Method, device and storage medium for determining remaining service life of synchronous belt

Abstract

The present application relates to a method, device and storage medium for determining the remaining service life of a synchronous belt, the method comprising: obtaining a first operating parameter and a first stress cycle number of the synchronous belt, wherein the first operating parameter and the first stress cycle number are parameters obtained by the synchronous belt under a real operating environment; obtaining a second operating parameter, a second stress cycle number and a test life of the synchronous belt, wherein the second operating parameter, the second stress cycle number and the test life are obtained by performing an accelerated life test on the synchronous belt; determining an acceleration coefficient of the synchronous belt according to the first operating parameter, the first stress cycle number, the second operating parameter and the second stress cycle number; determining the remaining service life of the synchronous belt according to the acceleration coefficient and the test life. In this way, over-maintenance or under-maintenance of the synchronous belt can be avoided.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a method, device and storage medium for determining the remaining service life of a synchronous belt. Background Art

[0002] With the rise of robotics, robots such as six-joint robots, Selective Compliance Assembly Robot Arm (SCARA) robots, deltarobots, etc. are widely used in many fields. As a key component of robots, the performance of synchronous belts directly affects the performance of robots. For example, with the change of speed and torque, as well as the increase of service time, synchronous belts will gradually fail in various forms, such as wear failure, plastic deformation failure, fatigue damage failure, etc., resulting in problems such as deterioration of synchronous belt torsional stiffness, increase of idle travel and backlash, increase of transmission error, and decrease of transmission efficiency.

[0003] However, robots usually include multiple synchronous belts. Different synchronous belts may have different tooth shapes, initial tension, speed and torque limits. The robot's use environment, joint workload and actual operating speed may also be different. In the prior art, synchronous belts are usually replaced regularly, which may lead to over-maintenance or under-maintenance of synchronous belts. Summary of the invention

[0004] The present application provides a method, device and storage medium for determining the remaining service life of a synchronous belt, so as to solve the problem in the prior art that the synchronous belt is replaced regularly, which may lead to over-maintenance or under-maintenance of the synchronous belt.

[0005] In a first aspect, the present application provides a method for determining the remaining service life of a synchronous belt, the method comprising:

[0006] Acquire a first operating condition parameter and a first stress cycle number of the synchronous belt, wherein the first operating condition parameter and the first stress cycle number are parameters obtained by the synchronous belt under a real operating environment;

[0007] Obtaining a second operating condition parameter, a second stress cycle number, and a test life of the synchronous belt, wherein the second operating condition parameter, the second stress cycle number, and the test life are obtained by performing an accelerated life test on the synchronous belt;

[0008] Determining an acceleration coefficient of the synchronous belt according to the first operating condition parameter, the first stress cycle number, the second operating condition parameter, and the second stress cycle number;

[0009] The remaining service life of the synchronous belt is determined according to the acceleration factor and the test life.

[0010] Optionally, determining the acceleration coefficient of the synchronous belt according to the first operating condition parameter, the first stress cycle number, the second operating condition parameter, and the second stress cycle number includes:

[0011] Determining a bending stress intensification coefficient corresponding to the synchronous belt according to the first operating condition parameter and the second operating condition parameter;

[0012] Determining an initial tension strengthening coefficient corresponding to the synchronous belt according to the first stress cycle number and the second stress cycle number;

[0013] The product of the bending stress enhancement coefficient and the initial tension enhancement coefficient is determined as the acceleration coefficient of the synchronous belt.

[0014] Optionally, determining the bending stress intensification coefficient corresponding to the synchronous belt according to the first operating condition parameter and the second operating condition parameter includes:

[0015] Determine a first transmission power of the synchronous belt according to a first load torque and a first operating speed of the synchronous belt, wherein the first load torque is determined based on a first servo motor current in the first operating parameter, and the first operating speed is determined based on a first servo motor speed in the first operating parameter, and the first servo motor current and the first servo motor speed are acquired by a first encoder, and the first encoder is connected to a servo motor corresponding to the synchronous belt;

[0016] determining a second transmission power of the synchronous belt according to a second load torque and a second operating speed of the synchronous belt, wherein the second load torque is determined based on a second servo motor current preset in the second operating condition parameter, and the second operating speed is determined based on a second servo motor speed preset in the second operating condition parameter;

[0017] The bending stress intensification coefficient corresponding to the synchronous belt is determined based on the ratio of the first transmission power to the second transmission power.

[0018] Optionally, determining the initial tension strengthening coefficient corresponding to the synchronous belt according to the first stress cycle number and the second stress cycle number includes:

[0019] Obtaining a ratio of the first stress cycle number to the second stress cycle number;

[0020] The ratio is determined as the initial tension reinforcement coefficient corresponding to the synchronous belt.

[0021] Optionally, determining the remaining service life of the synchronous belt according to the acceleration coefficient and the test life includes:

[0022] Determining the service life of the synchronous belt under a real operating environment according to the acceleration coefficient and the test life;

[0023] Determining the service life of the synchronous belt according to the first operating condition parameter;

[0024] Based on the service life of the synchronous belt in an actual operating environment and the used service life, the remaining service life of the synchronous belt is determined.

[0025] Optionally, after determining the remaining service life of the synchronous belt according to the acceleration coefficient and the test life, the method further includes:

[0026] When the remaining service life is less than a preset threshold, a prompt message is generated, and the prompt message is used to prompt the user to replace the synchronous belt.

[0027] In a second aspect, the present application further provides a device for determining the remaining service life of a synchronous belt, the device comprising:

[0028] A first acquisition module, used to acquire a first operating parameter and a first stress cycle number of the synchronous belt, wherein the first operating parameter and the first stress cycle number are parameters obtained by the synchronous belt under a real operating environment;

[0029] A second acquisition module is used to obtain a second operating parameter, a second stress cycle number and a test life of the synchronous belt, wherein the second operating parameter, the second stress cycle number and the test life are obtained by performing an accelerated life test on the synchronous belt;

[0030] A first determination module, configured to determine an acceleration coefficient of the synchronous belt according to the first operating condition parameter, the first stress cycle number, the second operating condition parameter, and the second stress cycle number;

[0031] The second determination module is used to determine the remaining service life of the synchronous belt according to the acceleration coefficient and the test life.

[0032] In a third aspect, the present application further provides an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0033] Memory, used to store computer programs;

[0034] The processor is used to implement the steps of the method for determining the remaining service life of the synchronous belt described in any embodiment of the first aspect when executing the program stored in the memory.

[0035] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for determining the remaining useful life of a synchronous belt as described in any one of the embodiments of the first aspect.

[0036] In the embodiment of the present application, the first working condition parameter and the first stress cycle number of the synchronous belt are obtained, wherein the first working condition parameter and the first stress cycle number are parameters obtained by the synchronous belt under the actual operating environment; the second working condition parameter, the second stress cycle number and the test life of the synchronous belt are obtained, wherein the second working condition parameter, the second stress cycle number and the test life are obtained by performing an accelerated life test on the synchronous belt; the acceleration coefficient of the synchronous belt is determined according to the first working condition parameter, the first stress cycle number, the second working condition parameter and the second stress cycle number; the remaining service life of the synchronous belt is determined according to the acceleration coefficient and the test life. In the above manner, the remaining service life of the synchronous belt can be calculated according to the first working condition parameter and the first stress cycle number of the synchronous belt under the actual operating environment, and the second working condition parameter, the second stress cycle number and the test life of the synchronous belt under the test environment. In this way, the user can replace the synchronous belt based on the corresponding remaining service life of the synchronous belt to avoid the occurrence of over-maintenance or under-maintenance of the synchronous belt. This can not only ensure that the synchronous belt reaches its normal service life and save hardware costs, but also avoid the synchronous belt from being over-served, resulting in a decrease in the performance of the synchronous belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0039] Figure 1 A schematic flow chart of a method for determining the remaining useful life of a synchronous belt provided in an embodiment of the present application;

[0040] Figure 2 One of the structural schematic diagrams of the device for determining the remaining service life of a synchronous belt provided in an embodiment of the present application;

[0041] Figure 3 A flowchart for estimating the service life of a robot joint synchronous belt provided in an embodiment of the present application;

[0042] Figure 4 A second structural schematic diagram of a device for determining the remaining useful life of a synchronous belt provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0045] See also Figure 1 , Figure 1 The following is a flow chart of a method for determining the remaining service life of a synchronous belt provided in an embodiment of the present application. Figure 1 As shown, the method for determining the remaining service life of the synchronous belt may include the following steps:

[0046] Step 101: Obtain first operating parameters and first stress cycle times of the synchronous belt, wherein the first operating parameters and first stress cycle times are parameters obtained by the synchronous belt under a real operating environment.

[0047] The method for determining the remaining useful life of a synchronous belt in an embodiment of the present application is applied to a device for determining the remaining useful life of a synchronous belt (hereinafter referred to as the device), which may include one or more synchronous belts, an encoder corresponding to each synchronous belt, a microcontroller unit (MCU), an information display module, etc. Figure 2 As shown. The encoder, as a sensor, can obtain the first operating condition parameter of the synchronous belt in real time when it is in operation, and transmit the first operating condition parameter to the microcontroller unit, so that the microcontroller unit can analyze the first operating condition parameter and the first stress cycle number, determine the remaining service life of the synchronous belt, and finally display the remaining service life or corresponding prompt information through the information display module.

[0048] Specifically, the first operating condition parameter may include but is not limited to data such as servo motor current and encoder speed, which can be collected by encoders or current sensing elements. Among them, the servo motor current can reflect the load torque of the synchronous belt, the encoder speed can reflect the running speed of the synchronous belt, and the transmission power of the synchronous belt can be further confirmed by the load torque of the synchronous belt and the running speed of the synchronous belt. The first stress cycle number refers to the stress cycle number of the synchronous belt under the standard initial tension (close to the initial tension stress in the actual operating environment), which can be determined by the nominal value given by the synchronous belt manufacturer.

[0049] Step 102: Obtain second operating parameters, second stress cycle times and test life of the synchronous belt, wherein the second operating parameters, second stress cycle times and test life are obtained by performing an accelerated life test on the synchronous belt.

[0050] Specifically, accelerated life testing is a test method that uses statistical models related to physical failure laws to convert information obtained in an accelerated environment that exceeds the normal stress level on the basis of reasonable engineering and statistical assumptions, and obtains a reproducible numerical estimate of the product's characteristics at the rated stress level. In short, accelerated life testing is a life test method that shortens the test cycle by increasing the test stress while keeping the failure mechanism unchanged. Accelerated life testing uses accelerated stress levels to conduct product life tests, thereby shortening the test time, improving test efficiency, and reducing test costs. Therefore, the second operating condition parameters, second stress cycle number, and test life of the synchronous belt under the test environment can be obtained through accelerated life testing.

[0051] It should be noted that the second operating condition parameter can be obtained by simulating the use scenario of the synchronous belt in the accelerated life test in the same way as the first operating condition parameter; of course, the second operating condition parameter can also be artificially preset in the test environment, and this application does not make specific restrictions. The second stress cycle number and the test life are obtained by testing the synchronous belt in the accelerated life test.

[0052] Step 103: Determine the acceleration coefficient of the synchronous belt according to the first operating condition parameter, the first stress cycle number, the second operating condition parameter, and the second stress cycle number.

[0053] After obtaining the first operating condition parameter, the first stress cycle number, the second operating condition parameter and the second stress cycle number, the bending stress intensification coefficient and the initial tension intensification coefficient of the synchronous belt can be determined according to the first operating condition parameter, the first stress cycle number, the second operating condition parameter and the second stress cycle number, and then the acceleration coefficient of the synchronous belt can be determined according to the bending stress intensification coefficient and the initial tension intensification coefficient of the synchronous belt. Among them, the acceleration coefficient is the ratio of a certain life characteristic value of the product under accelerated stress to the life characteristic value under normal stress, which can also be called the acceleration factor, and is a dimensionless number. The acceleration coefficient reflects the acceleration effect of a certain accelerated stress level in the accelerated life test, that is, a function of the accelerated stress.

[0054] Step 104: Determine the remaining service life of the synchronous belt according to the acceleration factor and the test life.

[0055] In this step, since the acceleration coefficient can reflect the ratio of the test life of the synchronous belt under the test environment to the service life under the actual operating environment, the service life of the synchronous belt under the actual operating environment can be determined based on the acceleration coefficient and the test life, and then the remaining service life of the synchronous belt can be obtained based on the operating time of the synchronous belt.

[0056] In this embodiment, the remaining service life of the synchronous belt can be calculated based on the first operating parameters and the first stress cycle number of the synchronous belt under the actual operating environment, and the second operating parameters, the second stress cycle number and the test life of the synchronous belt under the test environment. In this way, the user can replace the synchronous belt based on the corresponding remaining service life of the synchronous belt to avoid over-maintenance or under-maintenance of the synchronous belt. This can not only ensure that the synchronous belt reaches its normal service life and save hardware costs, but also avoid the synchronous belt from serving beyond its service life, which leads to a decrease in the performance of the synchronous belt.

[0057] Furthermore, the above step 103, determining the acceleration coefficient of the synchronous belt according to the first operating condition parameter, the first stress cycle number, the second operating condition parameter and the second stress cycle number, may include the following steps:

[0058] Determine a bending stress intensification coefficient corresponding to the synchronous belt according to the first operating condition parameter and the second operating condition parameter;

[0059] Determine the initial tension strengthening coefficient corresponding to the synchronous belt according to the first stress cycle number and the second stress cycle number;

[0060] The product of the bending stress intensification coefficient and the initial tension intensification coefficient is determined as the acceleration coefficient of the synchronous belt.

[0061] In one embodiment, the bending stress strengthening coefficient corresponding to the synchronous belt can be determined according to the first operating condition parameter and the second operating condition parameter. The bending stress strengthening coefficient here can reflect the ratio of fatigue damage caused by bending stress of the synchronous belt in the test environment to fatigue damage caused by bending stress of the synchronous belt in the real operating environment, that is, the bending stress strengthening coefficient can reflect the degree of accelerated fatigue damage of the synchronous belt under the influence of bending stress in the test environment and the real operating environment. The initial tension strengthening coefficient corresponding to the synchronous belt can also be determined according to the first stress cycle number and the second stress cycle number. The initial tension strengthening coefficient here can reflect the ratio of fatigue damage caused by initial tension stress of the synchronous belt in the test environment to fatigue damage caused by initial tension stress of the synchronous belt in the real operating environment, that is, the initial tension strengthening coefficient can reflect the degree of accelerated fatigue damage of the synchronous belt under the influence of initial tension stress in the test environment and the real operating environment. Then, the product of the bending stress strengthening coefficient and the initial tension strengthening coefficient is used as the acceleration coefficient of the synchronous belt. In this way, the actual remaining service life of the synchronous belt can be determined based on the acceleration coefficient of the synchronous belt and the test life of the synchronous belt under the test environment, which is conducive to the life calculation of the synchronous belt and can provide users with accurate maintenance strategies and suggestions. At the same time, it ensures the convenience and scientificity of the user's maintenance of the synchronous belt during use, reduces the user's actual use cost and improves the user experience.

[0062] Furthermore, the above step of determining the bending stress intensification coefficient corresponding to the synchronous belt according to the first operating condition parameter and the second operating condition parameter includes:

[0063] Determine a first transmission power of the synchronous belt according to a first load torque and a first operating speed of the synchronous belt, wherein the first load torque is determined based on a first servo motor current in the first operating condition parameter, and the first operating speed is determined based on a first servo motor speed in the first operating condition parameter, and the first servo motor current and the first servo motor speed are acquired by a first encoder, and the first encoder is connected to the servo motor corresponding to the synchronous belt;

[0064] Determine a second transmission power of the synchronous belt according to a second load torque and a second operating speed of the synchronous belt, wherein the second load torque is determined based on a second servo motor current preset in the second operating condition parameter, and the second operating speed is determined based on a second servo motor speed preset in the second operating condition parameter;

[0065] Based on the ratio of the first transmission power to the second transmission power, a bending stress intensification coefficient corresponding to the synchronous belt is determined.

[0066] Specifically, according to the σ-N fatigue curve, the synchronous belt will suffer fatigue failure after a certain number of alternating stresses. The bending stress σ can be determined by the following formula: bRelationship with the number of stress cycles N' under bending stress:

[0067]

[0068] Among them, m and C are constants, σ b is the bending stress, and N′ is the number of stress cycles under bending stress.

[0069] The initial tensile stress σ per unit bandwidth can be calculated by the following formula 0 :

[0070]

[0071] Among them, F 0 is the standard initial tension of the synchronous belt when it is working, and b is the bandwidth of the synchronous belt.

[0072] Since the motor torque provides driving force to offset the initial pulling force under uniform speed conditions, the following formula can be obtained:

[0073] H=λF 0 (Formula 3)

[0074] Among them, H is the synchronous belt load torque, λ is the coefficient, F 0 It is the standard initial tension when the synchronous belt is working.

[0075] By collecting the servo motor current and servo motor speed and filtering them, the synchronous belt load torque H and angular velocity ω can be obtained respectively, and the transmission power P can be obtained as:

[0076] P=H*ω(Formula 4)

[0077] Therefore, the bending stress enhancement coefficient can be obtained through the above formulas 1 to 4:

[0078]

[0079] Among them, N′ 0 is the stress cycle number of the bending stress of the synchronous belt under the actual operating environment, N′ 0试 is the stress cycle number of the bending stress of the synchronous belt under the test environment, σ b0 is the bending stress under the actual operating environment, σ b试 is the bending stress under the test environment, F 0 F is the initial tension of the synchronous belt under the actual operating environment. 0试 H is the initial tension of the synchronous belt under the test environment, 0 is the load torque of the synchronous belt under the actual operating environment (i.e. the first load torque), H 0试 is the load torque of the synchronous belt under the test environment (i.e. the second load torque), ω 0is the angular velocity of the synchronous belt in the actual operating environment (i.e. the first operating speed), ω 0试 is the angular velocity of the synchronous belt under the test environment (i.e. the second operating speed), P 0 is the transmission power of the synchronous belt under the actual operating environment (i.e., the first transmission power), P 0试 is the transmission power of the synchronous belt under the test environment (i.e. the second transmission power), and m and C are constants.

[0080] Since the angular velocity of the synchronous belt in the actual operating environment is usually set to be consistent with the angular velocity in the test environment, that is, ω 0 =ω 0试 It can be seen that the bending stress intensification coefficient corresponding to the synchronous belt can actually be considered as the work P transmitted by the synchronous belt under the test environment. 0试 The power P transmitted by the synchronous belt in the real operating environment 0 The mth power of the ratio. In the above way, the bending stress intensification factor of the synchronous belt can be determined simply and quickly.

[0081] It can also be seen from the above formula 5 that since the movement of the synchronous belt is a cyclic and regular movement, the bending stress σ under the test environment is obtained in the test measurement b试 The case and material properties (i.e. bending stress σ under the actual operating environment) b0 ) to the power of the ratio, the bending stress intensification coefficient under the test environment can be obtained.

[0082] Furthermore, the above step of determining the initial tension strengthening coefficient corresponding to the synchronous belt according to the first stress cycle number and the second stress cycle number includes:

[0083] Obtaining a ratio of the first stress cycle number to the second stress cycle number;

[0084] The ratio is determined as the initial tension reinforcement coefficient corresponding to the synchronous belt.

[0085] Specifically, in one embodiment, the synchronous belt can be designed based on the number of teeth z of the synchronous belt pulley, the pitch diameter d, and the standard initial tension F of the synchronous belt when it is working. 0 , pulley speed n and other data, and calculate the bandwidth b of the synchronous belt through selection. In this way, the standard initial tension F of the synchronous belt can be calculated according to the working 0 and bandwidth b, determine the initial tensile stress σ per unit bandwidth of the synchronous belt under the actual operating environment 0 , which is the above formula 2. Then according to the initial tensile stress σ per unit bandwidth under the actual operating environment 0 , determine the stress cycle number of the initial stress of the synchronous belt under the actual operating environment, that is, the first stress cycle number N 0 .

[0086] Similarly, the initial tension F of the synchronous belt under the test environment can be used to 0试 and bandwidth b, determine the initial tensile stress σ per unit bandwidth of the synchronous belt under the test environment 0试 :

[0087]

[0088] Among them, F 0试 is the initial tension of the synchronous belt under the test environment, b is the bandwidth of the synchronous belt, σ 0试 It is the initial tensile stress per unit bandwidth of the synchronous belt under the test environment.

[0089] Then according to the initial tensile stress σ per unit bandwidth under the test environment 0试 , determine the stress cycle number of the initial stress of the synchronous belt under the test operation environment, that is, the second stress cycle number N 0试 .

[0090] In this way, the initial tension reinforcement coefficient of the synchronous belt can be calculated by the following formula:

[0091]

[0092] Among them, N 0 is the stress cycle number of the initial stress of the synchronous belt under the actual operating environment, σ 0试 It is the initial tensile stress per unit bandwidth of the synchronous belt under the test environment.

[0093] Thus, the ratio of the number of stress cycles through the initial stress K σ0 Ratio to bending stress The strengthening coefficient of the test can be determined, that is, the acceleration coefficient of the synchronous belt can be determined by the following formula:

[0094]

[0095] Among them, K σ0 is the initial tension strengthening coefficient, is the bending stress intensification factor.

[0096] In this embodiment, the initial tension reinforcement coefficient of the synchronous belt can be obtained by the above formula 2, formula 6 and formula 7, and the calculation method is simple and direct.

[0097] Furthermore, the above step 104, determining the remaining service life of the synchronous belt according to the acceleration factor and the test life, includes:

[0098] Determine the service life of the synchronous belt under the actual operating environment based on the acceleration factor and test life;

[0099] Determining the service life of the synchronous belt according to the first operating condition parameter;

[0100] Determine the remaining service life of the synchronous belt based on its service life and service life under actual operating conditions.

[0101] In one embodiment, the working time of the synchronous belt under the enhanced condition is multiplied by the test enhancement coefficient to obtain the equivalent service life under the standard operating conditions, that is, the service life of the synchronous belt under the actual operating environment can be obtained by the following formula:

[0102] T 0 = 试 K (Formula 9)

[0103] Among them, T 0 is the service life of the synchronous belt in the actual operating environment, T 试 is the service life of the synchronous belt under the actual operating environment, and K is the acceleration coefficient.

[0104] Furthermore, the used service life of the synchronous belt is determined according to the running time of the synchronous belt in the first operating condition parameter, and the remaining service life of the synchronous belt is determined based on the service life and the used service life of the synchronous belt in the actual operating environment.

[0105] In the embodiment of the present application, the acceleration coefficient of the synchronous belt is calculated by obtaining the stress, stress cycle number and transmission power of the synchronous belt in the actual operating environment and the test environment. Specifically, the initial tension strengthening coefficient and the different bending stress strengthening coefficients are calculated respectively to obtain the test strengthening coefficient, that is, the acceleration coefficient of the synchronous belt, so as to calculate the service life of the synchronous belt under the actual operating environment. According to the model of the selected synchronous belt, the above formulas 1 to 9 can be used to calculate the life consumption of each shaft synchronous belt under the current torque and speed equivalent to the rated working conditions, so as to obtain the remaining life of each synchronous belt.

[0106] Furthermore, after the remaining service life of the synchronous belt is determined according to the acceleration coefficient and the test life in the above step 104, the method for determining the remaining service life of the synchronous belt further includes:

[0107] When the remaining service life is less than a preset threshold, a prompt message is generated to prompt the user to replace the synchronous belt.

[0108] Specifically, the preset threshold can be set according to actual needs, and this application does not make specific limitations. The prompt information can be in the form of text prompt information, sound and light prompt information, etc. In one embodiment, the user can be given real-time reminders and expiration alarms on an information display module such as a matching hand operator to assist equipment managers in providing expected maintenance plans.

[0109] In practical applications, industrial robots have multiple joints, and synchronous belts are usually used in small-space offset transmission situations. The synchronous belt models and load-bearing capacities are different, so the remaining life of each synchronous belt should be calculated separately. The fatigue life calculation of the synchronous belt adopts the accelerated life test method, and the normal working life of the synchronous belt is predicted by the acceleration coefficient and the test life calculation. The above-mentioned method for determining the remaining service life of the synchronous belt can be used to estimate the service life of the synchronous belt of the robot joint. Specifically, it can include the following steps, such as Figure 3 As shown:

[0110] Step 301, counting the motor torque, motor speed and motor rotation number in the most recent time period;

[0111] Step 302, obtaining the first stress cycle number of the synchronous belt;

[0112] Step 303, obtaining operating parameters of the synchronous belt under the test environment, such as the second operating condition parameters, the second stress cycle number and the test life, etc.;

[0113] Step 304, counting the service life of the synchronous belt;

[0114] Step 305, estimating the remaining service life of the synchronous belt and expiration alarm;

[0115] Step 306: Determine whether the operation is completed.

[0116] If yes, then the process ends; if no, then the process returns to step 301.

[0117] In this way, by strengthening the detection and filtering of the servo motor's operating parameters, applying the accelerated life model, and calculating the life of the robot's joints, we can provide users with accurate maintenance strategies and suggestions, while ensuring the convenience and scientificity of the user's robot maintenance during use, reducing the user's actual usage cost and improving the user experience.

[0118] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of the device for determining the remaining service life of a synchronous belt provided in an embodiment of the present application. Figure 4 As shown, the remaining service life determination device 400 of the synchronous belt includes:

[0119] A first acquisition module 401 is used to acquire a first operating condition parameter and a first stress cycle number of the synchronous belt, wherein the first operating condition parameter and the first stress cycle number are parameters obtained by the synchronous belt under a real operating environment;

[0120] A second acquisition module 402 is used to acquire a second operating condition parameter, a second stress cycle number, and a test life of the synchronous belt, wherein the second operating condition parameter, the second stress cycle number, and the test life are obtained by performing an accelerated life test on the synchronous belt;

[0121] A first determination module 403, for determining an acceleration coefficient of the synchronous belt according to the first operating condition parameter, the first stress cycle number, the second operating condition parameter and the second stress cycle number;

[0122] The second determination module 404 is used to determine the remaining service life of the synchronous belt according to the acceleration coefficient and the test life.

[0123] Optionally, the first determining module 403 includes:

[0124] A first determination submodule, used to determine a bending stress enhancement coefficient corresponding to the synchronous belt according to the first operating condition parameter and the second operating condition parameter;

[0125] A second determination submodule is used to determine an initial tension strengthening coefficient corresponding to the synchronous belt according to the first stress cycle number and the second stress cycle number;

[0126] The third determination submodule is used to determine the product of the bending stress enhancement coefficient and the initial tension enhancement coefficient as the acceleration coefficient of the synchronous belt.

[0127] Optionally, the first determining submodule includes:

[0128] a first determining unit, for determining a first transmission power of the synchronous belt according to a first load torque and a first operating speed of the synchronous belt, wherein the first load torque is determined based on a first servo motor current in the first operating condition parameter, the first operating speed is determined based on a first servo motor speed in the first operating condition parameter, the first servo motor current and the first servo motor speed are acquired by a first encoder, and the first encoder is connected to a servo motor corresponding to the synchronous belt;

[0129] a second determination unit, for determining a second transmission power of the synchronous belt according to a second load torque and a second operating speed of the synchronous belt, wherein the second load torque is determined based on a second servo motor current preset in the second operating condition parameter, and the second operating speed is determined based on a second servo motor speed preset in the second operating condition parameter;

[0130] The third determination unit is used to determine a bending stress enhancement coefficient corresponding to the synchronous belt based on a ratio of the first transmission power to the second transmission power.

[0131] Optionally, the second determining submodule includes:

[0132] An acquisition unit, used for acquiring a ratio of a first stress cycle number to a second stress cycle number;

[0133] The fourth determining unit is used to determine the ratio as the initial tension reinforcement coefficient corresponding to the synchronous belt.

[0134] Optionally, the second determining module 404 includes:

[0135] The fourth determination submodule is used to determine the service life of the synchronous belt under the actual operating environment according to the acceleration coefficient and the test life;

[0136] A fifth determination submodule, configured to determine the service life of the synchronous belt according to the first operating condition parameter;

[0137] The sixth determination submodule is used to determine the remaining service life of the synchronous belt based on the service life and the used service life of the synchronous belt in the actual operating environment.

[0138] Optionally, the device 400 for determining the remaining service life of the synchronous belt further includes:

[0139] The generation module is used to generate a prompt message when the remaining service life is less than a preset threshold value, and the prompt message is used to prompt the user to replace the synchronous belt.

[0140] It should be noted that the device 400 for determining the remaining useful life of a synchronous belt can implement the steps of the method for determining the remaining useful life of a synchronous belt provided in any of the aforementioned method embodiments and achieve the same technical effects, which will not be described in detail herein.

[0141] like Figure 5 As shown, a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, the electronic device includes a processor 511, a communication interface 512, a memory 513 and a communication bus 514, wherein the processor 511, the communication interface 512, and the memory 513 communicate with each other through the communication bus 514,

[0142] Memory 513, used for storing computer programs;

[0143] In one embodiment of the present application, the processor 511 is used to execute the program stored in the memory 513 to implement the method for determining the remaining service life of the synchronous belt provided by any one of the aforementioned method embodiments, including:

[0144] Obtaining a first operating condition parameter and a first stress cycle number of the synchronous belt, wherein the first operating condition parameter and the first stress cycle number are parameters obtained by the synchronous belt under a real operating environment;

[0145] Obtaining a second operating condition parameter, a second stress cycle number, and a test life of the synchronous belt, wherein the second operating condition parameter, the second stress cycle number, and the test life are obtained by performing an accelerated life test on the synchronous belt;

[0146] Determine the acceleration coefficient of the synchronous belt according to the first working condition parameter, the first stress cycle number, the second working condition parameter and the second stress cycle number;

[0147] Determine the remaining service life of the synchronous belt based on the acceleration factor and test life.

[0148] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for determining the remaining service life of a synchronous belt provided in any of the aforementioned method embodiments are implemented.

[0149] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0150] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for determining the remaining service life of a synchronous belt, characterized in that: The method comprises: Acquire a first operating condition parameter and a first stress cycle number of the synchronous belt, wherein the first operating condition parameter and the first stress cycle number are parameters obtained by the synchronous belt under a real operating environment; Obtaining a second operating condition parameter, a second stress cycle number, and a test life of the synchronous belt, wherein the second operating condition parameter, the second stress cycle number, and the test life are obtained by performing an accelerated life test on the synchronous belt; Determining an acceleration coefficient of the synchronous belt according to the first operating condition parameter, the first stress cycle number, the second operating condition parameter, and the second stress cycle number; Determining the remaining service life of the synchronous belt according to the acceleration factor and the test life; Wherein, determining the acceleration coefficient of the synchronous belt according to the first operating condition parameter, the first stress cycle number, the second operating condition parameter and the second stress cycle number includes: Determining a bending stress intensification coefficient corresponding to the synchronous belt according to the first operating condition parameter and the second operating condition parameter; Determining an initial tension strengthening coefficient corresponding to the synchronous belt according to the first stress cycle number and the second stress cycle number; The product of the bending stress enhancement coefficient and the initial tension enhancement coefficient is determined as the acceleration coefficient of the synchronous belt; Wherein, determining the bending stress intensification coefficient corresponding to the synchronous belt according to the first operating condition parameter and the second operating condition parameter includes: Determine a first transmission power of the synchronous belt according to a first load torque and a first operating speed of the synchronous belt, wherein the first load torque is determined based on a first servo motor current in the first operating parameter, and the first operating speed is determined based on a first servo motor speed in the first operating parameter, and the first servo motor current and the first servo motor speed are acquired by a first encoder, and the first encoder is connected to a servo motor corresponding to the synchronous belt; determining a second transmission power of the synchronous belt according to a second load torque and a second operating speed of the synchronous belt, wherein the second load torque is determined based on a second servo motor current preset in the second operating condition parameter, and the second operating speed is determined based on a second servo motor speed preset in the second operating condition parameter; The bending stress intensification coefficient corresponding to the synchronous belt is determined based on the ratio of the first transmission power to the second transmission power.

2. The method according to claim 1, characterized in that Determining the initial tension strengthening coefficient corresponding to the synchronous belt according to the first stress cycle number and the second stress cycle number includes: Obtaining a ratio of the first stress cycle number to the second stress cycle number; The ratio is determined as the initial tension reinforcement coefficient corresponding to the synchronous belt.

3. The method according to claim 1, characterized in that: Determining the remaining service life of the synchronous belt according to the acceleration coefficient and the test life includes: Determining the service life of the synchronous belt under a real operating environment according to the acceleration coefficient and the test life; Determining the service life of the synchronous belt according to the first operating condition parameter; Based on the service life of the synchronous belt in an actual operating environment and the used service life, the remaining service life of the synchronous belt is determined.

4. The method according to claim 3, characterized in that: After determining the remaining service life of the synchronous belt according to the acceleration factor and the test life, the method further includes: When the remaining service life is less than a preset threshold, a prompt message is generated, and the prompt message is used to prompt the user to replace the synchronous belt.

5. A device for determining the remaining service life of a synchronous belt, characterized in that: The device comprises: A first acquisition module, used to acquire a first operating condition parameter and a first stress cycle number of the synchronous belt, wherein the first operating condition parameter and the first stress cycle number are parameters obtained by the synchronous belt under a real operating environment; A second acquisition module is used to acquire a second operating condition parameter, a second stress cycle number, and a test life of the synchronous belt, wherein the second operating condition parameter, the second stress cycle number, and the test life are obtained by performing an accelerated life test on the synchronous belt; A first determination module, configured to determine an acceleration coefficient of the synchronous belt according to the first operating condition parameter, the first stress cycle number, the second operating condition parameter, and the second stress cycle number; A second determination module is used to determine the remaining service life of the synchronous belt according to the acceleration coefficient and the test life; Wherein, the first determining module includes: A first determination submodule, configured to determine a bending stress enhancement coefficient corresponding to the synchronous belt according to the first operating condition parameter and the second operating condition parameter; A second determination submodule, configured to determine an initial tension strengthening coefficient corresponding to the synchronous belt according to the first stress cycle number and the second stress cycle number; A third determination submodule, configured to determine the product of the bending stress enhancement coefficient and the initial tension enhancement coefficient as the acceleration coefficient of the synchronous belt; Wherein, the first determining submodule includes: a first determining unit, configured to determine a first transmission power of the synchronous belt according to a first load torque and a first operating speed of the synchronous belt, wherein the first load torque is determined based on a first servo motor current in the first operating condition parameter, the first operating speed is determined based on a first servo motor speed in the first operating condition parameter, the first servo motor current and the first servo motor speed are acquired by a first encoder, and the first encoder is connected to a servo motor corresponding to the synchronous belt; a second determining unit, configured to determine a second transmission power of the synchronous belt according to a second load torque and a second operating speed of the synchronous belt, wherein the second load torque is determined based on a second servo motor current preset in the second operating condition parameter, and the second operating speed is determined based on a second servo motor speed preset in the second operating condition parameter; The third determining unit is used to determine the bending stress intensification coefficient corresponding to the synchronous belt based on the ratio of the first transmission power to the second transmission power.

6. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor is used to implement the steps of the method for determining the remaining service life of a synchronous belt as described in any one of claims 1 to 4 when executing a program stored in a memory.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for determining the remaining service life of a synchronous belt according to any one of claims 1 to 4 are implemented.

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