CN115095641A - Triboelectric type planetary gear running state monitoring sensor and testing method thereof - Google Patents
Triboelectric 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 triboelectric type planetary gear running state monitoring sensor and a testing method thereof, and belongs to the technical field of sensors. The problem of current planetary reducer running state monitoring sensor structure complicacy and need outside 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 finger electrode A, a comb finger electrode B, a planet gear tooth top negative friction layer and a planet gear tooth bottom negative friction layer, wherein the comb finger electrode A and the comb finger 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; when the planet wheel with the negative friction layer rotates around the inner gear ring, static charges flow between the comb finger electrodes A and the comb finger electrodes B which are staggered in space, and therefore alternating current signals corresponding to the static charges are generated. 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 type 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 the synthesis and decomposition of motion and the like, and is widely applied to modern industrial mechanical transmission systems of wind power generation, aerospace, metallurgy, petrochemical industry, hoisting and transportation and the like. Because the planetary gear transmission system has a complex structure and is often in severe working conditions such as high temperature, high pressure, heavy load and the like, the failure damage rate is extremely high. The planetary gear is a transmission component commonly used in mechanical equipment, and the operating state of the planetary gear directly influences the working performance, reliability and service life of equipment, so that the planetary gear can cause great economic loss and equipment accidents once a fault occurs. In addition, with the rapid development of modern industrial technologies, the demand of mechanical equipment on intellectualization is more and more urgent, so that the intelligent planetary gear transmission system is researched and developed to ensure the safe operation of the gear and prevent major accidents from happening imperatively.
However, currently, for monitoring the operating state of the planetary gear, several sensors are usually installed on the equipment to evaluate the operating state of the equipment. The sensor is far away from the measured gear, so that the problems of signal attenuation and interference are more prominent, the sensor needs external power supply, and the test system is complex, so that the monitoring method is difficult to widely popularize and apply.
Therefore, a novel sensor for monitoring the rotating speed and the operating state of the planetary reducer, which has the advantages of simple structure, easy integration, high precision, stability and reliability, is urgently needed to meet the application requirements of modern mechanical equipment which are continuously developed towards the intelligent direction.
Disclosure of Invention
In view of this, the present invention provides a triboelectric type planetary gear operating state monitoring sensor to solve the problems of the existing planetary reducer operating state monitoring sensor, such as complex structure and need of external power supply.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a triboelectric type planetary gear running state monitoring sensor is installed between a stator unit and a rotor unit of a planetary gear reducer, wherein the stator unit comprises an inner gear ring, the rotor unit comprises a planet carrier, a sun gear and four planet gears, and the four planet gears are all meshed with the inner gear ring;
the sensor comprises a comb finger electrode A, a comb finger electrode B, a planet gear tooth top negative friction layer and a planet gear tooth bottom negative friction layer, wherein the comb finger electrode A and the comb finger 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;
when the planet wheel with the negative friction layer rotates 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 staggered mode, and therefore alternating current signals corresponding to the static charges are generated.
Furthermore, the tooth top and the tooth bottom of the inner gear ring are respectively provided with inner gear ring tooth top EVA sponge and inner gear ring tooth bottom EVA sponge, the inner gear ring tooth top EVA sponge is provided with a comb finger electrode A, and the inner gear ring tooth bottom EVA sponge is provided with a comb finger electrode B.
Still further, the sensor still includes at the bottom of the planet wheel tooth EVA sponge and planet wheel addendum EVA sponge, at the bottom of the planet wheel tooth EVA sponge and planet wheel addendum EVA sponge are fixed respectively at the bottom of the planet wheel tooth and tooth top department, at the bottom of the planet wheel tooth negative friction layer fix at the bottom of the planet wheel tooth EVA sponge, planet wheel addendum negative friction layer fix at the planet wheel addendum EVA sponge.
Furthermore, the planet gear tooth top negative friction layer and the planet gear tooth bottom negative friction layer are made of PTFE.
Furthermore, the comb finger electrode A and the comb finger electrode B are both composed of polyimide, epoxy resin and copper electrodes, and the polyimide and the copper electrodes are connected through the epoxy resin.
Furthermore, the radial effective width of each comb finger of the comb finger electrode is 1.6mm, and the effective length of each comb finger electrode is 40 mm; the number of teeth of the inner gear ring is 84, the diameter of a tooth top circle is 176mm, and the number of comb fingers of the comb finger electrodes is 84, and the total length is 553mm and the comb fingers are uniformly distributed.
Furthermore, 5mm copper strips are laid on the edges of the comb finger electrodes and used for keeping 84 comb finger electrodes connected in series and reserving space for arrangement of electric signal output leads.
Furthermore, when the planet gears rotate around the inner gear ring, the comb finger electrodes A and the comb finger electrodes B are in continuous contact separation with the planet gear tooth bottom negative friction layer and the planet gear tooth top negative friction layer, and friction charges are generated and accumulated on the surfaces of the two friction materials to a saturated state; as the planetary transmission operates, the friction material disposed thereon periodically contacts and separates to produce an electrical signal, and the frequency of the electrical signal varies with the rotational speed of the planet wheels.
Furthermore, the amplitude of the electric signal output by the sensor is influenced by the contact areas of the comb finger electrode A and the planetary gear tooth bottom negative friction layer and the comb finger electrode B and the planetary gear tooth top negative friction layer, 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, and the monitoring of the running fault of the speed reducer can be realized.
The invention also aims to provide a test method of the running state monitoring sensor of the friction type planetary gear, which comprises the following steps:
step S1: the method comprises the following steps of utilizing static electricity acquisition equipment to carry out real-time acquisition and feature extraction on electric signals output by a sensor, and converting the characteristics of the output electric signals into corresponding sensing parameters;
step S2: noise interference in the signals is reduced by adopting an S-G smoothing filtering algorithm, and the incidence relation between the characteristic signals and the rotating speed of the planetary gear transmission is established through time-frequency analysis of the sensing signals;
step S3: and keeping the system running, calibrating the triboelectric planetary gear sensor by using the torque and rotating speed sensor, and testing the sensing precision of the triboelectric planetary gear sensor.
Compared with the prior art, the running state monitoring sensor for the triboelectric planetary gear has the beneficial effects that:
(1) the invention discloses a sensor which adopts a friction nanometer generator independent layer working mode, and a friction type planetary gear running state monitoring sensor adopts a grid-shaped structure and comprises a grid-shaped comb finger electrode and an independent layer. With the continuous contact and separation of the independent layer and the comb-finger electrode, charges generated by triboelectrification are continuously accumulated to a saturated state on the surfaces of the two contact materials. Meanwhile, the relative position of the independent layer and the fixed electrode changes, so that the surface potentials of the two electrodes change correspondingly, and electrons flow between the two electrodes through an external circuit under the driving of the potential difference. Generating a periodic Alternating Current (AC) output in an external load; the generated electric signal 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, the fault and the like of the speed reducer can be obtained by carrying out related processing such as acquisition, filtering, analysis, calculation and the like on the obtained signal.
(2) The friction nanometer generator is innovatively integrated in the planetary gear, and can be integrated in the internal structure of the planetary gear reducer on the premise of not changing the gear structure and not damaging the bearing area, so that the structural integrity and the functional integrity of the reducer are ensured, the monitoring of the running state of the planetary gear is realized, and a theoretical and experimental basis is provided for the development of an 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, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
fig. 1 is an exploded view of a triboelectric planetary gear operation state monitoring sensor according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a stator structure of a sensor for monitoring an operating condition of a triboelectric planetary gear according to an embodiment of the present invention;
FIG. 3 is a perspective view of a rotor structure of a sensor for monitoring an operating condition of a friction type planetary gear according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the operation principle of the operation state monitoring sensor of the friction type planetary gear according to the embodiment of the invention;
FIG. 5 is an enlarged view of FIG. 4 at A;
fig. 6 is a schematic view of the overall structure of a triboelectric planetary gear operating condition monitoring sensor according to the inventive embodiment of the present invention;
FIG. 7 is a schematic flow chart of a method for testing a triboelectric planetary gear operation state monitoring sensor according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a triboelectric planetary gear operating condition monitoring sensor according to an embodiment of the present invention, which utilizes the frequency of an output signal to detect the rotation speed;
FIG. 9 is a schematic view of a fitted straight line of the output electrical signal frequency of the triboelectric planetary gear operation state monitoring sensor according to the embodiment of the present invention at different rotational speeds;
FIG. 10 is a comparison graph of the rotational speed measurements of the operation status monitoring sensor and the torque rotational speed sensor of the planetary gear according to the embodiment of the present invention;
FIG. 11 is a schematic diagram illustrating the open circuit voltage characteristics of the operating condition monitoring sensor of the triboelectric planetary gear according to the embodiment of the present invention at different speeds;
FIG. 12 is a schematic diagram illustrating the open circuit current characteristics of the triboelectric planetary gear operation state monitoring sensor according to the present invention at different rotational speeds;
FIG. 13 is a waveform of a sensing signal output from a sensor under a load of 10 N.m at a rotation speed of 40 rpm;
FIG. 14 is a waveform of a sensor signal output from a sensor under a load of 10N · m at a rotation speed of 80 rpm.
Description of reference numerals:
1. a planetary gear reducer; 2. a stator unit; 21. a comb finger electrode A; 22. the inner gear ring is made of EVA sponge; 23. an inner gear ring; 24. EVA sponge with inner gear ring and gear bottom; 25. a comb finger electrode B; 3. a rotor unit; 311. EVA sponge at the bottom of the planet gear teeth; 312. a negative friction layer at the bottom of the planet gear teeth; 313. a planet wheel; 314. EVA sponge of planet gear tooth top; 315. a planetary gear tooth top negative friction layer; 32. a planet carrier; 33. a sun gear.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments, but not all embodiments, of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative efforts shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, 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 is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be construed broadly, e.g. as being fixedly, detachably or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood in specific cases by those of ordinary skill in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Fig. 1 is a schematic structural diagram of a triboelectric planetary gear operation state monitoring sensor according to the present invention.
As shown in fig. 1 to 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 including an inner gear ring 23, the rotor unit 3 including a planet carrier 32, a sun gear 33, and four planet gears 313, each of the four planet gears 313 being engaged with the inner gear ring 23;
the sensor comprises a comb finger electrode A21, a comb finger electrode B25, a planet gear tooth top negative friction layer 315 and a planet gear tooth bottom negative friction layer 312, wherein the comb finger electrode A21 and the comb finger electrode B25 are respectively fixed at the tooth top and the tooth bottom of the inner gear ring 23, the comb finger electrode A21 and the comb finger 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;
and the tooth tops and the tooth bottoms of the internal gear ring 23 are respectively provided with internal gear ring tooth top EVA sponge 22 and internal gear ring tooth bottom EVA sponge 24, the internal gear ring tooth top EVA sponge 22 is provided with a comb finger electrode A21, and the internal gear ring tooth bottom EVA sponge 24 is provided with a comb finger electrode B25. The EVA sponge has a buffering effect 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 full contact of the two friction layers.
During power transmission, as the sun gear 33 rotates, the planet gears 313 are continuously engaged, contacted and separated 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. Therefore, by providing the planetary gear 313 and the ring gear 23 with respective friction materials at the tooth tips and tooth roots thereof, the friction materials are periodically brought into contact with and separated from each other to generate an electric signal as the planetary transmission system operates.
The sensor still includes planet wheel tooth bottom EVA sponge 311 and planet wheel addendum EVA sponge 314, planet wheel tooth bottom EVA sponge 311 and planet wheel addendum EVA sponge 314 fix respectively at the tooth bottom and the tooth top department of planet wheel 313, planet wheel tooth bottom negative friction layer 312 is fixed on planet wheel tooth bottom EVA sponge 311, and planet wheel addendum negative friction layer 315 is fixed on planet wheel addendum EVA sponge 314.
EVA sponge is arranged at the top and bottom of the planet wheel 313, and then negative friction layers 312 and 315 made of PTFE (polytetrafluoroethylene) are arranged on the EVA sponge of the planet wheel, wherein the negative friction layer made of PTFE has the thickness of 0.1mm, the width of about 1.56mm and the length of 30mm, and the planet wheel 313 is continuously engaged, contacted and separated with the teeth of the inner gear ring 23 along with the rotation of the sun wheel 33.
The comb finger electrode A21 and the comb finger electrode B25 are composed of polyimide, epoxy resin and copper electrodes, and the two comb finger electrodes are distributed in a high-low staggered mode in space. Wherein, the radial effective width of the comb fingers of the single comb finger electrode is 1.6mm, and the effective length is 40 mm. Meanwhile, as the number of teeth of the ring gear 23 is 84 and the diameter of a tooth top circle is 176mm, the total length of the grid electrodes for processing is 553mm, the grid electrodes are uniformly distributed on the circumference, and 84 periods of the grid electrodes correspond to the number of teeth of the ring gear 23 of the reducer. In addition, 5mm copper strips are laid on the edges of the electrodes, and the copper strips are used for keeping 84 comb finger electrodes in series connection and reserving space for arrangement of electric signal output leads.
The processing mode of the comb finger electrode pair adopts a Flexible Printed Circuit (FPC) copper rolling process, the ductility, the bending resistance, the conductivity and the like of the comb finger electrode pair are superior to those of electrolytic copper foil, the copper purity is higher than that of the electrolytic copper foil, the processing precision of the mode can reach 10 micrometers, and the precision requirement of the comb finger electrode application is met.
Further, when the planet gears 313 rotate around the inner gear ring 23, the comb finger electrode A21 and the comb finger electrode B25 are in continuous contact with and separated from the planet gear tooth bottom negative friction layer 312 and the planet gear tooth top negative friction layer 315, and friction charges are generated and accumulated on the surfaces of the two friction materials to a saturated state; as the planetary transmission operates, the friction material disposed thereon periodically contacts and separates to produce an electrical signal, and the frequency of the electrical signal varies as the rotational speed of the planets 313 varies.
The amplitude of the electric signal output by the sensor is influenced by the contact areas of the comb finger electrode A21 and the planetary gear tooth bottom negative friction layer 312 and the comb finger electrode B25 and the planetary gear tooth top negative friction layer 315, 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 23 or the planetary gear 313, the electric signal changes along with the change of the contact area, and the monitoring of the running fault of the speed reducer can be realized.
The working principle of the sensor is as follows: when the gear rotates, the copper comb finger electrode A21, the comb finger electrode B25 and the negative friction layer are in continuous contact separation. When the planet wheel tooth bottom negative friction layer 312 is completely contacted with the comb finger electrode A21, negative friction charges can be accumulated on the surface of the planet wheel tooth bottom negative friction layer 312 due to the electronegativity difference among different friction materials, and the same amount of positive friction charges can be accumulated on the surface of the copper comb finger electrode A21 according to the charge conservation law. As the gear rotates, the planet gear tooth bottom negative friction layer 312 begins to separate from the copper comb finger electrode a21, and the planet gear tooth top negative friction layer 315 made of PTFE gradually contacts with the copper comb finger electrode B25. Because the position of the gear rotation negative friction layer relative to the two electrodes is changed, a certain potential difference is generated between the copper comb finger electrode A21 and the copper comb finger electrode B25. Under the drive of the electrostatic field, positive charges flow from the copper comb finger electrode A21 with high potential to the copper comb finger electrode B25 with low potential, so that transient current is formed in an external circuit. When the negative friction layer 315 of the planetary gear addendum made of PTFE coincides with the copper electrode B, the positive charges on the finger electrode a21 all flow to the copper finger electrode B25. When the gear continues to rotate, the bottom top negative friction layer 312 of the planet wheel made of PTFE begins to contact the copper electrode A, and positive charges are transferred from the copper comb finger electrode B25 to the copper comb finger electrode A21. With the back and forth flow of charge between the two electrodes, a periodic Alternating Current (AC) output will be generated in the external load.
As shown in fig. 7, a test method of a triboelectric planetary gear operation state monitoring sensor according to the present application includes the steps of:
in step S1, the electrostatic collecting device is used to collect the output electrical signal of the sensor in real time and extract the characteristics, and the characteristics of the output electrical signal are converted into corresponding sensing parameters, specifically: the method comprises the steps that an electric signal frequency output by a triboelectric sensor and a voltage signal output by a torque and rotation speed sensor are connected into an NI board card, signal waveform frequency and voltage data of the connected board card are collected in real time by using a Ni PCI6259 data collection card, and noise reduction filtering and signal analysis are carried out by a compiled LabView sensing test system to obtain a sensing parameter of a monitored object;
in step S2, a Savitzky-golay (sg) smoothing filtering algorithm is used to perform real-time preprocessing on the electrical signals (i.e., sensing parameters) acquired in step S1, so as to reduce high-frequency noise interference in the output sensing signals, thereby improving the sensing performance of the sensor; establishing an incidence relation between the characteristic signals and the transmission rotating speed and the fault of the planetary gear reducer through time-frequency analysis of the sensing signals;
in step S3, the system is kept running, and the triboelectric planetary gear sensor is calibrated by using a JN338-AE torque and rotation speed sensor, so that the sensing precision is tested; the method specifically comprises the following steps: and comparing the rotating speed detection results of the running state monitoring sensor of the triboelectric planetary gear with the rotating speed detection results of the JN338-AE torque rotating speed sensor, and calculating the rotating speed detection error rate of the running state monitoring sensor of the triboelectric planetary gear.
As shown in FIG. 8, since the comb finger copper electrodes and PTFE of the sensor are regularly distributed on the inner gear ring 23 and the planet wheels 313 of the planetary reducer, the PTFE layer on the planet wheels 313 and the copper electrodes on the inner gear ring 23 are continuously meshed and separated along with the normal working rotation of the planetary reducer 1. A positive or negative pulse signal is generated when the two engage and disengage as shown in the boxed portion of fig. 7. And the number of times of meshing between the planet wheel 313 and the inner gear ring 23 in one working circle of the planetary gear reducer is certain, namely the number of pulses of the signal output by the sensor in one working circle of the planetary gear reducer 1 is a fixed value. Furthermore, the time interval te between two signal pulses will vary in real time as a function of the operating speed of the planetary gear 1. The time interval of the two signal pulses can be expressed by the frequency of the signal, and the frequency of the signal can be acquired in real time by a counter inside the NI data acquisition card. And transmitting the collected sensing signal frequency to a LabView sensing test program for correlation calculation, and converting the signal frequency characteristic into a rotating speed signal of the planetary reducer 1.
As shown in fig. 9, the linearity of the frequency of the sensor output electric signal at each rotation speed is shown, and it is understood from the results in the figure that the linearity between the frequency characteristic of the sensor output and the rotation speed of the planetary gear 313 is good.
As shown in fig. 10, fig. 10 is a comparison result of the speeds measured by the friction type planetary gear operation state monitoring sensor and the high-precision torque rotation speed sensor. As a result, the error rate of the triboelectric sensor generally decreases as the input speed of the planetary transmission 1 increases. When the input rotating speed is 1000rpm, the rotating speed error value measured by the sensor reaches the maximum and is 0.398 rpm; the rate of rotation error measured by the sensor reaches a maximum of 0.348% when the input speed is 70 rpm. Therefore, the rotating speed sensing accuracy of the friction 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 the 200-1000rpm (higher rotation speed) operating state. The test result shows that the open-circuit voltage amplitude output by the sensor hardly changes along with the increase of the working rotating speed of the sensor, and the open-circuit low voltage of the sensor is stabilized at about 3V in the working range of the rotating speed of 10-1000 rpm.
As shown in fig. 12, for the short-circuit current output by the sensor in the operating interval of 200-1000rpm, it can be known from the test result that the output short-circuit current amplitude of the sensor at low rotation speed and the operating rotation speed of the sensor are approximately linear, and when the rotation speed increases to a certain extent, the increase amplitude of the short-circuit current slows down and tends to be stable 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 is a waveform of a sensing signal output by the sensor under a load of 10N · m when the rotation speed is 40rpm, and since the number of teeth of the inner gear ring of the planetary reducer is large, in order to reduce the difficulty of finding a fault characteristic signal, an electric signal output by the sensor is divided into two paths to be output. The number of teeth of the inner gear ring of the planetary reducer is 84, so each path of electrode comprises 42 teeth, and two adjacent teeth form a pair of electrode pairs, so that the sensor outputs 21 sine waves after the planetary reducer moves for one circle. According to test results, obvious characteristic signals representing the local tooth breakage fault of the planetary reducer periodically appear in the electric signals output by the sensor under different load conditions, and the period generated by the fault characteristics is 21 and is consistent with the electrode arrangement rule.
As shown in fig. 14, fig. 14 is a waveform of a sensing signal output by a sensor under a load of 10N · m when a rotation speed is 80rpm, and when the rotation speed of a planetary reducer is 80rpm, a fault characteristic in an output electrical signal of the sensor is consistent with that of 40rpm and a generation cycle is also 21.
The triboelectric type planetary gear running state monitoring sensor provided by the embodiment of the invention innovatively integrates the friction nano generator into the internal structure of the planetary gear, ensures the structural and functional integrity of the speed reducer, has the characteristics of miniaturization and integration, realizes the monitoring of the rotating speed and the fault of the planetary gear, and provides technical guidance for the development of an intelligent planetary gear speed reducer.
The embodiments of the invention disclosed above are intended only to aid in the description of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms 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 the invention for and with the various embodiments.
Claims (10)
1. A triboelectric planetary gear operational status 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) comprising an annulus gear (23), the rotor unit (3) comprising a planet carrier (32), a sun gear (33) and four planet gears (313), all four planet gears (313) being in engagement with the annulus gear (23);
the sensor comprises a comb finger electrode A (21), a comb finger 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 finger electrode A (21) and the comb finger electrode B (25) are arranged in a staggered mode and are respectively fixed at the tooth top and the tooth bottom of the inner gear ring (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);
when the planet wheels (313) with the negative friction layer rotate around the inner gear ring (23), electrostatic charges flow between the comb finger electrodes A (21) and the comb finger electrodes B (25) which are arranged in a staggered mode, and therefore alternating current signals corresponding to the comb finger electrodes A and the comb finger electrodes B are generated.
2. A triboelectric planetary gear operational state monitoring sensor according to claim 1, characterized in that: and the tooth top and the tooth bottom of the internal gear ring (23) are respectively provided with an internal gear ring tooth top EVA sponge (22) and an internal gear ring tooth bottom EVA sponge (24), the internal gear ring tooth top EVA sponge (22) is provided with a comb finger electrode A (21), and the internal gear ring tooth bottom EVA sponge (24) is provided with a comb finger electrode B (25).
3. A triboelectric planetary gear operational status monitoring sensor according to claim 1, wherein: the sensor further comprises a planet wheel tooth bottom EVA sponge (311) and a planet wheel tooth top EVA sponge (314), the planet wheel tooth bottom EVA sponge (311) and the planet wheel tooth top EVA sponge (314) are respectively fixed at the tooth bottom and the tooth top of a planet wheel (313), a planet wheel tooth bottom negative friction layer (312) is fixed on the planet wheel tooth bottom EVA sponge (311), and a planet wheel tooth top negative friction layer (315) is fixed on the planet wheel tooth top EVA sponge (314).
4. A triboelectric planetary gear operational state monitoring sensor according to claim 1, characterized in that: the comb finger electrode A (21) and the comb finger electrode B (25) are both composed of polyimide, epoxy resin and copper electrodes, and the polyimide and the copper electrodes are connected through the epoxy resin.
5. A triboelectric planetary gear operational state monitoring sensor according to claim 1, characterized in that: the planet tooth top negative friction layer (315) and the planet tooth bottom negative friction layer (312) are made of PTFE.
6. A triboelectric planetary gear operational state 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 of the single comb finger is 40 mm; the number of teeth of the inner gear ring is 84, the diameter of a tooth top circle is 176mm, and the number of comb fingers of the comb finger electrodes is 84, and the total length is 553mm and is uniformly distributed.
7. A triboelectric planetary gear operational state monitoring sensor according to claim 6, wherein: and 5mm copper strips are laid on the edges of the comb finger electrodes and are used for keeping 84 comb finger electrodes connected in series and reserving space for arrangement of electric signal output leads.
8. A triboelectric planetary gear operational state monitoring sensor according to claim 1, characterized in that: when the planet gears (313) rotate around the inner gear ring (23), the comb finger electrodes A (21) and the comb finger electrodes B (25) are in continuous contact and separation with the planet gear tooth bottom negative friction layer (312) and the planet gear tooth top negative friction layer (315), and friction charges are generated and accumulated on the surfaces of the two friction materials to a saturated state; as the planetary transmission system operates, the friction material disposed thereon periodically contacts and separates to generate an electrical signal, and the frequency of the electrical signal varies with the rotational speed of the planet wheels (313).
9. A triboelectric planetary gear operational state monitoring sensor according to claim 1, characterized in that: the amplitude of an electric signal output by the sensor is influenced by the contact areas of the comb finger electrode A (21) and the planetary gear tooth bottom negative friction layer (312) and the comb finger electrode B (25) and the planetary gear tooth top negative friction layer (315), when the tooth breaking or severe abrasion of the gear ring (23) or the planetary gear (313) causes the contact area of the tooth surface and a friction material to be reduced, the electric signal changes along with the change of the contact area, and the monitoring of the running fault of the speed reducer can be realized.
10. A test method of a triboelectric planetary gear operational state monitoring sensor according to any one of claims 1-9, characterized in that: the method specifically comprises the following steps:
step S1: the method comprises the steps that static electricity collection equipment is utilized to collect electric signals output by a sensor in real time and extract characteristics, and the characteristics of the output electric signals are converted into corresponding sensing parameters;
step S2: noise interference in the signals is reduced by adopting an S-G smoothing filtering algorithm, and the incidence relation between the characteristic signals and the transmission rotating speed and the faults of the planetary gear reducer is established through time-frequency analysis of the sensing signals;
step S3: and keeping the system running, calibrating the triboelectric planetary gear sensor by using the torque and rotating speed sensor, and testing the sensing precision of the triboelectric planetary gear sensor.
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