Test method, test platform device and electronic device for torsional vibration

Abstract

The embodiment of the application provides a torsional vibration test method, a test platform device and electronic equipment. The output end of the RV reducer of the test platform device is provided with a swing arm, and the rotation angle of the RV reducer around the central shaft is the same as the rotation angle of the end of the swing arm. When the RV reducer is switched from the running state to the off state, the linear displacement sensor of the test platform device is used to collect the linear displacement of the end of the swing arm at different time points. The linear displacement of the end of the swing arm is converted from the time domain signal to the frequency domain signal, and the frequency domain graph corresponding to the rotation angle of the RV reducer is obtained. The frequency amplitude of the frequency domain graph represents the size of the rotation angle of the RV reducer. According to the frequency domain graph of the determined rotation angle change of the RV reducer, the torsional vibration of the RV reducer can be determined, and the torsional performance of the RV reducer can be measured. The method is simple and easy to operate, and is beneficial to improving the use precision of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vibration testing, and in particular to a torsional vibration testing method, a testing platform device and electronic equipment. BACKGROUND

[0002] As a transmission structure between two adjacent mechanical arms of a robot, an RV (Rotate Vector) reducer can transmit torque and rotary motion, so it is a non-rigid connection. Meanwhile, any reducer cannot be made into a complete zero gap, and there is always a small gap between the gears inside the reducer. These small spaces provide the possibility of high-frequency displacement of some parts, which generates vibration. In order to improve the operation accuracy of the robot, it is necessary to test and analyze the vibration of the RV reducer during operation.

[0003] Currently, the theoretical analysis and testing method of linear vibration of the RV reducer in the three coordinate axes of the Cartesian coordinate system are relatively mature, and the development of the equipment required for testing is also relatively mature, with many types and easy to implement. The types of sensors used for testing are also relatively rich, and the test results are ideal. However, due to the transmission characteristics of the RV reducer, the main source of vibration is torsional vibration around the axis of the reducer. Unlike linear vibration, the motion of torsional vibration is more complex, and the theoretical research is less than that of linear vibration. In addition, direct measurement of torsional vibration signals usually requires a special torsional vibration sensor. Compared with linear vibration, displacement sensors (capacitive sensors, eddy current sensors, laser sensors, etc.) or acceleration sensors can be used. The selection range of sensors for measuring torsional vibration signals is very small, and the price is expensive, and the installation position is required to be high. It is difficult to measure the torsional vibration signal of the RV reducer of the robot through the torsional vibration sensor in practical application, which affects the operation accuracy of the robot. SUMMARY

[0004] Therefore, the present application aims to provide a torsional vibration testing method, a testing platform device and electronic equipment to simplify the torsional vibration measurement method of the RV reducer, and to provide reliable torsional vibration information of the RV reducer for improving the use accuracy of the robot.

[0005] In a first aspect, embodiments of the present application provide a torsional vibration testing method, wherein the method is applied to a testing platform device of an RV reducer, the testing platform device is a linear vibration testing device of the RV reducer or a robot comprising the RV reducer, an output end of the RV reducer of the testing platform device is installed with a swing arm, and in the same time period, a rotation angle of the RV reducer around a central axis is the same as a rotation angle of an end of the swing arm, the method comprising: when the RV reducer is switched from a running state to a shutdown state, collecting, by a linear displacement sensor of the testing platform device, a plurality of linear displacement amounts corresponding to the end of the swing arm at different time points; wherein the linear displacement amount and the rotation angle of the end of the swing arm are in a linear proportional relationship; converting the collected linear displacement amount of the end of the swing arm from a time domain signal to a frequency domain signal to obtain a frequency spectrum corresponding to the rotation angle of the RV reducer; wherein an amplitude of each frequency of the frequency spectrum represents an angle size of the rotation angle of the RV reducer on the corresponding frequency component.

[0006] Further, wherein the step of converting the collected linear displacement amount of the end of the swing arm from a time domain signal to a frequency domain signal comprises: converting the collected linear displacement amount of the end of the swing arm from an electrical signal to a linear displacement digital signal; filtering and denoising the linear displacement digital signal, and obtaining a corresponding linear displacement pure signal; converting the linear displacement pure signal from a time domain signal to a corresponding linear displacement frequency domain signal by using fast Fourier transform.

[0007] Further, wherein the linear displacement amount and the rotation angle of the end of the swing arm are in a linear proportional relationship, which is represented by the following formula:

[0008] S = θ * l

[0009] Wherein S represents the linear displacement amount, θ represents the rotation angle of the end of the swing arm, and l represents the length of the swing arm.

[0010] Further, wherein the method further comprises: obtaining a model of the RV reducer; and selecting a swing arm corresponding to the model of the RV reducer based on a pre-stored corresponding relationship between the model of the RV reducer and the length of the swing arm.

[0011] Further, wherein the swing arm adopts an inverted pendulum installation mode.

[0012] Further, wherein the linear displacement sensor adopts any one of a capacitive sensor, an eddy current sensor, or a laser sensor.

[0013] Further, the test platform device is a line vibration test device of the RV reducer, and the line vibration test device comprises a base, a pressing plate arranged on the base, a sensor support arranged on the pressing plate, and a linear displacement sensor arranged on the sensor support; an upper support seat is further arranged on the pressing plate, the RV reducer is arranged on the upper support seat, and the RV reducer is configured with a load; a lower support seat is further arranged on the pressing plate, a motor of the RV reducer is arranged on the lower support seat, and the swing arm is arranged at an output end of the RV reducer on a side close to the motor; a sensor protection frame is further arranged on the pressing plate, and the sensor support is arranged on the sensor protection frame; and the line vibration test device further comprises a controller connected with the motor and the linear displacement sensor.

[0014] In a second aspect, the embodiment of the present application provides a test platform device for torsional vibration, wherein the test platform device is a line vibration test device of an RV reducer or a robot comprising the RV reducer, an output end of the RV reducer of the test platform device is provided with a swing arm, and in the same time period, a rotation angle of the RV reducer around a central axis is the same as a rotation angle of an end of the swing arm, and the device comprises: a collection module configured to collect linear displacement amounts of the end of the swing arm at different time points when the RV reducer is switched from a running state to a shutdown state through a linear displacement sensor of the test platform device; wherein the linear displacement amount is in a linear proportional relationship with the rotation angle of the end of the swing arm; and a signal processing module configured to convert the collected linear displacement amounts of the end of the swing arm from time domain signals to frequency domain signals to obtain a frequency spectrum diagram corresponding to the rotation angle of the RV reducer; wherein an amplitude of each frequency of the frequency spectrum diagram represents an angle size of the rotation angle of the RV reducer on a corresponding frequency component.

[0015] Further, the device further comprises: a base, a pressing plate arranged on the base, a sensor support arranged on the pressing plate, and a linear displacement sensor arranged on the sensor support; an upper support seat is further arranged on the pressing plate, the RV reducer is arranged on the upper support seat, and the RV reducer is configured with a load; a lower support seat is further arranged on the pressing plate, a motor of the RV reducer is arranged on the lower support seat, and the swing arm is arranged at an output end of the RV reducer on a side close to the motor; a sensor protection frame is further arranged on the pressing plate, and the sensor support is arranged on the sensor protection frame; and the device further comprises a controller connected with the motor and the linear displacement sensor.

[0016] In a third aspect, the embodiment of the present application provides an electronic device, which comprises a processor and a memory, and the memory stores computer executable instructions capable of being executed by the processor, and the processor executes the computer executable instructions to implement any of the above methods.

[0017] The embodiment of the present application has the following beneficial effects:

[0018] The application fully utilizes the test platform device of the RV reducer, such as the linear vibration test equipment of the RV reducer or the robot containing the RV reducer, when testing the torsional vibration of the RV reducer, converts the rotation angle measurement of the RV reducer into the linear displacement measurement of the swing arm by the way of installing the swing arm at the output end of the RV reducer of the test platform device, and then the linear displacement sensor on the test platform device can be used to measure the linear displacement of the end of the swing arm, and the frequency spectrum reflecting the rotation angle change of the RV reducer can be obtained by time-frequency conversion of the linear displacement of the end of the swing arm, without special torsional vibration sensor, the characteristics of the torsional vibration of the RV reducer can be determined according to the determined frequency spectrum of the rotation angle change of the RV reducer, and then the torsional performance of the RV reducer is measured, which is simple and easy to operate, beneficial for the research and development engineers to analyze the torsional characteristics of the reducer, and improves the use precision of the robot.

[0019] Other features and advantages of the present application will be set forth in the descriptions below, and in part will be apparent from the description, or can be learned by practice of the present application. The objects and other advantages of the present application will be realized and attained by the structure particularly pointed out in the description and the drawings.

[0020] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0022] Figure 1 A flow chart of a torsional vibration test method provided by an embodiment of the present application is shown in the figure;

[0023] Figure 2 A structural diagram of a test platform device provided by an embodiment of the present application is shown in the figure;

[0024] Figure 3 A flow chart of another torsional vibration test method provided by an embodiment of the present application is shown in the figure;

[0025] Figure 4 A flow chart of another torsional vibration test method provided by an embodiment of the present application is shown in the figure;

[0026] Figure 5 A structural diagram of a torsional vibration test platform device provided by an embodiment of the present application is shown in the figure;

[0027] Figure 6 A structural diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0028] 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.

[0029] As a transmission structure between two adjacent robotic arms in industrial robots, the RV reducer transmits torque and rotational motion, making it a non-rigid connection. Furthermore, no reducer can be made completely backlash-free; there are always tiny gaps between the gears inside the reducer. These tiny spaces provide the possibility for high-frequency displacement of some parts, thus generating vibration. To improve the robot's operational accuracy, it is necessary to test and analyze the vibration of the RV reducer during operation. Due to the transmission characteristics of the RV reducer, its main source of vibration is torsional vibration around the reducer axis. Unlike linear vibration, torsional vibration is more complex. Directly measuring torsional vibration signals typically requires specialized torsional vibration sensors. Compared to linear vibration, which can be measured using displacement sensors (capacitive sensors, eddy current sensors, laser sensors, etc.) or accelerometers, the range of sensors available for measuring torsional vibration signals is very limited, and they are expensive and require precise installation. This makes it difficult to measure the torsional vibration signals of the robot's RV reducer using torsional vibration sensors in practical applications, thus affecting the robot's operational accuracy.

[0030] Based on this, the present application discloses a torsional vibration testing method, testing platform device, and electronic device. To facilitate understanding of this embodiment, the torsional vibration testing method disclosed in the invention embodiment will be described in detail first.

[0031] This invention provides a method for testing torsional vibration. Figure 1 This is a flowchart illustrating a torsional vibration testing method provided in an embodiment of the present invention. The method is applied to a testing platform device for an RV reducer. This testing platform device is either a linear vibration testing device for an RV reducer or a robot containing an RV reducer. A swing arm is mounted at the output end of the RV reducer on the testing platform device, and within the same time period, the rotation angle of the RV reducer around its central axis is the same as the rotation angle at the end of the swing arm. Figure 2This is a structural diagram of a testing platform device provided in an embodiment of the present invention. The testing platform device is illustrated using a linear vibration testing device for an RV reducer as an example. Figure 2 As shown, the linear vibration testing equipment includes: a base 1, a pressure plate 2 mounted on the base, a sensor bracket 3 mounted on the pressure plate, and a linear displacement sensor 4 mounted on the sensor bracket; an upper support 7 is also mounted on the pressure plate, an RV reducer 6 is mounted on the upper support 7, and the RV reducer 6 is equipped with a load 5; a lower support 10 is also mounted on the pressure plate, a motor 9 of the RV reducer is mounted on the lower support 10, and a swing arm 8 is located at the output end of the RV reducer 6 near the motor; wherein, the lower support 10 is fixed to the base 1 by multiple hexagonal screws 11. A sensor protection frame 12 is also provided on the pressure plate 2, and the sensor bracket 3 is located on the sensor protection frame 12; the linear vibration testing equipment also includes a controller (not shown in the figure), which is connected to the motor 9 and the linear displacement sensor 4, and the following methods can be specifically executed by the controller.

[0032] like Figure 1 As shown, the method specifically includes the following steps:

[0033] Step S101: When the RV reducer switches from the running state to the shut-off state, the linear displacement of the swing arm end at multiple different times is collected by the linear displacement sensor of the test platform device; wherein, the linear displacement is linearly proportional to the rotation angle of the swing arm end.

[0034] Specifically, torsional vibration refers to the rapid reciprocating rotation of the RV reducer around its central axis in both clockwise and counterclockwise directions with a small amplitude. Therefore, the kinematic signal of torsional vibration is an angular value. Linear vibration, on the other hand, refers to the reciprocating linear motion of a particle in a single linear direction near its equilibrium point. Therefore, the kinematic signal of linear vibration is a displacement value. Thus, based on current industrial needs, displacement measurement sensors should be used to measure the angular signal of the vibration generated by the RV reducer around its central axis.

[0035] In practical applications, directly using a dedicated torsional vibration sensor to measure torsional vibration results in a very limited range of sensor options and is usually quite expensive. Therefore, this embodiment of the invention utilizes a swing arm installed at the output end of the RV reducer to amplify the corresponding torsional vibration. After standard assembly, the swing arm and the RV reducer remain relatively stationary. Thus, the rotation angle of the RV reducer around its central axis within a certain time period is the same as the angle rotated by the end of the swing arm within the same time period. This allows for the measurement of the angle change at the end of the swing arm. Furthermore, the geometric relationship between the linear displacement at the end of the swing arm and the angle change of the swing arm enables the measurement of the torsional vibration of the RV reducer by measuring the linear displacement at the end of the swing arm.

[0036] Therefore, during the test, the motor connected to the RV reducer can be started and switched from running to off. Then, using the linear displacement sensor on the test platform, the linear displacement at the end of the swing arm at multiple different times can be collected and analyzed to achieve the purpose of testing the torsional vibration of the RV reducer.

[0037] Step S103: Convert the linear displacement of the end of the swing arm acquired from the time domain signal into the frequency domain signal to obtain the spectrum corresponding to the rotation angle of the RV reducer; wherein, the amplitude of each frequency in the spectrum represents the angle of the rotation angle of the RV reducer at the corresponding frequency component.

[0038] Specifically, when the RV reducer changes its output angle due to torsional vibration, the displacement of the swing arm end changes accordingly, and the direction of the displacement is the same as the tangential direction of the rotation. As disclosed in this embodiment, the rate of change of the output angle and the rate of change of the swing arm end displacement are the same; the amounts of change are different but linearly proportional. If the time-domain signals of the output angle and displacement are converted to the frequency domain, ideally, the frequencies of the two signals in the frequency domain are also the same, and the amplitudes of the frequencies should show a one-to-one proportional relationship at different times. Therefore, after converting the collected linear displacement of the swing arm end from a time-domain signal to a frequency-domain signal to obtain the spectrum corresponding to the rotation angle of the RV reducer, the amplitude of each frequency in the spectrum represents the magnitude of the rotation angle of the RV reducer at the corresponding frequency component.

[0039] In this embodiment of the application, when testing the torsional vibration of an RV reducer, the testing platform device for the RV reducer, such as a linear vibration testing device for the RV reducer or a robot containing the RV reducer, is fully utilized. By installing a swing arm at the output end of the RV reducer on the testing platform device, the rotation angle measurement of the RV reducer is converted into the linear displacement measurement of the swing arm. Then, the linear displacement at the end of the swing arm can be measured using a linear displacement sensor on the testing platform device. By performing time-frequency conversion on the linear displacement at the end of the swing arm, a spectrum diagram reflecting the rotation angle change of the RV reducer can be obtained. The above method does not require a special torsional vibration sensor. Based on the determined spectrum diagram of the rotation angle change of the RV reducer, the characteristics of the torsional vibration of the RV reducer can be determined, thereby measuring the torsional performance of the RV reducer. It is simple and easy to implement, and helps to improve the accuracy of robot use.

[0040] Figure 3 Another method for testing torsional vibration is shown, mainly describing the process of converting the acquired linear displacement at the end of the swing arm from a time-domain signal to a frequency-domain signal, such as...Figure 2 As shown, the method specifically includes the following steps:

[0041] Step S301: When the RV reducer switches from the running state to the off state, the linear displacement of the swing arm end at multiple different times is collected by the linear displacement sensor of the test platform device; wherein the linear displacement is linearly proportional to the rotation angle of the swing arm end.

[0042] Step S303: The collected linear displacement at the end of the swing arm is converted from an electrical signal into a linear displacement digital signal.

[0043] In practical applications, a linear displacement sensor is used to collect the linear displacement signal at the end of the swing arm through a test platform device. At this time, the linear displacement sensor collects an electrical signal. Therefore, if the linear displacement signal is to be converted into a frequency domain signal that can be qualitatively observed, an electronic acquisition card is needed to convert the linear displacement electrical signal collected by the linear displacement sensor at the end of the swing arm into the corresponding linear displacement digital signal.

[0044] Step S305: Filter and denoise the linear displacement digital signal to obtain the corresponding clean linear displacement signal.

[0045] In practical applications, because the linear displacement signal acquired by the linear displacement sensor contains noise components, the signal acquired by the sensor is filtered before converting the linear displacement into a frequency domain signal. After removing the noise, a clean linear displacement signal can be obtained.

[0046] Step S307: Use Fast Fourier Transform to convert the linear displacement pure signal from the time domain signal into the corresponding linear displacement frequency domain signal.

[0047] In practical applications, when the time-domain signals of the swing arm angle and displacement connected to the output terminal are converted to the frequency domain, since the swing arm angle, under ideal conditions, has the same constituent frequencies in the frequency domain, and since there is a geometric relationship between the angle and displacement, the amplitudes of the corresponding angle and displacement frequencies should show a one-to-one proportional relationship at different times. Therefore, by using the Fast Fourier Transform to convert the pure linear displacement signal from the time domain signal to the corresponding linear displacement frequency domain signal, the obtained linear displacement frequency domain signal can be used to characterize the angle magnitude of each constituent frequency of the RV reducer, and thus the torsional vibration of the RV reducer can be converted into the linear displacement of the aforementioned swing arm.

[0048] Figure 4 Another method for testing torsional vibration is shown, mainly describing the process of selecting the pendulum arm length, such as... Figure 4 As shown, the method specifically includes the following steps:

[0049] Step S401: Obtain the model number of the RV reducer;

[0050] In practical applications, the required length of the swing arm varies depending on the actual working conditions and the model of the RV reducer. Therefore, the different lengths of swing arms required by different models of RV reducers can be associated and stored, and a model-length correspondence table can be generated.

[0051] Step S403: Based on the pre-stored correspondence between RV reducer models and swing arm lengths, select the swing arm corresponding to the RV reducer model;

[0052] Specifically, after obtaining the model number of the RV reducer, you can select the swing arm of the corresponding length by referring to the model-length correspondence table mentioned above.

[0053] In practical applications, the swing arm is installed using an inverted pendulum method.

[0054] Typically, the testing method for analyzing and obtaining torsional vibration signals is the hammer impact test. This method has two problems in testing the torsional vibration of reducers. First, the hammer impact test is a static test; the torsional vibration of an RV reducer occurs during operation, so accurate operating parameters cannot be obtained. Second, vertical tests usually do not install a load at the impact point, leaving the reducer essentially unloaded. The vibration characteristics observed under these conditions differ from those under load. To overcome these two shortcomings, an inverted pendulum installation method is used for repeated positioning accuracy testing.

[0055] Specifically, the swing arm can be set to perform a reciprocating inverted pendulum motion. When the loaded swing arm moves to a horizontal position on one side and remains still for 1 to 2 seconds, the linear displacement sensor set directly below the swing arm will collect the linear displacement signal at the end of the swing arm.

[0056] Step S405: When the RV reducer switches from the running state to the shut-off state, the linear displacement of the swing arm end at multiple different times is collected by the linear displacement sensor of the test platform device; wherein, the linear displacement is linearly proportional to the rotation angle of the swing arm end.

[0057] Specifically, the linear displacement is linearly proportional to the rotation angle at the end of the swing arm, as expressed by the following formula:

[0058] S=θ*l

[0059] Where S represents the linear displacement, θ represents the rotation angle at the end of the swing arm, and l represents the length of the swing arm.

[0060] Specifically, the linear displacement sensor mentioned above can be any one of a capacitive sensor, an eddy current sensor, or a laser sensor, and the specific model is not limited here.

[0061] Step S407: The linear displacement of the end of the swing arm is converted from a time domain signal to a frequency domain signal to obtain a spectrum diagram corresponding to the rotation angle of the RV reducer; wherein, the amplitude of each frequency in the spectrum diagram represents the angle of the rotation angle of the RV reducer at the corresponding frequency component.

[0062] The process of implementing the above method on a robot is similar to the above... Figures 1 to 4 The methods shown are similar and will not be repeated here.

[0063] Corresponding to the above method embodiments, this invention provides a testing platform device for torsional vibration. Figure 5 A schematic diagram of a torsional vibration testing platform is shown. This testing platform is a linear vibration testing device using an RV reducer or a robot incorporating an RV reducer. A swing arm is mounted at the output end of the RV reducer, and within the same time period, the rotation angle of the RV reducer around its central axis is the same as the rotation angle at the end of the swing arm. Figure 5 As shown, the device includes:

[0064] The acquisition module 501 is used to acquire the linear displacement of the swing arm end at multiple different times through the linear displacement sensor of the test platform device when the RV reducer switches from the running state to the shut-off state; wherein the linear displacement is linearly proportional to the rotation angle of the swing arm end.

[0065] The signal processing module 502 is used to convert the linear displacement of the end of the swing arm acquired from the time domain signal into the frequency domain signal to obtain the spectrum corresponding to the rotation angle of the RV reducer; wherein, the frequency amplitude of the spectrum represents the magnitude of each component frequency angle of the rotation angle of the RV reducer.

[0066] Corresponding to Figure 2 The aforementioned device further includes: a base, a pressure plate disposed on the base, a sensor bracket disposed on the pressure plate, and a linear displacement sensor mounted on the sensor bracket; an upper support seat is also mounted on the pressure plate, an RV reducer is disposed on the upper support seat, and the RV reducer is configured with a load; a lower support seat is also mounted on the pressure plate, the motor of the RV reducer is disposed on the lower support seat, and the swing arm is disposed at the output end of the RV reducer near the motor side; a sensor protection frame is also disposed on the pressure plate, and the sensor bracket is located on the sensor protection frame; the device also includes a controller, which is connected to the motor and the linear displacement sensor.

[0067] exist Figure 6In the illustrated embodiment, the electronic device further includes a bus 63 and a communication interface 64, wherein the processor 61, the communication interface 64, and the memory 62 are connected via the bus.

[0068] The memory 62 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 54 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 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.

[0069] Processor 61 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 processor 61 or by instructions in software form. Processor 61 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. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly embodied in the execution of a hardware decoding processor, or 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 61 reads the information in the memory 62 and, in conjunction with its hardware, completes the steps of the torsional vibration test method of the aforementioned embodiment.

[0070] This invention also provides a machine-readable storage medium storing machine-executable instructions. When these machine-executable instructions are called and executed by a processor, they cause the processor to implement the aforementioned torsional vibration testing method. For specific implementation details, please refer to the foregoing method embodiments, which will not be repeated here.

[0071] The computer program product of the torsional vibration testing method and torsional vibration testing platform device provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the torsional vibration testing method described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0072] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, 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.

[0073] 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.

[0074] 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.

[0075] Finally, it should be noted that the above-described 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 testing torsional vibration, characterized in that, The method is applied to a test platform device for an RV reducer. The test platform device is a linear vibration testing device for the RV reducer or a robot containing the RV reducer. A swing arm is installed at the output end of the RV reducer on the test platform device to amplify the corresponding torsional vibration. Within the same time period, the rotation angle of the RV reducer around its central axis is the same as the rotation angle at the end of the swing arm. The method includes: Obtain the model number of the RV reducer; Based on the pre-stored correspondence between RV reducer models and swing arm lengths, select the swing arm corresponding to the model of the RV reducer; When the RV reducer switches from the running state to the off state, the linear displacement sensor of the test platform device collects the linear displacement of the end of the swing arm at multiple different times; wherein, the linear displacement is linearly proportional to the rotation angle of the end of the swing arm, as expressed by the following formula: S=θ*l Wherein, S represents the linear displacement, θ represents the rotation angle at the end of the swing arm, and l represents the length of the swing arm; the linear displacement is collected by a linear displacement sensor located directly below the swing arm when the loaded swing arm rotates to a horizontal position on one side. The linear displacement of the end of the swing arm is collected and converted from a time-domain signal to a frequency-domain signal to obtain a spectrum diagram corresponding to the rotation angle of the RV reducer; wherein, the amplitude of each frequency in the spectrum diagram represents the magnitude of the rotation angle of the RV reducer at the corresponding frequency component.

2. The method according to claim 1, characterized in that, The step of converting the acquired linear displacement at the end of the swing arm from a time-domain signal to a frequency-domain signal includes: The collected linear displacement at the end of the swing arm is converted from an electrical signal into a linear displacement digital signal. The linear displacement digital signal is filtered and denoised to obtain the corresponding clean linear displacement signal. The linear displacement pure signal is converted from a time-domain signal to a corresponding linear displacement frequency-domain signal using the Fast Fourier Transform.

3. The method according to claim 1, characterized in that, The swing arm is installed in an inverted pendulum configuration.

4. The method according to claim 1, characterized in that, The linear displacement sensor is any one of a capacitive sensor, an eddy current sensor, or a laser sensor.

5. The method according to claim 1, characterized in that, The test platform device is a linear vibration test device for the RV reducer. The linear vibration test device includes: a base, a pressure plate disposed on the base, a sensor bracket disposed on the pressure plate, and a linear displacement sensor mounted on the sensor bracket. An upper support seat is also installed on the pressure plate, the RV reducer is disposed on the upper support seat, and the RV reducer is configured with a load; The pressure plate is also equipped with a lower support base, the motor of the RV reducer is mounted on the lower support base, and the swing arm is located at the output end of the RV reducer on the side near the motor. The pressure plate is also provided with a sensor protection frame, and the sensor bracket is located on the sensor protection frame; The linear vibration testing equipment also includes a controller, which is connected to the motor and the linear displacement sensor.

6. A testing platform device for torsional vibration, characterized in that, The testing platform device is a linear vibration testing device for an RV reducer or a robot containing the RV reducer. A swing arm is installed at the output end of the RV reducer in the testing platform device to amplify the corresponding torsional vibration. Furthermore, within the same time period, the rotation angle of the RV reducer around its central axis is the same as the rotation angle at the end of the swing arm. The device includes: The acquisition module is used to obtain the model number of the RV reducer; based on the pre-stored correspondence between RV reducer models and swing arm lengths, it selects a swing arm corresponding to the model number of the RV reducer; when the RV reducer switches from the running state to the off state, the linear displacement sensor of the test platform device acquires the linear displacement at the end of the swing arm at multiple different times; wherein, the linear displacement is linearly proportional to the rotation angle of the end of the swing arm, as expressed by the following formula: S=θ*l Wherein, S represents the linear displacement, θ represents the rotation angle at the end of the swing arm, and l represents the length of the swing arm; the linear displacement is collected by a linear displacement sensor located directly below the swing arm when the loaded swing arm rotates to a horizontal position on one side. The signal processing module is used to convert the linear displacement of the end of the swing arm acquired from the time domain signal into the frequency domain signal to obtain the spectrum corresponding to the rotation angle of the RV reducer; wherein, the amplitude of each frequency in the spectrum represents the angle of the rotation angle of the RV reducer at the corresponding frequency component.

7. The apparatus according to claim 6, characterized in that, The device further includes: a base, a pressure plate disposed on the base, a sensor bracket disposed on the pressure plate, and the linear displacement sensor mounted on the sensor bracket; An upper support seat is also installed on the pressure plate, the RV reducer is disposed on the upper support seat, and the RV reducer is configured with a load; The pressure plate is also equipped with a lower support base, the motor of the RV reducer is mounted on the lower support base, and the swing arm is located at the output end of the RV reducer on the side near the motor. The pressure plate is also provided with a sensor protection frame, and the sensor bracket is located on the sensor protection frame; The device also includes a controller connected to the motor and the linear displacement sensor.

8. An electronic device, characterized in that, The method includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 5.

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