CN115095641B - Friction electric type planetary gear running state monitoring sensor and testing method thereof - Google Patents
Friction electric type planetary gear running state monitoring sensor and testing method thereof Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/021—Gearings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/46—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
- F16H2057/012—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance of gearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
- F16H2057/014—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance of friction elements in transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
- F16H2057/018—Detection of mechanical transmission failures
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Abstract
The invention provides a friction electric type planetary gear running state monitoring sensor and a testing method thereof, and belongs to the technical field of sensors. The problem that an existing planetary reducer running state monitoring sensor is complex in structure and needs external power supply is solved. The planetary reducer is arranged between a stator unit and a rotor unit of the planetary reducer, and has the advantages of simple structure, high reliability, low cost, self-power supply and the like. The sensor comprises a comb electrode A, a comb electrode B, a planet gear tooth top negative friction layer and a planet gear tooth bottom negative friction layer, wherein the comb electrode A and the comb electrode B are arranged in a staggered mode and are respectively fixed at the tooth top and the tooth bottom of the inner gear ring, and the planet gear tooth top negative friction layer and the planet gear tooth bottom negative friction layer are respectively fixed at the tooth top and the tooth bottom of the planet gear; as the planetary gears with negative friction layer rotate around the inner gear ring, static charges flow between the spatially staggered comb finger electrodes a and the comb finger electrodes B to generate alternating current signals corresponding to the static charges. The invention is suitable for monitoring the running state of the planetary gear.
Description
Technical Field
The invention belongs to the technical field of sensors, and particularly relates to a triboelectric planetary gear running state monitoring sensor and a testing method thereof.
Background
The planetary gear transmission has the characteristics of stable transmission, compact structure, small volume, light weight, large transmission ratio, capability of realizing synthesis and decomposition of motion and the like, and is widely applied to modern industrial mechanical transmission systems such as wind power generation, aerospace, metallurgy, petrochemical industry, lifting transportation and the like. Because the planetary gear transmission system has a complex structure, the planetary gear transmission system is always under severe working conditions such as high temperature, high pressure, heavy load and the like, so that the failure damage rate of the planetary gear transmission system is extremely high. Planetary gears are commonly used transmission components in mechanical equipment, and their operating state directly affects the operational performance, reliability and life of the equipment, and once they fail, they cause significant economic losses and equipment accidents. In addition, with the rapid development of modern industrial technology, the demand of mechanical equipment for intellectualization is more and more urgent, so that it is imperative to develop an intelligent planetary gear transmission system to ensure safe operation of gears and prevent serious accidents.
However, currently, for planetary gear operating state monitoring, it is common to use several sensors installed on the device to evaluate its operating state. Because the sensor is far away from the measured gear, the problems of signal attenuation and interference are more remarkable, the sensor needs external power supply, and a test system is complex, so that the monitoring method is difficult to popularize and apply widely.
Therefore, there is an urgent need to design a novel planetary speed reducer rotation speed and running state monitoring sensor with simple structure, easy integration, high precision, stability and reliability so as to meet the application requirements of the continuous development of modern mechanical equipment to the intelligent direction.
Disclosure of Invention
In view of the above, the invention aims to provide a triboelectric planetary gear running state monitoring sensor so as to solve the problems that the existing planetary reducer running state monitoring sensor is complex in structure, needs external power supply and the like.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
a triboelectric planetary gear running state monitoring sensor, wherein the sensor is arranged between a stator unit and a rotor unit of a planetary gear reducer, the stator unit comprises an annular gear, the rotor unit comprises a planet carrier, a sun gear and four planet gears, and the four planet gears are meshed with the annular gear;
The sensor comprises a comb electrode A, a comb electrode B, a planet gear tooth top negative friction layer and a planet gear tooth bottom negative friction layer, wherein the comb electrode A and the comb electrode B are arranged in a staggered mode and are respectively fixed at the tooth top and the tooth bottom of the inner gear ring, and the planet gear tooth top negative friction layer and the planet gear tooth bottom negative friction layer are respectively fixed at the tooth top and the tooth bottom of the planet gear;
As the planetary gears with negative friction layer rotate around the inner gear ring, static charges flow between the comb finger electrodes a and the comb finger electrodes B which are arranged in a space staggered manner so as to generate alternating current signals corresponding to the static charges.
Still further, an inner gear ring tooth top EVA sponge and an inner gear ring tooth bottom EVA sponge are respectively arranged at the tooth top and the tooth bottom of the inner gear ring, a comb finger electrode A is arranged on the inner gear ring tooth top EVA sponge, and a comb finger electrode B is arranged on the inner gear ring tooth bottom EVA sponge.
Still further, the sensor still includes planet teeth bottom EVA sponge and planet wheel top EVA sponge, planet teeth bottom EVA sponge and planet wheel top EVA sponge are fixed respectively at the tooth bottom and the top department of planet wheel, planet teeth bottom negative friction layer is fixed on planet teeth bottom EVA sponge, and planet wheel top negative friction layer is fixed on planet teeth top EVA sponge.
Further, the planet gear tooth top negative friction layer and the planet gear tooth bottom negative friction layer are made of PTFE.
Further, the comb finger electrode A and the comb finger electrode B are respectively composed of polyimide, epoxy resin and copper electrodes, and the polyimide and the copper electrodes are connected by the epoxy resin.
Further, the radial effective width of a single comb finger of the comb finger electrode is 1.6mm, and the effective length is 40mm; the number of teeth of the inner gear ring is 84, the diameter of the addendum circle is 176mm, and the number of comb fingers of the comb finger electrodes is 84, and the total length of the comb finger electrodes is 553mm and is uniformly distributed.
Furthermore, the edges of the comb finger electrodes are also paved with 5mm copper strips, and the copper strips are used for keeping 84 comb finger electrodes connected in series and reserving space for arrangement of electric signal output wires.
Further, when the planet wheel rotates around the inner gear ring, the comb finger electrode A and the comb finger electrode B are continuously contacted and separated with the planet wheel tooth bottom negative friction layer and the planet wheel tooth top negative friction layer, and frictional charges are generated and accumulated on the surfaces of the two friction materials to be in a saturated state; as the planetary drive system operates, the friction material disposed thereon periodically comes into contact and separates to generate an electrical signal, and the frequency of the electrical signal varies as the rotational speed of the planets varies.
Furthermore, the amplitude of the electric signal output by the sensor is influenced by the contact area between the comb finger electrode A and the planetary gear tooth bottom negative friction layer, between the comb finger electrode B and the planetary gear tooth top negative friction layer, and when the contact area between the tooth surface and the friction material is reduced due to tooth breakage or severe abrasion of the gear ring or the planetary gear, the electric signal changes along with the change of the contact area, so that the monitoring of the operation fault of the speed reducer can be realized.
Another object of the present invention is to provide a method for testing a sensor for monitoring the running state of a friction electric planetary gear, which specifically includes the following steps:
step S1: the electrostatic collection equipment is used for collecting and extracting the characteristics of the electric signals output by the sensor in real time, and converting the characteristics of the electric signals output into corresponding sensing parameters;
Step S2: reducing noise interference in the signals by adopting an S-G smoothing filter algorithm, and establishing an association relation between the characteristic signals and the rotating speed of planetary gear transmission through time-frequency analysis of the sensing signals;
Step S3: and the system is kept to run, the torque and rotation speed sensor is utilized to calibrate the friction electric type planetary gear sensor, and the sensing precision of the friction electric type planetary gear sensor is tested.
Compared with the prior art, the friction electric type planetary gear running state monitoring sensor has the beneficial effects that:
(1) The sensor disclosed by the invention adopts a working mode of an independent layer of the friction nano generator, and the friction electric type planetary gear running state monitoring sensor adopts a grid structure, and comprises grid-shaped comb finger electrodes and an independent layer. Along with the continuous contact and separation of the independent layer and the comb finger electrode, charges generated by friction electrification are continuously accumulated to a saturated state on the surfaces of the two contact materials. Meanwhile, along with the relative position change of the independent layer and the fixed electrode, the surface potential of the two electrodes is correspondingly changed, and electrons flow between the two electrodes through an external circuit under the drive of potential difference. Generating a periodic Alternating Current (AC) output in an external load; the generated electric signals can change along with the change of the rotating speed of the planetary gear and the contact area of the friction material, and the related information such as the rotating speed and the fault of the speed reducer can be obtained through the related processing such as acquisition, filtering, analysis, calculation and the like of the obtained signals.
(2) The invention has the characteristics of high integration, simple structure, strong stability and the like, creatively integrates the friction nano generator in the planetary gear, can be integrated in the internal structure of the planetary gear reducer on the premise of not changing the gear structure and damaging the bearing area, ensures the structural and functional integrity of the reducer, realizes the monitoring of the running state of the planetary gear, and provides theoretical and experimental basis for the development of the intelligent planetary gear reducer.
(3) The invention can realize the monitoring of the rotating speed and the running state of the planetary reducer and has the advantages of self-power supply, high precision, low cost and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute an undue limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of an explosion structure of a sensor for monitoring the running state of a friction electric type planetary gear according to an embodiment of the invention;
FIG. 2 is a schematic perspective view of a stator structure in a sensor for monitoring the operational status of a triboelectric planetary gear according to an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a rotor structure in a sensor for monitoring the operational status of a triboelectric planetary gear according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the operating principle of the sensor for monitoring the operating state of the friction electric type planetary gear according to the inventive embodiment of the present invention;
FIG. 5 is an enlarged schematic view of FIG. 4 at A;
FIG. 6 is a schematic diagram of the overall structure of a sensor for monitoring the operating state of a friction electric planetary gear according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart diagram of a method for testing a triboelectric planetary gear operating condition monitoring sensor according to an inventive embodiment of the present invention;
FIG. 8 is a schematic diagram of a sensor for monitoring the running state of a friction electric type planetary gear according to an embodiment of the present invention, wherein the sensor uses the frequency of an output signal to realize the rotation speed detection;
FIG. 9 is a schematic diagram of a fitted straight line of frequencies of output electric signals of a triboelectric planetary gear running state monitoring sensor at different rotational speeds according to an embodiment of the present invention;
FIG. 10 is a graph comparing rotational speed measurements of a friction electric planetary gear operating condition monitoring sensor and a torque rotational speed sensor according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of open-circuit voltage characteristics of a triboelectric planetary gear operating state monitoring sensor according to an embodiment of the present invention at different rotational speeds;
FIG. 12 is a schematic diagram of open-circuit current characteristics of a triboelectric planetary gear operating state monitoring sensor according to an embodiment of the present invention at different rotational speeds;
FIG. 13 is a waveform of a sensor signal output by the sensor under a load of 10 N.m. at a rotational speed of 40 rpm;
FIG. 14 is a waveform of a sensor signal output by the sensor under a load of 10 N.m. at a rotation speed of 80 rpm.
Reference numerals illustrate:
1. A planetary gear reducer; 2. a stator unit; 21. comb finger electrode A; 22. EVA sponge at the tooth top of the inner gear ring; 23. an inner gear ring; 24. EVA sponge at the tooth bottom of the inner gear ring; 25. comb finger electrode B; 3. a rotor unit; 311. EVA sponge at the bottom of the planetary gear teeth; 312. a planetary gear tooth bottom negative friction layer; 313. a planet wheel; 314. planetary gear tooth crest EVA sponge; 315. a planet gear tooth top negative friction layer; 32. a planet carrier; 33. and a sun gear.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention disclosed herein without departing from the scope of the invention.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on those shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the creation of the present invention will be understood in a specific case by those skilled in the art.
In addition, the technical features which are described below and which are involved in the various embodiments of the invention can be combined with one another as long as they do not conflict with one another.
Fig. 1 is a schematic diagram of a triboelectric planetary gear running state monitoring sensor according to the present invention.
As shown in fig. 1-6, a triboelectric planetary gear running state monitoring sensor is installed between a stator unit 2 and a rotor unit 3 of a planetary gear reducer 1, the stator unit 2 comprises an inner gear ring 23, the rotor unit 3 comprises a planet carrier 32, a sun gear 33 and four planet gears 313, and the four planet gears 313 are meshed with the inner gear ring 23;
The sensor comprises a comb electrode A21, a comb electrode B25, a planet gear tooth top negative friction layer 315 and a planet gear tooth bottom negative friction layer 312, wherein the comb electrode A21 and the comb electrode B25 are respectively fixed at the tooth top and the tooth bottom of the annular gear 23, the comb electrode A21 and the comb electrode B25 are arranged in a staggered manner, and the planet gear tooth top negative friction layer 315 and the planet gear tooth bottom negative friction layer 312 are respectively fixed at the tooth top and the tooth bottom of the planet gear 313;
An inner gear ring tooth top EVA sponge 22 and an inner gear ring tooth bottom EVA sponge 24 are respectively arranged at the tooth top and the tooth bottom of the inner gear ring 23, a comb finger electrode A21 is arranged on the inner gear ring tooth top EVA sponge 22, and a comb finger electrode B25 is arranged on the inner gear ring tooth bottom EVA sponge 24. The EVA sponge plays a role in buffering to avoid rigid friction, and can also apply pretightening force to the contact of the comb finger electrode and the negative friction layer material to ensure the sufficient contact of the two friction layers.
During power transmission, as the sun gear 33 rotates, the planetary gears 313 are continuously in meshing contact-separation with the teeth of the ring gear 23; it can further be used as a mechanism for spontaneous and periodic triboelectric signal generation based on contact charging. Accordingly, by attaching the respective friction materials at the tooth tips and tooth roots of the planetary gear 313 and the ring gear 23, respectively, the friction materials are periodically contact-separated to generate an electric signal as the planetary transmission system is operated.
The sensor further comprises a planet gear tooth bottom EVA sponge 311 and a planet gear tooth top EVA sponge 314, wherein the planet gear tooth bottom EVA sponge 311 and the planet gear tooth top EVA sponge 314 are respectively fixed at the tooth bottom and the tooth top of a planet gear 313, a planet gear tooth bottom negative friction layer 312 is fixed on the planet gear tooth bottom EVA sponge 311, and a planet gear tooth top negative friction layer 315 is fixed on the planet gear tooth top EVA sponge 314.
An EVA sponge is arranged at the tooth top and the tooth bottom of the planet wheel 313, and a layer of PTFE negative friction layer 312 and 315 is arranged on the EVA sponge of the planet wheel, wherein the thickness of the PTFE negative friction layer is 0.1mm, the width of the PTFE negative friction layer is about 1.56mm, the length of the PTFE negative friction layer is 30mm, and the planet wheel 313 is continuously meshed with and contacted with and separated from the teeth of the inner gear ring 23 along with the rotation of the sun wheel 33.
The comb finger electrodes A21 and B25 are composed of polyimide, epoxy resin and copper electrodes, and the comb finger electrodes are distributed in a staggered mode in space. Wherein, the radial effective width of the comb finger of the single comb finger electrode is 1.6mm, and the effective length is 40mm. Meanwhile, as the number of teeth of the annular gear 23 is 84 and the diameter of the addendum circle is 176mm, the total length of the processed grid electrode is 553mm, and the grid electrode is uniformly distributed on the circumference, and the grid electrode is divided into 84 periods to correspond to the number of teeth of the annular gear 23 of the speed reducer. In addition, the electrode edge is also paved with a copper strip with the length of 5mm, which is used for keeping 84 comb finger electrodes connected in series and reserving a space for arrangement of electric signal output wires.
The processing mode of the comb finger electrode pair adopts a flexible circuit board (FPC) copper rolling process, the ductility, bending resistance, conductivity and the like of the comb finger electrode pair are superior to those of electrolytic copper foil, the copper purity is also higher than that of the electrolytic copper foil, the processing precision of the mode can reach 10um, and the precision requirement of comb finger electrode application is met.
Further, the planet wheel 313 is continuously contacted and separated with the planet wheel bottom negative friction layer 312 and the planet wheel top negative friction layer 315 when rotating around the inner gear ring 23, and friction charges are generated and accumulated on the surfaces of the two friction materials to be saturated; as the planetary drive system operates, the friction material disposed thereon periodically comes into contact and separates to generate an electrical signal, and the frequency of the electrical signal varies as the rotational speed of the planet 313 varies.
The amplitude of the output electric signal of the sensor is influenced by the contact areas of the comb finger electrode A21 and the planetary gear tooth bottom negative friction layer 312, the comb finger electrode B25 and the planetary gear tooth top negative friction layer 315, and when the contact area of the tooth surface and the friction material is reduced due to the occurrence of tooth breakage or severe abrasion of the gear ring 23 or the planetary gear 313, the electric signal changes along with the change of the contact area, so that the monitoring of the operation fault of the speed reducer can be realized.
The working principle of the sensor of the application is as follows: when the gear rotates, the copper comb finger electrode a 21, the comb finger electrode B25 and the negative friction layer are continuously contact-separated. When the planetary gear bottom negative friction layer 312 is in full contact with the comb finger electrode a 21, the planetary gear bottom negative friction layer 312 accumulates negative friction charges on the surface due to the electronegativity difference between different friction materials, and the copper comb finger electrode a 21 accumulates equivalent positive friction charges according to the law of conservation of charge. As the gears rotate, the planetary gear bottom negative friction layer 312 starts to separate from the copper comb finger electrode a 21, and the PTFE planetary gear top negative friction layer 315 gradually contacts the copper comb finger electrode B25. Since the position of the gear rotating negative friction layer relative to the two electrodes is changed, a certain potential difference is generated between the copper comb finger electrode a 21 and the copper comb finger electrode B25. Positive charges are caused to flow from the copper comb finger electrode a 21 having a high potential to the copper comb finger electrode B25 having a low potential by the driving of the electrostatic field, thereby forming a transient current in the external circuit. When the PTFE-based planetary gear tip negative friction layer 315 is overlapped with the copper electrode B, all positive charges on the comb finger electrode a 21 flow to the copper comb finger electrode B25. As the gears continue to rotate, the bottom negative friction layer 312 of the PTFE material of the planetary gear tips begins to contact copper electrode a and positive charge is transferred from copper comb finger electrode B25 to copper comb finger electrode a 21. With the reciprocating flow of charge between the two electrodes, a periodic Alternating Current (AC) output will be generated in an external load.
As shown in fig. 7, a testing method of a triboelectric planetary gear running state monitoring sensor of the present application includes the following steps:
in step S1, the electrostatic collection device is used to collect the electrical signal output by the sensor in real time and extract the characteristics of the electrical signal output into corresponding sensing parameters, specifically: the method comprises the steps of accessing an electrical signal frequency output by a friction electric sensor and a voltage signal output by a torque rotating speed sensor into an NI board card, acquiring signal waveform frequency and voltage data of the accessed board card in real time by using an NI PCI6259 data acquisition card, and carrying out noise reduction filtering and signal analysis by a written LabView sensing test system to obtain sensing parameters of a monitoring object;
in the step S2, a Savitzky-Golay (SG) smoothing filter algorithm is adopted to perform real-time preprocessing on the electric signals (namely sensing parameters) acquired in the step S1, so that high-frequency noise interference in output sensing signals is reduced, and the sensing performance of the sensor is improved; establishing an association relation between the characteristic signals and the rotation speed and faults of the planetary gear reducer transmission through time-frequency analysis of the sensing signals;
In step S3, the system is kept running, and the friction electric type planetary gear sensor is calibrated by using a JN338-AE torque rotating speed sensor, and the sensing precision is tested; the method comprises the following steps: and comparing the rotating speed detection results of the friction electric type planetary gear running state monitoring sensor and the JN338-AE torque rotating speed sensor, and calculating the rotating speed detection error rate of the friction electric type planetary gear running state monitoring sensor.
As shown in fig. 8, since the comb finger copper electrodes and PTFE of the sensor are distributed on the ring gear 23 and the planet gear 313 of the planetary reducer according to a certain rule, the PTFE layer on the planet gear 313 is continuously meshed and separated with the copper electrodes on the ring gear 23 along with the normal working rotation of the planetary reducer 1. When the two are engaged and separated, a forward and reverse pulse signal is generated as shown in the box part in fig. 7. And the number of meshes of the planet wheel 313 and the inner gear ring 23 is fixed when the planetary gear reducer works for one circle, namely the number of signal pulses output by the sensor is fixed when the planetary gear reducer 1 works for one circle. Furthermore, the time interval te between two signal pulses will vary in real time with the operating speed of the planetary reducer 1. The time interval of the two signal pulses can be expressed by the frequency of the signals, and the frequency of the signals can be acquired in real time by a counter in the NI data acquisition card. And transmitting the acquired sensing signal frequency to a LabView sensing test program for relevant calculation, and converting the signal frequency characteristic into a rotating speed signal of the planetary reducer 1.
As shown in fig. 9, the frequency linearity of the electric signal output by the sensor at each rotation speed is shown, and the result in the figure shows that the frequency characteristic output by the sensor has good linearity with the rotation speed of the planetary gear 313.
As shown in fig. 10, fig. 10 is a comparison of the speeds measured by the triboelectric planetary gear running state monitoring sensor and the high-precision torque rotation speed sensor. As a result, the measurement error rate of the triboelectric sensor generally gradually decreases with an increase in the input rotational speed of the planetary reducer 1. When the input rotating speed is 1000rpm, the rotating speed error value measured by the sensor reaches the maximum value, and is 0.398rpm; the error rate of the rotational speed measured by the sensor reached a maximum of 0.348% when the input rotational speed was 70 rpm. Therefore, the rotating speed sensing precision of the friction electric type planetary gear running state monitoring sensor is more than 0.40%, and the sensing requirements of most industrial fields can be met.
As shown in fig. 11, fig. 11 shows the output voltage signal of the sensor in an operating state of 200-1000rpm (higher rotational speed). The test result shows that the amplitude of the open-circuit voltage output by the sensor hardly changes along with the increase of the working rotation speed of the sensor, and the open-circuit low voltage of the sensor is stabilized at about 3V in the working range of 10-1000 rpm.
As shown in fig. 12, the short-circuit current output by the sensor in the working interval of 200-1000rpm is shown by test results, the output short-circuit current amplitude of the sensor at low rotation speed is approximately in linear relation with the working rotation speed of the sensor, when the rotation speed is increased to a certain extent, the increase amplitude of the short-circuit current is slowed down and stabilized along with the increase of the rotation speed, and the short-circuit current amplitudes of the sensor at the rotation speeds of 10, 100 and 1000rpm are 7.7, 66.3 and 170.5nA respectively.
As shown in fig. 13, fig. 13 shows waveforms of sensing signals output by the sensor under the load of 10n·m when the rotation speed is 40rpm, and the number of teeth of the ring gear of the planetary reducer is large, so as to reduce difficulty in searching fault characteristic signals, the electrical signals output by the sensor are divided into two paths for output. The number of teeth of the inner gear ring of the planetary reducer is 84, so that each path of electrode comprises 42 teeth, and two adjacent teeth form a pair of electrode pairs, and the sensor outputs 21 sine waves when the planetary reducer moves for one circle. The test result shows that obvious characteristic signals representing the partial tooth breakage fault of the planetary reducer appear periodically in the electric signals output by the sensor under different load conditions, and the period generated by the fault characteristics is 21, which is consistent with the electrode arrangement rule.
As shown in fig. 14, fig. 14 shows waveforms of sensing signals output by the sensor under a load of 10n·m at a rotation speed of 80rpm, when the rotation speed of the planetary reducer is 80rpm, fault characteristics in the sensor output electric signals are consistent with those of 40rpm, the generation period is 21, and test results show that when the planetary reducer has partial tooth breakage, the friction sensor will periodically output waveforms with fault characteristic information.
The friction nano generator is creatively integrated in the internal structure of the planetary gear, so that the integrity of the structure and the function of the speed reducer is ensured, the speed reducer has the characteristics of miniaturization and integration, the monitoring of the rotating speed and faults of the planetary gear is realized, and the technical guidance is provided for the development of the intelligent planetary gear speed reducer.
The inventive embodiments of the present invention disclosed above are merely intended to help illustrate the present invention. The examples are not intended to be exhaustive or to limit the invention to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention.
Claims (8)
1. A triboelectric planetary gear running state monitoring sensor, characterized in that the sensor is mounted between a stator unit (2) and a rotor unit (3) of a planetary gear reducer (1), the stator unit (2) comprises an inner gear ring (23), the rotor unit (3) comprises a planet carrier (32), a sun gear (33) and four planet gears (313), and the four planet gears (313) are all meshed with the inner gear ring (23);
The sensor comprises a comb electrode A (21), a comb electrode B (25), a planet gear tooth top negative friction layer (315) and a planet gear tooth bottom negative friction layer (312), wherein the comb electrode A (21) and the comb electrode B (25) are arranged in a staggered mode and are respectively fixed at the tooth top and the tooth bottom of the annular gear (23), and the planet gear tooth top negative friction layer (315) and the planet gear tooth bottom negative friction layer (312) are respectively fixed at the tooth top and the tooth bottom of the planet gear (313);
as the planetary gears (313) with the negative friction layer rotate around the annular gear (23), static charges flow between the comb finger electrodes A (21) and the comb finger electrodes B (25) which are arranged in a space staggered manner so as to generate alternating current signals corresponding to the static charges;
The amplitude of the electric signal output by the sensor is influenced by the contact area between the comb finger electrode A (21) and the planetary gear tooth bottom negative friction layer (312) and the contact area between the comb finger electrode B (25) and the planetary gear tooth top negative friction layer (315), and when the contact area between the tooth surface and the friction material is reduced due to broken teeth or severe abrasion of the inner gear ring (23) or the planetary gear (313), the electric signal changes along with the change of the contact area, so that the monitoring of the operation fault of the speed reducer is realized.
2. A triboelectric planetary gear operating condition monitoring sensor according to claim 1, characterized in that: an inner gear ring top EVA sponge (22) and an inner gear ring bottom EVA sponge (24) are respectively arranged at the top and the bottom of the inner gear ring (23), comb finger electrodes A (21) are arranged on the inner gear ring top EVA sponge (22), and comb finger electrodes B (25) are arranged on the inner gear ring bottom EVA sponge (24).
3. A triboelectric planetary gear operating condition monitoring sensor according to claim 1, characterized in that: the sensor further comprises a planet gear tooth bottom EVA sponge (311) and a planet gear tooth top EVA sponge (314), wherein the planet gear tooth bottom EVA sponge (311) and the planet gear tooth top EVA sponge (314) are respectively fixed at the tooth bottom and the tooth top of a planet gear (313), a planet gear tooth bottom negative friction layer (312) is fixed on the planet gear tooth bottom EVA sponge (311), and a planet gear tooth top negative friction layer (315) is fixed on the planet gear tooth top EVA sponge (314).
4. A triboelectric planetary gear operating condition monitoring sensor according to claim 1, characterized in that: the comb finger electrode A (21) and the comb finger electrode B (25) are respectively composed of polyimide, epoxy resin and copper electrodes, and the polyimide and the copper electrodes are connected by the epoxy resin.
5. A triboelectric planetary gear operating condition monitoring sensor according to claim 1, characterized in that: the planet gear tooth top negative friction layer (315) and the planet gear tooth bottom negative friction layer (312) are made of PTFE.
6. A triboelectric planetary gear operating condition monitoring sensor according to claim 1, characterized in that: the radial effective width of a single comb finger of the comb finger electrode is 1.6mm, and the effective length is 40mm; the number of teeth of the inner gear ring is 84, the diameter of the addendum circle is 176mm, and the number of comb fingers of the comb finger electrodes is 84, and the total length of the comb finger electrodes is 553mm and is uniformly distributed.
7. A triboelectric planetary gear operating condition monitoring sensor according to claim 6, characterized in that: the edges of the comb finger electrodes are also paved with 5mm copper strips which are used for keeping 84 comb finger electrodes connected in series and reserving space for arrangement of electric signal output wires.
8. A method of testing a triboelectric planetary gear operating condition monitoring sensor according to any one of claims 1-7, characterized in that: the method specifically comprises the following steps:
step S1: the electrostatic collection equipment is used for collecting and extracting the characteristics of the electric signals output by the sensor in real time, and converting the characteristics of the electric signals output into corresponding sensing parameters;
Step S2: reducing noise interference in the signals by adopting an S-G smoothing filter algorithm, and establishing an association relation between the characteristic signals and the rotation speed and faults of the planetary gear reducer transmission through time-frequency analysis of the sensing signals;
Step S3: and the system is kept to run, the torque and rotation speed sensor is utilized to calibrate the friction electric type planetary gear sensor, and the sensing precision of the friction electric type planetary gear sensor is tested.
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