Motion friction measuring method and device

Abstract

The embodiment of the invention provides a motion friction measurement method and device, and the method comprises the steps: obtaining N pieces of motion information of a to-be-measured motion mechanism in N motion processes, and the motion information comprises at least one of a movement distance and a rotation angle; n voltage values and N current values of the driving motor are obtained, the N voltage values are the voltage values of the driving motor in the N motion processes, and the N current values are the current values of the driving motor in the N motion processes; based on the N pieces of motion information, the N voltage values and the N current values, determining a friction measurement result of the to-be-measured motion mechanism; wherein N is an integer greater than or equal to 1. Therefore, the motion information, the voltage value and the current value of the to-be-measured motion mechanism in the motion process are obtained to determine the friction measurement result of the to-be-measured motion mechanism, and the motion friction measurement precision can be improved.

Description

Technical Field

[0001] The present application relates to the field of assembly technology, and in particular to a method and device for measuring motion friction. Background Art

[0002] The motion mechanism is the executive structure for achieving precise detection. When working, it rotates the load to different angles according to instructions to achieve search and tracking of the target. The motion uniformity of the motion mechanism directly determines the detection accuracy. During the assembly process, the motion friction of the motion mechanism needs to be measured to ensure the electrical performance of the motion mechanism.

[0003] In the traditional motion mechanism assembly process, motion friction is measured by hand. That is, the motion mechanism is rotated by hand to sense whether it is too tight, too loose, or locally stuck within the range of motion. This measurement method, which relies heavily on the assembly worker's feel, is prone to large measurement errors. Summary of the Invention

[0004] The embodiments of the present application provide a method and device for measuring kinematic friction, which can solve the problem of large kinematic friction measurement errors.

[0005] In order to solve the above technical problems, this application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for measuring motion friction, which is applied to a motion friction measuring device. The motion friction measuring device includes a drive motor and a sensor. The drive motor and the sensor are connected to a motion mechanism to be measured. The drive motor is used to drive the motion mechanism to be measured, and the sensor is used to measure motion information of the motion mechanism to be measured. The method includes:

[0007] Acquire N pieces of motion information of the motion mechanism to be tested during N motion processes, wherein the motion information includes at least one of a moving distance and a rotation angle;

[0008] Obtaining N voltage values ​​and N current values ​​of the drive motor, where the N voltage values ​​are voltage values ​​of the drive motor during the N movements, and the N current values ​​are current values ​​of the drive motor during the N movements;

[0009] Determining a friction measurement result of the motion mechanism to be measured based on the N pieces of motion information, the N voltage values, and the N current values;

[0010] Wherein, N is an integer greater than or equal to 1.

[0011] In a second aspect, an embodiment of the present application provides a motion friction measuring device, comprising a drive motor, a sensor, and a controller, wherein the drive motor and the sensor are connected to a motion mechanism to be measured, and the drive motor and the sensor are also connected to the controller, wherein the drive motor is used to drive the motion mechanism to be measured, the sensor is used to measure motion information of the motion mechanism to be measured, and the controller is used to:

[0012] Acquiring N pieces of motion information of the motion mechanism to be tested during the motion process;

[0013] Acquire N voltage values ​​and N current values ​​of the drive motor, wherein the N voltage values ​​are voltage values ​​of the drive motor at the time when the N motion information is acquired, and the N current values ​​are current values ​​of the drive motor at the time when the N motion information is acquired;

[0014] Determining a friction measurement result of the motion mechanism to be measured based on the N pieces of motion information, the N voltage values, and the N current values;

[0015] Wherein, N is an integer greater than or equal to 1.

[0016] In an embodiment of the present application, N pieces of motion information are obtained during N motion processes of the motion mechanism under test; N voltage values ​​and N current values ​​of the drive motor are obtained; and based on the N pieces of motion information, the N voltage values, and the N current values, a friction measurement result of the motion mechanism under test is determined. Thus, by obtaining the motion information, voltage values, and current values ​​of the motion mechanism under test during its motion process to determine the friction measurement result of the motion mechanism under test, the accuracy of motion friction measurement can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a flow chart of a method for measuring kinematic friction provided in an embodiment of the present application;

[0018] Figure 2 This is a schematic structural diagram of the motion friction measurement device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0020] Unless otherwise defined, the technical or scientific terms used in this application shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, "one" or "an" and similar words do not indicate a quantity limitation, but rather indicate the existence of at least one. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0021] The following further describes the kinematic friction measurement method and device proposed in the application examples in conjunction with the accompanying drawings.

[0022] See also Figure 1 , Figure 1 The following is a flow chart of a method for measuring kinematic friction provided in an embodiment of the present application. As shown in the figure, the method includes:

[0023] Step 110 : Acquire N pieces of motion information of the motion mechanism to be tested during N motion processes, wherein the motion information includes at least one of a moving distance and a rotation angle.

[0024] Wherein, N is an integer greater than or equal to 1.

[0025] It should be understood that the above-mentioned motion friction measurement method is applied to a motion friction measuring device, wherein the motion friction measuring device includes a drive motor and a sensor, the drive motor and the sensor are connected to the motion mechanism to be measured, the drive motor is used to drive the motion mechanism to be measured to move, and the sensor is used to measure the motion information of the motion mechanism to be measured.

[0026] The motion mechanism to be tested may be a rotational motion mechanism, a linear motion mechanism, or a motion mechanism capable of both linear and rotational motion, and this embodiment does not impose any limitation thereto. For example, when the motion mechanism to be tested is a rotational motion mechanism, the motion information is the rotation angle, and the motion mechanism to be tested rotates under the drive of a drive motor; when the motion mechanism to be tested is a linear motion mechanism, the motion information is the movement distance, and the motion mechanism to be tested performs linear motion under the drive of a drive motor.

[0027] It should be understood that when the motion mechanism to be tested is in a horizontal state, N motion information of the motion mechanism to be tested in N motion strokes are obtained. The N motion strokes can be formed by evenly dividing the motion mechanism to be tested within a certain motion range.

[0028] In this way, by acquiring N pieces of motion information in N motion processes, all motion information of the motion mechanism to be tested within the motion range to be tested can be acquired, wherein one motion stroke corresponds to one piece of motion information.

[0029] Step 120 , obtaining N voltage values ​​and N current values ​​of the drive motor, wherein the N voltage values ​​are voltage values ​​of the drive motor during the N motion processes, and the N current values ​​are current values ​​of the drive motor during the N motion processes.

[0030] It should be understood that the N voltage values ​​and the N current values ​​correspond to N movement processes, that is, one movement stroke corresponds to one voltage value and one current value.

[0031] The voltage value may be a maximum voltage value measured during the movement stroke, and the current value may be a maximum current value measured during the movement stroke.

[0032] In an optional embodiment, the voltage value may also be an average value of the voltage during the movement stroke, and the current value may also be an average value of the current during the movement stroke.

[0033] Step 130: Determine a friction measurement result of the motion mechanism to be measured based on the N pieces of motion information, the N voltage values, and the N current values.

[0034] It should be understood that the friction measurement result may be a friction torque, wherein the friction torque is the product of the torque coefficient and the current of the driving motor.

[0035] In the embodiment of the present application, the N pieces of motion information of the motion mechanism to be tested during N motion processes are obtained in step 110; the N voltage values ​​and N current values ​​of the drive motor are obtained in step 120; and based on the N pieces of motion information, the N voltage values, and the N current values, a friction measurement result of the motion mechanism to be tested can be determined. In this way, by obtaining the motion information, voltage values, and current values ​​of the motion mechanism to be tested during its motion process to determine the friction measurement result of the motion mechanism to be tested, the accuracy of motion friction measurement can be improved.

[0036] Optionally, determining the motion friction measurement result of the motion mechanism to be measured based on the N motion information, the N voltage values, and the N current values ​​includes:

[0037] A friction curve of the motion mechanism to be tested is drawn based on the N pieces of motion information, the N voltage values, and the N current values.

[0038] The friction curve is analyzed and processed to obtain a friction measurement result of the motion mechanism to be measured.

[0039] It should be understood that by drawing a motion friction curve using N pieces of motion information, the N voltage values, and the N current values, the motion state of the motion mechanism to be tested during the motion process can be intuitively understood.

[0040] In this embodiment, the friction measurement result of the motion mechanism to be measured is obtained by analyzing and processing the obtained friction curve, thereby improving the accuracy of the motion friction measurement result of the motion mechanism to be measured.

[0041] Optionally, analyzing and processing the friction curve to obtain a friction measurement result of the motion mechanism to be measured includes:

[0042] A friction measurement result of the motion mechanism to be measured is obtained according to the curvature of the friction curve.

[0043] The friction measurement result includes a friction state, and the friction state includes a relaxed state, a tense state, and a stuck state;

[0044] Obtaining the friction measurement result of the motion mechanism to be measured based on the curvature of the friction curve includes:

[0045] When the curvature of the friction curve is less than or equal to a first preset curvature, determining that the state of the motion mechanism to be tested is a relaxed state;

[0046] When the curvature of the friction curve is greater than the first preset curvature and less than the second preset curvature, it is determined that the state of the motion mechanism to be tested is a tension state;

[0047] When the curvature of the friction curve is greater than or equal to a second preset curvature, determining that the state of the motion mechanism to be tested is a stuck state;

[0048] Wherein, the first preset curvature is smaller than the second preset curvature.

[0049] In this embodiment, the friction state of the motion mechanism to be measured is obtained by analyzing and processing the curvature of the friction curve, thereby improving the measurement accuracy of the motion friction of the motion mechanism to be measured within the motion range to be measured.

[0050] Optionally, after obtaining the friction measurement result of the motion mechanism to be measured based on the curvature of the friction curve, the method further includes:

[0051] According to the friction state, the motion friction value of the motion mechanism to be tested is adjusted to a target friction value, where the target friction value is the motion friction value of the motion mechanism to be tested in a normal state.

[0052] It should be understood that the friction state corresponding to the target friction value is a normal state, wherein the friction measurement result of the motion mechanism to be measured is a normal state, that is, the curvature of the friction curve of the motion mechanism to be measured is a first preset curvature.

[0053] The motion friction value of the motion mechanism to be tested is adjusted to the target friction value, that is, the motion mechanism to be tested in a relaxed state, a tense state, or a stuck state is adjusted to a normal state of the motion mechanism to be tested. The adjustment method can be manual adjustment or mechanical adjustment, which is not limited in this embodiment.

[0054] Optionally, the sensor includes a displacement sensor and / or an angle sensor.

[0055] See also Figure 2 , Figure 2 This is a structural diagram of a motion friction measuring device provided in an embodiment of the present application. As shown in the figure, the motion friction measuring device includes a drive motor 210, a sensor 220 and a controller 230. The drive motor 210 and the sensor 220 are connected to the motion mechanism to be measured. The drive motor 210 and the sensor 220 are also connected to the controller 230. The drive motor 210 is used to drive the motion mechanism to be measured, the sensor 220 is used to measure the motion information of the motion mechanism to be measured, and the controller 230 is used to:

[0056] Acquiring N pieces of motion information of the motion mechanism to be tested during the motion process;

[0057] Acquire N voltage values ​​and N current values ​​of the drive motor, wherein the N voltage values ​​are voltage values ​​of the drive motor at the time when the N motion information is acquired, and the N current values ​​are current values ​​of the drive motor at the time when the N motion information is acquired;

[0058] Determining a friction measurement result of the motion mechanism to be measured based on the N pieces of motion information, the N voltage values, and the N current values;

[0059] Wherein, N is an integer greater than or equal to 1.

[0060] Optionally, the controller 230 is configured to:

[0061] A friction curve of the motion mechanism to be tested is drawn based on the N pieces of motion information, the N voltage values, and the N current values.

[0062] The friction curve is analyzed and processed to obtain a friction measurement result of the motion mechanism to be measured.

[0063] Optionally, analyzing and processing the friction curve to obtain a friction measurement result of the motion mechanism to be measured includes:

[0064] Obtaining the friction state of the motion mechanism to be tested according to the curvature of the friction curve;

[0065] According to the friction state, the motion friction value of the motion mechanism to be tested is adjusted to a target friction value, where the target friction value is the motion friction value of the motion mechanism to be tested in a normal state.

[0066] Optionally, analyzing and processing the friction curve to obtain a friction measurement result of the motion mechanism to be measured includes:

[0067] A friction measurement result of the motion mechanism to be measured is obtained according to the curvature of the friction curve.

[0068] The friction measurement result includes a friction state, and the friction state includes a relaxed state, a tense state, and a stuck state;

[0069] Obtaining the friction measurement result of the motion mechanism to be measured based on the curvature of the friction curve includes:

[0070] When the curvature of the friction curve is less than or equal to a first preset curvature, determining that the state of the motion mechanism to be tested is a relaxed state;

[0071] When the curvature of the friction curve is greater than the first preset curvature and less than the second preset curvature, it is determined that the state of the motion mechanism to be tested is a tension state;

[0072] When the curvature of the friction curve is greater than or equal to a second preset curvature, determining that the state of the motion mechanism to be tested is a stuck state;

[0073] Wherein, the first preset curvature is smaller than the second preset curvature.

[0074] Optionally, the controller 230 is further configured to:

[0075] According to the friction state, the motion friction value of the motion mechanism to be tested is adjusted to a target friction value, where the target friction value is the motion friction value of the motion mechanism to be tested in a normal state.

[0076] Optionally, the sensor 220 includes a displacement sensor and / or an angle sensor.

[0077] Since the technical solution of this embodiment includes all the technical solutions of the above embodiments, it can at least achieve all the technical effects of the above embodiments, which will not be described one by one here.

[0078] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A method for measuring motion friction, applied to a motion friction measuring device, characterized in that: The motion friction measuring device includes a drive motor and a sensor, wherein the drive motor and the sensor are connected to a motion mechanism to be measured, the drive motor is used to drive the motion mechanism to be measured, and the sensor is used to measure motion information of the motion mechanism to be measured. The method includes: Acquire N pieces of motion information of the motion mechanism to be tested during N motion processes, wherein the motion information includes at least one of a moving distance and a rotation angle; Obtaining N voltage values ​​and N current values ​​of the drive motor, where the N voltage values ​​are voltage values ​​of the drive motor during the N movements, and the N current values ​​are current values ​​of the drive motor during the N movements; Determining a friction measurement result of the motion mechanism to be measured based on the N pieces of motion information, the N voltage values, and the N current values; Wherein, N is an integer greater than or equal to 1.

2. The method according to claim 1, characterized in that Determining the motion friction measurement result of the motion mechanism to be measured based on the N motion information, the N voltage values, and the N current values ​​includes: Drawing a friction curve of the motion mechanism to be tested based on the N pieces of motion information, the N voltage values, and the N current values; The friction curve is analyzed and processed to obtain a friction measurement result of the motion mechanism to be measured.

3. The method according to claim 2, characterized in that The analyzing and processing the friction curve to obtain the friction measurement result of the motion mechanism to be measured includes: Obtaining a friction measurement result of the motion mechanism to be measured according to the curvature of the friction curve; The friction measurement result includes a friction state, and the friction state includes a relaxed state, a tense state, and a stuck state; Obtaining the friction measurement result of the motion mechanism to be measured based on the curvature of the friction curve includes: When the curvature of the friction curve is less than or equal to a first preset curvature, determining that the state of the motion mechanism to be tested is a relaxed state; When the curvature of the friction curve is greater than the first preset curvature and less than the second preset curvature, it is determined that the state of the motion mechanism to be tested is a tension state; When the curvature of the friction curve is greater than or equal to a second preset curvature, determining that the state of the motion mechanism to be tested is a stuck state; Wherein, the first preset curvature is smaller than the second preset curvature.

4. The method according to claim 3, characterized in that After obtaining the friction measurement result of the motion mechanism to be measured based on the curvature of the friction curve, the method further includes: According to the friction state, the motion friction value of the motion mechanism to be tested is adjusted to a target friction value, where the target friction value is the motion friction value of the motion mechanism to be tested in a normal state.

5. The method according to claim 1, wherein The sensor includes a displacement sensor and / or an angle sensor.

6. A motion friction measuring device, characterized in that: The motion friction measuring device includes a drive motor, a sensor, and a controller. The drive motor and the sensor are connected to the motion mechanism to be measured. The drive motor and the sensor are also connected to the controller. The drive motor is used to drive the motion mechanism to be measured, the sensor is used to measure the motion information of the motion mechanism to be measured, and the controller is used to: Acquiring N pieces of motion information of the motion mechanism to be tested during the motion process; Acquire N voltage values ​​and N current values ​​of the drive motor, wherein the N voltage values ​​are voltage values ​​of the drive motor at the time when the N motion information is acquired, and the N current values ​​are current values ​​of the drive motor at the time when the N motion information is acquired; Determining a friction measurement result of the motion mechanism to be measured based on the N pieces of motion information, the N voltage values, and the N current values; Wherein, N is an integer greater than or equal to 1.

7. The device according to claim 6, characterized in that Determining the motion friction measurement result of the motion mechanism to be measured based on the N motion information, the N voltage values, and the N current values ​​includes: Drawing a friction curve of the motion mechanism to be tested based on the N pieces of motion information, the N voltage values, and the N current values; The friction curve is analyzed to obtain a friction measurement result of the motion mechanism to be measured.

8. The device according to claim 7, characterized in that The analyzing and processing the friction curve to obtain the friction measurement result of the motion mechanism to be measured includes: Obtaining a friction measurement result of the motion mechanism to be measured according to the curvature of the friction curve; The friction measurement result includes a friction state, and the friction state includes a relaxed state, a tense state, and a stuck state; Obtaining the friction measurement result of the motion mechanism to be measured based on the curvature of the friction curve includes: When the curvature of the friction curve is less than or equal to a first preset curvature, determining that the state of the motion mechanism to be tested is a relaxed state; When the curvature of the friction curve is greater than the first preset curvature and less than the second preset curvature, it is determined that the state of the motion mechanism to be tested is a tension state; When the curvature of the friction curve is greater than or equal to a second preset curvature, determining that the state of the motion mechanism to be tested is a stuck state; Wherein, the first preset curvature is smaller than the second preset curvature.

9. The device according to claim 8, characterized in that The controller is also used to: According to the friction state, the motion friction value of the motion mechanism to be tested is adjusted to a target friction value, where the target friction value is the motion friction value of the motion mechanism to be tested in a normal state.

10. The device according to claim 6, characterized in that The sensor includes a displacement sensor and / or an angle sensor.

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