JPS6220941A - Torque transmission method and device therefor - Google Patents

Abstract

PURPOSE:To prevent component element in a torque transmission system from being damaged due to transmission of excessive torque, by maintaining the variation rate of transmission torque per unit time less than a predetermined value. CONSTITUTION:A rotational speed detector 17 and a torque detector 15 are provided to a follower shaft 12 for transmitting power from a prime mover section 10 to a follower section 13 through a coupling 14, and deliver their outputs to a computing section 16 which computes the variation rate of transmission torque in accordance with the received outputs from the sensors 17, 15. A comparing section 18 compares the output ooftthe computing section 5 with the variation rate of transmission torque which is set by a setting section 19. When the comparing section 18 judges that the actual transmission torque exceeds the set value, an instruction is delivered to a shut-off section 20 which therefore, cuts off the transmission of turque at the coupling 14.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to torque transmission, distance methods and devices.

[Prior Art] In general, between a driving part and a driven part, it is possible to reliably transmit the torque required by the driven part, and to block the transmission of abnormal torque outside the required allowable torque range. A torque transmission device is provided. As shown in Fig. 5, this torque transmission device determines an upper limit torque TA that is larger than the torque TO required for the driven part, reliably transmits torque below the upper limit torque, and prevents transmission of torque exceeding the upper limit torque. It can be shut off. Further, a lower limit torque TB lower than the torque TO is determined, and transmission of torque below the lower limit torque TB can be cut off. Note that the solid line TI indicates the torque required for the driven part in the rotation angle range during continuous rotation, and the broken line T2 indicates the torque required for the driven part during startup.

Therefore, according to this torque transmission device, the necessary torque is reliably transmitted to the driven part to enable proper operation of the driven part, and abnormal torque outside the range of the upper and lower torque limits is cut off. To prevent accidents such as damage to components on the driven side that occur when torque is transmitted.

[Problems to be Solved by the Invention] However, in the conventional torque transmission device, a constant torque value exceeding the maximum value of torque T2 required at startup at all rotation angles of the driven part is set as torque TA. Therefore, there is inevitably a large discrepancy between the torque T1 and the torque T1 required during continuous rotation.

Therefore, in the conventional torque transmission device, there is a disadvantage that all the components operating at each rotation angle of the driving part and the driven part must be given a strength higher than necessary to withstand the large upper limit torque TA.

The present invention reliably transmits the required torque to the driven part, and prevents accidents such as damage to these components without excessively setting the strength of each component of the driving part and the driven part. The purpose is to prevent.

[Means for Solving the Problems] In order to achieve the above object, the first invention of the present application provides a torque transmission method for transmitting torque of a driving part to a driven part by a transmission shaft, in which the transmitted torque L is transmitted over time. The amount of change in the transmission torque is determined by subtracting the measured transmission torque at the current time and the transmission torque measured at a certain time before the current time, and calculates the amount of change in the transmission torque by determining the allowable torque change at each preset point in time. The above torque is transmitted within the range of the amount.

Further, the second invention of the present application provides a torque transmitting device that transmits the torque of a driving part to a driven part by a transmission shaft, and a torque detector that measures the transmitted torque over time, and a current measured transmitted torque and a constant value from the current time. a calculation section that calculates the amount of change in the transmission torque by subtracting the transmission torque measured before the time; a setting section that predetermines the amount of change in the permissible torque at each point in the torque transmission system; It has a comparison section that compares the amount of change, and a cutoff section that cuts off the transmitted torque based on the comparison result of the comparison section.

[Function] According to each invention of the present application, a transmission torque change meter is obtained by subtracting the measured transmission torque at the present moment and the measured transmission torque before a certain period of time from the present moment, and the amount of change in the transmission torque is set in advance. Because we decided to transmit torque from the driving part to the driven part within the allowable torque variation range,
The amount of permissible torque required for each rotation angle of the driven part is safely transmitted from the driving part. This ensures that the required torque is transmitted to the driven part, and
It is possible to prevent accidents such as damage to these components without excessively setting the strength of each component of the driving part and the driven part.

[Example] Embodiments of each invention of the present application will be described below with reference to the drawings.

Fig. 1 is a control system diagram showing a torque transmission device to which an embodiment of the present invention is applied, and Fig. 2 shows the relationship between rotation angle and torque of the torque transmission device to which an embodiment of the invention is applied. FIG.

The torque transmission device shown in FIG. 1 is capable of transmitting rotational torque of a driving section 10 to a driven section 13 via a transmission shaft consisting of a driving shaft 11 and a driven shaft 12. A joint portion 14 is interposed between the drive shaft 11 and the driven shaft 12, and the joint portion 14 is capable of transmitting and adjusting rotational torque on the drive shaft 11 side to the driven shaft 12 side. As a result, a certain allowable torque can be transmitted to the driven part 13 by adjusting the transmission of the joint part 14. For example, an electromagnetic clutch, a pneumatic clutch, a hydraulic clutch, etc. are used for the joint part 14 of the torque transmission device, and each of them controls the current of the electromagnetic clutch, adjusts the pneumatic pressure of the pneumatic clutch,
The hydraulic pressure of the hydraulic clutch will be adjusted. Thereby, a predetermined allowable torque can be transmitted from the drive shaft 11 to the driven shaft 12.

The transmission torque TX in a steady state transmitted from the drive shaft 11 to the driven shaft 12 can be measured over time by a torque detector 15 provided on the driven shaft 12. The transmission torque TX measured by the torque detector 15 is outputted to the calculation section 16 at any time.

Further, the driven shaft 12 is equipped with a 1-rotation angle detector 17, which is a 0-rotation angle detector 17 that can measure the rotation angle θ of the continuously rotated driven shaft 12 over time.
The rotation angle 0 measured by is outputted to the calculation unit 16 at any time. As a result, the calculation unit 16 is able to detect the transmission torque TX corresponding to approximately the rotation angle θ of the driven shaft 12 over time as shown in FIG.

The calculation unit 16 extracts the transmission torque TX that changes over time at regular time intervals tα as shown in FIG.
The previously measured transmission torque TXn-1 is subtracted to obtain the transmission torque change amount Fn. This amount of change Fn is expressed by the following equation.

This transmission torque change amount Fn can be outputted to the comparator 18 at any given time tα. The transmission torque change amount Fn outputted to the comparator 18 is compared with the allowable torque change amount Gn'' at each point set in advance, and the transmission torque change amount Fn is within the range of the allowable torque change f1.Gn-. It is possible to determine whether or not the allowable torque change amount Gn
is set at any time by the setting unit 19, and the allowable torque change amount Gn- is set as follows.For example, taking the transmission torque TX2 at time t2 as an example, first, the constant A constant addition torque +β and a constant subtraction torque −β are added to the transmission torque TXI before time Eα, and the upper limit allowable torque TUI and the lower limit allowable torque TL are added.
Find I. The values of addition torque +β and subtraction torque -β are variably set depending on the transmission torque capacity of each torque transmission device, etc., and are set, for example, to 5% and 10% of the maximum transmission torque. The setting unit 19 uses the obtained upper limit allowable torque TUI and lower limit allowable torque TLI to obtain the upper limit allowable torque change amount G 2+ and the lower limit allowable torque change amount G2 at time t2. The upper limit allowable torque change amount G2 and the lower limit allowable torque change amount G2- are respectively expressed by the following equations.

Further, the upper limit permissible torque change amount Gn' and the lower limit permissible torque change amount Gn- at each time point tn are determined by the following general formula % formula %.
When "n" is set, the amount of change Gn- is determined by the comparator 18 at any time.
It is possible to output to. The comparison section 18 is.

The upper and lower allowable torque changes 1Gn- at each time point tn are compared with the corresponding transmission torque changes Fn. As a result, when the transmission torque change amount Fn is outside the range of the upper and lower allowable torque change amounts Gn-, the cutoff signal P can be transmitted to the cutoff section 20. The cutoff part 20 is capable of cutting off the transmission of the rotational force from the drive shaft 11 to the driven shaft 12 by the joint part 14 based on the cutoff signal P transmitted. , t2, the transmission torque TX2 is within the range between the upper limit allowable torque TUI and the lower limit allowable torque TLI of the transfer torque TXI. Therefore, the transmission torque change amount F2 at time t2 is:
It is set within the range between the upper limit allowable torque change amount G2 and the lower limit allowable torque change amount G2 as shown in the following equation. ° ・
- As a result, the comparator 18 enters a state in which it does not transmit the cutoff signal P at time t2. In this way, t3. t4. 5.-t n and the upper and lower allowable torque changes M G nth set by the setting unit 18 at any time and the corresponding transmission torque change amount Fn are compared. As a result, for example, regarding the transmission torque T X n at each solid line tn shown in the solid line in FIG. 2, each transmission torque T
n-1 and the lower limit allowable torque TLn-1, the cutoff signal P is not transmitted. As a result, the steady state transmission torque TX shown by the solid line in FIG. 2 is output from the drive shaft 11 to the driven shaft 12.

On the other hand, when the torque detector 15 generates an abnormal torque as indicated by the two-dot chain lines Q and R in FIG. 2, each transmission torque TXQ or TXR is measured at time t7←. In this case, the calculation unit 16 outputs the transmission torque variation amount FQ7 based on the transmission torque TXQ or the transmission torque variation amount FR7 based on the transmission torque TXR to the comparison unit 18, respectively. As a result, the transmission torque change amount F
q7 will show a value larger than the upper limit permissible torque change quantum G7 as shown in the following equation, and a cutoff signal P will be transmitted to the cutoff section 20.

1,000FQ7>G7 Furthermore, the transmission torque change amount FR7 will show a value smaller than the lower limit allowable torque change iG7 as shown in the following equation, and the cutoff signal P will be sent to the cutoff section 20 as well.

G7>FR7 In this way, when the abnormal torque shown in FIG. The required allowable torque TX will be reliably transmitted. Note that, as shown by the broken line S in FIG. 2, when the torque transmission device is started, a start-up load is separately applied to the drive shaft 11 and the driven shaft 12. is set in the setting section 19.

In addition, in the above embodiment, when the abnormal torque shown in FIG. 2 Q occurs, an accident due to foreign matter getting caught in the driven shaft 12 is considered, and when the abnormal torque shown in FIG. 2 R occurs, A possible cause of this is an accident such as damage to the joint portion 14.

Next, the operation of the above embodiment will be explained.

According to the above embodiment, the transmission torque change amount Fn is obtained by subtracting the measured transmission torque T The torque change lFn is determined by the corresponding allowable torque change amount G set in advance by the setting unit 19.
It becomes possible to transmit the torque TX from the driving part 10 to the driven part 13 in the range of n-. Therefore, driven part 1
3. The amount of allowable torque required for each rotation angle θ is transmitted from the driving part 10 to the driven part 13, and the transmitted torque outside the range of these allowable torques is cut off, so 1. Safe torque transmission is possible. becomes. Therefore, the required torque is reliably transmitted to the driven part 13, and the strength setting of each component of the driving part 10 and the driven part 13 is not excessively set, and accidents such as damage to these components can be prevented. This makes it possible to prevent In the above embodiment, the cutoff section 20 cuts off the transmission of torque by the joint section 14 based on the cutoff signal P, but it is also possible to directly stop the driving section 10 based on the cutoff signal P. In the above embodiment, the torque detector 15 and the rotation angle detector 17 are provided on the driven shaft 12 side.
For example, these may be provided on the drive shaft 11 side.

FIG. 3 shows the torque transmission device shown in FIG. 1.

A control system diagram showing a specific example of the l-lux detector, Fig. 4 (A
) to (D) are waveform diagrams showing signal waveforms at each part in FIG. 3.

This torque detector 15 has discs 21A and 21B mounted at two locations on the driven shaft 12 at a constant interval, and each disc 21A and 21B is provided with a corresponding encoder 22A and 22B. be done. Encoder 22
A enables pulses FA to be generated at predetermined intervals per revolution in accordance with each rotation angle 0 of the driven shaft 12 at the portion of the driven shaft 12 to which the disc 21A is attached. Similarly, the encoder 22B is also capable of generating pulses FB at predetermined intervals per revolution in accordance with each rotation angle 0 of the driven shaft 12 at the portion of the driven shaft 12 to which the disc 21B is attached. Each pulse FA and FB transmitted from each encoder 22A and 22B is transmitted to a corresponding waveform shaper 23A, 23B.
and is transmitted to the phase comparator 25 via amplifiers 24A and 24B. At this time, Figure 4 (A) and Figure 4 CB
), a phase difference θW occurs between the pulse waveform FA transmitted from the amplifier 24A to the phase comparator 25 and the pulse waveform PB transmitted from the amplifier 24B to the phase comparator 25. θW is output by the phase comparator 25 to the mirror integrator 26 as a phase difference pulse PθW, as shown in FIG. 4(C). The Miller integrator 26 is
Based on the input phase difference pulse POW, Fig. 4(D)
It is possible to output the integral value J shown in FIG. Therefore, when the torque increases, the phase difference θW1 phase difference pulse PθW and the output value J also increase, as shown by the chain lines in FIGS. 4(B), (C), and CD). As a result, the output value J is outputted over time to the calculation unit 16 as a transmission torque TX, and the calculation unit 16 can output a transmission torque change m F n corresponding to each transmission torque T X n. becomes.

Other configurations and operations are the same as those in FIG. 1.

In addition, in the above embodiment, from the driving part 10 to the driven part 1
3 is measured by a torque detector 15 disposed on the driven shaft 12. However, the method of measuring the transmitted torque is not limited to this method. For example, it may be measured using a strain gauge provided on the drive shaft 11 or the driven shaft 12, or a load detection means built in the prime mover of the driving section 0. good.

[Effects of the Invention] As described above, the first invention of the present application provides a torque transmission method for transmitting the torque of a driving part to a driven part by a transmission shaft, in which the transmission torque is measured over time, and the current measured transmission is The amount of change in the transmitted torque is determined by subtracting the transmitted torque measured at a certain time before the present time from the torque, and the above torque is calculated with the amount of change in the transmitted torque within the preset range of allowable torque change at each point in time. The second invention of the present application is a torque transmitting device that transmits the torque of a driving part to a driven part by a transmission shaft, and includes a torque detector that measures the transmitted torque over time, and a torque detector that measures the transmitted torque over time. a calculation unit that subtracts the measured transmission torque from the measured transmission torque a certain time before the current time to obtain the amount of change in the transmission torque; a setting unit that predetermines the allowable amount of torque change at each point in the torque transmission system; Since it has a comparison part that compares the amount of change in transmitted torque and an amount of allowable torque change, and a cutoff part that shuts off the transmitted torque based on the comparison result of the comparison part, it is possible to reduce the torque required for the driven part. In addition to ensuring reliable transmission, it is possible to prevent accidents such as damage to the components of the driving part and the driven part without excessively setting the strength of each component.

[Brief explanation of drawings]

Fig. 1 is a control system diagram showing a torque transmission device to which an embodiment of the present invention is applied, and Fig. 2 shows the relationship between rotation angle and torque of the torque transmission device to which an embodiment of the invention is applied. The diagram shown in FIG. 3 is a control system diagram showing a specific example of the torque detector of the torque transmission device shown in FIG.
A) to (D) are waveform diagrams showing signal waveforms at each part in FIG. 3, and FIG. 5 is a diagram showing the relationship between each rotation angle and torque in a conventional torque transmission device. DESCRIPTION OF SYMBOLS 10... Drive part, 1 child... Driven part, 15... Torque detector, 16... Calculation part, 18... Comparison part, 19
...setting section, 20... cutoff section. Agent Patent Attorney Osamu Shiokawa Figure 1 2nd rotation angle wave θ (time t) Figure 3 Figure 4-

Claims (2)

[Claims] (1) In a torque transmission method in which the torque of the driving part is transmitted to the driven part by a transmission shaft, the above-mentioned transmission torque is measured over time, and the measured transmission torque at the present moment is subtracted from the measured transmission torque a certain period of time before the present moment. A method for transmitting torque, characterized in that the amount of change in the transmitted torque is determined by using the same method, and the torque is transmitted in a state where the amount of change in the transmitted torque is within a preset range of allowable torque change at each point in time. (2) In a torque transmission device that transmits the torque of a driving part to a driven part through a transmission shaft, there is a torque detector that measures the transmitted torque over time, and a torque detector that measures the transmitted torque at the present moment and the measured transmitted torque a certain period of time before the present moment. a calculation unit that calculates the amount of change in the transmitted torque by subtracting them; a setting unit that predetermines the allowable amount of change in torque at each point in the torque transmission system; and a comparison unit that compares the amount of change in the transmitted torque and the allowable torque change. and a cutoff section that cuts off the transmitted torque based on the comparison result of the comparison section.