纯滚动类摆线针轮传动啮合原理研究

发布时间：2018-07-12 10:15

本文选题：纯滚动 + 类摆线　；参考：《北京邮电大学》2014年博士论文

【摘要】：摆线针轮类减速器具有减速比范围大、传动效率高、传动平稳、结构紧凑等诸多优点,在国民经济各个领域得到了广泛应用。以摆线针轮行星传动为基础改进而来的RV减速器、FA型摆线针轮行星减速器更是在工业机器人、航空航天、大型望远镜等精密传动领域占有大部分市场份额。然而摆线针轮类减速器也存在一定的缺点。其转臂轴承相对转速高、受力大,长时间工作会较早出现失效,是减速器的薄弱环节；输出机构一般采用柱销式结构,属于悬臂梁结构,受力不均匀,容易出现疲劳断裂；同时,当减速比较高时针齿半径较小,无法加装针齿套,针齿与摆线轮之间增加了滑动摩擦,降低了传动效率。在详细分析了常用的摆线类减速器的结构特点和运行原理后,本文提出了一种新结构减速器。该减速器由双类摆线针轮传动和少齿差共面双内啮合传动两大部分构成。本文分别阐述了这两部分传动形式的结构特点、传动原理,建立了两种传动的三维原理模型,对虚拟样机进行了运动学和动力学分析,并通过物理样机实验验证了该传动形式的合理性。提出了新型纯滚动类摆线针轮行星传动。针对双摆线针轮行星传动中针齿无法做纯滚动的问题,本文以内外齿轮一摆弧长相等和针齿与内外齿轮啮合点是速度瞬心为条件,设计了一种新型齿廓曲线——类摆线,并通过叠加小齿来限制针齿切向移动,减小减速器轴向尺寸。通过对比几种常用的叠加小齿的方法,确定了使用折算齿形法在类摆线上叠加渐开线小齿。建立了优化的双摆线行星齿轮减速器的三维实体模型,通过对虚拟样机的运动学分析和物理样机的实验,验证了这种新型传动形式的可行性。提出了少齿差共面双内啮合传动。针对摆线针轮行星传动中中心轴承和输出机构受力大容易失效的问题,通过对RV减速器、三环减速器、内平动减速器等轴承受力的分析,提出了一种新型传动结构——少齿差共面双内啮合传动。该传动形式将NN型少齿差行星传动中两对齿轮副放置在一个平面,内外层布置。通过对该传动的动态静力分析,验证了中心轴承受力只为负载受力的1/5～1/4。根据该传动形式的特点,给出了齿轮参数设计方法,设计了原理验证模型。完成了模型的关键部件受力分析与校核。加工了减速器物理样机,实验验证了该传动形式的可行性。综合了纯滚动类摆线针轮传动和少齿差共面双内啮合传动,提出了一种新型减速器结构。该传动将两对双类摆线针轮行星传动在轴向上共面设计,具有针齿纯滚动、中心轴承受力小、取消柱销式输出机构、轴向尺寸小等诸多优点,可以为工业机器人关节用减速器提供一种新的结构形式,具有深入研究的价值。
[Abstract]:Cycloidal needle wheel reducer has many advantages such as wide range of deceleration ratio, high transmission efficiency, stable transmission, compact structure and so on. It has been widely used in various fields of national economy. The modified RV reducer based on cycloid pin planetary transmission has a large market share in the fields of industrial robot, aerospace, large telescope and so on. However, cycloidal needle wheel reducer also has some shortcomings. The rotor bearing has high relative rotational speed, large force and early failure during long working time, which is the weak link of the reducer, and the output mechanism generally adopts the column pin type structure, which belongs to the cantilever beam structure, and the force is not uniform, and fatigue fracture is easy to occur. At the same time, when the deceleration is high, the radius of the needle tooth is smaller, so the needle tooth sleeve can not be installed, the sliding friction between the needle tooth and the cycloid wheel is increased, and the transmission efficiency is reduced. This paper presents a new type of cycloidal reducer based on the detailed analysis of its structure and operation principle. The reducer consists of two parts: double cycloid needle wheel drive and coplanar double internal meshing transmission with less tooth difference. In this paper, the structural characteristics and transmission principle of these two parts of transmission are described, and the three dimensional principle models of the two kinds of transmission are established, and the kinematics and dynamics of the virtual prototype are analyzed. The rationality of the transmission form is verified by the physical prototype experiment. A new type of pure rolling cycloid gear planetary transmission is proposed. In order to solve the problem that the needle teeth can not be pure rolling in double cycloid gear planetary transmission, a new type of tooth profile curve-cycloid is designed based on the condition that the length of one pendulum arc is equal and the point of engagement between the inner and outer gears is the instantaneous center of velocity. The axial dimension of the reducer is reduced by overlaying the small teeth to limit the tangential movement of the needle teeth. By comparing several common methods of superposition of small teeth, the method of superimposing involute teeth on cycloid is determined. The 3D solid model of the optimized double cycloid planetary gear reducer is established. The feasibility of this new transmission is verified by the kinematics analysis of the virtual prototype and the experiment of the physical prototype. A coplanar double internal meshing transmission with less tooth difference is proposed. Aiming at the problem that the bearing and output mechanism of cycloidal pin planetary transmission are easy to fail, this paper analyzes the bearing force of RV reducer, three-ring reducer and inner translational reducer. A new type of transmission structure-coplanar double internal meshing transmission with less tooth difference is proposed. In this transmission form, two pairs of gear pairs are placed in one plane and the inner and outer layers are arranged in the NN type planetary transmission with less tooth difference. Through the dynamic static analysis of the drive, it is verified that the force of the central bearing is only 1 / 5 / 1 / 4 of the load. According to the characteristics of the transmission form, the gear parameter design method is given, and the principle verification model is designed. The key components of the model are analyzed and checked. The physical prototype of the reducer is processed, and the feasibility of the transmission form is verified by experiments. A new type of reducer structure is proposed by synthesizing the pure rolling cycloidal needle wheel drive and the coplanar double internal meshing transmission with less tooth difference. The two pairs of cycloidal gear planetary transmission are designed on the axial upper coplanar, which has many advantages, such as pure rolling of needle teeth, small force on center bearing, cancellation of pin output mechanism, small axial size, etc. It can provide a new structure form for industrial robot joint reducer, and has the value of further study.
【学位授予单位】：北京邮电大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TH132.46

【参考文献】