CN108287072B - Fatigue life testing method of precise speed reducer for robot - Google Patents
Fatigue life testing method of precise speed reducer for robot Download PDFInfo
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- CN108287072B CN108287072B CN201810185776.3A CN201810185776A CN108287072B CN 108287072 B CN108287072 B CN 108287072B CN 201810185776 A CN201810185776 A CN 201810185776A CN 108287072 B CN108287072 B CN 108287072B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/028—Acoustic or vibration analysis
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The application provides a fatigue life testing method of a precise speed reducer for a robot. The test system mainly comprises a test principle, a swing loading and control system and a data processing system. The tested speed reducer is driven from the input end to make the output end do reciprocating swing, the swing range is psi, the acceleration/deceleration angle range is alpha, the constant speed area angle range is psi-2 alpha and is not less than 0, the fatigue life of the product of the precise speed reducer is rapidly assessed by the maximum allowable load loading of the normal work of the tested speed reducer, and meanwhile, a set of equivalent method between the test fatigue life of the reciprocating swing loading process and the test fatigue life of the continuous steady-state torque loading process is established. The application can efficiently and accurately test the fatigue life of the precise speed reducer for the robot, and has high test precision and low cost.
Description
Technical Field
The application relates to the field of testing of precision reducers for robots, in particular to a fatigue life testing method of a precision reducer for a robot.
Background
The precision reducer is a core component of the robot, and the service life is an important performance parameter of the precision reducer for the robot. In order to ensure the reliability of the precise speed reducer for the robot, the fatigue life test of the precise speed reducer is particularly important. Internal bearing life is a critical component that limits the life of precision reducers for robots. The precision speed reducer works in a frequent acceleration/deceleration and reciprocating swing mode, and the service life of the precision speed reducer is greatly influenced by inertia and impact load of the bearing. The existing fatigue life test device for the precise speed reducer can continuously load steady-state torque on the speed reducer, the use condition of the speed reducer for the robot cannot be simulated, and the test method has larger difference from the actual condition.
Disclosure of Invention
The application aims to provide a fatigue life testing method of a precision speed reducer for a robot, which comprises a testing principle, a swinging loading and controlling system and a data processing system. The fatigue life of the precise speed reducer for the robot can be efficiently and accurately tested, and the testing precision is high and the cost is low.
In order to achieve the purpose, the application provides the fatigue life testing device for the precise speed reducer, which simulates the actual working condition of the robot, and based on the testing device, the testing test and the performance research are carried out on the precise speed reducer of the robot, so that the performance parameters of the precise speed reducer are obtained. The fatigue life of the speed reducer under the actual working condition is evaluated through actual measurement data feedback, and the purposes of predicting the life of the speed reducer and optimizing the performance of the speed reducer are achieved. The loading mode of the fatigue life testing device of the precise speed reducer for the robot adopts a reciprocating swinging inertia load component, simulates load working conditions such as acceleration/deceleration and impact of the tested speed reducer, and carries out an acceleration fatigue life test so as to load the maximum allowable load when the tested speed reducer works normally and rapidly evaluate the fatigue life of the precise speed reducer. The specific implementation mode is that a tested speed reducer is driven from an input end to enable an output end to swing reciprocally, the swing range is phi, the acceleration/deceleration angle range is alpha, and the constant speed area angle range is phi-2 alpha and is not less than 0; taking the consistency of the actual working condition and the test into consideration, the maximum rotating speed of the constant speed area is not greater than the allowable average rotating speed of the tested speed reducer, the maximum output torque of the tested speed reducer is not greater than the maximum allowable start-stop torque, and the loading life test is carried out according to an equal acceleration/deceleration curve or a sinusoidal acceleration/deceleration curve; meanwhile, an equivalent method between the test fatigue life of the reciprocating swing loading process and the test fatigue life of the continuous steady-state torque loading process is established, so that the specific description of the fatigue life definition of the robot reducer in the existing national standard and enterprise standard is realized by the test method.
The testing principle of the fatigue life testing method of the precise speed reducer for the robot is as follows: and the inertia load component applies inertia load to the tested speed reducer, the driving motor drives the input end of the tested speed reducer, the output end of the tested speed reducer drives the inertia load component to swing in a reciprocating manner, and the actual working condition of the mechanical arm of the robot is simulated. Theoretically, the larger the inertia load applied to the tested speed reducer is, the faster the product performance is degraded, the shorter the test time is, but the larger the inertia load is, the failure mechanism of the speed reducer is affected. The inertia load is used as a key technical parameter in an accelerated fatigue life test, the determination process has stricter standards, and the following principle is adopted: 1) The applied inertia load must be capable of accelerating the performance decay speed of the speed reducer, so that the test period can be greatly shortened, but the failure mechanism of the speed reducer cannot be influenced; 2) The inertia load cannot be selected only by theoretical feasibility, but is also practical, so that the inertia load is convenient to apply, and the performance of the speed reducer is influenced as much as possible. Based on the principle, the testing device combines the actual working conditions of the precise speed reducer, determines reasonable inertia load for different types of tested speed reducers through theoretical analysis, parameter calculation and configuration optimization, and adapts to different inertia load requirements through application and adjustment of the balancing weights for different tested speed reducers.
The application establishes the relationship between the test method and the steady-state torque loading continuous operation fatigue life test through the fatigue equivalent theory. The output end of the tested speed reducer is provided with an inertia load component which simulates a robot mechanical arm to enable the output end to swing reciprocally, and the periodic load torque T of the tested speed reducer comprises inertia torque generated by angular acceleration of the inertia load component and heavy torque generated by self weight of the inertia load component, and the calculation method is as follows:
wherein:
j-moment of inertia of the load on the output shaft,
epsilon-output shaft angular acceleration
m i Mass of each particle in the load on the output shaft
r i Radius of the particle to the axis of rotation
Swing angular displacement of load centroid on output shaft
g-gravity acceleration
The time t required for the life test is calculated according to the test load and the test rotating speed and the fatigue life calculation method of the roller/ball bearing as follows:
wherein:
t 0 design life at rated torque
n 0 Rated rotational speed of output end
T 0 Output rated torque
n m Average rotation speed of output end in test, n m ＝∑(t i n i )/∑t i
T m The average load torque at the output end during the test,
e-life index, for cycloid reducer eccentric shaft roller bearing, e=10/3; e=3 for harmonic reducer compliant (ball) bearings.
Compared with the prior art, the application has the following advantages:
1. the actual working condition of the robot can be better simulated, the influence of the corresponding dynamic load is considered, and the accuracy of the test result is high;
2. the accelerated fatigue test can be performed to the maximum extent, and the test period is shortened;
3. the device can test various types of tested pieces, and has strong compatibility;
4. the test device has simple structure and high reliability;
5. simple operation and low manufacturing cost.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
In the drawings:
FIG. 1 shows a mechanical structure schematic diagram of a fatigue life testing method of a precision speed reducer for a robot;
FIG. 2 shows a schematic diagram of the inertia load mechanism of FIG. 1.
Wherein the above figures include the following reference numerals:
1. a support table body; 2. x-direction screw rod; 3. y-direction lead screw; 4. a driving motor; 5. a transition coupling; 6. a tested speed reducer support; 7. a tested speed reducer input shaft; 8. a tested reducer adapter plate; 9. a tested speed reducer; 10. an inertia load member; 11. an acceleration sensor; 12. balancing weight
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
The application provides a fatigue life testing method of a precise speed reducer for a robot, which is used for realizing the fatigue life test under the actual use condition of the precise speed reducer for the simulation robot.
As shown in fig. 1 and 2, the supporting platform body (1) supports the whole structure of the testing device, the driving motor (4) provides power required by testing, the tested speed reducer (9) is a device to be tested, the device is fixed on the tested speed reducer support (6) through the tested speed reducer adapting disc (8), the driving motor (4) is connected with the tested speed reducer input shaft (7) through the transition connecting piece (5), the driving motor (4) drives the tested speed reducer input shaft (7), the output end of the tested speed reducer (9) swings reciprocally, the inertia load component (10) is installed at the output end of the tested speed reducer (9), and the mechanical arm of the robot is simulated, so that the testing result is combined with the actual working condition. By controlling the driving motor (4) to operate, the inertia load component (10) generates certain angular acceleration, and the product of the angular acceleration and the rotational inertia is the inertia torque applied to the tested speed reducer (9), and the torque born by the tested speed reducer (9) also comprises the moment generated by gravity. And (3) equivalent torque received by the tested speed reducer (9) with rated rotation speed and rated service life under rated torque to obtain required test time and swing period of the load inertia member (10). It should be noted that the swing range of the inertia load member (10) includes a constant speed zone in which the load applied to the subject decelerator (9) is small and affects the test period because the angular acceleration of the inertia load member (10) is zero, and an acceleration-deceleration zone, so that the constant speed zone is not excessively set. In the acceleration and deceleration area, the test time can be prolonged when the swing range is too large or too small, so that the swing ranges of the acceleration and deceleration area and the uniform speed area are determined after data calculation, analysis and optimization.
As shown in fig. 1 and 2, an acceleration sensor (11) is mounted on the inertia load member (10), acceleration of the inertia load member (10) is tested, different balancing weights (12) can be applied on the inertia load member (10) to meet test requirements of different tested reducers, and the swing starting position of the inertia load member (10) has a large influence on the whole test time and period and needs to be determined through calculation.
As shown in figure 1, the device is characterized in that the tested speed reducer adapting disc (8) is connected with the tested speed reducer support (6) through bolts, and the test requirements of different tested speed reducers can be met by replacing different tested speed reducer adapting discs (8).
As shown in fig. 1, the driving motor (4) can realize Y-direction movement under the driving of the Y-direction lead screw (3) so as to meet the testing requirements of different tested pieces.
As shown in figure 1, the fatigue life testing device of the precise speed reducer for the robot is characterized in that a supporting table body (1) is adopted, a V-shaped guide rail structure is arranged on the supporting table body, a driving motor (4) can move in the X direction under the driving of an X-direction lead screw (2), the test piece can be replaced conveniently, and the rigidity of the whole testing device is ensured.
It should be noted that the test device comprises a measurement and servo control system, including an acceleration sensor, a rotation speed sensor, a temperature sensor, a vibration sensor, a servo motor controller, a data acquisition board/card and the like, and is used for measuring parameters such as acceleration, motor rotation speed, temperature, vibration and the like of an output shaft of a tested piece reducer, realizing servo control of motor operation, and ensuring a preset test process. The measuring system of the testing device can realize higher measuring precision and repeated measuring precision, and ensure the reliability and consistency of multiple test results.
From the above description, it can be seen that the following technical effects are achieved by the embodiments of the present application: the fatigue life test of the precision speed reducer is carried out, the actual use working condition of the robot can be simulated, the structure is simple, the operation is convenient, and the test precision is high; the acceleration test can be realized to the maximum extent, and the test period is short; the coverage range is wide, and various types of tested pieces can be tested; the structural strength and rigidity are good, and the reliability is high; the cost is low.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the application described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The above embodiments are provided to illustrate the technical concept and features of the present application and are intended to enable those skilled in the art to understand the content of the present application and implement the same, and are not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (6)
1. The fatigue life testing method of the precise speed reducer for the robot comprises a testing principle, a swinging loading and controlling system and a data processing system, and is characterized in that:
a. the tested speed reducer is driven from the input end, so that the output end swings reciprocally, the fatigue life of the precise speed reducer for the robot is tested in a motion mode which is close to the actual use working condition of the speed reducer for the robot, the test result is closer to the actual working condition, and the accelerated fatigue test of the fatigue life of the speed reducer is easy to realize;
b. establishing a fatigue equivalent mathematical model, designing a reciprocating swing loading system, programming motion control and data processing software, realizing the swing fatigue test of the precision speed reducer and solving the relation between the swing fatigue test method and the fatigue life defined by the traditional continuous rotation test method, and controlling the driving motor to operate to enable an inertia load component to generate certain angular acceleration, wherein the product of the angular acceleration and the moment of inertia is the inertia torque applied to the tested speed reducer, the torque born by the tested speed reducer comprises the gravity moment of the inertia load component, and after the inertia torque and the gravity moment born by the tested speed reducer are overlapped, the fatigue life damage is equivalent to the fatigue life damage under the rated rotation speed and the rated torque, so as to obtain the load inertia and swing cycle required by the test corresponding life;
c. the reciprocating swing range is psi, the acceleration/deceleration angle range is alpha, the constant speed area angle range is psi-2 alpha and is not less than 0, the maximum rotating speed of the constant speed area is not more than the allowable average rotating speed of the test piece, the maximum output torque of the tested speed reducer is not more than the maximum allowable start-stop torque, and the loading life test is carried out according to an equal acceleration/deceleration curve or a sine acceleration/deceleration curve.
2. The fatigue life testing method of the precise speed reducer for the robot according to claim 1, wherein an inertia load component (10) is arranged at the output end of the tested piece, the inertia load component (10) simulates a robot arm, and periodic load torque acts on the tested speed reducer (9) when the output end of the inertia load component swings back and forth.
3. The fatigue life testing method of the precise speed reducer for the robot according to claim 1, wherein an acceleration sensor (11) is mounted on the inertia load member (10), acceleration of the inertia load member (10) is tested, and different balancing weights (12) can be applied on the inertia load member (10) so as to meet testing requirements of different tested speed reducers.
4. The fatigue life testing method of the precise speed reducer for the robot according to claim 1, wherein the tested speed reducer adapting disc (8) is connected with the tested speed reducer support (6) through bolts, and the testing requirements of different tested speed reducers can be met by replacing different tested speed reducer adapting discs (8).
5. The fatigue life testing method of the precise speed reducer for the robot is characterized in that the driving motor (4) can move in the Y direction under the driving of the Y-direction lead screw (3) so as to meet the testing requirements of different tested pieces.
6. The fatigue life testing method of the precise speed reducer for the robot is characterized in that a supporting table body (1) is adopted, a V-shaped guide rail structure is arranged on the supporting table body, the driving motor (4) can move in the X direction under the driving of the X-direction lead screw (2), the test piece is convenient to replace, and the rigidity of the whole testing device is ensured.
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