• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for determining a set value for a belt tension in a belt drive {100), wherein a measured variable {n) is determined, the measured variable is evaluated and from this a characteristic is determined, an association between the characteristic and the belt pretension is determined and from the specific context of Setting value for the belt pretension is determined.
    公开号:AT513530A2
    申请号:T7992013
    申请日:2013-10-17
    公开日:2014-05-15
    发明作者:Stephan Schultze；Benjamin Siegler
    申请人:Bosch Gmbh Robert；
    IPC主号:
    专利说明:

    i i ♦
    • • • • • • • • • • • • • • «
    Robert Bosch GmbH, Stuttgart 5 Method for determining a belt pretension
    The present invention relates to a method for determining a set value for a belt pretension in a belt drive, and to a method for monitoring the belt pretension of a belt drive.
    Prior Art 15
    Strapped belts are widely used in a variety of designs in linear drives, especially in belt drives. Frictional V-belts are used, for example, in motor vehicles or washing machines, wherein the V-belt remains connected by adhesive frictional forces with the mechanical components. 20 Form-fitting belts are connected to the mechanical components by physically interlocking, for example, toothed belts or chains, which are connected to gears. Timing belt drives are used, for example, in cross-cutter systems or handling axes with linear slides. 25 The power transmission of the belt depends on how strongly the belt is tensioned, characterized by the so-called belt tension. Too loosely strained belt will cause the belt to flutter, too tight a belt will result in more torque fluctuations, which in both cases will lead to inaccurate power transmission and poorer speed constancy. The belt pretension also affects the life of the belt. A not optimally tensioned belt shortens the life of the belt. Therefore, it is of considerable importance that the belt is always optimally tensioned.
    In order to determine the belt pretension, one can take advantage of the fact that a strained belt, analogous to a tensioned string, has a vibratory
    Page 1 of 15 2/20
    Represents entity. The belt can be set in vibration by stops, for example. If one measures the static natural frequency of this vibration, one can calculate the so-called strand force from this natural frequency, the mass, the length and the width of the belt. The tension is the static tension of the belt and thus a measure of the belt pretension.
    The optimum belt pretension is usually specified by the manufacturer. In order to set this optimum belt pretension, the belt pretension can be changed and the corresponding natural frequency measured until the belt pretension calculated in accordance with the manufacturer's specifications.
    However, these methods of measuring the belt pretension and setting the optimum belt pretension are very cumbersome and have some disadvantages. The eigenfrequency determination can only be carried out when the belt drive is switched off and at a standstill. The belt must be accessible for the measurement. However, since belts are usually not openly accessible, it may be necessary to open the machine in which the belt drive is located and to remove covers and trim from the belt drive. A special measuring setup and a measuring device are needed. It depends on the direction and set values of the belt provided by the manufacturer. You can not determine the optimal belt pretension yourself, but depends on the manufacturer. A long-term monitoring of the belt tension is associated with considerable effort and only in the context of a special maintenance activity possible. For each individual belt pretension check, the drive must be deactivated, the machine and belt drive must be opened and the required measurement setup must be provided. A permanent long-term monitoring during normal operation of the machine in which the belt drive is in general and the belt drive in particular is thus hardly feasible.
    It is therefore desirable to determine the belt pretension in a belt drive in a flexible, simple and cost-effective manner, without requiring additional measuring device, in particular also independent of nominal values of the manufacturer.
    Disclosure of the invention
    Page 2 of 15 3/20 Μ ·· ·· ············································· According to the invention, a method for determining a set value for a belt tension in a belt drive and a method for monitoring the belt 1 pretension of a belt drive with the features of the independent patent claims are proposed. Advantageous embodiments are the subject of the dependent claims and f 5 of the following description.
    I | In a method according to the invention, a set value for a belt pretensioning in a belt drive is determined. In this case, belts can be designed in a form-locking manner, as in the case of a toothed belt or a chain, for example, but also in a force-locking manner, as in the case of a V-belt. During operation of the belt drive, a typical measured for the belt drive measurement over time is determined. By evaluating the measured variable, a parameter is determined. A change in the belt pretension simultaneously causes a change in the parameter. The I relationship between the characteristic and the belt bias voltage is therefore determined i 115. Based on this relationship, the set value of the belt pretensioning
    I jj nung be determined.
    I | Advantages of the invention! The method according to the invention has considerable advantages over the prior art. The procedure can be carried out at any time, the belt drive J does not have to be switched off and stand still. The speed of the belt drive does not matter and can be chosen as desired. The belt of the
    Belt drive must not be accessible. It is therefore not necessary to open the belt drive 25, there must be no covers or linings of the belt drive | be removed. Also a machine, which is operated by means of the belt drive, 1 does not have to be switched off, the procedure can during the current operation | J both the belt drive, and the machine are performed. Furthermore,% J man is also independent of manufacturer specifications, such as the optimal belt tension, Ϊ 30 and not dependent on this. | Preferably, an actual value of a movement quantity of the belt drive is determined as the measured variable. In a particularly advantageous embodiment of the invention, a control of at least one movement variable of the belt drive is carried out. A 35 setpoint or an actual value of the controlled motion variable or a difference between! | Page 3 of 15 I.
    A setpoint and an actual value of the controlled motion variable is used as the measured variable; certainly. Actual and setpoint values of movement variables of a drive are usually to be determined by simple means, both in the case of a control of the motion | big as well as without such a scheme. They are for example in a drive ·
    I! 5 control anyway known. ί
    Advantageously, a position, a speed, a rotational speed, a moment or a drive current of a component (eg of an engine, gear or belt) of the belt drive represent the amount of movement of the belt drive. Ideally, these 10 movement quantities are anyway for other methods of operating the belt drive measured; sen. An additional measuring device is therefore not necessary; it would be possible to use the already existing I measuring devices or the already measured values of the motion variables as a measured variable. 15 ti i i i.
    i | i 30
    In a particularly preferred embodiment of the invention, the parameter is not determined in the time domain. The evaluation of the measured variable includes a transformation of the measured variable, which is measured over time. Preferably, the measured variable is transformed into the frequency domain by a frequency transformation, in particular a Fourier transformation or a fast Fourier transformation. Since the belt bias is directly related to the natural frequency of the belt, the relationship of the belt tension set value and the frequency domain characteristic can be more easily determined. Advantageously, an order transformation can be carried out, whereby the time-related measured variable is converted into a speed-related variable. The speed of the belt drive corresponds to the first order, the harmonic of the speed form the higher orders. A time signal from independent instantaneous values is provided by the order analysis as a function of an equidistant reference axis proportional to the rotational speed. As a parameter, the value of an integral over the evaluated measured variable can preferably be determined. Changes in the belt bias in particular affect the amplitudes of certain frequencies (in particular around the meshing frequency) of a frequency spectrum or of certain orders in the order spectrum. If a frequency-, fourier-, fast-Fourier- or orderly transformed measured variable is determined as a parameter, it is therefore only possible to use a single closed page 5 of 20 5/20 •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• · · · · · · · Β · · · 1 ·
    Be integrated around these relevant frequencies or orders. Also, the root mean square (RMS) value, ie the root mean square, of the evaluated measured variable can be determined as a parameter. Advantageously, the root mean square in the relevant frequency or order range can be determined. Advantageously, the evaluation of the measured quantity in the time domain may include filtering, in particular bandpass filtering, in order to filter out a range around these relevant frequencies. This filter method can alternatively or | additionally be used in a later frequency transformation. It is easier to find an optimal belt pretension value if, for several different belt pretension settings, the associated values of the characteristic are known in order to be able to determine the relationship between the characteristic and the belt preload. Advantageously, for this purpose, the belt bias voltage is continuously varied and for each set value of the belt pretension 15, the measured variable is determined and evaluated and the respective value of the parameter is determined. Advantageously, the belt bias is automatically varied by a belt-bias voltage regulator or divider. The process then runs completely automatically, it is not necessary for a user to manually change the belt pretension j. 20
    By varying the belt pretension and determining the respective value of the i | Characteristic results in the characteristic as a function of the belt pretension.
    Advantageously, the optimum set value of the belt pretension results from j I extremum, e.g. from a minimum, the dependence of the characteristic on the belt pretension. In this way, the optimal belt pretension itself 1, it is therefore not necessary to rely on the information provided by the manufacturer. f
    The invention also relates to a method for monitoring belt pretension
    Jl 30 of a belt drive, which is based on the same findings. A measurand | is determined and evaluated over time. From this, a parameter is determined I and evaluated, from which finally a quality parameter is determined. Due to the relationship between the belt pretension and the characteristic, the belt pretension can be monitored by monitoring the characteristic. The quality parame- ter is chosen in such a way that it allows the quality of the belt pretension to be checked.
    Page 5 of 15 * 6/20% j 1
    ·····································································································. · · · · Can be closed. In particular, the quality of the belt pretension is to be understood as if the value of the belt pretension is within a permissible tolerance range. If the quality parameter exceeds or falls below a permissible, predefined threshold value, the belt pretension likewise leaves the permissible tolerance range. In this case, a predefined action can be performed, for example, the user can be informed by a warning message or the belt drive can be switched off automatically. If the quality parameter does not reach the predefined threshold, no action is taken and the | Determination and evaluation of the quality parameter is performed again after a certain time interval. By the method can be permanently monitored in the simplest way, the quality of the belt bias during operation of the belt drive j. I Advantageously, an output value of the parameter for determining the quantum
    I selected 5 litätsparameters. The output value may be, for example, the value of the characteristic 1-large, which was set when the belt drive was started or the last one
    I f particular value of the characteristic or the value of the characteristic in which the belt bias has the optimum setting value, in particular according to the invention. By the method, a permanent quality monitoring of the belt pretension can be realized in a simple manner. A long-term monitoring of the belt pretension is conceivable. If the output value of the parameter used is the value of the first measurement, the kmO measurement (kilometer zero measurement), it is possible to see how the belt preload has changed over time. In particular, aging effects can thus be reconstructed. I A computing unit according to the invention, e.g. a control device of a belt drive is, in particular programmatically, adapted to perform a method according to the invention ί.
    The implementation of the invention in the form of software is also advantageous, since this allows particularly low costs, in particular if an executing arithmetic unit is still used for further tasks and therefore exists anyway. Suitable data carriers for, provision of the computer program are in particular floppy disks, hard disks, flash disks. Memory, EEPROMs, CD-ROMs, DVDs and more It is also possible to download a program via computer networks (Internet, Intranet, etc.). '"F" ~~; * '< -
    Page 6 of 15 7/20 «φ ··························································································································································································································· Advantages and embodiments of the invention will become apparent from the description and j of the accompanying drawings. It is understood that the above-mentioned and those still to be explained below Features not only in the specified combination, but also in others Combinations or alone, without departing from the scope of the present invention.
    The invention is illustrated schematically by means of exemplary embodiments in the drawing and will be described in detail below with reference to the drawing.
    Description of the Figures 1! FIG. 1 schematically shows a toothed belt drive. | FIG. 2 shows a block diagram of a method for determining a set value for a belt pretension in a belt drive.
    FIG. 3 shows a block diagram of a method for monitoring the belt tension of a belt drive. FIGS. 4a-4c show the frequency spectrum of an evaluated measured variable for different belt pretensions. 1 Detailed description of the drawing
    FIG. 1 schematically shows a belt drive 100 I suitable for the method according to the invention. The belt drive is designed as a toothed belt drive and has
    I I a toothed belt 110, which is stretched between two gears 120 and 130 for form-I conclusive power transmission. The gear 120 is connected to a motor 122 f ':. f connected. The gear 130 is connected to a machine assembly 131, e.g. a rotary
    8/20 j By a regulator 121, the motor 122 is controlled. In particular, the controller 121 controls the speed of the motor 122. The controller 121 measures the actual value of the rotational speed I number n (illustrated by 132) of the motor 122 and thus the speed of the gear 120. I The controller 122 is a component an arithmetic unit 140. The arithmetic unit 140 emp-I begins, for example Setpoints for the speed of the motor 122 and the controller 121 controls the I speed of the motor 122 so that the measured actual value of the speed corresponds to the predetermined setpoint.
    The arithmetic unit 140 is arranged in accordance with a preferred embodiment of the invention to determine a set value of the belt pretension of the toothed belt 110.
    The arithmetic unit 140 is in communication with a belt bias adjuster 150, denoted by the reference numeral 142. The arithmetic unit 140 transmits, for example, a value of the belt pretension to which the timing belt is to be adjusted to the belt pretensioner 150. The belt pretensioner 150 sets the timing belt 110 to the transmitted one Value of the belt pretension, for example, by changing the distance between the gears 120, 130 or the adjustment of a tensioning roller (not shown) against the belt In Figure 2, the method for determining a set value for a toothed belt! I bias in a toothed belt drive of Figure 1 shown schematically as a block diagram 1. In step 10, the belt bias of the toothed belt by the
    'S I Belt tension controller set to a value.
    In step 20, the actual value of the speed of the toothed belt drive, which is transmitted from the controller 122 to the arithmetic unit 140, determined as a measured variable. The speed is measured over time and is thus a time signal from independent instantaneous values. Due to the relationship between belt preload and self-freqency of the belt, it is advantageous to use a characteristic in the frequency domain. In step 30, the speed is evaluated by performing a fast Fourier training. The evaluated quantity obtained is a spectrum in the frequency domain. Changes in the belt pretension cause changes in the amplitudes in the frequency spectrum, in particular around the teeth meshing freewheel.
    Page 8 of 15 9/20 i ι iquenz around. The tooth engagement frequency is the product of the number of teeth of the toothed wheel 120 and the speed of the toothed wheel 120. £ | FIGS. 4a, 4b and 4c show as an example two frequency spectrums for different
    Iliehe belt pretensions shown. An intensity I is plotted against the frequency § | f. The relevant area around the meshing frequency is highlighted by the rectangle in FIGS. 4a, 4b and 4c. FIG. 4a is the frequency
    Spectrum associated with a substantially optimally adjusted Riemenvorspan- | represented in Figure 4b, the frequency spectrum associated with too low | Belt bias, in Figure 4c, the frequency spectrum associated with too high I belt bias. In the case of too high or too low belt pretension J, the amplitude of the meshing frequency or the integral is much greater than in | I case of optimum belt pretension. In addition, for too high a belt bias, the amplitudes of the frequencies around the meshing frequency are smaller than in the case of an optimum belt bias.
    In step 40 in FIG. 2, the value of an integral over the frequency spectrum is determined as a parameter. As the integration region, it is preferable to select the region around the frequency of engagement, which is emphasized by the rectangle in FIG. The range of integration thus includes only those frequencies which are particularly relevant for the relationship between belt pretension and parameter. For l different belt bias voltages, different values of the I characteristic result. (Alternatively, the evaluation of the rotational speed may also have an order transformation in step 30. The time-related rotational speed is converted into a rotational speed-related variable as a function of the order. Like the frequency range, the order range which is determined by the rotational speed of the toothed belt drive likewise offers advantages Analogous to the fast-Fourier-transformed rotational speed, the characteristic variable can also be determined from an orderly transformed rotational speed in step 40 by integration over a region of the order spectral range.
    Irums be determined. Even in the regulatory domain, the limits of integration can be chosen so that only the relevant orders are integrated.
    Page 9 of 15 10/20 ··············································································································································································································
    In step 250, a relationship between the characteristic and the belt preload is determined. If necessary, the belt pretension must be varied
    For different belt biases, the respective values of the integral over the range around the meshing frequency are determined to precisely determine the relationship between characteristic and belt bias. In this case, the arithmetic unit 140 instructs the belt pretensioner actuator 150 to set the toothed belt 110 to a new belt pretension. This process is indicated in FIG. 2 by the reference numeral 252. It is understood that the variation I can also be done manually. After covering a sufficiently large area of the belt pretension,
    In step 250, the values of the integrals are evaluated as a function of the belt bias voltage. From this function, the set value of the belt pretensioning is determined. Advantageously, the set value for the belt pretensioning results from a minimum of the function.
    In FIG. 3, the method for monitoring belt pretension in the toothed belt drive from FIG. 1 is shown schematically as a block diagram. Steps 10, 20, 30 and 40 are analogous to FIG. 2. In step 350, the value of the integral is evaluated as a characteristic variable and a quality parameter is determined therefrom.
    The quality parameter is advantageously determined as the difference between the current value of the parameter and an initial value or a default value. For the output value, the value of the parameter of the first measurement is selected, the so-called kmO measurement. The default value can be an empirical value. Thus, with the aid of the quality parameter, it is possible in particular to monitor whether the belt is still optimally tensioned or has become loose in the course of time and must be readjusted.
    HÜ
    In step 360, it is checked whether the quality parameter reaches a predefined threshold, e.g. falls below or exceeds. If so, in step 371 a predefined action, e.g. issuing a warning message. With the help of the; method, an emergency shutdown can be realized. Qua- "isti-i. For example, if the γ value parameter and threshold value are set to a critical value that should not be exceeded, the toothed belt drive may also be automatic in step 371
    Page 10 of 15 11/20 to switch e.g. the belt drive, the motor 121 or the machine 131 or damage to protect. Advantageously, a plurality of threshold values may also be used, for example a first threshold value which outputs a warning message, Ind a second threshold value which initiates a shutdown.
    If the quality parameter does not reach the threshold value, the belt advance voltage thus moves within the permissible tolerance range, no action is carried out, but after a certain time interval steps 20, 30, 40, 350 and 360 are carried out again, indicated by reference numeral 372. In the case of a plurality of threshold values, for example, when a first threshold value is reached, the corresponding action is already executed in step 360 and not first in step J371.
    Page 11 of 15 12/20
    权利要求:
    Claims (21)
    [1]


    • · · · · · * m · · 0 0 0 0 ·· 00 00 0 ·

    Claims 1. A method for determining a set value for a belt pretension in a belt drive (100), wherein during the operation of the belt drive (100) a measurand (n) is determined over time (20), the measurand (s) evaluated (30) and determining therefrom a characteristic (40), a relationship between the characteristic and the belt bias is determined (250), and from the particular context, the set value for the belt bias is determined (250).
    [2]
    2. The method of claim 1, wherein an actual value of a movement amount of the belt drive (100) is determined as a measured variable.
    [3]
    3. The method of claim 1 or 2, wherein a control of at least one movement amount of the belt drive (100) is performed and a target value of a movement amount of the belt drive (100) or an actual value of a movement amount of the belt drive (100) or a difference between a desired value and a Actual value of a movement amount of the belt drive (100) is determined as a measured variable (s) (132).
    [4]
    4. The method according to claims 2 or 3, wherein a position, a speed, a rotational speed, a torque or a drive current of a component of the belt drive (100), the movement amount (s) of the belt drive (100).
    [5]
    5. The method according to claim 1, wherein the evaluation of the measured quantity determines the variance of the values of the measured variable or a value of an integral over the deviations of the values of the measured variable from the mean of the values of the measured variable or an average absolute deviation of the values the measured variable from the mean of the values of the measured variable.
    [6]
    6. The method according to any one of the preceding claims, wherein the evaluation of the measured variable (30) comprises a frequency transformation or an order transformation of the measured variable. ε%, page 12 of 15 / f ^, '-1 Ϊ * i' 13/20 ijj * J Pt- ft i Γ
    [7]
    7. The method according to any one of the preceding claims, wherein the evaluation of the measured variable (30) comprises a Fourier transform, in particular a fast Fourier transformation of the measured variable.
    [8]
    8. A method according to any preceding claim, wherein determining the characteristic (40) comprises determining a value of an intergral over a range of the evaluated measurand or a root mean square of values of the evaluated measurand.
    [9]
    9. The method according to any one of the preceding claims, wherein the determination of the characteristic (40) takes place in a closed interval of the evaluated measured variable, in particular around a tooth meshing frequency.
    [10]
    10. The method according to any one of the preceding claims, wherein the evaluation of the measured quantity (30) comprises a filtering of the determined measured variable, in particular a bandpass filtering around a tooth meshing frequency.
    [11]
    11. The method of claim 1, wherein determining the relationship between the characteristic and the belt bias voltage comprises varying the belt bias voltage and determining the characteristic for a plurality of different belt bias voltages.
    [12]
    12. A method according to any one of the preceding claims, wherein the set value for the belt bias is determined from an extremum in the particular relationship between the characteristic and the belt bias.
    [13]
    13. The method according to any one of the preceding claims, wherein the belt bias in the belt drive (100) is set to the set value.
    [14]
    14. The method according to any one of the preceding claims, wherein the belt drive (100) is part of a cross cutter or a handling axis with linear slide.
    [15]
    15. A method for monitoring the belt pretension of a belt drive (100), wherein during the operation of the belt drive (100) a measured variable (s) is determined over time (20), the measured variable is evaluated (30) and from this a characteristic value is determined Page 13 of 15 14/20 ·············································································································································································································· (40) the characteristic is evaluated and from which a quality parameter is determined (350), a predefined action is performed (371) when the quality parameter reaches a threshold value.
    [16]
    16. The method of claim 15, wherein the quality parameter is the characteristic or a difference of the characteristic from an output value of the characteristic.
    [17]
    17. The method of claim 16, wherein the output value of the characteristic is associated with a set value for the belt pretension, which has been determined according to a method according to any one of claims 10 to 15. (
    [18]
    18. Arithmetic unit (140), adapted to perform a method according to any one of the preceding claims.
    [19]
    19. belt drive machine with a belt drive (100) comprising a computing unit (140) according to claim 18.
    [20]
    20. Computer program with program code means, which cause a computing unit (140) to perform a method according to one of claims 1 to 17, when they are executed on the 20 arithmetic unit (140), in particular according to claim 18.
    [21]
    21. Machine-readable storage medium with a computer pro stored on it

    3ER & PARTNER Reichsvatsstrasse 13 Fax 513 37 09 Program according to claim 20. 7, Gkt 2013 i Page 14 of 15 15/20
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JPS57161344A|1981-03-27|1982-10-04|Nippon Denso Co Ltd|Belt tension control device|
    CA2508352C|2002-12-16|2008-07-22|Roger D. Stone|Active tensioner|
    DE102008050248A1|2007-10-15|2009-04-23|Volkswagen Ag|Belt assembling method for electromechanical steering of vehicle, involves tilting rack after fitting of belt when bearing is unfixed at housing, until preset force is obtained, and fixing bearing at housing in tilting position|
    DE102010001734B3|2010-02-10|2011-07-21|Siemens Aktiengesellschaft, 80333|Machine tool, has evaluation device determining frequency spectrum based on reflected signal and oscillation frequency, where frequencies of belt are oscillated by frequency spectrum when speed of belt exceeds preset speed range|DE102017003376A1|2017-04-06|2018-10-11|Saurer Ag|Method for operating a boat embroidery machine with gate and belt drive, and belt drive with clamping device|
    DE102017214067A1|2017-08-11|2019-02-14|Volkswagen Aktiengesellschaft|Method and control device for operating a belt drive and device for determining a belt pretension|
    AT522695B1|2019-11-15|2021-01-15|Engel Austria Gmbh|Handling device and method for recognizing a condition|
    CN111750053A|2020-08-03|2020-10-09|北京环境特性研究所|Synchronous belt transmission system of potentiometer angle measuring system|
    法律状态:
    2021-06-15| MM01| Lapse because of not paying annual fees|Effective date: 20201017 |
    优先权:
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    DE201210020967|DE102012020967A1|2012-10-25|2012-10-25|Method for determining set value of belt bias of belt drive in e.g. motor car, involves determining measured variable during operation of belt drive, evaluating measured variable, and determining context of characteristic of belt bias|
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