CN109902334B - Method and device for predicting service life of precision speed reducer for robot and computer equipment - Google Patents
Method and device for predicting service life of precision speed reducer for robot and computer equipment Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for predicting the service life of a precision speed reducer for a robot and computer equipment. The method for predicting the service life of the precision speed reducer for the robot comprises the following steps: obtaining product parameters of the speed reducer and stress data in a working condition of the speed reducer, and obtaining a reliability predicted service life distribution function of the speed reducer according to the product parameters and the stress data; acquiring test data about the speed reducer, which is acquired by the speed reducer accelerated life test device, and acquiring an accelerated test life distribution function of the speed reducer according to the test data of the accelerator; acquiring field operation data of the speed reducer, and acquiring a field operation life distribution function of the speed reducer according to the field operation data; according to the reliability prediction life distribution function, the accelerated test life distribution function, the field operation life distribution function and the multi-source information weighted fusion model, obtaining a life distribution function of multi-source information fusion; and obtaining a comprehensive life evaluation result of the speed reducer according to the life distribution function of the multi-source information fusion.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to a method and a device for predicting the service life of a precision speed reducer for a robot and computer equipment.
Background
The statements herein merely provide background information related to the present application and may not necessarily constitute prior art.
With the deep development of intelligent manufacturing, robots are in a vigorous development state as a typical application of the intelligent manufacturing industry. The speed reducer is used as a key core component of the robot, and the performance of the speed reducer directly influences the comprehensive performance of the robot. The service life of the reducer is used as a key application index of the reducer, the key problem which restricts the development of the precision reducer of the robot at present is necessary to be evaluated, so that the corresponding maintenance plan of the robot is made, the working precision of the robot is guaranteed, and the service efficiency of the robot is improved.
At present, the service life of a precision speed reducer applied to a robot is mainly judged through a design service life or a field application service life, but the design service life is often greatly different from the actual application, and the acquisition of the field application service life needs a longer service cycle. Therefore, the method for evaluating the service life of the speed reducer and the precision of the robot is of great significance.
Disclosure of Invention
In view of the above, it is necessary to provide a method and an apparatus for predicting the life of a precision reducer for a robot, and a computer device, in order to solve the problem that the life evaluation method proposed in the conventional art is poor in effect.
On one hand, the embodiment of the invention provides a method for predicting the service life of a precision speed reducer for a robot, which comprises the following steps:
obtaining product parameters of the speed reducer and stress data in a working condition of the speed reducer, and obtaining a reliability predicted service life distribution function of the speed reducer according to the product parameters and the stress data;
acquiring test data about the speed reducer, which is acquired by the speed reducer accelerated life test device, and acquiring an accelerated test life distribution function of the speed reducer according to the test data of the accelerator;
acquiring field operation data of the speed reducer, and acquiring a field operation life distribution function of the speed reducer according to the field operation data;
according to the reliability prediction life distribution function, the accelerated test life distribution function, the field operation life distribution function and the multi-source information weighted fusion model, obtaining a life distribution function of multi-source information fusion;
and obtaining a comprehensive life evaluation result of the speed reducer according to the life distribution function of the multi-source information fusion.
In one embodiment, the step of obtaining the multi-source information fused life distribution function according to the reliability prediction life distribution function, the accelerated test life distribution function, the field operation life distribution function and the multi-source information weighted fusion model comprises the following steps:
determining a first weight of the comprehensive life evaluation of the reliability prediction life distribution function support speed reducer, a second weight of the comprehensive life evaluation of the accelerated test life distribution function support speed reducer and a third weight of the comprehensive life evaluation of the field operation life distribution function support speed reducer;
obtaining a life distribution function of multi-source information fusion according to a reliability prediction life distribution function, an accelerated test life distribution function, a field operation life distribution function, a first weight, a second weight and a third weight
Wherein f (t) is a life distribution function of multi-source information fusion, f 1 (t) field operating life distribution function, f 2 (t)、f 3 (t)、...、f m-1 (t) is the accelerated test lifetime distribution function, f m (t) reliability prediction lifetime distribution function, k m Is a and f m(t) Corresponding first weight, k 2 、k 3 、...、k m-1 Is f 2 (t)、f 3 (t)、...、f m-1 (t) corresponding second weight, k 1 Is f 1(t) A corresponding third weight.
In one embodiment, the step of determining a first weight for the reliability projected life distribution function to support the collective life assessment of the retarder includes:
predicting a life distribution function f from reliability m (t) and field operational life distribution function f 1 (t) determining a reliability prediction lifetime distribution function f m (t) distribution function f for field operating life 1 Support vector of (t)
Predicting a lifetime distribution function f from reliability m (t) distribution function f for field operating life 1 (t) support vector S 1m Determining a first weight:
In one embodiment, the step of determining the second weight of the service-life comprehensive evaluation of the acceleration test service-life distribution function supporting speed reducer comprises the following steps:
according to accelerated test life distribution function f 2 (t)、f 3 (t)、...、f m-1 (t) and field operational life distribution function f 1 (t) determining an accelerated test lifetime distribution function f 2 (t)、f 3 (t)、...、f m-1 (t) versus field operating life distribution function f 1 (t) support vector
According to accelerated test life distribution function f 2 (t)、f 3 (t)、...、f m-1 (t) distribution function f for field operating life 1 (t) support vector S 1i (i =2, 3, …, m-1), determining a second weight:
In one embodiment, the step of determining a third weight for the in-situ operating life distribution function supporting the life composite rating of the retarder includes:
determining the credibility rho of the field operation life distribution function relative to the real speed reducer operation life distribution function, wherein rho is more than 0 and less than 1,
confidence gamma 1 ＜γ 2 The degree of reliability ρ is set as a third weight k 1 ，
Wherein L is γ1 And L γ2 The confidence interval lengths of the field operation service life distribution function which is predetermined according to the field operation data of the speed reducer are respectively under two different confidence degrees.
In one embodiment, the comprehensive life evaluation result of the speed reducer is as follows:
in one embodiment, the step of acquiring test data about the speed reducer collected by the speed reducer acceleration life test device and obtaining the acceleration test life distribution function of the speed reducer according to the test data of the accelerator comprises the following steps:
controlling an acceleration life test device to apply an acceleration stress test on a single group or multiple groups of speed reducers;
acquiring dynamic information of each speed reducer in each group;
fitting the dynamic information in each group in the group to obtain a fitting distribution function corresponding to each group;
obtaining a reliability function of each group of speed reducers according to the corresponding fitting distribution function of each group;
and obtaining the service life distribution function of the acceleration test corresponding to each group of speed reducers according to the reliability function of each group of speed reducers.
On the other hand, the embodiment of the invention also provides a device for predicting the service life of the precision speed reducer for the robot, which comprises the following components:
the reliability service life distribution acquisition module is used for acquiring product parameters of the speed reducer and stress data in the working condition, and acquiring a reliability prediction service life distribution function of the speed reducer according to the product parameters and the stress data;
the acceleration test service life distribution acquisition module is used for acquiring test data about the speed reducer, which is acquired by the speed reducer acceleration service life test device, and acquiring an acceleration test service life distribution function of the speed reducer according to the test data of the accelerator;
the field operation life distribution acquisition module is used for acquiring field operation data of the speed reducer and acquiring a field operation life distribution function of the speed reducer according to the field operation data;
the fusion life distribution obtaining module is used for obtaining a life distribution function of multi-source information fusion according to a reliability prediction life distribution function, an accelerated test life distribution function, a field operation life distribution function and a multi-source information weighting fusion model;
and the comprehensive life determining module is used for obtaining a life comprehensive evaluation result of the speed reducer according to the life distribution function of the multi-source information fusion.
A computer device comprises a memory and one or more processors, wherein computer readable instructions are stored in the memory, and when the computer readable instructions are executed by the one or more processors, the one or more processors are used for executing the steps of the method for predicting the service life of the robot precision speed reducer.
A computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the steps of the above-described method for predicting the life of a precision decelerator for a robot.
One or more embodiments provided by the invention have at least the following beneficial effects: according to the method for predicting the service life of the precision speed reducer for the robot, provided by the embodiment of the invention, the service life distribution functions under three conditions are respectively obtained by acquiring the product parameters of the speed reducer, the stress data in the working condition, the test data about the speed reducer, which is acquired by the speed reducer accelerated service life test device, and the field operation data of the speed reducer, then the service life distribution under the three conditions is comprehensively considered, the three service life distributions are fused by using the multi-source information weighted fusion model to obtain the service life distribution function with the multi-source information fusion, and the comprehensive service life evaluation of the speed reducer is carried out according to the fused service life distribution function. The method for predicting the service life of the precision speed reducer for the robot provided by the embodiment of the invention avoids the problem of overlarge error of a single information source evaluation method, and improves the precision and reliability of service life evaluation.
Drawings
FIG. 1 is a flowchart of a method for predicting the life of a precision reducer for a robot according to one embodiment;
FIG. 2 is a schematic flow chart illustrating a method for predicting the life of a precision reducer for a robot according to another embodiment;
FIG. 3 is a schematic flowchart of a life prediction method for a precision reducer for a robot according to yet another embodiment;
FIG. 4 is a flowchart illustrating steps of acquiring test data about the retarder collected by the retarder acceleration life test apparatus and obtaining an acceleration test life distribution function of the retarder according to the test data of the accelerator in one embodiment;
FIG. 5 is a block diagram showing a life prediction apparatus of a precision decelerator for a robot in one embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like are used herein for illustrative purposes only.
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 invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The embodiment of the invention provides a method for predicting the service life of a precision speed reducer for a robot, which comprises the following steps of:
s10: obtaining product parameters of the speed reducer and stress data in a working condition of the speed reducer, and obtaining a reliability predicted service life distribution function of the speed reducer according to the product parameters and the stress data;
s20: acquiring test data about the speed reducer, which is acquired by the speed reducer accelerated life test device, and acquiring an accelerated test life distribution function of the speed reducer according to the test data of the accelerator;
s30: acquiring field operation data of the speed reducer, and acquiring a field operation life distribution function of the speed reducer according to the field operation data;
s40: according to the reliability prediction life distribution function, the accelerated test life distribution function, the field operation life distribution function and the multi-source information weighted fusion model, obtaining a life distribution function of multi-source information fusion;
s50: and obtaining a comprehensive life evaluation result of the speed reducer according to the life distribution function of the multi-source information fusion.
The product parameters of the speed reducer can be parameters such as the shape and the material of the speed reducer, and refer to parameters capable of influencing the service life of the speed reducer. The stress data in the working condition refers to the stress loaded by the outside and other components on the carrier when the speed reducer is applied to the carriers such as the robot and the like and is in the working state. The accelerated life test device is a device which can enable the speed reducer to operate at a high input rotating speed so as to test performance indexes of the speed reducer, such as torque, power, temperature, transmission precision, torsional rigidity, backlash, reliability and the like. Specifically, various test devices can be adopted for realizing, for example, a large-range harmonic speed reducer test platform which is applied in advance can be adopted for carrying out an accelerated life test, and test data can be obtained. The field operation data refers to data in an operation state when the speed reducer operates in the operation field, and the data volume increases along with the lengthening of the operation time.
The reliability estimated service life distribution function can be obtained by means of simulation analysis or theoretical calculation and the like by utilizing a geometric model, material information and collected stress conditions in actual working conditions of the speed reducer of the type provided by a speed reducer manufacturer. The simulation analysis can be realized by using finite element analysis software and the like. The accelerated test life distribution function can be a life distribution function obtained by applying single or multiple groups of accelerated stresses such as temperature, humidity, torque, rotating speed and the like on a special speed reducer accelerated life test bed to carry out tests, acquiring dynamic information of the speed reducer test process, and carrying out data fitting and other processing subsequently. The distribution of the field operation life can be that the failure information and the failure mechanism of the speed reducer are counted by periodically collecting the operation and degradation information of the speed reducer on the operation field of the speed reducer, the field operation life distribution of the speed reducer is fitted according to the failure information and the life information which appear in the field operation process, and the field operation life distribution of the speed reducer is calculated.
Specifically, a reliability predicted life distribution function is obtained by obtaining product parameters of the speed reducer and stress data in a working condition of the speed reducer, test data about the speed reducer is obtained from an accelerated life test, the test data is processed to obtain an accelerated test life distribution function, and the field operation life distribution function is obtained by obtaining field operation data of the speed reducer in order to comprehensively evaluate the service life of the speed reducer. After the life distribution functions under the three conditions are obtained, the influence degree of various life distribution functions on comprehensive life evaluation needs to be comprehensively considered. According to the embodiment of the invention, the multi-source information weighted fusion model is adopted to perform data fusion on the three life distribution functions to obtain the life distribution function after multi-source information fusion, and the life distribution function of the multi-source information fusion can reflect the influence degree of various parameters on comprehensive evaluation. And further obtaining a comprehensive life evaluation result of the speed reducer according to the obtained life distribution function of multi-source information fusion.
The method for predicting the service life of the precision speed reducer for the robot can conveniently and comprehensively evaluate the service life of the speed reducer, and solves the problem of overlarge evaluation error caused by a method for evaluating by adopting a single information source in the prior art.
In one embodiment, as shown in fig. 2, the step of obtaining the life distribution function of the multi-source information fusion according to the reliability prediction life distribution function, the accelerated test life distribution function, the field operation life distribution function and the multi-source information weighted fusion model includes:
s41: determining a first weight of the comprehensive life evaluation of the reliability prediction life distribution function support speed reducer, a second weight of the comprehensive life evaluation of the accelerated test life distribution function support speed reducer and a third weight of the comprehensive life evaluation of the field operation life distribution function support speed reducer;
s42: obtaining a life distribution function of multi-source information fusion according to a reliability prediction life distribution function, an accelerated test life distribution function, a field operation life distribution function, a first weight, a second weight and a third weight
Wherein f (t) is a life distribution function of multi-source information fusion, f 1 (t) field operating life distribution function, f 2 (t)、f 3 (t)、…、f m-1 (t) is an accelerated test life distribution function, f m (t) is the reliability estimated lifetime distribution function, k m Is a and f m (t) corresponding first weight, k 2 、k 3 、…、k m-1 Is f 2 (t)、f 3 (t)、…、f m-1 (t) corresponding second weight, k 1 Is f 1 (t) a corresponding third weight.
After the three reducer service life distribution functions are obtained, the three service life distribution functions need to be fused, and in order to objectively consider the influence degree of each service life distribution function on the comprehensive service life evaluation, the method provided by the embodiment of the invention reflects the influence degree of each service life distribution function on the comprehensive service life evaluation by determining the weight of each information source support service life comprehensive evaluation. After the model of the speed reducer and the working condition of the speed reducer are determined, a reliability predicted service life distribution function can be obtained. When the service life is comprehensively evaluated, the field operation life distribution of the speed reducer can be obtained according to the current time node and the field operation data before the node. For the accelerated test, a plurality of groups or a single group of tests can be carried out to obtain a plurality of groups of test data and obtain a single or a plurality of life distribution functions of the accelerated test. After the weights of various life distribution functions are determined, the weight ratio is utilized to obtain the fused life distribution function of the multi-source information fusion
The service life distribution after the comprehensive service life can be represented, and the comprehensive service life evaluation of the speed reducer in the next step is facilitated.
In one embodiment, as shown in FIG. 3, the step of determining a first weight for the reliability projected life distribution function to support the integrated life assessment of the retarder includes:
s411: predicting a life distribution function f from reliability m (t) and field operational life distribution functionf 1 (t) determining a reliability projected lifetime distribution function f m (t) distribution function f for field operating life 1 (t) support vector
S412: predicting a lifetime distribution function f from reliability m (t) distribution function f for field operating life 1 (t) support vector S 1m Determining a first weight:
When determining the weights corresponding to various life distribution functions, the life distributions obtained by different information sources can be set to intersect in pairs, and the weights of various life distribution functions are determined according to the support degree between different information sources. The greater the degree to which the two lifetime distributions intersect, the greater the degree of mutual support between the two. Will distribute f i (t) and f j The degree of mutual support between (t) is defined as D (f) i ||f j ). For the reliability prediction life distribution function, calculating the mutual support degree of the reliability prediction life distribution function to the field operation life distribution function to obtain a support vector:
since the elements in the support vector represent the distribution f separately m (t) for f 1 (t) a higher support level and a smaller support level, so that the weight reflects the support level between different information sources, let:
In one embodiment, as shown in fig. 3, the step of determining the second weight for the accelerated test life distribution function to support the comprehensive life evaluation of the retarder includes:
s413: according to accelerated test life distribution function f 2 (t)、f 3 (t)、…、f m-1 (t) and field operational life distribution function f 1 (t) determining an accelerated test lifetime distribution function f 2 (t)、f 3 (t)、…、f m-1 (t) distribution function f for field operating life 1 (t) support vector
S414: according to accelerated test life distribution function f 2 (t)、f 3 (t)、…、f m-1 (t) distribution function f for field operating life 1 (t) support vector S 1i (i =2, 3, …, m-1), determining a second weight:
Similar to the reliability predicted life distribution function, for the accelerated test life distribution function, the field operation distribution function and the reliability predicted life distribution function can be set to intersect pairwise, and for the accelerated test life distribution function, the mutual support degree of the accelerated test life distribution function to the field operation life distribution function is calculated to obtain a support vector:
since the elements in the support vector represent the distribution f separately i (t) to f 1 (t) a higher support level and a smaller support level, so that the weight reflects the support level between different information sources, let:
And further obtaining a second weight, wherein the second weight is used for representing the influence degree of the service life distribution function of the acceleration test on the comprehensive evaluation of the service life of the speed reducer. It should be noted that, for a plurality of accelerated test life distribution functions obtained by a plurality of accelerated tests, each accelerated test life distribution function has a corresponding second weight, that is, the number of the second weights is the same as the number of the accelerated test life distribution functions, and the second weights are in one-to-one correspondence.
In one embodiment, as shown in FIG. 3, the step of determining a third weight for the in-situ operating life distribution function supporting the life composite rating of the retarder includes:
s415: determining the credibility rho of the field operation life distribution function relative to the real speed reducer operation life distribution function, wherein rho is more than 0 and less than 1,
confidence gamma 1 ＜γ 2 The confidence level ρ is set as a third weight k 1 ，
Wherein L is γ1 And L γ2 The lengths of confidence intervals under two different confidence degrees of the field operation service life distribution function are respectively predetermined according to field operation data of the speed reducer.
Since the life distribution function determined from the field operation data is different from the real life distribution of the motor to some extent, the field operation distribution function f can be used i (t) the degree of confidence p in relation to the true distribution as its weight, i.e.:
k 1 ＝ρ
put at confidence level gamma 1 And gamma 2 To ensure the objectivity, the confidence coefficient can be selected according to the size of the field operation test quantity, and the gamma with larger difference is selected when the test quantity is smaller 1 And gamma 2 Since the larger the difference is, the smaller ρ is, and the field operation life distribution f i The smaller the weight of (t) is, the smaller the weight of the life distribution determined by the field operation data in the fusion is, so that the comprehensive evaluation can be better performed by using the reliability information of different sources. Similarly, with the gradual increase of the field operation data volume, the service life distribution determined by the method is more and more real, namely the credibility is higher and higher, and rho is larger and larger; considering the limit condition, when the sample size is large enough, the determined life distribution can basically reflect the real condition, and then rho is close to 1, which accords with the theory and engineering practice. In one embodiment, the two confidences may be taken as γ based on experience in actual operation 1 ＝50％，γ 2 ＝80％。
In one embodiment, the comprehensive life evaluation result of the speed reducer is as follows:
for the comprehensive service life evaluation of the speed reducer, the service life distribution after the multi-source information is fused can be integrated by adopting the formula, and a comprehensive service life evaluation result about time is obtained. According to the comprehensive life evaluation method provided by the embodiment of the invention, various life distribution functions are objectively fused by determining the weights of the various life distribution functions to obtain the life distribution function fused with multi-source information. And then, comprehensively evaluating the service life of the speed reducer according to the fused life distribution function. The service life evaluation of the whole life cycle of the speed reducer is comprehensively considered, and the reliability of life prediction is improved by adopting a quantitative method for evaluation. In addition, the weight determining method provided by the embodiment of the invention avoids the influence of subjective factors and can objectively reflect the service life of the speed reducer.
In one embodiment, as shown in fig. 4, the step of acquiring test data about the retarder collected by the retarder acceleration life testing device and obtaining the acceleration test life distribution function of the retarder according to the test data about the accelerator includes:
s21: controlling an acceleration life test device to apply an acceleration stress test on a single group or multiple groups of speed reducers;
s22: acquiring dynamic information of each speed reducer in each group;
s23: fitting the dynamic information in each group in the group to obtain a fitting distribution function corresponding to each group;
s24: obtaining a reliability function of each group of speed reducers according to the corresponding fitting distribution function of each group;
s25: and obtaining the service life distribution function of the acceleration test corresponding to each group of speed reducers according to the reliability function of each group of speed reducers.
In particular, a single set or multiple sets of tests may be set up, each set including multiple retarders. During the test, stress can be applied to each speed reducer according to the obtained acceleration factor, and dynamic information of each speed reducer in the test process is collected. And performing data fitting in the group according to the dynamic information obtained by each group of speed reducers by taking the group as a unit to obtain a fitting distribution function, and obtaining a reliability function of the group of speed reducers according to the fitting distribution function so as to further obtain an accelerated test service life distribution function of the group of speed reducers. For a plurality of speed reducers in each group, different stresses can be applied to different speed reducers to obtain the corresponding accelerated test service life distribution function of the group. It should be noted that, when multiple sets of speed reducers are set up for the accelerated stress test, the life distributions obtained by different sets of accelerated life tests may be different, and multiple sets of results may be obtained. Therefore, in the above formula, m in m-1 may be 3 or a natural number greater than 3. For example, when a single set of accelerated lifetime tests is set up, the three lifetime distributions obtained have weights k1, k2 and k3, respectively.
According to the method provided by the embodiment of the invention, the dynamic information of the speed reducer in the testing process can be acquired, the distribution function can be fitted, the acceleration factor and the reliability function can be calculated, and the service life distribution of the speed reducer can be finally calculated by carrying out multiple groups or single group of acceleration stress tests such as temperature, humidity, torque, rotating speed and the like. The influence of invalid data in the test process can be reduced by establishing a plurality of groups of tests, the influence degree of data abnormity on accelerated test service life distribution caused by other factors in the test process is reduced, and the reliability of service life prediction is improved.
It should be understood that although the various steps in the flow charts of fig. 1-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-4 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
On the other hand, as shown in fig. 5, an embodiment of the present invention further provides a life prediction apparatus for a precision reducer for a robot, including:
the service life distribution function 1 of multi-source information fusion is used for obtaining product parameters of the speed reducer and stress data in the working condition, and obtaining a reliability prediction service life distribution function of the speed reducer according to the product parameters and the stress data;
the accelerated test service life distribution acquisition module 2 is used for acquiring test data about the speed reducer, which is acquired by the speed reducer accelerated service life test device, and acquiring an accelerated test service life distribution function of the speed reducer according to the test data of the accelerator;
the field operation life distribution acquisition module 3 is used for acquiring field operation data of the speed reducer and acquiring a field operation life distribution function of the speed reducer according to the field operation data;
the fusion life distribution obtaining module 4 is used for obtaining a life distribution function of multi-source information fusion according to a reliability prediction life distribution function, an accelerated test life distribution function, a field operation life distribution function and a multi-source information weighting fusion model;
and the comprehensive life determining module 5 is used for obtaining a life comprehensive evaluation result of the speed reducer according to the life distribution function of the multi-source information fusion.
The specific limitations of the life prediction device for the precision speed reducer for the robot can be referred to the limitations of the life prediction method for the precision speed reducer for the robot, and are not described herein again. All or part of each module in the device for predicting the service life of the robot precision speed reducer can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The database of the computer device is used for storing the field operation data of the speed reducer. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a life prediction method for a precision decelerator for a robot.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
A computer device comprising a memory and one or more processors, the memory having stored therein computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to perform the steps of:
s10: obtaining product parameters of the speed reducer and stress data in a working condition of the speed reducer, and obtaining a reliability predicted service life distribution function of the speed reducer according to the product parameters and the stress data;
s20: acquiring test data about the speed reducer, which is acquired by the speed reducer accelerated life test device, and acquiring an accelerated test life distribution function of the speed reducer according to the test data of the accelerator;
s30: acquiring field operation data of the speed reducer, and acquiring a field operation life distribution function of the speed reducer according to the field operation data;
s40: according to the reliability prediction life distribution function, the accelerated test life distribution function, the field operation life distribution function and the multi-source information weighting fusion model, obtaining a life distribution function of multi-source information fusion;
s50: and obtaining a comprehensive life evaluation result of the speed reducer according to the life distribution function of the multi-source information fusion.
The terms such as reducer are the same as those in the above embodiments, and are not described herein. Compared with a single information source prediction mode in the exemplary technology, the computer equipment provided by the embodiment of the invention can realize multi-source information fusion, the comprehensive service life of the precision speed reducer for the robot is predicted according to the weight occupied by the three service life distributions, and the detection precision and reliability are improved.
In one embodiment, the processor, when executing the computer readable instructions, further performs the steps of:
s41: determining a first weight of the comprehensive life evaluation of the reliability prediction life distribution function support speed reducer, a second weight of the comprehensive life evaluation of the accelerated test life distribution function support speed reducer and a third weight of the comprehensive life evaluation of the field operation life distribution function support speed reducer;
s42: obtaining a life distribution function of multi-source information fusion according to a reliability prediction life distribution function, an accelerated test life distribution function, a field operation life distribution function, a first weight, a second weight and a third weight
Wherein f (t) is a life distribution function of multi-source information fusion, f 1 (t) field operating life distribution function, f 2 (t)、f 3 (t)、…、f m-1 (t) is the accelerated test lifetime distribution function, f m (t) is the reliability estimated lifetime distribution function, k m Is a and f m(t) Corresponding first weight, k 2 、k 3 、...、k m-1 Is f 2 (t)、f 3 (t)、…、f m-1 (t) corresponding second weight, k 1 Is f 1 (t) a corresponding third weight.
In one embodiment, the processor, when executing the computer readable instructions, further performs the steps of:
s411: predicting a lifetime distribution function f from reliability m (t) and field operational life distribution function f 1 (t) determining a reliability prediction lifetime distribution function f m (t) distribution function f for field operating life 1 (t) support vector
S412: predicting a lifetime distribution function f from reliability m (t) distribution function f for field operating life 1 (t) support vector S 1m Determining a first weight:
In one embodiment, the processor, when executing the computer readable instructions, further performs the steps of:
s413: according to accelerated test life distribution function f 2 (t)、f 3 (t)、...、f m-1 (t) and field operational life distribution function f 1 (t) determining an accelerated test lifetime distribution function f 2 (t)、f 3 (t)、...、f m-1 (t) distribution function f for field operating life 1 (t) support vector
S414: according to accelerated test life distribution function f 2 (t)、f 3 (t)、...、f m-1 (t) distribution function f for field operating life 1 (t) support vector S 1i (i =2, 3, …, m-1), determining a second weight:
In one embodiment, the processor, when executing the computer readable instructions, further performs the steps of:
s415: determining the credibility rho of the field operation life distribution function relative to the real speed reducer operation life distribution function, wherein rho is more than 0 and less than 1,
confidence gamma 1 ＜γ 2 The degree of reliability ρ is set as a third weight k 1 ，
Wherein L is γ1 And L γ2 Setting at two different confidences of a field-operation life distribution function predetermined in accordance with field-operation data of the retarderThe length of the signal interval.
In one embodiment, the comprehensive life evaluation result of the speed reducer is as follows:
in one embodiment, the processor, when executing the computer readable instructions, further performs the steps of:
s21: controlling an acceleration life test device to apply an acceleration stress test on a single group or multiple groups of speed reducers;
s22: acquiring dynamic information of each speed reducer in each group;
s23: fitting the dynamic information in each group in the group to obtain a fitting distribution function corresponding to each group;
s24: obtaining a reliability function of each group of speed reducers according to the corresponding fitting distribution function of each group;
s25: and obtaining the service life distribution function of the acceleration test corresponding to each group of speed reducers according to the reliability function of each group of speed reducers.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
s10: obtaining product parameters of the speed reducer and stress data in a working condition of the speed reducer, and obtaining a reliability predicted service life distribution function of the speed reducer according to the product parameters and the stress data;
s20: acquiring test data about the speed reducer, which is acquired by the speed reducer accelerated life test device, and acquiring an accelerated test life distribution function of the speed reducer according to the test data of the accelerator;
s30: acquiring field operation data of the speed reducer, and acquiring a field operation life distribution function of the speed reducer according to the field operation data;
s40: according to the reliability prediction life distribution function, the accelerated test life distribution function, the field operation life distribution function and the multi-source information weighted fusion model, obtaining a life distribution function of multi-source information fusion;
s50: and obtaining a comprehensive life evaluation result of the speed reducer according to the life distribution function of the multi-source information fusion.
The definitions of the terms such as the accelerated life test device are the same as those in the above embodiments, and are not described herein.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A method for predicting the service life of a precision speed reducer for a robot is characterized by comprising the following steps:
obtaining product parameters of a speed reducer and stress data in a working condition of the speed reducer, and obtaining a reliability predicted service life distribution function of the speed reducer according to the product parameters and the stress data;
acquiring test data about the speed reducer, which is acquired by a speed reducer accelerated life test device, and acquiring an accelerated test life distribution function of the speed reducer according to the test data of an accelerator;
acquiring field operation data of the speed reducer, and acquiring a field operation life distribution function of the speed reducer according to the field operation data;
predicting a lifetime distribution function f from said reliability m (t) and the field operational life distribution function f 1 (t) determining said reliability projected life distribution function f m (t) distribution function f for said field operation life 1 (t) support vector
Predicting a lifetime distribution function f from said reliability m (t) distribution function f for said field operation life 1 (t) support vector S 1m Determining a first weight of the reliability prediction life distribution function for supporting the comprehensive life evaluation of the speed reducer:
Determining a second weight of the accelerated test life distribution function for supporting the comprehensive life evaluation of the speed reducer and a third weight of the field operation life distribution function for supporting the comprehensive life evaluation of the speed reducer;
obtaining a life distribution function of multi-source information fusion according to the reliability predicted life distribution function, the accelerated test life distribution function, the field operation life distribution function, the first weight, the second weight and the third weight
Wherein f (t) is a life distribution function of the multi-source information fusion, f 1 (t) the field operational life distribution function, f 2 (t)、f 3 (t)、...、f m-1 (t) is the accelerated test lifetime distribution function, f m (t) is the reliability predicted lifetime distribution function, k m Is a and f m(t) Corresponding first weight, k 2 、k 3 、...、k m-1 Is f 2 (t)、f 3 (t)、...、f m-1 (t) corresponding second weight, k 1 Is f 1(t) A corresponding third weight;
and obtaining a comprehensive service life evaluation result of the speed reducer according to the service life distribution function of the multi-source information fusion.
2. The method for predicting the life of a precision decelerator for robot according to claim 1, wherein the step of determining the second weight for supporting the comprehensive evaluation of the life of the decelerator by the accelerated test life distribution function includes:
according to the accelerated test life distribution function f 2 (t)、f 3 (t)、...、f m-1 (t) and the field operational life distribution function f 1 (t) determining the accelerated test lifetime distribution function f 2 (t)、f 3 (t)、...、f m-1 (t) versus said field operational life distribution function f 1 Support vector of (t)
According to the accelerated test life distribution function f 2 (t)、f 3 (t)、...、f m-1 (t) versus said field operational life distribution function f 1 (t) support vector S 1i Determining the second weight:
3. The method for predicting the life of a precision reducer for a robot as set forth in claim 2, wherein the step of determining a third weight for the field-operation life distribution function to support the comprehensive evaluation of the life of the reducer comprises:
determining the credibility rho of the field operation life distribution function relative to the real speed reducer operation life distribution function, wherein rho is more than 0 and less than 1,
confidence gamma 1 ＜γ 2 Taking the confidence level ρ as the third weight k 1 ，
Wherein L is γ1 And L γ2 The lengths of confidence intervals of the field operation service life distribution function which is predetermined according to the field operation data of the speed reducer are respectively under two different confidence degrees.
4. The method for predicting the life of a precision reducer for a robot according to any one of claims 1 to 3, wherein the result of the comprehensive evaluation of the life of the reducer is:
5. the method for predicting the life of a precision speed reducer for a robot according to claim 1, wherein the step of obtaining test data about the speed reducer acquired by a speed reducer accelerated life test device and obtaining an accelerated test life distribution function of the speed reducer from the test data of the accelerator comprises:
controlling the accelerated life test device to apply accelerated stress test to a single group or multiple groups of speed reducers;
acquiring dynamic information of each speed reducer in each group;
fitting the dynamic information in each group in the group to obtain a fitting distribution function corresponding to each group;
obtaining a reliability function of each group of speed reducers according to the corresponding fitting distribution function of each group;
and obtaining the service life distribution function of the acceleration test corresponding to each group of speed reducers according to the reliability function of each group of speed reducers.
6. A life prediction device for a precision speed reducer for a robot, comprising:
the reliability service life distribution acquisition module is used for acquiring product parameters of the speed reducer and stress data in a working condition, and acquiring a reliability predicted service life distribution function of the speed reducer according to the product parameters and the stress data;
the acceleration test service life distribution acquisition module is used for acquiring test data about the speed reducer, which is acquired by the speed reducer acceleration service life test device, and acquiring an acceleration test service life distribution function of the speed reducer according to the test data of the accelerator;
the field operation life distribution acquisition module is used for acquiring field operation data of the speed reducer and acquiring a field operation life distribution function of the speed reducer according to the field operation data;
a first weight determination module for predicting a lifetime distribution function f based on the reliability m (t) and the field operational life distribution function f 1 (t) determining said reliability projected life distribution function f m (t) distribution function f for said field operation life 1 Support vector of (t)
And also for predicting a life distribution function f from said reliability m (t) versus said field operational life distribution function f 1 (t) support vector S 1m Determining a first weight of the reliability prediction life distribution function for supporting the comprehensive life evaluation of the speed reducer:
The fusion service life distribution obtaining module is used for determining a second weight of the comprehensive service life evaluation of the speed reducer supported by the accelerated test service life distribution function and a third weight of the comprehensive service life evaluation of the speed reducer supported by the field operation service life distribution function; and obtaining a multi-source information fused life distribution function according to the reliability predicted life distribution function, the accelerated test life distribution function, the field operation life distribution function, the first weight, the second weight and the third weight
Wherein f (t) is a life distribution function of the multi-source information fusion, f 1 (t) the field operational life distribution function, f 2 (t)、f 3 (t)、...、f m-1 (t) is the accelerated test lifetime distribution function, f m (t) is the reliability predicted lifetime distribution function, k m Is a and f m(t) Corresponding first weight, k 2 、k 3 、...、k m-1 Is f 2 (t)、f 3 (t)、...、f m-1 (t) corresponding second weight, k 1 Is f 1(t) A corresponding third weight;
and the comprehensive service life determining module is used for obtaining a service life comprehensive evaluation result of the speed reducer according to the service life distribution function of the multi-source information fusion.
7. A computer device comprising a memory and one or more processors, the memory having stored therein computer-readable instructions, wherein the computer-readable instructions, when executed by the one or more processors, cause the one or more processors to perform the steps of the method for precision retarder life prediction for robots of any of claims 1-5.
8. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the steps of the method for predicting the life of a precision decelerator for robots according to any one of claims 1 to 5.
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