面向小型移动机器人的无级变速器的研究

发布时间：2018-06-11 15:13

本文选题：无级变速器 + 端面摩擦传动　；参考：《哈尔滨工业大学》2013年硕士论文

【摘要】：小型移动机器人在军用和民用上都有广泛的应用前景。变速器作为小型移动机器人传动系统关键的一环，对速度、效率和负载能力有决定性的影响。无级变速器具有可以连续改变传动比的优点，可有效解决小型移动机器人在复杂路况下的适应性问题。然而小型移动机器人对无级变速器尺寸小、重量轻的要求使得大部分现有的无级变速器无法直接应用在其上。国内外对小型移动机器人的无级变速器的研究很少，，且国外无级变速器价格高昂购买困难。因此面向小型移动机器人对无级变速器进行研究是有意义且十分必要的。本文主要目的是设计适用于小型移动机器人的无级变速器并对其进行准静态分析、模态分析、热分析和性能测试。本文首先基于端面摩擦传动的理论对无级变速器进行了结构设计，主要包括主传动部分、调节压紧力装置和变速装置的具体结构设计。为了更好地将端面摩擦传动的形式应用在变速器上，设计出了一款新型的小轮，可以减小变速所需推动力。对滚动摩擦进行了分析计算，并且从几何的角度对推动时间进行了计算推导。然后，对无级变速器端面摩擦传动进行了准静态分析、模态分析以及热结构耦合分析。对端面摩擦传动中的摩擦力做了定性分析；对端面摩擦传动的主要零部件进行了准静态分析，得到了接触的应力和应变图；进行了模态分析，得出了端面摩擦传动零部件的十阶固有频率和振型，证明了端面摩擦传动完全能适应小型移动机器人作业中振动多而复杂的特点；完成了端面摩擦传动的温度场的分析，进而进行了热结构耦合分析，得出了热载荷对摩擦传动影响并不显著的结论。以上分析为端面摩擦传动形式的无级变速器的应用提供了依据。最后，完成了无级变速器的试验研究。设计并搭建了测试台，完成了对变速器体积、重量、变速比、调速时间、输出扭矩的测试，进行了变速比、输入转速、阻力矩三个因素对传动效率影响的测试。证明了无级变速器性能符合要求。本文验证了基于端面摩擦传动原理的无级变速器应用在小型移动机器人上的可行性，为适用于小型移动机器人的无级变速器研制的进一步完善和端面摩擦传动的研究提供了支持。
[Abstract]:Small mobile robots are widely used in military and civil applications. As the key link of the small mobile robot transmission system, the transmission has a decisive effect on the speed, efficiency and load capacity. CVT has the advantage of continuously changing the transmission ratio, and can effectively solve the adaptability problem of small mobile robot under complex road conditions. However, the requirements of small mobile robots for CVT are small in size and light in weight, which makes most of the existing CVTs can not be directly applied to them. There is little research on the stepless transmission of small mobile robot at home and abroad, and it is difficult to buy it at high price abroad. So it is meaningful and necessary to study the stepless transmission for small mobile robot. The main purpose of this paper is to design a stepless transmission suitable for small mobile robot and carry out quasi-static analysis and modal analysis. Firstly, based on the theory of end face friction transmission, the structure design of the stepless transmission is carried out, including the main transmission part, the adjusting compression force device and the specific structure design of the speed change device. In order to better apply the form of end friction transmission to the transmission, a new type of small wheel is designed, which can reduce the driving force required for speed change. The rolling friction is analyzed and calculated, and the driving time is calculated from the geometric point of view. Then, the quasi static analysis, modal analysis and thermal structure coupling analysis are carried out for the friction transmission on the end face of the stepless variable transmission. The friction force in the end friction transmission is qualitatively analyzed, the quasi static analysis of the main components of the end face friction transmission is carried out, and the contact stress and strain diagrams are obtained. The tenth order natural frequency and vibration mode of the end face friction transmission parts are obtained. It is proved that the end face friction transmission can fully adapt to the characteristics of the small mobile robot with many and complex vibration, and the analysis of the temperature field of the end face friction transmission is completed. Then the thermal structure coupling analysis is carried out, and the conclusion that the thermal load has no significant effect on the friction transmission is obtained. The above analysis provides the basis for the application of the stepless transmission in the form of end friction transmission. Finally, the experimental study of the stepless transmission is completed. The test bench is designed and built, and the transmission volume, weight, speed ratio, speed regulation time and output torque are tested. The effect of three factors on transmission efficiency is tested, such as speed ratio, input speed and resistance moment. It is proved that the performance of CVT meets the requirements. The feasibility of applying CVT based on the principle of end-face friction transmission to small mobile robot is verified in this paper. It provides support for the further improvement of the stepless transmission for small mobile robots and the research of the end face friction transmission.
【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】：2013
【分类号】：TP242;TH132.46

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