CN112072860B - Brake monitoring device, servo motor and servo motor control method - Google Patents
Brake monitoring device, servo motor and servo motor control method Download PDFInfo
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 230000003116 impacting effect Effects 0.000 description 6
- 230000006378 damage Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
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- 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
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Abstract
The application provides a brake monitoring device, a servo motor and a servo motor control method. The brake monitoring device comprises a voice control detection device (1), a stator (2), an armature (3) and a friction plate (4), wherein the armature (3) is arranged between the stator (2) and the friction plate (4), the stator (2) is used for controlling the armature (3) to enable the armature (3) to be pressed or separated from the friction plate (4), and the voice control detection device (1) is used for detecting the action sound of the armature (3) and determining the working state of a brake according to the action sound of the armature (3). According to the brake monitoring device, the service state of the brake can be monitored in real time, and the safe use of the motor is guaranteed.
Description
Technical Field
The application relates to the technical field of motors, in particular to a brake monitoring device, a servo motor and a servo motor control method.
Background
With the development of high power density and miniaturization of the motor, the material use and structural design of the motor are more and more limited, and particularly, the miniaturization and integration degree of the motor are higher when the motor is applied to a servo motor in a robot occasion, the motor structure is more compact, and the safety performance requirement of the motor is higher.
For the servo motor, the safety performance of the motor in the brake holding process is most important. When the mechanical arm stops using or is braked emergently, the mechanical arm may be in any working state, and then the brake keeping capability of the brake in the servo motor must be started, so that the mechanical arm is prevented from injuring people when working continuously.
In addition to activating the braking function, attention is also paid to the release function of the brake. When the servo motor does not rotate, the brake keeps braking, and before the servo motor starts to rotate, the brake is surely released, so that the motor can rotate freely. If the servo motor starts to rotate but the brake keeps braking, the danger of motor damage, even shaft breakage and the like can be caused. Therefore, the real-time monitoring of the use state of the brake is very important for the safe use of the servo motor.
Disclosure of Invention
Therefore, the technical problem to be solved by the present application is to provide a brake monitoring device, a servo motor and a servo motor control method, which can monitor the use state of a brake in real time and ensure the safe use of the motor.
In order to solve the above problems, the present application provides a brake monitoring device, which includes an acoustic control detection device, a stator, an armature, and a friction plate, where the armature is disposed between the stator and the friction plate, the stator is used to control the armature, so that the armature presses or leaves the friction plate, and the acoustic control detection device is used to detect an action sound of the armature, and determine an operating state of the brake according to the action sound of the armature.
Preferably, the brake monitoring device further comprises a limiting plate, the limiting plate is arranged on one side, away from the armature, of the friction plate, and the action sound of the armature comprises the sound of the armature striking the stator, the sound of the armature striking the friction plate and the sound of the friction plate striking the limiting plate.
Preferably, the voice control detection means is adapted to detect decibels and/or the audio frequency of the actuation sound of the armature.
According to another aspect of the present application, there is provided a servo motor comprising the brake monitoring device described above.
Preferably, the servo motor comprises an encoder, the voice control detection device is mounted on a circuit board of the encoder, and a detection end of the voice control detection device faces the direction of the armature.
Preferably, the servo motor further comprises a driver, the voice control detection device is electrically connected with the driver and feeds back a working state signal of the brake to the driver through the circuit board, and the driver controls the servo motor according to the received working state signal.
Preferably, the servo motor further comprises a main shaft, the stator is mounted on the main shaft through a bearing, and the friction plate is circumferentially fixed relative to the main shaft and rotates synchronously with the main shaft.
Preferably, when the brake monitoring device further comprises a limit plate, the armature, the friction plate and the limit plate are arranged on one side of the stator close to the encoder.
According to another aspect of the present application, there is provided a control method of the servo motor described above, including:
detecting an action sound of the armature;
determining the working state of the brake according to the action sound of the armature;
and controlling the motor according to the working state of the brake.
Preferably, the step of determining the operating state of the brake based on the operating sound of the armature includes:
when the action sound s of the armature is more than or equal to a decibel, judging that the armature impacts the stator, and judging that the brake is in a release state;
when the action sound b of the armature is less than or equal to s and less than a decibel, judging that the armature impacts the friction plate or the sound of the friction plate impacting the limit plate, and judging that the maker is in a braking state;
and when the action sound s of the armature is less than b, judging that the working state of the brake is not changed.
Preferably, the step of determining the operating state of the brake based on the operating sound of the armature includes:
when the armature has only one impact audio frequency within a preset time period, judging the sound of the armature impacting the stator, and judging that the brake is in a release state;
when the armature has two impact audios within a preset time period, judging the sound of the impact of the armature on the stator, and judging that the brake is in a release state.
Preferably, the step of controlling the motor according to the operating state of the brake includes:
when the brake is judged to be in a release state, the motor is in a startable state, and the driver controls the motor according to a control signal of the electric control board;
when the brake is judged to be in the braking state, the motor is in the stopping state.
According to another aspect of the present application, there is provided a control method of the servo motor described above, including:
acquiring the current state of the servo motor, and determining the working state of the brake according to the current state of the servo motor;
detecting an action sound of the armature;
judging whether the brake is switched to the working state or not according to the action sound of the armature;
and re-determining the working state of the brake according to the judgment result.
The application provides a brake monitoring device, including acoustic control detection device, stator, armature and friction disc, armature sets up between stator and friction disc, and the stator is used for controlling armature, makes armature compress tightly or leave the friction disc, and acoustic control detection device is used for detecting the action sound of armature to confirm the operating condition of brake according to the action sound of armature. This stopper monitoring device utilizes acoustic control detection device to detect the action sound of armature, utilize armature and stator striking sound and distinguish the cooperation state of armature with the difference of friction disc striking sound, and then the operating condition of real time monitoring stopper, can control the motor according to the operating condition of stopper, thereby can reduce servo motor pivot wearing and tearing, reduce the motor performance degradation after using for a long time, prevent the machine damage that the untimely braking leads to and the condition such as unexpected wounded, guarantee the safe handling of motor.
Drawings
Fig. 1 is a schematic structural diagram of a servo motor according to an embodiment of the present application;
fig. 2 is a control flowchart of a servo motor according to a first embodiment of the present application;
fig. 3 is a control flowchart of a servo motor according to a second embodiment of the present application.
The reference numerals are represented as:
1. a voice control detection means; 2. a stator; 3. an armature; 4. a friction plate; 5. a limiting plate; 6. an encoder; 7. a circuit board; 8. a main shaft; 9. and a bearing.
Detailed Description
Referring to fig. 1 in combination, according to the embodiment of the application, the brake monitoring device includes an acoustic control detection device 1, a stator 2, an armature 3 and a friction plate 4, the armature 3 is disposed between the stator 2 and the friction plate 4, the stator 2 is used for controlling the armature 3 to press the armature 3 against or separate from the friction plate 4, and the acoustic control detection device 1 is used for detecting the action sound of the armature 3 and determining the working state of the brake according to the action sound of the armature 3.
This stopper monitoring device utilizes acoustic control detection device 1 to detect armature 3's action sound, utilize armature 3 and 2 striking sounds of stator and distinguish armature 3's cooperation state with the difference of 4 striking sounds of friction disc, and then the operating condition of real time monitoring stopper, can control the motor according to the operating condition of stopper, thereby can reduce servo motor pivot wearing and tearing, reduce the motor performance decline after using for a long time, prevent the condition such as machine damage and the unexpected injury people that in time braking leads to, guarantee the safe handling of motor.
The brake monitoring device further comprises a limiting plate 5, the limiting plate 5 is arranged on one side, away from the armature 3, of the friction plate 4, and the action sound of the armature 3 comprises the sound of the armature 3 impacting the stator 2, the sound of the armature 3 impacting the friction plate 4 and the sound of the friction plate 4 impacting the limiting plate 5.
In the working process of the brake, impact sound of the armature 3 is mainly generated by two conditions, in the first condition, when the brake is electrified and released, the stator 2 attracts the armature 3, at the moment, the armature 3 impacts the stator 2, the armature 3 is made of the same material as the stator 2, obvious impact sound is generated, and the sound is relatively crisp. Under the second condition, when the brake is braked by power failure, the armature 3 bounces off the stator 2 under the action of the spring, at the moment, the armature 3 can impact the friction plate 4 and the friction plate 4 to impact the limiting plate 5, and because the materials of the armature 3, the limiting plate 5 and the friction plate 4 are different, the sound generated by impact is obviously different from that in the first condition.
Therefore, the current working state of the brake can be determined according to the difference of the sounds, and a basis is provided for the control of the motor based on the current working state of the brake, so that the accurate and safe control of the motor is realized, and the reliability and the safety of the operation of the motor are improved.
The voice control detection device 1 is used for detecting decibels and/or audio frequency of action sound of the armature 3. Because the sound decibel when the armature 3 collides with the stator 2 is obviously different from the sound decibel when the armature 3 collides with the friction plate 4 and the friction plate 4 collides with the limiting plate 5, the collision object of the armature 3 can be distinguished according to the sound decibel number when the armature 3 collides with the limiting plate, and the working state of the brake can be accurately determined.
Meanwhile, when the brake is powered on, the armature 3 collides with the stator 2 and only generates one-time impact sound, and when the brake is powered off, the armature 3 collides with the friction plate 4 and the friction plate 4 collides with the limit plate 5 and generates two-time impact sound, so that the working state of the brake can be accurately distinguished and judged according to the audio frequency of the action sound of the armature 3.
The sound of the motor rotation is interfered, but the sound generated when the brake is released/braked is very loud, particularly the brake of a large motor, the impact sound is obviously larger than the motor noise, and the ear sound is obvious, so that the action sound of the armature 3 of the brake is easier to distinguish from the motor rotation sound without interference.
Since the noise of the motor is fricative, the current is continuous and hoarse, and the brake is a crisp and obvious impact sound 'click' when the brake is released, the motor can be easily distinguished by sound decibel or audio frequency.
Referring to fig. 1 in combination, according to an embodiment of the present application, the servo motor includes the brake monitoring device described above.
The servo motor comprises an encoder 6, the voice control detection device 1 is installed on a circuit board 7 of the encoder 6, and a detection end of the voice control detection device 1 faces the direction of the armature 3.
Install acoustic control detection device 1 on the circuit board 7 of encoder 6, can conveniently carry out the installation of acoustic control detection device 1, can not additionally occupation space, can conveniently realize electric connection with the circuit board 7 of encoder moreover, guarantee information transmission and processing between acoustic control detection device 1 and the circuit board 7. The acoustic control detection device 1 of the application is installed on a circuit board 7 of an LED lamp.
The servo motor further comprises a driver, the sound control detection device 1 is electrically connected with the driver, the working state signal of the brake is fed back to the driver through the circuit board 7, and the driver controls the servo motor according to the received working state signal. The voice control detection device 1 can directly acquire voice, process the voice, send processed voice information to the circuit board 7, recognize the voice by using the circuit board 7, judge an impact object of the armature 3, further judge the working state of the brake, send a control signal to the driver according to the working state of the brake, and control the motor by using the driver.
The servo motor further comprises a main shaft 8, the stator 2 is mounted on the main shaft 8 through a bearing 9, and the friction plates 4 are circumferentially fixed relative to the main shaft 8 and rotate synchronously with the main shaft 8.
Preferably, when the brake monitoring device further comprises a limit plate 5, the armature 3, the friction plate 4 and the limit plate 5 are arranged on one side of the stator 2 close to the encoder 6. In this embodiment, with the stopper reverse installation, can make the armature 3 of stopper, friction disc 4, limiting plate 5 wait the position to be close acoustic control detection device 1 more for the impact sound of stopper can transmit acoustic control detection device 1 more clearly, reduces the interference of motor noise to acoustic control detection device 1, improves acoustic control detection device 1 and to the accuracy and the reliability that the impact sound detected.
Before the servo motor starts to work, the driver is electrified, the encoder is electrified, the motor does not rotate, at the moment, the driver and the encoder are in a working state, but the motor does not rotate, and therefore the motor does not have noise. At the moment, the brake is electrified, the brake is released, the armature 3 knocks the stator 2 to send out crisp impact sound, the sound control detection device 1 receives the sound and feeds back a signal to the driver, the brake is judged to be electrified and released, and the motor can start to rotate.
When the servo motor works normally, the brake starts a braking function, crisp and rattling impact sounds can be sent out, the sound control detection device 1 receives the sounds, signals are fed back to the driver, and the motor is judged to stop working.
The utility model provides a servo motor can be real-time, effective monitoring stopper operating condition, then feeds back operating signal to motor drive with circuit board 7 through the encoder, and the driver is according to the operating condition signal of stopper, judges whether to be servo motor electrification, makes main shaft 8 start rotation or braking stop, can effectively reduce motor main shaft 8's damage probability like this, reduces the risk that the long-term running performance of motor descends.
Referring to fig. 2 in combination, according to an embodiment of the present application, the method for controlling a servo motor includes: detecting an operating sound of the armature 3; determining the working state of the brake according to the action sound of the armature 3; and controlling the motor according to the working state of the brake.
By the control method, the action sound of the armature 3 can be detected in real time, and the working state of the brake can be accurately judged according to the action sound of the armature 3, so that a basis is provided for the control of the motor, and the safe and stable operation of the motor is ensured.
The step of determining the operating state of the brake based on the operating sound of the armature 3 includes: when the action sound s of the armature 3 is more than or equal to a decibel, judging that the armature 3 impacts the stator 2, and judging that the brake is in a release state; when the action sound b of the armature 3 is less than or equal to s and less than a decibel, judging that the armature 3 impacts the friction plate 4 or the friction plate 4 impacts the limiting plate 5, and judging that the maker is in a braking state; and when the action sound s of the armature 3 is less than b, judging that the working state of the brake is not changed.
Because there is the difference between the decibel number of the sound that the armature 3 strikes the stator 2 and the decibel number of the sound that the armature 3 strikes the friction disc 4 or the friction disc 4 strikes the limiting plate 5, therefore, can utilize the great difference between the decibel number of the two characteristics to distinguish the two, choose the numerical value a that is located between the decibel number of the two as judging the threshold value, because the sound decibel that the armature 3 strikes the stator 2 is great, and the sound decibel that the armature 3 strikes the friction disc 4 or the friction disc 4 strikes the limiting plate 5 can't reach the sound decibel that the armature 3 strikes the stator 2, therefore, regard numerical value between the two sound decibels as the decibel threshold value, can accurately distinguish the action sound of armature 3, and then accurately judge the operating condition of stopper. Similarly, the sound decibel threshold b can be used as a judgment value between other noises and the sound decibel when the armature 3 collides with the friction plate 4 or the friction plate 4 collides with the limit plate 5.
The value of a can be obtained by testing according to different motor models, and the measurement of a and b can be measured by conventional sound measurement equipment.
For example, for a certain type of motor, because the decibel of sound of the armature 3 hitting the stator 2 is approximately 40-60 decibels, and the decibel of sound of the armature 3 hitting the friction plate 4 or the friction plate 4 hitting the limit plate 5 is approximately 30-37 decibels, the value of a can be 30-40 decibels, preferably 38 or 39 decibels, so that the value of a can accurately define the lower limit value of the decibel of sound of the armature 3 hitting the stator 2, where the value of a should be 1-5 decibels lower than the lower limit value of the decibel of sound of the armature 3 hitting the stator 2 obtained through actual test, and the value of b should be 25-30 decibels, preferably 28 or 20 decibels, thereby ensuring that the values of a and b can be selected to accurately distinguish the sound of the armature 3 hitting the stator 2 and the sound of the armature 3 hitting the friction plate 4 or the limit plate 5.
The step of determining the operating state of the brake based on the operating sound of the armature 3 includes: when the armature 3 has only one impact audio frequency within a preset time period, judging the sound of the armature 3 impacting the stator 2, and judging that the brake is in a release state; when the armature 3 has two impact tones within a preset time period, it is judged that the armature 3 impacts the stator 2, and it is judged that the brake is in a released state. The preset time period is, for example, 1-5 s, preferably 3 s.
The impact frequency in the preset time period can be accurately detected by detecting the audio frequency of the armature 3 in the preset time period, so that the working state of the brake can be judged accordingly, and a basis is provided for the control of the motor.
The step of controlling the motor according to the working state of the brake comprises the following steps: when the brake is judged to be in a release state, the motor is in a startable state, and the driver controls the motor according to a control signal of the electric control board; when the brake is judged to be in the braking state, the motor is in the stopping state.
Referring to fig. 3 in combination, according to a second embodiment of the present application, the control method of the servo motor includes: acquiring the current state of the servo motor, and determining the working state of the brake according to the current state of the servo motor; detecting an operating sound of the armature 3; judging whether the brake is switched to the working state or not according to the action sound of the armature 3; and re-determining the working state of the brake according to the judgment result.
It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed. The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present application, and these modifications and variations should also be considered as the protection scope of the present application.
Claims (11)
1. A servo motor is characterized by comprising a brake monitoring device, wherein the brake monitoring device comprises a sound control detection device (1), a stator (2), an armature (3) and a friction plate (4), the armature (3) is arranged between the stator (2) and the friction plate (4), the stator (2) is used for controlling the armature (3) to enable the armature (3) to be pressed or separated from the friction plate (4), the sound control detection device (1) is used for detecting the action sound of the armature (3) and determining the working state of a brake according to the action sound of the armature (3); the servo motor further comprises a driver, the sound control detection device (1) is electrically connected with the driver, the working state signal of the brake is fed back to the driver through a circuit board (7) of the encoder (6), and the driver controls the servo motor according to the received working state signal.
2. A servo motor according to claim 1, wherein the brake monitoring device further comprises a limit plate (5), the limit plate (5) is disposed on a side of the friction plate (4) away from the armature (3), and the actuation sound of the armature (3) comprises a sound of the armature (3) hitting the stator (2), a sound of the armature (3) hitting the friction plate (4), and a sound of the friction plate (4) hitting the limit plate (5).
3. Servo motor according to claim 1 or 2, characterized in that said voice control detection means (1) are adapted to detect the decibels and/or the audio frequency of the actuation sound of said armature (3).
4. A servomotor according to claim 1, characterized in that the servomotor comprises an encoder (6), the voice-activated detection device (1) is mounted on a circuit board (7) of the encoder (6), and the detection end of the voice-activated detection device (1) faces in the direction of the armature (3).
5. A servo motor according to claim 4, further comprising a main shaft (8), wherein the stator (2) is mounted on the main shaft (8) by means of bearings (9), and wherein the friction plates (4) are circumferentially fixed relative to the main shaft (8) and rotate synchronously with the main shaft (8).
6. Servo motor according to claim 5, characterized in that the brake monitoring device further comprises a limiting plate (5), wherein the armature (3), the friction plate (4) and the limiting plate (5) are arranged on the side of the stator (2) close to the encoder (6).
7. A control method of a servo motor according to any one of claims 1 to 6, comprising:
detecting the action sound of the armature (3);
determining the working state of the brake according to the action sound of the armature (3);
and controlling the motor according to the working state of the brake.
8. Control method according to claim 7, characterized in that the step of determining the operating state of the brake from the action sound of the armature (3) comprises:
when the action sound s of the armature (3) is more than or equal to a decibel, judging that the armature (3) impacts the stator (2), and judging that the brake is in a release state;
when the action sound b of the armature (3) is less than or equal to s and less than a decibel, judging that the armature (3) impacts the friction plate (4) or the friction plate (4) impacts the limiting plate (5), and judging that the maker is in a braking state;
and when the action sound s of the armature (3) is less than b, judging that the working state of the brake is not changed.
9. Control method according to claim 7, characterized in that the step of determining the operating state of the brake from the action sound of the armature (3) comprises:
when the armature (3) has only one impact audio frequency within a preset time period, judging the sound of the impact of the armature (3) on the stator (2), and judging that the brake is in a release state;
when the armature (3) has two impact audios within a preset time period, judging the sound of the impact of the armature (3) on the stator (2), and judging that the brake is in a release state.
10. The control method according to claim 8 or 9, wherein the step of controlling the motor in accordance with the operating state of the brake includes:
when the brake is judged to be in a release state, the motor is in a startable state, and the driver controls the motor according to a control signal of the electric control board;
when the brake is judged to be in the braking state, the motor is in the stopping state.
11. A control method of a servo motor according to any one of claims 1 to 6, comprising:
acquiring the current state of the servo motor, and determining the working state of the brake according to the current state of the servo motor;
detecting the action sound of the armature (3);
judging whether the brake is switched to the working state or not according to the action sound of the armature (3);
and re-determining the working state of the brake according to the judgment result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010782855.XA CN112072860B (en) | 2020-08-06 | 2020-08-06 | Brake monitoring device, servo motor and servo motor control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010782855.XA CN112072860B (en) | 2020-08-06 | 2020-08-06 | Brake monitoring device, servo motor and servo motor control method |
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| CN112072860A CN112072860A (en) | 2020-12-11 |
| CN112072860B true CN112072860B (en) | 2021-11-23 |
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| CN114941668B (en) * | 2022-06-20 | 2023-12-08 | 珠海格力电器股份有限公司 | Braking structure and motor with same |
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| JPS56142425A (en) * | 1980-04-09 | 1981-11-06 | Hitachi Chem Co Ltd | Device for measuring disc brake pad noise |
| JP2008144870A (en) * | 2006-12-11 | 2008-06-26 | Shinko Electric Co Ltd | Brake and clutch including means for detecting wear of friction plate |
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