少齿差行星减速器多参量耦合非线性振动特性研究

发布时间：2018-04-12 10:48

本文选题：行星减速器 + 动态特性　；参考：《重庆大学》2015年硕士论文

【摘要】：课题来源于国家自然科学基金面上项目:工业机器人高可靠精密滤波驱动装置应用基础研究(51375506)。随着我国航空、航天、先进制造、机器人等工程的迅速发展,作为重要装备高性能传动件的减速器提出了更高的要求。行星减速器系统是多级齿轮传动系统,不仅有复杂工作状态、运行工况和载荷动力装置多样等外部激励,而且有时变啮合刚度、啮合阻尼、齿轮传动误差、尺侧间隙、轴承支撑刚度和阻尼、齿面摩擦等内部激励,其动态及振动特性极其复杂。因此对其动态特性及非线性振动特性进行研究显得尤为必要,该研究为后续设计、优化、分析、制造高性能行星减速器齿轮传动系统提供一定的参考。以某少齿差行星减速器为对象,首先对其结构进行分析,运用Solid Works建立减速器三维模型,再运用LMS Virtual lab软件对其动态特性及非线性振动特性进行仿真分析,最后采用集中质量法建立减速器弯扭耦合8自由度耦合非线性振动模型,通过数值求解动力学模型,根据求解结果对减速器非线性振动特性和相关参数对其非线性振动特性的影响进行分析,揭示减速器振动特性规律,最后对其振动特性进行实验研究。论文主要研究内容如下:①分析少齿差行星减速器的结构,计算各滚动轴承的支撑刚度、支撑阻尼和齿轮时变啮合刚度、啮合阻尼及连接轴扭转刚度、扭转阻尼等动特性参数。②建立减速器刚性动力学模型分析了不同转速、负载工况下减速器的动态啮合力;并将减速器固定齿轮柔性化,建立其刚柔耦合动力学模型分析了不同转速、负载工况下减速器的振动加速度和结构噪声。③综合考虑时变啮合刚度、齿轮传动误差、齿侧间隙、双联齿轮轴的扭转刚度和扭转阻尼及轴承支撑刚度和阻尼等因素,采用集中质量法建立其弯扭耦合8自由度非线性振动模型,运用四阶五级的RKF法对动力学方程进行求解,分析了减速器齿轮振动位移、速度响应和振动位移速度相图、Poincaré截面图、分岔图及齿轮弹粘啮合力、轴承动载荷等非线性振动响应,并对减速器各相关参数对其耦合非线性振动特性的影响进行研究。④对减速器进行振动实验,通过三向加速度传感器测得减速器固定齿轮表面的振动加速度信号,采集到的加速度信号经过电荷放大器放大后传输到智能信号采集处理分析仪,运用信号采集处理分析仪对采集数据进行记录及分析,最后通过FFT变换得到相对应的振动频率,验证仿真的准确性。
[Abstract]:The subject comes from the project of National Natural Science Foundation of China: basic research on the application of high reliability and precision filter drive device for industrial robot.With the rapid development of aviation, aerospace, advanced manufacturing and robot engineering in China, the reducer, which is an important equipment with high performance transmission, has put forward higher requirements.Planetary reducer system is a multistage gear transmission system. It not only has complex working conditions, various load and power devices, but also has variable meshing stiffness, meshing damping, gear transmission error, ulnar clearance, etc.Bearing support stiffness and damping, tooth surface friction and other internal excitation, its dynamic and vibration characteristics are extremely complex.Therefore, it is necessary to study its dynamic and nonlinear vibration characteristics, which provides a certain reference for the subsequent design, optimization, analysis and manufacture of high performance planetary reducer gear transmission system.Taking a planetary reducer with small tooth difference as an object, the structure of the reducer is analyzed firstly, and the three-dimensional model of the reducer is established by using Solid Works. Then, the dynamic and nonlinear vibration characteristics of the reducer are simulated and analyzed by LMS Virtual lab software.Finally, a nonlinear vibration model with 8 degrees of freedom coupled with bending and torsion coupling of reducer is established by means of lumped mass method, and the dynamic model is solved numerically.According to the solution results, the nonlinear vibration characteristics of reducer and the influence of relative parameters on the nonlinear vibration characteristics of reducer are analyzed, and the vibration characteristics of reducer are revealed. Finally, the vibration characteristics of reducer are studied experimentally.The main contents of this paper are as follows: 1. The structure of the planetary reducer with less tooth difference is analyzed, and the supporting stiffness, the supporting damping and the gear time-varying meshing stiffness, the meshing damping and the torsional stiffness of the connecting shaft are calculated.A rigid dynamic model of reducer with torsional damping iso-dynamic characteristic parameter .2 is established to analyze the dynamic meshing force of the reducer under different speed and load conditions, and the reducer fixed gear is flexible.The rigid-flexible coupling dynamic model is established to analyze the vibration acceleration and structural noise of the reducer under different rotational speeds and load conditions. The dynamic model takes into account the time-varying meshing stiffness, gear transmission error and tooth side clearance.In this paper, the torsional stiffness and torsional damping of double gear shaft and bearing support stiffness and damping are studied. The nonlinear vibration model with 8 degrees of freedom coupled with bending and torsion is established by means of concentrated mass method, and the dynamic equation is solved by RKF method of fourth order and fifth order.The vibration displacement, velocity response and phase diagram of vibration displacement of reducer gear are analyzed. Poincar 茅 section diagram, bifurcation diagram, gear elastic engagement force, bearing dynamic load and other nonlinear vibration responses are analyzed.The effect of the relative parameters on the coupling nonlinear vibration characteristics of the reducer is studied. 4. The vibration experiment of the reducer is carried out. The vibration acceleration signal of the gear surface of the reducer is measured by the three direction acceleration sensor.The collected acceleration signal is amplified by the charge amplifier and transmitted to the intelligent signal acquisition and processing analyzer. The collected data are recorded and analyzed by using the signal acquisition and processing analyzer. Finally, the corresponding vibration frequency is obtained by FFT transform.Verify the accuracy of the simulation.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH132.46

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