某型电动舵机减速器的研究设计

发布时间：2018-01-03 21:18

本文关键词：某型电动舵机减速器的研究设计　出处：《哈尔滨工业大学》2011年硕士论文　论文类型：学位论文

【摘要】：随着航空事业的迅猛发展,无人驾驶飞机(UAV)的出现引起世界各国高度重视。其中,小型无人机因为在军事应用和民用中具有独特优势,已成为热门研究领域。电动舵机是控制小型无人机的核心部件,其结构小型化、轻型化和输出大扭矩是小型无人机技术发展的重要趋势之一。本课题是要针对电动舵机在小型无人机上的应用特点研制一台小体积、大速比、大扭矩、高精度、高效率和长寿命的配套减速装置。本文通过传动方案设计、结构设计、精度分析、计算机仿真和绘制工程图纸来完成这项设计工作。传动装置的体积重量、减速比、效率、寿命和输出扭矩这几项参数要同时满足前述的高要求往往比较困难。根据电动舵机减速器的要求对几种拟采用的传动型式进行速比和效率的分析,最后确定以第一级直齿锥齿轮传动和第二级3K(II)型行星传动的组合作为减速器的传动方案。对传动方案进行了设计,并通过VB编程对其传动的参数进行计算。因为电动舵机实质上是一个位置伺服系统,减速器的回差会直接影响整个系统的稳定性和灵敏度。本文详细分析了回差的来源,分别通过最大值法和统计概率方法定量的计算回差,了解各种误差对传动精度的影响程度,通过合理的精度分配更加有效地控制回差。减速器的结构设计包括材料的选择、处理工艺和强度、刚度计算等。在结构设计的基础上,用Pro/E建立减速器的虚拟样机,应用机构仿真模块对减速器进行干涉检查和运动仿真。根据干涉检查结果调整减速器的结构,通过运动仿真结果验证结构设计的正确性。用ANSYS软件对减速器主要部件的强度和模态进行有限元分析,对行星传动的各啮合副进行静力学有限元分析。根据仿真结果调整减速器的结构,使设计达到优化。最后基于上述内容,确定减速器结构的所有参数,绘制减速器的全套工程图纸,完成电动舵机减速器的设计。
[Abstract]:With the rapid development of aviation, the emergence of UAV (unmanned aerial vehicle) has attracted great attention in the world. Among them, small UAV has unique advantages in military applications and civilian applications. Electric steering gear is the core component of controlling small UAV, and its structure miniaturization, lightweight and output large torque is one of the important trends in the development of small UAV technology. This subject is to develop a small volume, large speed ratio, large torque, high precision, high efficiency and long life supporting deceleration device according to the application characteristics of electric steering gear in small UAV. Structural design, accuracy analysis, computer simulation and drawing of engineering drawings to complete this design. The volume, weight, deceleration ratio and efficiency of the transmission. The parameters of life and output torque are often difficult to meet the above-mentioned high requirements simultaneously. According to the requirements of the electric steering gear reducer, the speed ratio and efficiency of several proposed transmission types are analyzed. Finally, the combination of the first straight bevel gear drive and the second stage 3K / II planetary transmission is selected as the transmission scheme of the reducer. The transmission scheme is designed. The transmission parameters are calculated by VB programming. Because the electric steering gear is essentially a position servo system, the return difference of the reducer will directly affect the stability and sensitivity of the whole system. The origin of the return error is analyzed in detail in this paper. By using the maximum value method and the statistical probability method to calculate the return error quantitatively, the influence degree of various errors on the transmission accuracy is understood, and the return error is controlled more effectively by reasonable precision allocation. The structural design of the reducer includes material selection, processing technology and strength, stiffness calculation and so on. Based on the structural design, the virtual prototype of the reducer is built with Pro/E. The structure of the reducer is adjusted according to the results of the interference inspection by using the mechanism simulation module to carry on the interference inspection and the motion simulation to the reducer. The structural design is verified by the motion simulation results. The strength and modal of the main components of the reducer are analyzed by using ANSYS software. The static finite element analysis of the meshing pairs of planetary transmission is carried out, and the structure of the reducer is adjusted according to the simulation results to optimize the design. Finally, all the parameters of the reducer structure are determined, a complete set of engineering drawings of the reducer is drawn, and the design of the electric steering gear reducer is completed.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH132.46

【引证文献】