JPH08338790A - Method for evaluating performance of reduction gear for nut runner - Google Patents

Abstract

PURPOSE: To perform the performance evaluation test of reduction gear for nut runner automatically at individual test bench based on the actual operational conditions. CONSTITUTION: A reduction gear 10 having output shaft coupled with a powder brake 20 for loading is operated by a drive motor 16 according to a predetermined speed/torque pattern. Input/output shaft torque, surface temperature, noise, etc., of the reduction gear 10 and the like are measured during the operation and judgement is made as to whether the operating state is normal or not based on any one measurement. When such a judgement is made that the operating state is abnormal, the test is stopped. The speed, torque pattern is determined while taking account of the actual operating state of nut runner for each test of heat balance, efficiency, maximum r.p.m. endurance and maximum torque endurance.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for evaluating the performance of a speed reducer that decelerates and outputs an input from a drive motor, and more particularly to a performance evaluation method suitable for a speed reducer for a nut runner.

[0002]

2. Description of the Related Art In a factory for assembling machine products, a nut runner for tightening nuts and bolts for connecting parts with each other by mechanical force is used. FIG. 14 is a schematic diagram showing a nut runner. The output of the drive motor 1 is sent to the speed reducer 2, where it is decelerated at a predetermined speed reduction ratio. The output of the speed reducer 2 is transmitted to the socket 4 via the torque sensor 3 that detects the output shaft torque. The socket 4 is fitted to a nut or bolt 5 to be tightened, and is rotated to tighten the target component. The drive motor 1 needs to have its rotation speed and torque controlled according to the stage of tightening the bolt 5, and this control is performed by the control device 6. Further, the detected values from the encoder 7 that detects the rotation speed of the drive motor 1 and the torque sensor 3 described above are sent to the control device 6, and feedback control is performed.

FIG. 15 shows an example of the operation mode of the nut runner. During the biting period until the bolt 5 starts to be screwed into the screw hole to be tightened, the rotation speed is controlled at about 50 rpm and the output shaft torque is controlled at about 5 Nm. At the end of the bite period, rotation will stop once. During the subsequent screw-up period in which the bolt 5 is screwed into the screw hole, the maximum rotation speed of the nut runner (70 in the case of the example device)
Rotate at 0 rpm). At this time, since the fastening force does not yet act on the bolt, the output shaft torque may remain low.
Next, a temporary tightening period in which the bolts are lightly tightened is entered, but in this period, the tightening force is not yet generated in the initial stage, so the output shaft torque may remain low. Also, during this period, it is not known when the bolt neck will be completely screwed in, so the rotation speed will be low (65 rpm).
It can be suppressed.

The lower neck of the bolt is completely hidden in the hole,
When the screw is screwed in until only the head portion remains, a fastening force is generated thereafter, so that the output shaft torque is controlled to increase. On the other hand, at the same time, the rotation speed is reduced.

Finally, the output shaft torque is increased to 130 Nm, which is almost the maximum torque of the exemplified device, the main tightening is performed, and the bolts are tightened. At this time, the rotation speed is controlled to a very small value.

In addition to the above tightening,
When the bolt is not tightened properly for some reason, it is eliminated so that the reverse rotation can be controlled.

As described above, the operating conditions of the nut runner are various, and therefore it is necessary to perform performance tests in various modes. A device for performing a performance test of a vehicle transmission, which is not a reduction gear for a nutrunner, is disclosed in Japanese Patent Laid-Open No. 5-87698.

[0008]

When performing the performance test of the nut runner as described above, it is possible to mount the speed reducer on the actual nut runner device and perform the bolt tightening work. However, there is a problem that enormous amount of time is required if the actual work is performed, such as when testing the durability performance.

The present invention has been made to solve the above problems, and provides a performance evaluation method of a speed reducer capable of performing a test reflecting various operating conditions of the nut runner as described above. With the goal.

[0010]

In order to achieve the above-mentioned object, a performance evaluation method for a speed reducer for a nut runner according to the invention of the present application comprises a step of operating the speed reducer at a predetermined set speed, Monitoring the operating state of the machine, and when operating in a predetermined abnormal operating state, stopping the operation of the drive motor, detecting the temperature of a predetermined portion of the speed reducer, and the detection When the heat balance of the speed reducer is almost in equilibrium based on the temperature, the step of changing the set speed to a preset next set speed, and at each set speed, The heat balance of the speed reducer is evaluated for equilibrium.

According to another aspect of the present invention, there is provided a nutrunner speed reducer performance evaluation method, wherein the speed reducer is operated at a maximum forward rotation speed for a first predetermined time and then reversely operated for a second predetermined time. Operating at the maximum rotational speed in the direction, performing mode operation, monitoring the operating state of the speed reducer, and stopping the operation of the drive motor when operating in a predetermined abnormal operating state And a step of stopping the operation of the drive motor when the number of cycles of the mode operation reaches a predetermined number, the mode operation is performed for a predetermined number of cycles, and the durability performance of the speed reducer at the maximum rotation operation Is to be evaluated.

A nut runner speed reducer performance evaluation method according to still another invention of the present application is to set the speed reducer at a predetermined set rotational speed, a predetermined first output shaft torque value and a second output shaft torque value.
The step of performing the mode operation, in which the output shaft torque is changed between the output shaft torque values, and the step of performing the mode operation, the input shaft torque and the output shaft torque are detected during the mode operation, and the transmission efficiency of the speed reducer is determined based on these. The step of calculating, monitoring the operating state of the speed reducer, when operating in a predetermined abnormal operating state, stopping the operation of the drive motor, and when the mode operation is completed, Changing the set rotation speed to a predetermined next set rotation speed, and evaluating the transmission efficiency of the speed reducer at each set rotation speed.

A nut runner speed reducer performance evaluation method according to still another aspect of the present invention is configured such that the speed of the speed reducer is changed from a first predetermined speed in the forward direction to a stopped state and the output shaft torque is reduced. Mode operation in which operation is performed by changing from the minimum value to the maximum value, and further, the rotation speed is changed from the stopped state to the second predetermined rotation speed in the reverse direction and the output shaft torque is changed from the minimum value to the maximum value. Monitoring the operating state of the speed reducer, and when operating in a predetermined abnormal operating state, stopping the operation of the drive motor and the load device, and the cycle of the mode operation When the number reaches a predetermined number, stopping the operation of the drive motor and the load device, performing the mode operation for a predetermined number of cycles, and decelerating Evaluation of durability performance of the maximum torque of and performs.

A test apparatus for performing the above performance evaluation is
A speed reducer to be tested, an operation mode realizing means for operating the speed reducer based on a predetermined test operation mode, a measuring means for measuring an operation state during a test operation of the speed reducer, and the measured operation state Is an abnormal state, and if it is an abnormal state, an abnormality monitoring means for stopping the test is provided.

The operation mode realizing means may include a drive motor connected to the input shaft of the speed reducer, and a controller for operating the drive motor according to a predetermined operation mode. A speed increaser may be provided between the speed reducer and the drive motor.

Further, it is preferable that the operation mode realizing means has a load means connected to the output shaft of the speed reducer and a control section for operating the load means according to the operation mode.

The measuring means includes temperature detecting means for detecting the temperatures of the speed reducer and the drive motor. It is also preferable that a noise measuring means for measuring noise during the test drive is provided. It is also preferable to provide temperature detecting means for detecting the temperature of the load means. It is also preferable to provide an input shaft torque detecting means for detecting the torque of the input shaft. It is also preferable to provide an output shaft torque detecting means for detecting the torque of the output shaft. It is also preferable to provide a rotation speed detecting means for detecting the rotation speed of at least one of the input shaft and the output shaft.

The load means may be a powder brake.

The control section for controlling the drive motor includes a servo controller and command means for giving an instruction to the servo controller according to a predetermined operation mode. Also,
The control unit for controlling the powder brake includes a constant voltage power supply for applying a voltage according to the load to the powder brake, and a command means for giving an instruction according to a predetermined operation mode to the constant voltage power supply.

The command means for giving an instruction to the servo controller and the command means for giving an instruction to the constant voltage power source are
It can be one personal computer.
The personal computer includes an operation mode storage unit that stores a predetermined operation mode.

The measuring means may include a measured value storing means for storing the output of each detecting means. The measured value storage means may be the personal computer. Therefore, in this personal computer,
A measurement value storage unit is provided.

The abnormality monitoring means may be the personal computer. Therefore, this personal computer is provided with an abnormality determination unit.

The operation mode stored in the personal computer includes an operation mode corresponding to at least one of a heat balance test, an efficiency test, a maximum rotation speed endurance test and a maximum torque endurance test.

Further, the abnormality determination can be made based on the fact that the temperature upper limit value set for each of the above temperature detecting parts is exceeded. Alternatively, it can be performed based on the fact that the control command of the drive motor is different from the actual operating state.
It can also be performed based on the operating state of the speed reducer being different from the design value.

[0025]

Each of the inventions of the present application has the above-mentioned configuration, and the test is performed according to the set operating condition, so that the performance evaluation test can be automated. Further, in the case of an abnormal operation state, since the test is stopped, the device and the reduction gear to be tested are not seriously damaged.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a schematic structure of a tester for a speed reducer. The speed reducer 10 is fixedly arranged on the device base 12, and a drive motor 16 is connected to the input shaft via a torque sensor 14. On the other hand, a powder brake 20 as a load device is connected to the output shaft of the speed reducer 10 via a torque sensor 18. Two torque sensors 1
Torque meters 22 and 24 that output a signal corresponding to the torque value from the output of the sensor are arranged at 4 and 18. Further, the drive motor 16 is controlled by the servo controller 26, and the powder brake 20 is controlled by the constant power supply device 28. Two speed sensors 30 and 32 are attached to the speed reducer 10, and temperature sensors 34 and 36 are also attached to predetermined positions of the drive motor 16 and the powder brake 20, respectively. Two temperature sensors are attached to the speed reducer 10 because the speed reducer has a two-stage planetary gear mechanism,
This is for measuring the temperature of the portion close to the two stages. The outputs of these temperature sensors 30, 32, 34, 36 are sent to a recorder 38 where the temperature changes during the test are recorded. In addition, the torque meters 22 and 24, the controller 2
6. The constant voltage power supply 28 and the recorder 38 are connected to the personal computer 42 (see FIG. 2) via the expansion slot 40.

FIG. 2 shows a block diagram of the configuration of the test apparatus of this embodiment. The same components as those described above are designated by the same reference numerals, and description thereof will be omitted. Reducer 1
The input / output shaft of 0 is provided with rotation speed sensors 44 and 46 for detecting the respective rotation speeds. The input shaft has a gear-shaped metal disc 44 having a predetermined number of irregularities arranged in the circumferential direction on the outer periphery.
a is fixed, and an electromagnetic pickup 44b is arranged so as to face the outer peripheral portion of the disc 44a. When the input shaft rotates, and thus the disc 44a rotates, the mutual inductance between the irregularities on the outer periphery of the disc 44a and the electromagnetic pickup 44b changes, and the waveform corresponding to this change is the torque meter 2
2 is sent. Since this waveform is a substantially rectangular wave, and the number of irregularities around the disk 44a is known in advance, the torque meter 22 calculates the number of revolutions by counting the irregularities of this waveform. The rotation speed of the output shaft is also calculated by the disc 46a and the electromagnetic pickup 46b.
Further, a sound level meter 48 is provided to measure the noise generated by the speed reducer.

The expansion slot 40 is provided with an A / D conversion board 50 for converting the output of each measuring instrument output as analog data into digital data. Therefore, the output (torque value, rotation speed) of the torque meters 22 and 24, the output of the sound level meter 48, and the control content of the servo controller are taken into the personal computer 42 via the A / D conversion board 50.

On the other hand, the expansion slot 40 is provided with a GP-IB board 52 and a D / A conversion board 54 for sending the control instruction information from the personal computer 42 to each device. The output of the personal computer 42 for controlling the torque meters 22 and 24 and the hybrid recorder is sent to each device via the GP-IB board 52. Outputs for controlling the servo controller 26 and the constant voltage power supply 28 are sent to each device via the D / A conversion board 54.

The I / O card 56 receives control information from the control panel 58 for manually operating the servo controller 26, and sends it to the servo controller 26.

With the apparatus configuration shown in FIGS. 1 and 2, it is possible to carry out a test when a load is applied to the speed reducer 10. For example, the durability performance can be evaluated by repeatedly operating with the maximum torque in each of the forward and reverse rotation directions. In this case, the drive motor 16 and the powder brake 20 are controlled on the basis of the operation mode which shows the time change of the rotation speed and the torque stored in the personal computer 42.

Further, the torques of the input shaft and the output shaft can be detected by the respective torque sensors 14 and 18, and the transmission efficiency of the speed reducer 10 can be obtained based on these. Also in this case, the device is operated according to the control pattern stored in the personal computer 42, the input / output shaft torque is read, and the efficiency is calculated.

FIG. 3 shows the apparatus shown in FIGS. 1 and 2.
An example in which the rearrangement is performed so as to operate with no load is shown. The output shaft of the speed reducer 10 is separated from the output shaft torque sensor 18. Further, instead of the input shaft torque sensor 14, a speed increaser 60 is incorporated. This is to reduce the load on the drive motor 16 when the speed reducer 10 is operated near the maximum speed.

Performance evaluation by no-load operation is performed by the speed reducer 10
There is a heat balance test to see if the heat generated by internal friction and the heat released to the outside are in equilibrium, and a maximum rotation speed endurance test to evaluate whether abnormality occurs at maximum rotation. The heat balance test confirms whether a thermal equilibrium is reached when operating at a certain rotation speed,
When it reaches, the number of revolutions is changed, and this is repeated to evaluate whether the thermal equilibrium state is achieved at each number of revolutions.
The control of this test is also performed based on the operation mode stored in the personal computer 42. In the maximum rotation speed endurance test, operation is repeated for a predetermined time at maximum rotation speeds in both forward and reverse directions, and this operation mode is repeated. This operation mode is also stored in the personal computer 42, and the drive motor 16 is controlled based on this operation mode.

4 to 9 are flowcharts of the performance evaluation test of this embodiment. In this device, it is possible to perform a heat balance test for evaluating whether the heat balance is in an equilibrium state, an efficiency measurement test for measuring the transmission efficiency of the reduction gear, and a durability test. Regarding the endurance test, it is possible to perform a maximum speed endurance test that focuses on the operation at the maximum speed and compresses the operating time of the actual device, and a maximum torque endurance test that focuses on the operation at the maximum torque. Therefore, this device can perform the above four types of performance evaluation tests.

FIG. 4 shows a flow chart regarding the selection of the above-mentioned four types of performance evaluation tests. After the initialization is completed, the specifications of the speed reducer to be tested are input (S101). This specification is the maximum speed, maximum torque,
Reduction ratio, theoretical efficiency, etc. A data file is created based on the input specifications (S102). next,
It is determined whether the torque sensors 14 and 18 of the input / output shafts and the load powder brake 20 are to be removed (S10).
3). In the case of the heat balance test and the maximum rotation speed endurance test described above, the test is performed with no load, and thus the above device is not necessary. In this case, the device is rearranged as shown in FIG. 3 (S104). That is, the speed reducer 1
The output shaft of 0 becomes free, and the output of the drive motor 16 is input to the speed reducer via the speed increaser 60. After the device is recombined, it is input that the operation preparation on the device side is completed (S105). Then, whether to perform the heat balance test is selected (S106). When the heat balance test is not selected, whether to perform the maximum rotation speed durability test is selected (S107), and when this is not also selected, the operation preparation by the manual operation is performed.

If the removal of the torque sensors 14 and 18 and the load powder brake 20 is not selected in step S103, it is input that the operation preparation is completed (S108). Then, whether to perform the efficiency measurement test is selected (S109). If the efficiency measurement test is not selected, the torque durability test is selected (S
110), if this is also not selected, operation preparation by manual operation is performed.

FIG. 5 shows a flowchart relating to the heat balance test. In the heat balance test, when the speed reducer 10 is operated at a predetermined rotation speed, the heat generated by friction inside the speed reducer 10 and the heat released to the outside are in an equilibrium state, and the temperature of the speed reducer 10 is constant. It is a test of whether or not. In this device, the heat balance is monitored based on the outputs of the temperature sensors 30 and 32 installed on the surface of the speed reducer 10. If the heat balance does not reach an equilibrium state, it is considered that internal friction is large due to a design error or a process error. Further, if this test is performed prior to other tests, it is possible to serve also as a break-in operation of the speed reducer 10. The heat balance test
As shown in FIG. 10, the rotation speed is gradually increased in a stepwise manner,
Determine whether heat balance is balanced at each speed
To be evaluated.

In the flowchart shown in FIG. 5, evaluation conditions are first input (S201). The evaluation conditions include the set rotational speed, the saturation time condition (Δt), the saturation temperature condition (ε), the post-saturation operation time (ΔT), and the sampling interval (τ).
The set rotational speed is an operating rotational speed of the speed reducer 10 when evaluating whether the heat balance reaches equilibrium, and is set in order every 100 rpm up to the maximum rotational speed as shown in FIG. 10, for example. The saturation time condition and the saturation temperature condition are thresholds for determining that the thermal equilibrium state is reached when the detected temperature changes only by a predetermined amount within a predetermined time. That is, if the standard deviation of the temperature change within the saturation time condition (Δt) is within the saturation temperature condition (ε), it is determined that the thermal equilibrium state is reached. The operating time after saturation is
After it is determined that the thermal equilibrium state is reached, it is during the operation at the set rotational speed. The sampling interval is a temperature detection time interval. Each parameter of these evaluation conditions can be changed according to the specifications of the reducer to be tested, the work conditions such as tightening thick bolts or thin things, and the work frequency. You can do a test that reflects.

Next, the range of the attenuator of the sound level meter 48 is input (S202), and the heat balance test is started. First, the speed is set to the set rotational speed in the first stage (S203), and the constant speed operation is started at this speed (S204). Next, the measurement / abnormality monitoring subroutine shown in FIG. 9 is executed (S205). The details of this subroutine will be described later. And the following equation

[Equation 1] It is determined whether or not is satisfied (S206). Where T
(I) represents the temperature i sample time after the start of the test. If the formula (1) is not satisfied, step S20
Returning to step 4, measurement and abnormality monitoring are continued.

When the equation (1) is satisfied, the time when the thermal equilibrium state is reached (saturation time T) is substituted (S20).
7) The operation at the set speed is maintained (S20).
8). At this time, the measurement / abnormality monitoring subroutine is also executed (S209). Then, it is determined whether the post-saturation operation time ΔT has elapsed from the saturation time T (S210). Still this time ΔT
If has not elapsed, steps S208 and S209 are repeated. When the time ΔT has elapsed, the set rotation speed is updated to the next rotation speed (S211).

Further, it is judged whether or not the set rotation speed is 0 rpm (S212), and if it is not 0 rpm, the process proceeds to step S204, and the heat balance at the next set rotation speed is evaluated in the same manner as the above-mentioned flow. Done. On the other hand, when it is determined that the set rotation speed is 0 rpm, the test ends. In other words, the next rotational speed at which the heat balance at the maximum rotational speed is evaluated is set to 0 rpm, and setting the rotational speed to 0 rpm is an instruction to end the heat balance test.

FIG. 6 shows a flowchart of the maximum rotation speed endurance test. Further, FIG. 11 shows an example of the operation mode of this test. This test is a test that assumes a screw-up process before the tightening force acts on the bolt in the process such as bolt tightening, and therefore evaluates the durability performance when the torque is low and the rotation speed is high. Specifically, as shown in FIG. 11, the durability performance is evaluated by repeatedly operating the speed reducer 10 with no load and at the maximum rotation speed during forward rotation and the maximum rotation speed during reverse rotation. .

In the flowchart of FIG. 6, the evaluation conditions for the maximum rotation speed durability test are input (S30).
1). The conditions are the rotation speed that is the maximum rotation speed of the output shaft during forward rotation, the rotation speed that is the maximum rotation speed of the output shaft during reverse rotation, the speed pattern (operating mode) as shown in FIG. 11, and the number of times the speed pattern is repeated. The number of test cycles, the data sampling interval, the storage file name of the measurement data, and the like. Similar to the heat balance test, these evaluation conditions can be changed according to the specifications of the speed reducer, the work content, the work frequency, and the like, and tests suitable for various conditions can be performed.

Next, the range of the attenuator of the sound level meter 48 is input (S302), and the test is started. First, the number of cycles is set to 0 (S303), and the operation is performed in the input operation mode (S304). During this time, measurement
The abnormality monitoring subroutine is executed (S305). When one cycle of the operation mode is completed, 1 is added to the number of cycles to update (S306). Then, it is determined whether the number of cycles exceeds the number of test cycles (S30
7), until steps S304 to S307 are repeated. The test is terminated when the number of test cycles is exceeded.

FIG. 7 shows a flow chart of the efficiency measurement test. Further, FIG. 12 shows an example of the speed and torque pattern (operation mode) of the efficiency measurement test. In this test, as shown in FIG. 12, at a certain rotation speed, the output shaft torque increases from a certain torque value to a maximum torque value, and again decreases to the original torque value, and the average value of the efficiency during this period is obtained. It is a thing. Then, the rotation speed is changed to change the torque as described above, and this is repeated.

In the flowchart of FIG. 7, efficiency measurement evaluation conditions are first input (S401). The conditions include the set rotation speed, the maximum test torque, the minimum test torque, the speed pattern, the sampling interval, and the measurement data storage file name. The set rotation speed is tested only when the rotation speed is relatively low in consideration of the actual usage. That is, when a large torque is applied, the rotation speed is in a low state, so the operation at a large torque / high rotation speed is not actually performed, and the test under such conditions is not required. Maximum torque is reduction gear 1
A maximum torque of 0 specification is preferred. In this embodiment, the minimum torque is set to 30% of the maximum torque. Of course, these torques are applied to the speed reducer 10
It is preferable to set in consideration of the usage state of. Similar to the heat balance test, the above evaluation conditions can be changed according to the specifications of the speed reducer, the work content, the work frequency, and the like, and tests suitable for various conditions can be performed.

Next, the range input of the attenuator of the sound level meter 48 is performed (S402), and the test is started. First,
The speed is controlled to the first set rotational speed (S403), and FIG.
2, the output shaft torque is increased or decreased from 30% of maximum torque to 30% of maximum torque at a constant rotation speed (S404). During this time, a measurement / abnormality monitoring subroutine is executed (S4
05). Next, at a constant rotation speed, the efficiency is calculated based on the input shaft torque Tin and the output shaft torque Tout detected a predetermined number of times (S406). If the input shaft speed is Rin and the output shaft speed is Rout, the efficiency η is

[Equation 2] Since Rout / Rin is the reduction ratio k and is constant,

(Equation 3) It is expressed as That is, the efficiency η is represented by the horizontal axis kTin and the vertical axis T
It is the slope of the graph on the coordinate plane that was taken out. Therefore, the efficiency η can be obtained by performing the linear regression calculation based on the plurality of input / output torques measured at the predetermined rotation speed.

As described above, when the efficiency is calculated at one rotation speed, the rotation speed is updated to the next set rotation speed (S407). Then, it is determined whether the set rotation speed is 0 rpm (S408), and if it is not 0 rpm, the process proceeds to step S404. On the other hand, when the set rotation speed is 0 rpm, the test ends. This determination of test end is to give an instruction to end the test by setting the final set rotational speed to 0 rpm, similarly to the determination of the end of the heat balance test. Therefore, the rotation speed is 0 rpm
Until the setting is made, the rotation speed is sequentially changed, and the efficiency at each rotation speed is calculated. According to this efficiency test, since the torque of the input shaft and the torque of the output shaft can be directly detected by the torque sensor, the efficiency can be accurately calculated.

FIG. 8 shows a flowchart of the torque endurance test. Further, FIG. 13 shows the speed and torque pattern (operating mode) in the torque endurance test.
An example is shown. This test is a test that assumes the final tightening process in the process of tightening the actual bolts, etc. Therefore, it is a test that evaluates the durability performance in the state where the rotation speed is low and the torque is high. Specifically, as shown in FIG. 13, in the normal rotation state, the rotation speed is reduced from a certain rotation speed to a stop, at the same time, the output shaft torque is increased, and then the rotation is changed to the reverse rotation state. The speed and the torque pattern in which the speed is increased and the output shaft torque is simultaneously decreased are repeated a predetermined number of times.

In the flowchart of FIG. 8, efficiency measurement evaluation conditions are first input (S501). This condition is the maximum torque value of both forward and reverse, the speed pattern, the number of test cycles, the data sampling interval, the measurement data storage file name, and the like. The set rotation speed is tested only when the rotation speed is low in consideration of the actual usage. Similar to the above-mentioned efficiency measurement test, operation at high torque / high rotation speed is not actually performed, and it is said that the test under such conditions is not necessary. The maximum torque is preferably the maximum torque according to the specifications of the speed reducer 10. These evaluation conditions are
As in the case of the heat balance test, it can be changed according to the specifications of the reduction gear, the work contents, the work frequency, etc., and the test adapted to various conditions can be performed.

Next, the range input of the attenuator of the sound level meter 48 is performed (S502), and the test is started. First,
The number of cycles is set to 0 (S503). Then, the operation is performed in the speed pattern shown in FIG. 13 (S50
4) At the same time, the measurement / abnormality monitoring subroutine is executed (S505). When one cycle of the speed pattern is completed, 1 is added to the number of cycles to update (S50
6) It is determined whether the number of cycles exceeds the number of test cycles (S507). If not, the process proceeds to step S504 and the pattern operation is repeated. If the number of cycles exceeds the number of test cycles, the test is terminated.

Next, step S20 of each test described above.
5, S209, S305, S405, S505 measurement
The abnormality monitoring subroutine will be described. This subroutine is shown in FIG. First, measurement is performed by each sensor (S601). The torques of the input shaft and the output shaft are measured by the torque sensors 14 and 18 and the torque meters 22 and 24. In addition, the rotation speed sensor 44,
The rotation speeds of the input shaft and the output shaft are measured by the 46 and the torque meters 22, 24. However, the torque is not measured in the heat balance test and the maximum rotation speed durability test. Also, the temperature sensors 30, 32, 3
The temperature of a predetermined portion is measured by 4, 36. Further, the noise level is measured by the sound level meter 48. Further, in order to monitor the operating state of the drive motor 16, the torque and the rotational speed are detected. This is the servo controller 26
Even if the torque sensor 14 is recombined with the speed increaser 60 as in the heat balance test, it can be detected. The following abnormality determination is performed on each of these sensors based on the detected data. The drive motor 1
6, the surface temperature of the speed reducer 10 and the powder brake 20 (S602). When the drive motor 16 has an abnormality such as an overcurrent, the surface temperature rises. In this device, when the surface temperature of the drive motor 16 exceeds 80 ° C., the abnormality is determined. Further, when there is an abnormality in the bearings inside the speed reducer 10 or the members are rubbed, the heat generated inside increases and the surface temperature of the speed reducer 10 rises. In this device, an abnormality determination is made when the surface temperature of the speed reducer 10 exceeds 180 ° C. Furthermore, when the powder brake 20 is overused, the surface temperature of the powder brake 20 rises. In this device, an abnormality determination is made when the surface temperature of the powder brake 20 exceeds 80 ° C.

Next, it is determined whether or not the rotation speed of the drive motor 16 is abnormal (S603). If the difference between the motor control target rotation speed and the actual rotation speed is large, the speed reducer 10
It is conceivable that the load on the motor has increased due to some failure such as seizure of the bearing of this motor. In the case of this device, the difference between the target and actual speed is 200r
When it exceeds pm, an abnormality determination is made.

Further, an abnormality determination is made on the rotation speed of the input / output shaft of the speed reducer 10 (S604). When the gear of the reduction gear 10 is damaged, the ratio of the rotation speed of the input / output shaft does not reach a predetermined value. Since the reduction ratio of the speed reducer 10 to be measured by this device is fixed, the input shaft speed is theoretically the output shaft speed divided by the reduction ratio. However, considering the measurement error and the like, if the following equation is not satisfied, an abnormality determination is made.

[0057]

[Equation 4] Furthermore, when the torque of the input / output shaft of the speed reducer 10 is measured, these torques are also monitored (S).
605). The torque ratio of the input / output shaft does not reach a predetermined value when the gear of the reduction gear 10 is damaged or the bearing is seized. Since the reduction gear ratio of the speed reducer 10 to be measured by this device is fixed, theoretically, the input shaft torque is the output shaft torque multiplied by the reduction ratio and divided by the efficiency. However, in consideration of the fact that the actual efficiency does not become the theoretical efficiency and the error included in each detected value, in the present apparatus, the abnormality determination is made when the following equation is not satisfied.

[0058]

(Equation 5) In addition, noise is monitored. When the device breaks down or the speed reducer 10 is damaged, a louder sound than usual can be heard. In the entire apparatus, the largest noise source is the speed reducer 10, and most of the sound generated by this is the sound of the frequency of the gear meshing order component. Since the meshing degree of the gear is determined by the number of teeth of the gear, the meshing frequency can be calculated based on the rotation speed of the input shaft or the output shaft. Then, the gear meshing sound can be extracted by using a bandpass filter that passes a predetermined frequency width around this frequency. This meshing sound is increased when the tooth profile of the gear is not appropriate, when foreign matter is caught and the tooth surface is damaged.
In the case of this device, the gear meshing order noise is 80 dB /
If it exceeds A, an abnormality is determined (S606). Further, in response to the case where the noise is increased due to an abnormality other than the gears of the reduction gear 10, the abnormality determination is also performed when the overall exceeds 86 dB / A.

The bandpass filter is preferably a tracking filter whose center frequency follows an increase / decrease in the rotation speed of the speed reducer 10. Such a filter function may be programmed in the personal computer 42 by software, but an F having a tracking filter function may be used.
It is also possible to use FT (Fast Fourier Transform) as an external device.

Finally, it is determined whether or not an emergency stop instruction has been manually issued (S607). This is performed by pressing the emergency stop button when the operator visually detects an abnormality.

When an abnormality is determined by any of the above abnormality determination steps, an emergency stop is applied, the drive motor 16 is stopped, and the operation of this apparatus is stopped (S6).
08). On the other hand, if the abnormality determination is not made, it is determined whether the interrupt condition is input (S609). In this case, the interrupt condition indicates whether or not one cycle of measurement in each test has ended, and the measurement / abnormality monitoring subroutine is repeated until the input of this condition.
When an interrupt condition is input, the process returns to the main routine shown in FIGS. 5 to 8 and proceeds to the next step.

As described above, according to this embodiment, the torque,
It is possible to efficiently perform a performance evaluation test of the speed reducer 10 used in the nut runner having a very wide use range in rotation speed. In particular, since the test can be performed on a separately provided test bench instead of performing the test on the actual machine of the nut runner, the work on the actual line is not hindered. In addition, since the driving motor and the like included in the actual nut runner have specifications suitable for the actual operation mode, there are cases where the specifications for the compressed process are not sufficiently provided, such as in a durability test. Even in such a case, according to the present apparatus, it is possible to use a motor having specifications that can withstand severe usage conditions. Further, by rotating the speed reducer 10 by the drive motor 16 via the speed increaser 60, it is possible to cope with a test with a higher rotation speed.

[0063]

According to the present invention, it is possible to perform a test in consideration of operating conditions peculiar to a nutrunner. Further, by performing the abnormality monitoring, the operation can be stopped when the abnormality occurs in the device, so that the damage can be prevented from spreading. Further, since the operation is performed based on the stored operation mode peculiar to the nut runner, that is, the speed or torque pattern, automation of the performance evaluation test is achieved together with the above-mentioned abnormality monitoring.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a test bench for performance evaluation of a nut runner speed reducer according to the present invention.

2 is a configuration block diagram of the test bench shown in FIG. 1. FIG.

FIG. 3 is a configuration diagram when the test bench shown in FIG. 1 is rearranged for no-load operation.

FIG. 4 is a flowchart for explaining a performance evaluation method for a nut runner speed reducer according to the present invention, and particularly a routine relating to test selection.

FIG. 5 is a flow chart for explaining a performance evaluation method for a nut runner speed reducer according to the present invention, which is a routine relating to a heat balance test.

FIG. 6 is a flowchart for explaining a performance evaluation method for a nut runner speed reducer according to the present invention, which is a routine relating to a maximum rotation speed durability test.

FIG. 7 is a flowchart for explaining a performance evaluation method for a nut runner speed reducer according to the present invention, which is a routine relating to an efficiency measurement test.

FIG. 8 is a flow chart for explaining a performance evaluation method for a nut runner speed reducer according to the present invention, which is a routine relating to a torque endurance test.

FIG. 9 is a flowchart for explaining a performance evaluation method for a nut runner speed reducer according to the present invention, and particularly a subroutine relating to measurement and abnormality monitoring.

FIG. 10 is a diagram showing an operation pattern of a heat balance test.

FIG. 11 is a diagram showing an operation pattern of a maximum rotation speed durability test.

FIG. 12 is a diagram showing an operation pattern of an efficiency measurement test.

FIG. 13 is a diagram showing an operation pattern of a maximum torque durability test.

FIG. 14 is an overall view of a nut runner.

FIG. 15 is a process chart showing an example of the operation of the nut runner.

[Explanation of symbols]

10 reducer, 14 input shaft torque sensor, 16 drive motor, 18 output shaft torque sensor, 20 powder brake, 30, 32, 34, 36 temperature sensor, 48
noise meter.

Claims (4)

[Claims] 1. A performance evaluation method for a nut runner speed reducer, wherein a drive motor is attached to an input shaft of the nut runner speed reducer, and the speed reducer is operated by the drive motor to evaluate the performance. A step of operating at a predetermined set speed, a step of monitoring the operating state of the speed reducer, stopping the operation of the drive motor when operating in a predetermined abnormal operating state, the speed reducer Detecting the temperature of a predetermined portion of the, and when the heat balance of the speed reducer is substantially in equilibrium based on the detected temperature, the set speed is changed to a predetermined next set speed. The method of evaluating the performance of a nut runner speed reducer for evaluating whether the heat balance of the speed reducer is in an equilibrium state at each set rotation speed. 2. A performance evaluation method for a nut runner speed reducer, wherein a drive motor is attached to an input shaft of the nut runner speed reducer, and the performance of the nut runner is evaluated by operating the speed reducer with the drive motor. A step of performing a mode operation of operating at a maximum forward rotation speed for a first predetermined time and then at a maximum reverse rotation speed for a second predetermined time, and monitoring the operating state of the speed reducer, A step of stopping the operation of the drive motor when operating in a predetermined abnormal operation state, and a step of stopping the operation of the drive motor when the number of cycles of the mode operation reaches a predetermined number. And a method for evaluating the performance of a speed reducer for a nut runner, wherein the mode operation is performed for a predetermined number of cycles to evaluate the durability performance of the speed reducer during maximum rotation operation. 3. A method for evaluating the performance of a nutrunner speed reducer, wherein a drive motor is attached to an input shaft of a nutrunner speed reducer, a load device is attached to an output shaft, and the drive motor and the load device are operated to evaluate the performance. And a step of performing a mode operation in which the speed reducer is operated at a predetermined set speed and with the output shaft torque varied between a predetermined first output shaft torque value and a predetermined output shaft torque value, , A step of detecting the input shaft torque and the output shaft torque during the mode operation, and calculating the transmission efficiency of the reduction gear based on these, and monitoring the operating state of the reduction gear and operating in a predetermined abnormal operating state If it is, a step of stopping the operation of the drive motor, and a step of changing the set rotation speed to a predetermined next set rotation speed when the mode operation is completed, A performance evaluation method of the nutrunner speed reducer for evaluating a transmission efficiency of the reduction gear in each set rotational speed. 4. A performance evaluation method for a nutrunner speed reducer, wherein a drive motor is attached to an input shaft of a nutrunner speed reducer, a load device is attached to an output shaft, and the drive motor and the load device are operated to evaluate the performance. Then, the speed reducer is operated by changing the rotation speed from the first predetermined rotation speed in the positive direction to the stop state and changing the output shaft torque from the minimum value to the maximum value, and further changing the rotation speed from the stop state. A step of performing a mode operation of changing the output shaft torque from the minimum value to the maximum value while changing the second predetermined rotation speed in the opposite direction, and monitoring the operation state of the speed reducer to determine a predetermined abnormality When operating in the operating state, stopping the operation of the drive motor and the load device; and when the number of cycles of the mode operation reaches a predetermined number, the drive mode A step of stopping the operation of the loader and the load device, performing the mode operation for a predetermined number of cycles, and evaluating the durability performance of the speed reducer at the maximum torque.