RV(rotary vector)减速器广泛应用于工业机器人,研究其关键零部件的故障检测方法具有重要意义。由于RV减速器结构复杂,摆线轮转速低,故障冲击较弱等问题,造成摆线轮故障特征难以用常规振动分析方法提取。针对上述问题,提出一种基于瞬时角速度(IAS)信号自适应窄带解调的RV减速器摆线轮故障特征提取方法。首先对编码器角度信号进行采集,然后使用向前差分法获得瞬时角速度信号,在此基础上,使用角域同步平均提取摆线轮周期相关同步分量,消除非同步干扰,并通过构建边带信噪比指标选取故障信息丰富的啮合谐波频带进行带通滤波,最后对滤波后的信号进行窄带解调,实现对RV减速器摆线轮的故障特征提取。实验结果表明,该方法可以有效地提取RV减速器摆线轮故障特征,且自适应实现优化带宽选择。
Abstract
The RV reducer is widely used in industrial robots, and it has great significance to research the fault detection method of its key components. Due to the complex structure of the RV reducer, low rotating speed of the cycloidal gear, and weak fault impact etc, it is difficult to extract the fault features of the cycloidal gear using conventional vibration analysis methods. To solve above problems, a method based on encoder signals for extracting the fault features of the cycloidal gear in RV reducer is proposed. Firstly, the encoder angle signals are collected, and then the instantaneous angular velocity signals are obtained using the forward difference method. Based on this, the angular domain synchronous averaging is used to extract the cycloidal gear period-related synchronous components, eliminate asynchronous interference, and select the gear harmonics frequency bands with rich fault information by constructing a sideband signal-to-noise ratio index for bandpass filtering. Finally, the filtered signal is narrowband demodulated to achieve fault feature extraction of the cycloidal gear in the RV reducer. Experimental results show that this method can effectively extract the fault features of the cycloidal gear in the RV reducer, and achieve adaptive optimization of bandwidth selection.
关键词
RV减速器 /
摆线轮 /
瞬时角速度 /
边带信噪比指标 /
窄带解调技术
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Key words
RV reducer /
cycloidal gear /
instantaneous angular speed /
Sideband signal-to-noise ratio index /
narrow-band demodulation
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