Determination method and test platform of hysteresis characteristic parameters of RV reducer

Abstract

This invention provides a method and testing platform for determining the hysteresis characteristic parameters of an RV reducer. The testing platform includes a support base for fixing the RV reducer, a swing arm, a dial indicator, and a counterweight structure. One end of the swing arm is fixed to the output end of the RV reducer. The counterweight structure provides load to the swing arm. A dial indicator is installed at the other end of the swing arm to acquire the offset data of the loaded swing arm. The method determines the offset data corresponding to the dial indicator based on the mass data of the counterweight structure, and converts the offset data into corresponding angle parameters. It also determines the mapping relationship between the angle parameters and the load torque corresponding to the mass data, and determines the hysteresis characteristic parameters of the RV reducer based on this mapping relationship. This invention does not rely on a servo control system or a high-precision angle encoder. It also maps the determined numerically converted angle data to the hysteresis parameter curve to calculate the hysteresis characteristic parameters, ensuring parameter accuracy while maintaining low cost.

Description

Technical Field

[0001] This invention relates to the field of parameter determination technology, and in particular to a method and testing platform for determining the hysteresis characteristic parameters of an RV reducer. Background Technology

[0002] The main joint reducer used in industrial robots is the RV reducer. The accuracy of the RV reducer determines the main errors outside of the control algorithm. Therefore, measuring the operational accuracy of the RV reducer is crucial for both evaluating reducer quality and setting standards for product quality control. An important measurement indicator for RV reducers is their hysteresis characteristics. The hysteresis characteristics of an RV reducer include three parameters: backlash, idle distance, and torsional stiffness. These three parameters are obtained by plotting hysteresis characteristic curves during the testing process. Figure 1 As shown, the Figure 1 The diagram shows a schematic of the hysteresis characteristic curves plotted during the testing of an RV reducer. It also indicates the curve intervals corresponding to the backlash and idle stroke parameters. According to... Figure 1 The curve in the triangular region at the upper right corner can determine the torsional stiffness data.

[0003] However, hysteresis characteristic tests or hysteresis characteristic curves are obtained using an RV reducer comprehensive performance test bench. The cost of the entire comprehensive performance test bench system is extremely high, and the bench itself is large, heavy, and difficult to move. Once installed in its designated position, the comprehensive performance test bench cannot be moved, resulting in poor testing flexibility. As the size of the reducer being tested increases, the load torque also increases, and the test cycle lengthens, leading to situations where the comprehensive performance test time for a single reducer becomes excessively long. Furthermore, due to the large size of the test bench system, after long-term measurements, sensor drift or accuracy degradation, as well as damage to the coaxiality of the installation position, are not easily detected, thus compromising the accuracy of the test data. Therefore, how to perform timely, accurate, and economical calibration of the reducer is the technical problem that this application aims to solve. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a method and test platform for determining the hysteresis characteristic parameters of an RV reducer, which can facilitate R&D and testing personnel to quickly obtain target parameters and save costs.

[0005] In a first aspect, embodiments of the present invention provide a method for determining the hysteresis characteristic parameters of an RV reducer. This method is applied to a test platform corresponding to the RV reducer. The test platform includes a test fixture for fixing the RV reducer. The test fixture includes a swing arm, a support base, a dial indicator, and a counterweight structure. The support base is used to fix the RV reducer. One end of the swing arm is fixed to the output end of the RV reducer. A dial indicator is mounted on the other end of the swing arm. The counterweight structure is suspended from the other end of the swing arm to provide a load to the swing arm. The dial indicator is used to acquire the offset data of the swing arm corresponding to the load. The method includes: acquiring the mass data corresponding to the counterweight structure; determining the load torque corresponding to the mass data; and judging the load... Does the load torque meet the preset threshold data? If so, obtain the offset data corresponding to the dial indicator. Based on the relative position and offset data between the swing arm and the RV reducer, determine the angle parameter corresponding to the mass data. The relative position includes the forward position and the reverse position. Based on the angle parameter corresponding to the mass data and the load torque corresponding to the mass data, determine the mapping relationship between the angle parameter and the load torque corresponding to the current relative position, as well as the mapping relationship set corresponding to each relative position. Extract the target data from the mapping relationship set, and determine the hysteresis characteristic parameters of the RV reducer based on the target data. The target data is used to characterize the basic calculation parameters for calculating the hysteresis characteristic parameters of the RV reducer.

[0006] In conjunction with the first aspect, this embodiment of the invention provides a first possible implementation of the first aspect, wherein the offset data of the dial indicator is determined based on the 0-degree position of the dial indicator, and the offset data includes positive and negative values. When the relative position is positive, the offset data is positive; when the relative position is negative, the offset data is negative. The step of determining the angle parameter corresponding to the mass data based on the relative position of the swing arm and the RV reducer and the offset data includes: obtaining the length data corresponding to the swing arm; wherein the length data is the position from the acquisition position of the dial indicator to the center point of the output end of the RV reducer; determining the offset radian corresponding to the mass data based on the offset data and the length data; and inputting the offset radian into a pre-set angle calculation formula based on the relative position of the RV reducer to obtain the angle parameter corresponding to the mass data.

[0007] In conjunction with the first aspect, the present invention provides a second possible implementation of the first aspect, wherein the pre-set angle calculation formula is expressed as follows: x=(θ*360°) / 2π, where x represents the angle parameter, θ represents the offset in radians, θ=S / L, S represents the offset data, and L represents the length data of the aforementioned swing arm.

[0008] In conjunction with the first aspect, this embodiment of the invention provides a third possible implementation of the first aspect, wherein the step of determining the mapping relationship between the angle parameter and the load torque corresponding to the current relative position, and the set of mapping relationships corresponding to each relative position, based on the angle parameter corresponding to the mass data and the load torque corresponding to the mass data, includes: acquiring pre-stored spatial coordinate system data, and inputting the angle parameter and the load torque into the spatial coordinate system to obtain the mapping relationship corresponding to the current angle parameter and the current mass data; determining the linear scale data corresponding to each mapping relationship based on the mapping relationship of each relative position; and obtaining the set of mapping relationships based on the linear scale data.

[0009] In conjunction with the first aspect, this embodiment of the invention provides a fourth possible implementation of the first aspect, wherein the swing arm includes a basic mass parameter and a load torque corresponding to the basic mass parameter, the basic mass parameter being determined based on the rated torque of the RV reducer; the mapping relationship corresponding to the forward position includes a first forward mapping relationship when the load torque of the counterweight structure meets the threshold data, and a second forward mapping relationship corresponding to the basic mass parameter of the swing arm when the counterweight structure is not suspended; the mapping relationship corresponding to the reverse position includes a first reverse mapping relationship when the load torque of the counterweight structure meets the threshold data, and a second reverse mapping relationship corresponding to the basic mass parameter of the swing arm when the counterweight structure is not suspended.

[0010] In conjunction with the first aspect, this embodiment of the invention provides a fifth possible implementation of the first aspect, wherein the step of determining linear scaling data corresponding to each mapping relationship based on the mapping relationship of each relative position, and obtaining a set of mapping relationships based on the linear scaling data includes: determining linear scaling data between each mapping relationship in the forward position and linear scaling data between each mapping relationship in the reverse position, as well as linear scaling data between the first forward mapping relationship and the second reverse mapping relationship and linear scaling data between the first reverse mapping relationship and the second forward mapping relationship; determining the intersection point data of each linear scaling data with the spatial coordinate system; and determining the set of basic parameters of each intersection point data and the set of basic parameters of each linear scaling data as a set of mapping relationships.

[0011] In conjunction with the first aspect, this embodiment of the invention provides a sixth possible implementation of the first aspect, wherein the step of extracting target data from the mapping relationship set and determining the hysteresis characteristic parameters of the RV reducer based on the target data includes: determining target data corresponding to the parameter characteristics from the mapping relationship set based on the parameter characteristics of the RV reducer, and inputting the target data into a pre-set parameter calculation formula to obtain the hysteresis characteristic parameters; wherein the target data includes at least one basic parameter from the mapping relationship set.

[0012] In conjunction with the first aspect, the present invention provides a seventh possible implementation of the first aspect, wherein the RV reducer corresponds to rated load data, and the rated load data is determined according to the reducer model and speed ratio of the RV reducer; the method further includes: obtaining the rated load data and the length of the swing arm; calculating the rated load data and the length of the swing arm to obtain the threshold data corresponding to the counterweight structure.

[0013] In conjunction with the first aspect, this embodiment of the invention provides an eighth possible implementation of the first aspect, wherein the test platform further includes a swing arm repositioning mechanism, which is used to convert the relative position of the swing arm from a forward position to a reverse position.

[0014] Secondly, embodiments of the present invention also provide a testing platform, which includes a controller and a testing fixture. The testing fixture includes a swing arm, a support base, a dial indicator, and a counterweight structure. The support base is used to fix the RV reducer. One end of the swing arm is fixed to the output end of the RV reducer. A dial indicator is installed at the other end of the swing arm. The counterweight structure is suspended at the other end of the swing arm to provide a load to the swing arm. The dial indicator is used to obtain the offset data of the swing arm corresponding to the load. The controller is used to execute the above method.

[0015] The embodiments of this invention bring the following beneficial effects: The method and test platform for determining the hysteresis characteristic parameters of an RV reducer provided by this invention, by suspending a counterweight structure at the end of the swing arm, makes it easier to obtain the offset data of the swing arm measured by a dial indicator, and then converts the offset data into an angle to perform the measurement of the characteristic parameters. The embodiments of this invention utilize the amplification effect of the swing arm to amplify the measured angle value. Furthermore, the above method does not rely on a servo control system and a high-precision angle encoder, resulting in lower cost and avoiding inaccurate parameter curves caused by long-term use of servo systems. In addition, the angle in the embodiments of this invention is converted from the measured data and the corresponding conversion formula. Since the measured data is a definite value, the conversion formula also ensures the accuracy of the calculation results. Therefore, the method provided by the embodiments of this invention results in relatively accurate data.

[0016] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a hysteresis characteristic curve structure;

[0020] Figure 2 A flowchart illustrating a method for determining the hysteresis characteristic parameters of an RV reducer, as provided in an embodiment of the present invention;

[0021] Figure 3 A flowchart illustrating another method for determining the hysteresis characteristic parameters of an RV reducer provided in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of linear proportional data provided in an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of the structure of a testing platform provided in an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of a device for determining the hysteresis characteristic parameters of an RV reducer provided in an embodiment of the present invention;

[0025] Figure 7 A structural diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] The main joint reducer used in industrial robots is the RV reducer. The accuracy of the RV reducer determines the main errors outside of the control algorithm. Therefore, measuring the operational accuracy of the RV reducer is crucial for both evaluating reducer quality and setting standards for controlling product quality. An important measurement indicator for RV reducers is their hysteresis characteristics. The hysteresis characteristics of an RV reducer include three parameters: backlash, idle distance, and torsional stiffness. These three parameters are obtained by plotting hysteresis characteristic curves during the testing process.

[0028] A device or instrument produces different output values ​​corresponding to its input values ​​in the order of the applied input values. Hysteresis, also known as instrument variation, is the maximum deviation between two characteristic curves obtained by the upward and downward movement of the measured value across the entire measurement range of the instrument. Idle is a general term for a dead zone. This dead zone is caused by a temporary interruption between the input and output of a device when the input of the device changes direction. A slack or loosening of a mechanical connection is a typical example of idle. Torsional stiffness is often used to determine the degree of torsion of a device; therefore, it can be calculated by the ratio of the rotation angle to the torque.

[0029] Hysteresis characteristic testing or obtaining hysteresis characteristic curves is achieved using an RV reducer comprehensive performance test bench. A typical comprehensive performance test bench includes servo motors and their control systems at both the input and output ends, high-precision torque sensors, high-precision encoders, a data transmission system, an industrial computer, and software with corresponding testing algorithms. The entire system is extremely expensive, and the test bench is large, bulky, and difficult to move. Furthermore, once installed in its designated position, the comprehensive performance test bench cannot be moved, resulting in poor testing flexibility. As the size of the reducer being tested increases, the load torque also increases, and the test cycle lengthens, leading to excessively long comprehensive performance tests for a single reducer. Moreover, long-term measurements can cause sensor drift or accuracy degradation, as well as damage to the coaxiality of the installation position, which is difficult to detect, and there is a lack of timely, accurate, and economical calibration methods.

[0030] Based on this, the present invention provides a method and test platform for determining the hysteresis characteristic parameters of an RV reducer, which can test the RV reducer without using a comprehensive performance test bench, and can facilitate R&D and testing personnel to quickly obtain target parameters, thus saving costs.

[0031] To facilitate understanding of this embodiment, a method for determining the hysteresis characteristic parameters of an RV reducer disclosed in this embodiment will first be described in detail. Figure 2 A flowchart illustrating a method for determining the hysteresis characteristic parameters of an RV reducer is provided. This method is applied to a test platform corresponding to the RV reducer. The test platform includes a test fixture for fixing the RV reducer. Specifically, the test fixture includes a swing arm, a support base, a dial indicator, and a counterweight structure. The support base is used to fix the RV reducer. One end of the swing arm is fixed to the output end of the RV reducer. A dial indicator is mounted on the other end of the swing arm. The counterweight structure is suspended from the other end of the swing arm to provide load to the swing arm. The dial indicator is used to obtain the offset data of the swing arm corresponding to the load.

[0032] Specifically, such as Figure 2The flowchart illustrates a method for determining the hysteresis characteristic parameters of an RV reducer, which includes the following steps:

[0033] Step S102: Obtain the mass data corresponding to the counterweight structure.

[0034] Step S104: Determine the load torque corresponding to the quality data, and determine whether the load torque meets the preset threshold data.

[0035] Specifically, the present invention involves fixing a swing arm at the output end of an RV reducer, suspending a counterweight structure at the outer end of the swing arm, and detecting the offset of the swing arm after suspending the counterweight structure. Based on the offset, the method is converted into the offset angle of the RV reducer to determine a hysteresis characteristic parameter curve.

[0036] The aforementioned counterweight structure includes mass data. Different load torques can be obtained based on different mass data, thereby determining the load value that the current counterweight structure achieves on the RV reducer.

[0037] Step S106: If yes, obtain the offset data corresponding to the dial indicator.

[0038] Specifically, the embodiments of the present invention set the required threshold data, and based on the threshold data, it can be determined whether the current quality data meets the parameter determination requirements of the present invention.

[0039] Furthermore, when the load torque corresponding to the above quality data meets the threshold data, the data collected by the dial indicator can be converted to obtain the deflection angle corresponding to the RV reducer.

[0040] Step S108: Determine the angle parameters corresponding to the mass data based on the relative position and offset data of the swing arm and the RV reducer.

[0041] Specifically, in determining the above parameter curve, the embodiments of the present invention perform forward and reverse tests on the RV reducer. Therefore, the embodiments of the present invention also include the relative position of the swing arm and the reducer. When performing the forward test, the above relative position is the forward position, and when performing the reverse test, the above relative position is the reverse position.

[0042] In practice, the relative position and the offset data corresponding to the dial indicator are calculated and converted into the rotation angle parameter of the output end of the RV reducer corresponding to the current mass data.

[0043] Step S110: Based on the angle parameters corresponding to the mass data and the load torque corresponding to the mass data, determine the mapping relationship between the angle parameters and the load torque corresponding to the current relative position, as well as the set of mapping relationships corresponding to each relative position.

[0044] Depend on Figure 1 It is known that the hysteresis characteristic parameter curve of the RV reducer is determined based on the reducer's rotation angle and torque. Therefore, after obtaining the aforementioned angle parameters, the load torque corresponding to the current mass data, i.e., the load torque required to test the RV reducer, can be mapped to the current angle parameters to obtain the mapping relationship between the angle parameters and the load torque. Furthermore, since this embodiment of the invention performs forward and reverse tests on the RV reducer, the aforementioned mapping relationship will include multiple components to form a mapping relationship set.

[0045] Step S112: Extract target data from the mapping relationship set, and determine the hysteresis characteristic parameters of the RV reducer based on the target data.

[0046] Because the hysteresis characteristic parameters of the RV reducer are based on Figure 1 The specific curves in the hysteresis characteristic parameter curves shown are determined by the fact that the specific curves include the basic calculation parameters used to calculate the hysteresis characteristic parameters of the RV reducer. Therefore, after obtaining the above-mentioned set of mapping relationships, the target data representing the basic calculation parameters can be extracted from the set to determine the hysteresis characteristic parameters of the RV reducer based on the target data.

[0047] This invention provides a method for determining the hysteresis characteristic parameters of an RV reducer. By suspending a counterweight structure at the end of the swing arm, it is easier to obtain the offset data of the swing arm measured by a dial indicator. The offset data is then converted into an angle to perform the measurement of the characteristic parameters. This invention utilizes the amplification effect of the swing arm to magnify the measured angle value. Furthermore, this method does not rely on a servo control system or a high-precision angle encoder, resulting in lower cost. It also avoids the inaccuracy of parameter curves caused by long-term parameter accumulation in the servo system. In addition, the angle in this invention is converted from the measured data using a corresponding conversion formula. Since the measured data are definite values, and the conversion formula ensures the accuracy of the calculation results, the method provided by this invention yields relatively accurate data.

[0048] Furthermore, since the converted data is relatively accurate and the calculation results will not change, the method provided by this embodiment of the invention can also provide a verification standard for the comprehensive performance test bench that has been used for a long time when abnormal test data occurs.

[0049] To facilitate understanding, this embodiment of the invention also provides another method for determining the hysteresis characteristic parameters of an RV reducer. This method mainly involves the steps of determining the angle parameters corresponding to the mass data based on the relative position and offset data between the swing arm and the RV reducer (determined through steps S208-S212 below), and determining the mapping relationship between the angle parameters corresponding to the current relative position and the load torque, as well as the set of mapping relationships corresponding to each relative position (determined through steps S214-S220). Figure 3 A flowchart illustrating another method for determining the hysteresis characteristic parameters of an RV reducer is shown, such as... Figure 3 As shown, the method includes:

[0050] Step S202: Obtain the mass data corresponding to the counterweight structure.

[0051] Step S204: Determine the load torque corresponding to the quality data, and determine whether the load torque meets the preset threshold data.

[0052] In practical use, the reducer, swing arm, and support base, along with other tooling and parts, must be assembled first, without installing the mounting weights. It is important to note that for large reducers, safety precautions must be taken during installation. Next, the swing arm needs to be adjusted to a horizontal position on one side. For example, during forward testing, the swing arm needs to be adjusted to a horizontal state in the forward direction; during reverse testing, it needs to be adjusted to a horizontal state in the reverse direction. Specifically, a level can be used to ensure the swing arm remains horizontal. The level should be positioned at the end of the swing arm. After adjusting the swing arm, a dial indicator needs to be installed. In this embodiment, the swing arm offset is measured. Therefore, when installing the dial indicator, first mount the indicator stand on the test bench, vertically align the dial indicator probe with the lower surface of the swing arm, and gently press it. Simultaneously, the dial indicator probe should be as close as possible to the outer end of the swing arm, without interfering with the assembly of the counterweight structure. After installation, the distance L between the dial indicator tip and the reducer output end can be measured.

[0053] After the test platform is assembled, it is also necessary to determine the rated torque, i.e., the rated load data, of the RV reducer to be tested. The rated load data is determined based on the reducer model and speed ratio. At this point, the rated load data and the length of the swing arm can be obtained. Calculations are then performed on the rated load data and the swing arm length to determine the mass data of the counterweight structure corresponding to the rated torque. This mass data represents the required total mass. Furthermore, the calculated mass data can be used as the threshold data corresponding to the counterweight structure, or the load torque corresponding to the mass data can be used as the aforementioned threshold data. This threshold data is used to determine whether the counterweight structure suspending the current mass data can meet the rated load data of the reducer.

[0054] Furthermore, the aforementioned counterweight structure can be counterweight plates, with different counterweight plates corresponding to different mass parameters. Therefore, the total mass parameter obtained by accumulating multiple counterweight plates can be used to determine whether to perform angle transformation on the current data based on whether it meets the aforementioned threshold data.

[0055] Individual counterweights can be suspended from the end of the swing arm, and the readings of a dial indicator can be recorded. Before installing the counterweights, the dial indicator readings need to be set to zero.

[0056] Step S206: If yes, obtain the offset data corresponding to the dial indicator.

[0057] Different dial gauge readings can be obtained when different masses are suspended on the swing arm. When the total mass of the suspended counterweights reaches the mass corresponding to the above threshold data, the mass suspended on the swing arm has reached the preset rated load data of the reducer. At this time, the dial reading can be read and recorded after it stabilizes for conversion calculation.

[0058] Step S208: Obtain the length data corresponding to the swing arm.

[0059] Step S210: Determine the offset radian corresponding to the mass data based on the offset data and length data.

[0060] Step S212: Based on the relative position of the RV reducer, the offset radian is input into the preset angle calculation formula to obtain the angle parameter corresponding to the mass data.

[0061] In this embodiment of the invention, the deflection angle of the reducer can be determined based on the distance from the measurement point to the reducer and the reading of the dial indicator. Specifically, the distance is the distance L between the dial indicator needle and the output end of the reducer, which is also the position from the acquisition position of the dial indicator to the center point of the output end of the RV reducer.

[0062] The pre-set angle calculation formula is expressed as: x=(θ*360°) / 2π, where x represents the angle parameter, θ represents the offset in radians, θ=S / L, S represents the offset data, and L represents the length data of the aforementioned swing arm.

[0063] Furthermore, the dial indicator includes a 0-degree value. Since this embodiment of the invention performs forward and reverse data acquisition on the reducer, the direction of the dial indicator's reading will change when acquiring the offset of the swing arm. For example, during the reverse test, the dial indicator's pointer will deflect to the left, while during the forward test, the dial indicator's pointer will deflect to the right. Specifically, the 0-degree value of the dial indicator can be understood as the center line of the forward and reverse tests. In order to distinguish the acquisition structures in the two directions, the data acquired when deflecting to the right can be determined as positive data, and the data acquired when deflecting to the left can be determined as negative data.

[0064] In practical implementation, the test platform also includes a swing arm repositioning mechanism, which can change the relative position of the swing arm from a forward position to a reverse position. Specifically, the swing arm repositioning mechanism can be a motor, which acts as a brake and only starts operating when changing the relative position of the swing arm or when fine-tuning the swing arm. Furthermore, in this embodiment of the invention, except for the forward and reverse tests of the reducer which require motor operation, this test is equivalent to a static test, and the motor does not need to operate continuously. Therefore, grease filling is not necessary unless absolutely necessary. It should be noted that the weight of the swing arm may be too heavy. Therefore, the swing arm repositioning mechanism should not perform large-scale or rapid reversal operations. Moreover, an excessively heavy swing arm will reduce the influence of the dial indicator data collection. Therefore, in this embodiment of the invention, an absolute level is not required. Whether the swing arm is level can be roughly satisfied by fine-tuning the swing arm repositioning mechanism.

[0065] Step S214: Obtain the pre-stored spatial coordinate system data, and input the angle parameters and load torque into the spatial coordinate system to obtain the mapping relationship between the current angle parameters and the current mass data.

[0066] Specifically, it can be used Figure 1 The spatial coordinate system shown serves as pre-stored spatial coordinate system data. For example, the angle parameter is defined as the y-axis, and the load torque is defined as the x-axis. Then, the specific value of the angle parameter that meets the threshold data is input into the y-axis, and the data corresponding to the load torque that meets the threshold data is input into the corresponding x-axis. This allows us to obtain the mapping relationship between the current angle parameter and the current mass data.

[0067] Step S216: Determine the linear scale data corresponding to each mapping relationship based on the mapping relationship of each relative position.

[0068] Step S218: Obtain the mapping relationship set based on the linear proportional data.

[0069] Since the embodiments of the present invention perform forward and reverse testing, the mapping relationship shown includes at least two sets of data, all of which are specific values ​​that meet the threshold data.

[0070] Furthermore, embodiments of the present invention can also determine a corresponding mapping relationship based on the load torque generated by the swing arm on the reducer when no counterweight structure is suspended on the swing arm. In this case, the swing arm includes basic mass parameters and the load torque corresponding to the basic mass parameters. At this time, in the aforementioned spatial coordinate system, the y-axis values ​​corresponding to the positive and negative positions when no counterweight structure is suspended, i.e., the angle parameter values, are both 0.

[0071] Furthermore, the basic mass parameters of the swing arm can be determined based on the rated torque of the RV reducer, specifically, such as... Figure 1 As shown, the idle stroke parameter is determined based on the angle between the positive and negative 3% of the rated torque. Therefore, in this embodiment of the invention, the basic mass parameter of the swing arm can be directly determined as the mass corresponding to the positive and negative 3% of the rated torque. In this case, in the spatial coordinate system of this embodiment of the invention, when no counterweight structure is suspended, the curve segment used to determine the idle stroke parameter can be reduced, and the aforementioned idle stroke parameter can be determined directly based on the value on the y-axis.

[0072] At this time, the mapping relationship corresponding to the positive position includes the first positive mapping relationship when the load torque of the counterweight structure meets the threshold data, and the second positive mapping relationship corresponding to the basic mass parameters of the swing arm when the counterweight structure is not suspended; the mapping relationship corresponding to the negative position includes the first negative mapping relationship when the load torque of the counterweight structure meets the threshold data, and the second negative mapping relationship corresponding to the basic mass parameters of the swing arm when the counterweight structure is not suspended.

[0073] Specifically, to obtain the linear scaling data corresponding to each mapping relationship, the following steps can be performed:

[0074] 1) Determine the linear scale data between each mapping relationship in the forward position and the linear scale data between each mapping relationship in the reverse position, as well as the linear scale data between the first forward mapping relationship and the second reverse mapping relationship and the linear scale data between the first reverse mapping relationship and the second forward mapping relationship.

[0075] For ease of understanding, Figure 4 The diagram shows the structure of the linear proportional data corresponding to each of the above mapping relationships, such as... Figure 4 As shown, point A (x1, y1) represents the first forward mapping relationship, B (x2, y2) represents the second forward mapping relationship, C (x3, y3) represents the second reverse mapping relationship, and D (x4, y4) represents the first reverse mapping relationship. Figure 4 As shown, it can be seen that points B and C are both located on the x-axis, point A is located in the first quadrant of the coordinate system, and point D is located in the third quadrant of the coordinate system.

[0076] Next, connect points A and B to form a straight line segment L1 to obtain the linear ratio data corresponding to the positive position; then connect points C and D to form a straight line segment L2 to obtain the linear ratio data corresponding to the negative position; then connect points A and C to form a straight line segment L3 to obtain the linear ratio data between the first positive mapping relationship and the second negative mapping relationship; finally, connect points B and D to form a straight line segment L4 to obtain the linear ratio data between the first negative mapping relationship and the second positive mapping relationship.

[0077] 2) Determine the intersection points of each linear scale data with the spatial coordinate system.

[0078] Specifically, we can extend L2 to intersect the y-axis at point E(x5, y5), and extend L1 to intersect the y-axis at point F(x6, y6). Then, we can obtain the equations of the aforementioned line segments, as follows:

[0079] L1:y=(y2-y1)*x / (x2-x1)+(y1*x2-y2*x1) / (x2-x1);

[0080] L2:y=(y4-y3)*x / (x4-x3)+(y3*x4-y4*x3) / (x4-x3);

[0081] L3:y=(y3-y1)*x / (x3-x1)+(y1*x3-y3*x1) / (x3-x1);

[0082] L4:y=(y4-y2)*x / (x4-x2)+(y2*x4-y4*x2) / (x4-x2).

[0083] Furthermore, the coordinates of points E and F can be obtained from the equations of lines L1 and L2, which are: x5 = 0, y5 = (y3*x4 - y4*x3) / (x4 - x3); x6 = 0, y6 = (y1*x2 - y2*x1) / (x2 - x1).

[0084] Furthermore, line segment L3 intersects the y-axis at point P(x7,y7), and line segment L4 intersects the y-axis at point Q(x8,y8). The coordinates of points E and F can be obtained from the equations of lines L3 and L4: x7 = 0, y7 = (y1*x3 - y3*x1) / (x3 - x1); x8 = 0, y8 = (y2*x4 - y4*x2) / (x4 - x2).

[0085] Then, we can connect points A and E to form line L5, and connect points D and F to form line L6.

[0086] 3) The set of basic parameters for each intersection point and the set of basic parameters for each linear scale data are determined as the mapping relationship set.

[0087] Specifically, the set of unmapped relationships between each coordinate point and the corresponding line segment designed in the above process can be determined.

[0088] Furthermore, the closed curve formed by points A, E, D, and F as vertices and the straight line segments L1, L6, L2, and L5 between them can be considered as the hysteresis characteristic curve under manual static conditions.

[0089] Step S220: Extract target data from the mapping relationship set and determine the hysteresis characteristic parameters of the RV reducer based on the target data.

[0090] Specifically, based on the parameter characteristics of the RV reducer, it is necessary to determine the target data corresponding to the parameter characteristics from the mapping relationship set, and input the target data into the pre-set parameter calculation formula to obtain the hysteresis characteristic parameters; wherein, the target data includes at least one basic parameter from the mapping relationship set.

[0091] In practical implementation, as can be seen from the definition of idle stroke, when the load torque provided by the swing arm is about 3% of the rated torque of the reducer, the measured value is closest to the true value. Therefore, in the design of the swing arm, this embodiment of the invention uses this as a reference standard to determine the mass of the swing arm.

[0092] Analysis shows that in the mapping relationship set provided in this embodiment of the invention, the value of line segment PQ can be equivalent to the backlash value, the value of line segment EF can be equivalent to the idle travel value, and the coordinate value of point A can represent the torsional stiffness. Therefore, the values ​​of these parameters can be extracted to calculate the hysteresis characteristic parameters of the RV reducer.

[0093] Specifically, the numerical calculation formulas for each parameter of the hysteresis characteristic are as follows:

[0094] Backlash = y7-y8; clearance = y5-y6; torsional stiffness = y1 / x1 or y4 / x4. Furthermore, the parameters in the above calculation formulas are all known data obtained from measurements or calculation results after data processing. Therefore, the calculated parameters are relatively accurate.

[0095] This invention provides another method for determining the hysteresis characteristic parameters of an RV reducer. The reducer undergoes forward and reverse testing to obtain the mapping relationship between the rated torque in both directions and the mapping relationship between the swing arm and the reducer without a counterweight structure. These mapping relationships are then organized into linear proportional data to obtain the corresponding spatial coordinate system. The method provided by this invention eliminates the need to measure thousands of points on the reducer; four curve segments can be plotted using only the aforementioned data, significantly reducing the data volume. Furthermore, these line segments can all be used to extract target data for calculating the hysteresis characteristic parameters. Through linear approximation, data compression is achieved. Therefore, this invention can obtain the hysteresis characteristic parameters of an RV reducer in a shorter time and at a lower cost, saving research and development and production costs.

[0096] Furthermore, the reduced measurement costs improve the feasibility of testing, enabling most reducer manufacturers to measure the hysteresis characteristics of RV reducers at a low cost.

[0097] Corresponding to the above method embodiments, this invention also provides a testing platform. Figure 5A schematic diagram of the structure of a test platform excluding the controller is shown, as follows. Figure 5 As shown, the test platform includes a controller and a test fixture. The test fixture includes a swing arm 3, a support base 1, a dial indicator 4, and a counterweight structure. The support base is used to fix the RV reducer 2. One end of the swing arm is fixed to the output end of the RV reducer. A dial indicator is installed at the other end of the swing arm. The counterweight structure is suspended at the other end of the swing arm to provide load to the swing arm. The dial indicator is used to obtain the offset data of the swing arm corresponding to the load. Furthermore, a level 5 is also installed at the end of the swing arm to detect whether the swing arm is level. The controller is used to execute... Figures 2 to 3 Any of the methods shown.

[0098] The testing platform provided in this embodiment of the invention has the same technical features as the method for determining the hysteresis characteristic parameters of an RV reducer provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0099] Corresponding to the above method embodiments, this invention also provides a device for determining the hysteresis characteristic parameters of an RV reducer. Figure 6 A schematic diagram of a device for determining the hysteresis characteristic parameters of an RV reducer is shown, as follows. Figure 6 As shown, the device includes:

[0100] The quality acquisition module 601 is used to acquire the quality data corresponding to the counterweight structure.

[0101] The judgment module 602 is used to determine the load torque corresponding to the quality data and to determine whether the load torque meets the preset threshold data.

[0102] The data acquisition module 603 is used to acquire the offset data corresponding to the dial gauge when the judgment result of the judgment module is yes.

[0103] The angle determination module 604 is used to determine the angle parameters corresponding to the mass data based on the relative position and offset data of the swing arm and the RV reducer.

[0104] The mapping relationship determination module 605 is used to determine the mapping relationship between the angle parameter and the load torque corresponding to the current relative position, as well as the mapping relationship set corresponding to each relative position, based on the angle parameter corresponding to the mass data and the load torque corresponding to the mass data.

[0105] The data extraction module 606 is used to extract target data from the set of mapping relationships.

[0106] The parameter determination module 607 is used to determine the hysteresis characteristic parameters of the RV reducer based on the target data.

[0107] The device for determining the hysteresis characteristic parameters of an RV reducer provided in this embodiment of the invention has the same technical features as the method for determining the hysteresis characteristic parameters of an RV reducer provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0108] Furthermore, the aforementioned angle determination module 604 is also used to acquire the length data corresponding to the swing arm; wherein, the length data is the position from the acquisition position of the dial indicator to the center point of the output end of the RV reducer; based on the offset data and the length data, the offset radian corresponding to the mass data is determined; based on the relative position of the RV reducer, the offset radian is input into the pre-set angle calculation formula to obtain the angle parameter corresponding to the mass data.

[0109] The aforementioned mapping relationship determination module 605 is also used to acquire pre-stored spatial coordinate system data, and input the angle parameters and load torque into the spatial coordinate system to obtain the mapping relationship corresponding to the current angle parameters and the current mass data; based on the mapping relationship of each relative position, determine the linear scale data corresponding to each mapping relationship; and based on the linear scale data, obtain the mapping relationship set.

[0110] The mapping relationship determination module 605 is further configured to determine the linear ratio data between each mapping relationship in the forward position and the linear ratio data between each mapping relationship in the reverse position, as well as the linear ratio data between the first forward mapping relationship and the second reverse mapping relationship and the linear ratio data between the first reverse mapping relationship and the second forward mapping relationship; determine the intersection point data between each linear ratio data and the spatial coordinate system; and determine the set of basic parameters of each intersection point data and the set of basic parameters of each linear ratio data as the mapping relationship set.

[0111] The mapping relationship determination module 605 is further configured to determine the target data corresponding to the parameter characteristics from the mapping relationship set based on the parameter characteristics of the RV reducer, and input the target data into the pre-set parameter calculation formula to obtain the hysteresis characteristic parameters; wherein, the target data includes at least one basic parameter from the mapping relationship set.

[0112] Furthermore, the device also includes a threshold data determination module, used to obtain rated load data and the length of the swing arm; and to calculate the threshold data corresponding to the counterweight structure based on the rated load data and the length of the swing arm.

[0113] This invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described... Figures 2 to 3The steps of any of the methods shown. Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the above-described steps. Figures 2 to 3 The steps of any of the methods shown.

[0114] This invention also provides a schematic diagram of the structure of an electronic device, such as... Figure 7 The diagram shows the structure of the electronic device, which includes a processor 71 and a memory 70. The memory 70 stores computer-executable instructions that can be executed by the processor 71. The processor 71 executes the computer-executable instructions to implement the above-mentioned... Figures 2 to 3 Any of the methods shown. In Figure 7 In the illustrated embodiment, the electronic device further includes a bus 72 and a communication interface 73, wherein the processor 71, the communication interface 73, and the memory 70 are connected via the bus 72.

[0115] The memory 70 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 73 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network. The bus 72 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, or an AMBA (Advanced Microcontroller Bus Architecture) bus. AMBA defines three types of buses: APB (Advanced Peripheral Bus), AHB (Advanced High-performance Bus), and AXI (Advanced eXtensible Interface). The bus 72 can be divided into address bus, data bus, and control bus. For ease of representation, Figure 7 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0116] The processor 71 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 71 or by instructions in software form. The processor 71 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory. The processor 71 reads the information in the memory and, in conjunction with its hardware, completes the aforementioned task. Figures 2 to 3 Any of the methods shown.

[0117] The present invention provides a computer program product for determining the hysteresis characteristic parameters of an RV reducer and a testing platform. The product includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. Specific implementation details can be found in the method embodiments and will not be repeated here. Those skilled in the art will understand that, for the sake of convenience and brevity, the described apparatus and the specific working process of using the aforementioned testing platform can be referred to the corresponding processes in the preceding method embodiments, and will not be repeated here.

[0118] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0119] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0120] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0121] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for determining the hysteresis characteristic parameters of an RV reducer, characterized in that, The method is applied to a test platform corresponding to an RV reducer. The test platform includes a test fixture, which is used to fix the RV reducer. The test fixture includes a swing arm, a support base, a dial indicator, and a counterweight structure. The support base is used to fix the RV reducer. One end of the swing arm is fixed to the output end of the RV reducer. The dial indicator is installed at the other end of the swing arm. The counterweight structure is suspended from the other end of the swing arm to provide load to the swing arm. The dial indicator is used to obtain the offset data of the swing arm corresponding to the load. The method includes: Obtain the mass data corresponding to the counterweight structure; Determine the load torque corresponding to the quality data, and determine whether the load torque meets the preset threshold data; If so, obtain the offset data corresponding to the per mille table; Based on the relative position of the swing arm and the RV reducer and the offset data, the angle parameter corresponding to the mass data is determined; wherein, the relative position includes a forward position and a reverse position; Based on the angle parameter corresponding to the mass data and the load torque corresponding to the mass data, determine the mapping relationship between the angle parameter and the load torque corresponding to the current relative position, and the set of mapping relationships corresponding to each relative position; Target data is extracted from the mapping relationship set, and the hysteresis characteristic parameters of the RV reducer are determined based on the target data; wherein, the target data is used to characterize the basic calculation parameters for calculating the hysteresis characteristic parameters of the RV reducer; The step of determining the mapping relationship between the angle parameter and the load torque corresponding to the current relative position, and the set of mapping relationships corresponding to each relative position, based on the angle parameter corresponding to the mass data and the load torque corresponding to the mass data, includes: Obtain pre-stored spatial coordinate system data, and input the angle parameter and the load torque into the spatial coordinate system to obtain the mapping relationship between the current angle parameter and the current mass data; Based on the mapping relationship of each relative position, determine the linear scale data corresponding to each mapping relationship; The mapping relationship set is obtained based on the linear ratio data.

2. The method according to claim 1, characterized in that, The offset data of the dial indicator is determined based on the 0-degree position of the dial indicator, and the offset data includes positive and negative data. When the relative position is positive, the offset data is positive; when the relative position is negative, the offset data is negative. The step of determining the angle parameter corresponding to the mass data based on the relative position of the swing arm and the RV reducer and the offset data includes: Obtain the length data corresponding to the swing arm; wherein, the length data is the position from the acquisition position of the dial indicator to the center point of the output end of the RV reducer; Based on the offset data and the length data, determine the offset radian corresponding to the mass data; Based on the relative position of the RV reducer, the offset radian is input into a pre-set angle calculation formula to obtain the angle parameter corresponding to the mass data.

3. The method according to claim 2, characterized in that, The pre-set angle calculation formula is expressed as follows: x = (θ * 360°) / 2π, where x represents the angle parameter, θ represents the offset in radians, θ = S / L, S represents the offset data, and L represents the length data of the swing arm.

4. The method according to claim 1, characterized in that, The swing arm includes basic mass parameters and a load torque corresponding to the basic mass parameters, wherein the basic mass parameters are determined based on the rated torque of the RV reducer; The mapping relationship corresponding to the positive position includes a first positive mapping relationship when the load torque of the counterweight structure meets the threshold data, and a second positive mapping relationship when the counterweight structure is not suspended, corresponding to the basic mass parameters of the swing arm. The mapping relationship of the reverse position includes a first reverse mapping relationship when the load torque of the counterweight structure meets the threshold data, and a second reverse mapping relationship when the counterweight structure is not suspended, corresponding to the basic mass parameters of the swing arm.

5. The method according to claim 4, characterized in that, The linear scaling data corresponding to each mapping relationship is determined based on the mapping relationship of each relative position. The steps for obtaining the mapping relationship set based on the linear ratio data include: Determine the linear scaling data between each mapping relationship in the forward position and the linear scaling data between each mapping relationship in the reverse position, as well as the linear scaling data between the first forward mapping relationship and the second reverse mapping relationship and the linear scaling data between the first reverse mapping relationship and the second forward mapping relationship; Determine the intersection points of each linear scale data point with the spatial coordinate system; The set of basic parameters for each intersection point and the set of basic parameters for each linear scale data are determined as the mapping relationship set.

6. The method according to claim 5, characterized in that, The step of extracting target data from the mapping relationship set and determining the hysteresis characteristic parameters of the RV reducer based on the target data includes: Based on the parameter characteristics of the RV reducer, target data corresponding to the parameter characteristics is determined from the mapping relationship set, and the target data is input into a pre-set parameter calculation formula to obtain the hysteresis characteristic parameters; wherein, the target data includes at least one basic parameter from the mapping relationship set.

7. The method according to claim 1, characterized in that, The RV reducer has corresponding rated load data, which is determined based on the reducer model and speed ratio of the RV reducer; the method further includes: Obtain the rated load data and the length of the swing arm; The threshold data corresponding to the counterweight structure is obtained by calculating the rated load data and the length of the swing arm.

8. The method according to claim 1, characterized in that, The test platform also includes a swing arm repositioning mechanism, which is used to change the relative position of the swing arm from a forward position to a reverse position.

9. A testing platform, characterized in that, The test platform includes a controller and a test fixture, wherein the test fixture includes a swing arm, a support base, a dial indicator, and a counterweight structure. The support base is used to fix the RV reducer; one end of the swing arm is fixed to the output end of the RV reducer; the dial indicator is installed at the other end of the swing arm; The counterweight structure is suspended at the other end of the swing arm and is used to provide load to the swing arm; The dial indicator is used to obtain the offset data of the swing arm corresponding to the load; The controller is used to perform the method according to any one of claims 1 to 8.

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