摘要
谐波减速器是一种依赖柔性构件的可控变形的传动机构,其主要部件长期受持续变化的交变应力影响,故障风险显著高于常规传动机构。谐波减速器部件的故障位置、运动关系及承载区的时变特性会导致其故障特征频率呈现出区间分布及周期性变化的特点。同时谐波减速器依靠多个旋转部件在狭小空间内的紧密配合实现传动,单一故障的横向传播会导致多种故障特征同时出现,增加了故障定位难度。该研究提出一种等效方法,通过将柔性轴承在连续瞬态下的运动关系等效为常规轴承的方式明确了柔性轴承故障特征频率的时变规律;给出了刚轮、柔轮、柔性轴承及交叉滚子轴承典型故障特征频率的计算方法;开展了谐波减速器故障模拟试验,基于试验数据对谐波减速器故障特征频率的理论计算结果进行了验证,给出了多种故障模式下的时、频域故障特征。结果表明,试验实测值与理论分析结果相符,利用给出的故障特征分析方法可以获取准确的谐波减速器故障特征频率。
Harmonic drive is a transmission mechanism that relies on controllable deformation produced by flexible components,which are subjected to continuous alternating stress.As a result,the risk of failure is significantly higher than that of conventional transmission mechanisms.Changes on the fault location,kinematic relationship,and bearing area may cause the interval distribution and periodic transformation of the fault characteristic frequency.As the running of harmonic drive based on the close coordination of several rotational components is within a narrow space,the transmission of single fault may cause the appearance of fault characteristics of multiple faults,so that the fault location is difficult.Therefore,an equivalent method was proposed to clarify the time-varying patterns of the flexible bearing fault frequency by equating the kinematic relationship of continuous transient with that of a conventional bearing.The calculation procedure of the fault characteristic frequency for the circular spline,flex-spline,flexible bearing,and cross roller bearing was presented.A fault simulation experiment was conducted to validate the theoretical analysis,the fault characteristics for multiple faults were provided.The results show that the experiment results are consistent with that of the theoretical analysis,and the fault characteristic frequency can be obtained based on the proposed method.
作者
贾昀昭
徐敏强
程瑶
李玉庆
王日新
秦春云
JIA Yunzhao;XU Minqiang;CHENG Yao;LI Yuqing;WANG Rixin;QIN Chunyun(School of Astronautics,Harbin Institute of Technology,Harbin 150001,China;China Academy of Space Technology,Beijing 100094,China;Anhui North Microelectronics Research Institute Group Corporation Limited,China North Industries Group Corporation Limited,Suzhou 215163,China)
出处
《振动与冲击》
北大核心
2025年第2期279-291,320,共14页
Journal of Vibration and Shock
基金
国家重点研发计划(2021YFA1003501)
国家自然科学基金(52075117)
黑龙江省重点研发计划(2022ZX01A20)。
关键词
谐波减速器
柔性轴承
故障诊断
故障特征频率
harmonic drive
flexible bearing
fault diagnosis
fault characteristic frequency
