高精度FA型针摆传动最佳齿廓研究

发布时间：2018-05-17 14:33

本文选题：FA针摆传动 + 最佳齿廓　；参考：《大连交通大学》2012年硕士论文

【摘要】：摆线针轮行星传动具有传动比范围大、结构紧凑、可靠性高等显著特点，因而获得了广泛的应用，其中FA型摆线针轮行星传动减速器是当今世界最新发展的传动装置之一。当FA针摆传动应用于高精度控制传动系统，特别是机器人传动中时，对回转误差要求比较高，因此，对摆线轮齿廓修形要求比较精确。以往研究的通过负移距+正等距修形虽然能够提高承载能力，获得最佳的受力状态，但是该种修形方式对于高精度要求的传动却不尽人意。本文通过对修行方式的分析比较，在高回转精度要求的基础上，对提出的负等距+正移距组合的弓背齿廓修形方式进行了分析研究。本文在考虑针齿与针齿壳之间存在间隙的情况下，推导了几何回转角的数学模型和计算公式，编制了对预定要求的最小几何回转角下的弓背齿廓最佳修形量的的齿形优化程序，对针齿和摆线轮之间进行了动态受力分析。针对弓背齿廓是牺牲一定承载能力来实现高精传动，分析在高传动比时也可采用二齿差结构以在保证高精度的同时有良好的承载能力。并对此进行了理论分析，通过实例编程计算和ANSYS有限元分析对比进行了验证。本文还通过反求日本FA45-29样机，通过测量的基本参数，通过程序进行齿形优化，与反求日本样机齿廓点坐标的数据比较，得到了与日本样机摆线轮具有相同几何回转角的弓背齿廓，并通过受力分析得到该设计齿廓的受力情况。经过三维建模和装配，将反求日本摆线轮样机和理论设计的弓背齿廓样机通过Ansys有限元接触分析进行了比较。验证了弓背齿廓设计理论的合理性。利用弓背齿廓设计理论，计算了FA45和FA65传动两个系列的所有机型的修形量以及针齿之间的受力情况。本文通过设计高性能样机摆线轮的工艺路线，完成了对样机的研制，并对样机进行了试验方案的设计和试验分析。在此研究的基础上了，提出了适用于二齿差结构的偏心距修形法，并对该创新性的修形方法进行了回差及受力等理论分析的研究初探，为下一步深入研究做准备。
[Abstract]:The cycloid pin wheel planetary transmission has the obvious characteristics of large gear ratio range , compact structure , high reliability and so on , thus obtaining a wide application , wherein the F type cycloid pin wheel planetary transmission speed reducer is one of the most recent development transmission devices in the world .

On the basis of the analysis and comparison of the way of repair , this paper makes an analysis and research on the shape modification of the back tooth profile of the combined negative equidistance + positive displacement combination on the basis of the requirement of high rotation accuracy . In this paper , the mathematical model and the calculation formula of the geometrical return angle are deduced . The tooth profile optimization procedure for the best modification amount of the back tooth profile at the minimum geometric rotation angle of the predetermined requirement is worked out , and the dynamic force analysis is carried out between the needle teeth and the cycloid wheel .

In order to realize the high precision transmission at the expense of the bearing capacity of the arch - back tooth profile , the two - tooth difference structure can be adopted in the analysis of the high gear ratio , so that a good bearing capacity can be ensured at the same time of ensuring high precision . The theoretical analysis is carried out , and the comparison of the finite element analysis of the example programming and ANSYS is verified .

In this paper , a prototype of Japanese FA45 - 29 is obtained . By measuring the basic parameters , the tooth profile optimization is carried out through the program , and compared with the data obtained from the coordinates of the tooth profile of the Japanese prototype , the paper compares the stress of the design tooth profile with the prototype cycloidal wheel of Japan . Through the three - dimensional modeling and assembly , the prototype and the theoretical design of the bow - back tooth profile are compared with the analysis of the finite element contact analysis of Ansys .

In this paper , the development of the prototype is completed by designing the process route of the cycloid wheel of the high - performance prototype , and the design and test analysis of the prototype is carried out . Based on this research , the eccentric distance trimming method suitable for the two - tooth difference structure is put forward .
【学位授予单位】：大连交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH132.414

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