server 3, Terminal 4. The monitor device 2 has a plurality of sensors Sa and Sb (FIG. 3), and has a function of calculating necessary measurement data from detection values of these sensors Sa and Sb (FIG. 3) and transmitting the data to the data server 3. The data server 3 and the monitoring terminal 4 are connected by, for example, an in-house LAN (LAN: Local Area Network). A monitoring terminal 4 described later outputs the measurement data received by the data server 3. In addition, the monitoring terminal 4 displays the detailed analysis of the measurement data, the setting change of the monitor device 2, and the status of each device of the wind power generator 1.

The wind power generator 1 will be described.
As shown in FIG. 2, the wind turbine generator 1 includes a main shaft 5, a blade 6, a speed increasing device 7, a generator 8, and a main bearing 9. The wind power generator 1 includes a plurality of sensors Sa and Sb (FIG. 3) and a monitor device 2. The gearbox 7, the generator 8, the main bearing 9, the plurality of sensors Sa and Sb (FIG. 3) and the monitor device 2 are stored in a nacelle 10, and the nacelle 10 is supported by a tower 11.

  The main shaft 5 is connected to an input shaft of the speed increaser 7 and is rotatably supported by a main bearing 9. The blade 6 is provided at the tip of the main shaft 12 and receives wind. The main shaft 12 transmits the rotational torque generated by the blade 6 that has received the wind to the input shaft of the gearbox 7. The main bearing 9 is configured by a rolling bearing such as a self-aligning roller bearing, a tapered roller bearing, a cylindrical roller bearing, and a ball bearing.

  As shown in FIG. 3, an acceleration sensor Sa and a rotational speed sensor Sb are provided as the plurality of sensors Sa and Sb. The acceleration sensor Sa is fixed to the casing 13 of the gearbox 7. The acceleration sensor Sa detects meshing vibration generated from each gear pair. The rotation speed sensor Sb measures a rotation speed (main shaft rotation speed) of the carrier 14 described later.

  As shown in FIG. 2, the speed increaser 7 is interposed between the main shaft 12 and the generator 8. The speed increaser 7 increases the rotation speed of the main shaft 12 and outputs the rotation speed to the generator 8. The generator 8 is connected to the output shaft (high-speed shaft) of the gearbox 7 and generates electric power by the rotation torque received from the gearbox 7. As the generator 8, for example, an induction generator is used.

  As shown in FIG. 3, the wind turbine speed increaser 7 includes a planetary single-pinion type planetary gear set 15 including one gear pair, and a two-stage parallel shaft gear set 16 including two gear pairs. . The planetary gear device 15 and the two-stage parallel shaft gear device 16 are provided in a common casing 13. The planetary gear device 15 increases the speed of rotation of the input shaft 17 and transmits the rotation to the low speed shaft 18. This low speed shaft 18 is provided concentrically with the input shaft 17. The two-stage parallel shaft gear device 16 further increases the speed of the rotation of the low-speed shaft 18 and transmits the rotation to the high-speed shaft 19 as an output shaft.

  The planetary gear device 15 includes a sun gear 20, a planetary gear 21, and an internal gear 22. The planetary gear 21 meshes with the sun gear 20 and the internal gear 22, respectively. An internal gear 22 is provided on an inner peripheral surface of the casing 13. The low-speed shaft 18 is rotatably supported by low-speed bearings 23 and 24. A sun gear 20 is fixed to the outer peripheral surface of the low-speed shaft 18.

  The planet gear 21 is supported by the carrier 14. The carrier 14 is an input portion of the planetary gear device 15 and is provided integrally and concentrically with the input shaft 17. The carrier 14 is rotatably supported by the casing 13 via planetary carrier bearings 25 and 26. The planet carrier bearing 25 is provided on the rotor side in the casing 13, and the planet carrier bearing 26 is provided on the generator side in the casing 13. The carrier 14 is provided with a plurality of planetary shafts 27 at regular intervals in the circumferential direction. The planet gears 21 are rotatably supported on the respective planet shafts 27 via planet bearings 28.

  The two-stage parallel shaft gear device 16 includes a first gear pair, a low-speed shaft large gear 29 and a medium-speed small shaft gear 30, and a second gear pair, a medium-speed large shaft gear 31 and a high-speed small shaft gear 32. Having. A low-speed shaft large gear 29 is fixed to the outer periphery of the low-speed shaft 18. In the casing 13, bearings 33 and 34 are supported radially outward of the low-speed shaft 18, and a medium-speed shaft 35 is rotatably supported via the bearings 33 and 34. The medium speed shaft small gear 30 is fixed to the outer periphery of the medium speed shaft 35, and the medium speed shaft small gear 30 and the low speed shaft large gear 29 are arranged so as to mesh with each other.

  In the casing 13, a high-speed shaft 19 is provided radially outward of the middle-speed shaft 35. The high-speed shaft 19 is rotatably supported via bearings 36 and 37 supported in the casing 13. The high speed shaft 19, the middle speed shaft 35 and the low speed shaft 18 are arranged in parallel with the input shaft 17. The medium speed shaft large gear 31 is fixed to the outer periphery of the medium speed shaft 35. The medium-speed large shaft gear 31 meshes with a high-speed small shaft gear 32 fixed to the outer periphery of the high-speed shaft 19. The lower portion of the casing 13 is a portion forming an oil bath for lubricating oil.

  As shown in FIGS. 2 and 3, when the input shaft 17 rotates when the blade 6 receives wind power, the carrier 14 turns. Thereby, the planetary gear 21 revolves. Each of the planetary gears 21 revolves while meshing with the internal gear 22, so that they rotate. Since the planetary gear 21 that rotates while revolving is engaged with the sun gear 20, the sun gear 20 rotates at an increased speed with respect to the input shaft 17. The rotation of the sun gear 20 is further increased in speed by the two-stage parallel shaft gear device 16 and transmitted to the high speed shaft 19 as an output shaft. From this high-speed shaft 19, high-speed rotation capable of generating power is obtained.

FIG. 4 is a block diagram of a control system of the state monitoring system Stm.
This state monitoring system Stm has a tooth number specifying device 38 for specifying the number of teeth of the speed increasing gear 7 (FIG. 2). The tooth number specifying device 38 includes the monitor device 2, the data server 3, and the control device 39 in the monitoring terminal 4. The tooth number specifying device 38 includes a meshing frequency specifying device 40. The meshing frequency specifying device 40 specifies the meshing frequencies of a plurality (three in this example) of gear pairs. The following description also includes a description of a method for specifying the number of teeth for specifying the number of teeth of the gearbox 7 (FIG. 2) and a method for specifying a meshing frequency for specifying the meshing frequency of the gear pair.

  The monitoring terminal 4 includes a control device 39 serving as monitoring means, and a display unit 41. The control device 39 includes, for example, a computer such as a microcomputer, a program executed by the computer, an electronic circuit, and the like. The control device 39 includes a harmonic region setting unit 42, an investigation frequency range setting unit 43, a maximum peak amplitude calculation unit 44, a meshing frequency specifying unit 45, a planetary gear tooth number specifying unit 46, and a two-stage parallel shaft gear tooth number specification. Means 47 are provided.

  The harmonic region setting means 42 sets how many times the harmonic region is to be investigated with respect to the expected frequency of the meshing frequency of each gear pair of the gearbox 7 (FIG. 3). In this example, it is set whether to investigate a harmonic region up to three times the expected frequency of the meshing frequency. This is because the meshing vibration of a normal gear pair often causes harmonics up to three times the expected frequency to appear.

Inspection frequency range setting means 43 sets a plurality of expected frequency ranges for investigating the meshing frequency. The range of expected frequencies to be investigated is shown below.
Range (1) Expected frequency ± 1/2 of rotation frequency
Range (2) Expected frequency x 2 ± 1/2 of rotation frequency
Range (3) Expected frequency x 3 ± 1/2 of rotation frequency
The ranges (1) to (3) are set as a set of investigation frequency ranges. In order to prevent the influence of sideband waves, it is preferable to use the rotation frequency of the lower gear.

The maximum peak amplitude calculating means 44 calculates the maximum peak from the meshing vibration detected by the determined acceleration sensor Sa (FIG. 3) in the above-mentioned set expected frequency range and in the above-mentioned set harmonic range. Calculate the amplitude.
The maximum peak amplitude etc. calculating means 44 calculates the maximum peak amplitude in each of the ranges (1) to (3), and the difference between the maximum peak amplitudes in the plurality of set expected frequency ranges is a predetermined multiple or less. Is selected.

  In detail, the maximum peak amplitude etc. calculating means 44 selects an expected frequency in which the difference between the maximum peak amplitude in the range (1) and the range (2) and the maximum peak amplitude in the range (2) and the range (3) is 10 times or less. In this way, the expected frequency is compared with the maximum peak amplitude of at least three times higher harmonics thereof, and the expected frequency at which the difference between the adjacent maximum peak amplitudes is 10 times or less is selected. The forced vibration such as the meshing frequency can be determined.

  In the meshing frequency specifying means 45, among the selected expected frequencies, the total value of the maximum peak amplitudes calculated within the range of the plurality of set expected frequencies within a predetermined time is the kth (k is a natural number). The largest expected frequency is specified as the meshing frequency of the gear pair having the k-th largest tooth surface speed.

  More specifically, the meshing frequency specifying unit 45 determines the time (maximum) of the maximum peak amplitude calculated within the range of a plurality of set expected frequencies among the expected frequencies selected by the maximum peak amplitude etc. calculating unit 44. The expected frequency having the largest total value within 10 seconds (in this example) is specified as the parallel / medium / high-speed shaft meshing frequency in the two-stage parallel shaft gear device 16 (FIG. 3).

  Further, the meshing frequency specifying means 45 specifies the expected frequency of the second largest total value as the low / medium speed shaft meshing frequency of the parallel shaft gear in the two-stage parallel shaft gear device 16 (FIG. 3). The meshing frequency specifying means 45 specifies the expected frequency of the third largest value as the planetary gear meshing frequency in the planetary gear device 15 (FIG. 3).

  In a normal gear, the meshing vibration waveform is close to a sine wave, and the peak amplitude at that frequency corresponds to the meshing frequency. However, in the case of the actual machine, the sine wave is distorted due to a gear mounting error and the eccentricity of the gear itself, becomes a rectangular wave, and a peak amplitude of a higher-order meshing frequency appears. The meshing frequency specifying means 45 utilizes such a phenomenon, and can search for a frequency at which a harmonic appears, and can specify the meshing frequency from the result of FET analysis. Further, the meshing frequency specifying means 45 utilizes a phenomenon that meshing vibration of a normal gear pair increases as the gear speed increases. The meshing frequency specifying device 45 includes the harmonic region setting means 42, the investigation frequency range setting means 43, the maximum peak amplitude calculating means 44, and the meshing frequency specifying means 45 in the control device 39.

  The number-of-planetary-gears specifying means 46 determines the number of teeth of the planetary gear device 15 (FIG. 3) in which the speed ratio is maximized from the specified planetary gear meshing frequency by using a predetermined number-of-teeth condition formula in the planetary gear mechanism. To identify. An expression for calculating the number of teeth using the meshing frequency of the planetary gears and a conditional expression for the number of teeth of the planetary gear mechanism are shown below.

  As shown in FIGS. 3 and 4, the carrier rotation speed of the planetary gear device 15 is np, the planetary gear meshing frequency is GMFp, the number of teeth of the internal gear 22 is Zr, the number of teeth of the planetary gear 21 is Zp, and the sun gear 20 is Let Zs be the number of teeth. The number of planetary gears is N and is known in the present embodiment. In addition, in order to prevent a part of the tooth profile curve at the tooth root of the gear from being cut off at the cutting edge straight portion of the tool, the number of all teeth is assumed to be greater than “17”.

Formula for calculating the number of teeth of the internal gear 22 using the planetary gear meshing frequency Zr = GMFp / np Formula (1)
Coaxial condition: condition that the axes of the internal gear 22, the planetary gear 21, and the sun gear 20 are all coaxial Zr = Zs + 2Zp Expression (2)
Adjacent condition: Condition for preventing the planetary gears from hitting each other and causing interference Zp + 2 <(Zr−Zp) sin (180 ° / N) Equation (3)
Assembling conditions: conditions for arranging the planetary gears 21 at equal positions Integer = (Zr + Zs) / N Equation (4)
-Prevention of interference: Condition for preventing the tooth root of the planetary gear 21 from interfering with the tooth tip of the internal gear 22 Zp> 19 Expression (5)

  The planetary gear tooth number specifying means 46 uses the planetary gear meshing frequency GMFp specified by the meshing frequency specifying means 45 and the carrier rotational speed (main shaft rotational speed) np obtained from the rotational speed sensor Sb to obtain the equation (1). Then, the number of teeth Zr of the internal gear 22 is calculated. Using the calculated number of teeth Zr of the internal gear 22, the planetary gear teeth number specifying means 46 limits the range in which the number of teeth Zp of the planetary gear 21 can be obtained from Expressions (3) and (5).

  The planetary gear tooth number specifying means 46 calculates the combination (Zp, Zs) of the number of teeth of the planetary gear 21 and the sun gear 20 using Expression (2) within the limited range of the number of teeth Zp. Further, the planetary gear teeth number specifying means 46 specifies the combination of the calculated number of teeth (Zp, Zs) that satisfies the expression (4) and has the maximum speed increase ratio Zr / Zs + 1. Therefore, the number of teeth (Zr, Zp, Zs) of the internal gear 22, the planetary gear 21, and the sun gear 20 of the planetary gear device 15 can be specified.

  The two-stage parallel shaft gear tooth number specifying means 47 includes the parallel shaft gear medium / high speed shaft meshing frequency, the parallel shaft gear low / medium speed shaft meshing frequency, and the planetary gear tooth number specifying means 46 specified by the meshing frequency specifying means 45. Using the speed increase ratio of the planetary gear device 15 that can be calculated from the number of teeth specified in the above, the number of teeth of the two-stage parallel shaft gear device 16 in which the difference between the speed ratios of the two gear pairs is 1.5 or less is specified. .

Formula for calculating the medium / high speed shaft meshing frequency of the parallel shaft gear and the low / medium speed shaft meshing frequency of the parallel shaft gear used in the two-stage parallel shaft gear tooth number specifying means 47, and the medium speed shaft small gear / large gear using the speed increase ratio The formula for calculating the gear ratio is shown below.
GMFmh for parallel shaft gear middle / high speed shaft meshing frequency, GMFlm for parallel shaft gear low / medium speed shaft meshing frequency, Zlg for number of teeth of low speed shaft large gear 29, Zmp for number of teeth of medium speed shaft small gear 30, Zmp, medium speed The number of teeth of the large shaft gear 31 is Zmg, and the number of teeth of the high speed small shaft gear 32 is Zhp. The known overall speed increase ratio is I, and the planetary gear speed increase ratio Zr / Zs + 1 in the planetary gear teeth number specifying means 46 is Ip.

-Formula for calculating the number of teeth of high-speed shaft small gear 32 using parallel-shaft medium-high-speed shaft meshing frequency
Zhp = GMFmh / (np × I) Equation (6)
-Formula for calculating the number of teeth of low-speed shaft large gear 29 using parallel shaft gear low / medium speed shaft meshing frequency
Zlg = GMFlm / (np × Ip) Equation (7)
・ Formula for calculating the ratio of the number of teeth of the medium speed shaft small gear and large gear
Zmg / Zmp = (I / Ip) × (Zhp / Zlg) Equation (8)

  The two-stage parallel shaft gear tooth number specifying means 47 uses the GMFmh and GMFlm specified by the meshing frequency specifying means 45 to calculate Zhp and Zlg from Expressions (1) and (2). Using the calculated Zhp and Zlg, a tooth number ratio Zmg / Zmp is calculated from equation (3). Furthermore, the combination (Zmg, Zmp) in which the difference between the speed ratios Zlg / Zmp, Zmg / Zhp of the gear pairs of each parallel shaft is 1.5 or less can be specified, and Zlg, Zmg, Zmp, Zhp can be specified. In the two-stage parallel shaft gear tooth number specifying means 47, the difference in the speed ratio between the gear pairs is set to 1.5 or less in order to prevent uneven wear of the tooth surfaces of the two gear pairs.

  FIG. 5 is a diagram showing the meshing frequency of each gear pair specified by the meshing frequency specifying means. As shown in FIGS. 4 and 5, the control device 39 controls the display unit 41 to display the meshing frequency of each gear pair. For example, the meshing frequency specifying unit 45 sets the planetary gear meshing frequency GMFp to 36.47 Hz, the parallel shaft gear low / medium speed shaft meshing frequency GMFlm to 203.1 Hz, and the parallel shaft gear medium / high speed shaft meshing frequency GMFmh to 968.2 Hz. Can be identified.

An example of a specific meshing frequency identification algorithm will be described below.
FIG. 6 is a flowchart showing a meshing frequency specifying method by the meshing frequency specifying means. In the following description, description will be made with reference to FIG. The meshing frequency specifying method according to this embodiment includes a harmonic region setting process (step a1), a survey frequency range setting process (step a2), a maximum peak amplitude calculation process (step a3), and a meshing frequency specifying process (step a3). Step a4). In each process, the harmonic region setting means 42, the investigation frequency range setting means 43, the maximum peak amplitude etc. calculating means 44, and the meshing frequency specifying means 45 are controlled mainly in the order of steps.

Step a1: After the start of this process, it is set how many harmonics of the expected frequency are to be investigated. This time it is set to triple.
Step a2: An investigation frequency range is set. The investigation frequency range is shown below.
Range (1) Expected frequency ± 1/2 of rotation frequency
Range (2) Expected frequency x 2 ± 1/2 of rotation frequency
Range (3) Expected frequency x 3 ± 1/2 of rotation frequency
The ranges (1) to (3) are set as a set of investigation frequency ranges. In order to prevent the influence of sideband waves, it is preferable to use the rotation frequency of the lower gear.

Step a3: Calculate the maximum peak amplitude in each of the investigation frequency ranges (1) to (3). At this time, an expected frequency in which the difference between the maximum peak amplitudes in the range (1) and the range (2) and the range (2) and the range (3) is 10 times or less is selected.
Step a4: GMFmh is the expected frequency when the sum of the maximum peak amplitudes in the investigation frequency range (1) to (3) is the largest among the expected frequencies selected in step a3, and the prediction is the second largest. The frequency is specified as GMFlm, and the expected frequency at the third largest is specified as GMFp. Thereafter, the present process ends.

An example of an algorithm for specifying the number of teeth (Zr, Zp, Zs) of the planetary gear device from GMFp, np, and N will be described below. FIG. 7 is a flowchart showing a process of specifying the number of teeth of the planetary gear device (a process of specifying the number of teeth of the planetary gear). The controlling entity of this process is the planetary gear tooth number specifying means 46.
Step b1: After the start of this processing, the np (step b0) measured from the rotation speed sensor Sb (FIG. 3) and the specified GMFp are substituted into the above equation (1), and Zr = 110.515 is rounded. Zr is specified as “111”.

Step b2: Using the specified Zr = 111, from the expressions (3) and (5), 19 <Zp <50, and the range of the number of teeth Zp can be limited.
Step b3: In the case of 19 <Zp <50, the combination (Zp, Zs) of the number of teeth of the planetary gear and the sun gear satisfying the expression (2) is calculated. The calculated (Zp, Zs) are shown below. Combinations in which the number of teeth is 17 or less were excluded.

(Zp, Zs) =
(20, 71) (21, 69) (22, 67) (23, 65) (24, 63) (25, 61) (26, 59)
(27, 57) (28, 55) (29, 53) (30, 51) (31, 49) (32, 47) (33, 45)
(34, 43) (35, 41) (36, 39) (37, 37) (38, 35) (39, 33) (40, 31)
(41, 29) (42, 27) (43, 25) (44, 23) (45, 21) (46, 19)

Step b4: The (Zp, Zs) of step b3 that satisfies the expression (4) is specified. The specified (Zp, Zs) are shown below.
(Zp, Zs) =
(21, 69) (24, 63) (27, 57) (30, 51) (33, 45) (36, 39) (39, 33)
(42, 27) (45, 21)
Step b5: The combination of step b4 in which the speed ratio Zr / Zs + 1 is the maximum is (Zp, Zs) = (45, 21). Therefore, the number of teeth (Zr, Zp, Zs) was identified as (111, 45, 21). The control device 39 performs control to display the number of teeth (Zr, Zp, Zs) on the display unit 41.

An example of an algorithm for specifying the number of teeth (Zlg, Zmp, Zmg, Zhp) of the two-stage parallel shaft gear device from GMFlm and GMFmh is shown below. FIG. 8 is a flowchart showing a process of specifying the number of teeth of the two-stage parallel shaft gear device (a process of specifying the number of teeth of the two-stage parallel shaft gear). The controlling entity of this process is the two-stage parallel shaft gear tooth number specifying means 47.
After the start of this process, a high-speed shaft rotation speed np × I and a low-speed shaft rotation speed np × Ip are calculated from the measured main shaft rotation speed np (step c0), I and Ip (step c1).

The calculated high-speed shaft rotation speed np × I, low-speed shaft rotation speed np × Ip, and the specified GMFmh and GMFlm are substituted into the above expressions (6) and (7), and Zhp = 31.866 and Zlg = 97.913. Becomes These can be specified as (Zhp, Zlg) = (32, 98) by rounding them (step c2).
The value obtained in step c2 is substituted into the above equation (8), and the tooth number ratio Zmg / Zmp is calculated. The range of Zmp satisfies 17 <Zmp <98 from the cut-down preventing condition and Zlg (step c3). From the integer Zmp within this range, Zmg is calculated using the tooth number ratio Zmg / Zmp (step c4). At this time, Zmg often does not become an integer due to the measurement accuracy of the speed increase ratio and the rotation frequency.

Among the (Zmg, Zmp) obtained in step c4, when the difference between the speed ratios Zlg / Zmp, Zmg / Zhp is 1.5 or less and Zmg is closest to the integer, (Zmg, Zmp) = (109.981, 23). Therefore, by rounding off, it was specified that (Zmg, Zmp) = (110, 23) (step c5).
A test was conducted to confirm whether the meshing frequency and the number of teeth specified by these algorithms matched the values of the gearbox in which the design specifications of the gears inside the gearbox were known.

In this test, the sensors corresponding to the specified meshing frequency of each gear pair are as follows.
-Planetary gear meshing frequency: acceleration sensor Sc for gearbox input bearing (Fig. 2) and acceleration sensor Sd for gearbox planetary bearing (Fig. 2)
-Parallel shaft gear low / medium speed shaft meshing frequency: acceleration sensor Se for low speed bearing of gearbox (Fig. 2) and acceleration sensor Sf for medium speed bearing of gearbox (Fig. 2)
・ Medium / high-speed shaft meshing frequency of parallel shaft gears: acceleration sensor Sf for medium speed bearing of gearbox (FIG. 2) and acceleration sensor Sg for high speed bearing of gearbox (FIG. 2)

In the same test, the vibration for 10 seconds was measured by the plurality of acceleration sensors Sc to Sg. The prerequisites N, np, I, GMFp, GMFlm, GMFmh, Zr, Zp, Zs, Zlg, Zmp, Zmg, and Zhp to be specified are described below. The unit of np, GMFp, GMFlm, and GMFmh is Hz.

  Therefore, it was confirmed that the meshing frequency and the number of teeth specified by the algorithm of the present embodiment matched the values shown above. FIG. 9 shows the frequency range of the measurement data in each sensor during the rated operation in this test. Although countless peaks can be confirmed in FIG. 9, it is unclear which peak is the meshing frequency.

  According to this state monitoring system Stm, the meshing frequency specifying means 45 calculates the total value of the maximum peak amplitudes calculated within a range of a plurality of set expected frequencies within a predetermined time among the selected expected frequencies. Is specified as the meshing frequency of the gear pair having the k-th largest tooth flank speed although the k-th (k is a natural number) largest expected frequency is specified. The meshing frequency specifying means 45 uses a phenomenon that the meshing vibration of a normal gear pair increases as the tooth surface speed increases. Therefore, it is possible to specify the meshing frequency of each gear pair that is useful for gear abnormality diagnosis. The control device 39 monitors the increase / decrease of the harmonic component and the appearance of one or both of the sidebands from the specified meshing frequency, thereby calculating the abnormal form of the gear or the wear amount of the tooth surface. Monitoring can be performed.

  According to the state monitoring system Stm, the number of teeth of each of the internal gear 22, the planetary gear 21, and the sun gear 20 constituting the planetary gear device 15 can be specified from the measurement data. Further, the number of teeth of the low speed shaft large gear 29, the medium speed shaft small gear 30, the medium speed shaft small gear 31, and the high speed shaft small gear 32 constituting the two-stage parallel shaft gear device 16 can be specified. Therefore, a frequency useful for gear abnormality diagnosis can be calculated, and the diagnosis accuracy of the normal state monitoring system Stm can be improved.

The state monitoring system Stm may monitor, for example, the state of one or both of a speed increaser and a speed reducer used in a large-scale plant or the like.
Although an acceleration sensor is applied as each sensor, it is not limited to only an acceleration sensor. As each sensor, for example, a speed sensor, a displacement sensor, an ultrasonic sensor, an acoustic sensor, or the like may be applied.

  Although the embodiments for carrying out the present invention have been described based on the embodiments, the embodiments disclosed herein are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

7 speed increasing gear 38 tooth number specifying device 39 control device (monitoring means)
40 meshing frequency specifying device 42 high frequency range setting means 43 investigation frequency range setting means 44 maximum peak amplitude etc. calculating means 45 meshing frequency specifying means 46 planetary gear teeth number specifying means Sa acceleration sensor Stm state monitoring system

Claims (4)

A gear number specifying device for specifying the number of teeth of a single pinion type planetary gear device including one or both of a speed increaser and a speed reducer having a plurality of gear pairs,
A sensor for detecting meshing vibration generated from each gear pair,
Harmonic region setting means, which is set to what number of harmonic regions to investigate with respect to the expected frequency of the meshing frequency of each gear pair,
Investigation frequency range setting means in which a plurality of expected frequency ranges for investigating the meshing frequency are set,
In the expected frequency range set by the survey frequency range setting means and in the harmonic range set by the harmonic range setting means, the maximum peak amplitude is calculated from the meshing vibration detected by the sensor, and Maximum peak amplitude etc. calculating means for selecting an expected frequency whose difference between the maximum peak amplitudes is equal to or less than a predetermined multiple between a plurality of set expected frequency ranges,
Among the expected frequencies selected by the maximum peak amplitude etc. calculating means, the total value of the maximum peak amplitudes calculated within a range of a plurality of set expected frequencies within a predetermined time is k-th (k is a natural number). Meshing frequency specifying means for specifying an expected frequency which is larger than the gear number as a meshing frequency of a gear pair having the kth largest tooth surface speed,
From the meshing frequency specified by the meshing frequency specifying unit, a planetary gear tooth number specifying unit that specifies the number of teeth of the planetary gear device at which the speed ratio is maximized by using a predetermined number of teeth condition formula in the planetary gear mechanism. And a tooth number specifying device for a single pinion type planetary gear device, comprising:   2. The single pinion type planetary gear device according to claim 1, wherein the harmonic region setting means sets whether to investigate a harmonic region up to three times the expected frequency of the meshing frequency. Number identification device of a single pinion type planetary gear set.   A single pinion type planetary gear set according to claim 1 or 2, further comprising: a number-of-teeth specifying device for monitoring increase / decrease of harmonic components and / or appearance of one or both sidebands from the specified meshing frequency. A condition monitoring system having a monitoring unit that performs monitoring. A tooth number specifying method for specifying the number of teeth of a single pinion type planetary gear device including one or both of a speed increaser and a speed reducer having a plurality of gear pairs,
Using a sensor that detects each meshing vibration generated from each gear pair,
For the expected frequency of the meshing frequency of each gear pair, a harmonic region setting step of setting how many times a higher harmonic region is to be investigated,
An investigation frequency range setting step of setting a plurality of expected frequency ranges for investigating the meshing frequency,
In the expected frequency range set in the investigation frequency range setting process and in the harmonic region set in the harmonic region setting process, the maximum peak amplitude is calculated from the meshing vibration detected by the sensor, and A process of calculating a maximum peak amplitude or the like for selecting an expected frequency whose difference between the maximum peak amplitudes is equal to or less than a predetermined multiple between a plurality of set expected frequency ranges,
Among the expected frequencies selected in the process of calculating the maximum peak amplitude, etc., the total value of the maximum peak amplitudes calculated within a range of a plurality of set expected frequencies within a predetermined time is k-th (k is a natural number). A meshing frequency specifying process of specifying an expected frequency which is larger than the gear number as a meshing frequency of the gear pair having the kth largest tooth surface speed;
From the meshing frequency specified in the meshing frequency specifying process, a planetary gear tooth number specifying process of specifying the number of teeth of the planetary gear device at which the speed ratio is maximized using a predetermined number of teeth condition formula in the planetary gear mechanism. And a method for specifying the number of teeth of a single pinion type planetary gear device.

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