RV减速器服役工况加速载荷谱编制方法

doi:10.3969/j.issn.1004-132X.2025.06.004

摘要/Abstract

摘要： 针对工业机器人关节RV减速器可靠性分析与寿命预测的需要，提出了一种基于服役工况的RV减速器加速载荷谱编制方法。现场采集工业机器人关节的扭矩时间数据并进行数据预处理，应用马尔可夫链蒙特卡罗法进行时域重构并将工况合成为RV减速器典型工况重构载荷历程，采用雨流计数法进行统计计数并进行分布拟合和参数估计，获得载荷均幅值的统计分布规律。将频次外推得到的均幅值二维载荷谱等寿命转化为8级一维程序加载谱，并根据RV减速器实际使用情景进行加速，编制成为RV减速器一维加速程序加载谱，该方法显著缩短了疲劳寿命试验周期。

关键词: 工业机器人, RV减速器, 载荷谱, 加速寿命试验, 疲劳寿命

Abstract: Aiming at the needs of reliability analysis and life prediction of RV reducers for industrial robot joints, a method of compiling accelerated load spectrum for RV reducers was proposed based on service conditions. On-site collection of industrial robot joint torque-time data and data preprocessing, the Markov chain Monte Carlo methods(MCMC) were applied for time-domain reconstruction and service conditions were synthesized as a typical RV reducer reconstruction of the load history. The rainfall counting methods were used for statistical counting, distribution fitting and parameter estimation, to obtain the statistical distribution laws of the mean-amplitude of the load. The mean-amplitude two-dimensional load spectrum obtained by frequency extrapolation were transformed into 8-level one-dimensional program loading spectrum, and accelerated based on the actual applications of RV reducers, which was compiled into a one-dimensional accelerated program loading spectrum of RV reducers, which greatly shortened the fatigue life test cycle.

Key words: industrial robot, RV reducer, load spectra, accelerated life test, fatigue life

中图分类号:

TH132.46

杨雨1, 2, 李晓雷2, 陶友瑞1, 2, 郭祺雨1, 2, 叶楠1, 2. RV减速器服役工况加速载荷谱编制方法[J]. 中国机械工程, 2025, 36(06): 1170-1177.

YANG Yu1, 2, LI Xiaolei2, TAO Yourui1, 2, GUO Qiyu1, 2, YE Nan1, 2. Accelerated Load Spectrum Preparation for RV Reducer Service Conditions[J]. China Mechanical Engineering, 2025, 36(06): 1170-1177.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2025.06.004

https://www.cmemo.org.cn/CN/Y2025/V36/I06/1170

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