Harmonic speed reducer service life and fault monitoring method and device and storage medium

Abstract

The invention discloses a harmonic speed reducer service life and fault monitoring method, electronic equipment and a storage medium, and aims to construct a service life degradation function to realize service life prediction and perform fault early warning by analyzing transmission errors, torque pulsation coefficients, spectral characteristics, transmission efficiency, speed reducer return difference, operating temperature and other service life degradation related parameters. Compared with a traditional single parameter monitoring method, the method has the advantages that the health state of the speed reducer can be evaluated more comprehensively and accurately, accuracy is high, real-time performance is high, reliability is high, lightweight algorithm design can be achieved, computing resource consumption is greatly reduced, and the method can be efficiently operated on resource-limited equipment.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a method for monitoring the lifespan and faults of a harmonic reducer. Technical Background

[0002] Harmonic reducers are widely used in robot joints, playing a crucial role in industrial robots, service robots, and other fields due to their high reduction ratio, compact structure, and high precision. However, harmonic reducers are susceptible to wear, fatigue, and malfunctions during long-term operation, leading to decreased transmission accuracy, reduced efficiency, and even failure. Existing monitoring methods typically rely on a single parameter. [1] Vibration or temperature, for example, cannot fully reflect the deterioration state of the reducer, and cannot predict its lifespan and failures in advance.

[0003] Some monitoring methods are based on complex models. [2][3] While theoretically they can provide more comprehensive analysis, practical applications are often limited by model accuracy, computational resources, and complex on-site conditions. These models typically require extensive prior knowledge and precise system parameters for construction; however, in real-world robotic applications, the conditions are complex and variable, making it difficult to obtain completely accurate system parameters, which significantly reduces the accuracy of these models. Furthermore, complex model calculations often require powerful computing resources, making real-time monitoring and analysis difficult to achieve in resource-constrained robotic devices.

[0004] In addition, some testing methods rely on high-precision testing platforms. [4] It requires disassembling the reducer and testing it independently, making it difficult to make real-time and effective lifespan estimates for complex devices such as robot joints.

[0005] With the widespread application of robots in industry, medicine, and service sectors, higher demands are being placed on their reliability and stability. Therefore, developing a lightweight calculation method capable of more accurately and comprehensively monitoring the lifespan and faults of harmonic reducers is urgently needed. This will not only help improve robot efficiency and reliability and reduce maintenance costs, but also provide strong support for the intelligent development of robots, possessing significant practical importance and market value.

[0006] [1] Liang Yanxue (2013.06.26) Simulation device for estimating the life of robot reducer (Chinese Patent No.: CN103176410A). State Intellectual Property Office. [2] Xu Jing, Li Zemin, Li Baijun. (2024.06.25) A method and system for fault diagnosis of speed reducer based on machine learning (Chinese Patent No.: CN118245808A). State Intellectual Property Office. [3] Xiang Jiawei; Wang Hui; Zheng Junkang; Shi Yizhu (2023.02.07) A method and system for predicting the remaining life and monitoring the condition of a harmonic reducer (Chinese Patent No.: CN115700561A). State Intellectual Property Office. [4] Qian Wanyong; Xiao Ping; Xiao Yunqiang; Huang Tingliang (2019.04.23) Life testing fixture and life testing method for harmonic reducers (Chinese Patent No.: CN109668730A). State Intellectual Property Office. Summary of the Invention

[0007] To overcome the shortcomings of existing technologies, this invention provides a life and fault monitoring scheme for harmonic reducers. By analyzing multiple parameters such as transmission error, torque transmission pulsation, spectral characteristics, transmission efficiency, hysteresis, and operating temperature, a life degradation function is constructed to predict life and provide fault warnings. This method can tailor calculation terms according to actual conditions, making it particularly suitable for systems with limited computing resources, such as embedded platforms.

[0008] To achieve the above-mentioned objectives, this application provides a method for monitoring the lifespan and faults of a harmonic reducer, characterized by the following steps: (a) Data collection, including: motor input position, reducer output position, motor output torque, reducer output torque, and motor operating temperature; (ii) Calculate relevant parameters of service life degradation based on the collected data, including: transmission error. Torque pulsation coefficient Transmission efficiency Gearbox hysteresis Reference temperature and spectrum-related degradation items ; (iii) Calculate the life degradation function F of the reducer. When the value of the life degradation function F exceeds the set threshold, issue a life degradation warning.

[0009] in, This is the proportionality coefficient. To assess the overall degree of degradation, >1;

[0010] in, ~ The weights for each parameter are respectively

[0011] (iv) Conduct gearbox fault monitoring: Data from equipment with special faults is collected and analyzed to extract key parameters and trends that characterize the fault. By comparing and summarizing data from multiple equipment with the same type of special faults, a judgment trend for the occurrence of a fault is defined, and fault judgment indicators and thresholds are set. When the parameters detected during the operation of the reducer meet the judgment indicators and thresholds, the corresponding special fault is judged to have occurred.

[0012] To achieve the above-mentioned objectives, this application also provides a computer-readable storage medium storing at least one program that can be executed by at least one processor. The program, when executed by the at least one processor, implements the steps of the harmonic reducer life and fault monitoring method.

[0013] To achieve the above-mentioned objectives, this application also provides an electronic device, including a processor and a memory, wherein the memory stores a program that can run on the processor, characterized in that: when the program is executed by the processor, it implements the steps of the harmonic reducer life and fault monitoring method.

[0014] This invention provides a method for monitoring the lifespan and faults of harmonic reducers. By analyzing multiple parameters such as transmission error, torque transmission pulsation, spectral characteristics, transmission efficiency, hysteresis, and operating temperature, a comprehensive degradation function is constructed to achieve lifespan prediction and fault early warning. This method can tailor the calculation terms according to actual conditions, making it particularly suitable for systems with limited computing resources, such as embedded platforms.

[0015] Compared with the prior art, this application has the following beneficial effects: High accuracy: This invention comprehensively considers multiple key factors of the harmonic reducer, including transmission error, torque pulsation, transmission efficiency, hysteresis, and operating temperature. Compared with traditional single-parameter monitoring methods, it can more comprehensively and accurately assess the health status of the reducer. Through in-depth analysis and quantitative calculation of these factors, it can promptly detect minute wear and potential faults in the internal components of the reducer, greatly improving the accuracy of fault diagnosis. In transmission error analysis, precise measurement of the motor input angle and reducer output angle, combined with the reduction ratio to calculate the transmission error, can accurately reflect changes in the reducer's transmission performance. In torque pulsation analysis, through fine processing of torque sensor data, it can capture subtle changes in torque fluctuations, thereby accurately judging the internal operating condition of the reducer.

[0016] High real-time performance: Relying on the encoder, current feedback device, and torque sensor in the robot joint hardware architecture, the method of this invention can collect the reducer's operating data in real time and analyze and calculate the data promptly through efficient data transmission and processing technology. Once an abnormality is detected in the reducer's operating parameters, the system can quickly issue an alarm, providing maintenance personnel with timely fault warnings. Compared with traditional periodic inspection methods, this significantly shortens the fault detection time, helping to take timely measures and prevent further escalation of the fault. In robots on industrial production lines, real-time monitoring of the harmonic reducer's status can stop robot operation immediately upon the occurrence of a fault, avoiding production interruptions and product quality problems caused by reducer failure.

[0017] High reliability: By establishing a life degradation function criterion and a special fault judgment trend, the method of this invention exhibits good reliability. These criterions and trends are based on a large amount of experimental data and practical operating experience, and have undergone rigorous verification and optimization, enabling accurate judgment of the reducer's life and fault conditions. In long-term practical applications, the method of this invention can operate stably, providing strong support for the reliable operation of robot joints.

[0018] Lightweight: With controllable loss of precision, it significantly reduces the consumption of computing resources and can run efficiently on resource-constrained devices. Attached Figure Description

[0019] Figure 1 This is a basic hardware framework diagram for implementing the harmonic reducer life and fault monitoring method of this application; Figure 2 This is a flowchart of the method for monitoring the lifespan and faults of the harmonic reducer in this application. Detailed Implementation

[0020] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0021] Example 1 This embodiment provides a method for monitoring the lifespan and faults of a harmonic reducer, applicable to robot joints containing harmonic reducers, as shown in the attached figure. Figure 1 As shown, its hardware foundation includes: 1. Motor-side encoder / Output-side encoder Two encoders are installed at the input and output ends of the reducer, respectively, and are responsible for accurately measuring the joint motion state. The encoder closer to the motor input end is closely connected to the motor rotor and is used to capture the position information of the motor rotor in real time, thereby obtaining the motor's rotation angle and speed data. The encoder connected to the joint output end focuses on measuring the joint output angle. By accurately measuring the joint output angle, it provides crucial basic data for subsequent transmission error analysis.

[0022] 2. Servo motor / driver Servo motors serve as the power source for robot joints, outputting torque to drive the reducer. The driver can calculate the actual output torque value of the motor in real time based on the feedback current, for data analysis.

[0023] 3. Torque sensor The torque sensor is installed at the end of the robot joint to directly measure the torque output by the joint during operation. It can capture the torque changes experienced by the joint in real time under various working conditions, accurately feeding back torque data whether the joint is moving at a constant speed, accelerating, or subjected to external impact.

[0024] 4. Temperature sensor Temperature sensors can acquire joint temperature information in real time. Based on temperature changes, the heat generated by the joint can be measured, which can be used to analyze the overall operating status of the equipment.

[0025] The method for monitoring the lifespan and faults of the harmonic reducer in this embodiment is as follows: Figure 2 As shown, it includes the following steps: (a) Data collection, including: 1. Acquire motor input position via encoder on the input side of the reducer. ; 2. The output position of the reducer is acquired by the encoder on the output side of the reducer. ; 3. Calculate the motor output torque based on the motor current feedback. (i.e., the input torque of the reducer); 4. Collect the output torque of the reducer through an end torque sensor. ; 5. Collect motor operating temperature using a temperature sensor. .

[0026] During the data acquisition phase, two encoders periodically sample the motor rotor position and joint output angles at a specific sampling frequency. The selection of the sampling frequency requires comprehensive consideration of the robot's motion characteristics and monitoring accuracy requirements. Generally, a higher sampling frequency can acquire more detailed motion information, but it also increases the data processing burden. The encoders convert the acquired angle information into digital signals, which accurately reflect the positional states of the motor and joints at different times.

[0027] Motors with current feedback continuously monitor the motor current and transmit the current signal to the data acquisition module in real time. The current signal is typically an analog signal, and it requires appropriate conditioning and conversion during transmission to ensure its accuracy and stability. The conditioning process includes filtering and amplification to remove noise interference and adjust the signal amplitude to a range suitable for the acquisition module's processing.

[0028] The end-effector torque sensor also acquires joint output torque data at a specific frequency and converts it into a corresponding electrical signal output. Similar to the current signal, the torque sensor output signal also needs to be conditioned and converted to meet the data acquisition requirements. In some high-precision monitoring systems, the torque signal may also be calibrated and compensated to improve measurement accuracy.

[0029] In this embodiment, the data sampling frequency is more than twice the characteristic frequency of the harmonic reducer to ensure signal integrity.

[0030] This embodiment employs a lightweight algorithm design, where the collected data is processed and calculated in real-time within an embedded software layer, eliminating the burden of data transmission via a bus. The controller or host computer can read the lifespan and fault prediction results in real time, facilitating downtime maintenance decisions.

[0031] (ii) Based on the collected data above, calculate the following degradation-related parameters: 1. Transmission error

[0032] Transmission error refers to the difference between the actual angular displacement of the output shaft and the theoretical angular displacement of the reducer. Ideally, when the input shaft rotates by a certain angle, the output shaft should rotate by the corresponding angle exactly according to the reduction ratio. Any deviation constitutes transmission error. For reducers in use, increased error often indicates gear pitting, wear, or bearing damage, directly reflecting the reducer's operating condition. Transmission error also varies under different load and speed conditions.

[0033] Transmission error Defined as the output position divided by the input position by the reduction ratio. The difference:

[0034] 2. Torque ripple coefficient

[0035] Under constant load and operating conditions, the pulsation of torque at the output end of the reducer reflects the operating status of the reducer, can reflect whether the force is uniform at various angles, and can indirectly reflect the life of the reducer.

[0036] The torque ripple coefficient is defined as the ratio of the standard deviation of torque to its mean over a period of time.

[0037] in, The standard deviation of the reducer's output torque. This represents the average output torque of the speed reducer.

[0038] 3. Torque transmission efficiency

[0039] Transmission efficiency is an important indicator of a speed reducer's energy conversion capability. As the speed reducer is used and wears down, its transmission efficiency gradually decreases. When the transmission efficiency drops to a certain level, it indicates increased internal friction and accelerated wear of components, which may affect the robot's working efficiency and energy consumption.

[0040]

[0041] 4. Gearbox hysteresis

[0042] When the speed reducer is running in alternating forward and reverse directions, the maximum positional deviation is the current hysteresis of the speed reducer. Hysteresis reflects the displacement deviation caused by wear.

[0043]

[0044] in, Transmission error over a certain period of time A set of.

[0045] 5. Motor end speed This is used to calculate the spectrum of transmission error in subsequent calculations.

[0046]

[0047] 6. Joint end rotation speed The spectrum used for subsequent calculation of transmission error is defined as follows: The change over a time period t:

[0048] in, For a period of time The change For a period of time The change in t represents the corresponding time period.

[0049] 7. Spectrum of transmission error ,

[0050] The transmission error spectrum of a harmonic reducer has unique characteristics. Its transmission error is affected by the number of teeth and the motion of the flexspline. During rotation, it will generate spectral components that are twice the speed frequency and twice the speed * number of teeth frequency, following the speed frequency.

[0051] The amplitude is twice the frequency of the reducer. It is twice the frequency amplitude of the reducer's rotational frequency multiplied by the number of teeth.

[0052] when and The unit is revolutions per second (RPM). )hour,

[0053]

[0054] Therefore, the degradation term related to the spectrum can be defined as:

[0055] in, and These represent the amplitudes of the rotational frequency (2 times the frequency) and the number of teeth (2 times the frequency) of the reducer under the same operating conditions, respectively. and These are weighting coefficients, determined through experiments or data analysis based on actual conditions, used to reflect the status information of different faults.

[0056] 8. Reference Temperature

[0057] The operating temperature of a harmonic reducer is primarily related to the magnitude of the applied force. Furthermore, the heat generated by the motor is proportional to its output torque and is also conducted to the reducer side, eventually reaching a stable temperature. Therefore, the reference temperature considering torque is as follows:

[0058] in, Motor operating temperature This represents the average output torque of the motor over a given period of time.

[0059] (III) Constructing the degradation function of the harmonic reducer, including the following steps: 1. Normalize the obtained degradation-related parameters. Because different parameters have different dimensions and value ranges, direct calculation may result in some parameters having too large or too small an impact on the degradation function, failing to accurately reflect the overall degradation situation.

[0060] 2. Determine the weights of each parameter.

[0061] Based on the relative importance of each parameter to the degradation of the harmonic reducer, corresponding weights are assigned to parameters such as transmission error, torque ripple coefficient, torque transmission efficiency, hysteresis, and operating temperature. This weighting can be determined through various methods, including analysis of experimental data, expert judgment, and training of machine learning algorithms. For example, extensive experiments have shown that transmission error has a significant impact on reducer degradation and may be assigned a larger weight; while operating temperature, although it also affects degradation, has a relatively smaller impact compared to other factors and is therefore assigned a smaller weight.

[0062] 3. The overall degradation level is obtained by combining all parameters. The normalized parameters are multiplied by their corresponding weights and then summed, i.e.:

[0063] in, , , , , , These are the weights corresponding to each parameter.

[0064] 4. Using exponential functions (in and Based on this, the overall degradation level will be determined. As a power, construct the gearbox life degradation function. .in, This is a proportionality coefficient used to adjust the overall magnitude of the lifetime degradation function to make it more consistent with reality. The base of the exponential function is determined based on the actual application scenario and experience, and is generally taken in the range of greater than 1, so as to reflect the characteristic that the lifetime degradation function grows rapidly as the degree of degradation increases.

[0065] The harmonic reducer life degradation function constructed in this embodiment can quickly and accurately assess the health status of the harmonic reducer at different operating stages in real time, providing strong support for robot joint maintenance and fault early warning. When the value of the life degradation function F exceeds a preset threshold, the system can promptly issue a life degradation warning for the reducer, reminding maintenance personnel to inspect and maintain the harmonic reducer, avoiding robot downtime or other serious problems due to reducer failure, thereby improving the robot's reliability and stability and reducing maintenance costs.

[0066] (iv) Conduct gearbox fault monitoring: First, collect data on specific equipment failures. This primarily involves selecting representative failure cases from failure records at robot application sites and conducting simulated failure tests on the reducer in a laboratory environment. When collecting data, it is crucial to record detailed information such as the time, location, and operating conditions of the failure, and to collect various operating parameters of the reducer before and after the failure, such as transmission error, torque, vibration, and temperature. Important considerations include ensuring the timeliness of data collection, acquiring relevant data as soon as possible after a failure to avoid data loss or overwriting; and ensuring data accuracy by calibrating and verifying the data acquisition equipment to guarantee data reliability.

[0067] Defining the trend of fault diagnosis: In-depth analysis of collected data on special fault equipment is conducted to extract key parameters and trends that characterize the fault. For example, in the case of a flexspline breakage fault, a sudden and sharp increase in transmission error, significant torque fluctuations, and abnormal impacts may be observed. By comparing and summarizing data from multiple similar special fault cases, a fault diagnosis trend is defined. A series of fault diagnosis indicators and thresholds can be set. When the parameters detected during the operation of the reducer meet these indicators and thresholds, it can be determined that a corresponding special fault may have occurred. Simultaneously, machine learning algorithms are used to train a fault diagnosis model on a large amount of fault data, improving the accuracy and reliability of special fault diagnosis.

[0068] This embodiment provides the following two methods for identifying special faults: 1. Bearing failure When a bearing fails, the main manifestation is torque fluctuation at the output. Under the same input torque, the output will exhibit irregular vibrations at certain locations. This embodiment utilizes the bearing failure probability... The following expression is used for bearing fault monitoring: 2. Tooth surface damage Tooth surface damage is reflected during tooth meshing, thus exhibiting peak values ​​at specific frequencies of transmission error. This embodiment utilizes the probability of tooth surface failure. For tooth surface fault monitoring, the expression is as follows: ; in, , , , These are the coefficients for the corresponding items, which are adjusted according to the equipment.

[0069] Bearing failure probability Probability of tooth surface failure Output as a percentage.

[0070] The method for monitoring the lifespan and faults of harmonic reducers provided by this invention can be widely applied in fields such as industrial production and medical technology.

[0071] In the field of industrial robots, industrial robots are widely used in industries such as automobile manufacturing, electronic equipment manufacturing, and logistics warehousing. As a core component of the joints of industrial robots, the performance of the harmonic reducer directly affects the robot's working efficiency and stability. The method of this invention can monitor the lifespan and faults of the harmonic reducer in real time, promptly identifying potential problems. This helps companies to perform maintenance and replacement in advance, avoiding production stoppages caused by reducer failures, improving production efficiency, and reducing maintenance costs. On automobile manufacturing production lines, industrial robots need to complete various assembly tasks with high precision over long periods. Applying the method of this invention can ensure the reliable operation of the harmonic reducer, guaranteeing the quality and efficiency of automobile assembly.

[0072] In the field of medical robotics, medical robots are playing an increasingly important role in surgical treatment and rehabilitation care. In surgical robots, the precision and reliability requirements for harmonic reducers are extremely high; even the slightest malfunction can seriously affect the patient's life. The method of this invention can provide precise fault monitoring and early warning for medical robots, ensuring stable operation during surgery and improving the success rate and safety of the procedure. In rehabilitation robots, by monitoring the status of the harmonic reducer in real time, the robot's motion parameters can be adjusted promptly, providing patients with more precise and comfortable rehabilitation training.

[0073] Example 2 This embodiment provides a computer-readable storage medium storing at least one program that can be executed by at least one processor. When executed by the at least one processor, the at least one program implements the steps of the harmonic reducer life and fault monitoring method provided in the above embodiment.

[0074] The above programs can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server.

[0075] Example 3

[0076] This embodiment provides an electronic device, including a processor and a memory. The memory stores a program that can run on the processor. When the program is executed by the processor, it implements the steps of the harmonic reducer life and fault monitoring method provided in the above embodiment.

[0077] The aforementioned storage media include: USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, optical disks, and other media and combinations thereof capable of storing program code. With the development of science and technology, the meaning of storage media may become increasingly broad, extending beyond physical media.

[0078] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for monitoring the lifespan and faults of a harmonic reducer, characterized in that, Includes the following steps: (a) Data collection, including: motor input position, reducer output position, motor output torque, reducer output torque, and motor operating temperature; (ii) Calculate relevant parameters of service life degradation based on the collected data, including: transmission error. Torque pulsation coefficient Transmission efficiency Gearbox hysteresis Reference temperature and spectrum-related degradation items ; (iii) Calculate the life degradation function F of the reducer. When the value of the life degradation function F exceeds the set threshold, issue a life degradation warning. in, This is the proportionality coefficient. To assess the overall degree of degradation, >1; in, ~ These are the weights corresponding to each parameter; (iv) Conduct gearbox fault monitoring: Data from equipment with special faults is collected and analyzed to extract key parameters and trends that characterize the fault. By comparing and summarizing data from multiple equipment with the same type of special faults, a judgment trend for the occurrence of a fault is defined, and fault judgment indicators and thresholds are set. When the parameters detected during the operation of the reducer meet the judgment indicators and thresholds, the corresponding special fault is judged to have occurred.

2. The method for monitoring the lifespan and faults of a harmonic reducer as described in claim 1, characterized in that, Transmission error The definition is as follows: in, This is the output position of the speed reducer. For motor input position, This is the reduction ratio.

3. The method for monitoring the lifespan and faults of a harmonic reducer as described in claim 1, characterized in that, Torque ripple coefficient The definition is as follows: in, For the output torque of the reducer, The standard deviation of the reducer's output torque. This represents the average output torque of the speed reducer.

4. The method for monitoring the lifespan and faults of a harmonic reducer as described in claim 1, characterized in that, Torque transmission efficiency The definition is as follows: in, For the motor output torque, For the output torque of the reducer, This is the reduction ratio.

5. The method for monitoring the lifespan and faults of a harmonic reducer as described in claim 1, characterized in that, Gearbox hysteresis The definition is as follows: in For transmission error A set of.

6. The method for monitoring the lifespan and faults of a harmonic reducer as described in claim 1, characterized in that, Reference temperature The definition is as follows: in, Motor operating temperature This represents the average output torque of the motor.

7. The method for monitoring the lifespan and faults of a harmonic reducer as described in claim 1, characterized in that, The process of monitoring gearbox faults includes: Using bearing failure probability Perform bearing fault monitoring. When the probability of bearing failure exceeds a set threshold, a bearing failure is determined to have occurred. Utilizing the probability of tooth surface failure Perform tooth surface fault monitoring. When the probability of tooth surface failure exceeds a set threshold, a tooth surface failure is determined to have occurred. in, , , , These are the coefficients of the corresponding terms. The amplitude is twice the frequency of the reducer. It is twice the frequency amplitude of the reducer's rotational frequency multiplied by the number of teeth.

8. The method for monitoring the lifespan and faults of a harmonic reducer as described in claim 1, characterized in that, Degradation related to the spectrum The definition is as follows: in, The amplitude is twice the frequency of the reducer. The amplitude is twice the frequency of the reducer multiplied by the number of teeth. and These represent the amplitude of the speed reducer at twice the frequency and the amplitude of the number of teeth at twice the frequency, respectively, under the same operating conditions and normal operating status.

9. A computer-readable storage medium storing at least one program, the at least one program being executable by at least one processor, characterized in that: When the at least one program is executed by the at least one processor, it implements the steps of the harmonic reducer life and fault monitoring method according to any one of claims 1-8.

10. An electronic device comprising a processor and a memory, the memory storing a program executable on the processor, characterized in that: When the program is executed by the processor, it implements the steps of the harmonic reducer life and fault monitoring method according to any one of claims 1-8.

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