RV减速器摆线轮齿廓修形的研究

发布时间：2018-04-06 06:05

本文选题：RV减速器　切入点：摆线轮齿廓修形　出处：《河南科技大学》2017年硕士论文

【摘要】：摆线针轮传动系统作为RV减速器中的低速输出级,其运动精度及承载能力将会直接影响RV减速器的传动性能。而对于摆线针轮传动系统而言,摆线轮齿廓的修形优化则是决定传动系统回转精度与承载能力的关键问题。因此,摆线轮齿廓修形方式及修形量的研究一直是近年来国内相关研究者的热点。本文基于摆线轮齿廓的成形原理及其修形目标,提出了一种偏心距修形方式,并从多个角度对偏心距与等距、移距修形的组合形式的可行性进行了分析。全文的主要工作与研究成果如下:1)从回转精度及承载能力两方面,综合对比分析了摆线轮各常用组合修形方式的修形效果,发现常用的修形方式无法同时满足RV传动对高承载、低回差的要求;并提出一种偏心距修形方式,指出经偏心距修形的摆线齿廓可形成便于摆线轮与针齿啮合的法向间隙,但由于经偏心距修形的摆线齿廓曲线与标准齿廓曲线存在交叉干涉,因而该种修形方式无法单独用于一齿差摆线针轮传动结构中,需结合等距、移距修形方式使用。2)在运用三坐标测量仪对RV-40E型减速器摆线轮进行精密测量的基础上,基于最小二乘法对测量所得的摆线轮齿形坐标参数进行圆弧拟合,得到了相应的摆线轮齿形方程。然后,以所得齿形方程曲线为目标齿廓曲线,运用Matlab对“偏心距+等距+移距”、“等距+移距”、“等距+移距+转角”三种组合修形方式的所形成的摆线轮的齿形进行优化,优化结果表明:相较于“转角+等距+移距”和“等距+移距”组合修形,“偏心距+等距+移距”组合修形所得的曲线与目标齿廓曲线的偏差更小,这说明了“偏心距+等距+移距”组合修形方式具有一定的可行性。3)针对现有摆线针轮传动偏心距选取的缺点与不足,依据短幅系数与偏心距的关系,建立了以获取最大承载能力为目标的偏心距修形量的优化模型,得到了不同的摆线针轮系统所对应的偏心距修形量的优化值。然后又创建了摆线针轮传动多体接触的有限元模型,并对偏心距修形前后的摆线针轮传动的接触性能进行了计算机模拟仿真分析,结果表明偏心距修形后的摆线轮与针齿之间的接触应力降低了12.6%左右,进一步论证了偏心距修形后的摆线针轮传动系统的承载能力更大。这为摆线针轮的性能优化设计提供了一定的参考价值。4)以“偏心距+等距+移距”的优化修形量为加工参数对摆线轮进行磨削修形,并替换RV-40E减速器中的摆线轮,将其置于回差测试平台上测试替换摆线轮后的样机的传动误差及几何回差,测量结果表明“偏心距+等距+移距”组合修形方式基本满足RV减速器对传动精度的要求。
[Abstract]:As a low speed output stage in RV reducer, cycloidal needle wheel drive system has a direct impact on the transmission performance of RV reducer.For cycloidal needle wheel transmission system, the optimization of cycloid gear profile is the key to determine the accuracy and bearing capacity of the transmission system.Therefore, the research of cycloidal gear profile modification and modification has been a hot topic in recent years.Based on the forming principle of cycloid gear tooth profile and its modification target, this paper presents an eccentricity modification method, and analyzes the feasibility of the combination of eccentric distance, equidistance and shift pitch modification from several angles.The main work and research results of this paper are as follows: (1) from the aspects of rotation precision and bearing capacity, the modification effect of the common combination of cycloid wheel is compared and analyzed, and it is found that the common modification method can not meet the high bearing capacity of RV transmission at the same time.The requirement of low return error and an eccentricity modification method are put forward. It is pointed out that the cycloidal tooth profile modified by eccentricity can form normal clearance which is convenient for the engagement of cycloid wheel and needle tooth.However, due to the cross interference between the cycloidal profile curve and the standard tooth profile curve modified by eccentricity, this modification method can not be used in the single tooth difference cycloidal needle wheel drive structure alone, so it is necessary to combine the equidistance.On the basis of precise measurement of cycloidal wheel of RV-40E reducer by using three coordinate measuring instrument, the tooth shape coordinate parameters of cycloidal gear are fitted by circle arc based on least square method.The tooth profile equation of cycloidal gear is obtained.Then, taking the obtained tooth shape equation curve as the target tooth profile curve, the Matlab is used to analyze the "offset isometric shift" and "isometric shift distance".The tooth profile of cycloidal gear formed by the three combined modification methods of "isometric shift angle" is optimized. The optimization results show that compared with the combination modification of "angular isometric shift distance" and "isometric shift distance", the gear profile of cycloidal gear is optimized.The deviation between the curve obtained by the combination modification of "eccentricity equal distance shift" and the target tooth profile curve is even smaller.This shows that "eccentricity isometric shift" combination modification method has certain feasibility. 3) aiming at the shortcomings and shortcomings of eccentricity selection of cycloidal needle wheel drive, according to the relationship between short amplitude coefficient and eccentricity,The optimization model of the eccentric distance modification is established with the aim of obtaining the maximum bearing capacity, and the optimum values of the eccentricity modification corresponding to different cycloid needle wheel systems are obtained.Then the finite element model of multi-body contact of cycloidal needle wheel transmission is established, and the contact performance of cycloidal needle wheel transmission before and after eccentric distance modification is simulated and analyzed by computer simulation.The results show that the contact stress between the cycloid wheel and the pin tooth is reduced by about 12. 6% after the eccentric distance modification. It is further demonstrated that the bearing capacity of the cycloidal needle wheel transmission system after the eccentric distance modification is greater.This provides a certain reference value for the performance optimization design of cycloidal needle wheel. 4) grinding the cycloid wheel with the optimized shape modification of "eccentricity and equidistance shift", and replacing the cycloid wheel in the RV-40E reducer.The transmission error and geometric return error of the prototype after replacing cycloid wheel are tested on the back difference test platform. The measurement results show that the combined modification mode of "eccentricity isometric shift distance" basically meets the requirements of RV reducer for transmission accuracy.
【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH132.46

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