Abstract
Aiming at the problem of a spur gear fault of the rotation vector (RV) reducer in industrial robots, an instantaneous phase detection technology based on eccentric modulation and laser displacement sensor is proposed. Taking the RV-20E reducer as the object, through the analysis of the RV reducer gear fault mechanism, an RV reducer fault diagnosis test bed is developed to simulate the actual operating conditions of the RV reducer of industrial robot. The instantaneous phase information of the RV reducer is collected, and the adaptive permutation entropy is used to process the instantaneous phase data, which can judge the gear fault type quickly and effectively. The test results show that the fault diagnosis test bench based on this detection technology can effectively and quantitatively judge the fault type of the spur gear of the RV reducer.
Highlights
Industrial robots have become an indispensable part of the manufacturing industry, aerospace, and other fields
The instantaneous phase signal contains a wealth of information about the state of machinery health, and the change law of instantaneous phase contains a wealth of signal characteristics, it plays an important role in rotating machinery fault diagnosis, rotor dynamic balance detection, and rotation vector (RV) reducer performance evaluation
A laser displacement sensor is used instead of a push rod to achieve non-contact measurement, an eccentric wheel is used to modulate the instantaneous phase, and a simple trigonometric function is used to demodulate the signal with fault characteristics
Summary
Industrial robots have become an indispensable part of the manufacturing industry, aerospace, and other fields. Bi et al.[1] proposed an all-fiber tunable distributed Bragg reflector laser rangefinder, which uses self-mixing effect to achieve high-precision absolute distance measurement in the range of 1.88 to 3.33 m. Bohkman et al.[3] proposed an implementation method of dynamic laser goniometer (LG) for non-contact measurement of angular position of objects. Li et al.: Application of instantaneous phase detection technology based on laser displacement sensor. Chen et al.[10] proposed a fault diagnosis method for RV reducer based on nonlinear output frequency-response function and deep convolutional neural network. Rohan et al.[11] proposed to use the embedded current signal of the control unit as a method to detect and diagnose mechanical faults. The instantaneous phase information of the RV reducer is obtained based on laser displacement sensor and eccentric wheel. By processing the instantaneous phase information, the fault type of spur gear can be judged, which provides reference for the fault diagnosis of the spur gear of the RV reducer
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