A device testing method, system, electronic device, and storage medium

Abstract

Embodiments of the present application disclose a device testing method, system, electronic device and storage medium, which are applied to a device testing system, the device testing system comprising an electronic device, a torque testing device and a laser tracker; the torque testing device comprises a speed reducer and a load disc at the load end of the speed reducer, and a target ball connected linearly with the laser tracker is arranged on the load disc; the method is executed by the electronic device, and comprises the following steps: acquiring position data of the target ball collected by the laser tracker; the position data of the target ball takes the position of the laser tracker as a coordinate origin; a new coordinate origin with the load disc as the center and position data of the target ball in a new coordinate system established with the new coordinate origin are determined according to the position data of the target ball; a torque curve of the load of the speed reducer is drawn according to the position data of the target ball in the new coordinate system; and a test result of the speed reducer is determined according to the torque curve of the load of the speed reducer, which conforms to actual working conditions and is more accurate and reliable.

Description

Technical Field

[0001] This application relates to the field of equipment testing, and provides an equipment testing method, an equipment testing system, an electronic device, and a computer-readable storage medium. Background Technology

[0002] With the rapid development of the robotics industry, industrial robots are being used more and more widely in various industries. As a core component of robots, speed reducers are of great importance to be tested before robots are put into use. In particular, the main testing method for speed reducers is to use a motor to directly drive a speed reducer with a load flywheel. The load flywheel has a fixed structure, and the speed reducer is tested with a fixed moment of inertia at varying speeds. During the test, it is necessary to monitor the torque curve at the load end of the speed reducer. However, the torque curve at the load end cannot be directly measured during the speed reducer test. It is mainly done by collecting the torque curve of the drive motor and then calculating the torque at the load end based on the efficiency loss of the transmission mechanism and different transmission structures. This method will result in a large error between the calculation results and the actual situation, affecting the test results of the speed reducer. Summary of the Invention

[0003] The purpose of this application is to provide a device testing method, device testing system, electronic device, and computer-readable storage medium, which can draw a more accurate torque curve based on load end position data, conforming to actual test conditions, and thus making the test results obtained from the torque curve more reliable.

[0004] This application proposes a device testing method applied to a device testing system, the device testing system including electronic equipment, a torque testing device, and a laser tracker; the torque testing device includes a speed reducer and a load disk located at the load end of the speed reducer, and a target ball linearly connected to the laser tracker is provided on the load disk; the target ball on the load disk rotates as the speed reducer rotates; the method is executed by the electronic equipment, and the method includes:

[0005] The position data of the target ball collected by the laser tracker is obtained; the position data of the target ball is taken with the position of the laser tracker as the origin of the coordinate system; a new origin of the coordinate system centered on the load disk is determined based on the position data of the target ball, and the position data of the target ball in the new coordinate system established with the new origin of the coordinate system is determined; the torque curve of the reducer load is plotted based on the position data of the target ball in the new coordinate system; the test result of the reducer is determined based on the torque curve of the reducer load.

[0006] Further, the target ball's position data includes target ball position points and spatial coordinate values ​​of each target ball position point in a coordinate system established with the laser tracker as the origin; the step of converting the target ball's position data to obtain a new coordinate origin centered on the load disk and the target ball's position data in a new coordinate system established with the new coordinate origin includes:

[0007] A drawing array is generated based on the spatial coordinates corresponding to the target ball's position. A vector calculation is performed on the average value of the drawing array to obtain a vector calculation result, and singular value decomposition is performed on the vector calculation result to obtain a decomposition result. A rotation array is obtained based on the drawing array and the decomposition result. The rotation array describes the array obtained after rotating the coordinate values ​​of the drawing array around the coordinate axes. A circle is fitted to the rotation array to obtain the center of the circle. The center of the circle is used as the new origin of the coordinate system centered on the load disk, and a new coordinate system is established using the new origin. The position data of the target ball is then converted into position data in the new coordinate system.

[0008] Furthermore, the step of generating a drawing array based on the spatial coordinate values ​​corresponding to the target ball positions includes: performing drawing processing based on the spatial coordinate values ​​corresponding to all target ball positions to obtain a position change curve, wherein the position change curve contains multiple repeated complete curve segments; and generating a drawing array based on the spatial axis coordinate values ​​corresponding to any complete curve segment.

[0009] Further, the step of performing vector calculation on the average value of the drawn array to obtain a vector calculation result, and performing singular value decomposition on the vector calculation result to obtain a decomposition result, includes: taking the array obtained by subtracting the average value of the drawn array from the drawn array as the vector calculation result; performing singular value decomposition on the vector calculation result to obtain a decomposition output matrix; the decomposition output matrix includes three rows and three columns of values; and taking the three rows of values ​​corresponding to the third column of the decomposition output matrix as the decomposition result.

[0010] Further, obtaining the rotation array based on the drawing array and the decomposition processing result includes: calculating the rotation matrix by performing Euler angle rotation based on the decomposition processing result and the rotation angle of the coordinate axis rotation; and using the array obtained by multiplying the coordinate values ​​of the drawing array with the rotation matrix as the rotation array.

[0011] Further, the step of plotting the torque curve of the reducer load based on the position data of the target ball in the new coordinate system includes:

[0012] The torque value at each target ball position point is determined based on the position data of the target ball in the new coordinate system and the pre-set test parameters of the reducer; the torque curve of the reducer load in coordinate system units is plotted based on the torque value at each target ball position point.

[0013] Further, determining the test result of the reducer based on the torque variation curve includes: comparing the torque curve of the reducer load with the expected torque curve; if the deviation between the torque curve of the reducer load and the expected torque curve is greater than a deviation threshold, it is determined that the test of the reducer has failed.

[0014] This application also proposes an equipment testing system, which includes: electronic equipment, a torque testing device, and a laser tracker; the torque testing device includes a speed reducer and a load disk located at the load end of the speed reducer, and a target ball linearly connected to the laser tracker is provided on the load disk; the target ball on the load disk rotates as the speed reducer rotates; the electronic equipment is used to implement the above method.

[0015] This application also proposes an electronic device comprising: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to perform the method described above.

[0016] This application also proposes a computer-readable storage medium storing computer-readable instructions thereon, which, when executed by a computer's processor, cause the computer to perform the method described above.

[0017] Compared with the prior art, this application has the following beneficial effects:

[0018] In the technical solution provided in this application, the position data of a target ball fixed on the load end of the reducer is collected by a laser tracker. Since the target ball is equivalent to a point at the load end when the reducer is reciprocating, and it reciprocates along the same curve, collecting the position data of the target ball is equivalent to collecting the position data of the load end. Based on this, the torque curve drawn by the load end position data is more accurate and conforms to the actual test conditions, thus making the test results obtained from the torque curve more reliable. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a device testing system illustrated in an exemplary embodiment of this application;

[0020] Figure 2 This is a flowchart illustrating a device testing method according to an embodiment of this application;

[0021] Figure 3 yes Figure 2 A flowchart of step S120 is shown in one embodiment;

[0022] Figure 4 yes Figure 2 A flowchart of step S130 is shown in one embodiment;

[0023] Figure 5 This is a flowchart illustrating another device testing method according to an exemplary embodiment of this application;

[0024] Figure 6 This is a schematic diagram illustrating test data of a laser tracker, as shown in an exemplary embodiment of this application;

[0025] Figure 7 This is a schematic diagram illustrating a test data conversion method as shown in an exemplary embodiment of this application;

[0026] Figure 8 This is a schematic diagram illustrating an array number conversion in an exemplary embodiment of this application;

[0027] Figure 9 This is a schematic diagram illustrating a graph of test data plotted in an exemplary embodiment of this application;

[0028] Figure 10 This is a schematic diagram illustrating an array obtained by vector subtraction operation, as shown in an exemplary embodiment of this application;

[0029] Figure 11 This is a schematic diagram illustrating a coordinate point transformation in an exemplary embodiment of this application;

[0030] Figure 12 This is a schematic diagram illustrating a load torque curve in an exemplary embodiment of this application;

[0031] Figure 13 This is a schematic diagram illustrating a velocity curve in an exemplary embodiment of this application;

[0032] Figure 14 This is a schematic diagram illustrating another load torque curve as shown in an exemplary embodiment of this application;

[0033] Figure 15 This is a structural diagram of an electronic device illustrated in an exemplary embodiment of this application;

[0034] Figure 16 A schematic diagram of the structure of another electronic device suitable for implementing embodiments of this application is shown.

[0035] Explanation of icon numbers:

[0036] 1. Laser tracker; 2. Target ball; 3. Coupling; 4. Load plate; 5. Servo motor; 6. Base; 7. Reducer.

[0037] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. 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.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0040] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0042] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0043] This invention proposes a device testing system; please refer to [reference needed]. Figure 1In one embodiment of the present invention, the equipment testing system includes a torque testing device and a laser tracker 1. The torque testing device includes a reducer 7 and a load disk 4 located at the load end of the reducer 7. A target ball 2 is provided on the load disk 4 and is linearly connected to the laser tracker 1. The target ball 2 on the load disk 4 rotates as the reducer 7 rotates.

[0044] Optionally, the torque testing device also includes a coupling 3, a base 6 that fixes the output end of the reducer 7, and a servo motor 5 connected to the input end of the reducer 7. The servo motor 5 is used to drive the reducer 7 to rotate. The output end of the reducer 7 is connected to one end of the coupling 3, and the other end of the coupling 3 is connected to the load plate 4.

[0045] Optionally, the laser tracker 1 is a FARO laser tracker. During the test, the servo motor 5 drives the reducer 7 to rotate. The reducer 7 is fixed on the L-shaped base 6. The test of the reducer is achieved by the forward and reverse rotation or acceleration and deceleration of the servo motor 5. The output end of the reducer 7 is equipped with a circular load plate 4 through the coupling 3. The FARO target ball 2 is installed on the circular load plate 4. The FARO laser tracker 1 continuously tracks the position change of the target ball 2 through the straight line 6.

[0046] When the servo motor 5 rotates in both forward and reverse directions, the circular load disk 4 rotates accordingly, and the FARO target ball 2 rotates at the end of the load. During the speed reducer test, the FARO laser tracker 1 collects the position changes of the target ball 2 in real time.

[0047] In one embodiment of this application, the device testing system further includes an electronic device (not shown), which communicates with the laser tracker via a wired or wireless network; the electronic device is used to perform subsequent processing on the data collected by the laser tracker.

[0048] Electronic devices can be implemented in various forms. For example, the electronic devices described in this invention may include mobile terminals such as mobile phones, tablets, laptops, handheld computers, personal digital assistants (PDAs), portable media players (PMPs), wearable devices, smart bracelets, and fixed devices such as digital TVs and desktop computers.

[0049] Please see Figure 2 , Figure 2 This is a flowchart illustrating a device testing method according to an embodiment of this application. The device testing method consists of... Figure 1 The electronic equipment in the device testing system shown executes the device testing method, which includes steps S110 to S140, as detailed below:

[0050] S110. Acquire the position data of the target ball collected by the laser tracker, with the position of the laser tracker as the origin of the coordinate system.

[0051] In one embodiment of this application, during the speed reducer test, the load disk reciprocates within a certain angle. During the test, the laser tracker continuously collects the position data of the target ball on the load disk at a fixed frequency. It is necessary to collect data for at least one complete cycle, where one complete cycle is the data of one full motion cycle of the load disk. For example, the load disk rotating 360° is one full motion cycle. The acquisition frequency of the laser tracker can be set and can be set by electronic equipment, such as 10ms, 5ms, 2ms, 1ms, etc.

[0052] When the laser tracker acquires position data for a complete cycle of the target sphere, it sends the position data of the target sphere for that complete cycle back to the laser tracker. The position data of the target sphere uses the position of the laser tracker as the origin of the coordinate system; that is, the position data of the target sphere is based on the position data in the coordinate system of the laser tracker itself.

[0053] S120. Determine a new coordinate origin centered on the load disk based on the target ball's position data, and determine the target ball's position data in the new coordinate system established with the new coordinate origin.

[0054] In one embodiment of this application, it is necessary to transform the position data in the coordinate system of the laser tracker itself, converting the origin of the laser tracker's own coordinates to a new coordinate system with the rotation center of the load disk as the new origin, and using the new coordinate origin as the coordinate system of the corresponding load disk. This transforms the position data in the coordinate system of the laser tracker itself into the position data in the coordinate system of the corresponding load disk, which facilitates the subsequent plotting of the torque curve at the load end of the reducer.

[0055] S130. Draw the torque curve of the reducer load based on the position data of the target ball in the new coordinate system.

[0056] In one embodiment of this application, the torque curve of the reducer load is used to show the change in torque of the reducer load. It is understood that there is a certain conversion relationship between the position data of the target ball in the new coordinate system and the torque of the reducer. Therefore, the torque change value of the reducer load can be determined based on the position data of the target ball in the new coordinate system, and then the torque curve of the reducer load can be drawn based on the torque change value.

[0057] S140. Determine the test results of the reducer based on the torque curve of the reducer load.

[0058] In one embodiment of this application, after the torque curve of the reducer load is plotted, the test result of the reducer is obtained by analyzing and calculating the torque curve of the reducer load. The test result includes whether the test is passed or failed.

[0059] In this embodiment, the position data of the target ball fixed on the load end of the reducer is collected by a laser tracker. Then, the coordinate origin centered on the laser tracker is converted into a new coordinate origin centered on the load disk. The position data of the target ball in the coordinate system of the laser tracker is converted into the position data of the target ball in the corresponding coordinate system of the load disk. Thus, the torque curve at the load end can be directly measured, which conforms to the actual test conditions and the torque curve is more accurate. Moreover, the non-contact torque measurement is achieved by collecting the position data of the target ball through the laser tracker, which is safer and more reliable.

[0060] It should be noted that the target ball position data includes the target ball position point and the spatial coordinate value of each target ball position point in a coordinate system established with the laser tracker as the coordinate origin. The target ball position point is the test point of the target ball during rotation. The laser tracker can measure the position of each target ball position point, that is, the X, Y, and Z coordinate values ​​of each target ball position point in the coordinate system of the laser tracker itself.

[0061] like Figure 3 As shown, Figure 3 yes Figure 2 In one embodiment, the flowchart of step S120 illustrates the process of determining the new coordinate origin centered on the load disk and the position data of the target ball in the new coordinate system established with the new coordinate origin, which includes:

[0062] S121. Generate a drawing array based on the spatial coordinates of the target ball's position.

[0063] It is understandable that each target ball position point corresponds to a spatial coordinate value. A drawing array can be generated based on the X, Y, and Z coordinate values ​​corresponding to some or all target ball position points. This drawing array includes three sets of data: the X coordinate values ​​of some or all target ball position points are used as one set of data, the Y coordinate values ​​of some or all target ball position points are used as one set of data, and the Z coordinate values ​​of some or all target ball position points are used as one set of data.

[0064] For example, generating a drawing array based on the spatial coordinates corresponding to the target ball's position includes:

[0065] The position change curve is obtained by plotting the spatial coordinates of all target ball positions. The position change curve contains multiple repeated complete curve segments. A plotting array is generated based on the spatial axis coordinates of any complete curve segment.

[0066] In one embodiment of this application, the X, Y, and Z coordinate values ​​corresponding to all target ball position points are obtained. The X and Y coordinate values ​​corresponding to all target ball position points are plotted to obtain a target ball position change curve graph with X and Y coordinate axes. The position change curve graph contains multiple repeated complete curve segments. Since the X and Y coordinate values ​​of the repeated complete curve segments are the same, in order to reduce calculation, a complete curve segment is arbitrarily extracted from the position change curve. It can be understood that this complete curve segment corresponds to the X and Y coordinate values ​​of each target ball position point. Based on the X and Y coordinate values, the corresponding Z coordinate values ​​are found, and the X, Y, and Z coordinate values ​​corresponding to a complete curve segment are used to generate a plotting array.

[0067] S122. Perform vector calculation on the average value of the drawn array to obtain the vector calculation result, and perform singular value decomposition on the vector calculation result to obtain the decomposition result.

[0068] It should be understood that the plotted array includes three sets of data corresponding to the X, Y, and Z coordinate values, and the average value of the plotted data is the average value of each set of data;

[0069] For example, vector calculation of the average value of the plotted data includes: taking the three average values ​​of the plotted data as an array vector, taking the three sets of data in the plotted array as an array vector, taking the array vector obtained by subtracting the two array vectors as the vector calculation result, that is, subtracting the average value of each X coordinate value in the plotted array to obtain a set of X coordinate value vectors, subtracting the average value of each Y coordinate value to obtain a set of Y coordinate value vectors, subtracting the average value of each Z coordinate value to obtain a set of Z coordinate value vectors, and taking the array vector generated by the X coordinate value vector, Y coordinate value vector, and Z coordinate value vector as the vector calculation result.

[0070] For example, performing singular value decomposition on the vector calculation result to obtain the decomposition result includes: performing singular value decomposition on the vector calculation result to obtain a decomposition output matrix; the decomposition output matrix includes three rows and three columns of values; and taking the three rows of values ​​corresponding to the third column of the decomposition output matrix as the decomposition result.

[0071] It should be understood that Singular Value Decomposition (SVD) is an important matrix decomposition method in linear algebra. Performing SVD on the result of vector computation yields two mutually orthogonal matrices and a diagonal matrix S. The two mutually orthogonal matrices are the input matrix U and the output matrix V. For example, if the vector computation result is m... The array vector of 3, after singular value decomposition, yields a decomposed input matrix U of m. The array vector m is decomposed into an output matrix V of 3. A vector array of 3, with a diagonal matrix S of m. An array vector of 3; In this embodiment, the decomposed output matrix includes three rows and three columns of values. The three rows of values ​​corresponding to the third column of the decomposed output matrix are used as the decomposition result. For example, if the value of the first row of the third column of the output matrix V is x, the value of the second row is y, and the value of the third row is z, then x, y, and z are used as the decomposition result.

[0072] S123. Based on the drawn array and the decomposition processing results, a rotated array is obtained. The rotated array is used to describe the array obtained after the coordinate values ​​of the drawn array are rotated around the coordinate axes.

[0073] Optionally, the X, Y, and Z coordinate values ​​of the plotted array are rotated around the coordinate axes to obtain the rotation array, which includes: calculating the rotation matrix by Euler angle rotation based on the decomposition processing results and the rotation angle around the Y coordinate axis; and using the array obtained by multiplying the coordinate values ​​of the plotted array with the rotation matrix as the rotation array.

[0074] It should be understood that Euler angle rotation is a three-dimensional rotation, and the Euler angle rotation matrix is:

[0075] For example, according to the following formula:

[0076] R=Ry Rx Rz

[0077] =rotY(rotation_angle / pi 180) rotX(atan2(vec(3),vec(2))-pi) rotZ(pi-atan2(vec(1), vec(2))); among them, Ry=rotY(α), Rx=rotX(β), Rz=rotZ(γ).

[0078] Where rotation_angle is the rotation angle, vec(3) is the value of the third column and third row of the output matrix, vec(2) is the value of the third column and second row of the output matrix, and vec(1) is the value of the third column and first row of the output matrix. This rotation angle can be flexibly adjusted according to the actual situation, for example, the rotation angle is 57°; this rotation matrix represents rotation around the Y-axis.

[0079] In one embodiment of this application, after obtaining the rotation matrix, the X, Y, and Z coordinate values ​​of the drawing array are multiplied by the rotation matrix, indicating that the drawing array is rotated according to Euler angles to obtain the rotation array.

[0080] S124. Fit a circle to the rotating array to obtain the center of the circle. Use the center of the circle as the new origin of the coordinate system with the load disk as the center. Establish a new coordinate system with the new origin of the coordinate system and convert the position data of the target ball into the position data in the new coordinate system.

[0081] In one embodiment of this application, the process of fitting a circle refers to theoretically constructing a circle and determining the coordinates of the center position and the radius of the circle by starting with the coordinate values ​​of the rotation array; optionally, the process of fitting a circle can be performed by the average method, the weighted average method, and the least squares method.

[0082] It is understandable that the rotation array also contains three columns: the X-coordinate value array, the Y-coordinate value array, and the Z-coordinate value array. For example, since the rotation is around the Y-axis, in this embodiment, the X-coordinate value array and the Z-coordinate value array are fitted with a circle using the least squares method to obtain the center and radius of the circle. The position coordinates of the center of the circle are used as the new coordinate origin centered on the load disk, and a new coordinate system is established with the new coordinate origin. The X, Y, and Z axes of the new coordinate system are the same as the X, Y, and Z axes of the laser tracker's own coordinate system. Therefore, the X, Y, and Z coordinate values ​​of the target ball position point are subtracted from the coordinate values ​​of the new coordinate origin to obtain the coordinate values ​​of the target ball position point in the new coordinate system.

[0083] In one embodiment of this application, the torque change of the target ball can be determined based on the position data of the target ball in the new coordinate system. Optionally, such as... Figure 4 As shown, Figure 4 yes Figure 2 The flowchart of step S130 shown in one embodiment illustrates the process of plotting the torque curve of the reducer load, which includes:

[0084] S131. Determine the torque value at each target ball position point based on the target ball's position data in the new coordinate system and the pre-set measurement parameters of the reducer.

[0085] In this embodiment, when testing the reducer, it is necessary to set the test parameters of the reducer. These test parameters include, but are not limited to, transmission ratio, load inertia (kgm2), rotational percentage measurement path (degrees), maximum torque limit (Nm), maximum speed (rpm), reducer power, etc. It should be understood that when the coordinate values ​​of the target ball in the new coordinate system are determined, the distance between the two target ball positions can be determined. Then, based on the speed-distance relationship, the rotational speed of the target ball position can be determined, and further based on the speed-torque relationship, the torque of the target ball position can be determined.

[0086] S132. The initial torque curve is obtained by drawing the torque value at each target ball position point.

[0087] In one embodiment of this application, when the torque value at each target ball position point is determined, an initial load torque curve can be plotted. The horizontal axis of the initial torque curve represents the time corresponding to the target ball position point, and the vertical axis represents the torque value.

[0088] Optionally, after obtaining the initial torque curve, the initial torque curve can also be filtered, such as by performing zero-phase-shift filtering on the initial torque curve, in order to suppress boundary effects and phase changes.

[0089] In one embodiment of this application, optionally, when the rotational speed value of each target ball position point is determined, a speed curve can be drawn. The horizontal axis of the speed curve is the target ball position point, and the vertical axis is the speed curve. After obtaining the speed curve, the starting point of the speed curve is intercepted, and the rotational speed value corresponding to the starting point of the curve is determined to redetermine the torque value. Then, based on the redetermined torque value, the torque curve of the reducer load with coordinate system units is drawn.

[0090] In one embodiment of this application, determining the test result of the reducer based on the torque variation curve includes: comparing the torque curve of the reducer load with the expected torque curve; if the deviation between the torque curve of the reducer load and the expected torque curve is greater than the deviation threshold, it is determined that the reducer test has failed.

[0091] It should be noted that before testing the speed reducer, there is an expected torque curve under ideal conditions. After determining the torque curve of the speed reducer under load, the torque curve of the speed reducer under load is compared with the expected torque curve. If the deviation between the torque curve of the speed reducer under load and the expected torque curve is greater than the deviation threshold, it indicates that the speed reducer does not meet the expected effect and the test fails. When the speed reducer fails the test, the speed reducer needs to be reprocessed. The deviation threshold can be flexibly adjusted according to actual needs. The deviation between the torque curve of the speed reducer under load and the expected torque curve being greater than the deviation threshold can be that the difference between the torque corresponding to the torque curve of the load and the expected torque curve at certain time points is greater than a preset torque difference threshold, or it can be that the difference between the highest or lowest torque of the torque curve of the load and the expected torque curve is greater than the preset torque threshold.

[0092] To facilitate understanding, this embodiment uses a specific example to illustrate the method proposed in this application in detail, such as... Figure 5 As shown, the method includes:

[0093] S510: Obtain the position data of the target ball collected by the Faro laser tracker.

[0094] Faro laser tracker test data can be exported as an Excel file, as shown below. Figure 6As shown, the target ball's position data includes the target ball's position point ID number and the X, Y, and Z coordinates of each point in the normal coordinate system.

[0095] Convert X, Y, and Z data into rows and corresponding number of points, and then convert them into .mat files for use in MATLAB programs for calculations; for example Figure 7 As shown, columns X, Y, Z, etc. in an Excel file are converted into rows in a .mat file. The example file name is Shuanghuan40E2Motor35MS.

[0096] S520. Process the position data of the target ball to obtain a curve of the coordinate values ​​and number of points of the laser tracker.

[0097] A total of 5440 data points were collected during the data processing operation. Since this number is not needed for the calculation, a complete loop of coordinate values ​​is ultimately used. This is accomplished in the following steps.

[0098] 1) Use the command pos=Shuanghuan40E2Motor35MS(2:4,:) to set 4 Converting an array of 5440 to 3 5440, such as Figure 8 As shown;

[0099] 2) Use the `plot` command to plot the second row of the `pos` array, resulting in the following graph: Figure 9 As shown;

[0100] 3) Use the `ginput` command to capture a section of the curve and store the data in the `pos` array. MATLAB's `ginput()` function provides a crosshair cursor to select the desired position and returns the coordinates. In this case, `pos` is 3. An array of 1154. This means the array has 3 columns, representing the X, Y, and Z coordinates, with 1154 points.

[0101] S530. Take a complete curve segment from the curve graph with a number of points and perform singular value decomposition.

[0102] 1) Use the mean function to calculate the pos array (3 The average value of 1154), i.e., xyz0=mean(pos,2), is calculated by the function to obtain the average value xyz0 as: [2.7552e+0.3;-1.8544e+03;-195.8480];

[0103] 2) Use the `bsxfun` and `minus` functions for vector subtraction. `bsxfun` operates on each element of the matrix, and `minus` performs the subtraction operation. `centeredPlane=bsxfun(@minus,pos',xyz0')` performs vector subtraction. `xyz0` is the average value calculated above, and this statement returns 1154. 3. An array named centeredPlane, such as... Figure 10 As shown.

[0104] 3) Use SVD to perform singular value decomposition on the array centeredPlane, i.e., [U,S,V]=svd(centeredPlane), where SVD is the singular value decomposition function, and [U,S,V]=svd(A) means to perform singular value decomposition on matrix A.

[0105] The result after processing by this function is U = 1154. An array of size 1154, where S is 1154. 3 arrays, V is 3 3. Array V = \left[\begin{matrix}0.1656&-0.1554&0.9739\\0.6857&-0.6916&-0.2270\\-0.7088&-0.7054&0.0080\end{matrix}\right];

[0106] Then, take the value from the third column of array V and copy it to the three variables a, b, and c respectively; thus, we get a = 0.9739, b = -0.2270, and c = 0.0080.

[0107] In another example, the dot product of [abc] and xyz0 can also be used to plot a 3D surface. Specifically, this is achieved by calculating the dot product of [abc] and xyz0 using the dot function d = -dot([abc], xyz0). The formula is as follows: d = -(a xyz0(1)+b xyz0(2)+c xyz0(3))=-3.102508426316349e+03;

[0108] In another example, a three-dimensional image can also be drawn based on the obtained pos array. Specifically, plot3(pos(1,:),pos(2,:),pos(3,:)) is used to draw a three-dimensional image of the coordinate values ​​of the obtained pos values ​​above, where the plot3 function is used to draw the coordinates in three-dimensional space.

[0109] S540. Calculate the rotation matrix. Based on the rotation matrix, rotate the pos array around the Y-axis by a certain angle, and then perform the circle fitting function calculation.

[0110] 1) According to the formula R = rotY(rotation_angle / pi) 180) rotX(atan2(vec(3), vec(2))-pi) rotZ(pi-atan2(vec(1), vec(2))) calculates the Euler angles of rotation R, where the program functions rotX, rotY, and rotZ are represented as follows:

[0111] function Rx = rotX(γ)

[0112] c = cos(γ);

[0113] s=sin(γ);

[0114] Rx=\left[\begin{matrix}1&0&0\\0&\operatorname{c}&\operatorname{s}\\0&-\operatorname{s}&c\end{matrix}\right];

[0115] end

[0116] function Rx = rotY(β)

[0117] c = cos(β);

[0118] s = sin(β);

[0119] Rx=\left[\begin{matrix}\operatorname{c}&0&\operatorname{s}\\0&1&0\\-\operatorname{s}&0&c\end{matrix}\right];

[0120] end

[0121] function Rz = rotZ(α)

[0122] c = cos(α);

[0123] s = sin(α);

[0124] Rx=\left[\begin{matrix}\operatorname{c}&\operatorname{s}&0\\-\operatorname{s}&\operatorname{c}&0\\0&0&1\end{matrix}\right];

[0125] end

[0126] The resulting rotation matrix is:

[0127] R=\left[\begin{matrix}0.0728&0.1607&-0.9843\\-0.9733&0.2269&-0.0349\\0.2177&0.9606&0.1729\end{matrix}\right];

[0128] 2) After calculating R, multiply the coordinates of the sampling point pos by R, which represents rotation according to Euler angles R. The formula is pos_rot = R pos.

[0129] 3) After obtaining the rotated coordinate array pos_rot, the first and third columns of pos_rot are taken as the circle fitting data and stored in pos_vector. Therefore, pos_vector is a 1154-dimensional array. The array of 2 is fitted using the least squares circle fitting function circfit to obtain the center and radius parameters of the rotating load disk.

[0130] The calculation formula is [xc,yc,r,a]=circfit(pos_vector(:,1), pos_vector(:,2)). The result represents the center coordinates (yc, xc), the radius r, and a is an optional output, such as... Figure 11 As shown, 1101 is the origin of the coordinate system of the original target ball position, and 1102 is the origin of the coordinate system of the circle center.

[0131] In another example, three-dimensional surface plots can also be drawn, including:

[0132] 1) First, put the pos array (3 Extract the maximum and minimum values ​​of the X and Y axis coordinates from 1154), then increment the minimum value by 1 to the maximum value and assign them to xfit and yfit respectively, where xfit is 1. Array 77, yfit is 1 An array of 319 is then processed by the meshgrid function to obtain arrays XFIT and YFIT, where both XFIT and YFIT are 77. Array 319.

[0133] The meshgrid function description: [X,Y] = meshgrid(x,y) Returns the coordinates of a two-dimensional grid based on the coordinates contained in the vectors x and y, where X is a matrix, each row of which is a copy of x; Y is also a matrix, each column of which is a copy of y. The grid represented by coordinates X and Y has length(y) rows and length(x) columns.

[0134] 2) Then, using the formula ZFIT = -(d + a) XFIT + b The Z-direction array ZFIT is calculated using YFIT) / c.

[0135] 3) After obtaining the coordinate arrays in the XYZ directions, use the `mesh` function to draw a 3D mesh surface. `mesh(X,Y,Z)`: Creates a mesh, which is a 3D surface with solid edge colors and no face colors. This function plots the values ​​in matrix Z as the height above the mesh in the xy plane defined by X and Y; the edge colors vary depending on the height specified by Z.

[0136] S550, calculate the speed and torque, and plot the torque curve.

[0137] 1) Calculate the rotational speed value vel and torque value trq_load at each point, where vel and trq_load are 1 and 1 respectively. 1153 and 1 The array is 1152, with speed values ​​in rpm and torque values ​​in Nm;

[0138] 2) Use the plot function to draw the load torque curve and the filtered curve from trq_load, such as... Figure 12 As shown, the unit is Nm;

[0139] 3) Use the `plot` function to draw the `vel` curve, in m / s. Similarly, use the `ginput` function to retrieve the starting point of the speed curve for calculation and graphical display, such as... Figure 13 As shown;

[0140] 4) Take the rotational speed as the starting point and perform the calculation again, then plot the final torque curve, labeling the coordinate system units and values, such as... Figure 14 As shown, 1401 is the torque limit, 1402 is the curve before filtering, and 1403 is the curve after filtering.

[0141] The following describes system embodiments of this application, which can be used to execute the device-based testing method in the above embodiments of this application. For details not disclosed in the device embodiments of this application, please refer to the embodiments of the device testing method described above.

[0142] The equipment testing system includes: electronic equipment, torque testing device, and laser tracker;

[0143] The torque testing device includes a speed reducer, a load plate located at the load end of the speed reducer, and a target ball linearly connected to a laser tracker on the load plate; the target ball on the load plate rotates as the speed reducer rotates; electronic equipment is used to implement the above method, and the torque testing device is specifically as follows: Figure 1 As shown, I will not go into detail here.

[0144] like Figure 15 As shown, Figure 15 This is a schematic diagram of an electronic device illustrated in an exemplary embodiment of this application, comprising:

[0145] The acquisition module 1510 acquires the position data of the target ball collected by the laser tracker; the position data of the target ball uses the position of the laser tracker as the coordinate origin.

[0146] The module 1520 determines a new coordinate origin centered on the load disk based on the target ball's position data, as well as the target ball's position data in the new coordinate system established with the new coordinate origin.

[0147] The plotting module 1530 plots the torque curve of the reducer load based on the position data of the target ball in the new coordinate system.

[0148] The test result determination module 1540 determines the test result of the reducer based on the torque curve of the reducer load.

[0149] In some embodiments of this application, based on the aforementioned scheme, the target ball position data includes target ball position points and spatial coordinate values ​​of each target ball position point in a coordinate system established with the laser tracker as the origin; the determination module 1520 includes a generation unit, a calculation unit, an array determination unit, and a circle center determination unit, wherein the generation unit is used to generate a drawing array based on the spatial coordinate values ​​corresponding to the target ball position points; the calculation unit is used to perform vector calculation on the average value of the drawing array to obtain a vector calculation result, and to perform singular value decomposition on the vector calculation result to obtain a decomposition result; the array determination unit is used to obtain a rotation array based on the drawing array and the decomposition result, the rotation array being used to describe the array obtained after rotating the coordinate values ​​of the drawing array around the coordinate axes; the generation drawing array is used to perform circle fitting on the rotation array to obtain the circle center, using the circle center as a new coordinate origin centered on the load disk, and establishing a new coordinate system with the new coordinate origin, and converting the target ball position data into position data in the new coordinate system.

[0150] In some embodiments of this application, based on the aforementioned scheme, the generation unit is specifically used to perform drawing processing based on the spatial coordinate values ​​corresponding to all target ball position points to obtain a position change curve, which contains multiple repeated complete curve segments; and to generate a drawing array based on the spatial axis coordinate values ​​corresponding to any complete curve segment.

[0151] In some embodiments of this application, based on the aforementioned scheme, the calculation unit uses the array obtained by subtracting the average value of the drawn array from the drawn array as the vector calculation result; performs singular value decomposition on the vector calculation result to obtain the decomposition output matrix; the decomposition output matrix includes three rows and three columns of values; and uses the three rows of values ​​corresponding to the third column of the output matrix as the decomposition processing result.

[0152] In some embodiments of this application, based on the aforementioned scheme, the array determination unit performs Euler angle rotation calculations to obtain a rotation matrix based on the decomposition processing results and the rotation angles of the coordinate axes; the array obtained by multiplying the coordinate values ​​of the drawn array with the rotation matrix is ​​used as the rotation array.

[0153] In some embodiments of this application, based on the aforementioned scheme, the drawing module is specifically used to determine the torque value of each target ball position point according to the position data of the target ball in the new coordinate system and the pre-set test parameters of the reducer; and to draw the torque curve of the reducer load in coordinate system units according to the torque value of each target ball position point.

[0154] In some embodiments of this application, based on the aforementioned scheme, the test result determination module is specifically used to compare the torque curve of the reducer load with the expected torque curve; if the deviation between the torque curve of the reducer load and the expected torque curve is greater than the deviation threshold, it is determined that the reducer test has failed.

[0155] This embodiment proposes a testing method for measuring the torque at the load end of a speed reducer. Specifically, it is a non-contact torque measurement method. A laser tracker tracks the position change of a target ball fixed at the load end of the speed reducer to calculate the torque curve at the load end. When the speed reducer reciprocates, the target ball is equivalent to a point at the load end, reciprocating along the same curve. Therefore, collecting the position change of the target ball is equivalent to collecting the position change at the load end. The torque curve calculated based on this is more accurate and conforms to the actual testing conditions, making the test results more reliable. Furthermore, non-contact torque measurement is safer and more reliable; collecting the load end position curve results in more accurate measurement; and the end point position can be freely adjusted.

[0156] It should be noted that the apparatus provided in the above embodiments and the method provided in the above embodiments belong to the same concept, and the specific way in which each module and unit performs operations has been described in detail in the method embodiments, and will not be repeated here.

[0157] In one exemplary embodiment, an electronic device includes one or more processors; and a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic device to perform the method described above.

[0158] Figure 16 This is a schematic diagram of the structure of an electronic device according to an exemplary embodiment.

[0159] It should be noted that this electronic device is merely an example adapted to this application and should not be construed as providing any limitation on the scope of use of this application. Furthermore, this electronic device should not be interpreted as requiring or depending on any specific feature. Figure 16 One or more components of the exemplary electronic device shown.

[0160] like Figure 16 As shown, in an exemplary embodiment, the electronic device includes a processing component 1601, a memory 1602, a power supply component 1603, a multimedia component 1604, an audio component 1605, a processor 1606, a sensor component 1607, and a communication component 1608. Not all of these components are mandatory; the electronic device may add or remove other components according to its functional requirements, and this embodiment does not impose any limitations.

[0161] Processing component 1601 typically controls the overall operation of an electronic device, such as operations associated with display, data communication, and log data processing. Processing component 1601 may include one or more processors 1606 to execute instructions to complete all or part of the steps of the aforementioned operations. Furthermore, processing component 1601 may include one or more modules to facilitate interaction between processing component 1601 and other components. For example, processing component 1601 may include a multimedia module to facilitate interaction between multimedia component 1604 and processing component 1601.

[0162] The memory 1602 is configured to store various types of data to support operation of the electronic device, examples of which include instructions for any application or method operating on the electronic device. The memory 1602 stores one or more modules configured to be executed by the one or more processors 1606 to perform all or part of the steps in the methods described in the above embodiments.

[0163] Power supply component 1603 provides power to various components of an electronic device. Power supply component 1603 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device.

[0164] Multimedia component 1604 includes a screen that provides an output interface between an electronic device and a user. In some embodiments, the screen may include a TP (Touch Panel) and an LCD (Liquid Crystal Display). If the screen includes a touch panel, the screen can be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation.

[0165] Audio component 1605 is configured to output and / or input audio signals. For example, audio component 1605 includes a microphone configured to receive external audio signals when the electronic device is in an operating mode, such as a call mode, a recording mode, or a voice recognition mode. In some embodiments, audio component 1605 also includes a speaker for outputting audio signals.

[0166] Sensor assembly 1607 includes one or more sensors for providing state assessments of various aspects of the electronic device. For example, sensor assembly 1607 can detect the on / off state of the electronic device and can also detect temperature changes in the electronic device.

[0167] The communication component 1608 is configured to facilitate wired or wireless communication between electronic devices and other devices. The electronic devices can access wireless networks based on communication standards, such as Wi-Fi (Wireless-Fidelity).

[0168] Understandable. Figure 16 The structure shown is for illustrative purposes only; the electronic device may include more than [the structure shown]. Figure 16 The more or fewer components shown, or having the same Figure 16 The different components are shown. Figure 16 Each component shown can be implemented using hardware, software, or a combination thereof.

[0169] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the method described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0170] It should be noted that the computer-readable storage medium shown in the embodiments of this application can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0171] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0172] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in the claims.

Claims

1. A device testing method, characterized in that, This device is applied to an equipment testing system, which includes electronic equipment, a torque testing device, and a laser tracker. The torque testing device includes a speed reducer and a load disk located at the load end of the speed reducer. A target ball is mounted on the load disk and is linearly connected to the laser tracker. The target ball on the load disk rotates as the speed reducer rotates. The method is performed by the electronic device, and the method includes: The position data of the target ball collected by the laser tracker is obtained; the position data of the target ball is based on the position of the laser tracker as the origin of the coordinate system; the position data of the target ball includes the target ball position point and the spatial coordinate value of each target ball position point in the coordinate system established with the laser tracker as the origin of the coordinate system. A drawing array is generated based on the spatial coordinates corresponding to the target ball's position point; The average value of the drawn array is used to perform vector calculation to obtain the vector calculation result, and the vector calculation result is then subjected to singular value decomposition to obtain the decomposition result. A rotation array is obtained based on the drawing array and the decomposition processing result. The rotation array is used to describe the array obtained after rotating the coordinate values ​​of the drawing array around the coordinate axis. The rotation array is fitted with a circle to obtain the center of the circle. The center of the circle is used as the new coordinate origin centered on the load disk. A new coordinate system is established with the new coordinate origin. The position data of the target ball is converted into the position data in the new coordinate system. The torque curve of the reducer load is plotted based on the position data of the target ball in the new coordinate system. The test results of the reducer are determined based on the torque curve of the reducer load.

2. The method according to claim 1, characterized in that, The step of generating a drawing array based on the spatial coordinates corresponding to the target ball's position includes: The spatial coordinates of all target ball positions are plotted to obtain a position change curve, which contains multiple repeated complete curve segments. Generate a drawing array based on the spatial axis coordinates corresponding to any complete curve segment.

3. The method according to claim 1, characterized in that, The average value of the drawn array is used to perform vector calculation to obtain a vector calculation result, and the vector calculation result is then subjected to singular value decomposition to obtain a decomposition result, including: The array obtained by subtracting the average value of the drawn array from the drawn array is used as the result of the vector calculation; The vector calculation result is subjected to singular value decomposition to obtain a decomposition output matrix; the decomposition output matrix consists of three rows and three columns of values. The three rows of values ​​corresponding to the third column of the decomposed output matrix are taken as the decomposed result.

4. The method according to claim 1, characterized in that, The step of obtaining the rotation array based on the drawing array and the decomposition processing result includes: The rotation matrix is ​​obtained by Euler angle rotation calculation based on the decomposition results and the rotation angle around the coordinate axis; The array obtained by multiplying the coordinate values ​​of the drawing array by the rotation matrix is ​​used as the rotation array.

5. The method according to any one of claims 1-4, characterized in that, The step of plotting the torque curve of the reducer load based on the position data of the target ball in the new coordinate system includes: The torque value at each target ball position point is determined based on the position data of the target ball in the new coordinate system and the pre-set test parameters of the reducer. The torque curve of the reducer load in coordinate units is plotted based on the torque value at each target ball position point.

6. The method according to claim 5, characterized in that, The step of determining the test results of the speed reducer based on the torque curve of the speed reducer load includes: Compare the torque curve of the reducer load with the expected torque curve; If the deviation between the torque curve of the speed reducer load and the expected torque curve is greater than the deviation threshold, the speed reducer is determined to have failed the test.

7. A device testing system, characterized in that, The equipment testing system includes: electronic equipment, torque testing device, and laser tracker; The torque testing device includes a speed reducer and a load disk located at the load end of the speed reducer. A target ball linearly connected to the laser tracker is provided on the load disk. The target ball on the load disk rotates as the speed reducer rotates. The electronic device is used to implement the method described in any one of claims 1-6.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to perform the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, It stores computer-readable instructions that, when executed by the processor of a computer, cause the computer to perform the method described in any one of claims 1-6.

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