Design Of The Precision Reducer Comprehensive Testing System In Robot

The robot precision reducer is one of the core component in industrial robot,accounting for a third of the robot manufacturing cost.It has the advantages of high precision,large load,long life and so on.The quality of the reducer determines the final performance effect of the robot.The precision reducer comprehensive testing system is a device of reducer comprehensive testing.The test is used to verify the rationality of reducer's design.At present,the test system of precision reducer has many problems,such as single function of parameter test,low efficiency and precision,low automation,difficult upgrade and maintenance.We have designed the relevant test of the basic indicators of the reducer,and we have developed a high precision signal acquisition system for reducer.It can detect reducer with high precision,high e fficiency,multiparameters and automation.Firstly,in order to meet the requirements of the comprehensive performance test of the reducer,we have formulated the comprehensive performance test index of the reducer,and we have designed no-load test,start-up and operation torque test,backlash stiffness test,transmission error test,transmission efficiency test and other test schemes.Secondly,in order to verify the reliability of reducer's fatigue life,we establish a product degradation trajectory model and a reliability parameter estimation method based on Weibull distribution.Thirdly,In order to solve the problem of high precision acquisition of reducer signal,we design a reducer signal acquisition algorithm based on software subdivision of encoder.It uses Kalman filter to denoise and software subdivision method to output rotation angle.We prove that the angle error of Kalman filter is smaller and the accuracy of Arc Tangent Subdivision(ATS)is higher by simulation and experiment.Finally,we design the overall structure of the system and build the hardware platform of the control system.The upper and lower computers of the system are industrial computers and motion controllers.We have carried out precision experiment,efficiency experiment and fatigue life reliability experiment on the precision reducer comprehensive testing system.The angle transfer error of the measured output axis is less than 0.01° by precision experiment,and the reducer efficiency deviation less than 0.03 by efficiency experiment.These are the verification of the system test function.