WO2019080378A1 - Système et procédé de détection de dommages d'un moteur et d'un dispositif de réduction de vitesse - Google Patents

Système et procédé de détection de dommages d'un moteur et d'un dispositif de réduction de vitesse

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Publication number
WO2019080378A1
WO2019080378A1 PCT/CN2018/072500 CN2018072500W WO2019080378A1 WO 2019080378 A1 WO2019080378 A1 WO 2019080378A1 CN 2018072500 W CN2018072500 W CN 2018072500W WO 2019080378 A1 WO2019080378 A1 WO 2019080378A1
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WO
WIPO (PCT)
Prior art keywords
detection
damage
speed
ratio value
speed ratio
Prior art date
Application number
PCT/CN2018/072500
Other languages
English (en)
Chinese (zh)
Inventor
陈民忆
Original Assignee
苏州乐轩科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州乐轩科技有限公司 filed Critical 苏州乐轩科技有限公司
Publication of WO2019080378A1 publication Critical patent/WO2019080378A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M15/00—Testing of engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms

Definitions

  • the invention relates to a damage detection system and a damage detection method for a motor and a reduction device.
  • the application of robots is quite extensive, and various fields such as industrial production, medical surgery, and environmental detection can be assisted by robots to increase productivity or efficiency.
  • the robot's robotic arm mimics the human arm function and performs various tasks.
  • the most indispensable actuation component is the motor and the corresponding reduction gear.
  • the motor provides the power source of the robot arm, and the speed reducer is used to convert the power source of the high speed motor into a fine three-axis direction movement according to different application scenarios, and the motor can drive the gear unit in the speed reducer to increase the torque.
  • the robotic arm produces tremendous power.
  • a DC motor drives a gear set of a reduction gear having gears of various sizes to be driven, and then outputting power to an external structure such as an arm joint or a finger through a rotating shaft of the reduction gear. Joint or neck shaft, etc.
  • an abnormality in these movable parts of the robot there is currently no mechanism for quickly and accurately determining whether the damaged part is a motor or a speed reducer.
  • the field engineer can only disassemble the damaged parts one by one and test them separately. Add unnecessary damage to the exclusion time. If the mechanical arm of the actual on-site production line is damaged, the additional inspection work will cause serious loss of production capacity.
  • a damage detecting system for a motor and a speed reducing device is applicable to a motor and a speed reducing device connected through a transmission shaft, wherein the motor has a first rotating shaft, and the speed reducing device has a second rotating shaft, Damage detection devices for motors and reduction gears include:
  • a first detecting module includes a first accompanying rotating component and a first sensing component, the first accompanying rotating component is disposed on the first rotating shaft, and the first sensing component senses the first accompanying rotation The amount of physical change generated during the rotation of the component and accordingly generates a first detection signal;
  • a second detecting module includes a second accompanying rotating component and a second sensing component, the second accompanying rotating component is disposed on a surface of the second rotating shaft, and the second sensing component is sensed in the second Accompanied by the amount of physical change generated by the rotation of the rotating component and accordingly generating a second detection signal;
  • An operation module is electrically connected to the first detection module and the second detection module, and the operation module receives the first detection signal and the second detection signal and generates a detection speed ratio value accordingly.
  • the operation module further includes a default speed ratio value. When the preset speed ratio value and the detected speed ratio value are not equal, the operation module sends a damage notification signal.
  • the first accompanying rotating component is a magnetic turntable
  • the first sensing component is a Hall effect sensor
  • the first detecting signal is a voltage change amount
  • the second accompanying rotating component is a reflective sticker
  • the second sensing component is a photoelectric sensor
  • the computing module further includes: generating a first detecting speed according to the first detecting signal, wherein the preset speed ratio value further comprises a first preset speed, when the preset speed ratio The value and the detected speed ratio are not equal.
  • the operation module sends a damage notification signal and indicates that the motor is damaged; when the preset The speed ratio value and the detected speed ratio value are not equal.
  • the operation module sends a damage notification signal and indicates that the speed reduction device is damaged.
  • a method for detecting damage of a motor and a speed reducer is applicable to the damage detection system, and the damage detection method includes:
  • the damage notification signal is sent by the operation module.
  • the operation module sends the damage notification when the preset speed ratio value and the detected speed ratio value are not equal and the first preset speed and the first detected speed are not equal Signal and indicate damage to the motor;
  • the operation module sends the damage notification signal when the preset speed ratio value and the detected speed ratio value are not equal, and when the first preset speed and the first detection speed are equal And indicate damage to the gear unit.
  • the present invention measures two rotational speeds by two detecting modules respectively mounted on the motor and the speed reducing device, and obtains the ratio of the rotational speed and the ratio of the expected rotational speed of the reducing gear to each other, thereby Real-time feedback when either of the motor or deceleration device is damaged. Further, the normal speed predicted by the motor when the specified voltage is supplied is compared with the detected speed to confirm that the damaged portion is a motor or a speed reducing device. This saves damage elimination time while avoiding severe loss of capacity due to additional inspection work.
  • FIG. 1A is a functional block diagram of a motor and a reduction device damage detection system according to an embodiment of the invention
  • FIG. 1B is a functional block diagram of a motor and a reduction device damage detection system according to another embodiment of the present invention.
  • FIG. 2 is a front view of a magnetic turntable according to an embodiment of the invention.
  • 3A is a flow chart of a method for detecting damage of a motor and a reduction device according to an embodiment of the invention
  • FIG. 3B is a flow chart of a method for detecting damage of a motor and a reduction device according to another embodiment of the invention.
  • Embodiment Please refer to FIG. 1A.
  • the motor and reduction device damage detection system 1 disclosed in the present invention is applied to the motor 10 and the reduction device 30, wherein the motor drives the reduction device 30 to rotate through the transmission shaft 20.
  • the motor 10 has a first axis of rotation 12 and the reduction device 30 has a second axis of rotation 32.
  • the damage detection system 1 includes a first detection module 50, a second detection module 60, and an operation module 70.
  • the first rotating shaft 12 and the transmission shaft 20 are driven by the motor 10 and have the same first rotational speed.
  • the motor 10 is a DC motor, but the damage detection system 1 disclosed in the present invention can also be applied to an AC motor, a pulse motor, a stepping motor or a servo motor without a rotation speed sensor. on.
  • the motor 10 is input to the reduction gear unit 30 through the transmission shaft 20 at a first rotational speed, and is reduced in speed by the reduction gear unit 30 and then output to the assembly to be actuated, such as the joint of the robot arm, at a second rotational speed.
  • the deceleration device 30 is referred to as a reducer. In the embodiments described below, the deceleration device 30 is a gear reducer.
  • the damage detection system 1 disclosed in the present invention can also be applied.
  • Other types of reduction gears 30, such as a Worm Wheel Reducer, a cycloid reducer, or a Harmonic Drive.
  • the damage detecting system 1 disclosed in the present invention does not limit the configuration of the motor 10 or the inside of the speed reducing device 30.
  • the first detecting module 50 includes a first accompanying rotating component 52 and a first sensing component 54.
  • the first companion rotation assembly 52 is coupled to the first rotation shaft 12, and rotates in synchronization with the first rotation shaft 12.
  • the first accompanying rotating component 52 is a magnetic rotating disc, and the magnetic rotating disc is composed of a plurality of permanent magnets, and the front side thereof is as shown in FIG. 2 .
  • the magnetic turntable is disposed on the first rotating shaft 12 and is rotated by the motor 10. When rotated, the magnetic field around the magnetic turntable is changed.
  • the first sensing component 54 is a Hall effect sensor, or Hall component.
  • the Hall assembly is placed close to but not in contact with the magnetic turntable, as shown by the position of the first sensing assembly 54 of FIG.
  • the magnetic turntable connected to the first rotating shaft 12 rotates, and the Hall assembly can generate a corresponding voltage change when each permanent magnet passes, which is the first described in an embodiment of the present invention.
  • the detection signal refers to this voltage change.
  • this embodiment does not limit the number of permanent magnets on the magnetic turntable, but any magnetic turntable that can change the magnetic field caused by the Hall effect sensor can be regarded as the first companion disclosed in the present invention.
  • the assembly 52 is rotated.
  • the second detecting module 60 includes a second accompanying rotating component 62 and a second sensing component 64.
  • the second accompanying rotation assembly 62 is disposed on the surface of the second rotation shaft 32 to perform a circular motion as the second rotation shaft 32 rotates.
  • the second accompanying rotating component 62 is a reflective sticker and is adhered to the surface of the second rotating shaft 32.
  • the second sensing component 64 is a photosensor, and the photosensor includes a light projector, a light receiver, and a detection circuit.
  • the light projector aligns with the target to continuously emit a beam of light, which typically originates from a semiconductor light source such as a light emitting diode (LED).
  • LED light emitting diode
  • the photoreceptor consists of a photodiode and an optical component such as a lens or aperture.
  • the detection circuit generates an electronic signal when the light receiver receives light.
  • the photosensor is fixed in a position that is close to but not in contact with the retroreflective sticker, as shown by the position of the second sensing component 64 of FIG. 1A.
  • the speed reducing device 30 When the speed reducing device 30 is activated, the reflective sticker adhered to the surface of the second rotating shaft 32 will reflect the light projected by the light projector at a fixed frequency; in other words, when the reflective sticker just bypasses the light emitting/receiving range of the photoelectric sensor, the photoelectric sensor
  • the light receiving device receives the light reflected by the reflective sticker, and then the detecting circuit generates a corresponding electronic signal for the phenomenon.
  • the second detecting signal refers to the electronic signal.
  • the rotational speed of the motor 10 is detected by the magnetic disk and the Hall component, and the rotational speed of the reduction device 30 is detected by the reflective sticker and the photoelectric sensor.
  • the speed of the deceleration device 30 can be detected by the disk and the Hall component according to the demand, and the rotation speed of the motor 10 can be detected by the reflective sticker and the photoelectric sensor.
  • the present invention does not limit the sensing structure of the "first detection module 50" and the "second detection module 60".
  • the computing module 70 is electrically connected to the first detecting module 50 and the second detecting module 60 to receive the first detecting signal and the second detecting signal.
  • the computing module 70 is a microprocessor (Microprocessor) mounted on a Printed Circuit Board Assembly (PCBA), as shown in FIG.
  • the computing module 70 can convert the first detected rotational speed of the first rotating shaft 12 according to the number of voltage changes of the first detecting signal in a unit time.
  • the operation module 70 can convert the second detection rotation speed of the second rotation shaft 32 according to the number of reflection inductions of the second detection signal per unit time.
  • the computing module 70 further calculates a ratio of the first detected rotational speed to the second detected rotational speed to obtain a detected rotational speed proportional value.
  • the reduction ratio of the deceleration device 30 can be known from the specification thereof. Therefore, the reduction ratio can be output to the operation module 70 as a preset rotation speed proportional value as a comparison. Use. When the preset speed ratio value and the detected speed ratio value are not equal, the arithmetic module 70 sends a damage signal to notify the maintenance personnel that the motor 10 or the speed reducer 30 is currently damaged.
  • the user can also know from the specification of the motor 10 that the rated load speed (Rated Load Speed) of the motor 10 when the rated voltage (Rated Voltage) is input.
  • this rated load speed is usually expressed in terms of Revolutions Per Minute (RPM).
  • the rated load speed can be input to the arithmetic module 70 as a preset parameter as a preset parameter as the first preset speed, and the like.
  • the computing module 70 compares the default speed ratio value and the detected speed ratio value to determine that a damaged condition occurs, the computing module 70 further compares the first detected rotational speed with the first preset rotational speed of the motor 10, if the two are not equal Then, it can be determined that the damaged portion is the motor 10; in other words, if the first detected rotational speed is equal to the first predetermined rotational speed, the damaged portion can be determined as the decelerating device 30. The computing module 70 further sends a damage signal indicating the damaged portion to notify the maintenance personnel in real time for subsequent processing of the damaged portion.
  • the first companion rotating component 52 of the first detecting module 50 can be mounted on the propeller shaft 20 in addition to the first rotating shaft 12 of the motor 10 .
  • the assembled printed circuit board mounted on the computing module 70 can also be designed with a mechanism, and a hole is added to the circuit board to allow the transmission shaft 20 to pass through without affecting the rotation of the transmission shaft 20.
  • FIG. 3A is a flow chart of an embodiment of a method for detecting damage of a motor and a reduction device according to the present invention.
  • step S31 before the operation of the motor 10 and the reduction gear unit 30, the reduction ratio described in the specification of the reduction gear unit 30 is input to the arithmetic unit 70 as the default rotation speed ratio value.
  • the first detection module 50 senses the rotation of the motor 10 to generate a first sensing signal.
  • the second detecting module 60 senses the rotation of the speed reducing device 30 to generate a second sensing signal.
  • the computing module 70 receives the two sensing signals and calculates the first detecting speed and the second detecting speed respectively. After the two rotational speeds are obtained, as shown in step S35, the arithmetic module 70 can further calculate the detected rotational speed proportional value. Then, as shown in step S36, the operation module 70 compares the detected speed ratio value with the preset speed ratio value. If the two are the same, it means that the current motor 10 and the speed reducing device 30 are all operating normally, then returning to step S32 to continue detecting the speed. .
  • step S37 the operation module 70 Send a damage notification signal.
  • FIG. 3B is a flow chart showing another embodiment of the motor and the reduction device damage detecting method disclosed in the present invention.
  • step S41 the default speed ratio value input to the calculation module 70 is input in advance, and the motor rated load rotation speed described in the motor specification specification is further input to the calculation module 70 as the first preset rotation speed.
  • Steps S42 to S46 are basically the same as the foregoing embodiment.
  • step S46 after confirming that at least one of the motor 10 or the deceleration device 30 is damaged, in order to further confirm the damage device, the arithmetic module 70 compares the first detection rotation speed with the first preset rotation speed as shown in step S47.
  • step S48 the arithmetic module 70 transmits a damage notification signal indicating that the motor 10 is damaged. Conversely, if the first detected rotational speed is equal to the first predetermined rotational speed, the rotational speed of the motor 10 is output as expected, and the damaged portion should be the deceleration device 30. Therefore, as shown in step S49, the arithmetic module 70 sends an indication as The damage notification signal of the deceleration device 30 is damaged.
  • the damage detection system 1 and the damage detection method of the motor and the reduction device disclosed in the present invention are configured to measure the motor 10 and the reduction device 30 by the first detection module 50 and the second detection module 60, respectively.
  • the speed is calculated by the calculation module 70 after the value of the detected speed ratio is compared with the default speed ratio of the speed reducing device 30, so that the operating condition of the motor 10 or the speed reducing device 30 can be reacted in real time;
  • the comparison of the rotational speed and the first detected rotational speed further confirms the damaged component in real time, thereby reducing the time and labor cost of additionally consuming the damaged component during the maintenance process.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)

Abstract

L'invention concerne un système de détection de dommages (1) d'un moteur (10) et d'un dispositif de réduction de vitesse (30), comprenant un premier module de détection (50), un second module de détection (60) et un module informatique (70). Le premier module de détection (50) comprend un premier ensemble de rotation d'accompagnement (52) et un premier ensemble de détection (54), le premier ensemble de rotation d'accompagnement (52) étant placé sur un arbre rotatif (12) du moteur (10), le premier ensemble de détection (54) effectuant une détection dans un processus de rotation du premier ensemble de rotation d'accompagnement (52) de façon à générer un premier signal de détection. Le second module de détection (60) comprend un second ensemble de rotation d'accompagnement (62) et un second ensemble de détection (64), le second ensemble de rotation d'accompagnement (62) étant placé sur une surface de l'arbre rotatif (32) du dispositif de réduction de vitesse (30), le second ensemble de détection (64) effectuant une détection dans un processus de rotation du second ensemble de rotation d'accompagnement (62) de façon à générer un second signal de détection. Le module de calcul (70) génère un rapport de vitesse de rotation de détection en fonction du premier signal de détection et du second signal de détection. Lorsque le rapport de vitesse de rotation de détection n'est pas égal à un rapport de vitesse de rotation prédéfini, le module d'exploitation (70) envoie un signal de notification de dommages. Le système de détection de dommages (1) enregistre le temps d'élimination de dommages, et empêche simultanément des pertes de capacité importantes provoquées par des opérations de détection supplémentaires.
PCT/CN2018/072500 2017-10-26 2018-01-12 Système et procédé de détection de dommages d'un moteur et d'un dispositif de réduction de vitesse WO2019080378A1 (fr)

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CN201711016895.8 2017-10-26
CN201711016895.8A CN107677477B (zh) 2017-10-26 2017-10-26 马达及减速装置的损坏侦测系统及损坏侦测方法

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AT521483B1 (de) * 2018-08-21 2020-02-15 Engel Austria Gmbh Handhabungsvorrichtung
CN110549335A (zh) * 2019-08-16 2019-12-10 珠海格力电器股份有限公司 一种关节减速比自动标定方法、控制系统及其机器人
CN110601490B (zh) * 2019-09-05 2021-05-18 中国航发北京航科发动机控制系统科技有限公司 一种角位移自反馈步进电机机组

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