基于电流信号的机器人关节螺栓松动故障检测  

Fault detection of robot joint bolt loosening based on electrical current signal

作　　者：杨家淞 柳小勤[1] 徐凯[1] 王东晓 伍星[1,2] YANG Jiasong;LIU Xiaoqin;XU Kai;WANG Dongxiao;WU Xing(School of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China;Yunnan Vocational and Technical College of Mechatronics,Kunming 650203,China)

机构地区：[1]昆明理工大学机电工程学院,昆明650500 [2]云南机电职业技术学院,昆明650203

出　　处：《振动与冲击》2023年第6期248-254,共7页Journal of Vibration and Shock

基　　金：国家重点研发计划(2018YFB1306103);云南省重大科技专项计划(202002AC080001)。

摘　　要：针对工业机器人关节连接处螺栓松动问题,根据机器人关节结构建立机电耦合模型,并引入了底座螺栓松动故障,建立了螺栓松动的系统动力学模型。分析该仿真模型电流信号,得出电流信号与螺栓松动故障之间规律。研究表明,松动情况下电机电流频率附近出现边频带,时域波形出现脉冲冲击,时频图上出现能量波动,冲击与波动出现的时刻对应螺栓松动时刻。所提出的模型分析结果与试验数据吻合较好,研究成果对工业机器人关节螺栓松动故障的建模及诊断研究具有重要的参考价值。Aiming at the problem of bolt loosening at the joints of industrial robots,an electromechanical coupling model was established according to the robot joint structure,and then the base loosening was introduced to establish the system dynamics model for bolt loosening.The electrical current signal of the simulation model was analyzed,and the relation between the current signal and the bolt loosening fault was investigated.The research shows that in the case of loosening,sidebands in frequency domain appear near the current frequency of the motor,pulse shocks appear in time-domain waveform,and energy fluctuations appear on the time-frequency diagram.The analysis results of the proposed model are in good agreement with the experimental data,and the research results have important reference value for the modeling and diagnosis of industrial robot joint bolt loosening faults.

关 键 词：RV减速机摆臂试验台 螺栓松动 电流信号 动力学建模 时频分析 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3