时变载荷下主轴承外滚道剥落IAS动力学建模

汪林; 郭瑜

doi:10.13224/j.cnki.jasp.20250213

时变载荷下主轴承外滚道剥落IAS动力学建模

doi: 10.13224/j.cnki.jasp.20250213

汪林,
郭瑜^*, ,

昆明理工大学机电工程学院，昆明 650500

基金项目: 云南省基础研究重点项目（202501AS070116）；云南省教育厅高校服务重点产业科技项目（FWCY-ZNT2024007）；国家自然科学基金（52165067）

详细信息

作者简介:
汪林（2000-），女，硕士生，主要从事旋转机械故障诊断研究。E-mail：17723063876@163.com

通讯作者:
郭瑜（1971-），男，教授，博士，主要从事机械振动分析与旋转机械振动特征提取研究。E-mail：kmgary@163.com

中图分类号: V23；TH133.33
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出版历程
- 收稿日期: 2025-05-01
- 网络出版日期: 2025-12-03

Dynamic modeling of IAS for outer raceway spalling in main bearings subjected to time-varying load

WANG Lin,
GUO Yu^{*
, ,}

Faculty of Mechanical and Electrical Engineering，Kunming University of Science and Technology，Kunming 650500，China

摘要

摘要:
针对工业机器人旋转矢量减速器主轴承在时变载荷条件下外滚道剥落故障的问题，提出一种基于瞬时角速度（IAS）的时变载荷下主轴承外滚道剥落的动力学模型。考虑机械臂在运动过程中产生的时变载荷以及外滚道剥落故障产生的冲击力对附加力矩的影响。运用Runge-Kutta数值积分法求解动力学方程，通过仿真和实测信号对比分析，验证了所建动力学模型的正确性。研究表明：IAS信号因故障产生的扰动波形在低速重载工况下更加清晰，并且基于IAS信号方法的轴承剥落故障尺寸估计，不受转速波动影响，更加适用于变速工况下的剥落区尺寸估计。研究结果有助于完善基于IAS的工业机器人关节主轴承故障检测方法的动力学理论。
- 主轴承 /
- 局部剥落 /
- 时变载荷 /
- 瞬时角速度 /
- 动力学建模 /
- 剥落尺寸估计
Abstract:
In view of the problem of outer raceway spalling in the main bearing of industrial robot rotary vector （RV） reducers under time-varying load conditions, a dynamic model of outer raceway spalling under time-varying loads was proposed based on instantaneous angular speed (IAS). The time-varying loads generated during robotic arm motion and the influence of impact forces caused by outer raceway spalling on additional torque were considered. The Runge-Kutta numerical integration method was employed to solve the dynamic equations, and the correctness of the dynamic model was verified through comparative analysis of simulated and measured signals. The research showed that the disturbance waveform in IAS signals caused by faults was clearer under low-speed and heavy-load conditions. Additionally, the IAS-based method for estimating bearing spalling size was unaffected by speed fluctuations, making it more suitable for spalling size estimation under variable-speed conditions. The findings contributed to improving the dynamic theory of fault detection methods for main bearings in industrial robot joints based on IAS.
- main bearing /
- localized spalling /
- time-varying load /
- instantaneous angular speed /
- dynamic modeling /
- spalling size estimation

HTML

图 1 轴承承载特性

Figure 1. Bearing load characteristics

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图 2 关节内部轴承

Figure 2. Internal bearings in joints

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图 3 时变载荷力与受载区变化

Figure 3. Time-varying load forces and load zone variations

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图 4 角接触球轴承坐标

Figure 4. Coordinate diagram of angular contact ball bearings

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图 5 滚动体中心及内滚道的运动

Figure 5. Motion of rolling elements’ centers and inner race

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图 6 滚动体进入缺陷的两个阶段

Figure 6. Two stages of rolling elements entering a defect

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图 7 弹簧质量模型

Figure 7. Spring mass model

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图 8 时变载荷下IAS响应

Figure 8. IAS response under time-varying loads

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图 9 时变载荷下IAS阶次谱

Figure 9. Order spectrum of IAS under time-varying loads

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图 10 IAS扰动局部放大图

Figure 10. Local enlargement of IAS perturbation

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图 11 实验台和故障轴承

Figure 11. Experiment rig and fault bearing

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图 12 实测IAS响应

Figure 12. Measured IAS response

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图 13 仿真实验对比图

Figure 13. Comparison of simulation and experiments

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图 14 转速为10 r/min和15 r/min，不同载荷下IAS

Figure 14. Speed at 10 r/min and 15 r/min, IAS under different loads

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图 15 转速为15 r/min，不同载荷下阶次谱

Figure 15. Speed at 15 r/min, order spectrum under different loads

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图 16 实测IAS响应局部放大图

Figure 16. Local enlargement of measured IAS response

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表 1 轴承结构参数

Table 1. Structural parameters of bearings

参数数值

内滚道直径D_i/mm 28

外滚道直径D_o/mm 50

节圆直径D_p/mm 39

滚动体直径D_c/mm 7.9

滚动体个数N 9

接触角α₀/（°） 15

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