WO2021006170A1 - Dispositif de détermination de dysfonctionnement et procédé de détermination de dysfonctionnement - Google Patents

Dispositif de détermination de dysfonctionnement et procédé de détermination de dysfonctionnement Download PDF

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Publication number
WO2021006170A1
WO2021006170A1 PCT/JP2020/025972 JP2020025972W WO2021006170A1 WO 2021006170 A1 WO2021006170 A1 WO 2021006170A1 JP 2020025972 W JP2020025972 W JP 2020025972W WO 2021006170 A1 WO2021006170 A1 WO 2021006170A1
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WIPO (PCT)
Prior art keywords
torque
reducer
strain wave
wave gearing
determination unit
Prior art date
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PCT/JP2020/025972
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English (en)
Japanese (ja)
Inventor
横井　昭佳
佳晨 盧
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アズビル株式会社
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Application filed by アズビル株式会社 filed Critical アズビル株式会社
Publication of WO2021006170A1 publication Critical patent/WO2021006170A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load

Definitions

  • the present invention relates to a failure determination device and a failure determination method for determining a failure of a strain wave gearing reducer.
  • a failure of a strain wave gearing is determined by calculating an overload of the strain wave gearing based on the current of a motor driving the input side of the strain wave gearing (for example, Patent Documents 1 and 2). reference).
  • the overload of the strain wave gearing gear reducer occurs on the output side of the strain wave gearing gear reducer. Therefore, the method of calculating the overload of the strain wave gearing based on the current of the motor driving the input side of the strain wave gearing gearing has low accuracy, and improvement is required.
  • the present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a failure determination device capable of accurately determining a failure of a strain wave gearing speed reducer with respect to the prior art.
  • the failure determination device includes a torque detector that detects torque on the output side of the strain wave gearing reducer, and a determination unit that determines a failure of the strain wave gearing reducer based on the torque detected by the torque detector. It is characterized by having.
  • FIG. 1 It is a figure which shows the structural example of the failure determination apparatus which concerns on Embodiment 1.
  • FIG. It is a figure which shows the structural example of a strain wave gearing reducer. It is a flowchart which shows the operation example of the failure determination apparatus which concerns on Embodiment 1.
  • FIG. 1 shows the structural example of the failure determination apparatus which concerns on Embodiment 1.
  • FIG. 1 is a diagram showing a configuration example of the failure determination device 1 according to the first embodiment.
  • the failure determination device 1 is a device for determining a failure of the strain wave gearing reducer 2.
  • the failure determination device 1 includes a torque detector 11, a calculation unit 12, a determination unit 13, an instruction unit 14, a control unit 15, and a notification unit 16.
  • the calculation unit 12, the determination unit 13, the instruction unit 14, and the control unit 15 are driven by a processing circuit such as a system LSI (Large Scale Integration) or a CPU (Central Processing Unit) that executes a program stored in a memory or the like. It will be realized.
  • FIG. 1 shows a strain wave gearing reducer 2 and a motor 3 in addition to the failure determination device 1.
  • the strain wave gearing reducer 2 is a speed reducer that utilizes the differential between an ellipse and a perfect circle. As shown in FIG. 2, the strain wave gearing reducer 2 has a circular spline 21, a wave generator 22, and a flex spline 23.
  • the circular spline 21 is a ring-shaped rigid body component.
  • the circular spline 21 has teeth engraved on the inner circumference, and has two more teeth than the flex spline 23.
  • the circular spline 21 is usually fixed to the casing.
  • the wave generator 22 is a component in which a thin ball bearing is combined with the outer circumference of an elliptical cam. In ball bearings, the inner ring is fixed to the cam, but the outer ring is elastically deformed via the ball.
  • the wave generator 22 is usually attached to an input shaft (motor 3).
  • the flexspline 23 is a thin-walled cup-shaped metal elastic component.
  • the flexspline 23 has teeth engraved on the outer periphery of the opening.
  • the bottom of the flexspline 23 is called a diaphragm and is usually attached to an output shaft (eg, a robot arm).
  • the flexspline 23 is bent in an elliptical shape by the wave generator 22, and the circular spline 21 and the teeth mesh with each other on the long axis portion, and the teeth are completely separated from each other on the short axis portion.
  • the flexspline 23 is elastically deformed, and the tooth meshing position with the circular spline 21 is sequentially moved.
  • the flexspline 23 moves counterclockwise by the difference in the number of teeth by two.
  • the difference in the number of teeth between the circular spline 21 and the flexspline 23 is two is shown, but the difference in the number of teeth differs depending on the reduction ratio or the model of the strain wave gearing reducer 2.
  • the motor 3 drives the input side (wave generator 22) of the strain wave gearing reducer 2.
  • the torque detector 11 detects the torque on the output side (flex spline 23) of the strain wave gearing reducer 2.
  • the torque detector 11 is attached to the flexspline 23.
  • the calculation unit 12 calculates the torque on the input side of the strain wave gearing gear reducer 2 based on the current of the motor 3 when the input side of the strain wave gearing gear reducer 2 is rotated by one rotation or more by the control unit 15. At this time, the calculation unit 12 estimates the load from the torque detected by the torque detector 11 when the input side of the strain wave gearing speed reducer 2 is rotated by one rotation or more by the control unit 15, and the calculation unit 12 estimates the load from the current of the motor 3. It is preferable to calculate the torque on the input side of the strain wave gearing reducer 2 after subtracting the load. Further, in FIG. 1, data indicating the torque detected by the torque detector 11 is also output to the determination unit 13 via the calculation unit 12.
  • the determination unit 13 determines the failure of the strain wave gearing reducer 2 based on the torque detected by the torque detector 11 and the torque calculated by the calculation unit 12.
  • the determination unit 13 determines whether the torque detected by the torque detector 11 is equal to or greater than the ratcheting torque (first determination unit).
  • the ratcheting torque is a torque for determining whether the strain wave gearing reducer 2 is in the ratcheting state. Ratcheting is a phenomenon in which when excessive torque is applied while the strain wave gearing reducer 2 is in operation, the flexspline 23 and the like are not damaged and the teeth of the circular spline 21 and the flexspline 23 are momentarily displaced. Point to.
  • the ratcheting torque is determined by the specifications of the strain wave gearing reducer 2 and the reduction ratio.
  • the buckling torque is a torque for determining whether the strain wave gearing reducer 2 is in the buckling state.
  • Buckling refers to a phenomenon in which the flexspline 23 is plastically deformed when an excessive torque is applied to the flexspline 23 while the wave generator 22 is fixed, and the body of the flexspline 23 is damaged.
  • the buckling torque is determined by the specifications of the strain wave gearing reducer 2 and the reduction ratio. Then, when the determination unit 13 determines that the torque is equal to or greater than the buckling torque, the determination unit 13 determines that the strain wave gearing reducer 2 is in the buckling state.
  • the determination unit 13 determines whether the torque unevenness calculated by the calculation unit 12 is equal to or greater than the threshold value (third determination unit).
  • the threshold value is a threshold value for determining whether the strain wave gearing speed reducer 2 is in the deadal state.
  • the dedoidal state refers to a phenomenon in which the meshing of teeth is shifted to one side when each component constituting the ratcheting or strain wave gearing reducer 2 is forcibly pushed and assembled. Then, when the determination unit 13 determines that the torque unevenness is equal to or greater than the threshold value, the determination unit 13 determines that the strain wave gearing reducer 2 is in the deadal state.
  • the instruction unit 14 outputs data indicating a measurement operation instruction to the control unit 15 when the determination unit 13 determines that the torque is not equal to or greater than the buckling torque.
  • the measurement operation instruction is an instruction to rotate the input side of the strain wave gearing reducer 2 by one or more rotations.
  • the control unit 15 controls the motor 3. Further, when the control unit 15 receives the measurement operation instruction from the instruction unit 14, the motor 3 rotates the input side of the strain wave gearing reducer 2 by one rotation or more.
  • the notification unit 16 notifies the determination result by the determination unit 13 to the outside or by voice or the like.
  • the notification unit 16 determines that the torque is not equal to or greater than the ratcheting torque
  • the notification unit 16 notifies the outside that the strain wave gearing reducer 2 is normal.
  • the notification unit 16 indicates that the strain wave gearing speed reducer 2 is in the buckling state (meaning that it is out of order). Notify the outside.
  • the determination unit 13 determines that the strain wave gearing speed reducer 2 is in the deadal state
  • the notification unit 16 externally notifies that the strain wave gearing speed reducer 2 is in the deadly state (that it is out of order). Notice.
  • the determination unit 13 determines that the torque unevenness is not equal to or greater than the threshold value
  • the notification unit 16 notifies the external gear reducer 2 that ratcheting has occurred.
  • the overload of the strain wave gearing reducer 2 is estimated from the current of the motor 3, and the failure of the strain wave gearing reducer 2 is determined.
  • this method has low accuracy due to an error of the motor 3 (fluctuation of torque constant due to temperature) or an error of the strain wave gearing gear reducer 2 (change of efficiency or running torque).
  • the overload of the strain wave gearing reducer 2 is detected from the torque detected by the torque detector 11. That is, the torque detector 11 is attached to the output side of the strain wave gearing reducer 2, and can directly detect the load of the strain wave gearing reducer 2. Therefore, the accuracy of the failure determination device 1 according to the first embodiment is improved as compared with the conventional case.
  • the determination of the overload of the strain wave gearing reducer 2 is detected by the torque detector 11 attached to the output side of the strain wave gearing reducer 2. Use torque.
  • the current of the motor 3 is used because the phenomenon appears on the input side of the wave gear speed reducer 2 in the dedidal state.
  • the torque detector 11 first determines the torque on the output side (flex spline 23) of the strain wave gearing reducer 2. Detect (step ST301).
  • the determination unit 13 determines whether the torque detected by the torque detector 11 is equal to or greater than the ratcheting torque (step ST302).
  • step ST302 when the determination unit 13 determines that the torque is not equal to or greater than the ratcheting torque, the notification unit 16 notifies the outside that the strain wave gearing reducer 2 is normal (step ST303). After that, the user will continue to use the strain wave gearing reducer 2.
  • step ST302 when the determination unit 13 determines that the torque is equal to or greater than the ratcheting torque, it determines whether the torque is equal to or greater than the buckling torque (step ST304).
  • step ST304 when the determination unit 13 determines that the torque is equal to or greater than the buckling torque, the wave gear reducer 2 determines that the wave gear reducer 2 is in the buckling state, and the notification unit 16 fails the wave gear reducer 2. Notify the outside (steps ST305 and 306). After that, the user will repair or replace the strain wave gearing reducer 2.
  • step ST304 when the determination unit 13 determines in step ST304 that the torque is not equal to or greater than the buckling torque, the instruction unit 14 gives a measurement operation instruction to the control unit 15 (step ST307).
  • the control unit 15 rotates the input side of the strain wave gearing reducer 2 by one or more rotations by the motor 3 in response to the measurement operation instruction (step ST308).
  • the calculation unit 12 calculates the torque on the input side of the strain wave gearing gear reducer 2 based on the current of the motor 3 when the input side of the strain wave gearing gear reducer 2 is rotated by one rotation or more by the control unit 15. (Step ST309).
  • the calculation unit 12 estimates the load from the torque detected by the torque detector 11 when the input side of the strain wave gearing speed reducer 2 is rotated by one rotation or more by the control unit 15, and the load is estimated from the current of the motor 3.
  • the failure determination device 1 it is preferable to calculate the torque (no-load rotation torque) on the input side of the strain wave gearing reducer 2 after subtracting.
  • the failure determination device 1 even if the load changes due to the configuration prior to the strain wave gearing reducer 2, the failure determination can be performed as it is.
  • the determination unit 13 determines whether the torque unevenness calculated by the calculation unit 12 is equal to or greater than the threshold value (step ST310).
  • step ST310 when the determination unit 13 determines that the torque unevenness is equal to or greater than the threshold value, the wave gear reducer 2 determines that the wave gear reducer 2 is in a redundant state, and the notification unit 16 fails the wave gear reducer 2. Notify the outside (steps ST311 and 312). After that, the user will repair or replace the strain wave gearing reducer 2.
  • step ST310 when the determination unit 13 determines that the torque unevenness is not equal to or greater than the threshold value, the notification unit 16 notifies the wave gear reducer 2 that ratcheting has occurred (warning) to the outside. (Step ST313). If ratcheting occurs, the life of the strain wave gearing reducer 2 may be shortened. Therefore, the user repairs or replaces the strain wave gearing speed reducer 2 depending on the situation.
  • the relationship between the torque detected by the torque detector 11 and the current of the motor 3 and the failure of the strain wave gearing gear reducer 2 varies depending on the operation of the device to which the strain wave gearing gear reducer 2 is attached. Therefore, the above relationship may be machine-learned with a learner. Then, it is considered that the failure determination device 1 according to the first embodiment further improves the determination accuracy by performing the failure determination of the strain wave gearing reducer 2 using the machine-learned learner.
  • the failure determination device 1 is based on the torque detector 11 that detects the torque on the output side of the strain wave gearing reducer 2 and the torque detected by the torque detector 11. Therefore, a determination unit 13 for determining a failure of the strain wave gearing reducer 2 is provided. As a result, the failure determination device 1 according to the first embodiment can determine the failure of the strain wave gearing reducer 2 with higher accuracy than the conventional technique.
  • the present invention can be modified from any component of the embodiment or can be omitted from any component of the embodiment.
  • the failure determination device can determine the failure of the strain wave gearing reducer more accurately than the conventional technique, and is suitable for use as a failure determination device for determining the failure of the wave gear reducer.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Retarders (AREA)
  • Control Of Electric Motors In General (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)

Abstract

La présente invention concerne un dispositif de détermination de dysfonctionnement comprenant un détecteur de couple (11) qui détecte un couple sur un côté de sortie d'un engrenage à ondes de déformation (2), et une unité de détermination (13) qui détermine des dysfonctionnements dans l'engrenage à ondes de déformation (2) sur la base du couple détecté par le détecteur de couple (11).
PCT/JP2020/025972 2019-07-11 2020-07-02 Dispositif de détermination de dysfonctionnement et procédé de détermination de dysfonctionnement WO2021006170A1 (fr)

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JP2019129566A JP7394551B2 (ja) 2019-07-11 2019-07-11 故障判定装置及び故障判定方法
JP2019-129566 2019-07-11

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024008232A1 (fr) * 2022-07-07 2024-01-11 Schaeffler Technologies AG & Co. KG Procédé de détection dynamique d'encliquetage dans un robot collaboratif par intelligence artificielle et compensation dynamique des trajectoires

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022101977A1 (de) 2022-01-28 2023-08-03 Schaeffler Technologies AG & Co. KG Verfahren und System zur Detektion einer Eingriffsstörung eines Spannungswellengetriebes
DE102022128423B3 (de) 2022-10-27 2023-12-28 Schaeffler Technologies AG & Co. KG Verfahren und ein Antriebsmodul zur Detektion, Quantifikation und Kompensation einer Eingriffsstörung eines Spannungswellengetriebes
DE102022130859A1 (de) 2022-11-22 2024-05-23 Schaeffler Technologies AG & Co. KG Verfahren zum Betrieb eines Antriebssystems zur Vermeidung von Eingriffsstörungen in Spannungswellengetrieben

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6425031A (en) * 1987-07-20 1989-01-27 Aisin Seiki Device for detecting dedoidal phenomenon in harmonic drive reduction gear
JPH09145497A (ja) * 1995-11-20 1997-06-06 Honda Motor Co Ltd トルクセンサ
JP2009131965A (ja) * 2007-11-28 2009-06-18 Kobe Steel Ltd 混練処理装置の負荷監視方法及び負荷監視装置
JP2016158751A (ja) * 2015-02-27 2016-09-05 ソニー株式会社 アクチュエータ及び医療用支持アーム装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6425031A (en) * 1987-07-20 1989-01-27 Aisin Seiki Device for detecting dedoidal phenomenon in harmonic drive reduction gear
JPH09145497A (ja) * 1995-11-20 1997-06-06 Honda Motor Co Ltd トルクセンサ
JP2009131965A (ja) * 2007-11-28 2009-06-18 Kobe Steel Ltd 混練処理装置の負荷監視方法及び負荷監視装置
JP2016158751A (ja) * 2015-02-27 2016-09-05 ソニー株式会社 アクチュエータ及び医療用支持アーム装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024008232A1 (fr) * 2022-07-07 2024-01-11 Schaeffler Technologies AG & Co. KG Procédé de détection dynamique d'encliquetage dans un robot collaboratif par intelligence artificielle et compensation dynamique des trajectoires

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