基于瞬时角速度信号窄带解调的RV减速器针齿故障检测

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振动与冲击 ›› 2024, Vol. 43 ›› Issue (22) : 155-161.

论文

基于瞬时角速度信号窄带解调的RV减速器针齿故障检测

高国泽，郭瑜*，赵博涵，王红伟

作者信息 +

Pin tooth fault detection of a RV reducer based on instantaneous angular speed signal narrow band demodulation

GAO Guoze,GUO Yu*,ZHAO Bohan,WANG Hongwei

Author information +

文章历史 +

摘要

针对工业机器人实际工况下旋转矢量（Rotary Vector, RV）减速器低速级不完全旋转工况针齿故障特征提取困难的问题，研究结合编码器信号的优势，提出一种基于瞬时角速度（Instantaneous angular speed, IAS）信号窄带解调的RV减速器针齿故障检测方法。首先，消除RV减速器换向过程产生的异常数据，获取非整周转RV减速器的IAS信号；接着，对IAS信号进行角域同步平均，消除非同步干扰对信号分析的影响；随后，设计带通滤波器对信号进行滤波；最后，通过幅值解调和相位解调进行针齿故障检测。实验结果显示，所提方法可有效实现RV减速器低速级不完全旋转工况下的针齿故障检测。

Abstract

In order to solve the problem of difficulty in extracting the characteristics of the pin tooth fault under the low-speed incomplete rotation condition of Rotary Vector (RV) reducer under the actual working conditions of industrial robots, a pin tooth fault detection method of RV reducer based on narrow-band demodulation of instantaneous angular speed (IAS) signal was proposed by combining the advantages of the encoder signal. Firstly, the abnormal data generated by the reversing process of the RV reducer were eliminated, and the IAS signal of the non-uniform turnover RV reducer was obtained. Then, the IAS signal was synchronously averaged in the angular domain to eliminate the influence of asynchronous interference on the signal analysis. Subsequently, a bandpass filter was designed to filter the signal. Finally, the tooth fault detection was carried out by amplitude demodulation and phase demodulation. Experimental results show that the proposed method can effectively detect pin tooth faults under the condition of incomplete rotation of RV reducer at low speed.

导出引用

高国泽, 郭瑜, 赵博涵, 王红伟. 基于瞬时角速度信号窄带解调的RV减速器针齿故障检测[J]. 振动与冲击, 2024, 43(22): 155-161

GAO Guoze, GUO Yu, ZHAO Bohan, WANG Hongwei. Pin tooth fault detection of a RV reducer based on instantaneous angular speed signal narrow band demodulation[J]. Journal of Vibration and Shock, 2024, 43(22): 155-161

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