中小功率壳固定RV-E型减速器的设计研究

发布时间：2018-04-26 02:19

本文选题：RV减速器 + 修形有隙啮合受力分析　；参考：《哈尔滨工业大学》2012年硕士论文

【摘要】：随着我国汽车行业的发展，工业机器人被大量应用于汽车的喷漆、热处理、焊接等高危繁重作业中。工业机器人的核心部件就是转臂驱动装置，RV减速器因其体积小、回差小、刚度高、寿命长等特点，被广泛用作工业机器人转臂驱动的最佳装置。通过对RV减速器的运动学分析、受力分析以及回差分析研究了RV减速器的设计方法，并运用此方法设计某一型号RV减速器。其中设计工作主要包括传动方案设计、回差分析、结构设计、计算机三维建模以及绘制工程图纸。分析了RV减速器的传动原理及特点，结合RV减速器的设计条件和要求，对RV减速器进行了配齿计算。综合考虑结构尺寸及载荷分配，在12组满足条件的配齿方案中，选出了一组最优配齿。根据RV减速器齿轮参数的计算方法和齿轮几何尺寸计算公式，计算了RV减速器齿轮传动的其它参数。为了合理分配各传动零件的加工精度，详细分析了各个传动零件各种误差因素对RV减速器输出轴回差的影响，建立了各误差因素影响输出轴回差的数学模型。通过敏感性分析，找出了对输出轴回差影响较大的误差因素。在设计RV减速器时，有效的控制了这些误差因素，并用概率统计的方法对输出轴回差进行了计算。经过反复调整和计算，，确定了各零件的公差，最终将输出轴回差控制在60arc sec左右。对RV减速器主要零件的精度、材料及热处理进行了选择，分析了RV减速器各齿轮的受力，并计算了强度。对RV减速器最危险的曲柄轴进行了受力分析及强度校核，并选择了合适的滚动轴承。用UG建立减速器的虚拟样机，检查零件结构对装配的合理性。绘制了减速器的全套工程图纸，完成了RV减速器的设计。
[Abstract]:With the development of automobile industry in China, industrial robots are widely used in high risk heavy work such as painting, heat treatment, welding and so on. The core component of industrial robot is the rotary arm drive device (RV), which is widely used as the best driving device for industrial robot because of its small volume, small return difference, high stiffness and long life. The design method of RV reducer is studied by means of kinematics analysis, force analysis and return difference analysis, and a certain type of RV reducer is designed by using this method. The design work mainly includes transmission scheme design, back difference analysis, structure design, computer 3D modeling and drawing engineering drawings. The transmission principle and characteristics of RV reducer are analyzed. The gear matching calculation of RV reducer is carried out according to the design conditions and requirements of RV reducer. Considering the structural size and load distribution, a group of optimal tooth matching schemes is selected out of 12 groups of matching schemes which satisfy the conditions. According to the calculation method of RV reducer gear parameter and the formula of gear geometry dimension, the other parameters of RV reducer gear transmission are calculated. In order to reasonably distribute the machining accuracy of each transmission part, the influence of various error factors on the output shaft return error of RV reducer is analyzed in detail, and the mathematical model of each error factor influencing the output shaft return error is established. Through sensitivity analysis, the error factors which have a great influence on the output shaft return difference are found out. In the design of RV reducer, these error factors are effectively controlled, and the output shaft return error is calculated by the method of probability and statistics. After repeated adjustment and calculation, the tolerance of each part is determined, and the output shaft return error is finally controlled at 60arc sec. The precision, material and heat treatment of the main parts of RV reducer are selected. The forces on each gear of RV reducer are analyzed and the strength is calculated. The most dangerous crank shaft of RV reducer is analyzed and its strength is checked, and a suitable rolling bearing is selected. The virtual prototype of reducer is built by UG, and the rationality of assembly is checked. A complete set of engineering drawings of the reducer is drawn, and the design of the RV 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】：2012
【分类号】：TH132.46

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