WO2024088465A1 - Procédé et module d'entraînement pour détecter, quantifier et compenser un défaut d'engrènement d'un engrenage à ondes de déformation - Google Patents

Procédé et module d'entraînement pour détecter, quantifier et compenser un défaut d'engrènement d'un engrenage à ondes de déformation Download PDF

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Publication number
WO2024088465A1
WO2024088465A1 PCT/DE2023/100720 DE2023100720W WO2024088465A1 WO 2024088465 A1 WO2024088465 A1 WO 2024088465A1 DE 2023100720 W DE2023100720 W DE 2023100720W WO 2024088465 A1 WO2024088465 A1 WO 2024088465A1
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WO
WIPO (PCT)
Prior art keywords
engagement
torque
outer ring
teeth
fault
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PCT/DE2023/100720
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German (de)
English (en)
Inventor
Daisuke Kirihara
Jochen Damerau
Original Assignee
Schaeffler Technologies AG & Co. KG
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Publication date
Application filed by Schaeffler Technologies AG & Co. KG filed Critical Schaeffler Technologies AG & Co. KG
Publication of WO2024088465A1 publication Critical patent/WO2024088465A1/fr

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Classifications

    • 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
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • 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
    • G01M13/021—Gearings

Definitions

  • the invention relates to a method for detecting and quantifying an engagement fault of a stress wave transmission and a method for compensating an engagement fault of a stress wave transmission in a drive system.
  • the invention further relates to a drive module with a stress wave transmission.
  • Strain wave gears also known as wave gears, sliding wedge gears, English “strain wave gearing” or “harmonic drive”
  • Strain wave gears enable almost backlash-free power transmission with a high gear ratio and are therefore particularly suitable for applications that require precise movements and a small space requirement. Since the high gear ratio allows high torques to be generated with relatively small motors, very compact drive mechanisms can be realized with strain wave gears, which are used in robotics, for example.
  • the main components of a stress wave transmission are a wave generator, a rigid outer ring (“circular spline”) with internal teeth and a transmission ring (“flexspline”) with external teeth arranged between them.
  • the transmission of torque between the wave generator and the outer ring is based on elastic deformation, in which the transmission ring is deformed into an oval by the wave generator in such a way that it engages with the outer ring on two opposite sides of its circumference.
  • the transmission ring rolls on the outer ring so that a torque is transmitted between the transmission ring and the outer ring through the intermeshing teeth.
  • the transmission ratio of the transmission is determined by the difference in the number of teeth on the transmission ring and the outer ring.
  • JP 2021014876 A a method is known from JP 2021014876 A in which the torque acting on the output side of a stress wave transmission is measured and compared with two threshold values. Exceeding the first threshold value serves as an indication of an engagement fault, while exceeding the second threshold value indicates possible buckling of the transmission ring.
  • the disadvantage of this method is, on the one hand, that the critical torque ("ratcheting torque") at which an engagement fault is highly likely to occur varies from transmission to transmission.
  • ratcheting torque critical torque
  • such a simple threshold value method cannot reliably determine whether an engagement fault has actually occurred, whether the high torque that occurred at times was reduced without disruption, and to what extent the engagement fault has occurred.
  • the task is to provide a method with which the robustness of a drive mechanism with a stress wave transmission, in particular of a robot, can be increased.
  • the object is achieved by a method for detecting and quantifying an engagement disturbance of a stress wave transmission comprising an input-side wave generator, an output-side rigid outer ring with an internal toothing and an elastically deformable transmission ring with an external toothing which is in engagement with the internal toothing of the outer ring, the method comprising the following method steps:
  • this object is achieved by a method for compensating an engagement disturbance of a stress wave transmission in a drive system, in particular of a robot, wherein the stress wave transmission comprises an input-side wave generator, an output-side, rigid outer ring with an internal toothing and an elastically deformable transmission ring with an external toothing which is in engagement with the internal toothing of the outer ring, wherein the drive system has a rotary encoder for measuring the rotational position of the wave generator of the stress wave transmission, wherein a method for detecting and quantifying an engagement disturbance according to one of the preceding claims is carried out and the calculated angular offset is transmitted to an evaluation unit connected to the rotary encoder, which compensates for the engagement disturbance based on the calculated angular offset.
  • the detection of the engagement fault is based on a measured temporal torque curve on the deformable transmission ring. This reflects the dynamic behavior of the torque transmission before and during the engagement fault. Typically, an excessively high torque builds up in the run-up to the engagement fault, which ultimately leads to the teeth of the transmission ring losing engagement with the outer ring and skipping over its teeth. The accumulated torque is thereby greatly reduced within a short period of time. This decrease in torque can serve as a characteristic signature of an engagement fault in the method according to the invention and enable the engagement fault to be reliably detected.
  • the number of teeth or tooth engagements skipped during the meshing fault between the transmission ring and the outer ring is determined based on the torque curve.
  • a meshing fault can have several skipped teeth or tooth engagements, whereby a skipped tooth can be recognized based on predefined parameters.
  • an angular offset between the transmission ring and the outer ring is determined from the determined number of skipped teeth, whereby this angular offset corresponds to the angular offset defined by the skipped teeth or tooth engagements. This angular offset corresponds to the angular offset that occurs between the input-side wave generator and the output-side outer ring of the stress wave gear.
  • the determined angular offset is transmitted to the evaluation unit, which is connected to the rotary encoder.
  • the evaluation unit then compensates for the occurrence of the meshing fault. based on the calculated angular offset. This can improve the robustness of the drive system with stress wave gears.
  • the wave generator of the stress wave transmission is formed in particular by a disk connected to a drive shaft with an oval, for example elliptical shape.
  • the disk preferably has a rolling bearing shrunk onto its circumference with a thin, elastically deformable race and several rolling elements.
  • the transmission ring can be designed, for example, in the shape of a cup or a cylinder hat, i.e. the transmission ring is formed in particular by a cylindrical wall of a cup-shaped or cylinder hat-shaped bushing, which can be made of steel, for example.
  • the temporal torque curve can be analyzed and evaluated using an evaluation unit, the temporal change in the measured values can be determined and compared with a reduction threshold value.
  • a temporal rate of change can be determined and compared with the reduction threshold value, in particular by forming a difference or a numerical derivation of the torque measured values.
  • the comparison checks whether the measured torque has decreased by at least a predetermined amount within a predetermined period of time.
  • the decrease threshold can in particular be a relative decrease threshold, i.e. the comparison checks whether the measured torque has decreased by at least a predetermined percentage. If the decrease threshold is exceeded, a warning signal is triggered, which can in particular be transmitted to an external data processing unit, such as a monitoring and control unit of the stress wave transmission.
  • the measured torque can be compared with at least one torque threshold value, whereby the decrease in the measured torque over time is only determined and compared with the decrease threshold value if the torque threshold value is detected to be exceeded.
  • the torque threshold value is used to distinguish the load peaks that occur during normal operation from excessively high torques that indicate or announce an engagement fault.
  • start/stop torque the transmission must overcome the mass inertia of the load coupled to the output or driven side, which is expressed in a briefly increased torque (start/stop torque). If an obstruction occurs on the driven side If a torque occurs, for example, when a robot arm actuated by the gear box hits an obstacle, the gear box briefly works against a high resistance (impact torque) before the impact is registered.
  • the torque threshold used in the method can, for example, correspond to the impact torque or the ratcheting torque.
  • the torque threshold lies between the impact torque and the buckling torque or between the impact torque and the ratcheting torque.
  • the torque threshold can be individually tailored to the gear box, for example by triggering one or more engagement faults in a controlled manner before commissioning and selecting the threshold depending on the torques occurring during the engagement faults.
  • first carry out a comparison with a first torque threshold and, if it is exceeded, to carry out a comparison with a second torque threshold that is higher than the first torque threshold.
  • first torque threshold can correspond to the starting torque
  • second torque threshold corresponds to the ratchet torque.
  • an individual torque threshold value is determined for the stress wave transmission at the beginning of the method and the comparison of the measured torque is carried out using the individual torque threshold value, wherein the individual torque threshold value is determined in particular by at least one, preferably several, controlled triggering of intervention disturbances.
  • the measured torque is compared with an individual torque threshold value, wherein an exceedance of the individual torque threshold value is detected and an increase in a sampling rate of the torque sensor is triggered by the exceedance of the individual torque threshold value.
  • the individual torque threshold value is determined by one or more targeted experiments. For example, the individual threshold value can be determined such that it is above the torque values occurring during normal operation (e.g. start/stop torque).
  • the angular offset between the transmission ring and the outer ring determined in the method for detecting and quantifying according to the invention can be used in a further method step to compensate for the misalignment.
  • a rotary encoder can determine the position of the wave generator while the torque is being absorbed, so that a position assignment of the engagement fault is possible based on this position. This value in combination with the determined angular offset of the outer ring can be transferred to the evaluation unit. From the determined position of the rotary encoder on the wave generator, the evaluation unit can determine exactly the rotational position of the outer ring at which the engagement fault occurred.
  • the evaluation unit can use the angular offset to correct the measured value of the rotary encoder, whereby the angular offset, which is caused by the so-called "slipping" of the teeth on the outer ring, can be compensated without moving the drive module by "resetting" the rotary encoder.
  • the encoder is reset, the angular offset can be included in the current position determination by the encoder, whereby the angular offset can either be added to the current position or subtracted from it.
  • the encoder reset allows for precise positioning on the output side, increasing the robustness of the stress wave gear. Downtime of a machine with a built-in stress wave gear and inaccuracies in the rotational position on the outer ring due to engagement faults can also be minimized.
  • the rotary encoder is attached to an input-side rotor shaft or directly to an input-side drive module, preferably an electric motor.
  • the temporal torque curve is determined by means of a torque sensor arranged on the deformable transmission ring, which preferably has one or more strain gauges.
  • the sensor data of the torque sensor can provide the data for the torque curve.
  • the torque sensor can, for example, be attached to the transmission ring or integrated into the transmission ring.
  • the transmission ring can have a strain-sensitive structure or coating with which the applied torque can be measured via the torsion of the transmission ring caused thereby. It is also conceivable that a compensation strain gauge can be used, with this being used to compensate for Temperature fluctuations.
  • the temperatures within the stress wave gear can rise, which could distort the torque curve.
  • a compensation strain gauge can be arranged within the stress wave gear, whereby this does not experience any mechanical stress, but experiences the same temperatures. This enables the evaluation unit to equalize the distortion caused by the temperature fluctuation.
  • the measurement of the torque curve over time includes measuring a direction of rotation of the wave generator and/or an amount of torque.
  • the direction of rotation of the wave generator can be determined using the existing sensors, whereby the direction of rotation is of particular relevance when outputting the angle of rotation of the outer ring.
  • the direction of rotation of the outer ring can be determined from the determined direction of rotation of the wave generator and the gear ratio, whereby this can be required to use the determined angle of rotation of the outer ring.
  • the direction of rotation of the wave generator can be transmitted directly or a rotary encoder, for example having a Hall sensor, can determine the direction of rotation of the wave generator.
  • an event of a damped vibration is recognized in the measured torque curve in order to detect the engagement disturbance.
  • the torque curve of the engagement disturbance can depict a dampened vibration.
  • this engagement disturbance can already be recognized via the threshold values, but on the other hand, the engagement disturbance can alternatively be recognized based on the characteristic vibration shape.
  • the torque builds up or decreases sharply for a short time until the ratchet torque is exceeded or fallen below.
  • the teeth "slip”
  • the measured torque first drops until a tooth of the external toothing hits a tooth of the internal toothing again.
  • the teeth can collide with one another when slipping, briefly creating a vibration that is quickly dampened due to the engagement and the power supply of the wave generator. This can depict the characteristic curve of the dampened vibration.
  • a number of consecutive damped oscillations in the measured torque curve is determined.
  • a meshing disturbance can have several skipped teeth, whereby the number of skipped teeth is of particular relevance for the calculation of the angle of rotation.
  • the number of skipped teeth can be determined within the meshing disturbance with several occurring damped vibrations.
  • an interference fault it is checked whether the skipped teeth are arranged next to each other.
  • An interference fault with several skipped teeth can only be considered as such if the teeth are skipped directly next to each other. If a tooth between two skipped teeth is not skipped, these events can be understood as two different interference faults.
  • Number of teeth of the inner gearing of the outer ring and i is the transmission ratio.
  • the angular offset between the transmission ring and the outer ring, caused by the meshing disturbance, can be determined from the measured torque curve and the skipped teeth determined from it. This value can be passed on to an evaluation unit.
  • a rotational position of the outer ring at which the engagement fault occurred is determined based on the rotational position of the wave generator, wherein the rotational position is stored for later comparison together with the determined torque value when the engagement fault occurred, and optionally together with the number of teeth skipped during the detected engagement fault.
  • a torque when the engagement fault occurs is smaller than a stored torque at the same rotational position of the outer ring when an engagement fault was previously detected.
  • the data of the rotary encoder and other data can be stored in an internal storage unit. This data can advantageously be used when engagement faults occur repeatedly, whereby the engagement faults occurring at the same rotational position can be compared with one another and can be an indicator of the service life and wear of the stress wave gear. Repeatedly occurring meshing faults at the same rotational position on the outer ring can indicate severe local wear of a tooth or damage to a tooth.
  • the torque curves of these meshing faults can be compared with one another, whereby strong deviations between the torque curves can indicate damage or severe wear.
  • the comparison of the torque can either relate to the ratchet torque at the first skipped tooth of an meshing fault or the maximum torque at the first skipped tooth of an meshing fault or the average torque value from the several damped oscillations of an meshing fault, provided that several teeth are skipped.
  • the magnitude of the torques is compared so that the signs are not relevant when comparing the data. This also simplifies the comparison and targeted querying using predefined criteria when making a comparison.
  • a drive module with a stress wave transmission which comprises an input-side wave generator, an output-side, rigid outer ring with an internal toothing and an elastically deformable transmission ring with an external toothing which is in engagement with the internal toothing of the outer ring, wherein the drive module is configured to carry out the following method steps:
  • the drive module according to the invention can achieve the same advantages that have previously been described in connection with the method according to the invention.
  • the advantageous embodiments and features described in connection with the method can also be used - alone or in combination - in the drive module according to the invention. Further details and advantages of the invention will be explained below with reference to the embodiment shown in the drawings.
  • Fig. 1 shows an embodiment of a robot in a schematic representation
  • Fig. 2 is a schematic sectional view of a stress wave gear, as well as an intact tooth mesh during operation;
  • Fig. 3 shows a schematic engagement disturbance and a deformation of a transmission ring for measuring a torque
  • Fig. 4 is a sectional view of a stress wave transmission on the input side
  • Fig. 5 is a sectional view of a stress wave transmission on the output side
  • Fig. 6 a torque curve over time with an engagement disturbance
  • Fig. 7 a schematic sensor system
  • Fig. 8 is a schematic flow chart for detecting, quantifying and compensating an intervention disturbance.
  • Fig. 1 shows a schematic representation of an embodiment of a robot designed as an industrial robot 200 with several arm segments 201, each of which is rotatably connected via drive modules 100 according to the invention. Even if the industrial robot 200 shown here has three arm segments 201 and three drive modules 100, designs of the industrial robot 200 with a different number of arm segments 201 and drive modules 100 are conceivable, for example four, five, six or seven. Furthermore, a drive module 100 can be used for any robot joints.
  • a typical structure of a stress wave transmission 10 is shown schematically in Fig. 2.
  • the main components of the stress wave transmission 10 are a wave generator 13, a rigid outer ring 11 (“circular spline”) with internal teeth 1 and a flexible transmission ring 12 (“flexspline”) with external teeth 2 arranged between them.
  • the wave generator 13 is formed by an oval disk connected to a drive shaft, on the circumference of which several rolling elements 14 (not shown) are arranged, which roll on the inside of the transmission ring 12.
  • the flexible transmission ring 12 is brought into engagement with the outer ring 11 by the wave generator 13, whereby each individual tooth of the transmission ring 12 is moved out of a gap between two teeth of the outer ring 11 during a 180° rotation of the wave generator 13 and migrates into the respective subsequent gap (indicated by the arrow 3 in section 4). In this way, the transmission ring rotates 12 relative to the outer ring 11 in the direction opposite to the rotation of the wave generator 13, whereby a torque is transmitted between the two rings 11 and 12.
  • the output of the stress wave transmission 10 can either be via the transmission ring 12 (with a fixed outer ring 11) and via the outer ring 11 (with a fixed transmission ring 12). In the following, the output of the stress wave transmission is formed by the outer ring 11.
  • Fig. 3 shows a schematic representation of the dynamic deformation of the transmission ring 12 in various phases of the engagement disturbance.
  • the transmission ring 12 is designed as a cylinder hat-shaped bushing (“silk hat”) (see illustration on the left), the upper edge of which has the external toothing 2, which in turn is brought into engagement with the internal toothing 1 of the outer ring 11.
  • the degree of deformation of the cylindrical wall of the transmission ring 12 is shown at three consecutive points in time together with the associated state of the toothings 1, 2.
  • the position of the outer ring 11 is marked in each case by a reference point 34 on the upper edge of the transmission ring 12, while the lines 36, 37, 38 show the associated twist of the transmission ring 12.
  • Fig. 4 shows an embodiment of a drive module 100 for moving an arm segment 201 of an industrial robot 200, which can be used in the industrial robot 200 according to Fig. 1.
  • the drive module 100 comprises a gear designed as a stress wave gear 10, an electric motor 20 and a braking device 30.
  • Another component of the drive module 100 according to the embodiment is an electronic unit 40.
  • the wave generator 13 is formed by an oval disk, on the circumference of which several rolling elements 14 are arranged, which roll on the inside of the transmission ring 12.
  • the wave generator 13 of the stress wave transmission 10 is coupled to the electric motor 20, here to the rotor shaft 21 of the electric motor 20.
  • the electric motor 20 can be designed as an axial flow machine or as a radial flow machine.
  • the rotor shaft 21 and thus also the wave generator 13 are further coupled to the braking device 30, by means of which the rotor shaft 21 can be slowed down and/or fixed.
  • the rotor shaft 21 is also coupled to a position sensor 50, via which a position, here an angular position of the rotor shaft 21 can be determined.
  • the position sensor 50 is preferably designed as an optical or magnetic rotary encoder or rotary angle encoder. The amount of torque between the rings 11, 12 and the direction of rotation of the wave generator can be detected from the combination of the torque sensor 15 and the position sensor 50.
  • Fig. 5 shows a detail of the stress wave transmission 10 of the drive module 100 according to Fig. 4. It can be seen that a torque sensor 15 is arranged on the elastically deformable transmission ring 12, by means of which the torque exerted on the transmission ring 12 is measured.
  • the torque sensor 15 according to the exemplary embodiment comprises one or more strain gauges, with which the applied torque can be measured via the torsion of the transmission ring 12 caused thereby.
  • the torque sensor 15 is connected to an evaluation unit 41 of the drive module 100, which continuously or quasi-continuously receives measured values from the torque sensor 15.
  • the evaluation unit 41 is designed as part of the electronic unit 40 in the exemplary embodiment, see Fig. 4.
  • Fig. 6 shows a torque curve 50 over time.
  • the detection of an engagement fault can be done via the gradient of the torque curve 60 and/or via a threshold value.
  • a significant increase or decrease in torque and/or a steep increase or decrease in the gradient of the measured torque curve 60 allows the engagement fault 62 to be detected.
  • one or more teeth can be skipped, with the number of skipped teeth being determined in the method according to the invention. From the number of skipped teeth during an engagement fault 62, an angular offset 64 that was generated by this engagement fault is calculated according to the invention.
  • the angle of rotation of the outer ring describes the difference between the rotational position measured by the position sensor 50 and the actual rotational position caused by the engagement fault 62.
  • angular offset 64 shown in Fig. 6.
  • An engagement fault 62 can occur if the critical value of the ratchet torque 61 is exceeded.
  • the engagement fault 62 has three skipped teeth, with each skipped tooth generating a damped oscillation 62' in the torque curve 60.
  • the angular offsets 63 generated by a tooth within an engagement fault 62 add up to the complete angular offset for an engagement fault 64, whereby it is of particular interest to compensate for this misalignment generated by the engagement fault 62.
  • an engagement fault 62 is detected from the damped vibrations 62' generated by the skipped teeth.
  • the engagement fault 62 can have one or more damped vibrations 62', from which the number of skipped teeth is determined. This number is required when calculating the angular offset of the outer ring 11 relative to the transmission ring 12, which corresponds to the angular offset 64 between the input and output of the stress wave gear.
  • Fig. 7 shows a sensor system 300 which has an evaluation unit 41 and a torque sensor 15. This system 300 is also supported by data from the position sensor 50.
  • the evaluation unit 41 arranged in the system 300 comprises a filter and amplifier 301, an analog/digital converter 302, a microprocessor 303 and an internal memory unit 304.
  • the internal memory unit 304 enables the storage of torques measured during an engagement disturbance 62 and the positions measured for it. Based on the position, the amounts of torques can be compared for engagement disturbances occurring at the same positions.
  • the data from the position sensor 50 provide the rotational position of the transmission ring 12.
  • the detection and quantification of the angular offset of the outer ring 12 relative to the transmission ring enables the "reset" of the rotary encoder or position sensor 50, so that the evaluation unit 41 knows the actual position of the outer ring 12.
  • the compensation of the angular offset 64 increases the robustness of the drive module against misalignment and can thus increase the service life of such a module. Even with a progressive service life and highly advanced wear in the stress wave gear 10, precise control of the outer ring 11 or an arm segment 201 of an exemplary robot 200 could be possible.
  • the internal memory unit 304 within the evaluation unit 41 stores the rotational position at which an engagement fault 62 occurred together with the determined torque value when the engagement fault 62 occurred and optionally the number of teeth skipped during the detected engagement fault 62.
  • the internal memory unit 304 can be included in the microprocessor 303.
  • the evaluation unit 40 can also have two or more analog/digital converters 302, as well as filters and amplifiers 301, whereby the number of these elements can depend on the number of input variables. For example, it would be conceivable for the position sensor 50 and the torque sensor 15 to each have their own signal converter 302 and a filter and amplifier 301 within the evaluation unit 41.
  • a preferred embodiment could have further physical variables as input variables, whereby these are used in particular for comparing the torque curves 60 during the engagement faults 62.
  • the system 300 could have a temperature sensor and a pressure sensor.
  • the temperature is particularly relevant for the consideration of the torque curve 60, since the strain gauges preferably used (as torque sensor 15) are very sensitive to temperature. The influence of the temperature could be a significant factor in the comparability of the data.
  • the angle of rotation of the outer ring calculated by the microprocessor 303 is applied to the input side in the embodiment of Fig. 7. positioned electric motor 20, which is controlled in a targeted manner, taking into account the angle of rotation to be compensated.
  • One task of the evaluation unit 41 shown in Fig. 7 is to evaluate the measurement data of the torque sensor and to determine how many teeth were skipped during an engagement disturbance.
  • a method for compensating the angular offset 400 will be explained below using the flow chart in Fig. 8.
  • a first method step 401 an engagement fault 62 is detected.
  • the direction of rotation is detected using the method for detection and quantification explained, and the number of skipped teeth is determined.
  • the direction of rotation of the electric motor 20 can be determined either via the position sensor 50 or via a speed sensor on the electric motor 20.
  • the angle of rotation of the outer ring 11 is determined.
  • the compensation angle or the angular offset is determined by the formula already explained above.
  • the first query 404 determines to what extent an engagement fault 62 has previously occurred at the same position on the outer ring 11. If the first query 405' is negative, the method jumps to the fourth method step 408 and passes the calculated angle of rotation on to the electric motor 20 and/or carries out a "reset" of the position sensor 50. If the first query 405 is positive, the method proceeds to a second query 406. In the second query 406, it is determined whether the ratchet torque in the current engagement fault 62 has decreased compared to the ratchet torque of the previous engagement fault 62 at the same position, whereby in this embodiment the amount of the torque curve 60 is used.
  • the process moves on to the fourth method step 408 and continues as already explained.
  • an error message could be output despite a positive second query 407 if the ratchet torque is significantly lower than the previous ratchet torque.
  • a third query would then be required for this, which can classify the exact drop or increase in the ratchet torque.
  • a sharp drop could also indicate damage or significant wear on the teeth of the stress wave gear 10.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
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Abstract

L'invention concerne un procédé de détection et de quantification d'un défaut d'engrènement d'un engrenage à ondes de déformation, qui comprend un générateur d'ondes, une bague externe rigide dotée de dents internes et une bague de transmission élastiquement déformable dotée de dents externes qui sont en prise avec les dents internes de la bague externe, le procédé comprenant les étapes de procédé suivantes : - la mesure d'une courbe de couple en fonction du temps sur la bague de transmission déformable, - la détection d'un défaut d'engrènement sur la base de la courbe de couple mesurée, - la détermination d'un nombre de dents sautées pendant le défaut d'engrènement détecté sur la base de la mesure du couple, le calcul d'un angle de rotation de la bague externe qui correspond au nombre déterminé de dents.
PCT/DE2023/100720 2022-10-27 2023-09-27 Procédé et module d'entraînement pour détecter, quantifier et compenser un défaut d'engrènement d'un engrenage à ondes de déformation WO2024088465A1 (fr)

Applications Claiming Priority (2)

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DE102022128423.9 2022-10-27
DE102022128423.9A DE102022128423B3 (de) 2022-10-27 2022-10-27 Verfahren und ein Antriebsmodul zur Detektion, Quantifikation und Kompensation einer Eingriffsstörung eines Spannungswellengetriebes

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WO2024088465A1 true WO2024088465A1 (fr) 2024-05-02

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DE112004002907B4 (de) * 2004-06-21 2016-02-18 Harmonic Drive Systems Inc. Wellgetriebe-Trieb mit Zahnprofil, das mit Negativausbiegung kämmt
JP2012251446A (ja) * 2011-06-01 2012-12-20 Nissan Motor Co Ltd 内燃機関の故障診断装置
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JP2021014876A (ja) 2019-07-11 2021-02-12 アズビル株式会社 故障判定装置及び故障判定方法

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