TWI571621B - Method and system for detecting gear backlash value - Google Patents
Method and system for detecting gear backlash value Download PDFInfo
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本發明涉及一種檢測齒輪背隙值的方法，以及一種適用於該檢測方法的系統及裝置。 The present invention relates to a method of detecting a backlash value of a gear, and a system and apparatus suitable for the method of detecting.
減速機通常有輸入、輸出二端，在二端之間設置一些不同齒數且維持嚙合關係的齒輪，如行星齒輪系。藉由齒數比值，將輸入端的高轉速降為輸出端的低轉速。一對嚙合的齒輪，會在咬合狀態的齒與齒之間形成空隙，稱為背隙或齒隙。背隙值代表減速機的傳動精度，是決定品管等級的重要參數之一。 The reducer usually has two ends of the input and output, and a gear with a different number of teeth and maintaining the meshing relationship between the two ends, such as a planetary gear train. By means of the gear ratio, the high speed of the input is reduced to the low speed of the output. A pair of meshed gears create a gap between the teeth and the teeth in the engaged state, called backlash or backlash. The backlash value represents the transmission accuracy of the reducer and is one of the important parameters that determine the grade of the quality control.
已知的減速機齒輪背隙值檢測方法，大都採用人力模式，先將減速機固定在一治具上，再以手動操作測量儀器檢測減速機齒輪的背隙值。所述的測量儀器有下列幾種類型：千分表：利用圓周方向佈置的刻度，配合轉動的指針來指示，刻度的最小單位通常是1°，而且目測指針容易產生視覺上的偏差。 The known method for detecting the backlash value of the gear reducer of the reducer adopts the manual mode. The reducer is first fixed on a jig, and the backlash value of the reducer gear is detected by a manual operation measuring instrument. The measuring instrument has the following types: dial gauge: a scale arranged in a circumferential direction, which is indicated by a rotating pointer, the minimum unit of the scale is usually 1°, and the visual pointer is liable to cause a visual deviation.
感光耦合裝置：又稱電荷耦合裝置(Charge-coupled Device，縮寫CCD)，能感應光線，並將影像轉變成數字訊號，卻存在光線的誤差，導致測量結果往往不夠精準。 Photosensitive coupling device: also known as Charge-coupled Device (CCD), can sense light and convert the image into a digital signal, but there is a light error, resulting in measurement results are often not accurate enough.
臺灣第201541064號專利案公開一種減速機的測試方法，係提供一測試裝置，此測試裝置有一工作平台、一定位機構、一驅轉機構及一操作介面。將減速機置於工作平台之一夾置槽中，其中夾置槽之開口處 設有至少二夾持減速機的夾件。透過操作介面控制定位機構固接於減速機一端之轉軸，藉以限制其旋轉自由度。透過操作介面控制驅轉機構連接於減速機另一端之轉軸並驅動其轉動，據以測試減速機。 Taiwan Patent No. 201541064 discloses a test method for a reducer, which provides a test device having a working platform, a positioning mechanism, a drive mechanism and an operation interface. Place the reducer in the clamping slot of one of the working platforms, where the opening of the clamping slot There are at least two clamping members for holding the reducer. The rotation mechanism of the one end of the reducer is fixed by the operation interface to control the positioning mechanism, thereby limiting the degree of freedom of rotation. The speed reducer is tested by controlling the drive mechanism to be connected to the rotating shaft at the other end of the reducer through the operation interface.
但是，減速機的轉軸被定位機構固定而無法轉動，自然不能檢測正確的齒輪背隙值。而且，轉軸固定不動，無法完成扭力傳遞，容易產生崩牙的危險。 However, the shaft of the reducer is fixed by the positioning mechanism and cannot be rotated, and it is naturally impossible to detect the correct backlash value of the gear. Moreover, the rotating shaft is fixed, the torque transmission cannot be completed, and the risk of chipping is likely to occur.
因此，如何獲得精準的齒輪背隙檢測值，就成為本發明亟待解決的課題。 Therefore, how to obtain accurate gear backlash detection value has become an urgent problem to be solved by the present invention.
鑒於此，本發明提出一種檢測齒輪背隙值的方法，其主要目的之一在於：採用正、反轉搭配負載的模式，檢測減速機的齒輪背隙值，會比先前技術更為精準。 In view of this, the present invention proposes a method for detecting the backlash value of a gear, one of the main purposes of which is to detect the gear backlash value of the reducer by using the mode of forward and reverse with the load, which is more accurate than the prior art.
本發明主要目的之一在於：提供適用減速機檢測方法的系統及裝置，獲得精準的齒輪背隙值。 One of the main purposes of the present invention is to provide a system and apparatus suitable for a speed reducer detection method to obtain an accurate gear backlash value.
緣於上述目的之達成，本發明檢測齒輪背隙值的方法，依序執行下列步驟：提供待檢測物步驟：待檢測物有輸出、輸入二端，輸入端的旋轉動能經由多個嚙合的齒輪傳遞至輸出端；連接檢測系統的伺服馬達驅動及負載二端步驟：待檢測物的輸入端聯結於檢測系統的伺服馬達驅動端，待檢測物的輸出端與檢測系統的負載端相連；輸入檢測設定值步驟：得視待檢測物的規格，通過檢測系統的輸入/輸出單元調整轉向、轉速、扭矩、時間和減速比等相關設定項目的數值； 背隙檢測步驟：用二譯碼器(Encode)之一通過伺服馬達驅動端測量待檢測物輸入端的轉速及/或位置且輸出第一訊息，另個譯碼器通過負載端測量待檢測物輸出端的轉速及/或位置且輸出第二訊息；比對檢測值步驟：檢測系統的處理單元接收檢測的訊息進行運算比較；以及顯示結果步驟：所述的檢測比對結果，以數值、圖形或表格出現於檢測系統的顯示單元，取得精準的齒輪背隙值。 As a result of the above object, the method for detecting the backlash value of the present invention sequentially performs the following steps: providing a step of detecting the object: the object to be detected has an output and the input end, and the rotational kinetic energy of the input end is transmitted through the plurality of meshing gears. To the output end; the servo motor drive and the load two-terminal step of the connection detection system: the input end of the object to be detected is coupled to the servo motor drive end of the detection system, and the output end of the object to be detected is connected to the load end of the detection system; input detection setting Value step: According to the specification of the object to be detected, the values of the related setting items such as steering, rotation speed, torque, time and reduction ratio are adjusted by the input/output unit of the detection system; Backlash detection step: measuring the rotation speed and/or position of the input end of the object to be detected by the servo motor driving end and outputting the first message by one of the two decoders (Encode), and the other decoder measures the output of the object to be detected through the load end Speed and/or position of the terminal and outputting a second message; comparing the detected value step: the processing unit of the detecting system receives the detected message for comparison and comparison; and displaying the result step: the detecting the comparison result, by numerical value, graph or table Appears in the display unit of the inspection system to obtain accurate gear backlash values.
在第一次檢測步驟中，檢測系統可設定伺服馬達驅動端順時鐘方向轉動一圈或以上，逆時鐘方向轉動一圈或以上。 In the first detection step, the detection system can set the servo motor drive end to rotate one or more clockwise directions, and rotate one or more times in the counterclockwise direction.
該背隙檢測包括下列流程：第一次檢測步驟：二譯碼器之一測量伺服馬達驅動端輸出第一訊息，另個譯碼器測量負載端輸出第二訊息；第二次檢測步驟：將360°規劃若干等分，界定檢測系統的伺服馬達驅動端在第一次檢測的方位為起點，旋轉伺服馬達驅動端至第二等分的方位，按照第一次檢測步驟的內容，再次測量伺服馬達驅動、負載二端且輸出第一、第二訊息；第三次檢測步驟：旋轉伺服馬達驅動端至第三等分的方位，按照所述的檢測內容，針對伺服馬達驅動、負載二端進行第三次測量且輸出第一、第二訊息；第N次檢測步驟：旋轉伺服馬達驅動端至第N等分的方位，按照所述的檢測內容，針對伺服馬達驅動、負載二端進行第N次測量且輸出第一、第二訊息。 The backlash detection includes the following processes: a first detecting step: one of the two decoders measures the servo motor driving end to output the first message, the other decoder measures the load end to output the second message; the second detecting step: the second detecting step: 360° planning several equal parts, defining the servo motor drive end of the detection system as the starting point of the first detection, rotating the servo motor drive end to the second equal position, and measuring the servo again according to the content of the first detection step The motor drives and loads the two ends and outputs the first and second messages; the third detecting step: rotating the servo motor driving end to the third halving position, according to the detection content, for the servo motor driving and the load two ends The third measurement and output of the first and second messages; the Nth detection step: rotating the servo motor drive end to the Nth equal position, according to the detection content, for the servo motor drive, the load end is N The first and second messages are measured and output.
如此，在比對檢測值步驟中，檢測系統的處理單元接收檢測的訊息愈多，進行運算比較的數據就愈多，當然能夠獲得精準的齒輪背隙 值。 Thus, in the step of comparing the detection values, the more the processing unit of the detection system receives the detected information, the more data is compared and compared, of course, the accurate gear backlash can be obtained. value.
本發明適用於前述檢測齒輪背隙值方法的系統，包括：一控制機構，包括：一可執行邏輯運算的處理單元、一電性連接處理單元的輸入/輸出單元、一電性連接處理單元的顯示單元與一接收、儲存且輸出處理單元資料的記憶單元；一伺服馬達與一負載單元，分別電性連接所述的處理單元；一第一譯碼器與一第二譯碼器，分別電性連接所述的處理單元；當一待檢測物安裝在一伺服馬達與一負載單元之間，該伺服馬達使待檢測物轉動，該負載單元對待檢測物施予一負載，所述的第一、第二譯碼器分別測量伺服馬達與負載單元且輸出第一、第二訊息，該處理單元接收二訊息進行運算比對，比對結果出現於顯示單元且儲存在記憶單元，達到精準的齒輪背隙值。 The present invention is applicable to the foregoing method for detecting a gear backlash value, comprising: a control mechanism comprising: a processing unit capable of performing a logical operation, an input/output unit electrically connected to the processing unit, and an electrical connection processing unit a display unit and a memory unit for receiving, storing and outputting processing unit data; a servo motor and a load unit respectively electrically connected to the processing unit; a first decoder and a second decoder, respectively Connecting the processing unit; when a to-be-detected object is installed between a servo motor and a load unit, the servo motor rotates the object to be detected, and the load unit applies a load to the object to be detected, the first The second decoder separately measures the servo motor and the load unit and outputs the first and second messages. The processing unit receives the two messages for comparison, and the comparison result appears on the display unit and is stored in the memory unit to achieve accurate gears. Backlash value.
其中，該負載單元可以是伺服馬達、煞車皮帶組件或可轉動的夾頭之一，施予一作用力充當待檢測物的負載，抗衡伺服馬達的動能，卻不阻礙檢測物輸出、輸入二端的轉動。 Wherein, the load unit may be one of a servo motor, a brake belt assembly or a rotatable chuck, and exerts a force acting as a load of the object to be detected, compensating for the kinetic energy of the servo motor, but does not hinder the output of the detector and the input end. Turn.
本發明適用於前述檢測齒輪背隙值方法的裝置，係在一平台牢固一控制機構、二平行的軌道及一負載機構，允許一滑座跨在二軌道而可相對負載機構往復運動。在滑座有一伺服馬達與一第一譯碼器，該伺服馬達可隨著滑座同步作動，其與控制機構電性相連，該第一譯碼器測量伺服馬達且輸出一第一訊息至控制機構。所述的負載機構有一夾頭與一第二譯碼器，該夾頭面對滑座而可相對負載機構轉動，該第二譯碼器測量夾頭且輸出一第二訊息至控制機構。該控制機構有一接收訊息進行運算比對的處理單元以及一出現比對結果的顯示單元。 The invention is applicable to the foregoing device for detecting a gear backlash value method, which is a platform-fixing control mechanism, two parallel rails and a load mechanism, allowing a sliding seat to straddle the two rails to reciprocate relative to the load mechanism. The slide has a servo motor and a first decoder. The servo motor can be synchronously operated with the slide, and is electrically connected to the control mechanism. The first decoder measures the servo motor and outputs a first message to the control. mechanism. The load mechanism has a chuck and a second decoder. The chuck faces the carriage and is rotatable relative to the load mechanism. The second decoder measures the chuck and outputs a second message to the control mechanism. The control mechanism has a processing unit that receives the information for comparison and a display unit that displays the comparison result.
其中，在二軌道之間還有一操作件，該操作件與滑座相連，決定滑座連帶伺服馬達靠近或遠離夾頭。該操作件是螺接於滑座的螺桿。 There is also an operating member between the two rails, and the operating member is connected to the sliding seat, and the sliding seat is coupled with the servo motor to be close to or away from the collet. The operating member is a screw that is screwed to the carriage.
接著，基於圖式詳述相關的實施例，說明採用之技術、手段及功效，相信本發明上述目的、構造及特徵，當可由之得一深刻而具體的瞭解。 The above-described objects, structures and functions of the present invention will be described with reference to the detailed description of the embodiments.
10‧‧‧提供待檢測物 10‧‧‧Provide the object to be tested
11‧‧‧連接檢測系統的伺服馬達驅動及負載二端 11‧‧‧Connected detection system servo motor drive and load two ends
12‧‧‧輸入檢測設定值 12‧‧‧Input detection set value
13‧‧‧第一次檢測 13‧‧‧First test
14‧‧‧第二次檢測 14‧‧‧Second test
15‧‧‧第三次檢測 15‧‧‧ third test
16‧‧‧第N次檢測 16‧‧‧Nth test
17‧‧‧比對檢測值 17‧‧‧ comparison test value
18‧‧‧顯示結果 18‧‧‧Show results
19‧‧‧背隙檢測 19‧‧‧ Backlash detection
20‧‧‧控制機構 20‧‧‧Control agency
21‧‧‧其他檢測 21‧‧‧Other tests
22‧‧‧處理單元 22‧‧‧Processing unit
24‧‧‧輸入/輸出單元 24‧‧‧Input/output unit
26‧‧‧顯示單元 26‧‧‧Display unit
28‧‧‧記憶單元 28‧‧‧ memory unit
30‧‧‧伺服馬達 30‧‧‧Servo motor
32‧‧‧負載單元 32‧‧‧Load unit
34‧‧‧第一譯碼器 34‧‧‧First Decoder
36‧‧‧第二譯碼器 36‧‧‧Second decoder
40‧‧‧待檢測物 40‧‧‧Testables
42‧‧‧輸入端 42‧‧‧ input
44‧‧‧輸出端 44‧‧‧ Output
50‧‧‧平台 50‧‧‧ platform
51‧‧‧手輪 51‧‧‧Handwheel
52‧‧‧軌道 52‧‧‧ Track
54‧‧‧滑座 54‧‧‧Slide
56‧‧‧溫度感測器 56‧‧‧Temperature Sensor
58‧‧‧操作件 58‧‧‧Operating parts
60‧‧‧負載機構 60‧‧‧Loading mechanism
62‧‧‧夾頭 62‧‧‧ chuck
70‧‧‧畫面 70‧‧‧ screen
71‧‧‧故障排除鈕 71‧‧‧ Troubleshooting button
72‧‧‧時間表 72‧‧‧ timetable
73‧‧‧觸控式電子按鈕 73‧‧‧Touch electronic button
74‧‧‧刻度 74‧‧‧ scale
75‧‧‧參數欄位 75‧‧‧Parameter field
第1圖是本發明檢測齒輪背隙值方法的流程圖。 Fig. 1 is a flow chart showing the method of detecting the backlash value of the gear of the present invention.
第2圖是本發明檢測齒輪背隙值的系統圖。 Fig. 2 is a system diagram for detecting the backlash value of the gear of the present invention.
第3~7圖是檢測齒輪背隙值系統的出現於顯示單元的相關畫面的示意圖。 Figures 3 to 7 are schematic views of the relevant screens of the display gear backlash value system appearing on the display unit.
第8圖是本發明檢測齒輪背隙值的裝置示意圖。 Figure 8 is a schematic view of the apparatus for detecting the backlash value of the gear of the present invention.
從第1圖不難理解，本發明檢測齒輪背隙值方法的流程，依序執行：提供待檢測物10→連接檢測系統的伺服馬達驅動及負載二端11→輸入檢測設定值12→背隙檢測19→比對檢測值17→顯示結果18等步驟。 It is not difficult to understand from the first figure that the flow of the method for detecting the backlash value of the present invention is performed in sequence: providing the object to be detected 10 → the servo motor drive of the connection detection system and the load end 11 → input detection set value 12 → backlash The steps of detecting 19→aligning the detected value 17→displaying the result 18 are performed.
為了執行齒輪背隙值的檢測流程，可採用第2圖的檢測系統，以及根據該系統所研發的相關裝置予以實現。 In order to perform the detection process of the gear backlash value, the detection system of Fig. 2 can be used, and the related device developed according to the system can be realized.
在第2圖中，所述的檢測齒輪背隙值系統有一控制機構20、一伺服馬達30、一負載單元32、一第一譯碼器34、一第二譯碼器36與一溫度感測器56。所述的控制機構20包括：一可執行邏輯運算的處理單元22、一電性連接處理單元22的輸入/輸出單元24、一電性連接處理單元22的顯示單元26與一接收、儲存且輸出處理單元22資料的記憶單元28。該處理單元22電性連接溫度感測器56、伺服馬達30、負載單元32及第一、第二譯碼器34、36。 In FIG. 2, the detecting gear backlash value system has a control mechanism 20, a servo motor 30, a load unit 32, a first decoder 34, a second decoder 36 and a temperature sensing. 56. The control mechanism 20 includes: a processing unit 22 that can perform logical operations, an input/output unit 24 that electrically connects the processing unit 22, a display unit 26 that electrically connects the processing unit 22, and a receiving, storing, and outputting The memory unit 28 of the processing unit 22 data. The processing unit 22 is electrically connected to the temperature sensor 56, the servo motor 30, the load unit 32, and the first and second decoders 34, 36.
如第8圖所示，根據前述檢測齒輪背隙值系統衍生的裝置是 在一平台50牢固一控制機構20、二平行的軌道52及一負載機構60，允許一滑座54跨在二軌道52而可相對負載機構60往復運動。在滑座54有一伺服馬達30與一第一譯碼器34。該伺服馬達30可隨著滑座54同步作動，其與控制機構20電性相連，該第一譯碼器34測量伺服馬達30且輸出一第一訊息至控制機構20。該負載機構60有一爪式夾頭62與一第二譯碼器36，該夾頭62面對滑座54而可相對負載機構60轉動，該第二譯碼器36測量夾頭62且輸出一第二訊息至控制機構20。該控制機構20有一接收訊息進行運算比對的處理單元(圖面未示)以及一出現比對結果的顯示單元26，該處理單元電性連接一些輸入/輸出單元24，如按鍵、旋鈕與觸控式電子按鈕等。 As shown in Fig. 8, the device derived from the aforementioned detection gear backlash value system is A control mechanism 20, two parallel rails 52, and a load mechanism 60 are secured to a platform 50 that allows a carriage 54 to traverse the two rails 52 for reciprocal movement relative to the load mechanism 60. A servo motor 30 and a first decoder 34 are provided in the carriage 54. The servo motor 30 is synchronously actuated with the slider 54 and is electrically coupled to the control mechanism 20. The first decoder 34 measures the servo motor 30 and outputs a first message to the control mechanism 20. The load mechanism 60 has a claw chuck 62 and a second decoder 36. The chuck 62 faces the carriage 54 and is rotatable relative to the load mechanism 60. The second decoder 36 measures the chuck 62 and outputs a The second message is to the control mechanism 20. The control unit 20 has a processing unit (not shown) for receiving a message for comparison and a display unit 26 for displaying a comparison result. The processing unit is electrically connected to some input/output units 24, such as buttons, knobs and touches. Controlled electronic buttons, etc.
在二軌道52之間還有一操作件58與一溫度感測器56。該操作件58與滑座54相連，決定滑座54連帶伺服馬達56靠近或遠離夾頭62。在本實施例，該操作件58是螺接於滑座54的螺桿，螺桿外端連接一手輪51，採用人力搖動模式驅使滑座54相對負載機構60往復運動。某些實施例，該螺桿外端連接一自動旋轉機構，採用電動或氣動模式驅使滑座54自動的來回位移。該溫度感測器56設在平台50上。 There is also an operating member 58 and a temperature sensor 56 between the two rails 52. The operating member 58 is coupled to the carriage 54 to determine that the carriage 54 is coupled to or away from the collet 62 by the servo motor 56. In the embodiment, the operating member 58 is a screw screwed to the sliding seat 54. The outer end of the screw is connected to a hand wheel 51, and the manual swinging mode is used to drive the sliding seat 54 to reciprocate relative to the load mechanism 60. In some embodiments, the outer end of the screw is coupled to an automatic rotating mechanism that automatically orients the carriage 54 back and forth in an electric or pneumatic mode. The temperature sensor 56 is disposed on the platform 50.
從上開說明得知，前述檢測齒輪背隙值系統所稱的負載單元，相當於檢測齒輪背隙值裝置可轉動的夾頭62。當然，該夾頭62被伺服馬達30或煞車皮帶組件(圖面未示)取代，亦在本發明容許的範圍內。 As can be seen from the above description, the load cell referred to in the aforementioned gear backlash value system is equivalent to the collet 62 which detects the gear backlash value device. Of course, the collet 62 is replaced by a servo motor 30 or a brake belt assembly (not shown) and is within the scope of the present invention.
接下來，根據第1、2、8圖詳細說明檢測齒輪背隙值的具體操作過程。 Next, the specific operation process of detecting the backlash value of the gear will be described in detail based on the first, second, and eighth figures.
在提供待檢測物10步驟中，待檢測物40通常是減速機，其有輸入端42與輸出端44。該減速機內部有多個嚙合的齒輪，如行星齒輪組，將輸入端42的旋轉動能傳遞至輸出端44。 In the step of providing the object to be tested 10, the object to be detected 40 is usually a speed reducer having an input end 42 and an output end 44. The reducer internally has a plurality of meshing gears, such as planetary gear sets, that transmit rotational kinetic energy of the input 42 to the output 44.
在連接檢測系統的伺服馬達驅動及負載二端11步驟中，待檢 測物40(即減速機)的輸入端42聯結於檢測系統的伺服馬達驅動端(即檢測裝置的伺服馬達30)；待檢測物40的輸出端44與檢測系統的負載端(即負載單元32的連接部位)，亦即檢測裝置可轉動的夾頭62。 In the step of connecting the servo motor drive and load terminal 11 of the detection system, the test is pending The input end 42 of the measuring object 40 (ie, the speed reducer) is coupled to the servo motor driving end of the detecting system (ie, the servo motor 30 of the detecting device); the output end 44 of the detecting object 40 and the load end of the detecting system (ie, the load unit 32) The connecting portion), that is, the collet 62 that the detecting device can rotate.
在輸入檢測設定值12步驟中，得視待檢測物40的規格，通過檢測系統的輸入/輸出單元24(相當於檢測裝置的按鍵、旋鈕與觸控式電子按鈕等)調整轉向、轉速、扭矩、時間和減速比等相關設定項目的數值。 In the step of inputting the detection set value 12, depending on the specification of the object to be detected 40, the steering, rotation speed, and torque are adjusted by the input/output unit 24 of the detection system (corresponding to the button, knob, and touch electronic button of the detecting device). , the time and the reduction ratio and other related setting items.
具體而言，檢測系統的顯示單元26開機後會出現如第3圖所示的畫面70，除了中央部位顯示伺服馬達與負載單元相關資料的模擬影像外，畫面70上方顯示一故障排除鈕71與一時間表72，畫面70下方是一排觸控式電子按鈕73，用於測試轉速、背隙、記錄、設定、轉向與啟動等項目的選擇。 Specifically, after the display unit 26 of the detection system is turned on, a screen 70 as shown in FIG. 3 appears. Except for the analog image of the data related to the servo motor and the load unit at the central portion, a troubleshooting button 71 is displayed above the screen 70. A timetable 72, below the screen 70 is a row of touch electronic buttons 73 for testing the selection of items such as speed, backlash, recording, setting, steering and starting.
在第4圖中，畫面70出現一份表格，用於背隙資料的記錄。畫面70的觸控式電子按鈕73多了上、下、左、右移動與消除、儲存等選項。 In Figure 4, a form appears on screen 70 for recording backlash data. The touch electronic button 73 of the screen 70 has more options for moving up, down, left, and right, and eliminating, storing, and the like.
在第5圖中，畫面70出現一份空白的曲線表，除了依弧分為單位來表示背隙的平均值外，還能記錄序號、溫度、負載、轉速、圈數與減速比等資料。 In Fig. 5, a blank curve table appears on the screen 70. In addition to the average value of the backlash in units of arcs, data such as serial number, temperature, load, rotational speed, number of turns, and reduction ratio can be recorded.
此處所稱的弧分，又稱角分，是度量平面角的單位(符號為′)，60′(弧分)等於1°(度)。 The arc fraction, also called the angular fraction, is the unit of the measurement plane angle (symbol '), and 60' (arc) is equal to 1 ° (degree).
在第6圖中，畫面70出現一份空白的矩形框，框左邊是轉速、扭力或溫度等選項的刻度74，框下方是時間(單位是秒)的刻度74，可顯示每秒有關轉速、扭力或溫度的變化，有助於檢測齒輪背隙值的瞭解。 In Figure 6, a blank rectangular frame appears on screen 70. The left side of the box is the scale 74 of the options for speed, torque or temperature. Below the box is the scale 74 of time (in seconds), which shows the relevant speed per second. Torque or temperature changes help to detect the value of the gear backlash.
在第7圖中，畫面70出現多個參數欄位75，能夠輸入諸如加、減速時間等操作參數，用以檢測齒輪的背隙值。 In Fig. 7, a plurality of parameter fields 75 appear on the screen 70, and operational parameters such as acceleration and deceleration time can be input to detect the backlash value of the gear.
回頭看到第1、2、8圖，所述的背隙檢測19步驟：用二譯碼 器之一通過伺服馬達驅動端測量待檢測物輸入端的轉速及/或位置且輸出第一訊息，另個譯碼器通過負載端測量待檢測物輸出端的轉速及/或位置且輸出第二訊息。具體而言，該背隙檢測19依序進行：第一次檢測13→第二次檢測14→第三次檢測15→第N次檢測16→其他檢測21等流程。 Looking back at Figures 1, 2, and 8, the backlash detection step 19: using two decoding One of the devices measures the rotation speed and/or position of the input end of the object to be detected by the servo motor driving end and outputs a first message, and the other decoder measures the rotation speed and/or position of the output end of the object to be detected through the load end and outputs a second message. Specifically, the backlash detection 19 is sequentially performed: a first detection 13 → a second detection 14 → a third detection 15 → an Nth detection 16 → another detection 21 and the like.
在第一次檢測13步驟中，二譯碼器(Encode)之一測量伺服馬達驅動端輸出第一訊息，另個譯碼器測量負載端輸出第二訊息。在第一次檢測13步驟中，檢測系統可設定伺服馬達驅動端順時鐘方向轉動一圈或以上，逆時鐘方向轉動一圈或以上。 In the first detection step 13, one of the two decoders (Encode) measures the servo motor drive end to output the first message, and the other decoder measures the load end to output the second message. In the first detection step 13, the detection system can set the servo motor drive end to rotate one or more clockwise directions, and rotate one or more times in the counterclockwise direction.
換句話說，檢測系統的伺服馬達30驅使待檢測物40轉動，並以負載單元32(即檢測裝置的夾頭62)對待檢測物40施予一負載。此刻，檢測系統或檢測裝置的第一譯碼器34測量伺服馬達30，輸出第一訊息至處理單元22(即檢測裝置的控制機構20)。而且，檢測系統或檢測裝置的第二譯碼器36測量負載單元32(即夾頭62)，也會輸出第二訊息至處理單元22(即檢測裝置的控制機構20)。檢測系統的處理單元22(即檢測裝置的控制機構20)接收二訊息進行運算比對，比對結果出現於顯示單元26且儲存在記憶單元28，達到精準的齒輪背隙值。 In other words, the servo motor 30 of the detection system drives the object 40 to be rotated, and a load is applied to the object 40 to be detected by the load unit 32 (i.e., the chuck 62 of the detecting device). At this point, the first decoder 34 of the detection system or detection device measures the servo motor 30 and outputs a first message to the processing unit 22 (i.e., the control mechanism 20 of the detection device). Moreover, the second decoder 36 of the detection system or detection device measures the load unit 32 (i.e., the collet 62) and also outputs a second message to the processing unit 22 (i.e., the control mechanism 20 of the detection device). The processing unit 22 of the detection system (i.e., the control unit 20 of the detection device) receives the two messages for comparison, and the comparison results appear on the display unit 26 and are stored in the memory unit 28 to achieve a precise gear backlash value.
在第二次檢測14步驟中，將360°規劃若干等分，界定檢測系統的伺服馬達驅動端在第一次檢測13的方位為起點，旋轉伺服馬達驅動端至第二等分的方位，按照第一次檢測13步驟的內容，再次測量伺服馬達驅動、負載二端且輸出第一、第二訊息。 In the second step of detecting 14, the 360° is planned to be equally divided, and the servo motor driving end of the detecting system is defined as the starting point of the first detecting 13 and the driving servo driving end is rotated to the second equal position. The content of the 13 steps is detected for the first time, and the servo motor drive and the load terminals are measured again and the first and second messages are output.
譬如30°為一等分，將360°規劃12等分。如此，第一次檢測13的方位為0°充當起點，伺服馬達驅動端旋轉30°至第二等分，然後按照第一次檢測13步驟的內容再次測量即可。 For example, 30° is an equal division, and the 360° plan is divided into 12 equal parts. Thus, the orientation of the first detection 13 is 0° as the starting point, the servo motor driving end is rotated by 30° to the second aliquot, and then measured again according to the content of the first detection 13 step.
在第三次檢測15步驟中，旋轉伺服馬達驅動端至第三等分 (亦即60°)的方位，按照所述的檢測內容針對伺服馬達驅動、負載二端進行第三次測量且輸出第一、第二訊息。 In the third step of detecting 15, rotate the servo motor drive end to the third division The orientation of (ie, 60°) is measured for the third step of the servo motor drive and the load end according to the detected content, and the first and second messages are output.
在第N次檢測16步驟中，旋轉伺服馬達驅動端至第N等分(亦即30°×N)的方位，按照所述的檢測內容針對伺服馬達驅動、負載二端進行第N次測量且輸出第一、第二訊息。 In the Nth detection 16 step, the servo motor drive end is rotated to the Nth bisecting (ie, 30°×N) orientation, and the Nth measurement is performed for the servo motor drive and the load end according to the detection content. The first and second messages are output.
在其他檢測21步驟中，伺服馬達驅動端帶動待檢測物40高速轉動一定的時間，以溫度感測器56測量且記錄待檢測物40的溫度值，然後按照所述的檢測內容針對伺服馬達驅動、負載二端進行低速測量且輸出第一、第二訊息。 In the other detecting step 21, the servo motor driving end drives the object to be detected 40 to rotate at a high speed for a certain time, measures the temperature of the object 40 to be detected by the temperature sensor 56, and then drives the servo motor according to the detected content. The second end of the load performs low speed measurement and outputs the first and second messages.
在比對檢測值17步驟中，檢測系統的處理單元22(即檢測裝置的控制機構20)接收檢測的訊息進行運算比較取得平均值，使齒輪背隙值更精準。 In the step of comparing the detected values 17, the processing unit 22 of the detecting system (i.e., the control unit 20 of the detecting device) receives the detected information and performs an operation comparison to obtain an average value to make the gear backlash value more accurate.
在顯示結果18步驟中，所述的多次檢測比對結果，以數值、圖形或表格出現於檢測系統的顯示單元26，取得精準的齒輪背隙值。 In the step of displaying the result 18, the plurality of detection comparison results are displayed in a numerical value, a graph or a table on the display unit 26 of the detection system to obtain a precise gear backlash value.
10‧‧‧提供待檢測物 10‧‧‧Provide the object to be tested
11‧‧‧連接檢測系統的伺服馬達驅動及負載二端 11‧‧‧Connected detection system servo motor drive and load two ends
12‧‧‧輸入檢測設定值 12‧‧‧Input detection set value
13‧‧‧第一次檢測 13‧‧‧First test
14‧‧‧第二次檢測 14‧‧‧Second test
15‧‧‧第三次檢測 15‧‧‧ third test
16‧‧‧第N次檢測 16‧‧‧Nth test
17‧‧‧比對檢測值 17‧‧‧ comparison test value
18‧‧‧顯示結果 18‧‧‧Show results
19‧‧‧背隙檢測 19‧‧‧ Backlash detection
21‧‧‧其它檢測 21‧‧‧Other tests
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| CN111623981A (en) * | 2020-06-16 | 2020-09-04 | 深圳市裕展精密科技有限公司 | Method and device for detecting transmission |
| TWI773729B (en) * | 2017-02-28 | 2022-08-11 | 日商國際計測器股份有限公司 | Collision simulator and impact tester |
| TWI828209B (en) * | 2017-02-28 | 2024-01-01 | 日商國際計測器股份有限公司 | Collision simulator and impact tester |
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| TWM482735U (en) * | 2014-03-07 | 2014-07-21 | Pin Cheng Technology Co Ltd | Inspection device for gear backlash of reducer |
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| TWI773729B (en) * | 2017-02-28 | 2022-08-11 | 日商國際計測器股份有限公司 | Collision simulator and impact tester |
| TWI828209B (en) * | 2017-02-28 | 2024-01-01 | 日商國際計測器股份有限公司 | Collision simulator and impact tester |
| CN111623981A (en) * | 2020-06-16 | 2020-09-04 | 深圳市裕展精密科技有限公司 | Method and device for detecting transmission |
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