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

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Journal of Vibration and Shock ›› 2024, Vol. 43 ›› Issue (22) : 155-161.

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

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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.

Key words

rotary vector (RV) reducer low speed stage / pin tooth fault / incomplete rotation case / angular domain synchronous average / narrowband demodulation

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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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