A method and system for processing friction torque measurement data of a ball screw pair

Abstract

This application relates to the technical field of data processing, and in particular, to a method and system for processing friction torque measurement data of a ball screw pair. The method includes: determining the fluctuation degree value of the friction torque at a target test moment according to the friction torque sequence during the friction torque test of the ball screw pair; determining the credibility value at the target test moment according to the working audio sequence during the test of the ball screw pair; using the product of the fluctuation degree value and the credibility value to determine the target truncation distance corresponding to the target test moment; using the target truncation distances corresponding to different target test moments to perform density peak clustering on the friction torque sequence to obtain multiple clustering clusters; comparing the average values of the friction torques of the data points in different clustering clusters to obtain the quality inspection result of the ball screw pair. Through the above technical solutions, a more accurate quality inspection result of the ball screw pair can be obtained.

Description

Technical Field

[0001] This application relates to the technical field of data processing, and particularly relates to a method and system for processing measurement data of the frictional torque of a ball screw pair. Background Art

[0002] A ball screw pair mainly consists of three core components: balls, a screw rod, and a nut; the balls roll between the spiral raceways of the screw rod and the nut, playing a role in transmitting force and reducing friction; the screw rod is a long rod provided with a spiral raceway; the nut is a sleeve with an internal spiral raceway for cooperating with the screw rod. The ball screw pair can convert rotational motion into linear motion, or, conversely, convert linear motion into rotational motion.

[0003] For example, during the process of converting rotational motion into linear motion by the ball screw pair to achieve the output of linear motion, the screw rod in the ball screw pair can rotate under the action of a driving device such as a motor; the balls roll between the raceways of the screw rod and the nut, enabling the transmission of motion and force to drive the nut to move; the nut can, under the action of the balls, convert the rotational motion from the screw rod into linear motion and output it.

[0004] The ball screw pair can be applied to application scenarios that require precise control, such as numerically controlled machine tools, automated production lines, robots, medical devices, optical instruments, and measuring devices.

[0005] When there are manufacturing defects, installation defects, insufficient lubrication, overloading, or damage to the components in the ball screw pair, the frictional torque of the ball screw pair will be abnormal. Therefore, it is necessary to test the frictional torque of the ball screw pair and process the test data of the frictional torque to determine whether there is an abnormality in the ball screw pair. Summary of the Invention

[0006] To process the test data of the frictional torque of the ball screw pair to determine whether there is an abnormality in the ball screw pair, this application provides a method and system for processing measurement data of the frictional torque of a ball screw pair.

[0007] According to the first aspect of the embodiments of the present application, a method for processing friction torque measurement data of a ball screw pair is provided, including: obtaining a friction torque sequence during the test of the friction torque of the ball screw pair, and determining the fluctuation degree value of the friction torque at the target test moment according to the friction torque sequence; obtaining the working audio sequence of the ball screw pair during the test, and determining the credibility value at the target test moment according to the working audio sequence; the credibility value is used to characterize the difference degree between the target time period where the target test moment is located and the historical time period in terms of the change degree of the working audio; using the product of the fluctuation degree value and the credibility value to determine the target truncation distance corresponding to the target test moment; using the target truncation distances corresponding to different target test moments to perform density peak clustering on the friction torque sequence to obtain multiple clustering clusters; taking the clustering cluster with the largest number of data points included as the reference clustering cluster, and comparing the friction torque of the data points in the reference clustering cluster with the friction torque of the data points in other clustering clusters except the reference clustering cluster to obtain the quality detection result of the ball screw pair.

[0008] In this way, when testing the friction torque of the ball screw pair, the performance of the friction torque of the ball screw pair and the performance of the working audio of the ball screw pair can be comprehensively considered. Therefore, a more accurate quality detection result of the ball screw pair can be obtained.

[0009] Optionally, the fluctuation degree value of the friction torque at the target test moment is determined by the following method: , where S is the fluctuation degree value of the friction torque at the target test moment; , and are the friction torques of the ball screw pair at the t-th, (t - 1)-th, and (t + 1)-th test moments in sequence, the target test moment is the t-th test moment, is to take the absolute value.

[0010] In this way, the comparison of the performance of the friction torque of the ball screw pair at the target test moment is realized, and thus the fluctuation degree value of the ball screw pair at the target test moment is obtained.

[0011] Optionally, the credibility value at the target test moment is determined by the following method: , where Q is the credibility value at the target test moment, norm is the normalization processing function, is the change degree value of the working audio within the time period where the target test moment is located, is the change degree value of the working audio at other moments except the target test moment; the change degree value is used to characterize the change degree of the working audio within the time period; and are the volumes of the working audio at the t-th and (t-1)-th test moments respectively, and the target test moment is the t-th test moment. is to take the absolute value.

[0012] In this way, by comparing the change degree value of the working audio of the ball screw pair at the target test moment with the change degree values of the working audio in other time periods, the credibility value can better characterize the abnormality existing in the working audio of the ball screw pair.

[0013] Optionally, using the product of the fluctuation degree value and the credibility value to determine the target truncation distance corresponding to the target test moment, includes: taking the product of the fluctuation degree value and the credibility value as the target product, and taking the difference between 1 and the target product as the adjustment coefficient of the target test moment; the fluctuation degree value and the credibility value are processed by normalization; multiplying the adjustment coefficient by the preset target truncation distance to obtain the target truncation distance corresponding to the target test moment.

[0014] Optionally, the quality detection result of the ball screw pair is determined by the following method: determining the quality evaluation value of the friction torque test of the ball screw pair in the current test process; the quality evaluation value is used to characterize the degree of consistency of the data points of the reference clustering cluster with the data points in other clustering clusters except the reference clustering cluster in terms of friction torque; according to the quality evaluation value, determining whether the quality detection result of the ball screw pair is qualified or unqualified.

[0015] In this way, the quality detection result of the ball screw pair can be obtained, which is convenient for performing subsequent processing steps on the ball screw pair.

[0016] Optionally, the quality evaluation value is determined by the following method: , where P is the quality evaluation value of the ball screw pair in the current test process, is the exponential function with the natural constant as the base, n is the number of clustering clusters, is the average value of the friction torque of the data points in the a-th other clustering cluster except the reference clustering cluster, is the average value of the friction torque of the data points in the reference clustering cluster.

[0017] Optionally, the method further includes: when the quality detection result is qualified, outputting a first prompt message; the first prompt message is used to prompt that the quality detection result of the ball screw pair is qualified.

[0018] Optionally, the method further includes: when the quality detection result is unqualified, outputting a second prompt message; the second prompt message is used to prompt that the quality detection result of the ball screw pair is unqualified.

[0019] Optionally, the method further includes: when the quality inspection result of the ball screw pair is qualified, controlling the moving mechanism to move the ball screw pair to the first storage space; when the quality inspection result of the ball screw pair is unqualified, controlling the moving mechanism to move the ball screw pair to the second storage space; the first storage space and the second storage space are different storage spaces.

[0020] In this way, it is possible to realize the automatic differentiation of the ball screw pairs with unqualified quality inspection results and the ball screw pairs with qualified quality inspection results, and improve the processing efficiency of the ball screw pairs.

[0021] According to a second aspect of the embodiments of the present application, there is provided a ball screw pair friction torque measurement data processing system, including: a processor and a memory, the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the steps of the ball screw pair friction torque measurement data processing method provided in the first aspect of the present application are realized.

[0022] The technical solutions provided by the embodiments of the present application may include the following beneficial effects: obtaining a friction torque sequence when performing a friction torque test on a ball screw pair, and obtaining a working audio sequence of the ball screw pair during the test. Since the product of the fluctuation degree value and the credibility value obtained by considering the friction torque and the working audio during the friction torque test can better reflect the abnormality of the friction torque at the target test moment, the target truncation distance can be adaptively determined; when performing density peak clustering on the friction torque sequence using the target truncation distances corresponding to different target test moments, a more accurate clustering result can be obtained, and thus a more accurate quality inspection result for the ball screw pair can be obtained according to the clustering result.

[0023] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Brief Description of the Drawings

[0024] Figure 1 is a flowchart of a ball screw pair friction torque measurement data processing method shown according to an exemplary embodiment;

[0025] Figure 2 is a schematic structural diagram of a ball screw pair friction torque measurement data processing system shown according to an exemplary embodiment. Detailed Embodiments

[0026] First, a brief introduction to the application scenario of the embodiments of the present application is given. In the application scenario of the present application, when there are defects in the components of the ball screw pair or the lubrication performance is insufficient, the frictional torque of the ball screw pair will be abnormal. Therefore, it is necessary to process the test data of the frictional torque of the ball screw pair to determine whether there is an abnormality in the ball screw pair.

[0027] In view of the above technical problems, the embodiments of the present application provide a method and a system for processing measurement data of the frictional torque of a ball screw pair. Figure 1 It is a flowchart of a method for processing measurement data of the frictional torque of a ball screw pair shown according to an exemplary embodiment, as Figure 1 shown, and the method includes the following steps.

[0028] In step S101, a frictional torque sequence during the test of the frictional torque of the ball screw pair is obtained, and the fluctuation degree value of the frictional torque at the target test moment is determined according to the frictional torque sequence.

[0029] A driving component such as a motor can be used to drive the ball screw pair to move, and a frictional torque tester is used to test the frictional torque of the ball screw pair in the moving state, so as to obtain the frictional torque sequence during the test of the frictional torque of the ball screw pair.

[0030] When testing the frictional torque of the ball screw pair, the ball screw pair is usually driven to move according to a relatively stable driving force driving speed. Since the frictional torque of the ball screw pair can effectively reflect the working state of the ball screw pair, determining the fluctuation degree value of the frictional torque at the target test moment through the frictional torque sequence can determine whether there is an abnormality in the ball screw pair.

[0031] The target test moment can be any test moment among all test moments in the current test process of testing the frictional torque of the ball screw pair; determining the fluctuation degree value of the frictional torque at the target test moment by the frictional torque sequence can reflect the fluctuation degree of the frictional torque of the ball screw pair at least at the target test moment.

[0032] The larger the fluctuation degree value of the frictional torque determined by the frictional torque sequence at the target test moment, the higher the fluctuation degree of the frictional torque of the ball screw pair at the target test moment, and the lower the stability degree of the frictional torque of the ball screw pair at the target test moment.

[0033] On the contrary, the smaller the fluctuation degree value of the frictional torque determined by the frictional torque sequence at the target test moment, the lower the fluctuation degree of the frictional torque of the ball screw pair at the target test moment, and the higher the stability degree of the frictional torque of the ball screw pair at the target test moment.

[0034] In one embodiment, the fluctuation degree value of the frictional torque at the target test moment is determined in the following manner: , where S is the fluctuation degree value of the frictional torque at the target test moment; , and are the frictional torques of the ball screw pair at the t-th, (t - 1)-th, and (t + 1)-th test moments respectively. The target test moment is the t-th test moment, is to take the absolute value.

[0035] In the calculation formula of the fluctuation degree value, the units of the numerator and denominator in the fractions participating in the calculation are both frictional torque, so that the obtained fluctuation degree value can avoid the influence of dimensions.

[0036] The greater the difference in the frictional torque between the ball screw pair at the target test moment and the previous moment, or the greater the difference in the frictional torque between the ball screw pair at the target test moment and the next moment, the greater the fluctuation degree of the frictional torque of the ball screw pair at the target test moment. Therefore, the obtained fluctuation degree value can reflect the fluctuation degree of the frictional torque of the ball screw pair at least at the target test moment.

[0037] In this way, by comparing the frictional torque of the ball screw pair at the target test moment with the frictional torques at the previous moment and the next moment respectively, a more accurate fluctuation degree value of the ball screw pair at the target test moment can be obtained.

[0038] When the motor controls the ball screw pair to move according to a fixed torque or power, the greater the fluctuation degree of the frictional torque of the ball screw pair obtained from the frictional torque test at a certain test moment, the more likely there is an abnormality in the performance of the ball screw pair; on the contrary, if the fluctuation degree of the frictional torque of the ball screw pair obtained from the frictional torque test at a certain test moment is smaller, the less likely there is an abnormality in the performance of the ball screw pair. Therefore, by determining the fluctuation degree value of the ball screw pair at the target test moment, data support can be provided for the test result of the ball screw pair.

[0039] In step S102, obtain the working audio sequence of the ball screw pair during the test, and determine the credibility value at the target test moment according to the working audio sequence.

[0040] When testing the frictional torque of the ball screw pair, an audio acquisition device can be used to obtain the working audio of the ball screw pair during the frictional torque test; if there is an abnormal noise during the frictional torque test of the ball screw pair, it can be reflected in the volume of the working audio obtained by the audio acquisition device.

[0041] By obtaining the working audio sequence of the ball screw pair during testing, compared with monitoring only through the friction torque obtained by the friction torque tester, since the performance of the ball screw pair during the test is additionally considered, it is possible to more objectively monitor the performance of the ball screw pair during the test.

[0042] The credibility value is used to characterize the difference in the degree of change of the working audio between the target time period where the target test time is located and the historical time period. The credibility value of the ball screw pair at the target test time can reflect the probability that the friction torque of the ball screw pair actually fluctuates at the target test time, and can more accurately determine whether there is an abnormality in the ball screw pair.

[0043] In one embodiment, the credibility value of the target test time is determined in the following manner: , where Q is the credibility value of the target test time, norm is the normalization processing function, is the degree of change value of the working audio within the time period where the target test time is located, is the degree of change value of the working audio at other times except the target test time; the degree of change value is used to characterize the degree of change of the working audio within the time period; and are the volumes of the working audio at the t-th and (t - 1)-th test times in sequence, and the target test time is the t-th test time, is to take the absolute value.

[0044] The degree of change value of the working audio within the time period can be, for example, the variance or standard deviation of the working audio within the time period; the degree of change value of the working audio within the time period where the target test time is located can reflect the degree of change of the working audio within the time period where the target test time is located; the degree of change value of the working audio at other times except the target test time can reflect the general degree of change of the working audio of the ball screw pair.

[0045] For example, when testing the friction torque of the ball screw pair from 9:00:00 to 9:20:00, if the target test time is 9:10:00, the time period where the target test time is located can be the time period from 9:09:50 to 9:10:00; other times except the target test time can be within the two time periods of the time period from 9:00:00 to 9:09:50 and the time period from 9:09:50 to 9:20:00.

[0046] corresponding to the target test time and The greater the difference is, it indicates that the variation degree of the working audio of the ball screw pair in the time period where the target test moment is located deviates more from the general variation degree of the working audio of the ball screw pair during the friction torque test, and the greater the probability that there is an actual abnormality in the working audio of the ball screw pair at the target test moment.

[0047] Since the working audio of the ball screw pair during the friction torque test can reflect the situation of the ball screw pair, when the working audio indicates an abnormality during the friction torque test of the ball screw pair, the friction torque of the ball screw pair is more likely to be abnormal. Therefore, by comparing the variation degree value of the working audio in the time period where the target test moment is located with the variation degree value of the working audio at other moments except the target test moment, it is possible to more accurately determine whether there is an abnormality in the friction torque of the ball screw pair at the target test moment.

[0048] In the embodiments of the present application The value can be greater than or equal to 1; for example, the originally obtained can be normalized, and the normalization result is multiplied by a preset positive integer so that the product of the normalization result and the preset positive integer is greater than or equal to 1.

[0049] In the calculation formula of the credibility value, when the volume of the working audio of the ball screw pair at the current test moment is greater than the volume of the working audio of the ball screw pair at the previous moment of the current test moment, it indicates that the volume of the working audio of the ball screw pair increases at the current test moment, the friction torque of the ball screw pair is more abnormal at the current test moment, or the friction torque of the ball screw pair may change from normal to abnormal at the current test moment.

[0050] When the volume of the working audio of the ball screw pair increases at the current test moment the value of is greater than 1, and a larger credibility value can be determined. The obtained credibility value can characterize that the friction torque of the ball screw pair is more likely to be abnormal at the target test moment.

[0051] The normalization processing function norm is used to normalize the variable to be normalized to the range of 0 to 1. For example, the normalization processing function can be min-max standardization, logarithmic transformation, arctangent function, and Sigmoid function, etc.

[0052] In this way, by considering the difference between the variation degree value of the audio of the working audio of the ball screw pair at the target test moment and the variation degree value of the working audio in other time periods, the credibility value can better characterize the abnormality in the working audio of the ball screw pair.

[0053] In step S103, the product of the fluctuation degree value and the credibility value is used to determine the target truncation distance corresponding to the target test moment; the density peak clustering is performed on the friction torque sequence by using the target truncation distances corresponding to different target test moments to obtain multiple clustering clusters.

[0054] When testing the friction torque of a ball screw pair, the fluctuation degree value determined according to the friction torque of the ball screw pair and the credibility value determined according to the working audio of the ball screw pair can respectively evaluate the test performance of the friction torque of the ball screw pair from two dimensions of the friction torque and the working audio. The product of the fluctuation degree value and the credibility value can combine the performance of the ball screw pair in terms of friction torque and working audio.

[0055] In order to determine the moment when there is an abnormality in the test performance during the entire test process of the ball screw pair, density peak clustering can be performed on the friction torque of the ball screw pair at different moments during the test process. The density peak clustering algorithm is a density-based clustering algorithm. In the density peak clustering algorithm, the truncation distance is used to determine the local density of the data points participating in the clustering.

[0056] When determining the local density of the target data point among the multiple data points participating in the clustering, the larger the truncation distance, the wider the range of data points that can be selected for the target data point, and it is more likely to determine a smaller local density for the target data point, so it is more likely to determine the target data point as a data point without abnormality.

[0057] On the contrary, when determining the local density of the target data point among the multiple data points participating in the clustering, the smaller the truncation distance, the smaller the range of data points that can be selected for the target data point, and it is more likely to determine a larger local density for the target data point, so it is more likely to determine the target data point as a data point with abnormality.

[0058] The larger the product of the fluctuation degree value and the credibility value of the ball screw pair at the target test moment, the more abnormal the friction torque performance of the ball screw pair at the target test moment. A smaller target truncation distance can be determined for the target test moment, so that the test moment with a higher probability or degree of abnormality can be determined as an abnormal friction torque after performing density peak clustering on the friction torque of all test moments.

[0059] The fluctuation degree value of the friction torque at the target test moment is determined according to the performance of the friction torque in the local time window at the target test moment; the credibility value of the target test moment is determined according to the performance of the working audio of the ball screw pair in the local time window at the target test moment; performing density peak clustering on the friction torque sequence can evaluate the test performance of the ball screw pair at the target test moment during the entire test process.

[0060] In one embodiment, determining a target truncation distance corresponding to a target test moment by using the product of a fluctuation degree value and a credibility value includes: taking the product of the fluctuation degree value and the credibility value as a target product, and taking the difference between 1 and the target product as an adjustment coefficient for the target test moment; the fluctuation degree value and the credibility value are normalized; multiplying the adjustment coefficient by a preset target truncation distance to obtain the target truncation distance corresponding to the target test moment.

[0061] The fluctuation degree value and the credibility value are normalized, and the values of the fluctuation degree value and the credibility value are both in the range of 0 to 1, which is convenient for comparing and operating between parameters. Taking the difference between 1 and the target product as the adjustment coefficient for the target test moment can determine a larger adjustment coefficient for a target test moment with a smaller fluctuation degree value or credibility value.

[0062] Since the fluctuation degree value or the credibility value can reflect the probability that the test performance of the ball screw pair is abnormal at the target test moment, determining a larger adjustment coefficient for a target test moment with a smaller fluctuation degree value or credibility value, and thus determining a larger target truncation distance, can avoid determining a test moment without abnormality as an abnormal moment in the subsequent comparison process of the entire test process.

[0063] In this way, since the adjustment coefficient is negatively correlated with the fluctuation degree value or the credibility value, multiplying the adjustment coefficient by the preset target truncation distance to obtain the target truncation distance corresponding to the target test moment can determine a smaller target truncation distance for a test moment more likely to be abnormal, so as to determine an abnormal test moment as an abnormal moment in the subsequent clustering process of the entire process.

[0064] In step S104, taking the clustering cluster with the largest number of data points included as a reference clustering cluster, comparing the frictional torque of the data points in the reference clustering cluster with the frictional torque of the data points in other clustering clusters except the reference clustering cluster to obtain a quality detection result of the ball screw pair.

[0065] When testing the frictional torque of the ball screw pair, the performance of the frictional torque of the ball screw pair is more consistent under normal conditions; after performing density peak clustering on the frictional torque sequence, the clustering cluster with the largest number of data points included can be more matched with the performance of the ball screw pair under normal conditions.

[0066] When the performance of the ball screw pair is abnormal during the frictional torque test, the frictional torque of the ball screw pair may fluctuate more greatly or more frequently at all moments. Since the reference clustering cluster is the clustering cluster with the largest number of data points included, the difference between other clustering clusters except the reference clustering cluster and the reference clustering cluster may be more obvious.

[0067] When there is no abnormality in the performance of the ball screw pair during the friction torque test, the consistency of the friction torque of the ball screw pair at all times is higher. During the entire test process, there may be only a small amount (e.g., 3% of the duration ratio) of abnormality in the friction torque of the ball screw pair. Since the reference clustering cluster is the clustering cluster with the largest number of included data points, the reference clustering cluster may correspond to the normal performance of the ball screw pair during the entire test process.

[0068] It can be seen that whether there is an abnormality in the performance of the ball screw pair during the friction torque test, or whether there is no abnormality in the performance of the ball screw pair during the friction torque test, taking the clustering cluster with the largest number of included data points as the reference clustering cluster, the reference clustering cluster can provide a good reference for the entire test process of the ball screw pair.

[0069] In one embodiment, the quality inspection result of the ball screw pair is determined in the following manner: determining the quality evaluation value of the friction torque test of the ball screw pair in the current test process; the quality evaluation value is used to characterize the degree of consistency in friction torque between the data points of the reference clustering cluster and the data points in other clustering clusters except the reference clustering cluster; according to the quality evaluation value, determining whether the quality inspection result of the ball screw pair is qualified or unqualified.

[0070] The function of the ball screw pair is to convert rotational motion into linear reciprocating motion. The friction torque of the ball screw pair can directly affect the motion accuracy, efficiency, and life of the ball screw pair. If the degree of consistency in friction torque between the data points of the reference clustering cluster and the data points in other clustering clusters is large, it indicates that the stability of the friction torque of the ball screw pair during the test is good, and the cooperation between different components of the ball screw pair may be in a normal state.

[0071] In this way, according to the degree of difference in friction torque between the data points of the reference clustering cluster and the data points in other clustering clusters, it can be determined whether the quality inspection result of the ball screw pair is qualified or unqualified, so as to process the ball screw pair with an unqualified quality inspection result.

[0072] The obtained quality evaluation value can characterize the probability that the quality inspection result of the ball screw pair is qualified. When the quality evaluation value is greater than or equal to the preset threshold, it can be determined that the quality inspection result of the ball screw pair is qualified; or, when the quality evaluation value is less than the preset threshold, it can be determined that the quality inspection result of the ball screw pair is unqualified.

[0073] Among them, the preset threshold can be set according to actual needs. For example, the preset threshold can be between 0.7 and 0.8.

[0074] In one embodiment, the quality evaluation value is determined as follows: , where P is the quality evaluation value of the ball screw pair during the current test process, is the exponential function with the natural constant as the base, n is the number of clustering clusters, is the average value of the friction torque of the data points in the a-th other clustering cluster except the reference clustering cluster, is the average value of the friction torque of the data points in the reference clustering cluster.

[0075] Since the reference clustering cluster can provide a reference for the performance of the friction torque of the ball screw pair, and the density peak clustering of the friction torque at all test moments during the test process is carried out according to the target truncation distance corresponding to different test moments; the target truncation distance is determined according to the fluctuation situation of the friction torque of the ball screw pair and the working audio situation, therefore, the density peak clustering of all test moments during the test process can consider the fluctuation situation of the friction torque and the working audio situation.

[0076] Since the density peak clustering of all test moments during the test process can consider the fluctuation situation of the friction torque and the working audio situation, when performing density peak clustering on the friction torque of all test moments, the clustering of test moments with the same or similar performance in terms of the fluctuation situation of the friction torque and the working audio situation is realized. Therefore, the data points of multiple test moments with the same or similar fluctuation situation of the friction torque and the working audio situation are included in the same clustering cluster.

[0077] The average value of the friction torque of the data points in the clustering cluster can reflect the situation of the friction torque of the data points in the clustering cluster as a whole. Therefore, comparing the average value of the friction torque of the data points in the clustering cluster with the average value of the friction torque of the data points in the reference clustering cluster can reflect the stability situation of the ball screw pair during the friction torque test process, thereby obtaining the test result of the ball screw pair.

[0078] The greater the difference between the average value of the friction torque of the data points in the other clustering clusters except the reference clustering cluster and the average value of the friction torque of the data points in the reference clustering cluster, the greater the difference in the performance of the friction torque between different other clustering clusters and the reference clustering cluster, and the more likely there is an abnormality in the ball screw pair during the current test process, and a smaller quality evaluation value can be determined.

[0079] In this way, the comparison between the reference clustering cluster and the other clustering clusters except the reference clustering cluster can be realized, so as to reflect the probability of abnormality of the ball screw pair during the current test process through the quality evaluation value.

[0080] In one embodiment, a first prompt message may also be output when the quality inspection result is qualified; the first prompt message is used to prompt that the quality inspection result of the ball screw pair is qualified.

[0081] Outputting the first prompt message when the quality inspection result is qualified can facilitate operations such as packaging of the ball screw pair with a qualified quality inspection result, and ensure that the ball screw pair with a qualified quality inspection result is put into use.

[0082] The first prompt message may be, for example, at least one of an audio prompt message, a light prompt message, a vibration prompt message, and a text prompt message; for example, an audio prompt message with the content "The quality inspection result of the current ball screw pair is qualified" may be output.

[0083] In one embodiment, a second prompt message may also be output when the quality inspection result is unqualified; the second prompt message is used to prompt that the quality inspection result of the ball screw pair is unqualified.

[0084] Outputting the second prompt message when the quality inspection result is unqualified can facilitate the user's handling of the ball screw pair with an unqualified quality inspection result, and avoid the ball screw pair with an unqualified quality inspection result from being put into use.

[0085] The second prompt message may be, for example, at least one of an audio prompt message, a light prompt message, a vibration prompt message, and a text prompt message; for example, an audio prompt message with the content "The quality inspection result of the current ball screw pair is unqualified" may be output.

[0086] In one embodiment, when the quality inspection result of the ball screw pair is qualified, the moving mechanism may be controlled to move the ball screw pair to the first storage space; when the quality inspection result of the ball screw pair is unqualified, the moving mechanism may be controlled to move the ball screw pair to the second storage space; the first storage space and the second storage space are different storage spaces.

[0087] The moving mechanism may be, for example, a robot equipped with a camera and a robotic arm. The robot can identify the position of the ball screw pair through the camera, go to the position where the ball screw pair is located, and move the position of the ball screw pair through the robotic arm.

[0088] The first storage space and the second storage space can be located on different sides of the ball screw pair respectively; or, the first storage space and the second storage space can correspond to different conveying devices respectively, and the different conveying devices lead to the positions where different processing devices are located; the processing device can implement the processing of the ball screw pair with unqualified quality inspection results, or the processing device can implement the packaging of the ball screw pair with qualified quality inspection results.

[0089] In this way, the ball screw pairs with different quality inspection results are moved to different storage spaces, realizing the automatic distinction of the ball screw pairs with different quality inspection results, reducing the labor intensity of personnel for distinction, and facilitating the processing of the ball screw pairs with unqualified quality inspection results.

[0090] Figure 2 It is a schematic structural diagram of a ball screw pair friction torque measurement data processing system 1000 shown according to an exemplary embodiment. Refer to Figure 2 , the ball screw pair friction torque measurement data processing system 1000 includes: a processor 1100 and a memory 1200. The memory 1200 stores computer program instructions, and when the computer program instructions are executed by the processor 1100, all or part of the steps of the ball screw pair friction torque measurement data processing method in the present application are implemented.

[0091] Those skilled in the art will readily think of other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and the embodiments are only regarded as exemplary.

[0092] It should be understood that the present application is not limited to the exact structure already described and shown in the drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A method for processing the measured data of the frictional torque of a ball screw pair, characterized in that, Including: Obtain the friction torque sequence during the test of the ball screw pair, and determine the fluctuation degree value S of the friction torque at the target test moment according to the friction torque sequence: , where , and are the frictional torques of the ball screw pair at the t-th, (t - 1)-th, and (t + 1)-th test moments respectively, and the target test moment is the t-th test moment, is to take the absolute value; Obtain the working audio sequence of the ball screw pair during the test, and determine the credibility value Q at the target test moment according to the working audio sequence: , where norm is a normalization function, is the degree of change value of the working audio within the time period where the target test moment is located, is the degree of change value of the working audio at other moments except the target test moment; the degree of change value is used to characterize the degree of change of the working audio within the time period; and are the volumes of the working audio at the t-th and (t - 1)-th test moments in sequence, and the target test moment is the t-th test moment; the credibility value is used to characterize the difference degree between the target time period where the target test moment is located and the historical time period in terms of the degree of change of the working audio; Use the product of the fluctuation degree value and the credibility value to determine the target truncation distance corresponding to the target test moment, including: Take the product of the fluctuation degree value and the credibility value as the target product, and take the difference between 1 and the target product as the adjustment coefficient at the target test moment; the fluctuation degree value and the credibility value are normalized; Multiply the adjustment coefficient by the preset target truncation distance to obtain the target truncation distance corresponding to the target test moment; Use the target truncation distances corresponding to different target test moments to perform density peak clustering on the friction torque sequence to obtain multiple clustering clusters; Take the clustering cluster with the largest number of data points included as the reference clustering cluster, and compare the friction torque of the data points in the reference clustering cluster with the friction torque of the data points in other clustering clusters except the reference clustering cluster to obtain the quality detection result of the ball screw pair.

2. The method for processing the measured data of the frictional torque of the ball screw pair according to claim 1, characterized in that The quality detection result of the ball screw pair is determined by the following method: Determine the quality evaluation value of the test process for measuring the friction torque of the ball screw pair; the quality evaluation value is used to characterize the degree of consistency of the data points in the reference clustering cluster with the data points in other clustering clusters except the reference clustering cluster in terms of friction torque; Determine whether the quality detection result of the ball screw pair is qualified or unqualified according to the quality evaluation value.

3. The method for processing the measured friction torque data of the ball screw pair according to claim 2, wherein, The quality evaluation value is determined by the following method: , where P is the quality evaluation value of the ball screw pair during the current test process, is the exponential function with the natural constant as the base, n is the number of clustering clusters, is the average value of the friction torque of the data points in the a-th other clustering cluster except the reference clustering cluster, is the average value of the friction torque of the data points in the reference clustering cluster.

4. The method for processing the measurement data of the frictional torque of the ball screw pair according to claim 2, wherein, The method further includes: When the quality detection result is qualified, output a first prompt message; the first prompt message is used to prompt that the quality detection result of the ball screw pair is qualified.

5. The method for processing the measured friction torque data of the ball screw pair according to claim 2, wherein The method further includes: When the quality detection result is unqualified, output a second prompt message; the second prompt message is used to prompt that the quality detection result of the ball screw pair is unqualified.

6. The method for processing the measured friction torque data of the ball screw pair according to claim 1, wherein The method further includes: When the quality detection result of the ball screw pair is qualified, control the moving mechanism to move the ball screw pair to the first storage space; When the quality detection result of the ball screw pair is unqualified, control the moving mechanism to move the ball screw pair to the second storage space; the first storage space and the second storage space are different storage spaces.

7. A friction torque measurement data processing system for a ball screw pair, characterized in that, Including: A processor and a memory, the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the method for processing the friction torque measurement data of the ball screw pair according to any one of claims 1-6 is implemented.

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