Application of Order Tracking Analysis Method in Fault Diagnosis of Swing Fatigue Tests of Precision Reducers for Robots

Lin Mengxiong; Zhang Xianghui; Yao Liangbo; Gong Yu; Zhang Jingcai; Yang Yikun

doi:10.16578/j.issn.1004.2539.2022.10.024

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Application of Order Tracking Analysis Method in Fault Diagnosis of Swing Fatigue Tests of Precision Reducers for Robots

Development·Application | 更新时间：2022-11-05

- Application of Order Tracking Analysis Method in Fault Diagnosis of Swing Fatigue Tests of Precision Reducers for Robots
- Journal of Mechanical Transmission Vol. 46, Issue 10, Pages: 156-162(2022)
- 作者机构：
  
  1.北方工业大学机械与材料工程学院，北京 100144
  2.中国机械科学研究总院集团有限公司中机生产力促进中心，北京 100044
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.10.024
  CLC：
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蔺梦雄,张向慧,姚良博等.阶次跟踪分析方法在机器人用精密减速器摆动疲劳试验故障诊断中的应用[J].机械传动,2022,46(10):156-162.

Lin Mengxiong,Zhang Xianghui,Yao Liangbo,et al.Application of Order Tracking Analysis Method in Fault Diagnosis of Swing Fatigue Tests of Precision Reducers for Robots[J].Journal of Mechanical Transmission,2022,46(10):156-162.
蔺梦雄,张向慧,姚良博等.阶次跟踪分析方法在机器人用精密减速器摆动疲劳试验故障诊断中的应用[J].机械传动,2022,46(10):156-162. DOI： 10.16578/j.issn.1004.2539.2022.10.024.

Lin Mengxiong,Zhang Xianghui,Yao Liangbo,et al.Application of Order Tracking Analysis Method in Fault Diagnosis of Swing Fatigue Tests of Precision Reducers for Robots[J].Journal of Mechanical Transmission,2022,46(10):156-162. DOI： 10.16578/j.issn.1004.2539.2022.10.024.

摘要

采用往复摆动方式对工业机器人用精密减速器进行疲劳寿命分析，能更好地反映减速器在实际工作中的受损情况。但在往复摆动实验过程中，减速器运行速度的大小和方向随时都在发生变化，对采集到的振动信号进行频谱分析，定位减速器的故障源十分困难，无法像处理匀转速工况那样直接对时域信号进行傅里叶变换来定位故障点。为此，提出一种阶次跟踪分析方法。通过对机器人用行星摆线针轮减速器疲劳实验过程中采集到的非平稳振动信号进行等角度重采样，得到振动信号的平稳角度域信号；通过对角度域平稳信号进行快速傅里叶变换，得到振动信号的阶次分析图；对减速器的行星轮、摆线轮、曲柄轴、滚针、曲拐轴承的阶次特征进行了分析。通过建立减速器振动信号阶次分析结果与各关键零部件特征阶次的关系，实现了变转速实验工况下行星摆线针轮减速器的故障诊断。结果表明，提出的阶次跟踪分析方法能够实现对行星摆线针轮减速器在时变工况下各重要零部件的故障定位，为摆动疲劳实验故障的快速定位提供了指导和帮助。

Abstract

The fatigue life testing of the precision reducer for industrial robots using the reciprocating swing method can better represent the damage of the reducer in actual work. However, during the reciprocating swing testing, the speed and its direction of the reducer are changing. Therefore, it is difficult to locate the fault source of the reducer by performing spectrum analysis on time domain vibration signal to locate the fault point. Thus, an order tracking analysis method is proposed. By re-sampling the non-stationary vibration signals collected during the reciprocating swing fatigue testing of the planetary cycloid reducer for the robot, the stable angle domain signal of the vibration signal is obtained by equal-angle resampling. The order analysis diagram of the vibration signal is obtained by fast Fourier transform of the stationary signal in the angle domain. At the same time, the order characteristics of the planetary gear, cycloid gear, crankshaft, needle roller and crank bearing of the reducer are analyzed. By establishing the relationship between the order analysis result of the vibration signal of the reducer and the characteristic order of each key component, the fault diagnosis of the planetary cycloid reducer under variable speed experimental conditions is realized. The results show that the order tracking analysis method can help locate the faults under time-varying conditions, and provide guidance and assistance for the rapid location of the failure of the swing fatigue experiment.

关键词

行星摆线针轮减速器时变工况阶次分析故障诊断

Keywords

Planetary cycloid reducerTime-varying operating conditionsOrder analysisFault diagnosis

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