CN111307451B - Precision-loaded RV reducer performance detection device and method - Google Patents
Precision-loaded RV reducer performance detection device and method Download PDFInfo
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- CN111307451B CN111307451B CN202010127303.5A CN202010127303A CN111307451B CN 111307451 B CN111307451 B CN 111307451B CN 202010127303 A CN202010127303 A CN 202010127303A CN 111307451 B CN111307451 B CN 111307451B
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a precision-loaded RV reducer performance detection device and method, comprising a test board and a measurement and control system; the test bench comprises a rack, a tested RV reducer support, a power end sliding platform track, a load end sliding platform track, a power motor, a load motor, a tested RV reducer, an accompanied RV reducer and other components; the measurement and control system comprises a hardware part and a software part, wherein the hardware part mainly comprises an industrial personal computer, a motion card, a data acquisition card, an input end torque and rotation speed sensor, an output end torque and rotation speed sensor, an input grating, an output grating, a vibration acceleration sensor and the like. The software part mainly comprises a rotating speed fuzzy PID control program, a torque rotating speed fuzzy PID control program and the like. The invention ensures high coaxiality of the components during installation, and further effectively improves the stability and reliability of the performance detection of the RV reducer.
Description
Technical Field
The invention relates to the technical field of mechanical transmission precision loading test, in particular to a precision loading RV reducer performance detection device and method.
Background
With the introduction of the german ' industrial 4.1 ' concept and the ' china ' 2025 ' strategy, the manufacturing industry in China is facing a great transformation pressure, and the yield of industrial robots increases by several percent every year in terms of the productivity of industrial robots. The fastest growing is the Chinese market, the annual demand of Chinese industrial robots is increased year by year, and the RV reducer serving as one of four core parts forming the robot is expected to meet the important development opportunity. The core performance, irreplaceability, high-precision part machining requirement and high-precision assembly process requirement of the RV reducer become powerful competitive advantages of international large brands. The RV reducer consists of a cycloidal pin wheel and a planet support, and is widely applied to industrial robots due to the advantages of small size, strong impact resistance, large torque, high positioning precision, small vibration, large reduction ratio and the like. Because industrial robot operational environment is abominable, atress impact strength is big, continuous operation nature is strong and inner structure characteristics such as complicated, need detect the performance index of RV reduction gear, ensure the normal work of RV reduction gear.
At present, domestic main performance indexes for RV reducer testing are as follows: return stroke error, transmission error, torsional stiffness, transmission efficiency, no-load running torque, vibration, etc. But the testing of torsional rigidity and transmission efficiency in the performance indexes of the RV reducer is unstable in loading, large in measurement error, low in precision and low in automation degree of a detection device; when the test items are switched, the equipment is inconvenient to replace, and the workpiece is easy to damage and the measurement deviation is easy to cause. For example, patent 201610577087.8 discloses an RV reducer comprehensive test bench, which can test performance parameters such as angle transmission error, return difference, torsional rigidity, efficiency and starting torque of multi-type reducers, but the test bench is loaded by a magnetic powder brake, provides specific torque by controlling current, has large torque fluctuation, is difficult to accurately control, has large test error, cannot meet the requirement of sectional precise loading of the stiffness hysteresis curve of the RV reducer, and simultaneously needs reverse loading in the stiffness test, and the magnetic powder brake cannot meet the requirement of active reverse loading. Patent 201621444932.6 discloses an experimental bench for the transmission efficiency of RV reducers, which has less equipment and short transmission line, can meet the transmission efficiency experiment of RV reducers of different models, and does not need to be centered for many times, but the experimental bench is loaded by a variable frequency control motor, and when the load control is performed on the RV reducers of different models, the control is unstable due to the nonlinearity of the system; each work piece of test bench is fixed, and the inconvenient dismantlement is changed, and the experimental efficiency is low, can not realize other capability test of reduction gear. The patent 201810795384.9 discloses a testing device and system for a harmonic reducer of a robot, which locks an input shaft of the reducer to be tested through a servo motor, controls a servo joint to apply a specific torque to the reducer to be tested, reads an actually applied torque through a torque sensor of the servo joint, detects a position change of an input shaft and an output shaft of the reducer to be tested through a photoelectric encoder, can test a stiffness index of the reducer to be tested in the whole working torque range by applying a series of load torques, and simultaneously changes a mechanical hysteresis loop finished in the direction of the load torque; however, the method does not consider the problem of accurate loading of a specific transfer point of a hysteresis curve characteristic, influences subsequent data processing and causes a large rigidity measurement error.
Disclosure of Invention
The invention provides a device and a method for detecting the performance of a precisely loaded RV reducer, aiming at the defects that the loading control of RV reducers of different models is unstable and the loading control of the torque and the rotating speed of the RV reducer of the same model is inaccurate in the prior art.
A precision loading RV reducer performance detection device adopts the technical scheme as follows: the device comprises a test board and a measurement and control system;
the test bench comprises a rack, a tested RV reducer support, a power end sliding platform rail, a load end sliding platform rail, a power motor, a load motor, a tested RV reducer, an accompanied RV reducer and other components.
The rack is provided with a bracket of the tested RV reducer, and a power end sliding platform track and a load end sliding platform track which are respectively positioned on two sides of the bracket of the tested RV reducer in the axial direction;
an output flange, a tested RV reducer, a vibration acceleration sensor and an input grating are arranged on the tested RV reducer bracket;
the power end sliding platform track is provided with a power end sliding platform, and the power end sliding platform is sequentially provided with an input end torque and rotating speed sensor and a power motor from left to right; the input end torque and rotation speed sensor is coaxially arranged with the tested RV reducer;
the load end sliding platform and the output grating sliding platform are arranged on the load end sliding platform track; an output end torque and rotating speed sensor, an accompanied measurement RV reducer and a load motor are sequentially arranged on the load end sliding platform from right to left; the output grating sliding platform is provided with an output grating; the output grating is coaxially arranged with the tested RV reducer;
the front ends of the power end sliding platform and the load end sliding platform are respectively and fixedly provided with a power sensor sliding hand wheel and a load sensor sliding hand wheel, so that when the tested RV reducer is disassembled and assembled, a guide rail is moved, a proper space is vacated, the operation and the installation are convenient, repeated positioning errors are prevented, meanwhile, the input end or the output end is convenient to disconnect, and the requirements of testing and replacing components with different performance indexes are met;
the power motor and the input end torque and rotation speed sensor as well as the input end torque and rotation speed sensor and the input grating are respectively connected through a first diaphragm coupler and a second diaphragm coupler; the tested RV reducer is connected with the output grating through an output flange, so that the load provided by a load motor is stable, the torque loss is avoided, and the accuracy and the stability of a test system are improved; the output grating and the output end torque and rotation speed sensor are connected through an elastic coupling: the output end torque and rotation speed sensor is connected with the accompanied RV reducer through an output end; the accompanied RV reducer is connected with the load motor through a shaft;
furthermore, the tested RV reducer bracket is provided with a mounting flange, the tested RV reducers of different models are provided with matched mounting flanges, the application range of the RV reducer comprehensive performance test system is expanded, and the tests of the RV reducers of various models are realized.
Furthermore, the power motor and the input end torque and rotation speed sensor are fixedly connected with the power end sliding platform through a first transition seat.
Furthermore, the output grating and the input grating are double-read head gratings, so that the measurement error caused by installation eccentricity can be basically eliminated, and the measurement precision is effectively improved; the output grating is fixed on the output grating sliding platform through an output grating bracket to form a high-efficiency angle measuring device; the efficient angle measuring device is fixed on the load sensor sliding platform through a sliding clamping device, and the left and right sliding is realized through the tightness of a screw; need not to dismantle grating encoder when the test, through the high-efficient angle measuring device of axle removal, only need to the RV reduction gear of difference change different mounting flanges can, avoid arousing the damage and the measurement deviation of high accuracy encoder, improve efficiency of software testing.
Further, accompany and survey the RV reduction gear with output torque speed sensor pass through the second transition seat with load end sliding platform fixed connection, can guarantee simultaneously accompany and survey the RV reduction gear with the coaxiality of output torque speed sensor installation, installation positioning accuracy is high.
The hardware of the measurement and control system mainly comprises an industrial personal computer, a motion card, a data acquisition card, an input end torque and rotation speed sensor, an output end torque and rotation speed sensor, an input grating, an output grating, a vibration acceleration sensor and the like. The software mainly comprises a rotating speed fuzzy PID control program, a torque rotating speed fuzzy PID control program and the like.
The input end torque and rotation speed sensor and the output end torque and rotation speed sensor are connected to the industrial personal computer through a data acquisition card; the input grating and the output grating are connected to an industrial personal computer through a data acquisition card after passing through a subdivider and a converter; the vibration acceleration sensor is connected with the current adapter and is connected to the industrial personal computer through the data acquisition card;
the industrial personal computer is communicated with the motion card and the data acquisition card, and correspondingly controls the power motor drive controller and the load motor drive controller, so that the power motor and the load motor move and load.
Furthermore, the industrial personal computer is of a piano desk type structure, a computer, a control button and a button indicator light are arranged on the industrial personal computer, a drawer structure is arranged below the industrial personal computer, a keyboard and a mouse are placed, and power effective output and accurate loading of system loads are achieved by inputting certain data.
Further, in the method for detecting the related performance, a torque and rotating speed value is obtained by an input end torque and rotating speed sensor and an output end torque and rotating speed sensor through a data acquisition card; after the input grating and the output grating pass through the subdivider and the converter, an angle value is obtained through a data acquisition card; the vibration acceleration sensor is connected with the current adapter to obtain vibration data through the data acquisition card.
The fuzzy PID control program of the rotating speed firstly sets a test rotating speed value according to test requirements in a speed mode; then, the difference between the set value of the rotating speed and the collected actual rotating speed value is compared to obtain the change rate of the rotating speed error; then the rotation speed control output quantity is obtained through the fuzzification, fuzzy control table and clarification processes in sequence; and finally, sending a pulse frequency command through the motion card to control the rotating speed of the power motor. In the process, the speed of the power motor is controlled according to the deviation ratio between the set rotating speed value and the fed back actual rotating speed value, and the test rotating speed is constant.
The fuzzy PID control program of the torque sets a test torque value according to a test requirement under a speed mode; then, the difference between the set torque value and the collected actual torque value is compared to obtain the change rate of the torque error; then the torque control output quantity is obtained through the fuzzification, fuzzy control table and clarification processes in sequence; and finally, sending an analog voltage instruction through a collection card to control the torque of the load motor. In the process, torque control is carried out on the load motor according to the deviation ratio between the set torque value and the fed back actual torque value, so that the load torque is constant;
in the position mode, the fuzzy PID control program of the torque and the rotating speed firstly sets a tiny rotating speed value, compares the difference between a rotating speed set value and an acquired actual rotating speed value to obtain the change rate of a rotating speed error, sequentially carries out fuzzification, fuzzy control table and clarification processes to obtain a rotating speed control output quantity, and sends a pulse frequency instruction through a motion card to control a load motor to output the rotating speed; then, setting a torque set value according to the loading test requirement, obtaining the change rate of a torque error by comparing the difference between the torque set value and an acquired actual torque value, sequentially performing fuzzification, fuzzy control table and clarification processes to obtain a torque control output quantity, and sending an analog voltage instruction by an acquisition card to control the output torque of a load motor; and finally, continuously collecting the rotating speed and the torque of the load motor, and controlling the load motor to be stabilized at a set rotating speed value and a set torque value according to the deviation fuzzy control. In the process, the nonlinearity and uncertainty of the loading system can be effectively solved, the motor is adjusted according to the deviation ratio between the set value and the fed-back actual value along with the set input of the loading system in time, and the constant coordination control of the torque and the rotating speed is realized.
The invention also discloses a method for detecting the performance of the precision-loaded RV reducer, which adopts the technical scheme that:
the method comprises the following steps: a user inputs relevant parameters such as the model, rated torque, reduction ratio and the like of a corresponding RV reducer, and determines a loading torque and rotating speed accurate value array required by each test item;
step two: by selecting functional program modules such as rotational speed fuzzy PID control, torque fuzzy PID control or torque rotational speed fuzzy PID control and the like, test control corresponding to torque and rotational speed precise loading speed regulation is carried out;
step three: acquiring parameters such as torque, rotating speed, angle value and the like of a specific loading point by a correlation performance detection method;
step four: and (4) judging the end of the loading point: if not, adjusting a new loading point, and repeating the step two; if so, performing the fifth step;
step five: and processing the test data and generating a report.
Further, the test data processing: taking a section of test data from the loading point on the basis of constant control, wherein the data length is defined by a user, then carrying out extinction extreme method processing on the section of test data of the loading point, and finally carrying out corresponding fitting processing on the loading point array according to the detection performance index.
The invention has the beneficial effects that:
1) through programs such as rotating speed fuzzy PID control, torque rotating speed fuzzy PID control and the like, an analog voltage instruction is sent through a collection card, a pulse frequency instruction is sent through a motion card, the analog voltage and the pulse frequency of a motor are adjusted, the speed or the position quantity of the motor is coordinated and controlled, and the loading torque is controlled, so that the constant rotating speed of the constant torque input end of the output end of the tested RV reducer is realized, the nonlinearity and the uncertainty of the system are effectively solved, the motor is adjusted along with the input of the system and the feedback deviation rate in time, and the loading of the test system and the accurate control of the speed are realized.
2) Power motor and input end torque speed sensor, accompany and survey RV reduction gear and output end torque speed sensor pass through the transition seat respectively with power sensor sliding platform, load sensor sliding platform fixed connection, high axiality when having guaranteed the unit mount, and then effectively promoted RV reduction gear performance detection's stability and reliability.
3) By the aid of the high-efficiency angle measuring device, the grating encoder does not need to be detached during testing, the high-efficiency angle measuring device is moved through the shaft, different mounting flanges are only required to be replaced for different RV reducers, damage and measurement deviation of the high-precision encoder are avoided, and testing efficiency is improved.
Drawings
FIG. 1 is a schematic view of a mechanical structure of a torque precision-loaded RV reducer performance detection device provided by the invention;
FIG. 2 is a schematic structural diagram of a measurement and control system of a precision-loaded RV reducer performance detection device provided by the invention;
FIG. 3 is a schematic structural diagram of an industrial personal computer provided by the invention;
FIG. 4 is a schematic block diagram of the fuzzy PID control of the rotation speed provided by the present invention;
FIG. 5 is a schematic block diagram of the torque fuzzy PID control provided by the present invention;
FIG. 6 is a schematic block diagram of the fuzzy PID control of torque and rotation speed provided by the invention.
In the figure, 1-a power motor, 2-a first diaphragm coupler, 3-an input end torque rotating speed sensor, 4-a second diaphragm coupler, 5-an input grating, 6-a vibration acceleration sensor, 7-a tested RV reducer, 8-an output flange, 9-an output grating, 10-an elastic coupler, 11-an output end torque rotating speed sensor, 12-an output end connection, 13-a tested RV reducer, 14-a load motor, 15-a power end sliding platform, 16-a power end sliding platform rail, 17-a power sensor sliding hand wheel, 18-a first transition seat, 19-a tested RV reducer bracket, 20-an output grating bracket, 21-an output grating sliding platform, 22-a second transition seat and 23-a load sensor sliding hand wheel, 24-load end sliding platform, 25-load end sliding platform guide rail, 26-rack, 27-industrial personal computer, 2701-keyboard, 2702-computer, 2703-input indicator light, 2704-output indicator light, 2705-scram, 2706-input servo start, 2707-output servo start, 2708-raster OFF/ON, 2709-input servo OFF/ON, 2710-output servo OFF/ON, 2711-position/speed mode, 2712-mouse, 28-subdivider I, 29-subdivider II, 30-subdivider III, 31-subdivider IV, 32-converter I, 33-current adapter, 34-converter II, 35-power motor drive controller, 36-data acquisition card, 37-load motor drive controller, 38-sports card.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The RV reducer performance detection device with the precise loading function comprises a test board and a measurement and control system;
as shown in fig. 1, the test bench of the RV reducer performance detection device with precise loading comprises a rack 26, a tested RV reducer support 19, a power end sliding platform 15, a power end sliding platform rail 25, a load end sliding platform 24, a load end sliding platform rail 16, a power motor 1, a load motor 14, a tested RV reducer 7, a tested RV reducer 13 and other components.
The rack 26 is provided with a bracket 19 of the tested RV reducer, and a power end sliding platform rail 16 and a load end sliding platform rail 25 which are respectively positioned at two sides of the bracket 19 of the tested RV reducer in the axial direction.
And an input grating 5, a vibration acceleration sensor 6, a tested RV reducer 7 and an output flange 8 are arranged on the tested RV reducer bracket 19. And a mounting flange is arranged on the tested RV reducer bracket 19, and the mounting flange is matched with tested RV reducers 7 of different models.
The power end sliding platform track 16 is provided with a power end sliding platform 15, the power end sliding platform 15 is sequentially provided with an input end torque and rotation speed sensor 3 and a power motor 1 from left to right, and the input end torque and rotation speed sensor 3 and the tested RV reducer 7 are coaxially arranged. The power motor 1 and the input end torque and speed sensor 3 are fixedly connected with the power end sliding platform track 16 through the first transition seat 18, so that high coaxiality of the power motor 1 and the input end torque and speed sensor 3 during installation can be guaranteed, and the stability and reliability of the measurement and control system are effectively improved.
The load end sliding platform track 25 is provided with a load end sliding platform 24 and an output grating sliding platform 21, the load end sliding platform 24 is sequentially provided with an output end torque rotating speed sensor 11, an accompanied RV reducer 13 and a load motor 14 from right to left, the output grating sliding platform 21 is provided with an output grating 9, the output grating 9 and the tested RV reducer 7 are coaxially arranged, and the output grating 9 is fixed on the output grating sliding platform 21 through an output grating support 20. Accompany and survey RV reduction gear 13 and output torque speed sensor 11 and pass through second transition seat 22 and load end sliding platform 24 fixed connection, can guarantee accompany and survey the high axiality when RV reduction gear 13 and the installation of output torque speed sensor 11, effectively promote the stability and the reliability of observing and controling the system. Accompany and survey RV reduction gear 13 and load motor 14 and pass through the hub connection, help improving the driven stability of load motor 14, improve the precision and the degree of accuracy that test system detected.
The front ends of the power end sliding platform 15 and the load end sliding platform 24 are respectively and fixedly provided with a power sensor sliding hand wheel 17 and a load sensor sliding hand wheel 23; the power sensor sliding hand wheel 17 and the load sensor sliding hand wheel 23 are corrugated circular rim hand wheels, so that the guide rails are moved when the tested RV reducer 7 is assembled and disassembled conveniently.
The power motor 1 and the input end torque and rotation speed sensor 3, and the input end torque and rotation speed sensor 3 and the input grating 5 are respectively connected through the first diaphragm coupler 2 and the second diaphragm coupler 4, so that the error influence caused by the torsional vibration of the power motor is reduced; the tested RV reducer 7 is connected with the output grating 9 through an output flange 8, the output grating 9 is connected with the output end torque and speed sensor 11 through an elastic coupling 10, the elastic coupling 10 adopts an elastic pin coupling, and the output end torque and speed sensor 11 is connected with the accompanied tested RV reducer 7 through an output end 12.
The output grating 9 and the input grating 5 are double-read head gratings; the output grating 9 is fixed on an output grating sliding platform 21 through an output grating support 20 to form a high-efficiency angle measuring device, the high-efficiency angle measuring device is fixed on a load sensor sliding platform 24 through a sliding clamping device, and left and right sliding is achieved through screw tightness.
A measurement and control system of a precisely loaded RV reducer performance detection device mainly comprises hardware of an industrial personal computer, a motion card 38, a data acquisition card 36, an input end torque and rotation speed sensor 3, an output end torque and rotation speed sensor 11, an input grating 5, an output grating 9, a vibration acceleration sensor 6 and the like. The software mainly comprises a rotating speed fuzzy PID control program, a torque rotating speed fuzzy PID control program and the like.
As shown in fig. 2, the input end torque and speed sensor 3 and the output end torque and speed sensor 11 are connected to the industrial personal computer 27 through a data acquisition card 36. The input grating 5 passes through the first subdivider 28, the second subdivider 29 and the first converter 32, and then is connected to the industrial personal computer 27 through the data acquisition card 36. The output grating 9 passes through a third subdivider 30, a fourth subdivider 31 and a second converter 34 and then is connected to the industrial personal computer 27 through a data acquisition card 36. The vibration acceleration sensor 6 is connected with the current adapter 33 and is connected with the industrial personal computer 27 through the data acquisition card 36. The industrial personal computer 27 communicates with the motion card 38 and the data acquisition card 36 to correspondingly control the power motor drive controller 35 and the load motor drive controller 37, so that the power motor 1 and the load motor 14 move and load.
As shown in fig. 3, the industrial personal computer 27 is a table structure, and is provided with a computer 2702, an input indicator light 2703, an output indicator light 2704, an emergency stop 2705, an input servo start 2706, an output servo start 2707, a grating OFF/ON 2708, an input servo OFF/ON 2709, an output servo OFF/ON 2710 and a position/speed mode 2711, and different performance tests are performed by operating different button switches. A drawer structure is arranged below the power supply device, a keyboard 2701 and a mouse 2712 are placed, and power effective output and accurate loading of system loads are achieved by inputting certain data.
As shown in fig. 4, the fuzzy PID control program of the rotation speed, in the speed mode, first sets the test rotation speed value according to the test requirement; then, the difference between the set value of the rotating speed and the collected actual rotating speed value is compared to obtain the change rate of the rotating speed error; then the rotation speed control output quantity is obtained through the fuzzification, fuzzy control table and clarification processes in sequence; and finally, sending a pulse frequency command through the motion card to control the rotating speed of the power motor. In the process, the speed of the power motor is controlled according to the deviation ratio between the set rotating speed value and the fed back actual rotating speed value, and the test rotating speed is constant.
As shown in FIG. 5, the torque fuzzy PID control routine, in speed mode, first sets a test torque value based on the test request; then, the difference between the set torque value and the collected actual torque value is compared to obtain the change rate of the torque error; then the torque control output quantity is obtained through the fuzzification, fuzzy control table and clarification processes in sequence; and finally, sending an analog voltage instruction through a collection card to control the torque of the load motor. In the process, torque control is carried out on the load motor according to the deviation ratio between the set torque value and the fed back actual torque value, so that the load torque is constant;
as shown in fig. 6, the torque-speed fuzzy PID control routine: in the position mode, firstly, setting a tiny rotating speed value, comparing the difference between the set rotating speed value and the collected actual rotating speed value to obtain the change rate of a rotating speed error, sequentially performing fuzzification, fuzzy control and clarification processes to obtain a rotating speed control output quantity, sending a pulse frequency instruction through a motion card, and controlling a load motor to output the rotating speed; then, setting a torque set value according to the loading test requirement, obtaining the change rate of a torque error by comparing the difference between the torque set value and an acquired actual torque value, sequentially performing fuzzification, fuzzy control table and clarification processes to obtain a torque control output quantity, and sending an analog voltage instruction by an acquisition card to control the output torque of a load motor; and finally, continuously collecting the rotating speed and the torque of the load motor, and controlling the load motor to be stabilized at a set rotating speed value and a set torque value according to the deviation fuzzy control. In the process, the nonlinearity and uncertainty of the loading system can be effectively solved, the motor is adjusted according to the deviation ratio between the set value and the fed-back actual value along with the set input of the loading system in time, and the constant coordination control of the torque and the rotating speed is realized.
The invention also discloses a method for detecting the performance of the precisely loaded RV reducer, which adopts the technical scheme that:
the method comprises the following steps: a user inputs relevant parameters such as the model, rated torque, reduction ratio and the like of a corresponding RV reducer, and determines a loading torque and rotating speed accurate value array required by each test item;
step two: by selecting functional program modules such as rotational speed fuzzy PID control, torque fuzzy PID control or torque rotational speed fuzzy PID control and the like, test control corresponding to torque and rotational speed precise loading speed regulation is carried out;
step three: through a correlation performance detection method, parameters such as torque, rotating speed and angle value of a specific loading point are obtained, and specifically: the torque and rotating speed value of the input end and the torque and rotating speed value of the output end are obtained by the data acquisition card; after the input grating and the output grating pass through the subdivider and the converter, an angle value is obtained through a data acquisition card; the vibration acceleration sensor is connected with the current adapter and obtains vibration data through the data acquisition card.
Step four: and (4) judging the end of the loading point: if not, adjusting a new loading point, and repeating the step two; if so, performing the fifth step;
step five: data processing and report generation, specifically:
taking a section of test data from the loading point on the basis of constant control, wherein the data length is defined by a user, then carrying out extinction extreme method processing on the section of test data of the loading point, and finally carrying out corresponding fitting processing on the loading point array according to the detection performance index.
The stiffness and transmission efficiency of the RV reducer are described in detail below as examples.
The method comprises the following specific steps of testing the rigidity of the RV reducer:
the method comprises the following steps: installing the tested RV reducer 7 on the measuring device, and locking the input end of the tested RV reducer 7 at the position of the input grating 5;
step two: the output servo start 2707 is turned ON, the output servo OFF/ON 2710 and the grating OFF/ON 2708 are turned ON after the output indicator light 2704 is normally ON, the position/speed mode 2711 is adjusted to the position mode, the information such as the model, the reduction ratio, the rated torque, the rigidity coefficient and the like of the tested RV reducer 7 is set through the industrial personal computer 27, the test program is started after the assembly is completed, and the accurate value array of the torque needing to be loaded is determined;
step three: the industrial personal computer 27 sends a voltage instruction to the data acquisition card 36 through the fuzzy PID control of the torque and the rotating speed to control the driving load motor controller 37 to drive the load motor 14, so that the torque of the torque and the rotating speed sensor 3 from the load motor 14 to the output end is 0, and the backlash and the system error are eliminated;
step four: the industrial personal computer 27 controls the motion card to send pulse frequency, so that the load motor 14 rotates forwards at a low speed, torque is gradually increased to the rated torque of the tested RV reducer 7, the torque unloaded to the output end of the tested RV reducer 7 in a reverse direction is zero, the rated torque loaded to the tested RV reducer 7 in the reverse direction and the torque unloaded to the output end of the tested RV reducer 7 in the forward direction is zero, voltage and pulse are adjusted through fuzzy PID control of torque and rotating speed in the period, precise loading of corresponding rotating speed and torque arrays is carried out, and torque parameters of each loading point are obtained;
step five: the industrial personal computer 27 records corresponding data of the output torque and the output angle in real time, one section of data is taken for extinction extreme value method processing on the basis of constant control of the loading point, finally, a linear fitting method is adopted for the loading point array in a range of-20% to + 20% of rated torque, and a quadratic fitting method is adopted for fitting in a range of-100% to-20% of rated torque and + 20% to + 100% of rated torque, so that the rigidity of the RV reducer is obtained and a report is generated.
The method comprises the following specific steps of testing the transmission efficiency of the RV reducer:
the method comprises the following steps: installing a tested RV reducer 7 ON the measuring device, turning ON an input servo start 2706 and an output servo start 2707, turning ON an input servo OFF/ON 2709 and an output servo OFF/ON 2710 after an input indicator light 2703 and an output indicator light 2704 are lighted, and adjusting a position/speed mode 2711 to a speed mode;
step two: a motion instruction is input to the motion card 38 through the computer 2702 to control the power motor driving controller 35 to drive the power motor 1, so that the power motor 1 rotates at a low speed for more than 0.5h, the test bench is in running-in, the RV reducer test enters an optimal state, and the test stability and accuracy are improved;
step three: setting information such as the model, the reduction ratio and the rated torque of the tested RV reducer 7 through software in the industrial personal computer 27, setting 3 different input rotating speeds R1, R2 and R3, starting a test program after assembly is completed, and determining a torque rotating speed accurate value array needing to be loaded;
step four: the tested RV reducer 7 is controlled to work at a set input rotating speed through the power motor 1, the specified torque is gradually applied to the output end of the tested RV reducer 7 to the rated torque, an industrial personal computer 27 sends an instruction to a data acquisition card 36 to control a driving controller II 37 to drive a load motor 14 to apply specific torque to the RV, during the period, the pulse frequency is adjusted through rotating speed fuzzy PID control, the rotating speed of the motor at the power end reaches a set constant value, then the analog voltage is adjusted through torque fuzzy PID control, the precise loading of a corresponding torque array is carried out, and the torque rotating speed parameters of each loading point are obtained;
step five: the collected frequency signals are converted by the output end torque and rotation speed sensor 11 and the input end torque and rotation speed sensor 3 through the data acquisition card 36 to obtain related data, corresponding data of torque and rotation speed are recorded in real time, a section of data is taken from a loading point on the basis of constant control to carry out extinction extreme method processing, finally, polynomial fitting is carried out on a loading point torque array to obtain a transmission efficiency curve of the RV reducer, and a report is generated.
The invention provides a precision-loaded RV reducer performance detection device and method, wherein a high-efficiency angle measurement device is connected with a transition seat, so that the damage and measurement deviation of a high-precision encoder are avoided, meanwhile, the high coaxiality of component installation is ensured, the stability and reliability of a measurement and control system are effectively improved, and the test efficiency is improved; the motor analog voltage and pulse frequency are adjusted through programs such as rotating speed fuzzy PID control, torque rotating speed fuzzy PID control and the like, so that the constant rotating speed of the constant torque input end of the tested RV reducer is realized, the nonlinearity and uncertainty of a system are effectively solved, the motor is adjusted along with the input of the system and the feedback deviation rate in time, the accurate control of the test system is realized, the debugging is convenient, and the operation is easy.
The above-listed series of detailed descriptions are merely specific illustrations of possible embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent means or modifications that do not depart from the technical spirit of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A precisely loaded RV reducer performance detection device is characterized by comprising a test board and a measurement and control system;
the test bench comprises a bench (26), a tested RV reducer support (19), a power end sliding platform (15), a power end sliding platform rail (25), a load end sliding platform (24), a load end sliding platform rail (16), a power motor (1), a load motor (14), a tested RV reducer (7) and a tested RV reducer (13) component;
a bracket (19) of the tested RV reducer, a power end sliding platform rail and a load end sliding platform rail are arranged on the rack (26), and the power end sliding platform rail and the load end sliding platform rail are respectively positioned on two sides of the tested RV reducer bracket in the axial direction;
an output flange, a tested RV reducer (7), a vibration acceleration sensor (6) and an input grating (5) are arranged on the tested RV reducer bracket (19);
a power end sliding platform (15) is arranged on the power end sliding platform rail (16), and an input end torque and rotating speed sensor (3) and a power motor (1) are sequentially arranged on the power end sliding platform (15) from left to right; the input end torque and rotation speed sensor (3) is coaxially arranged with the tested RV reducer;
a load end sliding platform (24) and an output grating sliding platform (21) are arranged on the load end sliding platform track (25); an output end torque and rotating speed sensor (11), an accompanied RV reducer (13) and a load motor (14) are sequentially arranged on the load end sliding platform (24) from right to left; an output grating (9) is arranged on the output grating sliding platform; the output grating is coaxially arranged with the tested RV reducer;
the front ends of the power end sliding platform (15) and the load end sliding platform (24) are respectively and fixedly provided with a power sensor sliding hand wheel (17) and a load sensor sliding hand wheel (23), so that when the tested RV reducer is disassembled and assembled, the guide rail is conveniently moved, a proper amount of space is vacated, the operation and the installation are convenient, the repeated positioning error is prevented, meanwhile, the input end or the output end is conveniently disconnected, and the requirements of testing and replacing components with different performance indexes are met;
the power motor (1) and the input end torque and rotation speed sensor (3) as well as the input end torque and rotation speed sensor (3) and the input grating (5) are respectively connected through a first diaphragm coupler (2) and a second diaphragm coupler (4); the tested RV reducer (7) is connected with the output grating (9) through an output flange (8), so that the load provided by a load motor is stable, the torque loss is avoided, and the accuracy and the stability of a test system are improved; the output grating is connected with the output end torque and rotation speed sensor through an elastic coupling: the output end torque rotating speed sensor is connected with the accompanied RV reducer through an output end; the accompanied RV reducer is connected with the load motor through a shaft;
the measurement and control system comprises a hardware part and a software part; the hardware main part comprises an industrial personal computer, a motion card (38), a data acquisition card (36), an input end torque and rotation speed sensor (3), an output end torque and rotation speed sensor (11), an input grating (5), an output grating (9) and a vibration acceleration sensor (6); the input end torque and rotation speed sensor (3) and the output end torque and rotation speed sensor (11) are connected to an industrial personal computer through a data acquisition card; the input grating (5) and the output grating (9) pass through a subdivider and a converter and then are connected to an industrial personal computer through a data acquisition card; the vibration acceleration sensor is connected with the current adapter and is connected to the industrial personal computer through the data acquisition card; the industrial personal computer (27) is communicated with the motion card and the data acquisition card in a mutual contact manner, and correspondingly controls the power motor drive controller and the load motor drive controller to enable the power motor and the load motor to move and load;
the software part mainly comprises a rotating speed fuzzy PID control program, a torque fuzzy PID control program and a torque rotating speed fuzzy PID control program;
the rotating speed fuzzy PID control program comprises the following steps: in the speed mode, firstly, setting a test rotating speed value according to test requirements; then, the difference between the set value of the rotating speed and the collected actual rotating speed value is compared to obtain the change rate of the rotating speed error; then the rotation speed control output quantity is obtained through the fuzzification, fuzzy control table and clarification processes in sequence; finally, a pulse frequency command is sent by the motion card to control the rotating speed of the power motor; in the process, speed control is carried out on the power motor according to the deviation ratio between the set rotating speed value and the fed back actual rotating speed value, so that the test rotating speed is constant;
the torque fuzzy PID control program: in the speed mode, firstly, a test torque value is set according to a test requirement; then, the difference between the set torque value and the collected actual torque value is compared to obtain the change rate of the torque error; then the torque control output quantity is obtained through the fuzzification, fuzzy control table and clarification processes in sequence; finally, sending an analog voltage instruction through a collection card to control the torque of a load motor; in the process, torque control is carried out on the load motor according to the deviation ratio between the set torque value and the fed back actual torque value, so that the load torque is constant;
the torque and rotating speed fuzzy PID control program comprises the following steps: in the position mode, firstly, setting a tiny rotating speed value, comparing the difference between the set rotating speed value and the collected actual rotating speed value to obtain the change rate of a rotating speed error, sequentially performing fuzzification, fuzzy control and clarification processes to obtain a rotating speed control output quantity, sending a pulse frequency instruction through a motion card, and controlling a load motor to output the rotating speed; then, setting a torque set value according to the loading test requirement, obtaining the change rate of a torque error by comparing the difference between the torque set value and an acquired actual torque value, sequentially performing fuzzification, fuzzy control table and clarification processes to obtain a torque control output quantity, and sending an analog voltage instruction by an acquisition card to control the output torque of a load motor; finally, continuously collecting the rotating speed and the torque of the load motor, and controlling the load motor to be stabilized at a set rotating speed value and a set torque value according to the deviation in a fuzzy mode; in the process, the motor is adjusted according to the deviation rate between the set value and the fed back actual value along with the set input of the loading system in time, so that the constant coordination control of the torque and the rotating speed is realized.
2. The RV reducer performance detection device for precise loading according to claim 1, characterized in that the industrial personal computer (27) is in a table structure, a computer, a control button and a button indicator lamp are arranged on the industrial personal computer, a drawer structure is arranged below the industrial personal computer, a keyboard and a mouse are placed, and power effective output and precise loading of system loads are realized by inputting certain data.
3. A performance testing method of the precision-loaded RV reducer performance testing device of claim 1, characterized by comprising the following steps:
the method comprises the following steps: a user inputs relevant parameters of the model, the rated torque and the reduction ratio of the corresponding RV reducer, and determines a loading torque and rotating speed accurate value array required by each test item;
step two: test control of corresponding torque and rotating speed precise loading speed regulation is carried out by selecting a rotating speed fuzzy PID control, a torque fuzzy PID control or a torque and rotating speed fuzzy PID control functional program module;
step three: acquiring torque, rotating speed and angle value parameters of a specific loading point by a correlation performance detection method; specifically, the method comprises the following steps: the torque and rotating speed value of the input end and the torque and rotating speed value of the output end are obtained by the data acquisition card; after the input grating and the output grating pass through the subdivider and the converter, an angle value is obtained through a data acquisition card; the vibration acceleration sensor is connected with the current adapter to obtain vibration data through a data acquisition card;
step four: and (4) judging the end of the loading point: if not, adjusting a new loading point, and repeating the step two; if so, performing the fifth step;
step five: and processing the test data and generating a report.
4. The method for detecting the performance of the precisely loaded RV reducer according to claim 3, characterized in that when the method is applied to the rigidity test of the RV reducer, the specific steps are as follows:
the method comprises the following steps: installing the tested RV reducer 7 on a detection device, and locking the input end of the tested RV reducer (7) at the position of the input grating (5);
step two: the method comprises the steps of starting an output servo start (2707), starting an output servo OFF/ON (2710) and a grating OFF/ON (2708) after an output indicator lamp (2704) is normally ON, adjusting a position/speed mode (2701) to a position mode, setting the model, the reduction ratio, the rated torque and the rigidity coefficient information of a tested RV reducer (7) through an industrial personal computer (27), starting a test program after assembly is completed, and determining an accurate value array of torque needing to be loaded;
step three: an industrial personal computer (27) sends a voltage instruction to a data acquisition card (36) through torque and rotating speed fuzzy PID control to control a load motor driving controller (37) to drive a load motor (14), so that the torque of a torque and rotating speed sensor (3) rotating to the output end of the load motor (14) is 0, and backlash and system errors are eliminated;
step four: the industrial personal computer (27) controls the motion card to send pulse frequency, so that the load motor (14) rotates forwards at low speed, torque is gradually increased to the rated torque of the tested RV reducer (7), the torque reversely unloaded to the output end of the tested RV reducer (7) is zero, the torque reversely loaded to the rated torque of the tested RV reducer (7) and the torque forwardly unloaded to the output end of the tested RV reducer (7) are zero, voltage and pulse are adjusted through fuzzy PID control of torque and rotating speed in the period, precise loading of corresponding rotating speed and torque arrays is carried out, and torque parameters of each loading point are obtained;
step five: the industrial personal computer (27) records corresponding data of output torque and output angle in real time, one section of data is taken for extinction extreme value method processing on the basis of constant control of the loading point, finally, a linear fitting method is adopted for the loading point array in a range of-20% to + 20% of rated torque, and a quadratic fitting method is adopted for fitting in a range of-100% to-20% of rated torque and + 20% to + 100% of rated torque, so that the rigidity of the RV reducer is obtained and a report is generated.
5. The method for detecting the performance of the precision-loaded RV reducer according to claim 3, characterized in that when the method is applied to the RV reducer transmission efficiency test, the specific steps are as follows:
the method comprises the following steps: installing a tested RV reducer (7) ON the detection device, turning ON an input servo start (2706) and an output servo start (2707), turning ON an input servo OFF/ON (2709) and an output servo OFF/ON (2710) after an input indicator lamp (2703) and an output indicator lamp (2704) are normally ON, and adjusting a position/speed mode (2711) to a speed mode;
step two: a motion instruction is input to a motion card (38) through a computer (2702) to control a power motor driving controller (35) to drive a power motor (1), so that the power motor (1) rotates at a low speed for more than 0.5h, a test bench is in running-in, the RV reducer test enters an optimal state, and the test stability and accuracy are improved;
step three: setting the model, the reduction ratio and the rated torque information of the tested RV reducer (7) through software in the industrial personal computer (27), setting 3 different input rotating speeds R1, R2 and R3, starting a test program after assembly, and determining a torque and rotating speed accurate value array needing to be loaded;
step four: the tested RV reducer (7) is controlled to work at a set input rotating speed through the power motor (1), the output end of the tested RV reducer (7) gradually applies specified torque to rated torque, an industrial personal computer (27) sends an instruction to a data acquisition card (36) to control a driving controller II (37) to drive a load motor (14) to apply specific torque to the RV, during the period, the pulse frequency is adjusted through rotating speed fuzzy PID control, the rotating speed of the motor at the power end reaches a set constant value, then the analog voltage is adjusted through torque fuzzy PID control, precise loading of a corresponding torque array is carried out, and torque rotating speed parameters of each loading point are obtained;
step five: the output end torque rotating speed sensor (11) and the input end torque rotating speed sensor (3) convert the collected frequency signals through a data acquisition card (36) to obtain related data, record corresponding data of torque and rotating speed in real time, take a section of data from a loading point on the basis of constant control to carry out extinction extreme method processing, finally carry out polynomial fitting on a loading point torque array to obtain a transmission efficiency curve of the RV reducer and generate a report.
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