Harmonic reducer detection system, method and harmonic reducer device

Abstract

The application discloses a harmonic reducer detection system, a harmonic reducer detection method and a harmonic reducer device, and relates to the technical field of harmonic reducer detection, and aims to improve the detection reliability. The harmonic reducer detection system is used for detecting the performance parameters of a rigid wheel of a harmonic reducer, and comprises the following: a fiber strain measurement unit configured to emit an optical signal and receive and process a feedback sensing signal; a fiber grating strain sensing network connected with the fiber strain measurement unit, the fiber grating strain sensing network being fixed in a preset mounting groove on the circumference of the rigid wheel of the harmonic reducer, and being used for receiving the optical signal and feeding back a corresponding wavelength sensing signal; and the fiber strain measurement unit is configured to analyze and process the corresponding wavelength sensing signal and output the performance parameters of the rigid wheel of the harmonic reducer. According to the harmonic reducer detection system provided by the application, the flexible fiber grating strain sensing network is arranged on the rigid wheel of the harmonic reducer, and the detection reliability is improved, thereby providing a feasible technical approach for internal state sensing of a complex mechanical and electrical system.

Description

Technical Field

[0001] This invention belongs to the field of harmonic reducer performance testing technology, specifically relating to a harmonic reducer testing system, method, and device. Background Technology

[0002] High-end equipment systems or complex electromechanical systems usually need to operate reliably in harsh environments. Therefore, it is necessary to continuously improve their adaptability to extreme environments such as electromagnetic interference resistance, mechanical vibration resistance, high temperature resistance, and low temperature resistance to ensure that they can still operate stably under extreme conditions.

[0003] In high-end equipment systems, harmonic reducers are key components used to enable equipment operation. Harmonic reducers rely on wave generators to induce controllable elastic deformation in flexible gears, transmitting motion and power through the meshing of the flexible and rigid gears. Currently, to monitor the stability of high-end equipment systems, sensors are needed to detect the harmonic reducers during operation. The most commonly used sensor types are still electrical sensors, such as electromagnetic, capacitive, and piezoelectric sensors. However, these sensors suffer from drawbacks including susceptibility to electromagnetic interference, the use of numerous cables, decreased measurement accuracy due to mechanical vibration, poor transient response, high output impedance, poor load capacity, and significant parasitic capacitance.

[0004] Fiber Bragg grating (FBG) sensors utilize fiber optic gratings as the sensing element and transmission medium to extract the state of the measured signal in optical form and process the signal through photoelectric conversion technology. They offer advantages such as high sensitivity, resistance to electromagnetic interference, long-distance monitoring, fast measurement speed, suitability for harsh environments, and strong adaptability to geometric shapes, solving the problem of sensor instability currently encountered in equipment operation. Currently, FBG sensors are mostly deployed on flat, wide structural surfaces, such as aircraft wings and rocket bodies. Furthermore, due to their high sensitivity, FBG sensors are highly susceptible to interference during deployment; excessive bending can damage the sensor. Ensuring both safe deployment and data readability presents a challenge in the confined space of harmonic reducers. For example, Chinese invention patent application CN115452214A, "A Method for Measuring the Stress and Strain of a Harmonic Reducer Flexible Wheel," describes sensor placement on the flexible wheel, resulting in complex wiring arrangements. The high-speed rotation and deformation of the flexible wheel increase the sensor damage rate. Summary of the Invention

[0005] The purpose of this invention is to provide a harmonic reducer detection system, method, and device to solve the problems of existing harmonic reducer detection systems being difficult to install in limited spaces and having a high failure rate, as well as the problems of existing harmonic reducer detection systems being susceptible to electromagnetic interference, having low detection accuracy, and poor stability and sensitivity.

[0006] A first aspect of the present invention provides a harmonic reducer detection system for detecting the performance parameters of the rigid wheel of a harmonic reducer, comprising:

[0007] The fiber optic strain measurement unit is configured to transmit optical signals and receive and process feedback sensing signals.

[0008] A fiber optic strain sensing network is connected to the fiber optic strain measurement unit. The fiber optic strain sensing network is fixed in a pre-set mounting groove on the circumferential direction of the harmonic reducer wheel to receive the optical signal and feed back the corresponding wavelength sensing signal.

[0009] The fiber optic strain measurement unit analyzes and processes the corresponding wavelength sensing signal and outputs the performance parameters of the harmonic reducer wheel.

[0010] Furthermore, the fiber Bragg grating strain sensing network includes fiber Bragg grating temperature sensing modules and fiber Bragg grating strain sensing modules spaced apart along the axial direction of the rigid wheel of the harmonic reducer. The corresponding wavelength sensing signals include a first wavelength sensing signal and a second wavelength sensing signal. The fiber Bragg grating temperature sensing module includes:

[0011] A first transmission optical fiber and a plurality of fiber optic temperature sensors connected in series therewith, wherein the fiber optic temperature sensors are used to generate and feed back a first wavelength sensing signal based on temperature changes.

[0012] The fiber grating strain sensing module includes:

[0013] The second transmission fiber and a plurality of fiber optic strain sensors connected in series therewith, wherein the fiber optic strain sensors are used to generate and feed back a second wavelength sensing signal based on strain changes.

[0014] Furthermore, the fiber optic strain measurement unit is configured to: acquire real-time temperature data based on the first wavelength sensing signal, perform temperature compensation on the second wavelength sensing signal to obtain a compensated wavelength signal, calculate the strain value based on the compensated wavelength signal, and use the strain value as the performance parameter of the harmonic reducer wheel.

[0015] Further, the preset mounting groove includes a first mounting groove extending circumferentially along the rigid wheel, and the fiber optic temperature sensors are evenly distributed within the first mounting groove along the circumference of the rigid wheel; and / or,

[0016] The fiber Bragg grating temperature sensing module is fixedly encapsulated in the first mounting groove with silicone, and the silicone fills the assembly gap between the fiber Bragg grating temperature sensing module and the first mounting groove.

[0017] Further, the preset mounting groove includes a second mounting groove extending circumferentially along the rigid wheel and spaced axially from the first mounting groove on the rigid wheel; the fiber optic strain sensors are evenly distributed within the second mounting groove along the circumference of the rigid wheel; and / or,

[0018] The fiber optic strain sensor is fixed in the second mounting slot by induction welding or adhesive bonding.

[0019] A second aspect of the present invention provides a method for detecting harmonic reducers, using the detection system described in any of the above embodiments to detect the performance parameters of the rigid wheel of a harmonic reducer. The method includes the following steps:

[0020] The optical fiber strain measurement unit transmits an optical signal to the fiber grating strain sensing network.

[0021] Receive the first wavelength sensing signal fed back by the fiber grating temperature sensing module and the second wavelength sensing signal fed back by the fiber grating strain sensing module;

[0022] Real-time temperature data is acquired based on the first wavelength sensing signal, temperature compensation is performed on the second wavelength sensing signal to obtain a compensated wavelength signal, and strain value is calculated based on the compensated wavelength signal. The strain value is used as the performance parameter of the rigid wheel of the harmonic reducer.

[0023] A second aspect of the present invention provides a harmonic reducer device, comprising:

[0024] The harmonic reducer body includes a rigid wheel. One side of the rigid wheel is provided with a first boss and a second boss that extend circumferentially and are spaced apart along the axial direction of the rigid wheel. The outer peripheral side of the first boss is provided with a first mounting groove that extends circumferentially along the rigid wheel, and the outer peripheral side of the second boss is provided with a second mounting groove that extends circumferentially along the rigid wheel.

[0025] In any of the above embodiments of the harmonic reducer detection system, the fiber optic strain sensing network of the detection system is fixed in the first mounting slot and the second mounting slot respectively.

[0026] Furthermore, the harmonic reducer body also includes:

[0027] The flexible wheel meshes with the rigid wheel, and the first boss and the second boss are both located on the side of the rigid wheel facing the flexible wheel.

[0028] Furthermore, the fiber Bragg grating strain sensing network includes a fiber Bragg grating temperature sensing module and a fiber Bragg grating strain sensing module, and the harmonic reducer device further includes:

[0029] The first housing is covered on the first mounting groove. The first housing is provided with a first lead outlet so that the transmission optical fiber of the fiber optic temperature sensing module can pass through and be connected to the signal of the fiber optic strain measurement unit.

[0030] The second housing is fitted onto the second mounting slot. The second housing has a second lead outlet for the transmission optical fiber of the fiber optic strain sensing module to pass through and connect to the fiber optic strain measurement unit for signal connection.

[0031] Furthermore, the outer surface of the transmission optical fiber located at the first lead outlet and the second lead outlet is covered with a PTFE protective bundle.

[0032] By deploying a flexible fiber optic strain sensor network on the rigid wheel of a harmonic reducer, the harmonic reducer detection system can detect the performance parameters of the rigid wheel. This enables reliable installation and long-term stable performance testing of the harmonic reducer in confined spaces, while ensuring signal transmission quality and data readability. This provides a feasible technical approach for internal state perception of complex electromechanical systems. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of a harmonic reducer detection system according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram illustrating the working principle of a harmonic reducer detection system according to an embodiment of the present invention.

[0035] Figure 3 This is a schematic diagram of the arrangement of the rigid wheel and fiber optic strain sensor network in a harmonic reducer according to an embodiment of the present invention.

[0036] Figure 4 This is another structural schematic diagram of the arrangement of the rigid wheel and fiber optic strain sensing network of the harmonic reducer according to an embodiment of the present invention.

[0037] Figure 5 This is a flowchart of a harmonic reducer detection method according to an embodiment of the present invention;

[0038] Figure 6 A graph showing data measured by a harmonic reducer detection system according to an embodiment of the present invention.

[0039] Figure Labels

[0040] Harmonic reducer detection system 100;

[0041] Fiber optic strain measurement unit 110; tunable laser 111; optical parallel transmission module 112; photoelectric array detector 113; data processing platform 114;

[0042] Fiber Bragg grating strain sensing network 120; fiber Bragg grating temperature sensing module 121; first transmission fiber 1211; fiber Bragg grating temperature sensor 1212; fiber Bragg grating strain sensing module 122; second transmission fiber 1221; fiber Bragg grating strain sensor 1222.

[0043] 200mm steel wheel;

[0044] First boss 210; First mounting groove 211;

[0045] First outer casing 300; First lead outlet 310;

[0046] Second housing 400; second lead outlet 410. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] The terms "first," "second," etc., used in the specification and claims of this invention are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0049] The following is combined Figures 1 to 6 The harmonic reducer detection system 100 provided in the first aspect of the present invention will be further described through specific embodiments and application scenarios. The harmonic reducer detection system 100 is used to detect the performance parameters of the harmonic reducer wheel 200, such as... Figure 1 and Figure 2 As shown, the harmonic reducer detection system 100 mainly includes an optical fiber strain measurement unit 110 and a fiber optic strain sensing network 120.

[0050] The fiber optic strain measurement unit 110 is configured to transmit optical signals and receive and process feedback sensing signals; the fiber optic grating strain sensing network 120 is signal-connected to the fiber optic strain measurement unit 110, such as... Figure 3 and Figure 4 As shown, the fiber optic strain sensing network 120 is fixed in a preset mounting slot within the harmonic reducer wheel 200. It receives optical signals and feeds back corresponding wavelength sensing signals. The fiber optic strain measurement unit 110 analyzes and processes the corresponding wavelength sensing signals, outputting performance parameters of the harmonic reducer wheel 200, such as temperature or strain parameters. It should be noted that the harmonic reducer detection system 100 also includes a fiber optic connector (not shown), an adapter (not shown), an electrical connector assembly (not shown), and tail accessories (not shown). These components are all known structural components used to achieve internal and external connections and protection functions between the fiber optic strain measurement unit 110 and the fiber optic strain sensing network 120.

[0051] Specifically, as described in the technical solution disclosed in patent application CN115452214 A, the conditions for installing sensors on the flexible wheel of a harmonic reducer are quite complex. A rigid wheel, being a stationary or low-speed rotating rigid component, is much easier to mount sensors on than a flexible wheel with high-speed deformation and limited space. Furthermore, the sensors are less susceptible to wear and damage. The harmonic reducer detection system 100 of this application detects the relevant performance of the harmonic reducer by detecting the rigid wheel 200.

[0052] Among them, the fiber optic strain sensor network 120 has advantages such as high sensitivity, anti-electromagnetic interference, long-distance monitoring, fast measurement speed, and strong adaptability to harsh environments and geometric shapes. It can solve the problem of sensor instability during the current operation of the equipment. Installing the fiber optic strain sensor network 120 in the preset mounting slot of the rigid wheel 200 not only saves installation space but also avoids complex modifications to the flexible wheel. Figure 2As shown, the fiber optic strain measurement unit 110 (demodulator) includes a main control chip, a tunable laser 111, a splitter (optical parallel transmission module 112), a photoelectric detection module (photoelectric array detector 113), and a multi-channel high-speed acquisition circuit (data processing platform 114). The working principle of the harmonic reducer detection system 100 is as follows: the main control chip drives the tunable laser to output periodic scanning light in the wavelength range of 1525nm-1565nm. The optical signal enters the 1×2 splitter and other optical devices to distribute to each detection channel. The fiber optic strain sensing network 120 connected to each channel will reflect the sensing signal of a specific wavelength. The returned optical signal is then sent to the photoelectric detection module (photoelectric array detector 113) through the 1×2 splitter to realize photoelectric conversion. The multi-channel high-speed acquisition circuit (data processing platform 114) realizes data acquisition, wavelength demodulation, sensing conversion and speed calculation. Finally, the required signal is reported to the interface module through the communication interface. By arranging the fiber optic strain sensing network 120 on the static rigid wheel 200, damage to the sensor caused by deformation of the flexible wheel and high-speed rotation is avoided, significantly improving the reliability and service life of the detection system.

[0053] Therefore, by arranging a flexible fiber optic strain sensor network 120 on the rigid wheel 200 of the harmonic reducer, the harmonic reducer detection system 100 measures the rigid wheel 200 of the harmonic reducer, enabling reliable installation of the harmonic reducer in a confined space and long-term stable performance testing. At the same time, it ensures signal transmission quality and data readability, providing a feasible technical approach for internal state perception of complex electromechanical systems.

[0054] According to one embodiment of the present invention, the fiber optic strain sensing network 120 includes a fiber optic temperature sensing module 121 and a fiber optic strain sensing module 122 that are spaced apart along the axial direction of the rigid wheel 200 of the harmonic reducer, and the corresponding wavelength sensing signals include a first wavelength sensing signal and a second wavelength sensing signal.

[0055] Among them, such as Figure 1 As shown, the fiber optic temperature sensing module 121 includes a first transmission fiber 1211 (collectively referred to as the transmission fiber) and a plurality of fiber optic temperature sensors 1212 connected in series therewith. The fiber optic temperature sensors 1212 are used to generate and feed back a first wavelength sensing signal based on temperature changes.

[0056] Since temperature changes significantly affect parameters such as the elastic modulus and coefficient of thermal expansion of the flexible and rigid wheel 200 materials, thereby altering their stress-strain characteristics, synchronous temperature monitoring using the fiber optic temperature sensor 1212 can eliminate the interference of temperature on strain and greatly improve detection accuracy.

[0057] The fiber optic strain sensing module 122 includes a second transmission fiber 1221 (collectively referred to as the transmission fiber) and a plurality of fiber optic strain sensors 1222 connected in series therewith. The fiber optic strain sensors 1222 are used to generate and feed back a second wavelength sensing signal based on strain changes.

[0058] According to another embodiment of the present invention, the fiber optic strain measurement unit 110 is configured to: acquire real-time temperature data based on a first wavelength sensing signal, perform temperature compensation on a second wavelength sensing signal to obtain a compensated wavelength signal, calculate the strain value based on the compensated wavelength signal, and use the strain value as a performance parameter of the harmonic reducer wheel 200.

[0059] In one embodiment of the present invention, the preset mounting groove includes a first mounting groove 211 extending circumferentially along the rigid wheel 200, and the fiber optic temperature sensor 1212 is distributed at equal intervals along the circumference of the rigid wheel 200 within the first mounting groove 211.

[0060] In other words, existing harmonic reducers are modified, such as... Figure 3 and Figure 4 As shown, a first mounting groove 211 is formed on the side of the boss at the end of the rigid wheel 200 that contacts the flexible wheel. The width and depth of the first mounting groove 211 can be 1 mm respectively, and the transmission optical fiber is an optical fiber with a polyimide coating.

[0061] Preferably, six fiber Bragg grating temperature sensors 1212 are arranged in the first mounting groove 211, with a 60° angular interval between two adjacent fiber Bragg grating temperature sensors 1212. The six uniformly arranged fiber Bragg grating temperature sensors 1212 can improve the sensitivity of the transmission optical fiber to temperature and reduce its sensitivity to mechanical strain. Its working principle is to calculate the temperature by changing the grating period and the refractive index of the optical fiber material caused by temperature changes. It should be noted that the number of fiber Bragg grating temperature sensors 1212 can be selected according to specific needs.

[0062] Preferably, the fiber Bragg grating temperature sensing module 121 is fixedly encapsulated in the first mounting groove 211 with silicone, and the silicone fills the assembly gap between the fiber Bragg grating temperature sensing module 121 and the first mounting groove 211.

[0063] In one embodiment of the present invention, the preset mounting groove includes a second mounting groove (not shown, but provided) extending circumferentially along the rigid wheel 200 and spaced axially from the first mounting groove 211 on the rigid wheel 200. Figure 3 As shown, the second mounting groove is approximately located below the first mounting groove. The fiber optic strain sensor 1222 is distributed at equal intervals along the circumference of the rigid wheel in the second mounting groove, wherein the width and depth of the second mounting groove can be 1 mm.

[0064] Preferably, such as Figure 2 and Figure 3 As shown, six fiber optic strain sensors 1222 are arranged on the circumference of the second mounting groove. The angular interval between two adjacent fiber optic strain sensors 1222 is 60°. It should be noted that the number of fiber optic strain sensors 1222 can be selected according to specific needs.

[0065] The fiber optic strain sensor 1222 is fixed in the second mounting groove by induction welding or high-temperature adhesive bonding.

[0066] According to a specific embodiment of the present invention, the harmonic reducer detection system 100, after being deployed, is installed on a test platform. Data is collected using a 158 fiber optic demodulator, and initial data is recorded using 158 host computer software. The system is then run at 600 r / min, 1000 r / min, and 2000 r / min respectively, rotating for 10 minutes at each speed. The wavelength change at the corresponding position of the grating is observed and the values ​​are recorded. The numerical records of the fiber optic grating temperature sensing module 121 and the corresponding numerical records of the fiber optic grating strain sensor 1222 are shown in Tables 1 and 2.

[0067] Table 1 Data from fiber optic strain sensors

[0068] initial wavelength nm 1529.9530 1535.9715 1541.9717 1547.8959 1553.8964 1559.7139 600r / min 1530.0888 1536.0706 1542.1010 1548.0957 1554.0317 1559.9249 1000r / min 1530.2053 1536.1840 1542.2462 1548.2069 1554.1582 1560.1003 2000r / min 1530.4302 1536.3903 1542.4755 1548.4108 1554.3822 1560.3016

[0069] Table 2 Data from Fiber Bragg Grating Temperature Sensors

[0070] initial wavelength nm 1530.1623 1536.0219 1542.0424 1547.9767 1554.0663 1559.9664 600r / min 1530.2319 1536.1903 1542.2501 1548.1133 1554.1324 1560.0483 1000r / min 1530.2779 1536.2880 1542.3676 1548.2116 1554.1816 1560.1319 2000r / min 1530.3927 1536.4982 1542.6009 1548.4075 1554.3025 1560.2943

[0071] Based on Tables 1 and 2, plot the fiber optic strain and temperature at the same locations (each fiber optic temperature sensor 1212 and fiber optic strain sensor 1222 is located at...). Figure 3 Center wavelength data (corresponding positions above and below), such as Figure 6 As shown, the trends of fiber optic grating points 1, 4, 5, and 6 are similar, the data are consistent, and after compensation, they are positive and have good linearity, indicating that these positions mainly bear tensile strain, which increases with the increase of rotational speed.

[0072] The trends of points 2 and 3 in the fiber optic grating are similar and consistent, and the temperature grating ( Figure 6 The strain gauge (strain point) gradually increases with increasing rotational speed, indicating that the thermal effect (temperature increase) dominates and masks mechanical deformation; Figure 6 The rapid rise at the midpoint indicates a significant increase in temperature at that location with increasing rotational speed; strain grating-temperature compensation ( Figure 6 The fact that the point in the middle triangle is located in the negative value region indicates that the location is actually subjected to compressive force, or that the structure has contracted relative to thermal expansion.

[0073] According to a second aspect of the present invention, a harmonic reducer detection method utilizes the detection system described in any of the above embodiments. The detection method is used to detect the performance parameters of the harmonic reducer's rigid wheel 200, such as... Figure 5 As shown, the detection method includes the following steps:

[0074] Step S10: Transmit optical signals to the fiber optic strain sensing network 120 through the fiber optic strain measurement unit 110.

[0075] Specifically, the fiber optic strain measurement unit includes modules such as a main control chip, a tunable laser 111, a splitter (optical parallel transmission module 112), a photoelectric detection module (photoelectric array detector 113), and a multi-channel high-speed acquisition circuit (data processing platform 114). The working principle of the harmonic reducer detection system 100 is as follows: the main control chip drives the tunable laser to output periodic scanning light in the wavelength range of 1525-1565nm. The optical signal enters the 1×2 splitter and other optical devices and is distributed to each detection channel. The fiber optic strain sensing network 120 connected to each channel will reflect the sensing signal of a specific wavelength.

[0076] Step S20: Receive the first wavelength sensing signal fed back by the fiber optic temperature sensing module 121 and the second wavelength sensing signal fed back by the fiber optic strain sensing module 122;

[0077] Specifically, the first wavelength sensing signal fed back by the fiber optic temperature sensing module 121 and the second wavelength sensing signal fed back by the fiber optic strain sensing module 122 are then sent to the photoelectric detection module (photoelectric array detector 113) via a 1×2 splitter to achieve photoelectric conversion.

[0078] Step S30: Obtain real-time temperature data based on the first wavelength sensing signal, perform temperature compensation on the second wavelength sensing signal to obtain the compensation wavelength signal, calculate the strain value based on the compensation wavelength signal, and use the strain value as the performance parameter of the harmonic reducer wheel 200.

[0079] That is, data acquisition, wavelength demodulation, sensor conversion, speed calculation and other tasks are realized through a multi-channel high-speed acquisition circuit (data processing platform 114), and finally the required signal is reported to the interface module through the communication interface.

[0080] It should be noted that the harmonic reducer detection system 100 also includes fiber optic connectors, adapters, electrical connector assemblies, and tail accessories. All of these components are known structural components, and the connection methods are existing technologies, so they will not be described in detail here.

[0081] Preferably, the following steps are included before step S10:

[0082] The fiber grating temperature sensing module 121 and fiber grating strain sensing module 122 of the fiber grating strain sensing network 120 are respectively fixed in the preset mounting slots corresponding to the rigid wheel 200.

[0083] Before placing the fiber Bragg grating strain sensor network 120 into the preset mounting slot, the preset mounting slot needs to be wiped with alcohol to clean the dust and impurities inside the preset mounting slot and keep the bonding surface clean and free of impurities. Care should be taken to prevent fiber breakage during the bonding process. After the installation is completed, connect the demodulator to check whether the fiber Bragg grating strain sensor 1222 and fiber Bragg grating temperature sensor 1212 are intact.

[0084] The harmonic reducer detection method according to the present invention, by arranging a flexible fiber optic grating strain sensing network 120 on its rigid wheel 200, enables the deployment of a detection system within the confined space of the harmonic reducer device, optimizes the wiring method on the harmonic reducer, enables long-term stable performance testing of the harmonic reducer, improves signal transmission quality and detection accuracy, and provides a feasible technical approach for sensing the internal state of complex electromechanical systems.

[0085] According to a third aspect embodiment of the present invention, a harmonic reducer device (not shown) includes a harmonic reducer body (not shown) and a harmonic reducer detection system 100 as described in any of the above embodiments. Other structures of the harmonic reducer detection system 100 are prior art and will not be described further here. The harmonic reducer body includes a rigid wheel 200, such as... Figure 3 and Figure 4 As shown, one side of the rigid wheel 200 is provided with a first boss 210 and a second boss (not shown) that extend circumferentially and are spaced apart along the axial direction of the rigid wheel 200. Figure 3 The second boss is located below the first boss 210. The outer peripheral side of the first boss 210 is provided with a first mounting groove 211 extending circumferentially along the rigid wheel 200, and the outer peripheral side of the second boss is provided with a second mounting groove extending circumferentially along the rigid wheel 200.

[0086] The fiber optic strain sensing network 120 of the harmonic reducer detection system 100 is fixed in the first mounting slot 211 and the second mounting slot respectively, which optimizes the arrangement of the fiber optic strain sensing network 120 under the constraint conditions.

[0087] According to an embodiment of the present invention, the harmonic reducer device can realize the arrangement of a detection system in the narrow space of the harmonic reducer device by arranging a flexible fiber optic strain sensor network 120 on its rigid wheel 200. This optimizes the wiring method on the harmonic reducer, enables long-term stable performance detection of the harmonic reducer, improves signal transmission quality and detection accuracy, and provides a feasible technical approach for the internal state perception of complex electromechanical systems.

[0088] According to one embodiment of the present invention, the harmonic reducer body further includes a flexible wheel (not shown), which meshes with the rigid wheel 200. The first boss 210 and the second boss are both provided on the side of the rigid wheel 200 facing the flexible wheel.

[0089] According to yet another embodiment of the present invention, such as Figure 3 As shown, the fiber optic strain sensing network 120 includes a fiber optic temperature sensing module 121 and a fiber optic strain sensing module 122, and the harmonic reducer device also includes a first housing 300 and a second housing 400.

[0090] Among them, such as Figure 3 As shown, the first housing 300 is mounted on the first mounting groove 211, and the first housing 300 is provided with a first lead outlet 310 for the transmission optical fiber of the fiber optic grating temperature sensing module 121 to pass through and connect to the fiber optic strain measurement unit 110 for signal connection. Figure 4 As shown, the second housing 400 is mounted on the second mounting slot, and the second housing 400 is provided with a second lead outlet 410 for the transmission optical fiber of the fiber optic strain sensing module 122 to pass through and connect to the fiber optic strain measurement unit 110. The width and height of both the first lead outlet 310 and the second lead outlet 410 can be 2mm × 2mm.

[0091] Preferably, the outer surface of the transmission optical fiber located at the first lead outlet 310 and the second lead outlet 410 is protected by a 0.6mm diameter white PTFE bundle tube that is resistant to 260℃, and the transmission optical fiber is led to the equipment compartment and connected to the demodulator.

[0092] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A harmonic reducer testing system for detecting the performance parameters of the rigid wheel of a harmonic reducer, characterized in that, include: The fiber optic strain measurement unit is configured to transmit optical signals and receive and process feedback sensing signals. A fiber optic strain sensing network is connected to the fiber optic strain measurement unit. The fiber optic strain sensing network is fixed in a pre-set mounting groove on the circumferential direction of the harmonic reducer wheel to receive the optical signal and feed back the corresponding wavelength sensing signal. The fiber optic strain measurement unit analyzes and processes the corresponding wavelength sensing signal and outputs the performance parameters of the harmonic reducer wheel.

2. The harmonic reducer detection system according to claim 1, characterized in that, The fiber grating strain sensing network includes fiber grating temperature sensing modules and fiber grating strain sensing modules spaced apart along the axial direction of the rigid wheel of the harmonic reducer. The corresponding wavelength sensing signals include a first wavelength sensing signal and a second wavelength sensing signal. The fiber grating temperature sensing module includes: A first transmission optical fiber and a plurality of fiber Bragg grating temperature sensors connected in series therewith, wherein the fiber Bragg grating temperature sensors are used to generate and feed back a first wavelength sensing signal based on temperature changes. The fiber grating strain sensing module includes: The second transmission fiber and a plurality of fiber optic strain sensors connected in series therewith, wherein the fiber optic strain sensors are used to generate and feed back a second wavelength sensing signal based on strain changes.

3. The harmonic reducer detection system according to claim 2, characterized in that, The fiber optic strain measurement unit is configured to: acquire real-time temperature data based on the first wavelength sensing signal, perform temperature compensation on the second wavelength sensing signal to obtain a compensated wavelength signal, calculate the strain value based on the compensated wavelength signal, and use the strain value as the performance parameter of the harmonic reducer wheel.

4. The harmonic reducer detection system according to claim 2, characterized in that, The preset mounting slot includes a first mounting slot extending circumferentially along the rigid wheel, and the fiber optic temperature sensors are evenly distributed within the first mounting slot along the circumference of the rigid wheel; and / or, The fiber Bragg grating temperature sensing module is fixedly encapsulated in the first mounting groove with silicone, and the silicone fills the assembly gap between the fiber Bragg grating temperature sensing module and the first mounting groove.

5. The harmonic reducer detection system according to claim 4, characterized in that, The preset mounting groove includes a second mounting groove extending circumferentially along the rigid wheel and spaced axially from the first mounting groove on the rigid wheel; the fiber optic strain sensors are evenly distributed within the second mounting groove along the circumference of the rigid wheel; and / or, The fiber optic strain sensor is fixed in the second mounting slot by induction welding or adhesive bonding.

6. A method for detecting harmonic reducers, characterized in that, Using the detection system according to any one of claims 1-5, the method for detecting the performance parameters of the rigid wheel of a harmonic reducer includes the following steps: The optical fiber strain measurement unit transmits an optical signal to the fiber optic grating strain sensing network. Receive the first wavelength sensing signal fed back by the fiber optic temperature sensing module and the second wavelength sensing signal fed back by the fiber optic strain sensing module; Real-time temperature data is acquired based on the first wavelength sensing signal, temperature compensation is performed on the second wavelength sensing signal to obtain a compensated wavelength signal, and strain value is calculated based on the compensated wavelength signal. The strain value is used as the performance parameter of the rigid wheel of the harmonic reducer.

7. A harmonic reducer device, characterized in that, include: The harmonic reducer body includes a rigid wheel. One side of the rigid wheel is provided with a first boss and a second boss that extend circumferentially and are spaced apart along the axial direction of the rigid wheel. The outer peripheral side of the first boss is provided with a first mounting groove that extends circumferentially along the rigid wheel, and the outer peripheral side of the second boss is provided with a second mounting groove that extends circumferentially along the rigid wheel. The harmonic reducer detection system according to any one of claims 1-5, wherein the fiber optic strain sensing network of the detection system is fixed in the first mounting slot and the second mounting slot respectively.

8. The harmonic reducer device according to claim 7, characterized in that, The harmonic reducer body also includes: The flexible wheel meshes with the rigid wheel, and the first boss and the second boss are both located on the side of the rigid wheel facing the flexible wheel.

9. The harmonic reducer device according to claim 7, characterized in that, The fiber optic strain sensing network includes a fiber optic temperature sensing module and a fiber optic strain sensing module, and the harmonic reducer device further includes: The first housing is covered on the first mounting groove. The first housing is provided with a first lead outlet so that the transmission optical fiber of the fiber optic temperature sensing module can pass through and be connected to the signal of the fiber optic strain measurement unit. The second housing is fitted onto the second mounting slot. The second housing has a second lead outlet for the transmission optical fiber of the fiber optic strain sensing module to pass through and connect to the fiber optic strain measurement unit for signal connection.

10. The harmonic reducer device according to claim 9, characterized in that, The outer surface of the transmission optical fiber located at the first lead outlet and the second lead outlet is covered with a PTFE protective bundle.

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