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    • 8. 发明申请
    • A METHOD AND A DEVICE FOR DETECTING ABNORMAL CHANGES IN PLAY IN A TRANSMISSION UNIT OF A MOVABLE MECHANICAL UNIT
    • 用于检测可移动机械单元变速器中异常变化的方法和装置
    • WO2010048996A1
    • 2010-05-06
    • PCT/EP2008/064715
    • 2008-10-30
    • ABB Research Ltd.SAARINEN, KariSANDER-TAVALLAEY, Shiva
    • SAARINEN, KariSANDER-TAVALLAEY, Shiva
    • G01M13/02
    • G01M13/021
    • The present invention relates to a method and a device for detecting abnormal changes in play in a transmission unit configured to transfer rotational movements of a motor, having a speed of rotation that depends on a torque reference signal (T ref ), to a movable mechanical unit, see industrial robot 1. The device (20) comprises a first storage (27) for storing torque reference signal values for the motor at least in a time interval during which the motor is running at a steady state rotation speed, a computing unit (22) configured to retrieve measured rotation speed values (ω measured ) of the motor during said time interval, to identify the steady state rotation speed of the retrieved rotation speed values, to calculate a frequency spectrum of the torque reference signal, to calculate the energy generated around the second harmonic of the identified steady state rotation speed in a selected frequency band of the calculated frequency spectrum, to compare the calculated energy with at least one limit value, and based thereon, to detect abnormal changes in the play, and a second storage (28) unit for storing the energy calculated at a plurality of different points in time
    • 本发明涉及一种用于检测传动单元中的异常变化的方法和装置,其被配置为将具有取决于转矩参考信号(Tref)的旋转速度的电动机的旋转运动传递到可移动机械单元 装置(20)包括:第一存储器(27),用于至少在电机以稳定状态的转速运行的时间间隔内存储用于电动机的转矩参考信号值;计算单元( 22),其被配置为在所述时间间隔期间检索所述电动机的测量的转速值(θ测量),以识别所检索的转速值的稳态转速,以计算所述转矩参考信号的频谱,以计算所述能量 在所计算的频谱的选定频带内围绕所识别的稳态转速的二次谐波产生,以将计算出的能量与雷达 第一限制值,并且基于此来检测游戏中的异常变化;以及第二存储器(28),用于存储在多个不同时间点计算的能量
    • 9. 发明申请
    • A METHOD FOR DETECTION AND AUTOMATIC IDENTIFICATION OF DAMAGE TO ROLLING BEARINGS
    • 一种用于检测和自动识别滚动轴承的损伤的方法
    • WO2009053076A1
    • 2009-04-30
    • PCT/EP2008/008988
    • 2008-10-17
    • ABB RESEARCH LTDSAARINEN, KariNOWAK, Jaroslaw
    • SAARINEN, KariNOWAK, Jaroslaw
    • G01M13/04
    • G01M13/045
    • The subject of the invention is a method for detection and automatic identification of defects in rolling bearings applicable in diagnosing rolling bearings and detecting damage in a very early stage of its occurrence. The inventive method in which the vibrations of a bearing in operation are measured, the measured analogue signals are converted to digital data which are filtered using a known method and next shock pulses are detected, whereupon defects present in the tested bearing or bearings are identified, characterised in that the detection of shock pulses is done using the shock pulse likelihood ratio (Ms), defined in this form (Formula (I)), where (Formula II) is the mean square value of signals present in the test intervals at the next filtering with a preset number (L), and (Formula III) is the mean square value of signals present in the reference intervals at the next filtering with a preset number (L), while in order to determine the shock pulse likelihood ratio (MS) a binary vector (p) is constructed, which is used to identify the detected defects.
    • 本发明的主题是可用于诊断滚动轴承的滚动轴承中的缺陷的检测和自动识别方法,并且在其发生的非常早期阶段检测损伤。 测量操作中的轴承的振动的本发明的方法,将测量的模拟信号转换为使用已知方法进行过滤的数字数据,并且检测到下一个冲击脉冲,由此识别被测轴承或轴承中存在的缺陷, 其特征在于,使用以这种形式(公式(I))定义的冲击脉冲似然比(Ms)来完成冲击脉冲的检测,其中(式II)是存在于测试间隔中的信号的均方根值 用预设数字(L)进行下一次滤波,(式III)是以预设数字(L)进行下一次滤波时存在于基准间隔中的信号的均方根值,而为了确定冲击脉冲似然比 MS)构建二进制向量(p),用于识别检测到的缺陷。