工业机器人用薄壁四点接触球轴承设计技术研究
发布时间：2018-10-15 16:41
【摘要】：工业机器人用薄壁四点接触球轴承作为工业机器人的关键配套元件,其性能对机器人主机的动作精度、平稳性、灵活性、寿命和可靠性等性能指标起着决定性的作用。为解决目前国内此类轴承尚无成熟设计分析方法的问题,并满足工业机器人主机的配套需要,有必要对工业机器人用薄壁四点接触球轴承设计理论和设计方法进行研究,建立此类轴承的优化设计及分析方法,为国内此类轴承的开发提供理论支持和设计依据。 鉴于此,本论文以工业机器人用薄壁四点接触球轴承为研究对象,根据此类轴承的结构特点、工况条件及使用要求,首先,从目标函数选取、约束条件确定和多目标优化设计问题求解方面,对其主参数优化设计方法进行了研究,建立了轴承主参数优化设计的数学模型和求解方法,并编写了优化设计的求解程序;然后,从轴承沟曲率半径系数、挡边高度、沟位置、游隙及性能等方面对其结构参数设计进行了研究,提出了轴承关键结构参数的设计方法;在此基础上,针对典型型号工业机器人用薄壁四点接触球轴承FPXU408-ZRZ,采用ANSYS有限元仿真分析软件,建立空心轴、FPXU408-ZRZ轴承和轴承座这一轴系的整体有限元仿真分析模型,按实际工况条件施加边界条件,对轴承进行了整体有限元分析,完成了此柔性支承轴承载荷分布问题的求解;最后,以Lundberg-Palmgren轴承寿命理论为基础,采用基于轴承实际载荷分布的寿命计算方法,对FPXU408-2RZ轴承寿命进行了精确计算。 通过本文的研究,初步建立了工业机器人用薄壁四点接触球轴承主参数和结构参数优化设计方法,弥补了国内此类轴承缺乏设计方法的不足;解决了此柔性支承轴承载荷分布和寿命精确求解问题。有限元分析表明,轴系弹性变形对轴承内部载荷分布状态和寿命有很大影响,采用经典方法求解柔性支承轴承的载荷分布和寿命存在很大的误差,而有限元法可以很好的求解此问题。本文的研究可以为工业机器人用薄壁四点接触球轴承的产品设计和理论分析提供一定的设计依据和理论支持,提高产品的设计分析水平和可靠性。
[Abstract]:Thin-wall four-point contact ball bearing is used as the key component of industrial robot. Its performance plays a decisive role in the performance of the robot's main engine, such as precision, stability, flexibility, life and reliability. In order to solve the problem that there is no mature design and analysis method for this kind of bearings in China, and to meet the needs of industrial robot mainframe, it is necessary to study the design theory and design method of thin-walled four-point contact ball bearings for industrial robots. The optimal design and analysis method of this kind of bearings are established to provide theoretical support and design basis for the development of this kind of bearings in China. In view of this, this paper takes the thin wall four-point contact ball bearing for industrial robot as the research object, according to the structure characteristic, the working condition and the use requirement of this kind of bearing, firstly, selects from the objective function, In the aspect of constraint condition determination and multi-objective optimization design problem solving, the main parameter optimization design method is studied, the mathematical model and solution method of bearing main parameter optimization design are established, and the program of optimization design is compiled. Then, the design of the structural parameters of the bearing is studied from the aspects of the radius coefficient of curvature of the bearing groove, the height of the flange, the position of the groove, the clearance and the performance, and the design method of the key structural parameters of the bearing is put forward. The finite element simulation model of hollow shaft, FPXU408-ZRZ bearing and bearing seat is established by using ANSYS finite element simulation software in FPXU408-ZRZ, which is used for thin-walled four-point contact ball bearing used in typical industrial robot, and the whole finite element simulation analysis model of hollow shaft, FPXU408-ZRZ bearing and bearing seat is established. The integral finite element analysis of the bearing is carried out according to the actual working conditions, and the load distribution problem of the flexible bearing is solved. Finally, based on the Lundberg-Palmgren theory of bearing life, The life of FPXU408-2RZ bearing is calculated accurately by using the life calculation method based on the actual load distribution of the bearing. Through the research in this paper, the optimization design method of main parameters and structural parameters of thin-walled four-point contact ball bearing for industrial robot is established, which makes up for the lack of design method of this kind of bearings in China. The load distribution and life of the flexible bearing are solved accurately. The finite element analysis shows that the elastic deformation of the shaft system has a great influence on the load distribution and life of the bearing, and there is a great error in solving the load distribution and life of the flexible bearing by the classical method. The finite element method can solve this problem well. The research in this paper can provide certain design basis and theoretical support for the product design and theoretical analysis of thin-walled four-point contact ball bearings for industrial robots, and improve the level and reliability of product design and analysis.
【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH133.3
[Abstract]:Thin-wall four-point contact ball bearing is used as the key component of industrial robot. Its performance plays a decisive role in the performance of the robot's main engine, such as precision, stability, flexibility, life and reliability. In order to solve the problem that there is no mature design and analysis method for this kind of bearings in China, and to meet the needs of industrial robot mainframe, it is necessary to study the design theory and design method of thin-walled four-point contact ball bearings for industrial robots. The optimal design and analysis method of this kind of bearings are established to provide theoretical support and design basis for the development of this kind of bearings in China. In view of this, this paper takes the thin wall four-point contact ball bearing for industrial robot as the research object, according to the structure characteristic, the working condition and the use requirement of this kind of bearing, firstly, selects from the objective function, In the aspect of constraint condition determination and multi-objective optimization design problem solving, the main parameter optimization design method is studied, the mathematical model and solution method of bearing main parameter optimization design are established, and the program of optimization design is compiled. Then, the design of the structural parameters of the bearing is studied from the aspects of the radius coefficient of curvature of the bearing groove, the height of the flange, the position of the groove, the clearance and the performance, and the design method of the key structural parameters of the bearing is put forward. The finite element simulation model of hollow shaft, FPXU408-ZRZ bearing and bearing seat is established by using ANSYS finite element simulation software in FPXU408-ZRZ, which is used for thin-walled four-point contact ball bearing used in typical industrial robot, and the whole finite element simulation analysis model of hollow shaft, FPXU408-ZRZ bearing and bearing seat is established. The integral finite element analysis of the bearing is carried out according to the actual working conditions, and the load distribution problem of the flexible bearing is solved. Finally, based on the Lundberg-Palmgren theory of bearing life, The life of FPXU408-2RZ bearing is calculated accurately by using the life calculation method based on the actual load distribution of the bearing. Through the research in this paper, the optimization design method of main parameters and structural parameters of thin-walled four-point contact ball bearing for industrial robot is established, which makes up for the lack of design method of this kind of bearings in China. The load distribution and life of the flexible bearing are solved accurately. The finite element analysis shows that the elastic deformation of the shaft system has a great influence on the load distribution and life of the bearing, and there is a great error in solving the load distribution and life of the flexible bearing by the classical method. The finite element method can solve this problem well. The research in this paper can provide certain design basis and theoretical support for the product design and theoretical analysis of thin-walled four-point contact ball bearings for industrial robots, and improve the level and reliability of product design and analysis.
【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH133.3
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