Key Technological Of Integrated Test Platform For Industrial Robot Precision Reducer

Industrial robot precision reducer(IRPR),as an important part of industrial robot,is an important part of restricting the development of robot technology.Its efficient and highprecision test platform and test technology have become the key to promoting the development and application of industrial robots.This article focuses on the current low efficiency of traditional IRPR performance and reliability testing and tests,with the theme of "Key Technological of Integrated Test Platform for Industrial Robot Precision Reducer " as the topic,research on single-station IRPR multi-performance index test scheduling technology and multi-station IRPR Performance index test scheduling technology,IRPR performance degradation evaluation method,develop IRPR comprehensive test platform,improve test efficiency.This has important and practical significance for realizing the intelligentization of industrial testing equipment and promoting the development of advanced manufacturing technology.The research work was supported by the 2017 Guangdong High-end Equipment Manufacturing Technology Project(2017B090914003).The paper studies the key technologies of the IRPR comprehensive test platform.It discusses the research progress of the key technologies of the IRPR comprehensive test platform at home and abroad from three aspects of IRPR test platform research,test task optimization scheduling research,and IRPR reliability evaluation method research,and determines the research content of the paper.The main work of the thesis includes:(1)According to the requirements of the IRPR test standards for the task execution method,the overall structure framework and test process of the IRPR performance and reliability integrated platform are designed,and the functional analysis of each module of the system is carried out.technology.(2)In this paper,a single-station multi-performance index IRPR test scheduling technology research is carried out.According to the characteristics of the IRPR project test process,the characteristic parameters are used to describe the IRPR test execution process,and the IRPR single-station test model is established.Optimize the scheduling network,and propose a scheduling method based on the TSP model and a scheduling method based on node merge.The case analysis proves that the former method can save 6.2% and 27.6% test time for 4 test items and 2 application examples for 8 test items.The latter method can save 18.6% and 35.4% test time respectively.(3)This paper carries out research on multi-station multi-performance index IRPR test scheduling technology,analyzes the IRPR multi-station test process,builds an IRPR multistation test model based on test time nodes and process sequences,and then proposes the maximum equipment utilization suitable for IRPR multi-station testing Rate multi-station scheduling method and multi-station scheduling method based on minimum test completion time,examples show that the former can increase the equipment utilization rate by 32.6%,the latter can shorten the test time by 56.0%.(4)In this paper,the IRPR life evaluation method based on performance degradation is studied in depth.For the uncertainty and non-uniqueness of the IRPR degradation distribution family,the IRPR performance degradation evaluation method based on the beta distribution method is proposed.The beta distribution method is used to fit the degradation at each time.Quantitative distribution,fitting the reliability function distribution,and realizing the IRPR life prediction under a large sample.And for the IRPR performance degradation data of very small samples,this paper proposes to use linear fitting method to fit the degradation curve,derive the relationship between the failure life and the degradation feature function,and use Taylor expansion to find the average life expectation value to realize the IRPR pseudo life prediction.(5)The paper builds a comprehensive test platform for IRPR performance and reliability to verify the IRPR test scheduling function and life prediction function.The actual sample test results prove that the application of single-station multi-performance index IRPR test scheduling technology can save 35.8% test time,the application of multi-station multiperformance index IRPR test scheduling technology can save 50.8% test time,the application based on performance degradation data IRPR life assessment Compared with the traditional direct fitting method,the prediction accuracy is increased by 5 times.Under the same prediction accuracy,the test time can be saved by about 25%.After the platform integrates the test technology module,the IRPR test efficiency can be greatly improved,proving the feasibility and effectiveness of the work.