CN109974790A - It can carry out the speed reducer standard testing bed and operating method of predictive maintenance - Google Patents
It can carry out the speed reducer standard testing bed and operating method of predictive maintenance Download PDFInfo
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- CN109974790A CN109974790A CN201910349319.8A CN201910349319A CN109974790A CN 109974790 A CN109974790 A CN 109974790A CN 201910349319 A CN201910349319 A CN 201910349319A CN 109974790 A CN109974790 A CN 109974790A
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- speed reducer
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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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Abstract
The invention discloses the speed reducer standard testing beds and its operating method that can carry out predictive maintenance, belong to speed reducer the field of test technology, the speed reducer standard testing bed that can carry out predictive maintenance includes test experimental bed, industrial personal computer and display, industrial personal computer is connect with test experimental bed signal, and industrial personal computer is also connect with monitor signal.The present invention gives the speed reducer standard testing beds that one kind can carry out predictive maintenance, it can be compared by the operation data to normal speed reducer and failure speed reducer, establish fault diagnosis model and Life Prediction Model, and predictive maintenance is carried out to failure speed reducer, improve the service life of speed reducer.The present invention gives the operating method that can carry out the speed reducer standard testing bed of predictive maintenance simultaneously, can be corrected using the present apparatus to the sensor being installed on industrial robot shell, obtain more acurrate true speed reducer operation data.
Description
Technical field
The present invention relates to speed reducer the field of test technology, can especially carry out the speed reducer standard testing bed of predictive maintenance
And operating method.
Background technique
Industrial robot is the important equipment in modern industry manufacture, is mainly used for crawl, places object, in automobile system
Make, weld, carrying, assembling and all kinds of machinings manufacture in be used widely.Wherein speed reducer is important transmission parts
One of, it researchs and develops high performance speed reducer and ensures that the safe and economic operation of speed reducer is the urgent need of existing market.
The Specifeca tion speeification of speed reducer includes: idle running, angular transmission error, machine driving precision, staring torque, torsion
Rigidity etc., the failure aging of speed reducer are also mainly showed by these types parameter.Once speed reducer, which breaks down, will lead to
The transmission accuracy of robot reduces even interrupting movement, causes extreme loss to production.For obtain speed reducer working condition and
The information such as remaining life need to acquire the state parameter of speed reducer operation, carry out data analysis by modes such as modelings.Existing skill
In art, in order to detect the service life of speed reducer in industrial robot, sensor can only be attached to mechanical arm shell and detected,
But the sensor due to being arranged on shell can not with the speed reducer of robot interior is practical contacts so that detection can not be determined
The accuracy of data.
Currently, speed reducer is disassembled to the equipment for coming out and detecting from industrial robot can obtain accurate performance number
According to, but it is merely able to the single performance parameter of measurement speed reducer, it repeatedly measures repeated disassembled and assembled and also results in large error, meanwhile, it passes
The speed reducer testboard of system is less for the research and realization of predictive maintenance technology, and continually dismounting speed reducer also can be to deceleration
Machine itself and the other component of industrial robot damage, therefore need to develop a set of deceleration for having predictive maintenance function
Apparatus test device.
Summary of the invention
The object of the present invention is to provide the speed reducer standard testing bed that one kind can carry out predictive maintenance, present apparatus energy
Enough while the data such as vibration, sound emission, temperature, revolving speed, load, the voltage and current of speed reducer under operation are acquired, built
Vertical fault diagnosis model and Life Prediction Model, predict the operating status and remaining life of speed reducer, and then take needle
To the treating method of property, the working performance and service life of speed reducer are improved.The present invention also provides the operating method of the present apparatus,
Correction can be adjusted to the sensor arranged on industrial robot shell using detection data.
In order to solve the above technical problems, the present invention adopts the following technical scheme that:
The speed reducer standard testing bed of predictive maintenance, including test experimental bed, industrial personal computer and display can be carried out, it is described
Industrial personal computer is connect with test experimental bed signal, and the industrial personal computer is also connect with monitor signal, and the test experimental bed includes bottom
Plate, normal reach, test section, gear-box and data collector, the normal reach and test section are arranged in by axial symmetry of gear-box
On bottom plate, the normal reach and test section include driving motor, main shaft, two torque sensors, two encoders and deceleration
Machine, the driving motor are sequentially connected with through main shaft and speed reducer and gear-box, and described two torque sensors are respectively arranged on deceleration
On the main shaft of machine two sides, described two encoders are respectively arranged on the main shaft of speed reducer two sides, and are located at speed reducer and torque biography
Between sensor, the torque sensor and encoder are connect through data line with data collector.It arranges and compiles in speed reducer two sides
Code device, it is therefore an objective to obtain driving error using two sides decoders-Synchronous monitoring calculation, and then transmission accuracy calculate and really
It is fixed.
In the aforementioned speed reducer standard testing bed for carrying out predictive maintenance, data collector is connect with industrial personal computer signal.
It is collected by operation data of the data collector to speed reducer and passes to industrial personal computer.
In the aforementioned speed reducer standard testing bed for carrying out predictive maintenance, the speed reducer in normal reach is normal condition
Speed reducer, the speed reducer in test section are failure speed reducer.The speed reducer of normal condition provides normal operation data, be used to and
The operation data of failure speed reducer compares.
In the aforementioned speed reducer standard testing bed for carrying out predictive maintenance, normal reach and test section also include bearing
Seat, normal reach and test section are respectively provided with two bearing blocks, described two bearing blocks be respectively arranged on speed reducer and two encoders it
Between main shaft on.Bearing block is capable of providing a mounting platform, may be mounted at bearing for acquiring the sensor of other data
On seat.
In the aforementioned speed reducer standard testing bed for carrying out predictive maintenance, normal reach and test section also include vibration and pass
Sensor, the vibrating sensor are set on bearing block, and vibrating sensor is also connect with data collector signal.Vibrating sensor can
To perceive acceleration change, and then obtain the vibration severity of speed reducer.
In the aforementioned speed reducer standard testing bed for carrying out predictive maintenance, normal reach and test section also include sound emission
Sensor, the acoustic emission sensor are set on bearing block, and acoustic emission sensor is also connect with data collector signal.Sound emission
Sensor can perceive the stress wave that local defects generate inside speed reducer, can obtain the vibration that local generates inside speed reducer
Data.
In the aforementioned speed reducer standard testing bed for carrying out predictive maintenance, normal reach and test section also include temperature biography
Sensor, the temperature sensor are set on bearing block, and temperature sensor is also connect with data collector signal.Temperature sensor can
To obtain the temperature variation data of speed reducer at work.
The operating method that can carry out the speed reducer standard testing bed of predictive maintenance any carries out predictability using aforementioned
The speed reducer standard testing bed of maintenance, the operation data of the speed reducer being collected into according to data collector to the performance of speed reducer into
Row prediction, and safeguarded according to the problem of reflecting, specifically includes the following steps:
The speed reducer of normal condition is installed on to the corresponding position of test experimental bed normal reach, by failure speed reducer from industry
The corresponding position that test experimental bed test section is split out and be installed in robot, to the torque sensor on test experimental bed, vibration
Dynamic sensor, acoustic emission sensor, temperature sensor and encoder carry out installation and debugging；
Start driving motor, drives the speed reducer rotation being respectively on normal reach and test section, torque sensor, vibration
Sensor, acoustic emission sensor, temperature sensor and encoder record the operational data of two speed reducers, and by data
Signal passes to data collector, and the data after analysis are transmitted on industrial personal computer by data collector, by two groups of data
Comparison, industrial personal computer establishes fault diagnosis model and Life Prediction Model, and continues to optimize model using data iteration, to realize
Predictive maintenance analog functuion；
Failure speed reducer is reinstalled into industrial robot, installs torque sensing on industrial robot shell
Device, vibrating sensor, acoustic emission sensor and temperature sensor, and the collected data of collecting sensor, by test experiments
The data that platform obtains, are corrected the measured sensor data on industrial robot shell, can be subtracted by not directly fitting
The sensor of fast machine obtains accurate true speed reducer operation data.
Compared with prior art, the invention has the beneficial effects that: The present invention gives one kind can carry out predictive maintenance
Speed reducer standard testing bed, speed reducer vibration under operation, sound emission, temperature, revolving speed, negative can be acquired simultaneously
The data such as load, voltage and current.The present invention establishes control experiment group, passes through the operation to normal speed reducer and test speed reducer
Data compare, and establish fault diagnosis model and Life Prediction Model, realize to speed reducer operating status and remaining life
Prediction, and specific aim maintenance is carried out to failure speed reducer according to prediction result, improve the service life of speed reducer.Meanwhile this hair
It is bright to additionally provide the operating method of the present apparatus, it can be using the speed reducer data obtained on testing stand come on verifier people's shell
The accuracy of the sensor of arrangement, and the sensor being installed on industrial robot shell is corrected, it obtains more acurrate true
Real speed reducer operation data.
Detailed description of the invention
Fig. 1 is flow diagram of the invention；
Fig. 2 is the structural schematic diagram of test experimental bed of the present invention；
Fig. 3 is bearing block structure schematic diagram of the invention.
The meaning of appended drawing reference: 100- test experimental bed, 200- industrial personal computer, 300- display, 1- bottom plate, 2- normal reach,
3- test section, 4- gear-box, 5- data collector, 6- driving motor, 7- main shaft, 8- matrix sensor, 9- encoder, 10- subtract
Fast machine, 11- vibrating sensor, 12- acoustic emission sensor, 13- temperature sensor, 14- bearing block.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Specific embodiment
The embodiment of the present invention 1: as shown in Figure 1, the speed reducer standard testing bed of predictive maintenance can be carried out, including test
Experimental bench 100, industrial personal computer 200 and display 300, the industrial personal computer 200 are connect with 100 signal of test experimental bed, the industry control
Machine 200 is also connect with 300 signal of display, as shown in Fig. 2, the test experimental bed 100 includes bottom plate 1, normal reach 2, test
Section 3, gear-box 4 and data collector 5, the normal reach 2 and test section 3 are that axial symmetry is arranged on bottom plate 1 with gear-box 4,
The normal reach 2 and test section 3 include driving motor 6,7, two, main shaft torque sensor 8, two encoder 9 and speed reducer
10, the driving motor 6 is sequentially connected with through main shaft 7 and speed reducer 10 and gear-box 4, and described two torque sensors 8 are set respectively
In on the main shaft 7 of 10 two sides of speed reducer；Described two encoders 8 are respectively arranged on the main shaft 7 of 10 two sides of speed reducer, and are located at
Between speed reducer 10 and torque sensor 8；The torque sensor 8 and encoder 9 are connect with 5 signal of data collector.Just
Normal section 2 and 3 symmetric design of test section can guarantee that irrelevant variable when test is unified as far as possible, and obtained result is more acurrate.
Embodiment 2: in the speed reducer standard testing bed for carrying out predictive maintenance, data collector 5 and industrial personal computer
The connection of 200 signals.It is connected by data line or is carried out data transmission by being wirelessly connected specifically, can be.
Embodiment 3: in the speed reducer standard testing bed for carrying out predictive maintenance, the speed reducer 10 in normal reach 2
For the speed reducer of normal condition, the speed reducer 10 in test section 3 is failure speed reducer.The speed reducer 10 of normal condition is added and is surveyed
Examination, can obtain the normal operation data of speed reducer 10 under the present circumstances, and data can be made more intuitively to be compared.
Embodiment 4: as shown in Fig. 2, in the speed reducer standard testing bed for carrying out predictive maintenance, 2 He of normal reach
Test section 3 also includes bearing block 14, and normal reach 2 and test section 3 are respectively provided with two bearing blocks 14, and described two bearing blocks 14 divide
It She Yu not be on the main shaft 7 between speed reducer 10 and two encoders 9.14 installation site of bearing block is close to speed reducer 10, Ke Yi
Installation is for providing the sensor of supplementary data on bearing block 14.
Embodiment 5: as shown in figure 3, in the speed reducer standard testing bed for carrying out predictive maintenance, 2 He of normal reach
Test section 3 also includes vibrating sensor 11, and the vibrating sensor 11 is set on bearing block 14, vibrating sensor 11 also with number
It is connected according to 5 signal of collector.The effect of vibrating sensor 11 is the body vibration data obtained when speed reducer 10 is run, speed reducer
The 10 vibrated normal works that will affect speed reducer 10 itself greatly, can also impact component adjacent thereto.
Embodiment 6: as shown in figure 3, in the speed reducer standard testing bed for carrying out predictive maintenance, 2 He of normal reach
Test section 3 also includes acoustic emission sensor 12, and the acoustic emission sensor 12 is set on bearing block 14, acoustic emission sensor 12
Also it is connect with 5 signal of data collector.Acoustic emission sensor 12, can be right for obtaining 10 inside local Vibration Condition of speed reducer
The state of each component is monitored in speed reducer 10.
Embodiment 7: as shown in figure 3, in the speed reducer standard testing bed for carrying out predictive maintenance, 2 He of normal reach
Test section 3 also includes temperature sensor 13, and the temperature sensor 13 is set on bearing block 14, temperature sensor 13 also with number
It is connected according to 5 signal of collector.Temperature sensor 13 is used to perceive temperature change when speed reducer 10 is run under different load, this
And the important indicator that can speed reducer 10 work normally.
Embodiment 8: can carry out the operating method of the speed reducer standard testing bed of predictive maintenance, using it is aforementioned it is any can
The speed reducer standard testing bed for carrying out predictive maintenance, can be according to the speed reducer to be tested 10 that data collector 5 is collected into
Operation data predicts the performance of speed reducer 10 to be detected, and is safeguarded according to the problem of reflecting, including following step
It is rapid:
The speed reducer of normal condition is installed on to the corresponding position of 100 normal reach 2 of test experimental bed, failure speed reducer is pacified
Corresponding position loaded on 100 test section 3 of test experimental bed, and to torque sensor 8, the vibrating sensing on test experimental bed 100
Device 11, acoustic emission sensor 12, temperature sensor 13 and encoder 9 carry out installation and debugging.
Start driving motor 6, drives the speed reducer 10 being respectively on normal reach 2 and test section 3 to rotate, torque sensor
8, vibrating sensor 11, acoustic emission sensor 12, temperature sensor 13 and encoder 9 to the operational datas of two speed reducers 10 into
Row record, and data-signal is passed into data collector 5, specifically, signal can be transmitted by data line or by wireless
Transmitting signal is propagated, the data after analysis are transmitted on industrial personal computer 200 by data collector 5, by the comparison to two groups of data,
Industrial personal computer 200 establishes fault diagnosis model and Life Prediction Model, and continues to optimize model using data iteration, to realize pre-
The property surveyed maintenance analog functuion.
Failure speed reducer is reinstalled into industrial robot, installs torque sensor on industrial robot shell
8, vibrating sensor 11, acoustic emission sensor 12 and temperature sensor 13, the data and industry control obtained by test experimental bed 100
The model that machine 200 is established, is corrected the measured sensor data on industrial robot shell, later need not be by speed reducer 10
It is split out from industrial robot, the true operation data of speed reducer 10 can be obtained by outer sensor.
The working principle of the invention: first splitting out failure speed reducer from industrial robot, and the application present apparatus is to subtracting
The operation conditions of fast machine 10 is tested, and then carries out data comparison with the speed reducer of normal condition, compares number obtaining multiple groups
According to rear, fault diagnosis model and Life Prediction Model can be established by industrial personal computer 200, and utilize data iteration optimization model,
The prediction of the working condition to speed reducer 10 can be realized, and targetedly maintenance maintenance side can be taken according to prediction result
Case.The present invention gives operating method, and the speed reducer 10 split out is installed back in industrial robot and run, in industrial machine
Sensor is installed to acquire the operation data of speed reducer 10, due to having been obtained for the speed reducer 10 using the present apparatus on people's shell
Related data, sensor can be corrected accordingly, sensor can be made to collect the truthful data of speed reducer 10.At it
In work afterwards, speed reducer 10 can be detected by sensor, it is not necessary to which speed reducer 10 is split out into detection.
Claims (8)
1. the speed reducer standard testing bed of predictive maintenance can be carried out, it is characterised in that: including test experimental bed (100), industry control
Machine (200) and display (300), the industrial personal computer (200) connect with test experimental bed (100) signal, the industrial personal computer (200)
Also it is connect with display (300) signal；The test experimental bed (100) includes bottom plate (1), normal reach (2), test section (3), tooth
Roller box (4) and data collector (5), the normal reach (2) and test section (3) are that axial symmetry is arranged in bottom plate with gear-box (4)
(1) on, the normal reach (2) and test section (3) include driving motor (6), main shaft (7), two torque sensors (8), two
A encoder (9) and speed reducer (10), the driving motor (6) sequentially connect through main shaft (7) and speed reducer (10) and gear-box (4)
It connects, two torque sensors (8) are respectively arranged on the main shaft (7) of speed reducer (10) two sides；Two encoders (8) are respectively arranged on and subtract
On the main shaft (7) of fast machine (10) two sides, and between speed reducer (10) and torque sensor (8)；The torque sensor (8)
It is connect with data collector (5) signal with encoder (9).
2. the speed reducer standard testing bed according to claim 1 for carrying out predictive maintenance, it is characterised in that: the number
It is connect according to collector (5) with industrial personal computer (200) signal.
3. the speed reducer standard testing bed according to claim 1 for carrying out predictive maintenance, it is characterised in that: normal reach
(2) speed reducer (10) in is the speed reducer of normal condition, and the speed reducer (10) in test section (3) is failure speed reducer.
4. the speed reducer standard testing bed according to claim 3 for carrying out predictive maintenance, it is characterised in that: normal reach
(2) it is also included bearing block (14) with test section (3), normal reach (2) and test section (3) are respectively provided with two bearing blocks (14), institute
It states on the main shaft (7) that two bearing blocks (14) are respectively arranged between speed reducer (10) and two encoders (9).
5. the speed reducer standard testing bed according to claim 4 for carrying out predictive maintenance, it is characterised in that: normal reach
(2) it is also included vibrating sensor (11) with test section (3), the vibrating sensor (11) is set on bearing block (14), vibration
Sensor (11) is also connect with data collector (5) signal.
6. the speed reducer standard testing bed according to claim 4 for carrying out predictive maintenance, it is characterised in that: normal reach
(2) it being also included acoustic emission sensor (12) with test section (3), the acoustic emission sensor (12) is set on bearing block (14),
Acoustic emission sensor (12) is also connect with data collector (5) signal.
7. the speed reducer standard testing bed according to claim 4 for carrying out predictive maintenance, it is characterised in that: normal reach
(2) it is also included temperature sensor (13) with test section (3), the temperature sensor (13) is set on bearing block (14), temperature
Sensor (13) is also connect with data collector (5) signal.
8. the operating method of the speed reducer standard testing bed of predictive maintenance can be carried out, use is as claimed in claim 1 to 7
It can carry out the speed reducer standard testing bed of predictive maintenance, it is characterised in that: the speed reducer being collected into according to data collector (5)
(10) operation data predicts the performance of speed reducer (10), and is safeguarded according to the problem of reflecting, specifically includes
Following steps:
The speed reducer of normal condition is installed on to the corresponding position of normal reach (2) on test experimental bed (100), by failure speed reducer
It is installed on the corresponding position of test section (3) on test experimental bed (100), and to the torque sensor on test experimental bed (100)
(8), vibrating sensor (11), acoustic emission sensor (12), temperature sensor (13) and encoder (9) carry out installation and debugging；
Start driving motor (6), drive speed reducer (10) rotation being respectively on normal reach (2) and test section (3), torque passes
Sensor (8), vibrating sensor (11), acoustic emission sensor (12), temperature sensor (13) and encoder (9) are to two speed reducers
(10) operational data is recorded, and data-signal is passed to data collector (5), after data collector (5) will be analyzed
Data be transmitted to industrial personal computer (200), by the comparison to two groups of data, industrial personal computer (200) establishes fault diagnosis model and longevity
Prediction model is ordered, and continues to optimize model using data iteration, to realize predictive maintenance analog functuion；
Failure speed reducer is reinstalled into industrial robot, torque sensor (8), vibration are installed on industrial robot shell
Dynamic sensor (11), acoustic emission sensor (12) and temperature sensor (13), by the data of test experimental bed (100) acquisition,
Measured sensor data on industrial robot shell is corrected.
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| WO2022014864A1 (en) * | 2020-07-14 | 2022-01-20 | (주)부품디비 | Integrated system for information management and predictive maintenance of gas supply facility |
| CN114491937A (en) * | 2021-12-21 | 2022-05-13 | 机械工业仪器仪表综合技术经济研究所 | High-low rotation speed integrated blade predictive maintenance test bed and operation method |
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