工业机器人用谐波减速器机电耦合建模及仿真方法  

Electromechanical coupling modeling and simulation method of harmonic reducer for industrial robot

作　　者：赵恒 刘志博 赵转哲[2] 张雪茹 胡涛[2] 刘永明 ZHAO Heng;LIU Zhibo;ZHAO Zhuanzhe;ZHANG Xueru;HU Tao;LIU Yongming(College of Mechanical and Automotive Engineering,Anhui Polytechnic University,Wuhu 241000,China;College of Artificial Intelligence,Anhui Polytechnic University,Wuhu 241000,China)

机构地区：[1]安徽工程大学机械与汽车工程学院,安徽芜湖241000 [2]安徽工程大学人工智能学院,安徽芜湖241000

出　　处：《安徽科技学院学报》2025年第2期96-103,共8页Journal of Anhui Science and Technology University

基　　金：安徽省高校自然科学研究项目(2022AH050974)。

摘　　要：减速器是工业机器人核心关键零部件之一,其性能的好坏会对机器人的运行精度产生重要影响。基于电流信号对减速器进行故障诊断是应用较为广泛的一种方法,但是针对减速器故障模式在电流信号中的表现特性很少有学者研究。本文首先建立了谐波减速器与驱动电机的机电耦合模型,揭示了谐波减速器的故障特征在电流信号中会受到电流调频频率的调制干扰;通过仿真多故障频率在恒速/变速工况下的电流信号,并采用短时傅里叶的方法,研究了减速器故障频率在电流频谱中的分布特性;最后搭建谐波减速器故障试验台,分别对正常和柔轮磨损故障状态的谐波减速器进行了恒速/变速工况下的实验,并采用短时傅里叶的方法进行频谱分析。本文通过实验验证了建立的工业机器人用谐波减速器机电耦合模型的正确性。并得到谐波减速器柔轮磨损状态下的特征频率分别为15940 Hz和28125 Hz。本文可为柔轮磨损状态下的谐波减速器数据采集提供参考依据,为基于电流信号的谐波减速器故障诊断数据预处理提供理论指导。Reducer is one of the key parts of industrial robot,its performance will have an important impact on the running accuracy of the robot.Fault diagnosis of reducer based on current signal is a widely used method,but few scholars have studied the performance of reducer fault mode in current signal.Firstly,the electromechanical coupling model of harmonic reducer and drive motor was established,and the fault characteristics of harmonic reducer would be affected by the modulation of current frequency modulation in current signal.By simulating the current signal of multi-fault frequency under constant-speed/variable-speed operation,and using the short-time Fourier method,the distribution characteristics of fault frequency in the current spectrum of reducer were studied At last,the harmonic reducer fault test-bed was built,and the harmonic reducer was tested under the condition of constant-speed and variable-speed respectively.The short-time Fourier method was used to analyze the frequency spectrum of the harmonic reducer.The correctness of the electromechanical coupling model of industrial robot harmonic reducer was verified by experiments.The characteristic frequencies of the flexible wheel wear faults of harmonic reducer are 15940 Hz and 28125 Hz respectively.This study could provide reference for data acquisition of harmonic reducer under the wear condition of flexible wheel,and provide theoretical guidance for the fault diagnosis Data pre-processing of harmonic reducer based on current signal.

关 键 词：电流信号 机电耦合 工业机器人 谐波减速器 

分 类 号：TP202[自动化与计算机技术—检测技术与自动化装置]