RV减速器曲柄轴相关轴承脂润滑弹流润滑分析

发布时间：2018-08-02 13:16

【摘要】：RV减速器是工业机器人关键零部件之一,由摆线针轮传动机构及渐开线圆柱齿轮行星传动机构组成,与伺服电机装配,起到控制机器人关节运动的作用。我国工业机器人用RV减速器主要依赖进口,减速器相关技术也主要掌握在国外公司手中,针对RV减速器的相关技术研究还较少也较为落后,特别是减速器相关零部件的润滑技术研究。目前,我国针对RV减速器相关零部件的润滑技术研究还较少,特别是较容易出现异常的曲柄轴部位,曲柄轴相关轴承的寿命决定了 RV减速器的寿命,展开RV减速器曲柄轴相关轴承润滑技术的研究,弥补了我国该领域相关研究的空白,对我国RV减速器用轴承零部件的开发有着重要的理论意义以及实际工程意义。论文的相关研究工作,运用到了机械设计、摩擦学、设备润滑、数值分析、计算机程序设计等多学科领域知识,系统深入的研究了工业机器人RV减速器,分析了实际工况下RV减速器曲柄轴圆柱滚子轴承、圆锥滚子轴承载荷分布及运动参数,基于Ostwald润滑脂流变特性本构方程分析建立了曲柄轴相关轴承线接触等温脂润滑弹流润滑模型,运用多重网格法求解获得曲柄轴圆柱滚子轴承、圆锥滚子轴承在实际工况下脂润滑弹流润滑数值解,求得了轴承滚子与内圈接触处润滑膜膜厚分布和压力分布,分析了相关参数的影响效应,得出以下结论:在RV减速器实际工况不同输出转速下或者相同输出转速不同润滑脂流变指数下,求解得出的曲柄轴处圆柱滚子轴承和圆锥滚子轴承润滑膜厚分布及压力分布均符合典型弹流润滑特征,润滑膜压力分布有明显的范围极小的二次压力峰,润滑膜厚分布在二次压力峰处有明显颈缩;随着RV减速器输出转速的提高,曲柄轴圆柱滚子轴承和圆锥滚子轴承平均膜厚和最小膜厚相应增加,润滑膜压力随着输出转速的提高整体上呈增加趋势;曲柄轴处圆柱滚子轴承和圆锥滚子轴承最大润滑膜压力、平均膜厚和最小膜厚均随流变指数的增大而增大。在相同RV减速器输出转速条件下,圆柱滚子轴承润滑膜的平均膜厚和最小膜厚较圆锥滚子轴承大,提高润滑脂的流变指数也具有同样结果,分析表明:在相同输出转速下,曲柄轴圆锥滚子轴承最大受力滚子单位长度所受的载荷w较大,且滚子与内圈接触处的表面平均速度较小,两因素导致了上述结果发生。
[Abstract]:RV reducer is one of the key parts of industrial robot. RV reducer is composed of cycloid needle wheel drive mechanism and involute cylindrical gear planetary transmission mechanism. RV reducer is assembled with servo motor to control robot joint motion. The RV reducer for industrial robots in China mainly depends on imports, and the related technology of the reducer is also mainly held in the hands of foreign companies. The research on the related technology of RV reducer is still relatively few and relatively backward. Especially the lubrication technology of reducer related parts. At present, there are few researches on lubrication technology of RV reducer parts in our country, especially the abnormal crankshaft parts. The life of crankshaft bearing determines the life of RV reducer. The research on the lubrication technology of RV reducer crank shaft related bearing has made up the blank in this field in our country. It has important theoretical and practical significance for the development of bearing parts for RV reducer in our country. The related research work in this paper has been applied to mechanical design, tribology, equipment lubrication, numerical analysis, computer programming and other multidisciplinary knowledge, and the industrial robot RV reducer has been studied systematically and deeply. The load distribution and motion parameters of RV reducer crank shaft cylindrical roller bearing and tapered roller bearing are analyzed. Based on the constitutive equation analysis of rheological properties of Ostwald grease, a linear contact elastohydrodynamic lubrication model of crank shaft bearing was established. The multi-mesh method was used to obtain the crank shaft cylindrical roller bearing. The numerical solution of elastohydrodynamic lubrication of tapered roller bearing under actual working conditions is presented. The film thickness distribution and pressure distribution of lubrication film at the contact between roller and inner ring are obtained, and the effect of related parameters is analyzed. The following conclusions are drawn: under the different output speed of RV reducer in actual working condition or under different lubricating grease rheological index of the same output speed, The thickness distribution and pressure distribution of cylindrical roller bearing and cone roller bearing in crank shaft are in accordance with typical elastohydrodynamic lubrication characteristics, and the pressure distribution of lubrication film has obvious secondary pressure peak in a very small range. The average film thickness and minimum film thickness of crank shaft cylindrical roller bearing and tapered roller bearing increase with the increase of output speed of RV reducer. The average film thickness and the minimum film thickness of the cylindrical roller bearing and tapered roller bearing at the crank shaft increase with the increase of rheological index. Under the same RV reducer output speed, the average film thickness and minimum film thickness of cylindrical roller bearing are larger than those of tapered roller bearing, and the rheological index of lubricating grease can be improved by the same result. The analysis shows that under the same output speed, the average film thickness and minimum film thickness of cylindrical roller bearing are larger than those of cone roller bearing. The maximum load on roller unit length of crank shaft tapered roller bearing is large and the average surface velocity at the contact point between roller and inner ring is smaller. These results are caused by two factors.
【学位授予单位】：广西大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2;TH117.2

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