Method, device, system, equipment and medium for layered detection of multi-layer drive steel belt

Abstract

Embodiments of the present application disclose a kind of multilayer drive steel belt layering detection method, device, system, equipment and medium, wherein, method includes: in the force value of external tension force that target detection drive steel belt is suffered after each update, the strain value of the strain gauge that is arranged on each layer steel band of the target detection drive steel band is acquired, until the force value reaches target upper limit force value;According to the strain value of each described strain gauge under the external tension force of different force value, determine the target stress characteristic of the target detection drive steel band;Wherein, each described strain gauge is fixed on the steel band of corresponding layer by insulating connecting material, and fixed position is same.The technical scheme of the embodiment of the present application, by accurately detecting the stress change of multilayer drive steel band in the process of stress, to more reasonable tension control multilayer drive steel band tension, avoid steel band layering, to prolong the service life of steel band.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of mechanical testing, and particularly relates to a multi-layer transmission steel belt layering detection method, device, system, equipment and medium. BACKGROUND

[0002] At present, when a surgical arm in a surgical robot moves in dependence on steel belt transmission, a multi-layer flexible transmission steel belt is usually used. However, due to machining quality, transmission design and other problems, the multi-layer steel belt often appears layering or over-tightening in the transmission process in the working process. The layering of the steel belt causes each layer of the steel belt to be unable to bear force uniformly, thereby affecting transmission efficiency and accuracy, and further affecting the performance of the surgical arm in actual application. Over-tightening of the steel belt greatly shortens the service life of bearings between joints of the surgical arm, and causes the surgical arm to fail prematurely.

[0003] Therefore, confirming the starting force time of the multi-layer steel belt, whether each layer of the steel belt bears force uniformly, and the tension of the multi-layer steel belt from layering to full tensioning and other information is of great significance for screening qualified multi-layer transmission steel belts in advance before assembling the surgical arm, and for providing reasonable tension for the steel belt transmission in use of the surgical arm, for maintaining the surgical accuracy of the surgical arm and prolonging the service life of the surgical arm. However, a feasible and accurate layering detection method for the multi-layer flexible transmission steel belt has not been found. SUMMARY

[0004] The embodiment of the application provides a multi-layer transmission steel belt layering detection method, device, system, equipment and medium, which can accurately detect stress changes of the multi-layer transmission steel belt in the force bearing process, and provide a reference for subsequent steel belt design through the detection result, thereby prolonging the service life of the steel belt.

[0005] In a first aspect, the embodiment of the application provides a multi-layer transmission steel belt layering detection method, which comprises the following steps:

[0006] After each time the force value of the external tension of the target detection transmission steel belt is updated, the strain value of a strain gauge arranged on each layer of the steel belt of the target detection transmission steel belt is acquired until the force value reaches a target upper limit force value;

[0007] According to the strain values of each strain gauge under different force values of the external tension, a target force characteristic of the target detection transmission steel belt is determined.

[0008] Each strain gauge is fixed on the steel belt of the corresponding layer through an insulating connecting substance, and the fixed positions are the same.

[0009] In a second aspect, the embodiment of the application further provides a multi-layer transmission steel belt layering detection device, which comprises the following steps:

[0010] The steel belt layering sensing module is configured to obtain strain values of strain gauges arranged on each layer of the target detection transmission steel belt after each update of a force value of an external tension force applied to the target detection transmission steel belt, until the force value reaches a target upper limit force value.

[0011] The steel belt layering analysis module is configured to determine a target stress characteristic of the target detection transmission steel belt according to the strain values of each strain gauge under the external tension force at different force values.

[0012] Each strain gauge is fixed to the steel belt of the corresponding layer by an insulating connecting substance, and the fixed positions are the same.

[0013] In a third aspect, an embodiment of the present application further provides a multi-layer transmission steel belt layering detection system, which comprises:

[0014] a target detection transmission steel belt, strain gauges, a tension machine, a strain signal acquisition device, a stress analysis device, and a tension machine control device.

[0015] The target detection transmission steel belt is a multi-layer flexible transmission steel belt.

[0016] The number of strain gauges corresponds to the target detection transmission steel belt, and each strain gauge is fixed to the steel belt of the corresponding layer by an insulating connecting substance.

[0017] The tension machine applies an external tension force to the target detection transmission steel belt under the control of the tension machine control device.

[0018] The strain signal acquisition device is configured to acquire strain signals of the strain gauges under the external tension force.

[0019] The stress analysis device is configured to acquire and analyze the strain signals to determine a target stress characteristic of the target detection transmission steel belt.

[0020] In a fourth aspect, an embodiment of the present application further provides a computer device, which comprises:

[0021] one or more processors;

[0022] a memory configured to store one or more programs;

[0023] When the one or more programs are executed by the one or more processors, the one or more processors implement the multi-layer transmission steel belt layering detection method provided by any embodiment of the present application.

[0024] In a fifth aspect, an embodiment of the present application further provides a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the multi-layer transmission steel belt layering detection method provided by any embodiment of the present application.

[0025] The embodiment of the present application acquires the strain value of the strain gauge arranged on each layer of the target detection transmission steel belt after the force value of the external tension force borne by the target detection transmission steel belt is updated each time until the force value reaches the target upper limit force value, determines the target stress characteristic of the target detection transmission steel belt according to the strain value of each strain gauge under the external tension force of different force values, wherein each strain gauge is fixed on the steel belt of the corresponding layer through the insulating connecting material and the fixed positions are the same. The technical scheme of the embodiment of the present application accurately detects the stress change of the multi-layer transmission steel belt in the stress process, controls the multi-layer transmission steel belt tension with more reasonable tension force, avoids the steel belt layering, and thus prolongs the service life of the steel belt. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a flow chart of a multi-layer transmission steel belt layering detection method provided by the embodiment of the present application;

[0027] Figure 2 is a strain waveform curve schematic diagram provided by the embodiment of the present application;

[0028] Figure 3 is a Wheatstone bridge schematic diagram provided by the embodiment of the present application;

[0029] Figure 4 is a strain gauge signal rectification circuit schematic diagram provided by the embodiment of the present application;

[0030] Figure 5 is a quarter bridge type I strain gauge pasting schematic diagram provided by the embodiment of the present application;

[0031] Figure 6 is a target stress characteristic analysis schematic diagram provided by the embodiment of the present application;

[0032] Figure 7 is a multi-layer transmission steel belt layering detection device structure schematic diagram provided by the embodiment of the present application;

[0033] Figure 8 is a multi-layer transmission steel belt layering detection system structure schematic diagram provided by the embodiment of the present application;

[0034] Figure 9 is a computer device structure schematic diagram provided by the embodiment of the present application. DETAILED DESCRIPTION

[0035] The application will be described in further detail below with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. In addition, it should be noted that only the parts related to the present application are shown in the drawings for ease of description.

[0036] Figure 1 A flowchart of a multilayer transmission steel belt layering detection method provided for an embodiment of the present application. The present embodiment can be applied to the scenario of layering detection of a multilayer transmission steel belt. In particular, the present embodiment is more suitable for the case of layering detection of a multilayer transmission steel belt for a surgical robot mechanical arm. The method can be executed by a multilayer transmission steel belt layering detection device, which can be realized in software and / or hardware and integrated in a computer device with application development function.

[0037] As shown in Figure 1 , the multilayer transmission steel belt layering detection method of the present embodiment includes the following steps:

[0038] S110, after the force value of the external tension force on the target detection transmission steel belt is updated each time, the strain value of the strain gauge arranged on each layer of the target detection transmission steel belt is obtained until the force value reaches the target upper limit force value.

[0039] Specifically, a target detection transmission steel belt includes a multilayer transmission steel belt, for example, 20 layers. The present embodiment does not limit the number of layers of the steel belt. The multilayer transmission steel belt is completely layered in a relaxed state. As tension is applied to the multilayer transmission steel belt, the gap between the multilayer transmission steel belts gradually decreases until there is no gap, gradually reaching a completely tensioned state. During the installation before the test, the relaxed multilayer transmission steel belt is hung on two different steel belt wheels to form a steel belt transmission structure. The two steel belt wheels are positioned one above the other. Then, the two steel belt wheels are fitted on the two steel belt wheel clamps positioned one above the other. The steel belt wheel clamps are connected to the tension machine. By controlling the movement of the steel belt wheel clamps in the direction to be tested, tension is gradually applied to the target detection transmission steel belt.

[0040] Under the action of external tension, the multilayer transmission steel belt gradually generates tension due to deformation. This tension is the tension of the multilayer transmission steel belt. A strain gauge is arranged on each layer of the transmission steel belt. Under the action of external tension, the deformation of each layer of the transmission steel belt causes the sensitive grid of the strain gauge to obtain the same deformation, thereby obtaining the strain value.

[0041] At the beginning of the test, according to the working condition data of the previous experiment, a target upper limit force value and an initial force value are determined for the external tension. At the target upper limit force value, the multi-layer transmission steel belt can be tensioned to form a steel belt; at the beginning of the test, the external tension with the initial force value is first applied to the multi-layer transmission steel belt, and the force value of the new external tension is fixedly increased by the same force value based on the initial force value to obtain the force value of the new external tension, and the external tension with the new force value is applied to the multi-layer transmission steel belt, until the force value of the external tension reaches the target upper limit force value. After the external tension with the target upper limit force value is applied to the multi-layer transmission steel belt, the test is ended. Specifically, the force value of the tension machine can be controlled by the tension machine control device. When the tension machine updates the force value of the external tension, the tension machine moves along the direction to be tested to increase the force value of the new external tension. After each update and at the initial force value, the strain values of the strain gauges arranged on each layer of the transmission steel belt are obtained under the external tension with different force values.

[0042] Optionally, the force value of the external tension can be updated at a preset time interval. For example, the force value can be updated after the external tension with the initial force value is applied to the transmission steel belt for 20 seconds at the beginning of the test. After each update, the external tension with the updated force value is continuously applied to the transmission steel belt for 20 seconds before the next update. When the target upper limit force value is updated, the external tension with the target upper limit force value is continuously applied to the transmission steel belt for 20 seconds before the test is ended. Figure 2 As shown in FIG. 8, the abscissa represents the force values of different external tensions, and the ordinate represents the strain values. Different strain waveforms are the strain values of the strain gauges on the different 9-layer steel belts Ch0-Ch8. For example, the waveform corresponding to the abscissa interval of 0-200 is the waveform curve corresponding to the external tension with the force value of 200, and the waveform corresponding to the abscissa interval of 200-400 is the waveform curve corresponding to the external tension with the force value of 400. The initial force value is 200, the target upper limit force value is 2000, and the fixedly increased force value is 200 for each update. The strain signal acquisition device can collect the resistance change amount of the strain gauge at each different force value and process it into the strain value of the strain gauge at the force value, so that the waveform displayed on the stress analysis device presents a step change after the strain value is uploaded to the stress analysis device in the form of a strain signal, facilitating analysis and processing. The preset time value can be set according to actual needs, which is not limited in the embodiment.

[0043] Optionally, the strain values of the strain gauges arranged on each layer of the target detection transmission steel belt can be obtained by obtaining the output voltage signal of the signal rectification circuit in which each strain gauge is connected.

[0044] The attribute parameter of the strain gauge can include an initial resistance value of the strain gauge and a characteristic parameter of the strain gauge.

[0045] Specifically, according to the stress-strain relationship, the stress and strain of each layer of the steel strip are known, and the specific relationship between the stress and the strain of the strain gauge is shown in formula (1):

[0046] σ = Eε (1)

[0047] Wherein, σ is stress, unit is Pascal (Pa); E is elastic modulus, unit is Pascal (Pa); ε is strain value, is a dimensionless value.

[0048] The strain value ε and the resistance change rate (ΔR / R) have the following relationship:

[0049] ε = (ΔR / R) / GF (2)

[0050] Wherein, ΔR is the resistance value change of the strain gauge, R is the initial resistance value of the strain gauge measured at room temperature without installation and stress, and the initial resistance value of the strain gauge can be 120Ω, 350Ω, which is not limited in the embodiment. GF (Gage factor) is a characteristic parameter of the strain gauge, that is, the sensitivity of the strain gauge, which can be 2.0, which is not limited in the embodiment.

[0051] Because the steel strip has large rigidity and small deformation, it is difficult to accurately measure the extremely small resistance change. The commonly used test method is to use a Wheatstone bridge to realize the measurement. As shown in Figure 3 The Wheatstone bridge is a ring circuit connected in order by resistors R1, R2, R3 and R4, and a direct current power supply V EX is connected between the other diagonal ends as excitation, and the output load is connected between the other diagonal ends, R1, R2, R3 and R4 are called bridge arms of the bridge, and the calculation formula of the output voltage signal V0 of the bridge is:

[0052]

[0053] As shown in Figure 4 , R4 is replaced by the strain gauge to obtain a signal rectifier circuit in which the strain gauge is located, and the resistance value of the strain gauge is R G , and the resistance values of the other three resistors on the bridge arm are R1 = R2 = R3 = R G , so that the output voltage of the signal rectifier circuit is zero when the strain gauge does not produce strain. If strain occurs, the resistance value of the strain gauge changes to ΔR, which is the resistance change, and the output voltage signal V1 of the signal rectifier circuit in which the strain gauge is located is:

[0054]

[0055] Substitute formula (2) into the above formula, and the following formula can be obtained:

[0056]

[0057] Through formula (5), the relationship between the output voltage signal and the strain value can be obtained.

[0058] To ensure the accuracy of the measurement, the output voltage signal also needs to be signal-conditioned. In the embodiment, the direction to be tested can be preferably longitudinal. The more the number of strain gauges pasted on the surface of the steel belt, the more likely it is to cause clamping between each layer of the steel belt, which cannot be fully tensioned. Therefore, the fewer the number of strain gauges on the surface of the steel belt, the more accurate the detection is. As shown in the figure, the embodiment preferably adopts a quarter bridge type I for signal conditioning. The quarter bridge type I only needs one strain gauge, which is pasted on the surface of the steel belt in the direction to be tested. The steel belt can generate strain in the tensile (axial) or compressive (bending) direction. The direction to be tested in the embodiment is the tensile (axial) direction. Figure 5

[0059] For the quarter bridge type I, the strain value calculation formula is as follows:

[0060]

[0061] wherein, V r is the ratio of the difference between the bridge output voltage before and after stress and the excitation voltage, which can be calculated by the following formula:

[0062]

[0063] wherein, V CH(strained) is the output voltage after stress, and V CH(unstrained) is the output voltage before stress.

[0064] The above calculation processes (2), (5), (6) and (7) are integrated in the strain signal acquisition device. Combined with formula (2), (5), (6) and (7), the strain value can be obtained through the resistance change of the strain gauge pasted on the steel belt.

[0065] S120, according to the strain value of each strain gauge under different external tension of force, determine the target stress characteristics of the target detection transmission steel belt.

[0066] wherein, each strain gauge is fixed on the steel belt of the corresponding layer through an insulating connecting material, and the fixed positions are the same.

[0067] ​Specifically, strain gauges can be attached to the same position on the surface of the corresponding layer of the steel strip along the direction of the force to be tested using insulating tape. One end of the strain gauge is connected to the strain gauge wire, and both ends of the strain gauge wire are marked with a unique number. The other end of the strain gauge wire is connected to the junction box according to the numbering sequence. The junction box is connected to the strain signal acquisition device through the equipment connection cable. The strain signal acquisition device is connected to the stress analysis device through the strain signal transmission line, and the obtained strain value is uploaded to the stress analysis device. The strain value can be displayed as a waveform on the stress analysis device.

[0068] After strain conversion to stress processing based on the waveform, the target stress characteristics of the transmission steel belt are obtained. The target stress characteristics can represent the uniformity of stress on different layers of transmission steel belts under external tensile forces of different values.

[0069] It is understandable that, since the length of each layer in a multi-layer transmission steel belt is not the same, during the tensioning process of the multi-layer transmission steel belt under different external tensions, one layer of the multi-layer transmission steel belt will inevitably be stressed first, or some layers of the steel belt will be tensioned while others will be slack. In the subsequent tensioning process, the stress on each layer of the transmission steel belt will also be uneven until a certain force value is applied, at which point the transmission steel belts reach the most uniform stress state.

[0070] Therefore, in one optional implementation, the target stress characteristics of the target detection transmission steel belt are determined based on the strain value of each strain gauge under different external tensile forces. This can be achieved by calculating the stress corresponding to the strain value of each strain gauge under different external tensile forces, calculating the standard deviation between the stress values ​​of each strain gauge under different external tensile forces, and determining the target stress characteristics of the target detection transmission steel belt based on the standard deviation.

[0071] Specifically, such as Figure 6 As shown, the stress analysis equipment calculates the stress corresponding to the strain value of each strain gauge under different external tensile forces according to formula (1). The stress is the tension force of the steel strip in the corresponding layer. Figure 6 The horizontal axis represents the external tensile force on the entire steel strip. The external tensile forces of different values ​​are F1-F9, where the difference between each value is equal. The vertical axis represents the tension of the steel strip. The standard deviation between the stress values ​​of each strain gauge under the nine different external tensile force values ​​F1-F9 is calculated. The smaller the standard deviation, the more uniform the stress on the steel strips n1-n8 of different layers is.

[0072] Optionally, determining the target force characteristics of the target detection transmission steel belt based on the standard deviation can be achieved by determining the external tension value corresponding to the smallest standard deviation among multiple standard deviations as the target external tension value that enables the target detection transmission steel belt to reach the target tension state.

[0073] As shown in Figure 6 , the standard deviation of the stress values of the 8 layers of steel belts corresponding to 9 different external tension values is calculated respectively, and it is found that the target tension state is reached when the external tension value is F8, the target tension state can be the state of complete tension and the most uniform stress, the standard deviation is the smallest when the external tension value is F8, the stress is the most uniform, and F8 fluctuates around the theoretical stress value (the middle straight line), which indicates that the steel belt is completely tensioned when the external tension value is F8. The theoretical stress value can be obtained according to the working condition data test, which represents the most ideal tension value when the steel belt is completely tensioned. Figure 6

[0074] The target external tension value can be applied to the actual operation of the surgical robot, or fed back to the design department for reference to select whether to lengthen or shorten the steel belt length according to the target external tension value. According to the target external tension value, a layered detection tool for the corresponding multi-layer flexible transmission steel belt is designed for the quality inspection department to screen qualified steel belts. And through the target external tension value and the steel belt supplier technical communication, the process problem of delamination caused by the process parameters of steel belt processing is improved.

[0075] The technical scheme of the embodiment, by updating the force value of the external tension of the target detection transmission steel belt each time, obtaining the strain value of the strain gauge arranged on each layer of the steel belt of the target detection transmission steel belt until the force value reaches the target upper limit force value; according to the strain value of each said strain gauge under different force values of external tension, determine the target stress characteristics of the target detection transmission steel belt; wherein each said strain gauge is fixed on the corresponding layer of the steel belt through an insulating connecting material, and the fixed position is the same. The technical scheme of the embodiment of the application accurately detects the stress change of the multi-layer transmission steel belt during the stress process, controls the tension of the multi-layer transmission steel belt with more reasonable tension, avoids the delamination of the steel belt, and prolongs the service life of the steel belt.

[0076] Figure 7 A structural schematic diagram of a multi-layer transmission steel belt delamination detection device provided by the embodiment of the application, the embodiment can be applied to the scene of delamination detection of the multi-layer transmission steel belt, in particular, the embodiment is more suitable for the case of delamination detection of the multi-layer transmission steel belt for the mechanical arm of the surgical robot. The device can be realized by software and / or hardware, and integrated in a computer device with application development function.

[0077] As shown in Figure 7 , the multi-layer transmission steel belt delamination detection device comprises a steel belt delamination sensing module 210 and a steel belt delamination analysis module 220.

[0078] ​The steel belt layering sensing module 210 is configured to obtain the strain value of the strain gauge arranged on each layer of the target detection transmission steel belt after each update of the force value of the external tension force acting on the target detection transmission steel belt until the force value reaches the target upper limit force value.

[0079] The steel belt layering analysis module 220 is configured to determine the target stress characteristic of the target detection transmission steel belt according to the strain value of each strain gauge under the external tension force of different force values.

[0080] Each strain gauge is fixed on the steel belt of the corresponding layer by an insulating connecting substance, and the fixed positions are the same.

[0081] The technical scheme of the embodiment is configured to obtain the strain value of the strain gauge arranged on each layer of the target detection transmission steel belt after each update of the force value of the external tension force acting on the target detection transmission steel belt until the force value reaches the target upper limit force value, and determine the target stress characteristic of the target detection transmission steel belt according to the strain value of each strain gauge under the external tension force of different force values. Each strain gauge is fixed on the steel belt of the corresponding layer by an insulating connecting substance, and the fixed positions are the same. The technical scheme of the embodiment is configured to accurately detect the stress change of the multi-layer transmission steel belt in the stress process, control the tension of the multi-layer transmission steel belt with a more reasonable tension force, avoid the layering of the steel belt, and prolong the service life of the steel belt.

[0082] In an optional implementation, the steel belt layering sensing module 210 is specifically configured to obtain the output voltage signal of the signal rectification circuit in which each strain gauge is arranged.

[0083] The strain value of each strain gauge is determined based on the output voltage signal and the attribute parameter of the corresponding strain gauge.

[0084] Each strain gauge is connected to the bridge-type signal rectification circuit containing a preset quarter bridge.

[0085] In an optional implementation, the steel belt layering analysis module 220 is specifically configured to calculate the stress corresponding to the strain value of each strain gauge under the external tension force of different force values.

[0086] The standard deviation between the stress values of each strain gauge under the external tension force of different force values is calculated.

[0087] The target stress characteristic of the target detection transmission steel belt is determined based on the standard deviation.

[0088] In an optional implementation, the steel belt layer analysis module 220 is further configured to: determine, as the target external tension value corresponding to the target tension state of the target detection transmission steel belt, a force value of the external tension corresponding to a standard deviation with a minimum value among the plurality of standard deviations.

[0089] The multi-layer transmission steel belt layer detection device provided in the embodiments of the present application can perform the multi-layer transmission steel belt layer detection method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0090] Figure 8 A structural schematic diagram of a multi-layer transmission steel belt layer detection system provided in the embodiments of the present application is shown in FIG. 1. Figure 8 As shown in FIG. 1, the multi-layer transmission steel belt layer detection system includes: a target detection transmission steel belt 801, strain gauges 802, a tension machine 803, a strain signal acquisition device 804, a stress analysis device 805, and a tension machine control device 806. The multi-layer transmission steel belt layer detection system can further include a device connection line 807, a junction box 808, a steel belt wheel clamp 809, a steel belt wheel 810, a strain signal transmission line 811, and a tension machine transmission line 812.

[0091] The target detection transmission steel belt is a multi-layer flexible transmission steel belt.

[0092] The number of strain gauges corresponds to the target detection transmission steel belt, and each strain gauge is fixed to the steel belt of the corresponding layer by an insulating connecting material. The insulating connecting material can be insulating glue.

[0093] The tension machine applies an external tension to the target detection transmission steel belt under the control of the tension machine control device. Optionally, the tension machine control device transmits an external tension signal to the tension machine through the tension machine transmission line.

[0094] The strain signal acquisition device is configured to acquire a strain signal of the strain gauge under the external tension.

[0095] Specifically, the strain gauges can be pasted on the same position on the surface of the steel belt of the corresponding layer along the force direction of the steel belt to be tested by using insulating adhesive tape. One end of the strain gauge welding line is connected to the strain gauge, and both ends of the strain gauge welding line are marked with a unique number. The other end of the strain gauge welding line is connected to the junction box in the order of the number. The junction box is connected to the strain signal acquisition device through the device connection line, and the strain signal acquisition device is connected to the stress analysis device through the strain signal transmission line. The obtained strain value is uploaded to the stress analysis device.

[0096] The stress analysis device is configured to acquire and analyze the strain signal to determine the target force characteristic of the target detection transmission steel belt. The strain signal is in the form of a strain value.

[0097] Optionally, the target detection transmission steel belt 801 is fixed on the tension machine through the steel belt wheel clamp 809 and the steel belt wheel 810.

[0098] Specifically, the target detection transmission steel belt is hung on two different steel belt wheels to form a steel belt transmission structure, the two steel belt wheels are arranged one above another, the two steel belt wheel clamps are sleeved on the two steel belt wheels arranged one above another, the steel belt wheel clamps are connected to the tension machine, and the target detection transmission steel belt is gradually tensioned by controlling the steel belt wheel clamp in the same direction as the direction to be tested to move in the direction to be tested to apply tension to the target detection transmission steel belt.

[0099] Optionally, the strain signal acquisition device comprises a measurement circuit module, a signal conditioning module and an analog-digital conversion module, wherein the signal conditioning module comprises a quarter bridge circuit.

[0100] The measurement circuit module can be used to acquire the output voltage signal of the signal rectifier circuit in which each strain gauge is located. The signal conditioning module can be included in the measurement circuit module, and is used to perform signal conditioning on the output voltage signal. The analog-digital conversion module is used to convert the signal type of the conditioned output voltage signal into a digital signal.

[0101] It can be understood that the strain signal acquisition device 804, the stress analysis device 805 and the tension machine control device 806 can be integrated with strain signal acquisition, stress analysis and tension machine control function modules in some feasible embodiments.

[0102] The technical scheme of the embodiment provides a multi-layer transmission steel belt layering detection system, which comprises a target detection transmission steel belt, a strain gauge, a tension machine, a strain signal acquisition device, a stress analysis device and a tension machine control device. The target detection transmission steel belt is a multi-layer flexible transmission steel belt. The number of strain gauges corresponds to the target detection transmission steel belt, and each strain gauge is fixed on the corresponding layer of the steel belt through an insulating connecting material. The tension machine applies external tension to the target detection transmission steel belt under the control of the tension machine control device. The strain signal acquisition device is used to acquire the strain signal of the strain gauge under the external tension. The stress analysis device is used to acquire and analyze the strain signal to determine the target stress characteristics of the target detection transmission steel belt. The technical scheme of the embodiment of the application accurately detects the stress change of the multi-layer transmission steel belt during the stress process, controls the tension of the multi-layer transmission steel belt with more reasonable tension, avoids steel belt layering, and thus prolongs the service life of the steel belt.

[0103] Figure 9 A structural schematic diagram of a computer device provided by the embodiment of the application is shown. Figure 9 A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the application is shown. Figure 9The computer device 12 shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities and can be configured within a multi-layer transmission steel belt layer detection device.

[0104] like Figure 9 As shown, the computer device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0105] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0106] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0107] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 9 Not shown; usually referred to as a "hard drive"). Although Figure 9 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0108] Program / utility 40 having a set of program modules 42 can be stored in system memory 28 by way of example, such program modules 42 include an operating system, one or more application programs, other program modules, and program data, each of which or a combination thereof, can include implementation of the network environment as each or a combination of these examples. Program modules 42 generally carry out the functions and / or methodologies of embodiments described herein.

[0109] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard, a pointing device, a display 24, etc.; one or more devices that enable a user to interact with computer device 12; and / or one or more devices that enable computer device 12 to communicate with one or more other computing devices. Such communication can be via input / output (I / O) interfaces 22. Further, computer device 12 can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and / or a public network such as the Internet, via network adapter 20. As depicted, network adapter 20 communicates with the other components of computer device 12 via bus 18. It should be appreciated that although not shown, other hardware and / or software modules could be used in conjunction with computer device 12. Examples, include, but are not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc. Figure 9

[0110] Processing unit 16 performs various function applications and data processing by running programs stored in system memory 28, such as implementing a multi-layer drive steel belt layer detection method provided by embodiments of the present application, which includes:

[0111] After each update of the force value of the external tension force on the target detection drive steel belt, the strain value of the strain gauge arranged on each layer of the target detection drive steel belt is obtained until the force value reaches the target upper limit force value;

[0112] According to the strain values of each strain gauge under different force values of the external tension force, the target stress characteristic of the target detection drive steel belt is determined;

[0113] Each strain gauge is fixed on the steel belt of the corresponding layer by an insulating connecting material, and the fixing positions are the same.

[0114] The present embodiment provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement a multi-layer drive steel belt layer detection method provided by any embodiment of the present application, which includes:

[0115] ​After the force value of the external tension force borne by the target detection transmission steel belt is updated each time, the strain value of a strain gauge arranged on each layer of the steel belt of the target detection transmission steel belt is acquired until the force value reaches a target upper limit force value;

[0116] According to the strain values of each strain gauge under different force values of the external tension force, a target force characteristic of the target detection transmission steel belt is determined.

[0117] Each strain gauge is fixed on the steel belt of the corresponding layer by an insulating connecting material, and the fixing positions are the same.

[0118] The computer storage medium of the embodiment of the application can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, 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, device or component.

[0119] The computer readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, in which a computer readable program code is borne. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component.

[0120] The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination thereof.

[0121] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0122] Those skilled in the art will appreciate that the modules or steps of the present application described above can be implemented in a general purpose computer, and they can be centralized in a single computing device or distributed over a network of multiple computing devices. Alternatively, they can be implemented by computer executable program codes, which can be stored in a storage device and executed by a computing device, or they can be implemented by individual integrated circuit modules, or a plurality of modules or steps can be implemented by a single integrated circuit module. Thus, the present application is not limited to any particular combination of hardware and software.

[0123] Note that the above only describes the preferred embodiments of the present application and the principles of the applied technology. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, reconfigurations and substitutions can be made without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the appended claims.

Claims

1. A method for detecting the layering of multi-layer transmission steel belts, characterized in that, The method comprises the following steps: After the force value of the external tension force borne by the target detection transmission steel belt is updated each time, the strain values of the strain gauges arranged on each layer of the target detection transmission steel belt are obtained until the force value reaches a target upper limit force value; According to the strain values of each strain gauge under different force values of external tension force, the target stress characteristic of the target detection transmission steel belt is determined; Each strain gauge is fixed on the steel belt of the corresponding layer by an insulating connecting material, and the fixing positions are the same.

2. The method of claim 1, wherein, The method for obtaining the strain values of the strain gauges arranged on each layer of the target detection transmission steel belt comprises the following steps: An output voltage signal of a signal rectification circuit in which each strain gauge is connected is obtained; The strain value of each strain gauge is determined based on the output voltage signal and the attribute parameters of the corresponding strain gauge; Each strain gauge is connected to a bridge-type signal rectification circuit comprising a preset quarter bridge.

3. The method according to claim 1 or 2, characterized in that, According to the strain values of each strain gauge under different force values of external tension force, the target stress characteristic of the target detection transmission steel belt is determined, which comprises the following steps: The stress corresponding to the strain value of each strain gauge under different force values of external tension force is calculated respectively; The standard deviations between the stress values of each strain gauge under different force values of external tension force are calculated respectively; The target stress characteristic of the target detection transmission steel belt is determined based on the standard deviations.

4. The method of claim 3, wherein, The target stress characteristic of the target detection transmission steel belt is determined based on the standard deviations, which comprises the following steps: The force value of the external tension force corresponding to the standard deviation with the minimum value in the plurality of standard deviations is determined as the target external tension force value corresponding to the target tension state of the target detection transmission steel belt.

5. A multi-layered drive steel belt layer separation detection device characterized by, The method comprises the following steps: A steel belt layering sensing module is configured to obtain the strain values of the strain gauges arranged on each layer of the target detection transmission steel belt after the force value of the external tension force borne by the target detection transmission steel belt is updated each time until the force value reaches a target upper limit force value; A steel belt layering analysis module is configured to determine the target stress characteristic of the target detection transmission steel belt according to the strain values of each strain gauge under different force values of external tension force; Each strain gauge is fixed on the steel belt of the corresponding layer by an insulating connecting material, and the fixing positions are the same.

6. A multi-ply drive belt ply separation detection system characterized by, The method comprises the following steps: A target detection transmission steel belt, strain gauges, a tension machine, a strain signal acquisition device, a stress analysis device, and a tension machine control device are provided; The target detection transmission steel belt is a multi-layer flexible transmission steel belt; The number of strain gauges corresponds to the target detection transmission steel belt, and each strain gauge is fixed on the steel belt of the corresponding layer by an insulating connecting material; The tension machine applies external tension force to the target detection transmission steel belt under the control of the tension machine control device; The strain signal acquisition device is configured to acquire the strain signals of the strain gauges under the external tension force; The stress analysis device is configured to acquire and analyze the strain signals to determine the target stress characteristic of the target detection transmission steel belt.

7. The system of claim 6, wherein, The target detection transmission steel belt is fixed on the tension machine by a steel belt wheel clamp and a steel belt wheel.

8. The system of claim 6, wherein, The strain signal acquisition device comprises a measurement circuit module, a signal conditioning module and an analog-to-digital conversion module, wherein the signal conditioning module comprises a quarter bridge circuit.

9. A computer device, comprising: The computer device comprises: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the multilayer drive steel belt delamination detection method as claimed in any one of claims 1-4.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the multilayer drive steel belt delamination detection method as claimed in any one of claims 1-4.

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