CN111709110A - Method and device for predicting service life of seventh shaft sliding table synchronous belt of industrial robot - Google Patents
Method and device for predicting service life of seventh shaft sliding table synchronous belt of industrial robot Download PDFInfo
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- CN111709110A CN111709110A CN202010360897.4A CN202010360897A CN111709110A CN 111709110 A CN111709110 A CN 111709110A CN 202010360897 A CN202010360897 A CN 202010360897A CN 111709110 A CN111709110 A CN 111709110A
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Abstract
The invention aims to provide a method and equipment for predicting the service life of a synchronous belt of an industrial robot sliding table, wherein when the synchronous belt is gradually worn until the synchronous belt is broken under the action of factors such as fatigue load, rubber aging and the like, the method and the equipment not only can cause the fault of the single equipment using the synchronous belt, but also can cause the production interruption of a production line. The invention provides a method and equipment for accurately evaluating the damage degree of a synchronous belt according to actual working conditions, and aims to solve the problem that the actual running state of the synchronous belt cannot be accurately evaluated in the prior art. The invention can effectively avoid abnormal shutdown of equipment, reduce maintenance cost and improve economic benefit.
Description
Technical Field
The invention relates to the field of crossing of industrial robots and computers, in particular to a method and equipment for predicting the service life of a seventh shaft sliding table synchronous belt of an industrial robot.
Background
Currently, in the automobile manufacturing industry, a robot sliding table is a common horizontal conveying device. Slip table hold-in range belongs to the vulnerable part. In a production system, if the health state of the synchronous belt cannot be accurately evaluated, great loss is often brought.
In order to reduce the pressure of cloud computing, the method adopts a mode of combining edge computing and cloud computing. The edge terminal is responsible for data real-time acquisition and partial data calculation, and the cloud terminal is responsible for data aggregation and data display. The method for the edge cloud disperses the load of the cloud, and is beneficial to simultaneous use of a large number of devices.
Disclosure of Invention
The invention aims to provide a method and equipment for predicting the service life of a seventh shaft sliding table synchronous belt of an industrial robot.
According to an aspect of the present invention, there is provided a method for predicting life of a synchronous belt, the method comprising:
acquiring tension on a synchronous belt corresponding to each cycle, acquiring fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
acquiring aging damage D2 of the synchronous belt;
obtaining a total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2;
judging whether the total damage D of the synchronous belt exceeds a preset threshold value or not, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up; and if the service life of the synchronous belt is not up to the preset threshold value, judging that the service life of the synchronous belt is not up.
Further, in the above method, acquiring a tension on the synchronous belt corresponding to each cycle includes:
the torque on the synchronous belt corresponding to each circulation is obtained through a unique data acquisition channel of the industrial robot: seventh axis data of robot → robot controller → PLC → data acquisition gateway (edge terminal).
And obtaining the tension on the synchronous belt corresponding to each cycle based on the torque on the synchronous belt corresponding to each cycle.
Further, in the above method, obtaining the total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2 includes:
and obtaining the total damage D of the synchronous belt based on the fatigue failure damage D1 and the corresponding weight a1, the aging damage D2 and the corresponding weight a 2.
Further, in the above method, obtaining the aging damage D2 of the synchronous belt includes:
acquiring the aging damage D2 of the synchronous belt according to the following formula:
D2＝fun2(T，t)＝A-Ae-k(T)t，
wherein D2 is the property variation value of the rubber of the synchronous belt;
t denotes temperature, T denotes time;
a is a constant, independent of temperature;
e is a natural constant of 2.71812;
k is a constant of the rate of change of the property with respect to the temperature T.
According to another aspect of the present invention, there is also provided a synchronous belt service life predicting apparatus, wherein the apparatus comprises:
the first device is used for acquiring the tension on the synchronous belt corresponding to each cycle, acquiring the fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring the fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
the second device is used for acquiring aging damage D2 of the synchronous belt;
third means for deriving a total damage D of the synchronous belt based on the fatigue failure damage D1 and an aging damage D2;
the fourth device is used for judging whether the total damage D of the synchronous belt exceeds a preset threshold value or not, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up; and if the service life of the synchronous belt is not up to the preset threshold value, judging that the service life of the synchronous belt is not up.
Further, in the above apparatus, the first device is configured to obtain a torque on the synchronous belt corresponding to each cycle through a sensor disposed on the synchronous belt; and obtaining the tension on the synchronous belt corresponding to each cycle based on the torque on the synchronous belt corresponding to each cycle.
Further, in the above apparatus, the third means is configured to obtain the total damage D of the synchronous belt based on the fatigue failure damage D1 and the corresponding weight a1, the aging damage D2 and the corresponding weight a 2.
Further, in the above apparatus, the second device is configured to obtain an aging damage D2 of the synchronous belt according to the following formula:
D2＝fun2(T，t)＝A-Ae-k(T)t，
wherein D2 is the property variation value of the rubber of the synchronous belt;
t denotes temperature, T denotes time;
a is a constant, independent of temperature;
e is a natural constant of 2.71812;
k is a constant of the rate of change of the property with respect to the temperature T.
According to another aspect of the present invention, there is also provided a computing-based device, including:
a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to:
acquiring tension on a synchronous belt corresponding to each cycle, acquiring fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
acquiring aging damage D2 of the synchronous belt;
obtaining a total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2;
judging whether the total damage D of the synchronous belt exceeds a preset threshold value or not, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up; and if the service life of the synchronous belt is not up to the preset threshold value, judging that the service life of the synchronous belt is not up.
According to another aspect of the present invention, there is also provided a computer-readable storage medium having stored thereon computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, cause the processor to:
acquiring tension on a synchronous belt corresponding to each cycle, acquiring fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
acquiring aging damage D2 of the synchronous belt;
obtaining a total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2;
judging whether the total damage D of the synchronous belt exceeds a preset threshold value or not, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up; and if the service life of the synchronous belt is not up to the preset threshold value, judging that the service life of the synchronous belt is not up.
The invention provides a method for accurately evaluating the damage degree of the service life of a synchronous belt of a seventh shaft sliding table of an industrial robot according to actual working conditions, aiming at the problem that the actual running state of the service life of the synchronous belt of the seventh shaft sliding table of the industrial robot cannot be accurately evaluated in the prior art. The invention can effectively avoid abnormal shutdown of equipment, reduce maintenance cost and improve economic benefit.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 shows an analysis schematic diagram of the service life of a seventh sliding table synchronous belt of an industrial robot under a design working condition according to an embodiment of the invention;
fig. 2 shows a flow chart of a method for predicting the service life of a seventh sliding table synchronous belt of an industrial robot according to an embodiment of the invention;
FIG. 3 shows a schematic diagram of torque acquisition of an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a force analysis of a seventh sliding table timing belt of the industrial robot according to an embodiment of the invention;
FIG. 5 is a schematic diagram illustrating alternating stress on a seventh shaft sliding table synchronous belt of the industrial robot according to one embodiment of the invention;
FIG. 6 shows a schematic view of a fatigue failure damage Δ D of an embodiment of the present invention;
fig. 7 shows a schematic diagram of aged damage D2 of a seventh shaft sliding table timing belt of an industrial robot according to an embodiment of the present invention.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
The invention provides a method for predicting the service life of a synchronous belt, which comprises the following steps:
s1, acquiring tension on a synchronous belt corresponding to each cycle, acquiring fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
specifically, after the tensile stress is obtained, the stress is converted into a damage Δ D of Fun1(Force, t) per operation cycle through the fatigue property of the material, where Force refers to the pulling Force of the synchronous belt, and t refers to the time. When the stress is below the fatigue limit, the damage is minimal (close to 0); for example, when the stress exceeds the tensile strength, the damage is 1. Accumulating the damage values of each cycle one by one to obtain synchronous belt fatigue failure damage prediction D1 which is Σ Δ D;
step S2, acquiring aging damage D2 of the synchronous belt;
specifically, synchronous belts suffer from natural aging, primarily temperature dependent (contamination), in addition to mechanical fatigue damage. The problem can be simplified to the aging damage D2 ═ Fun2(T, T), where T denotes temperature and T denotes time.
Step S3, obtaining the total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2;
for example, the total injury D ═ D1+ D2;
step S4, judging whether the total damage D of the synchronous belt exceeds a preset threshold value, if so, judging that the service life of the synchronous belt is up and the synchronous belt needs to be replaced; if the preset threshold value is not reached, the service life of the synchronous belt is judged to be short, and the synchronous belt can be continuously used.
Specifically, when the synchronous belt is gradually worn to break under the action of factors such as fatigue load and rubber aging, not only can the fault of the single equipment using the synchronous belt be caused, but also the production of the production line can be interrupted. The invention provides a method for accurately evaluating the damage degree of a synchronous belt according to the actual working condition, and a method for evaluating the damage degree of the synchronous belt of a seventh shaft of a robot, aiming at the problem that the actual running state of the synchronous belt of the prior art, such as the actual running state of the synchronous belt of the seventh shaft of the robot, can not be accurately evaluated. The invention can effectively avoid abnormal shutdown of equipment, reduce maintenance cost and improve economic benefit.
For example, when D ═ 0, the timing belt is considered brand new, and D ═ 1, the timing belt is considered to be in a theoretical failure state. A threshold value can be set at D0.85-0.95 according to the needs of a user, and when the threshold value is reached, a warning is triggered. The timing belt can be subsequently scheduled to be replaced at non-production time while the total damage D is set to 0 in a designated cycle.
As shown in fig. 1:
firstly, the synchronous belt of the equipment is used under the over-design working condition, the damage development is fast, the threshold value is reached quickly, and the synchronous belt needs to be replaced in advance;
the synchronous belt of the equipment runs under the design working condition and is normally maintained;
the synchronous belt of the equipment runs under the design working condition, the damage is small, and the service life can be prolonged.
The service life evaluation of the past synchronous belt is carried out based on the design working condition, but the service life prediction is carried out according to the actual operation working condition, so that the prediction can be more accurately obtained.
In one embodiment, the damage values of the synchronous belts may be sorted in time order and visually displayed, for example, in a visual display, the horizontal axis may be set as time and the vertical axis may be set as damage prediction (damage value). The damage value of the synchronous belt can be used for more combined application and visual application.
In an embodiment of the method for predicting the service life of the synchronous belt, in step S1, the obtaining of the tension on the synchronous belt corresponding to each cycle includes:
step S11, acquiring the torque on the synchronous belt corresponding to each cycle through a sensor arranged on the synchronous belt;
and step S12, obtaining the tension on the synchronous belt corresponding to each cycle based on the torque on the synchronous belt corresponding to each cycle.
Specifically, the service life of the current synchronous belt is evaluated under the design load and theoretical working conditions, and the current synchronous belt cannot adapt to the working conditions of rapid capacity adjustment and change in a production field. This problem can only be solved if a failure prediction model for the synchronous belt is developed by sensors, information systems and big data modeling.
As shown in fig. 2, the present invention can be implemented by four parts: data real-time acquisition, data monitoring and storage, model prediction and maintenance one-shot. Firstly, converting the physical state of equipment into a digital signal through a sensor, transmitting the digital signal to an industrial gateway, and sending data to a time sequence database by the industrial gateway for storage; then the industrial gateway also sends the data to the platform for data monitoring, and the monitoring content includes but is not limited to whether the data value meets the setting requirement or not and whether the data quality meets the requirement or not; based on the accumulated time sequence data, a model for predicting the fatigue failure of the synchronous belt can be further developed and deployed on a platform, automatic operation is carried out according to real-time data, and a prediction result is given; according to the prediction result, a maintenance list can be triggered to guide the synchronous belt maintenance operation.
The method comprises the steps that the equipment collects data, N sensor data Xn (X1, X2, X3, X4 … and Xn), validity check is carried out on the data of each sensor, Xi belongs to Ui, wherein Ui represents a set with specific physical significance, for example {0, 1}, { X |0< X <200} and the like, and for the condition that Xi belongs to Ui is not met, an overrun warning is given, and the number of overrun times is counted.
And analyzing the working condition of the acquired data, and associating the data with the running state.
This process involves a large number of calculations per day using a large amount of sensor data, while considering reliability and timely response, computer information systems and big data processing techniques can be used.
For example, the whole process is divided into a seventh axis movement part and a static part of the robot, and the static part does not have fatigue damage by identifying the movement part of the robot.
Whether the machine moves or not can be judged according to the robot action flag bit being 1, whether the machine belongs to one action or not can be judged according to the robot serial number, and the robot serial number is changed to finish one cycle. The 7 cycles may be divided as in fig. 3, and the maximum value and the minimum value of the seventh shaft torque (J7 torque) are extracted each cycle.
Then, establishing a relation between the sensor parameters and the synchronous belt tension through stress analysis:
Force＝g(M)。
according to the invention, by analyzing the failure mode of the synchronous belt, the fact that the overlarge periodic tensile stress caused by heavy load is the main cause of the failure of the synchronous belt is discovered, and the stress can not be directly measured, so that the accurate calculation of the tensile stress on the synchronous belt by arranging a proper sensor and designing a proper transfer function is very important.
The sensor can be arranged at a proper position, relevant load parameters of the synchronous belt can be taken out, and a transfer function is established through relevant mechanical principles and control principles.
As shown in fig. 4 and 5, in a specific embodiment:
wherein the content of the first and second substances, yuFfor pre-tensioning belts
In the formula, M represents torque, Fyu represents the pretightening force of the synchronous belt, and r is the radius of the driving wheel. M is taken from the sensor (torque maximum and minimum per cycle), Fyu is dependent on the degree of tension of the timing belt and r is the mechanical property of the device. In one embodiment, Fyu may be 20000N, and r is 0.035 m. Each peak of F in fig. 5 corresponds to each timing belt tight side force F1, and each valley of F corresponds to each timing belt loose side force F2.
In an embodiment of the method for predicting the service life of the synchronous belt, step S3, based on the fatigue failure damage D1 and the aging damage D2, obtains the total damage D of the synchronous belt, including:
and obtaining the total damage D of the synchronous belt based on the fatigue failure damage D1 and the corresponding weight a1, the aging damage D2 and the corresponding weight a 2.
Specifically, after the tension of the synchronous belt is obtained, the stress is converted into damage delta D (fun 1) (Force) of each cycle through the fatigue property of the material, and when the stress is lower than the fatigue limit, the damage is extremely small (close to 0); when the stress exceeds the tensile strength, the damage is 1. And accumulating the damage values of each cycle one by one to obtain the fatigue failure damage prediction D1 ═ Sigma Delta D of the synchronous belt.
The aging damage of the synchronous belt is calculated by a kinetic curve method (Arrhenius formula), D2 ═ fun2(T, T)
Finally, the damage value D of the synchronous belt is calculated, wherein D is a 1D 1+ a 2D 2, a1 and a2 are weights, in one embodiment, a1 is 1, and a2 is 2.
And finally, calculating the damage value of the synchronous belt, wherein the damage value is defined as intact when the damage value is 0, the damage value is defined as damaged when the damage value is 1, a user can set a certain numerical value between 0 and 1 as a threshold (usually 0.85 to 0.95), and when the damage value reaches the threshold, a maintenance order can be triggered to remind the user to replace the synchronous belt.
Wherein F0＝100，Fu＝50000
Alternatively, as shown in FIG. 6,
in an embodiment of the method for predicting the service life of the synchronous belt, in step S2, the obtaining of the aging damage D2 of the synchronous belt includes:
as shown in fig. 7, the aging damage D2 of the synchronous belt is obtained according to the following formula:
D2＝fun2(T，t)＝A-Ae-k(T)t，
wherein, D2 is the performance variation value of the rubber of the synchronous belt, and can be the ratio of a certain mechanical index;
t denotes temperature, T denotes time;
a is a constant, independent of temperature, in one embodiment, a ═ 1;
e is a natural constant, about 2.71812;
k is a constant of the rate of change of the property with respect to the temperature T, in one embodiment, k is 1.899E-4.
The invention provides a method for predicting the service life of a synchronous belt, which comprises the following steps:
the method comprises the steps of firstly, acquiring tension on a synchronous belt corresponding to each cycle, acquiring fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
specifically, after the tensile stress is obtained, the stress is converted into a damage Δ D of Fun1(Force, t) per operation cycle through the fatigue property of the material, where Force refers to the pulling Force of the synchronous belt, and t refers to the time. When the stress is below the fatigue limit, the damage is minimal (close to 0); for example, when the stress exceeds the tensile strength, the damage is 1. Accumulating the damage values of each cycle one by one to obtain synchronous belt fatigue failure damage prediction D1 which is Σ Δ D;
secondly, acquiring aging damage D2 of the synchronous belt;
specifically, synchronous belts suffer from natural aging, primarily temperature dependent (contamination), in addition to mechanical fatigue damage. The problem can be simplified to the aging damage D2 ═ Fun2(T, T), where T denotes temperature and T denotes time.
Thirdly, obtaining the total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2;
for example, the total injury D ═ D1+ D2;
fourthly, judging whether the total damage D of the synchronous belt exceeds a preset threshold value, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up and the synchronous belt needs to be replaced; if the preset threshold value is not reached, the service life of the synchronous belt is judged to be short, and the synchronous belt can be continuously used.
Specifically, when the synchronous belt of the robot is gradually worn to break under the action of factors such as fatigue load and rubber aging, not only the single equipment can be caused to break down, but also the production of the production line can be interrupted. Aiming at the problem that the actual running state of the synchronous belt of the seventh shaft sliding table of the robot cannot be accurately evaluated in the prior art, the invention provides a method for accurately evaluating the damage degree of the synchronous belt of the seventh shaft of the robot according to the actual working condition. The invention can effectively avoid abnormal shutdown of equipment, reduce maintenance cost and improve economic benefit.
For example, when D ═ 0, the timing belt is considered brand new, and D ═ 1, the timing belt is considered to be in a theoretical failure state. A threshold value can be set at D0.85-0.95 according to the needs of a user, and when the threshold value is reached, a warning is triggered. The timing belt can be subsequently scheduled to be replaced at non-production time while the total damage D is set to 0 in a designated cycle.
As shown in fig. 1:
firstly, the synchronous belt of the equipment is used under the over-design working condition, the damage development is fast, the threshold value is reached quickly, and the synchronous belt needs to be replaced in advance;
the synchronous belt of the equipment runs under the design working condition and is normally maintained;
the synchronous belt of the equipment runs under the design working condition, the damage is small, and the service life can be prolonged.
The service life evaluation of the past synchronous belt is carried out based on the design working condition, but the service life prediction is carried out according to the actual operation working condition, so that the prediction can be more accurately obtained.
In one embodiment, the damage values of the synchronous belts may be sorted in time order and visually displayed, for example, in a visual display, the horizontal axis may be set as time and the vertical axis may be set as damage prediction (damage value). The damage value of the synchronous belt can be used for more combined application and visual application.
In an embodiment of the device for predicting the service life of the synchronous belt, the first step is to acquire a torque on the synchronous belt corresponding to each cycle through a sensor arranged on the synchronous belt; and obtaining the tension on the synchronous belt corresponding to each cycle based on the torque on the synchronous belt corresponding to each cycle.
Specifically, the service life of the current synchronous belt is evaluated under the design load and theoretical working conditions, and the current synchronous belt cannot adapt to the working conditions of rapid capacity adjustment and change in a production field. This problem can only be solved if a failure prediction model for the synchronous belt is developed by sensors, information systems and big data modeling.
As shown in fig. 2, the present invention can be implemented by four parts: data real-time acquisition, data storage and monitoring, model prediction and maintenance one-shot. Firstly, transmitting the seventh axis data of the industrial machine from the robot controller to the PLC, then transmitting the seventh axis data to the industrial gateway, and sending the data to the time sequence database by the industrial gateway for storage; then the industrial gateway also sends the data to the platform for data monitoring, and the monitoring content includes but is not limited to whether the data value meets the setting requirement or not and whether the data quality meets the requirement or not; based on the accumulated time sequence data, a model for predicting the fatigue failure of the synchronous belt can be further developed and deployed on a platform, automatic operation is carried out according to real-time data, and a prediction result is given; according to the prediction result, a maintenance list can be triggered to guide the synchronous belt maintenance operation.
The method comprises the steps that the equipment collects data, N sensor data Xn (X1, X2, X3, X4 … and Xn), validity check is carried out on the data of each sensor, Xi belongs to Ui, wherein Ui represents a set with specific physical significance, for example {0, 1}, { X |0< X <200} and the like, and for the condition that Xi belongs to Ui is not met, an overrun warning is given, and the number of overrun times is counted.
And analyzing the working condition of the acquired data, and associating the data with the running state.
This process involves a large number of calculations per day using a large amount of sensor data, while considering reliability and timely response, computer information systems and big data processing techniques can be used.
A part of calculation (delta D calculation) with large model consumption is arranged at the industrial gateway, and a calculation result is sent to the cloud platform.
For example, the whole process is divided into a seventh axis movement part and a static part of the robot, and the static part does not have fatigue damage by identifying the movement part of the robot.
Whether the machine moves or not can be judged according to the robot action flag bit being 1, whether the machine belongs to one action or not can be judged according to the robot serial number, and the robot serial number is changed to finish one cycle. The 7 cycles may be divided as in fig. 3, and the maximum value and the minimum value of the seventh shaft torque (J7 torque) are extracted each cycle.
Then, establishing a relation between the sensor parameters and the synchronous belt tension through stress analysis:
Force＝g(M)。
according to the invention, by analyzing the failure mode of the synchronous belt, the fact that the overlarge periodic tensile stress caused by heavy load is the main cause of the failure of the synchronous belt is discovered, and the stress can not be directly measured, so that the accurate calculation of the tensile stress on the synchronous belt by arranging a proper sensor and designing a proper transfer function is very important.
The sensor can be arranged at a proper position, relevant load parameters of the synchronous belt can be taken out, and a transfer function is established through relevant mechanical principles and control principles.
As shown in fig. 4 and 5, in a specific embodiment:
wherein the content of the first and second substances,Fyufor pre-tensioning belts
In the formula, M represents torque, Fyu represents the pretightening force of the synchronous belt, and r is the radius of the driving wheel. M is taken from the sensor (torque maximum and minimum per cycle), Fyu is dependent on the degree of tension of the timing belt and r is the mechanical property of the device. In one embodiment, Fyu may be 20000N, and r is 0.035 m. Each peak of F in fig. 5 corresponds to each timing belt tight side force F1, and each valley of F corresponds to each timing belt loose side force F2.
In an embodiment of the device for predicting the service life of the synchronous belt, the third device is configured to obtain the total damage D of the synchronous belt based on the fatigue failure damage D1 and the corresponding weight a1, the aging damage D2 and the corresponding weight a 2.
Specifically, after the tension of the synchronous belt is obtained, the stress is converted into damage delta D (fun 1) (Force) of each cycle through the fatigue property of the material, and when the stress is lower than the fatigue limit, the damage is extremely small (close to 0); when the stress exceeds the tensile strength, the damage is 1. And accumulating the damage values of each cycle one by one to obtain the fatigue failure damage prediction D1 ═ Sigma Delta D of the synchronous belt.
The aged damage of the timing belt was calculated by a kinetic curve method, D2 ═ fun2(T, T)
Finally, the damage value D of the synchronous belt is calculated, wherein D is a 1D 1+ a 2D 2, a1 and a2 are weights, in one embodiment, a1 is 1, and a2 is 2.
And finally, calculating the damage value of the synchronous belt, wherein the damage value is defined as intact when the damage value is 0, the damage value is defined as damaged when the damage value is 1, a user can set a certain numerical value between 0 and 1 as a threshold (usually 0.85 to 0.95), and when the damage value reaches the threshold, a maintenance order can be triggered to remind the user to replace the synchronous belt.
Wherein F0＝100，Fu＝50000
Alternatively, as shown in FIG. 6,
in an embodiment of the method for predicting the service life of the synchronous belt, as shown in fig. 7, the second device is configured to obtain an aging damage D2 of the synchronous belt according to the following formula:
D2＝fun2(T，t)＝A-Ae-k(T)t，
wherein, D2 is the performance variation value of the rubber of the synchronous belt, and can be the ratio of a certain mechanical index;
t denotes temperature, T denotes time;
a is a constant, independent of temperature, in one embodiment, a ═ 1;
e is a natural constant, about 2.71812;
k is a constant of the rate of change of the property with respect to the temperature T, in one embodiment, k is 1.899E-4.
According to another aspect of the present invention, there is also provided a computing-based device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
acquiring tension on a synchronous belt corresponding to each cycle, acquiring fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
acquiring aging damage D2 of the synchronous belt;
obtaining a total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2;
judging whether the total damage D of the synchronous belt exceeds a preset threshold value or not, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up; and if the service life of the synchronous belt is not up to the preset threshold value, judging that the service life of the synchronous belt is not up.
According to another aspect of the present invention, there is also provided a computer-readable storage medium having stored thereon computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, cause the processor to:
acquiring tension on a synchronous belt corresponding to each cycle, acquiring fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
acquiring aging damage D2 of the synchronous belt;
obtaining a total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2;
judging whether the total damage D of the synchronous belt exceeds a preset threshold value or not, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up; and if the service life of the synchronous belt is not up to the preset threshold value, judging that the service life of the synchronous belt is not up.
For details of embodiments of each device and storage medium of the present invention, reference may be made to corresponding parts of each method embodiment, and details are not described herein again.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
It should be noted that the present invention may be implemented in software and/or in a combination of software and hardware, for example, as an Application Specific Integrated Circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to implement the steps or functions described above. Also, the software programs (including associated data structures) of the present invention can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Further, some of the steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present invention can be applied as a computer program product, such as computer program instructions, which when executed by a computer, can invoke or provide the method and/or technical solution according to the present invention through the operation of the computer. Program instructions which invoke the methods of the present invention may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the invention herein comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or solution according to embodiments of the invention as described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (10)
1. A service life prediction method for a synchronous belt of an industrial robot sliding table comprises the following steps:
acquiring tension on a synchronous belt corresponding to each cycle, acquiring fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
acquiring aging damage D2 of the synchronous belt;
obtaining a total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2;
judging whether the total damage D of the synchronous belt exceeds a preset threshold value or not, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up; and if the service life of the synchronous belt is not up to the preset threshold value, judging that the service life of the synchronous belt is not up.
2. The method of claim 1, wherein acquiring the tension on the timing belt for each cycle comprises:
acquiring the torque on the synchronous belt corresponding to each cycle through a sensor arranged on the synchronous belt;
and obtaining the tension on the synchronous belt corresponding to each cycle based on the torque on the synchronous belt corresponding to each cycle.
3. The method of claim 1, wherein deriving the total damage D of the synchronous belt based on the fatigue failure damage D1 and an aging damage D2 comprises:
and obtaining the total damage D of the synchronous belt based on the fatigue failure damage D1 and the corresponding weight a1, the aging damage D2 and the corresponding weight a 2.
4. The method of claim 1, wherein acquiring an aging damage D2 of the synchronous belt comprises:
acquiring the aging damage D2 of the synchronous belt according to the following formula:
D2＝fun2(T，t)＝A-Ae-k(T)t，
wherein D2 is the property variation value of the rubber of the synchronous belt;
t denotes temperature, T denotes time;
a is a constant, independent of temperature;
e is a natural constant of 2.71812;
k is a constant of the rate of change of the property with respect to the temperature T.
5. An industrial robot slip table hold-in range life prediction equipment, wherein, this equipment includes:
the first device is used for acquiring the tension on the synchronous belt corresponding to each cycle, acquiring the fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring the fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
the second device is used for acquiring aging damage D2 of the synchronous belt;
third means for deriving a total damage D of the synchronous belt based on the fatigue failure damage D1 and an aging damage D2;
the fourth device is used for judging whether the total damage D of the synchronous belt exceeds a preset threshold value or not, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up; and if the service life of the synchronous belt is not up to the preset threshold value, judging that the service life of the synchronous belt is not up.
6. The apparatus of claim 5, wherein the first device is configured to obtain the torque on the synchronous belt corresponding to each cycle by a sensor disposed on the synchronous belt; and obtaining the tension on the synchronous belt corresponding to each cycle based on the torque on the synchronous belt corresponding to each cycle.
7. The apparatus of claim 5, wherein the third means for deriving the total damage D of the synchronous belt based on the fatigue failure damage D1 and corresponding weight a1, the aging damage D2 and corresponding weight a 2.
8. The apparatus of claim 5, wherein the second means is configured to obtain an aging damage D2 of the synchronous belt according to the following formula:
D2＝fun2(T，t)＝A-Ae-k(T)t，
wherein D2 is the property variation value of the rubber of the synchronous belt;
t denotes temperature, T denotes time;
a is a constant, independent of temperature;
e is a natural constant of 2.71812;
k is a constant of the rate of change of the property with respect to the temperature T.
9. A computing-based device, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
acquiring tension on a synchronous belt corresponding to each cycle, acquiring fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
acquiring aging damage D2 of the synchronous belt;
obtaining a total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2;
judging whether the total damage D of the synchronous belt exceeds a preset threshold value or not, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up; and if the service life of the synchronous belt is not up to the preset threshold value, judging that the service life of the synchronous belt is not up.
10. A computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions, when executed by a processor, cause the processor to:
acquiring tension on a synchronous belt corresponding to each cycle, acquiring fatigue failure damage delta D of the corresponding synchronous belt based on the tension corresponding to each cycle, and acquiring fatigue failure damage D1 of the synchronous belt based on the fatigue failure damage delta D of the synchronous belt corresponding to each cycle;
acquiring aging damage D2 of the synchronous belt;
obtaining a total damage D of the synchronous belt based on the fatigue failure damage D1 and the aging damage D2;
judging whether the total damage D of the synchronous belt exceeds a preset threshold value or not, and if the total damage D of the synchronous belt exceeds the preset threshold value, judging that the service life of the synchronous belt is up; and if the service life of the synchronous belt is not up to the preset threshold value, judging that the service life of the synchronous belt is not up.
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