焊接机器人关键部件故障特性研究  

Research on Fault Characteristics of Welding Robot Key Components

作　　者：王姗 尹玉鹏 WANG Shan;YIN Yupeng(Cangzhou Normal University,061001,Cangzhou,Hebei,China)

机构地区：[1]沧州师范学院机械与电气工程学院,河北沧州061001

出　　处：《河北水利电力学院学报》2025年第1期45-51,共7页Journal of Hebei University Of Water Resources And Electric Engineering

基　　金：沧州市科技计划自筹经费项目(222101006)。

摘　　要：焊接机器人的关节点负载多变、扭矩大、故障多发,是焊接机器人的关键部件,其故障特性研究是焊接机器人工作状态监测的重要环节。采用集中质量法对焊接机器人关节点进行动力学建模,建立动力学方程。基于龙格库塔法求解动力学方程,得到正常状态和典型故障状态下的振动数据。通过MATLAB模拟振动信号的时域和频域,得到太阳轮点蚀故障时振动信号幅值升高、变频带升高,摆线轮点蚀故障时信号在1倍频处能量集中、幅值升高,转子发生偏心故障时能量向2倍频处集中。为焊接机器人状态监测和故障诊断提供理论基础和诊断依据。The joint of welding robot is the key component of welding robot,which has variable load,large torque and frequent faults.The dynamic model of welding robot joint is established by using the lumped mass method,and the dynamic equation is established.Based on the Runge-Kutta method,the vibration data under normal and typical fault conditions are obtained by solving the differential equation.The simulation of vibration signal in time domain and frequency domain is carried out by MATLAB,and the results show that the amplitude and frequency conversion band of vibration signal increase when the sun wheel pitting fault occurs,in the case of cycloid wheel pitting fault,the signal energy is concentrated and the amplitude increases at frequency doubling,and the energy is concentrated at frequency doubling when rotor eccentricity fault occurs.It provides theoretical basis and diagnostic basis for condition monitoring and fault diagnosis of welding robot.

关 键 词：焊接机器人 RV减速器 故障诊断 动力学模型 

分 类 号：TG409[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]