CN117168802A - Method for detecting performance life of harmonic speed reducer - Google Patents
Method for detecting performance life of harmonic speed reducer Download PDFInfo
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Abstract
The invention discloses a method for detecting the performance life of a harmonic speed reducer, relates to the technical field of harmonic speed reducers, and aims to solve the problem that the performance detection of the harmonic speed reducer is inaccurate. According to the method for detecting the performance life of the harmonic speed reducer, the two detection modes are more beneficial to the acquisition of the performance data of the harmonic speed reducer, the accuracy of the later data detection is effectively improved, the performance data of the harmonic speed reducer and the performance data of the standard harmonic speed reducer are subjected to data operation through a neural network, a back propagation mechanism is formed according to the forward propagation and the back propagation layer by layer and fed back, the operation result can be optimized, the data comparison is carried out according to the attribute type and the standard data, the data of each part and each detection attribute in the harmonic speed reducer can be effectively acquired through the splitting and the comparison of the detection data, and the accuracy of the whole life acquisition of the harmonic speed reducer is further enhanced.
Description
Technical Field
The invention relates to the technical field of harmonic reducers, in particular to a method for detecting the performance life of a harmonic reducer.
Background
The harmonic speed reducer is a gear transmission device, and meets the requirements of various working machines by reducing the rotating speed and increasing the torque, and is widely applied to various industries such as aerospace, navigation, mechanical manufacturing, transportation and the like.
The Chinese patent with publication number of CN107991094A discloses a performance test method of a harmonic speed reducer for an industrial robot, wherein an output shaft of a servo motor and an input shaft of the speed reducer are connected through a coupler, the actual connection of the servo motor and the speed reducer can be simulated, the motor can be replaced easily, a speed reducer bracket is indirectly fixed with the speed reducer through a speed reducer sleeve, and various types of speed reducers are installed; the reliability test of the power unit under two different output modes of the speed reducer can be realized; the power unit performance change trend can be judged by collecting and displaying relevant performance parameters of the power unit in real time when the test is carried out, the actual working condition of the power unit of the industrial robot can be simulated and the reliability test is carried out, the test efficiency is higher, the degree of automation is high, the problems of detection of the harmonic reducer are solved, and the following problems still exist in the actual operation:
1. the comprehensive performance of the harmonic speed reducer is not detected, and only a single performance parameter is acquired for the harmonic speed reducer, so that the detection result is inaccurate due to imperfect data acquisition.
2. The acquired performance data is not compared with the standard performance data, so that the performance data of the harmonic speed reducer is not accurately acquired.
3. And as the attribute of the performance data is too many, the obtained attribute data is not compared with the standard data, so that the life data of the final harmonic speed reducer is incompletely obtained.
Disclosure of Invention
The invention aims to provide a method for detecting the performance life of a harmonic speed reducer, which is more beneficial to the acquisition of performance data of the harmonic speed reducer by two detection modes, effectively improves the accuracy of the later data detection, carries out data operation on the performance data of the harmonic speed reducer and the performance data of a standard harmonic speed reducer through a neural network, feeds back the performance data of the harmonic speed reducer forward layer by layer according to forward propagation and backward propagation to form a backward propagation mechanism, can optimize the operation result, carries out data comparison according to attribute types and standard data, and can effectively acquire each part and the data of each detection attribute in the harmonic speed reducer through splitting and comparing the detection data, thereby further enhancing the accuracy of the whole life acquisition of the harmonic speed reducer and solving the problems in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a method for detecting the performance life of a harmonic speed reducer comprises the following steps:
s1: detecting the service performance of the harmonic speed reducer according to the simulation test and the field test, and acquiring test results of the simulation test and the field test;
S2: the standard performance parameter data of the harmonic speed reducer is retrieved, wherein the standard performance parameter data is stored in a database, and the standard performance parameter data and the acquired test result data are subjected to data operation;
s3: carrying out data analysis on the data operation result, wherein the data analysis mainly judges whether the data belongs to the service life range of the normal harmonic speed reducer according to the data comparison result;
s4: and judging the comprehensive service life index of the harmonic speed reducer according to the performance range of the harmonic speed reducer, judging the service life of the harmonic speed reducer according to the service life index, and presenting the judging result in a control terminal in the form of a document.
Preferably, the simulation test for the harmonic speed reducer in S1 is used for:
the simulation test mainly comprises material detection, hardness detection, vibration detection and noise detection;
the material detection is mainly used for testing the tensile strength and the bending strength of each part in the harmonic speed reducer;
the tensile strength test of each part comprises the steps of firstly placing a main sample part in a harmonic speed reducer in a clamping device of a tensile testing machine, adjusting the load speed and the temperature of the tensile testing machine according to the original performance parameters of the sample part after the placing, wherein the load speed is 1mm/min-10mm/min, the temperature is adjusted to be room temperature or high temperature, and mainly adjusting according to the original performance parameters of the sample part, wherein the tensile testing machine acquires the data result of the sample part test, and the data result comprises the Young modulus, the ultimate tensile strength, the yield point and the fracture toughness of the sample part.
Preferably, the flexural strength test of the sample part is used for:
the bending strength test of each part comprises the steps of firstly placing main sample parts in a harmonic speed reducer in a bending device of a testing machine, and placing the directions of the sample parts to be consistent;
after the sample part is placed, a pressure head on the bending device applies downward pressure to the sample part, and the sample part is bent in shape and deformed until the sample part is broken after the pressure is applied;
and acquiring load, temperature and displacement data of the sample part in the pressing process.
Preferably, the hardness detection, vibration detection and noise detection of the sample part are used for:
the hardness detection is used for carrying out hardness test on the sample part by adopting a metal hardness tester, and the sample part freely falls to the surface of the sample part from a certain height by utilizing a steel ball or a tungsten ball with a certain mass; the hardness value of the sample part is calculated by measuring the diameter of an impression left on the surface of the sample part by the steel ball or the tungsten ball, and the hardness value is recorded;
the vibration detection is used for placing the sample part on the vibration equipment, the vibrator is used for stably and continuously vibrating the sample part, vibration displacement, acceleration and frequency data of the sample part are obtained when the vibrator vibrates the sample part, the stability of connection between the sample part and the vibrator is detected, wherein the vibration quantity is converted into an electric signal, parameters of the vibration displacement, acceleration and frequency data of the sample part are detected after the conversion, and the parameters are recorded;
The noise detection is used for collecting the operation sound of the current harmonic speed reducer through the sound intensity collector when the harmonic speed reducer is in the normal operation process, and recording the collected result.
Preferably, the field test for the harmonic reducer in S1 is used for:
the field test mainly comprises endurance detection, load detection and environment detection;
the endurance detection is mainly used for applying the harmonic speed reducer to actual operation work and operation, and performing a fatigue test on the harmonic speed reducer in the operation process, wherein the fatigue test mainly is to judge whether the structure of the harmonic speed reducer is broken or stopped, and if the structure of the harmonic speed reducer is broken or stopped, the time data of the fatigue test of the equipment is obtained;
the load detection is mainly used for carrying out load assessment on the harmonic speed reducer by measuring the load borne by the bearing in actual operation and running of the harmonic speed reducer, wherein the load of the harmonic speed reducer comprises static load, dynamic load and impact load, the load borne by the bearing is calculated according to the stress condition of the bearing, the load is monitored in real time through a sensor, and monitoring data are recorded;
the environment detection is mainly used for detecting the working environment of the harmonic speed reducer through the temperature and humidity collector and the dust filter, and judging whether the temperature, the humidity and the dust amount in the working environment of the harmonic speed reducer are in a normal range or not according to the basic performance parameters of the harmonic speed reducer.
Preferably, the operation of the test result data and the standard performance parameter data in S2 is used for:
the acquired test result data are imported into a neural network setting parameter, standard performance parameters are stored in a neural network model, and data operation is performed through the neural network after parameter importing is completed;
firstly, forward transmission is carried out on the acquired test result data, the test result data is transmitted from a low level to a high level, and the transmitted data is marked as first analysis data;
when the data result obtained by propagation does not accord with the standard performance parameter, performing back propagation, wherein the back propagation is to perform propagation training on the test result data from a high level to a bottom level, and marking the training data as second analysis data;
and carrying out data fusion on the first analysis data and the second analysis data, and obtaining first test data after the fusion is completed, wherein the data fusion is average value data of the first analysis data and the second analysis data.
Preferably, the propagation training of the test result data back propagation is further used for:
firstly, initializing and setting the weight of the parameters of the test result data, and after the setting is completed, forward transmitting the parameter data through a convolution layer, a downsampling layer and a full-connection layer to obtain an output value;
When the error is larger than the expected value, the error is transmitted back to the network, and the errors of the full-connection layer, the downsampling layer and the convolution layer are obtained in sequence;
wherein the errors of each layer are the total errors of the network; when the error is equal to or less than the desired value, then training is complete.
Preferably, for the operation data acquired in S3, the operation data is used to:
splitting the calculated data attribute, and dividing the data attribute according to the detection attribute of the harmonic reducer;
after the data attribute splitting is completed, standard attribute data is obtained, wherein the standard attribute data is the life data of normal parts of the harmonic speed reducer;
data comparison is carried out on the standard attribute data and the attribute data obtained through detection, and grade discrimination is carried out on comparison results after comparison is completed;
the class distinction comprises a class, a class and three classes;
when the comparison result threshold is within a class-level threshold range, the attribute data is deadly defect data, and the attribute data can cause life-threatening or unsafe defects;
when the comparison result threshold is within the threshold range of the class II, the attribute data is represented as serious defect data, and the attribute data may cause malfunction or reduce defects of the original use functions;
When the comparison result threshold is within the threshold range of three classes of grades, the attribute data is indicated to be slight defect data, and the attribute data has no influence on the service performance of the harmonic reducer but has a defect with larger influence on the appearance of the product;
and judging the service life of the parts in the harmonic speed reducer according to the grade of the comparison result.
Preferably, before detecting the service performance of the harmonic reducer according to the simulation test and the field test and acquiring the test results of the simulation test and the field test, the method further comprises:
acquiring model information of the harmonic speed reducer, and calling standard structure information of the harmonic speed reducer from a database according to the model information;
determining respective standard bar distances of a steel wheel, a flexible wheel and a wave generator cam of the harmonic speed reducer according to the standard structure information;
detecting respective current rod distances of a steel wheel, a flexible wheel and a wave generator cam of the harmonic speed reducer, and determining the rod distance deviation of the harmonic speed reducer according to the current rod distance and the standard rod distance;
determining meshing state parameters of the steel wheel, the flexible wheel and the wave generator cam according to the rod pitch deviation;
determining respective position correction curves of the steel wheel, the flexible wheel and the wave generator cam according to a preset meshing range based on meshing state parameters of the steel wheel, the flexible wheel and the wave generator cam;
Acquiring the respective planned elastic motion trail of the steel wheel, the flexible wheel and the wave generator cam;
generating respective output matrixes of the steel wheel, the flexible wheel and the wave generator cam according to respective planned elastic motion tracks of the steel wheel, the flexible wheel and the wave generator cam by a machine dynamics model based on the harmonic speed reducer;
acquiring respective linear parameters of the steel wheel, the flexible wheel and the wave generator cam according to respective output matrixes of the steel wheel, the flexible wheel and the wave generator cam;
generating respective theoretical elastic motion curves of the steel wheel, the flexible wheel and the wave generator cam based on respective linear parameters of the steel wheel, the flexible wheel and the wave generator cam;
judging whether the structure of the harmonic reducer is abnormal or not according to the position correction curves of the steel wheel, the flexible wheel and the wave generator cam and the theoretical elastic motion curves of the steel wheel, the flexible wheel and the wave generator cam, and acquiring a judgment result;
if the judging result is that the structure of the harmonic speed reducer is abnormal, generating an abnormality reminder.
Preferably, before detecting the service performance of the harmonic reducer according to the simulation test and the field test and acquiring the test results of the simulation test and the field test, the method further comprises:
acquiring technical requirements, service requirements, quality requirements, efficiency requirements and operation requirements of a plurality of simulation sites;
Acquiring technical scores, service scores, quality scores, efficiency scores and operation scores of the simulation sites based on technical requirements, service requirements, quality requirements and efficiency requirements of each simulation site through preset scoring rules;
calculating the test matching degree between each simulation site and the harmonic speed reducer according to the technical score, the service score, the quality score, the efficiency score and the operation score of the simulation site:
wherein Q is i Expressed as the test matching degree between the ith simulation site and the harmonic speed reducer, A 1i A is the technical score expressed as the ith simulated site 2i Business score, denoted as the ith simulated site, A 3i Represented as the quality score of the ith simulated site, A 4i Expressed as the efficiency score for the ith simulated site, A 5i An operational score, D, expressed as the ith simulated site i Denoted as the frequency of use of the ith analog field, α is denoted as the weighting coefficient corresponding to the equipment test, F i The test super parameter expressed as the ith simulation site has a value interval of [0.5,0.65 ]]F () is expressed as a preset field linear supply function, M i Simulation project Scale index expressed as the ith simulation site, S i A resource supply index denoted as the i-th simulated site, θ denoted as a balance factor;
And selecting a target simulation site with the largest matching degree as a test site for detecting the use performance of the harmonic speed reducer according to the test matching degree between each simulation site and the harmonic speed reducer.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the method for detecting the performance life of the harmonic speed reducer, provided by the invention, the performance of the harmonic speed reducer is detected mainly in a real working environment by field detection, and the two detection modes are more beneficial to the acquisition of the performance data of the harmonic speed reducer, so that the accuracy of the later data detection is effectively improved.
2. According to the method for detecting the performance life of the harmonic speed reducer, the obtained performance data of the harmonic speed reducer and the standard performance data of the harmonic speed reducer are subjected to data operation through the neural network, and the feedback is carried out forward layer by layer according to forward propagation and backward propagation, so that a backward propagation mechanism is formed, and an operation result can be optimized.
3. According to the method for detecting the performance life of the harmonic speed reducer, the detection data are classified according to different attribute types, data comparison is carried out according to the attribute types and the standard data after classification is completed, the data of each part and each detection attribute in the harmonic speed reducer can be effectively obtained through splitting and comparing the detection data, and the accuracy of obtaining the overall life of the harmonic speed reducer is further enhanced.
Drawings
FIG. 1 is a schematic diagram of the overall detection flow of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to solve the problem that in the prior art, when performance detection is performed on a harmonic speed reducer, the comprehensive performance of the harmonic speed reducer is not detected, but only a single performance parameter is collected on the harmonic speed reducer, so that the detection result is inaccurate due to imperfect data collection, please refer to fig. 1, the embodiment provides the following technical scheme:
a method for detecting the performance life of a harmonic speed reducer comprises the following steps:
s1: detecting the service performance of the harmonic speed reducer according to the simulation test and the field test, and acquiring test results of the simulation test and the field test;
the simulation test mainly comprises material detection, hardness detection, vibration detection and noise detection, the field test mainly comprises endurance detection, load detection and environment detection, the simulation test mainly utilizes a simulated working environment to detect the performance of parts in the harmonic speed reducer, the field detection mainly comprises a real working environment to detect the performance of the harmonic speed reducer, the two detection modes are more beneficial to the acquisition of the performance data of the harmonic speed reducer, and the accuracy of the later data detection is effectively improved;
S2: the standard performance parameter data of the harmonic speed reducer is retrieved, wherein the standard performance parameter data is stored in a database, and the standard performance parameter data and the acquired test result data are subjected to data operation;
the obtained harmonic speed reducer performance data and standard harmonic speed reducer performance data are subjected to data operation through a neural network, and a counter-propagation mechanism is formed according to layer-by-layer forward feedback of forward propagation and counter-propagation, so that an operation result can be optimized;
s3: carrying out data analysis on the data operation result, wherein the data analysis mainly judges whether the data belongs to the service life range of the normal harmonic speed reducer according to the data comparison result;
the detection data are classified according to different attribute types, data comparison is carried out according to the attribute types and standard data after classification is completed, and the data of each part and each detection attribute in the harmonic speed reducer can be effectively obtained through splitting and comparing the detection data, so that the accuracy of obtaining the whole service life of the harmonic speed reducer is further enhanced;
s4: judging the comprehensive service life index of the harmonic speed reducer according to the performance range of the harmonic speed reducer, judging the service life of the harmonic speed reducer according to the service life index, and presenting the judging result in a control terminal in a document form;
The final data are presented at the terminal, so that the detection result is more conveniently checked by staff, and decision judgment is more quickly performed on the harmonic reducer according to the checked condition.
Simulation test for the harmonic reducer in S1, for: the simulation test mainly comprises material detection, hardness detection, vibration detection and noise detection; the material detection is mainly used for testing the tensile strength and the bending strength of each part in the harmonic speed reducer; the tensile strength test of each part comprises the steps of firstly placing a main sample part in a harmonic speed reducer in a clamping device of a tensile testing machine, adjusting the load speed and the temperature of the tensile testing machine according to the original performance parameters of the sample part after the placing, wherein the load speed is 1mm/min-10mm/min, the temperature is adjusted to be room temperature or high temperature, the tensile strength test is mainly adjusted according to the original performance parameters of the sample part, the tensile testing machine obtains the data result of the sample part test, the data result comprises the Young modulus, ultimate tensile strength, yield point and fracture toughness of the sample part, and the flexural strength test of the sample part is used for: the bending strength test of each part comprises the steps of firstly placing main sample parts in a harmonic speed reducer in a bending device of a testing machine, and placing the directions of the sample parts to be consistent; after the sample part is placed, a pressure head on the bending device applies downward pressure to the sample part, and the sample part is bent in shape and deformed until the sample part is broken after the pressure is applied; and acquiring load, temperature and displacement data of the sample part in the pressing process, wherein the hardness detection, vibration detection and noise detection of the sample part are used for: the hardness detection is used for carrying out hardness test on the sample part by adopting a metal hardness tester, and the sample part freely falls to the surface of the sample part from a certain height by utilizing a steel ball or a tungsten ball with a certain mass; the hardness value of the sample part is calculated by measuring the diameter of an impression left on the surface of the sample part by the steel ball or the tungsten ball, and the hardness value is recorded; the vibration detection is used for placing the sample part on the vibration equipment, the vibrator is used for stably and continuously vibrating the sample part, vibration displacement, acceleration and frequency data of the sample part are obtained when the vibrator vibrates the sample part, the stability of connection between the sample part and the vibrator is detected, wherein the vibration quantity is converted into an electric signal, parameters of the vibration displacement, acceleration and frequency data of the sample part are detected after the conversion, and the parameters are recorded; the noise detection is used for collecting the operation sound of the current harmonic speed reducer through the sound intensity collector when the harmonic speed reducer is in the normal operation process, and recording the collected result.
Specifically, the working environment of the harmonic speed reducer is simulated according to a simulation test, wherein the tensile strength detection and the bending strength detection are carried out on main parts in the harmonic speed reducer through material detection, the tensile strength detection can be carried out on sample parts through a tensile testing machine, the actual bearing internal force of the sample parts can be effectively obtained, the critical point data of the breakage of the sample parts can be obtained, meanwhile, the temperature can be regulated according to the parameter attribute of the sample parts during the tensile detection, the performance and the reliability of the sample parts in an extreme temperature environment can be effectively evaluated through the tensile detection of the sample parts by regulating the temperature, the maximum bearing capacity of the sample parts under the bending action can be obtained through the bending strength detection, the bending force of the sample parts can be effectively improved under the condition that the sample parts are not damaged, the wear resistance of the sample part can be further known through the hardness detection, the higher the wear resistance of the sample part is, the longer the service life of the sample part is, the service life of the sample part is also, which is obtained according to the hardness of the sample part is further known, the vibration displacement, acceleration and frequency data of the sample part under vibration impact can be further known through the vibration detection, whether the vibration generated in normal work can affect the harmonic reducer can be judged according to the vibration displacement, acceleration and frequency data of the sample part, whether the sample part fails can be effectively obtained through the judgment of the vibration displacement, acceleration and frequency data, and the monitoring of the normal service life of the harmonic reducer can be obtained according to whether the failure occurs, through noise detection, the sound when the harmonic speed reducer operates can be collected and analyzed, whether the noise of the harmonic speed reducer in operation is in a normal range or not is judged according to an analysis result, if the noise is not in the normal noise range, the harmonic speed reducer is indicated to have vibration faults, the harmonic speed reducer is required to be detected, and meanwhile the service life of the harmonic speed reducer is also proved to be influenced.
The field test for the harmonic speed reducer in S1 is used for: the field test mainly comprises endurance detection, load detection and environment detection; the endurance detection is mainly used for applying the harmonic speed reducer to actual operation work and operation, and performing a fatigue test on the harmonic speed reducer in the operation process, wherein the fatigue test mainly is to judge whether the structure of the harmonic speed reducer is broken or stopped, and if the structure of the harmonic speed reducer is broken or stopped, the time data of the fatigue test of the equipment is obtained; the load detection is mainly used for carrying out load assessment on the harmonic speed reducer by measuring the load borne by the bearing in actual operation and running of the harmonic speed reducer, wherein the load of the harmonic speed reducer comprises static load, dynamic load and impact load, the load borne by the bearing is calculated according to the stress condition of the bearing, the load is monitored in real time through a sensor, and monitoring data are recorded; the environment detection is mainly used for detecting the working environment of the harmonic speed reducer through the temperature and humidity collector and the dust filter, and judging whether the temperature, the humidity and the dust amount in the working environment of the harmonic speed reducer are in a normal range or not according to the basic performance parameters of the harmonic speed reducer.
Specifically, the real working environment of the harmonic speed reducer is restored through field test, wherein whether the harmonic speed reducer has the problem that a part breaks or is stopped under the fatigue test can be effectively judged through the endurance detection of the harmonic speed reducer, the service life of the part in the harmonic speed reducer is further prolonged, abnormal parts in the harmonic speed reducer can be found out most rapidly in the fatigue test, the static load, the dynamic load and the impact load in the harmonic speed reducer can be effectively obtained according to the load detection, the bearing load conforming size is calculated according to the stress condition of the bearing, the performance capability of the harmonic speed reducer is further confirmed, the working environment which can be aimed through the environment detection is judged, and the service life of the harmonic speed reducer is shortened if the working environment is poor.
In order to solve the problem that in the prior art, after performance data of a harmonic speed reducer is acquired, the acquired performance data is not compared with standard performance data, so that the performance data of the harmonic speed reducer is not accurately acquired, referring to fig. 1, the embodiment provides the following technical scheme:
Aiming at the operation of the test result data and the standard performance parameter data in the step S2, the method is used for: the acquired test result data are imported into a neural network setting parameter, standard performance parameters are stored in a neural network model, and data operation is performed through the neural network after parameter importing is completed; firstly, forward transmission is carried out on the acquired test result data, the test result data is transmitted from a low level to a high level, and the transmitted data is marked as first analysis data; when the data result obtained by propagation does not accord with the standard performance parameter, performing back propagation, wherein the back propagation is to perform propagation training on the test result data from a high level to a bottom level, and marking the training data as second analysis data; and carrying out data fusion on the first analysis data and the second analysis data, and obtaining first test data after the fusion is completed, wherein the data fusion is average value data of the first analysis data and the second analysis data, and the test result data is back-propagated and propagates and trains and is also used for: firstly, initializing and setting the weight of the parameters of the test result data, and after the setting is completed, forward transmitting the parameter data through a convolution layer, a downsampling layer and a full-connection layer to obtain an output value; when the error is larger than the expected value, the error is transmitted back to the network, and the errors of the full-connection layer, the downsampling layer and the convolution layer are obtained in sequence; wherein the errors of each layer are the total errors of the network; when the error is equal to or less than the desired value, then training is complete.
Specifically, the acquired detection data and the standard performance data are subjected to data operation through a neural network, so that the accuracy of an operation result can be effectively improved, wherein the acquired test result data are firstly subjected to forward propagation, when the data result obtained by propagation does not accord with the standard performance parameter, the data are subjected to backward propagation, a backward propagation mechanism is formed by feeding back the data layer by layer according to a gradient decreasing formula, the operation result can be optimized, the first analysis data and the second analysis data are subjected to data fusion, the data fusion is the average value data of the first analysis data and the second analysis data, the acquired average value data is the optimal performance data of the harmonic reducer, and the stability and the accuracy of the performance data acquisition of the harmonic reducer are further improved.
In order to solve the problem that in the prior art, after performance of a harmonic speed reducer is acquired, as the attribute of performance data is too many, the acquired attribute data is not compared with standard data, so that the service life data of the final harmonic speed reducer is not perfect, referring to fig. 1, the embodiment provides the following technical scheme:
for the operation data acquired in S3, the method is used for: splitting the calculated data attribute, and dividing the data attribute according to the detection attribute of the harmonic reducer; after the data attribute splitting is completed, standard attribute data is obtained, wherein the standard attribute data is the life data of normal parts of the harmonic speed reducer; data comparison is carried out on the standard attribute data and the attribute data obtained through detection, and grade discrimination is carried out on comparison results after comparison is completed; the class distinction comprises a class, a class and three classes; when the comparison result threshold is within a class-level threshold range, the attribute data is deadly defect data, and the attribute data can cause life-threatening or unsafe defects; when the comparison result threshold is within the threshold range of the class II, the attribute data is represented as serious defect data, and the attribute data may cause malfunction or reduce defects of the original use functions; when the comparison result threshold is within the threshold range of three classes of grades, the attribute data is indicated to be slight defect data, and the attribute data has no influence on the service performance of the harmonic reducer but has a defect with larger influence on the appearance of the product; and judging the service life of the parts in the harmonic speed reducer according to the grade of the comparison result.
Specifically, the obtained detection data are classified according to different attribute types, the data are compared with the standard data according to the attribute types after the classification is finished, each part in the harmonic speed reducer and the data of each detection attribute can be effectively obtained through the separation and the comparison of the detection data, the accuracy of the whole service life of the harmonic speed reducer is further enhanced, meanwhile, the obtained comparison data can be distinguished according to the grades, the grades comprise one grade, two grades and three grades, the one grade is the grade with the most serious abnormal detection of the harmonic speed reducer, the service life of the harmonic speed reducer is shortest if the grade is one grade, the work of the harmonic speed reducer is stopped immediately, the two grades are the grade with the less abnormal detection of the harmonic speed reducer, the service life of the harmonic speed reducer is less than the one grade if the grade is two grades, the harmonic speed reducer is detected and maintained immediately, the three grades are the grade with the lowest abnormal detection of the harmonic speed reducer, and the service life of the harmonic speed reducer is longest if the three grades are the grade.
In one embodiment, before detecting the use performance of the harmonic reducer according to the simulation test and the field test and acquiring the test results of the simulation test and the field test, the method further comprises:
Acquiring model information of the harmonic speed reducer, and calling standard structure information of the harmonic speed reducer from a database according to the model information;
determining respective standard bar distances of a steel wheel, a flexible wheel and a wave generator cam of the harmonic speed reducer according to the standard structure information;
detecting respective current rod distances of a steel wheel, a flexible wheel and a wave generator cam of the harmonic speed reducer, and determining the rod distance deviation of the harmonic speed reducer according to the current rod distance and the standard rod distance;
determining meshing state parameters of the steel wheel, the flexible wheel and the wave generator cam according to the rod pitch deviation;
determining respective position correction curves of the steel wheel, the flexible wheel and the wave generator cam according to a preset meshing range based on meshing state parameters of the steel wheel, the flexible wheel and the wave generator cam;
acquiring the respective planned elastic motion trail of the steel wheel, the flexible wheel and the wave generator cam;
generating respective output matrixes of the steel wheel, the flexible wheel and the wave generator cam according to respective planned elastic motion tracks of the steel wheel, the flexible wheel and the wave generator cam by a machine dynamics model based on the harmonic speed reducer;
acquiring respective linear parameters of the steel wheel, the flexible wheel and the wave generator cam according to respective output matrixes of the steel wheel, the flexible wheel and the wave generator cam;
Generating respective theoretical elastic motion curves of the steel wheel, the flexible wheel and the wave generator cam based on respective linear parameters of the steel wheel, the flexible wheel and the wave generator cam;
judging whether the structure of the harmonic reducer is abnormal or not according to the position correction curves of the steel wheel, the flexible wheel and the wave generator cam and the theoretical elastic motion curves of the steel wheel, the flexible wheel and the wave generator cam, and acquiring a judgment result;
if the judging result is that the structure of the harmonic speed reducer is abnormal, generating an abnormality reminder.
The beneficial effects of the technical scheme are as follows: the harmonic speed reducer can be ensured to ensure a mechanism form conforming to detection conditions by judging whether the structure of the harmonic speed reducer is abnormal, so that conditions are laid for subsequent performance detection, and the practicability and reliability are further improved.
In one embodiment, before detecting the use performance of the harmonic reducer according to the simulation test and the field test and acquiring the test results of the simulation test and the field test, the method further comprises:
acquiring technical requirements, service requirements, quality requirements, efficiency requirements and operation requirements of a plurality of simulation sites;
acquiring technical scores, service scores, quality scores, efficiency scores and operation scores of the simulation sites based on technical requirements, service requirements, quality requirements and efficiency requirements of each simulation site through preset scoring rules;
Calculating the test matching degree between each simulation site and the harmonic speed reducer according to the technical score, the service score, the quality score, the efficiency score and the operation score of the simulation site:
wherein Q is i Expressed as the test matching degree between the ith simulation site and the harmonic speed reducer, A 1i A is the technical score expressed as the ith simulated site 2i Business score, denoted as the ith simulated site, A 3i Represented as the quality score of the ith simulated site, A 4i Expressed as the efficiency score for the ith simulated site, A 5i An operational score, D, expressed as the ith simulated site i Denoted as the frequency of use of the ith analog field, α is denoted as the weighting coefficient corresponding to the equipment test, F i The test super parameter expressed as the ith simulation site has a value interval of [0.5,0.65 ]]F () is expressed as a preset field linear supply function, M i Simulation project Scale index expressed as the ith simulation site, S i A resource supply index denoted as the i-th simulated site, θ denoted as a balance factor;
and selecting a target simulation site with the largest matching degree as a test site for detecting the use performance of the harmonic speed reducer according to the test matching degree between each simulation site and the harmonic speed reducer.
The beneficial effects of the technical scheme are as follows: the test matching degree between each simulation site and the harmonic speed reducer is calculated, so that the optimal simulation scene of the harmonic speed reducer can be intuitively evaluated and promoted for performance test aiming at the simulation characteristic parameters of each simulation site, the integrity and the precision of test results are ensured, and the practicability and the reliability are improved.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The method for detecting the performance life of the harmonic speed reducer is characterized by comprising the following steps of:
s1: detecting the service performance of the harmonic speed reducer according to the simulation test and the field test, and acquiring test results of the simulation test and the field test;
s2: the standard performance parameter data of the harmonic speed reducer is retrieved, wherein the standard performance parameter data is stored in a database, and the standard performance parameter data and the acquired test result data are subjected to data operation;
s3: carrying out data analysis on the data operation result, wherein the data analysis judges whether the data belongs to the service life range of the normal harmonic speed reducer according to the data comparison result;
s4: and judging the comprehensive service life index of the harmonic speed reducer according to the performance range of the harmonic speed reducer, judging the service life of the harmonic speed reducer according to the service life index, and presenting the judging result in a control terminal in the form of a document.
2. The method for detecting the performance life of a harmonic reducer according to claim 1, wherein the method comprises the steps of: simulation test for the harmonic reducer in S1, for:
the simulation test comprises material detection, hardness detection, vibration detection and noise detection;
The material detection is used for testing the tensile strength and the bending strength of each part in the harmonic speed reducer;
the tensile strength test of each part comprises the steps of firstly placing a sample part in a harmonic speed reducer in a clamping device of a tensile testing machine, adjusting the load speed and the temperature of the tensile testing machine according to the original performance parameters of the sample part after the placing, wherein the load speed is 1mm/min-10mm/min, the temperature is adjusted to be room temperature or high temperature, and the tensile testing machine obtains the data result of the sample part test according to the original performance parameters of the sample part, wherein the data result comprises the Young modulus, the ultimate tensile strength, the yield point and the fracture toughness of the sample part.
3. The method for detecting the performance life of a harmonic reducer according to claim 2, wherein: and the bending strength detection of the sample part is used for:
the bending strength test of each part comprises the steps of firstly placing sample parts in a harmonic speed reducer in a bending device of a testing machine, and placing the directions of the sample parts to be consistent;
after the sample part is placed, a pressure head on the bending device applies downward pressure to the sample part, and the sample part is bent in shape and deformed until the sample part is broken after the pressure is applied;
And acquiring load, temperature and displacement data of the sample part in the pressing process.
4. The method for detecting the performance life of a harmonic reducer according to claim 2, wherein: hardness detection, vibration detection and noise detection of the sample part for:
the hardness detection is used for carrying out hardness test on the sample part by adopting a metal hardness tester, and the sample part freely falls to the surface of the sample part from a certain height by utilizing a steel ball or a tungsten ball with a certain mass; the hardness value of the sample part is calculated by measuring the diameter of an impression left on the surface of the sample part by the steel ball or the tungsten ball, and the hardness value is recorded;
the vibration detection is used for placing the sample part on the vibration equipment, the vibrator is used for stably and continuously vibrating the sample part, vibration displacement, acceleration and frequency data of the sample part are obtained when the vibrator vibrates the sample part, the stability of connection between the sample part and the vibrator is detected, wherein the vibration quantity is converted into an electric signal, parameters of the vibration displacement, acceleration and frequency data of the sample part are detected after the conversion, and the parameters are recorded;
the noise detection is used for collecting the operation sound of the current harmonic speed reducer through the sound intensity collector when the harmonic speed reducer is in the normal operation process, and recording the collected result.
5. The method for detecting the performance life of a harmonic reducer according to claim 1, wherein the method comprises the steps of: the field test for the harmonic speed reducer in S1 is used for:
site testing includes endurance testing, load testing, and environmental testing;
the endurance detection is used for applying the harmonic speed reducer to actual operation work and operation, and the fatigue test is carried out on the harmonic speed reducer in the operation process, wherein the fatigue test is to judge whether the structure of the harmonic speed reducer is broken or stopped, and if the structure of the harmonic speed reducer is broken or stopped, the time data of the fatigue test of the equipment is obtained;
the load detection is used for carrying out load assessment on the harmonic speed reducer by measuring the load borne by the bearing in actual operation, wherein the load of the harmonic speed reducer comprises static load, dynamic load and impact load, the load borne by the bearing is calculated according to the stress condition of the bearing, the load is monitored in real time through the sensor, and monitoring data are recorded;
the environment detection is used for detecting the working environment of the harmonic speed reducer through the temperature and humidity collector and the dust filter, and judging whether the temperature, the humidity and the dust amount in the working environment of the harmonic speed reducer are in a normal range or not according to the basic performance parameters of the harmonic speed reducer.
6. The method for detecting the performance life of a harmonic reducer according to claim 1, wherein the method comprises the steps of: aiming at the operation of the test result data and the standard performance parameter data in the step S2, the method is used for:
the acquired test result data are imported into a neural network setting parameter, standard performance parameters are stored in a neural network model, and data operation is performed through the neural network after parameter importing is completed;
firstly, forward transmission is carried out on the acquired test result data, the test result data is transmitted from a low level to a high level, and the transmitted data is marked as first analysis data;
when the data result obtained by propagation does not accord with the standard performance parameter, performing back propagation, wherein the back propagation is to perform propagation training on the test result data from a high level to a bottom level, and marking the training data as second analysis data;
and carrying out data fusion on the first analysis data and the second analysis data, and obtaining first test data after the fusion is completed, wherein the data fusion is average value data of the first analysis data and the second analysis data.
7. The method for detecting the performance life of the harmonic reducer according to claim 6, wherein the method comprises the steps of: the propagation training of the test result data back propagation is further used for:
Firstly, initializing and setting the weight of the parameters of the test result data, and after the setting is completed, forward transmitting the parameter data through a convolution layer, a downsampling layer and a full-connection layer to obtain an output value;
when the error is larger than the expected value, the error is transmitted back to the network, and the errors of the full-connection layer, the downsampling layer and the convolution layer are obtained in sequence;
wherein the errors of each layer are the total errors of the network; when the error is equal to or less than the desired value, then training is complete.
8. The method for detecting the performance life of a harmonic reducer according to claim 1, wherein the method comprises the steps of: for the operation data acquired in S3, the method is used for:
splitting the calculated data attribute, and dividing the data attribute according to the detection attribute of the harmonic reducer;
after the data attribute splitting is completed, standard attribute data is obtained, wherein the standard attribute data is the life data of normal parts of the harmonic speed reducer;
data comparison is carried out on the standard attribute data and the attribute data obtained through detection, and grade discrimination is carried out on comparison results after comparison is completed;
the class distinction comprises a class, a class and three classes;
when the comparison result threshold is within a class-level threshold range, the attribute data is deadly defect data, and the attribute data can cause life-threatening or unsafe defects;
When the comparison result threshold is within the threshold range of the class II, the attribute data is represented as serious defect data, and the attribute data may cause malfunction or reduce defects of the original use functions;
when the comparison result threshold is within the threshold range of three classes of grades, the attribute data is indicated to be slight defect data, and the attribute data has no influence on the service performance of the harmonic reducer but has a defect with larger influence on the appearance of the product;
and judging the service life of the parts in the harmonic speed reducer according to the grade of the comparison result.
9. The method for detecting the performance life of a harmonic reducer according to claim 1, wherein the method comprises the steps of: before the use performance of the harmonic speed reducer is detected according to the simulation test and the field test, and the test results of the simulation test and the field test are obtained, the method further comprises the following steps:
acquiring model information of the harmonic speed reducer, and calling standard structure information of the harmonic speed reducer from a database according to the model information;
determining respective standard bar distances of a steel wheel, a flexible wheel and a wave generator cam of the harmonic speed reducer according to the standard structure information;
detecting respective current rod distances of a steel wheel, a flexible wheel and a wave generator cam of the harmonic speed reducer, and determining the rod distance deviation of the harmonic speed reducer according to the current rod distance and the standard rod distance;
Determining meshing state parameters of the steel wheel, the flexible wheel and the wave generator cam according to the rod pitch deviation;
determining respective position correction curves of the steel wheel, the flexible wheel and the wave generator cam according to a preset meshing range based on meshing state parameters of the steel wheel, the flexible wheel and the wave generator cam;
acquiring the respective planned elastic motion trail of the steel wheel, the flexible wheel and the wave generator cam;
generating respective output matrixes of the steel wheel, the flexible wheel and the wave generator cam according to respective planned elastic motion tracks of the steel wheel, the flexible wheel and the wave generator cam by a machine dynamics model based on the harmonic speed reducer;
acquiring respective linear parameters of the steel wheel, the flexible wheel and the wave generator cam according to respective output matrixes of the steel wheel, the flexible wheel and the wave generator cam;
generating respective theoretical elastic motion curves of the steel wheel, the flexible wheel and the wave generator cam based on respective linear parameters of the steel wheel, the flexible wheel and the wave generator cam;
judging whether the structure of the harmonic reducer is abnormal or not according to the position correction curves of the steel wheel, the flexible wheel and the wave generator cam and the theoretical elastic motion curves of the steel wheel, the flexible wheel and the wave generator cam, and acquiring a judgment result;
if the judging result is that the structure of the harmonic speed reducer is abnormal, generating an abnormality reminder.
10. The method for detecting the performance life of a harmonic reducer according to claim 1, wherein the method comprises the steps of: before the use performance of the harmonic speed reducer is detected according to the simulation test and the field test, and the test results of the simulation test and the field test are obtained, the method further comprises the following steps:
acquiring technical requirements, service requirements, quality requirements, efficiency requirements and operation requirements of a plurality of simulation sites;
acquiring technical scores, service scores, quality scores, efficiency scores and operation scores of the simulation sites based on technical requirements, service requirements, quality requirements and efficiency requirements of each simulation site through preset scoring rules;
calculating the test matching degree between each simulation site and the harmonic speed reducer according to the technical score, the service score, the quality score, the efficiency score and the operation score of the simulation site:
wherein Q is i Represented as a test match between the ith simulation site and the harmonic reducerDegree of match, A 1i A is the technical score expressed as the ith simulated site 2i Business score, denoted as the ith simulated site, A 3i Represented as the quality score of the ith simulated site, A 4i Expressed as the efficiency score for the ith simulated site, A 5i An operational score, D, expressed as the ith simulated site i Denoted as the frequency of use of the ith analog field, α is denoted as the weighting coefficient corresponding to the equipment test, F i The test super parameter expressed as the ith simulation site has a value interval of [0.5,0.65 ]]F () is expressed as a preset field linear supply function, M i Simulation project Scale index expressed as the ith simulation site, S i A resource supply index denoted as the i-th simulated site, θ denoted as a balance factor;
and selecting a target simulation site with the largest matching degree as a test site for detecting the use performance of the harmonic speed reducer according to the test matching degree between each simulation site and the harmonic speed reducer.
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