摘要
谐波减速器是工业机器人核心部件之一,柔性薄壁轴承是谐波减速器的关键零部件,轴承的性能与稳定直接影响减速器的性能。以往对柔性薄壁轴承应用特性的研究都是将其置于谐波减速器整体研究中进行粗略分析,无法结合其工作过程的变形及载荷交变特性开展深入研究,其主要原因是缺乏有效的试验与验证手段。谐波减速器内除柔性薄壁轴承外,刚轮、柔轮等多个部件的特征信号存在耦合关联,对谐波减速器的单个零部件特征提取难度极大。提出将柔性薄壁轴承从谐波减速器整机中剥离出来进行等效研究的试验方法,创新设计了模拟薄壁轴承实际运动工况的测试装置,开展了相关性能与寿命试验,提出并验证了多种特征提取方法,可快速有效地实现柔性薄壁轴承性能与寿命测试,为谐波减速器的产品优化迭代提供了一种高效便捷方法。
Harmonic reducer is one of the core parts of industrial robot,flexible thin-wall bearing is the key part of harmonic reducer,bearing performance and stability directly affect the performance of reducer.In the past,the application characteristics of flexible thin-wall bearing were all roughly analyzed in the overall study of harmonic reducer,and the deformation and load alternating characteristics of the working process could not be combined to carry out in-depth study,which was mainly due to the lack of effective test and verification means.In addition to the flexible thin-wall bearing,the characteristic signals of rigid wheel,flexible wheel and other components in harmonic reducer are coupled and correlated,so it is very difficult to extract the characteristics of a single part of harmonic reducer.A test method was proposed to separate the flexible thin-wall bearing from the whole harmonic reducer for equivalent research,the test device for simulating the actual motion condition of thin-wall bearing was innovatively designed,the relevant performance and life tests were carried out,and a variety of feature extraction methods were proposed and verified.The method can quickly and effectively realize the performance and life test of flexible thin-wall bearing,which provides an efficient and convenient method for product optimization iteration of harmonic reducer.
作者
李伟光
黄键
蔡文伟
董佳祥
兰钦泓
孙菁瑶
张豪
余镇钿
马贤武
Weiguang;Huang Jian;Cai Wenwei;Dong Jiaxiang;LAN Qinhong;Sun Jingyao;Zhang Hao;Yu Zhendian;Ma Xianwu(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China)
出处
《机电工程技术》
2020年第11期1-5,133,共6页
Mechanical & Electrical Engineering Technology
基金
国家自然科学基金项目(编号:51875205,51875216)
国家高技术研究发展计划项目(863项目)(编号:2015AA043005)
广东省重大科技专项项目(编号:2019B090918003)
广东省自然资源厅资助项目(编号:GDNRC[2020]030)。
关键词
柔性薄壁轴承
寿命试验
特征提取
故障诊断
flexible thin-wall bearing
life test
feature extraction
fault diagnosis
