CN207730446U - The life test apparatus of robot precision cycloid decelerator - Google Patents
The life test apparatus of robot precision cycloid decelerator Download PDFInfo
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- CN207730446U CN207730446U CN201721867238.XU CN201721867238U CN207730446U CN 207730446 U CN207730446 U CN 207730446U CN 201721867238 U CN201721867238 U CN 201721867238U CN 207730446 U CN207730446 U CN 207730446U
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- retarder
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Abstract
The utility model provides a kind of life test apparatus of robot precision cycloid decelerator, and the retarder is the robot precision cycloid decelerator for one or more levels transmission for including input flange, cycloid gear, eccentric shaft, actuated element, output flange.According to robot precision cycloid decelerator life test apparatus described in the utility model, shorten the test period, it can reflect the overall process state change of precision cycloid decelerator at runtime, dynamic load load mode more meets the actual loaded-up condition of robot retarder, and then the accurate assessment to the precision cycloid decelerator service life can be realized under shorter cost.
Description
Technical field
The utility model is related to robot precision speed reduction device life test technical fields, and in particular to a kind of robot essence
The life test apparatus of close cycloidal reducer.
Background technology
It is well known that retarder is the most important basic components of industrial robot, each joint is required for using different
Reducer.As one of most important three big component of robot, the cost of retarder has even accounted for entire robot
30% or more, and domestic robot precision speed reduction device 8 is above with dependence on import at present.Current high precision machines people's retarder
Based on the harmonic wave of Japan and RV, common feature is small size, large transmission ratio, high-precision, high torque.There are more families in the country at present
Manufacturing enterprise starts the structure to robot precision speed reduction device, manufacture, processing technology carry out innovation creation, has also been born such as humorous
More moneys such as wave, cycloidal-pin wheel, robot joint speed reducer possess the product of independent intellectual property right.
In recent years, planetary speed reducer with small tooth number difference is since its structure type is simple, transmission ratio is big, transmission efficiency, small
Many advantages, such as, attract the sight of numerous enterprises in recent years, while also being developed rapidly.It is cut down with Japanese RV, Si Luo
The robot precision speed reduction device realized by cycloidal-pin wheel structure headed by gram Spinea is widely used.But at this
The core component of kind of retarder as transmission system in space mechanism, when work, usually bear huge load, and usually can
It works without interruption, therefore reliability when to its work must be also strict with.Common precision speed reduction device unit price usually can be with
Reach thousands of members even members up to ten thousand, if normal work when catastrophic failure or when paying close attention at no moment degradation failure can all give
Repair or guarantee bring huge trouble, or even bring huge economic loss.
Although the country also has the retarder of a few money different structures to occur, since life cycle is generally longer, the retarder longevity
Order the factors such as the insufficient degradation model limitation based on transmission efficiency of degeneration theoretical research so that for such retarder
Life test and prediction become industry problems.The missing of the link not perfect causes domestic retarder in reliability, service life
Huge with external product gap in stability, the Lifetest procedure of science can not just not formed manufacture and processing technology yet
Effective positive feedback.Thus establish a set of scientific and reasonable robot precision cycloid decelerator Life Prediction Model and experiment side
Method has important research and industry meaning, is also to speed up the necessary links of China's autonomous robot retarder industry development.
During conventional retarder or other mechanical part life tests, load be by loading device single load,
This can make load change after long-play；The existing research for retarder reliable life is mainly
Based on transmission efficiency degradation model, lacks and the multi objectives such as transmission accuracy, vibration, temperature are considered；Robot precision pendulum
The line retarder General Life time is longer, carries out conventional life test needs and takes a long time and cost, it is therefore desirable to
Reliable accelerated degradation test theory carries out accelerated degradation test with method.
In view of this, needing to be improved the prior art, filled with meeting at present to test robot with precision speed reduction device
The requirement set.
Utility model content
Technical problem to be solved in the utility model is to overcome the deficiencies of the prior art and provide a kind of robot precision pendulum
The life test apparatus of line retarder, for the life test problem of robot precision cycloid decelerator, to try hard to solve or extremely
It is few alleviate above there are the problem of, the test period is substantially reduced by accelerated degradation test, and then can be in shorter cost
Accurate assessment of the lower realization to the precision cycloid decelerator service life.
To achieve the above object, utility model provides the following technical solutions：
A kind of life test apparatus of robot precision cycloid decelerator, the retarder be include input flange, cycloid
The robot precision cycloid decelerator of one or more levels transmission of gear, eccentric shaft, actuated element, output flange.
Further, the life test apparatus includes mainly switch board, controller, data collector, computer, display
Device, driving motor, shaft coupling, input terminal torque sensor, input terminal angular transducer, retarder support base, subtracts workbench
Fast device, output end angular transducer, output end torque sensor, loading device, acceleration transducer and temperature sensor.
Further, two sliding rails are set on the table, and driving motor and loading device can be existed by the pedestal of itself
It is moved on sliding rail, retarder support base is fixed among driving motor and loading device, be arranged in retarder support base
Retarder.
Description of the drawings
Fig. 1 is the structural schematic diagram of to-be-detected machine people's precision cycloid decelerator of the utility model.
Fig. 2 is the life test apparatus rack schematic diagram of the robot precision cycloid decelerator of the utility model.
Fig. 3 is the life test apparatus switch board front schematic view of the utility model.
Fig. 4 is the life test apparatus switch board schematic rear view of the utility model.
Fig. 5 is the life test apparatus rack schematic diagram of the robot precision cycloid decelerator of the utility model.
Fig. 6 a-e are five kinds of common performance degradation curve synoptic diagrams of the utility model.
Fig. 7 a, b are fitted to linear point for Weibull distribution curves under the different parameters of the utility model and its relevant parameter
The Weibull coordinate diagrams of cloth.
(pay attention to：Shown structure in attached drawing simply to illustrate that utility model feature signal, be not intended to according to attached drawing
Shown structure.)
Specific implementation mode
As shown in Figure 1, according to the life test apparatus of robot precision cycloid decelerator described in the utility model, mainly
Applied to to-be-detected machine people's precision cycloid decelerator, Fig. 1 does not show all parts of retarder completely.
To-be-detected machine people's precision cycloid decelerator as shown in Figure 1, mainly include sealing ring 1, end cap 2, output flange 3,
Crossed roller bearing 4, actuated element 5, needle bearing 6, eccentric shaft 7, needle roller 8, cycloid gear 9, shell 10 and input flange 11.
Above-mentioned eccentric shaft 7 is located at the inside of shell 10, and both sides are provided with cycloid gear 9, and the both sides of cycloid gear 9 are provided with
Actuated element 5, actuated element are connected to end cap 2 and output flange 3 and input flange 11.
In the embodiment shown in fig. 1, actuated element 5 is a kind of tray type structure.In other embodiments, retarder to be measured
Can be the other structures comprising input flange, output flange, actuated element, eccentric shaft, the several core components of cycloid gear
The robot precision cycloid decelerator of one or more levels transmission, actuated element can also be the other structures such as pin type, cross.
As in Figure 2-4, main according to the life test apparatus of robot precision cycloid decelerator described in the utility model
To include switch board 12, controller 13, data collector 14, computer 15, display 16, workbench 17, driving motor 18, connection
Axis device 19, input terminal torque sensor 20, input terminal angular transducer 21, retarder support base 22, retarder 23, output end
Angular transducer 24, output end torque sensor 25, loading device 26, acceleration transducer 27 and temperature sensor 28.
Wherein, in horse structure as shown in Figure 2, two sliding rails, driving motor 18 and load are set on workbench 17
Device 26 can be moved on the slide rail by the pedestal of itself.The fixed retarder support among driving motor 18 and loading device 26
Retarder 23 is arranged in pedestal 22 in retarder support base 22.
Input terminal shaft coupling 19 connects 18 output shaft of driving motor and input terminal torque sensor 21, output end shaft coupling 19
Connect 23 output shaft of retarder and output end torque sensor 25；Input terminal angular transducer 21 is installed on 23 input shaft of retarder
On, output end angular transducer 24 is installed on 23 output shaft of retarder, and acceleration transducer 27 is fixed in by M6 bolts to be subtracted
The elastic measuring head on fast device support base surface, temperature sensor 28 is installed on deceleration by the mounting hole in retarder support base 22
23 outer surface of device.
As shown in Figure 3 and Figure 4, the control line of controller 13 is connected with driving motor 18 and loading device 26, all sensings
Power supply, input, the output signal line of device are connected on data collector 14, and data collector 14 passes through RJ45 or other communication sides
Formula (serial ports, bus etc.) is connected with computer 15.Controller 13, data collector 14, computer 15, display 16 are both secured to
In switch board 12.
It is shown in Figure 5, according to the life test apparatus of robot precision cycloid decelerator described in the utility model,
Method mainly includes the following steps that：
1) experimental condition consistency check；
2) precision cycloid decelerator accelerated degradation test；
3) precision cycloid decelerator Performance Degradation Data acquires；
4) performance degradation curve matching and degradation model is established；
5) burn-out life is calculated according to failure threshold；
6) it determines Failure life distribution, estimates Weibull distributed constants；
7) reliability index of precision cycloid decelerator under nominal situation is calculated；
8) life prediction and Performance Evaluation.
Wherein：
Step 1) is specially the inspection preparation before testing, and precision cycloid decelerator to be measured must be known before experiment may
Failure mode, failure cause and fault type etc.；Check whether experimental condition residing for each sample to be tested is consistent, selection meets examination
The data acquisition equipment for testing requirement checks the mounting means of above-mentioned experimental rig, installation accuracy, equipment state；Confirm each experiment
Retarder is identical and crack-free damages, each conditional consistency for testing retarder.
Step 2) and accelerated degradation test and the acquisition of experimentation data for 3) specifically carrying out precision cycloid decelerator.
Carry out accelerated degradation test when, it is thus necessary to determine that required sample size, failure threshold, truncation mode, accelerated stress, accelerated factor,
Accelerate degradation model, required gathered data type (revolution, sample frequency, vibration, temperature before performance degradation amount, failure) etc..
Performance degradation amount in above-mentioned accelerated degradation test, including two parameters of retarder transmission accuracy and transmission efficiency,
It is detected and computational methods method is respectively：
Transmission accuracy：Reducer input shaft and output shaft angle are measured with certain sample frequency, then the company of being calculated
Continuous transmission accuracy data.It calculates transmission accuracy and uses formulaWhereinFor output shaft angle
(arc point),For input Shaft angle (arc point), i is transmission ratio.The failure threshold of the parameter be driving error be more than C grades (>3 arcs
Point), i.e. γ ＜ 50%.
Transmission efficiency：Reducer input shaft and output shaft torque, are measured with certain sample frequency, then the company of being calculated
Continuous transmission efficiency data.It calculates transmission efficiency and uses formulaWherein η is transmission efficiency, ToFor output torque, Ti
For input torque, i is transmission ratio.The failure threshold of the parameter is that transmission efficiency amplitude of variation is more than 5%.
In the present embodiment, sample testing sample size is according to test type (identification is checked and accepted, measurement) and sampling theory come really
It is fixed；Retarder life failure threshold value is determined using performance degradation amount failure threshold；Using constant-torque as accelerated stress；Institute
Needing gathered data type mainly has revolution, sample frequency, vibration, temperature before transmission accuracy, transmission efficiency, failure.In other realities
It applies in example, other indexs such as structural break, appearance breakage, disabler can be used as failure threshold, equally may determine that sample
This failure；Other indexs such as vibration virtual value, surface temperature can also be used as performance degradation amount；Also can be used stepping, sequence into
Accelerated stress of other tension types such as temperature, rotating speed, lubrication as experiment；The data of acquisition can also include other data
Type such as dynamic rate, noise, rotating speed etc..
Step 4) is specifically to obtain performance degenerated curve according to test data, and intend performance degradation curve model
It closes, establishes degradation model.
Above-mentioned performance degradation curve is to carry out performance degradation initial data to each sample at regular intervals to adopt
Collection, analyzes its performance degradation amount, and collate the minutes, stops when single sample performance degradation is to predetermined failure threshold
Only.In this way using acquisition time as abscissa, performance degradation amount (performance indicator) is that ordinate drafting coordinate diagram is to obtain performance to move back
Change curve.
In the present embodiment, the performance degradation curve ordinate parameter of degradation model is using in two parameters in step (3)
First failure person, and common degradation model is derived from according to actual measurement situation with one of drag：
Wherein, D (t) is the performance indicator of retarder to be measured, and t is the duration of runs, and α, β are the unknown parameter of degradation model,
Five kinds of degenerated curves use least square method with reference to shown in Fig. 6 a-e when being fitted to performance degradation curve.In other implementations
In example, it can also be used based on other degradation models such as Poisson processes, Wiener-Einstein processes come matched curve, intend
The other modes such as numerical fitting also can be used in conjunction process.
Step (5) is specially the pseudo- burn-out life L corresponding to the failure threshold under calculating normal operating conditionsi.For same
A kind of product, the degradation trend of performance are consistent by and large, that is, be can consider and chosen same form of song
Line goes the performance degradation of description same class product theoretically to set up.It is moved back according to the acceleration in the model and step (3) in step (4)
Change experiment, we can obtain the practical Degradation path (some in Fig. 6 or other tracks) of institute's sample, make with the curve
For the degenerated curve of sample to be tested under normal operating conditions, normal work shape is can be obtained by by more short-period data in this way
Relevant parameter α, β of degenerated curve under state, then above-mentioned failure threshold is brought into model, you can several groups sample is calculated
The pseudo- burn-out life under normal operating conditions.
Step (6) is specifically to be failed according to Failure life distribution as a result, to precision cycloid decelerator using the figure estimation technique
Weibull distributed constants are estimated.
Above-mentioned Weibull distribution maps estimation, is the pseudo- burn-out life L for the test tested with each groupiFor abscissa, failure is generally
Rate F (Li)=(i-0.3)/(N+0.4) be ordinate, Weibull distributions are configured on Weibull graph papers straight line and to be joined
Number estimation.Fig. 7 a and Fig. 7 b respectively illustrate Weibull distribution curves and its relevant parameter under different parameters and are fitted to linear point
The Weibull coordinate diagrams of cloth, 7a are distributed for original Weibull, and 7b is the equivalent straight line distribution on Weibull graph papers, according to
Lineal layout can find out parameter v, b of Weibull distributions.
In the present embodiment, used Weibull is distributed as two parameter Weibull models
Estimated with the parameter that the figure estimation technique is distribution.In other embodiments, three parameter Weibull, exponential distribution can also be used
Deng other distributed models, the other methods direct solution distributed constant such as Maximum-likelihood estimation also can be used.
Step (7) is specially to calculate the test value (L of the basic rating life of precision cycloid decelerator under nominal situation10t)、
Test value (the L of median rating life50t) and in nominal rating service life (L10h) under the reliability indexs such as reliability (Re).
Test value (the L of above-mentioned basic rating life10t) be failure probability F (L)=0.1 when service life L, the intermediate value specified longevity
Test value (the L of life50t) be failure probability L (L)=0.5 when service life L, reliability (Re) be in nominal rating service life (L10h) under
Effective Probability 1-F (L10h)。
Step (8) is specially the reliability index according to institute's calculating robot's precision cycloid decelerator in step (7), to sample
The product service life is predicted and is assessed.After obtaining above-mentioned parameter, L is assessed10t/L10h, the parameters such as Re whether meet relevant criterion, production
The regulation of product file, contract agreement.
According to the life test apparatus of robot precision cycloid decelerator described in the utility model, with traditional robot
The life test apparatus of precision cycloid decelerator is compared, and is had the characteristics that：
(1) controller realizes the accurate load to accelerator, is convenient for retarder to the feedback control of loading device
Accelerated degradation test, more stable load torque can be obtained, while to specify the life test under loading spectrum to provide
It may；
(2) it by the transmission accuracy of multi-sensor collection retarder, transmission efficiency, vibration, temperature data, is managed according to short slab
The performance degradation index of retarder is obtained by fusion, the precision failure of retarder in the process of running has been considered and has been lost with efficiency
Effect, reducing the accidentalia that single parameter failure is judged influences, and improves the precision of retarder degradation assessment；
(3) introducing of accelerated degradation test is so that the retarder life test of this kind of long life cycle becomes feasible, to the greatest extent
Under conditions of the few Loss of Life Evaluation accuracy of amount, greatly shortens the test period, reduces experimentation cost.Subtract in robot precision cycloid
There is important application value in the life search and experiment of fast device.
The above, the only preferred embodiment of utility model, are not intended to limit the protection domain of utility model,
It is all within the spirit and principle of utility model made by all any modification, equivalent and improvement etc., should be included in practical new
Within the protection domain of type.
Claims (4)
1. a kind of life test apparatus of robot precision cycloid decelerator, the retarder be include input flange, cycloid tooth
The robot precision cycloid decelerator of one or more levels transmission of wheel, eccentric shaft, actuated element, output flange, feature exist
In：
The life test apparatus mainly include switch board (12), controller (13), data collector (14), computer (15),
Display (16), workbench (17), driving motor (18), shaft coupling (19), input terminal torque sensor (20), input terminal angle
Sensor (21), retarder support base (22), retarder (23), output end angular transducer (24), output end torque sensing
Device (25), loading device (26), acceleration transducer (27) and temperature sensor (28)；
Wherein,
Two sliding rails are set on workbench (17), and driving motor (18) and loading device (26) can be by the pedestals of itself in cunning
It is moved on rail, the fixed retarder support base (22) among driving motor (18) and loading device (26) supports in retarder
Retarder (23) is set on pedestal (22).
2. the life test apparatus of robot precision cycloid decelerator according to claim 1, it is characterised in that：
The robot precision cycloid decelerator includes sealing ring (1), end cap (2), output flange (3), crossed roller bearing
(4), actuated element (5), needle bearing (6), eccentric shaft (7), needle roller (8), cycloid gear (9), shell (10) and input flange
(11)。
3. the life test apparatus of robot precision cycloid decelerator according to claim 2, it is characterised in that：
Input terminal shaft coupling (19) connects driving motor (18) output shaft and input terminal torque sensor (21), output end shaft coupling
(19) retarder (23) output shaft and output end torque sensor (25) are connected；
Input terminal angular transducer (21) is installed on retarder (23) input shaft, and output end angular transducer (24) is installed on
On retarder (23) output shaft, acceleration transducer (27) is fixed in retarder support base surface, temperature sensor (28)
Elastic measuring head is installed on retarder (23) outer surface by the mounting hole in retarder support base (22).
4. the life test apparatus of robot precision cycloid decelerator according to claim 3, it is characterised in that：
The control line of controller (13) is connected with driving motor (18) and loading device (26), the power supplys of all the sensors, input,
Output signal line is connected on data collector (14), and data collector (14) is connected with computer (15) communication；
Controller (13), data collector (14), computer (15), display (16) are both secured in switch board (12).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721867238.XU CN207730446U (en) | 2017-12-28 | 2017-12-28 | The life test apparatus of robot precision cycloid decelerator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721867238.XU CN207730446U (en) | 2017-12-28 | 2017-12-28 | The life test apparatus of robot precision cycloid decelerator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107991095A (en) * | 2017-12-28 | 2018-05-04 | 哈工大机器人（合肥）国际创新研究院 | The life test apparatus and method of robot precision cycloid decelerator |
| CN109344484A (en) * | 2018-09-21 | 2019-02-15 | 中车戚墅堰机车车辆工艺研究所有限公司 | Cycloid gear projected life calculation method and device |
| CN116296373A (en) * | 2023-05-25 | 2023-06-23 | 成都中良川工科技有限公司 | Ultra-precise speed reducer performance test system |
-
2017
- 2017-12-28 CN CN201721867238.XU patent/CN207730446U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107991095A (en) * | 2017-12-28 | 2018-05-04 | 哈工大机器人（合肥）国际创新研究院 | The life test apparatus and method of robot precision cycloid decelerator |
| CN109344484A (en) * | 2018-09-21 | 2019-02-15 | 中车戚墅堰机车车辆工艺研究所有限公司 | Cycloid gear projected life calculation method and device |
| CN116296373A (en) * | 2023-05-25 | 2023-06-23 | 成都中良川工科技有限公司 | Ultra-precise speed reducer performance test system |
| CN116296373B (en) * | 2023-05-25 | 2023-08-08 | 成都中良川工科技有限公司 | Ultra-precise speed reducer performance test system |
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Effective date of registration: 20220718 Address after: Room 308, building 3, intelligent science park, No. 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province, 230000 Patentee after: Anhui Hagong Zhanlu Technology Equipment Co.,Ltd. Address before: 230601 Building 5, Qidi science and Technology City, Qinghua Road, economic development zone, Hefei City, Anhui Province Patentee before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |