Research On Fatigue Life Test Technology Of Swing Robot Reducer

As one of the important components of industrial robot,precision reducer has the advantages of high transmission accuracy,large bearing capacity,steady motion and high reliability.After decades of development,the domestic precision reducer has achieved the process of starting from scratch and growing from small to large.However,there are defects such as poor transmission accuracy,poor quality consistency,fatigue life and poor reliability,and there is still a big gap with foreign products.There are few data on the fatigue life test technology of the speed reducer in China,and the testing equipment is not perfect.The main reason is that the hardware cost is high,the testing time is long,and there are strict requirements for the accuracy and reliability of the equipment.Therefore,the design of a reasonable fatigue life test scheme for the speed reducer can reduce the test period,reduce the cost and improve the test accuracy.At the same time,the analysis of vibration performance and reliability of the speed reducer has important significance and engineering value for the fatigue life and reliability growth of the speed reducer.The study on fatigue life of speed reducer includes the following parts:1、The service life is an important parameter of robot reducer,which mainly depends on the bearing life.Based on the fatigue life theory of bearing,and according to the study of fatigue life test method for reducer proposed by the national standard,the main factors affecting fatigue life time of speed reducer are analyzed to provide the theoretical support for the test design.2、The system hardware construction adopts the "PC+servo system" mode.The PC has a communication device port and realizes data collection through LabVIEW software Modbus,VISA and other communication protocols;The servo system adopts the Anchuan control system.the MP2300S motion control system controls the servo system through the M-II bus,and realizes the data exchange with the PC through the Ethernet,and the servo motor's own encoder realizes the full closed-loop PID position control system of the servo system,so that ensure the response speed and anti-jamming ability of control system,improve the accuracy and reliability of test.3、Programming implementation and function of system software.The upper computer uses the LabVIEW software of NI company to carry out the functions of data acquisition module,data analysis module,data storage module,sensor communication module and fault alarm module.The lower machine WPE 720 software writes the servo motor control logic to achieve the function of reciprocating motion of the pendulum rod with frequent acceleration and deceleration within an accurate interval.4、Algorithm and simulation test.The loading load of the robot arm is affected by the gravity load and the inertial load,which is the asymmetric periodic variable load.MATLAB software is used to establish the mathematical model of the equipment.The frequent acceleration and deceleration of the reciprocating swing is used as the test state,and the S-curve acceleration and deceleration algorithm is used as the filtering speed.And through the simulation,the test results and the actual test data are compared,to perfect the simulation model,and by compared the test variables,optimize the design scheme.