CN110108482A - A kind of sound state rotating accuracy detection system of harmonic speed reducer - Google Patents
A kind of sound state rotating accuracy detection system of harmonic speed reducer Download PDFInfo
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- CN110108482A CN110108482A CN201910385066.XA CN201910385066A CN110108482A CN 110108482 A CN110108482 A CN 110108482A CN 201910385066 A CN201910385066 A CN 201910385066A CN 110108482 A CN110108482 A CN 110108482A
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- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
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Abstract
The invention belongs to harmonic speed reducer technical fields, a kind of sound state rotating accuracy detection system of harmonic speed reducer is disclosed, the sound state rotating accuracy detection system of harmonic speed reducer includes: twisting resistance acquisition module, revolving speed acquisition module, rotating accuracy monitoring modular, central control module, denoising module, correction module, performance test module, display module.The present invention is simpler by rotating accuracy monitoring modular, and using more convenient, test method precision is higher, and detection uses before being particularly suitable for harmonic speed reducer factory；Passage capacity test module tests harmonic speed reducer transmission performance, controls processing and the assembly precision of flexbile gear, it helps improves the meshing state and lubricating status of harmonic speed reducer working face, improves the transmission performance of space lubrication harmonic speed reducer.
Description
Technical field
The invention belongs to a kind of inspections of the sound state rotating accuracy of harmonic speed reducer technical field more particularly to harmonic speed reducer
Examining system.
Background technique
Harmonic wave drive speed reducer is mainly by four wave producer, flexible gear, flexible bearing, rigid gear basic building block groups
At, harmonic wave drive speed reducer, be it is a kind of so that flexible gear is generated controlled elasticity deformation by wave producer fit on flexible bearing, and
It is meshed with rigid gear and carrys out the gear drive of passing movement and power.Harmonic drive is in Aeronautics and Astronautics, the energy, boat
Sea, shipbuilding, bionic mechanical, common ordnance, lathe, instrument, electronic equipment, mine metallurgy, communications and transportation, hoisting machinery, petroleum
Chemical machinery, textile machine, agricultural machinery and medical instrument etc. obtain increasingly extensive application, especially in high dynamic
In the servo-system of performance, its superiority is more shown using harmonic gear transmission.However, existing harmonic wave drive speed reducer to return
It is big to turn accuracy monitoring complexity, error；Meanwhile harmonic wave drive speed reducer transmission performance is poor.
In conclusion problem of the existing technology is:
Existing harmonic wave drive speed reducer is complicated to rotating accuracy monitoring, error is big；Meanwhile harmonic wave drive speed reducer is gearing
It can be poor.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of detections of the sound state rotating accuracy of harmonic speed reducer
System.
The invention is realized in this way a kind of sound state rotating accuracy detection system of harmonic speed reducer, comprising:
Twisting resistance acquisition module, connect with central control module, for acquiring harmonic reduction in real time by torque sensor
Device sound state reverses force data；
Revolving speed acquisition module, connect with central control module, for acquiring harmonic speed reducer in real time by velocity sensor
Velocity of rotation data；
Rotating accuracy monitoring modular, connect with central control module, for passing through monitoring device real-time monitoring harmonic drive
Retarder sound state rotating accuracy data；
Central control module, with twisting resistance acquisition module, revolving speed acquisition module, rotating accuracy monitoring modular, denoising module,
Correction module, performance test module, display module connection, work normally for controlling modules by single-chip microcontroller；
Module is denoised, is connect with central control module, for being denoised by data of the data processor to acquisition
Processing；
Correction module is connect with central control module, for being corrected processing by data of the correction program to acquisition；
Performance test module is connect with central control module, for being carried out by test program to harmonic speed reducer performance
Test；
Display module is connect with central control module, for the harmonic wave drive speed reducer by display display detection
Sound state twisting resistance, velocity of rotation, rotating accuracy, performance test data information.
Another object of the present invention is to provide a kind of sound state rotating accuracy detection systems for carrying the harmonic speed reducer
The harmonic wave drive speed reducer of system.
A kind of sound state rotating accuracy detection method another object of the present invention is to provide harmonic speed reducer includes:
Step 1 acquires harmonic speed reducer sound state twisting resistance using torque sensor by twisting resistance acquisition module in real time
Data；Harmonic speed reducer velocity of rotation data are acquired in real time using velocity sensor by revolving speed acquisition module；
Monitoring device real-time monitoring harmonic wave drive speed reducer sound state rotating accuracy is utilized by rotating accuracy monitoring modular
Data；
The initial sound state rotating accuracy of harmonic wave drive speed reducer sound state rotating accuracy data real number form is judged into square
Battle array is converted into the sound state rotating accuracy judgment matrix of Vague collection form, and weight vectors are also translated into Vague collection form
Sound state rotating accuracy judgment matrix；Using the PROMETHEE method based on Vague collection form to harmonic wave drive speed reducer sound
State rotating accuracy data are ranked up, and obtain collating sequence；
Step 2, central control module are carried out at denoising by denoising module using data of the data processor to acquisition
Reason；Processing is corrected using data of the correction program to acquisition by correction module；
Step 3, passage capacity test module test harmonic speed reducer performance using test program；
Step 4, by display module using display display detection harmonic wave drive speed reducer sound state twisting resistance,
Velocity of rotation, rotating accuracy, performance test data information.
Further, the initial sound state of harmonic wave drive speed reducer sound state rotating accuracy data real number form is being turned round into essence
Degree judgment matrix is converted into the sound state rotating accuracy judgment matrix of Vague collection form, and weight vectors are also translated into Vague
It is needed before the sound state rotating accuracy judgment matrix of collection form:
The ordering vector for providing each evaluation index of sound state rotating accuracy assessment, finds out master using orderly binary comparison method
See weight；
VC Method is utilized according to the initial sound state rotating accuracy judgment matrix that the value by each evaluation index forms
Seek objective weight；
Comprehensive weight is acquired using vector similarity theory.
Further, subjective weight is acquired by orderly binary comparison method method particularly includes:
Step 1: determining evaluation object and expert's collection: X is the entire objects collection investigated, and is denoted as X={ x1,x2,...xNBe
It participates in determining that the expert of index weights integrates as P={ p1,p2...pL}；
Step 2: being the sequence of each index using set value iterative method: weight is { λ1,λ2,...λL, according to weight in index set
Degree is wanted to be ranked up index, the index ordered set that k (1≤k≤L) chooses is Xk=(x3,x5,x1,xN...,xN-1), in formula
x3Positioned at XkFirst position, i.e., expression x3Think most important in k, according to each index in XkIn position assign referring to respectively
Score is marked, in XkMiddle x3It is corresponding to be scored at N, x5It is corresponding to be scored at N-1, xN-1It is corresponding to be scored at 1；
μi,k(1≤i≤N, 1≤k≤L) is index i score obtained at k, is enabledIt is commented as synthesis
Point, 1≤i≤N in formula, according to giIt is descending new sequence is carried out to evaluation index,
Step 3: being compared acquisition comparator matrix to adjacent evaluation index respectively；
By comparing the significance level of the relatively latter index of previous index in adjacent index, evaluation interval, section end are provided
Point value takes adjacent rkNumerical value, relative importance are between two r of the twokBetween the corresponding significance level of numerical value；
Step 4: converting point value by following formula for section:
In formula, rij' it is expert i to the lower bound in the evaluations matrix of index j, r "ijFor the upper bound in evaluations matrix, j=1,
2 ..., n-1；
Step 5: determining the weight of evaluation index: it is compared since N number of index is adjacent, obtains N-1 fiducial value:
In formula: r1Significance level of the meaning represented as first index after rearrangement relative to second index,
With the ratio between the absolutely essential degree of first index and second indexIt illustrates,
Comprehensive weight are as follows:
The weight of other indexs are as follows:
Further, objective weight is acquired by VC Method method particularly includes:
Step 1: assessment indicator system shares m evaluation index, system evaluation and data have been carried out to n evaluation object
Sampling, initial data evaluations matrix are expressed as matrix X:
Step 2: the mean value and standard deviation of each index of calculated with actual values according to each object of classification index:
Wherein the mean value of j-th index and standard deviation are respectively as follows:
J=1 in formula, 2 ... ... m；
Step 3: calculating the coefficient of variation of each index:
Step 4: determining the weight of each index:
First the index coefficient of variation is normalized,Then it obtains
The weight sets V of indexj={ ν1,ν2,…νM, wherein
Further, the rotating accuracy monitoring module monitors method includes:
(1) single-chip microcontroller is connected into motor, motor is used to provide the driving force of system work, and motor connects motor side encoder
And harmonic speed reducer, harmonic speed reducer connect harmonic wave end encoder；
(2) it sends whether signal control motor starts to work by single-chip microcontroller, and receives motor side encoder and harmonic wave
Hold the pulse signal of encoder feedback；
(3) kinetic energy that motor side encoder is used to change motor is pulse signal, and pulse signal is fed back to single-chip microcontroller；
(4) kinetic energy that motor generates is changed by specific reduction ratio by deceleration kinetic energy by harmonic speed reducer, after deceleration
Output drives the work of harmonic wave end encoder；The deceleration kinetic energy that harmonic speed reducer generates is changed into pulse by harmonic wave end encoder
Signal, and pulse signal is fed back into single-chip microcontroller, harmonic speed reducer rotating accuracy is monitored.
Further, the performance test module test method includes:
1) cyclic test of harmonic speed reducer thermal vacuum is carried out using multifactor orthogonal design by test program, selection passes
Evaluation index of the efficiency of movement as transmission performance；
2) factors such as environment temperature, load, lubricating system and working time are investigated to the shadow of harmonic speed reducer transmission performance
Ring Study of Sensitivity；
3) solid lubrication and grease lubrication harmonic speed reducer are gearing in wide temperature range under the conditions of research rated load
Energy；
4) transmission efficiency and environment temperature, the relationship of working time are inquired into；After wave producer runs certain number, utilize
Optical microscopy observes harmonic reducer flexible wheel work surface state after test.
Another object of the present invention is to provide a kind of sound state rotating accuracy detection sides for realizing the harmonic speed reducer
The information data processing terminal of method.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation, so that computer executes the sound state rotating accuracy detection method of the harmonic speed reducer.
Advantages of the present invention and good effect are as follows: the present invention is simpler by rotating accuracy monitoring modular, using more convenient,
Test method precision is higher, and detection uses before being particularly suitable for harmonic speed reducer factory；Passage capacity test module subtracts harmonic wave
Fast device transmission performance test, controls processing and the assembly precision of flexbile gear, it helps improve the engagement of harmonic speed reducer working face
State and lubricating status improve the transmission performance of space lubrication harmonic speed reducer.
The present invention acquires harmonic speed reducer sound state twisting resistance using torque sensor by twisting resistance acquisition module in real time
Data；Harmonic speed reducer velocity of rotation data are acquired in real time using velocity sensor by revolving speed acquisition module；Pass through revolution essence
It spends monitoring modular and utilizes monitoring device real-time monitoring harmonic wave drive speed reducer sound state rotating accuracy data；
The initial sound state rotating accuracy of harmonic wave drive speed reducer sound state rotating accuracy data real number form is judged into square
Battle array is converted into the sound state rotating accuracy judgment matrix of Vague collection form, and weight vectors are also translated into Vague collection form
Sound state rotating accuracy judgment matrix；Using the PROMETHEE method based on Vague collection form to harmonic wave drive speed reducer sound
State rotating accuracy data are ranked up, and obtain collating sequence；By harmonic wave drive speed reducer sound state rotating accuracy data real number
The initial sound state rotating accuracy judgment matrix of form is converted into the sound state rotating accuracy judgment matrix of Vague collection form, and
It is needed before weight vectors to be also translated into the sound state rotating accuracy judgment matrix of Vague collection form: providing sound state revolution essence
The ordering vector for spending each evaluation index of assessment, finds out subjective weight using orderly binary comparison method；Refer to according to by each evaluation
The initial sound state rotating accuracy judgment matrix of target value composition seeks objective weight using VC Method；It is similar using vector
Topology degree acquires comprehensive weight.Can sound state rotating accuracy data to harmonic speed reducer carry out accurate judgement.
Detailed description of the invention
Fig. 1 is the sound state rotating accuracy detection system structure chart of harmonic speed reducer provided in an embodiment of the present invention.
In figure: 1, twisting resistance acquisition module；2, revolving speed acquisition module；3, rotating accuracy monitoring modular；4, center control mould
Block；5, module is denoised；6, correction module；7, performance test module；8, display module.
Fig. 2 is the sound state rotating accuracy detection method flow chart of harmonic speed reducer provided in an embodiment of the present invention.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description includes.
Structure of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, the sound state rotating accuracy detection system of harmonic speed reducer provided in an embodiment of the present invention includes: to turn round
Turn power acquisition module 1, revolving speed acquisition module 2, rotating accuracy monitoring modular 3, central control module 4, denoising module 5, straightening die
Block 6, performance test module 7, display module 8.
Twisting resistance acquisition module 1 is connect with central control module 4, is subtracted for acquiring harmonic wave in real time by torque sensor
Fast device sound state reverses force data；
Revolving speed acquisition module 2 is connect with central control module 4, for acquiring harmonic reduction in real time by velocity sensor
Device velocity of rotation data；
Rotating accuracy monitoring modular 3 is connect with central control module 4, for being passed by monitoring device real-time monitoring harmonic wave
Dynamic retarder sound state rotating accuracy data；
Central control module 4, with twisting resistance acquisition module 1, revolving speed acquisition module 2, rotating accuracy monitoring modular 3, denoising
Module 5, correction module 6, performance test module 7, display module 8 connect, for controlling the normal work of modules by single-chip microcontroller
Make；
Module 5 is denoised, is connect with central control module 4, for being gone by data of the data processor to acquisition
It makes an uproar processing；
Correction module 6 is connect with central control module 4, for being corrected place by data of the correction program to acquisition
Reason；
Performance test module 7 is connect with central control module 4, for by test program to harmonic speed reducer performance into
Row test；
Display module 8 is connect with central control module 4, for the harmonic wave drive speed reducer by display display detection
Sound state twisting resistance, velocity of rotation, rotating accuracy, performance test data information.
3 monitoring method of rotating accuracy monitoring modular provided by the invention includes:
(1) single-chip microcontroller is connected into motor, motor is used to provide the driving force of system work, and motor connects motor side encoder
And harmonic speed reducer, harmonic speed reducer connect harmonic wave end encoder；
(2) it sends whether signal control motor starts to work by single-chip microcontroller, and receives motor side encoder and harmonic wave
Hold the pulse signal of encoder feedback；
(3) kinetic energy that motor side encoder is used to change motor is pulse signal, and pulse signal is fed back to single-chip microcontroller；
(4) kinetic energy that motor generates is changed by specific reduction ratio by deceleration kinetic energy by harmonic speed reducer, after deceleration
Output drives the work of harmonic wave end encoder；The deceleration kinetic energy that harmonic speed reducer generates is changed into pulse by harmonic wave end encoder
Signal, and pulse signal is fed back into single-chip microcontroller, harmonic speed reducer rotating accuracy is monitored.
7 test method of performance test module provided by the invention includes:
1) cyclic test of harmonic speed reducer thermal vacuum is carried out using multifactor orthogonal design by test program, selection passes
Evaluation index of the efficiency of movement as transmission performance；
2) factors such as environment temperature, load, lubricating system and working time are investigated to the shadow of harmonic speed reducer transmission performance
Ring Study of Sensitivity；
3) solid lubrication and grease lubrication harmonic speed reducer are gearing in wide temperature range under the conditions of research rated load
Energy；
4) transmission efficiency and environment temperature, the relationship of working time are inquired into；After wave producer runs certain number, utilize
Optical microscopy observes harmonic reducer flexible wheel work surface state after test.
As shown in Fig. 2, the sound state rotating accuracy detection method of harmonic speed reducer provided in an embodiment of the present invention includes:
S101 acquires harmonic speed reducer sound state twisting resistance by twisting resistance acquisition module 1 in real time using torque sensor
Data；Acquire harmonic speed reducer velocity of rotation data in real time using velocity sensor by revolving speed acquisition module 2；Pass through revolution essence
It spends monitoring modular 3 and utilizes monitoring device real-time monitoring harmonic wave drive speed reducer sound state rotating accuracy data.
S101, central control module 4 are carried out at denoising by denoising module 5 using data of the data processor to acquisition
Reason；Processing is corrected using data of the correction program to acquisition by correction module 6.
S103, passage capacity test module 7 test harmonic speed reducer performance using test program.
S104, the sound state twisting resistance of the harmonic wave drive speed reducer detected by display module 8 using display display are turned
Dynamic speed, rotating accuracy, performance test data information.
In embodiments of the present invention, monitoring device real-time monitoring harmonic drive reduction is utilized by rotating accuracy monitoring modular
Device sound state rotating accuracy data；
The initial sound state rotating accuracy of harmonic wave drive speed reducer sound state rotating accuracy data real number form is judged into square
Battle array is converted into the sound state rotating accuracy judgment matrix of Vague collection form, and weight vectors are also translated into Vague collection form
Sound state rotating accuracy judgment matrix；Using the PROMETHEE method based on Vague collection form to harmonic wave drive speed reducer sound
State rotating accuracy data are ranked up, and obtain collating sequence；
Step 2, central control module are carried out at denoising by denoising module using data of the data processor to acquisition
Reason；Processing is corrected using data of the correction program to acquisition by correction module；
Step 3, passage capacity test module test harmonic speed reducer performance using test program；
Step 4, by display module using display display detection harmonic wave drive speed reducer sound state twisting resistance,
Velocity of rotation, rotating accuracy, performance test data information.
Judge by the initial sound state rotating accuracy of harmonic wave drive speed reducer sound state rotating accuracy data real number form
Weight vectors and are also translated into Vague collection form at the sound state rotating accuracy judgment matrix of Vague collection form by matrix conversion
Sound state rotating accuracy judgment matrix before need:
The ordering vector for providing each evaluation index of sound state rotating accuracy assessment, finds out master using orderly binary comparison method
See weight；
VC Method is utilized according to the initial sound state rotating accuracy judgment matrix that the value by each evaluation index forms
Seek objective weight；
Comprehensive weight is acquired using vector similarity theory.
Subjective weight is acquired by orderly binary comparison method method particularly includes:
Step 1: determining evaluation object and expert's collection: X is the entire objects collection investigated, and is denoted as X={ x1,x2,...xNBe
It participates in determining that the expert of index weights integrates as P={ p1,p2...pL}；
Step 2: being the sequence of each index using set value iterative method: weight is { λ1,λ2,...λL, according to weight in index set
Degree is wanted to be ranked up index, the index ordered set that k (1≤k≤L) chooses is Xk=(x3,x5,x1,xN...,xN-1), in formula
x3Positioned at XkFirst position, i.e., expression x3Think most important in k, according to each index in XkIn position assign referring to respectively
Score is marked, in XkMiddle x3It is corresponding to be scored at N, x5It is corresponding to be scored at N-1, xN-1It is corresponding to be scored at 1；
μi,k(1≤i≤N, 1≤k≤L) is index i score obtained at k, is enabledIt is commented as synthesis
Point, 1≤i≤N in formula, according to giIt is descending new sequence is carried out to evaluation index,
Step 3: being compared acquisition comparator matrix to adjacent evaluation index respectively；
By comparing the significance level of the relatively latter index of previous index in adjacent index, evaluation interval, section end are provided
Point value takes adjacent rkNumerical value, relative importance are between two r of the twokBetween the corresponding significance level of numerical value；
Step 4: converting point value by following formula for section:
In formula, rij' it is expert i to the lower bound in the evaluations matrix of index j, r "ijFor the upper bound in evaluations matrix, j=1,
2 ..., n-1；
Step 5: determining the weight of evaluation index: it is compared since N number of index is adjacent, obtains N-1 fiducial value:
In formula: r1Significance level of the meaning represented as first index after rearrangement relative to second index,
With the ratio between the absolutely essential degree of first index and second indexIt illustrates,
Comprehensive weight are as follows:
The weight of other indexs are as follows:
Further, objective weight is acquired by VC Method method particularly includes:
Step 1: assessment indicator system shares m evaluation index, system evaluation and data have been carried out to n evaluation object
Sampling, initial data evaluations matrix are expressed as matrix X:
Step 2: the mean value and standard deviation of each index of calculated with actual values according to each object of classification index:
Wherein the mean value of j-th index and standard deviation are respectively as follows:
J=1 in formula, 2 ... ... m；
Step 3: calculating the coefficient of variation of each index:
Step 4: determining the weight of each index:
First the index coefficient of variation is normalized,Then it obtains
The weight sets V of indexj={ ν1,ν2,…νM, wherein
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of the technology of the present invention harmonic wave drive speed reducer sound state rotating accuracy data.
Claims (10)
1. a kind of sound state rotating accuracy detection system of harmonic speed reducer, which is characterized in that the sound of the harmonic speed reducer
State rotating accuracy detection system includes:
Twisting resistance acquisition module, connect with central control module, dynamic for acquiring harmonic speed reducer in real time by torque sensor
Static twist force data；
Revolving speed acquisition module, connect with central control module, for acquiring harmonic speed reducer rotation in real time by velocity sensor
Speed data；
Rotating accuracy monitoring modular, connect with central control module, for passing through monitoring device real-time monitoring harmonic drive reduction
Device sound state rotating accuracy data；
Central control module, with twisting resistance acquisition module, revolving speed acquisition module, rotating accuracy monitoring modular, denoising module, correction
Module, performance test module, display module connection, work normally for controlling modules by single-chip microcontroller；
Module is denoised, is connect with central control module, for carrying out denoising by data of the data processor to acquisition；
Correction module is connect with central control module, for being corrected processing by data of the correction program to acquisition；
Performance test module is connect with central control module, for being tested by test program harmonic speed reducer performance；
Display module is connect with central control module, the sound for the harmonic wave drive speed reducer by display display detection
State twisting resistance, velocity of rotation, rotating accuracy, performance test data information.
2. a kind of harmonic drive reduction for the sound state rotating accuracy detection system for carrying harmonic speed reducer described in claim 1
Device.
3. a kind of sound of the harmonic speed reducer of the sound state rotating accuracy detection system of harmonic speed reducer as described in claim 1
State rotating accuracy detection method, which is characterized in that the sound state rotating accuracy detection method of the harmonic speed reducer includes:
Step 1 acquires harmonic speed reducer sound state twisting resistance number using torque sensor by twisting resistance acquisition module in real time
According to；Harmonic speed reducer velocity of rotation data are acquired in real time using velocity sensor by revolving speed acquisition module；
Monitoring device real-time monitoring harmonic wave drive speed reducer sound state rotating accuracy data are utilized by rotating accuracy monitoring modular；
The initial sound state rotating accuracy judgment matrix of harmonic wave drive speed reducer sound state rotating accuracy data real number form is turned
It changes the sound state rotating accuracy judgment matrix of Vague collection form into, and weight vectors is also translated into the sound of Vague collection form
State rotating accuracy judgment matrix；Harmonic wave drive speed reducer sound state is returned using the PROMETHEE method based on Vague collection form
Turn accuracy data to be ranked up, obtains collating sequence；
Step 2, central control module carry out denoising using data of the data processor to acquisition by denoising module；
Processing is corrected using data of the correction program to acquisition by correction module；
Step 3, passage capacity test module test harmonic speed reducer performance using test program；
Step 4, sound state twisting resistance, rotation by display module using the harmonic wave drive speed reducer of display display detection
Speed, rotating accuracy, performance test data information.
4. the sound state rotating accuracy detection method of harmonic speed reducer as claimed in claim 3, which is characterized in that by harmonic wave
The initial sound state rotating accuracy judgment matrix of gearing speed-reducer sound state rotating accuracy data real number form is converted into Vague collection
The sound state rotating accuracy judgment matrix of form, and weight vectors are also translated into the sound state rotating accuracy of Vague collection form
It is needed before judgment matrix:
The ordering vector for providing each evaluation index of sound state rotating accuracy assessment, finds out subjective power using orderly binary comparison method
Weight；
It is sought according to the initial sound state rotating accuracy judgment matrix that the value by each evaluation index forms using VC Method
Objective weight；
Comprehensive weight is acquired using vector similarity theory.
5. the sound state rotating accuracy detection method of harmonic speed reducer as claimed in claim 3, which is characterized in that subjective weight
It is acquired by orderly binary comparison method method particularly includes:
Step 1: determining evaluation object and expert's collection: X is the entire objects collection investigated, and is denoted as X={ x1,x2,...xNIt is to participate in
Determine that the expert of index weights integrates as P={ p1,p2...pL}；
Step 2: being the sequence of each index using set value iterative method: weight is { λ1,λ2,...λL, according to important journey in index set
Degree is ranked up index, and the index ordered set that k (1≤k≤L) chooses is Xk=(x3,x5,x1,xN...,xN-1), x in formula3Position
In XkFirst position, i.e., expression x3Think most important in k, according to each index in XkIn position assign index respectively and obtain
Point, in XkMiddle x3It is corresponding to be scored at N, x5It is corresponding to be scored at N-1, xN-1It is corresponding to be scored at 1；
μi,k(1≤i≤N, 1≤k≤L) is index i score obtained at k, is enabledAs comprehensive score,
1≤i≤N in formula, according to giIt is descending new sequence is carried out to evaluation index,
Step 3: being compared acquisition comparator matrix to adjacent evaluation index respectively；
By comparing the significance level of the relatively latter index of previous index in adjacent index, evaluation interval, interval endpoint value are provided
Take adjacent rkNumerical value, relative importance are between two r of the twokBetween the corresponding significance level of numerical value；
Step 4: converting point value by following formula for section:
In formula, r 'ijIt is expert i to the lower bound in the evaluations matrix of index j, r "ijFor the upper bound in evaluations matrix, j=1,2 ...,
n-1；
Step 5: determining the weight of evaluation index: it is compared since N number of index is adjacent, obtains N-1 fiducial value:
In formula: r1Significance level of the meaning represented as first index after rearrangement relative to second index, with first
The ratio between the absolutely essential degree of a index and second indexIt illustrates,
Comprehensive weight are as follows:
The weight of other indexs are as follows:
6. the sound state rotating accuracy detection method of harmonic speed reducer as claimed in claim 3, which is characterized in that objective weight
It is acquired by VC Method method particularly includes:
Step 1: assessment indicator system shares m evaluation index, system evaluation and data sampling have been carried out to n evaluation object,
Initial data evaluations matrix is expressed as matrix X:
Step 2: the mean value and standard deviation of each index of calculated with actual values according to each object of classification index:
Wherein the mean value of j-th index and standard deviation are respectively as follows:
J=1 in formula, 2 ... ... m；
Step 3: calculating the coefficient of variation of each index:
Step 4: determining the weight of each index:
First the index coefficient of variation is normalized,Then index is obtained
Weight sets Vj={ ν1,ν2,…νM, wherein
7. the sound state rotating accuracy detection method of harmonic speed reducer as claimed in claim 3, which is characterized in that the revolution
Accuracy monitoring module monitors method includes:
(1) single-chip microcontroller is connected into motor, motor is used to provide the driving force of system work, and motor connects motor side encoder and humorous
Wave retarder, harmonic speed reducer connect harmonic wave end encoder；
(2) it sends whether signal control motor starts to work by single-chip microcontroller, and receives motor side encoder and harmonic wave end volume
The pulse signal of code device feedback；
(3) kinetic energy that motor side encoder is used to change motor is pulse signal, and pulse signal is fed back to single-chip microcontroller；
(4) kinetic energy that motor generates is changed by specific reduction ratio by deceleration kinetic energy by harmonic speed reducer, is exported after deceleration
Drive the work of harmonic wave end encoder；The deceleration kinetic energy that harmonic speed reducer generates is changed into pulse letter by harmonic wave end encoder
Number, and pulse signal is fed back into single-chip microcontroller, harmonic speed reducer rotating accuracy is monitored.
8. the sound state rotating accuracy detection method of harmonic speed reducer as claimed in claim 3, which is characterized in that the performance
Test module test method includes:
1) cyclic test of harmonic speed reducer thermal vacuum, selection transmission effect are carried out using multifactor orthogonal design by test program
Evaluation index of the rate as transmission performance；
2) it is quick that the influences of the factors to harmonic speed reducer transmission performance such as environment temperature, load, lubricating system and working time are investigated
Perception research；
3) transmission performance of solid lubrication and grease lubrication harmonic speed reducer in wide temperature range under the conditions of research rated load；
4) transmission efficiency and environment temperature, the relationship of working time are inquired into；After wave producer runs certain number, optics is utilized
Microscope observes harmonic reducer flexible wheel work surface state after test.
9. a kind of letter for the sound state rotating accuracy detection method for realizing harmonic speed reducer described in claim 3~8 any one
Cease data processing terminal.
10. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer executes such as
The sound state rotating accuracy detection method of harmonic speed reducer described in claim 3~8 any one.
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