Manufacturing quality assurance for a rotate vector reducer with vibration technology

Gu, Jingjun; Huang, Diangui; Tan, Jieqing; Liu, Jinlei; Wang, Song; Li, Ming; Xiao, Lin

doi:10.1007/s12206-019-0401-3

Cited by 9 publications

(6 citation statements)

References 8 publications

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“…where f 2 1 denotes the rotational frequency of the planet gear related to the reference, and o 2 1 is the corresponding fault order of the planet gear.…”

Section: Fault Features Of Rv Reducermentioning

confidence: 99%

“…The rotate vector (RV) reducer is a widely used gearbox, which has the advantages of compact structure, large gear ratio, high rotation accuracy, and strong carrying capacity. 1 Generally, the RV reducer is often used in an industrial robot and working under an industrial robot running condition (rotation incompletely). However, the industrial robot is often used for heavy work, which causes the RV reducer prone to fail after long periods of operation.…”

Section: Introductionmentioning

confidence: 99%

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Tooth root crack detection of planet gear in industrial robot RV reducer

Yan

Guo

Liu

2023

Measurement and Control

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The windowed synchronous averaging (WSA) is widely utilized for planetary structures. However, it cannot be applied for the fault detection of the planetary structure in the industrial robot rotate vector (RV) reducer. The robot usually works within a specified angle range, which causes the RV reducer rotates incompletely. To address this issue, an angle compensation local synchronous fitting scheme is proposed. To detect the localized planet gear fault in the RV reducer, the observed vibration is equi-angle resampled. And the synchronous interference contained in the resampled vibration is constructed and removed according to the angle compensation strategy. The residual data is used to construct the synthetic vibration of the planet gear. Then, the fault feature of the planet gear can be detected. Experiments on the RV reducer test rig under the robot running conditions support the effectiveness of the proposed scheme positively.

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“…where f 2 1 denotes the rotational frequency of the planet gear related to the reference, and o 2 1 is the corresponding fault order of the planet gear.…”

Section: Fault Features Of Rv Reducermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tooth root crack detection of planet gear in industrial robot RV reducer

Yan

Guo

Liu

2023

Measurement and Control

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“…To detect the fault feature of RV reducers before it caused an accident, researchers tried to investigate various signal processing methods of fault diagnosis about RV reducers. A torsional vibration test method is proposed to recognize the manufacturing defects in the reducer's mechanical components in [2]. A noise deep convolution neural model (NOSCNN) is provided in [3] to identify the failure of RV reducers.…”

Section: Introductionmentioning

confidence: 99%

Tooth root crack detection of planet gear in RV reducer based on improved compute order tracking and angular domain synchronous averaging

Yan¹,

Guo²,

Liu³

2022

J. Phys.: Conf. Ser.

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Rotate vector (RV) reducers are widely used as the joints of industrial robots. Due to RV reducers often work in a reciprocating condition, it makes the corresponding vibration for fault detection is incomplete since the incompletely rotation of the output shaft. Thus, traditional methods such as the vibration separation (VS) cannot be used to detect the tooth fault of planet gear in RV reducer. Moreover, few literatures reported the tooth fault detection of RV reducer without disassembly. To address this issue, a method for detecting the planet gear tooth root crack fault of RV reducers is proposed in this paper. It combines the improved compute order tracking (ICOT), the signal extraction and reconstruction of planet gear, and the synchronous averaging (SA). The ICOT is utilized to obtain data blocks of each tooth of the gear on the reference shaft while eliminating the inevitable speed fluctuations. Subsequently, the tooth mapping relationship between the planet gear and sun gear can be calculated by the planetary meshing structure. Then, the data block of each tooth of the planet gear can be extracted from the resampled vibration. Next, data blocks of the planet gear can be constructed into a synthetic signal according to the tooth mapping relationship. Furthermore, the SA is applied to enhance the signal-noise ratio (SNR) of the synthetic signal. Finally, spectral analysis is utilized to expose the fault characteristics. The comparative experiment with the normal and faulty planet gear in an RV reducer test rig validated the effectiveness of the proposed method.

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“…The study has been applied to motion control of an actual industrial 6-axis robot. In recent years [8][9][10], some experimental investigations on dynamic characteristics of Harmonic driver and RV reducer were extended to the area of fault diagnosis, and research work tried to improve the mechanical performance of industrial robot joint.…”

Section: Introductionmentioning

confidence: 99%

Study on torsional vibration of a harmonic driver based on time-varying stiffness caused by manufacturing error

Huang¹,

Gu²,

Tong³

et al. 2021

J. vibroeng.

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The torsional vibration of Harmonic reducer is concerned with the positioning accuracy and trajectory accuracy of industrial robots. A study on the parametric torsional vibration based on time-varying stiffness will improve the mechanical performance of Harmonic reducer. In this paper, the phenomenon of time-varying stiffness caused by manufacturing error is investigated on a Harmonic driver through mechanism analysis and experimental investigation. Meanwhile, a model of forced parametric vibration is set up for the Harmonic driver transmission system with an inertia load. The parametric vibration response is simulated by the Runge-Kutta method, and the issue of bi-spectra, combined harmonic group, and the envelope of system sweeping frequency response are analyzed in detail. The influence of double periodic time-varying stiffness on vibration is emphasized with simulation data. To observe the characteristic of parametric vibration in Harmonic driver, a test device has been developed for the measurement of torsional vibration. The dynamic characteristics can be confirmed through signal processing on torsional vibration. An engineering example is given to illustrate that the manufacturing defect can be on-line diagnosed in Harmonic driver by using the characteristic of bi-spectra. As a result, the magnitude of torsional vibration is eliminated to one half of the original case through the reassembly process, and one of the mechanical performances, i.e., the property of torsional vibration-speed, is improved obviously. The dynamic characteristics caused by time-varying stiffness, i.e., bi-spectra, can be used as a new clue of manufacturing quality assurance for Harmonic driver.

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Manufacturing quality assurance for a rotate vector reducer with vibration technology

Cited by 9 publications

References 8 publications

Tooth root crack detection of planet gear in industrial robot RV reducer

Tooth root crack detection of planet gear in industrial robot RV reducer

Tooth root crack detection of planet gear in RV reducer based on improved compute order tracking and angular domain synchronous averaging

Study on torsional vibration of a harmonic driver based on time-varying stiffness caused by manufacturing error

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