新型摆线齿轮3K型减速器的设计研究
发布时间：2018-11-08 20:06
【摘要】：摆线齿轮传动有重合度大传动平稳、齿面磨损均匀、齿数少不根切等优点，但其中心距不具可分性、刀具制造困难等极大的限制了摆线齿轮的应用。目前高端精密机械系统如航空航天、医疗器械、仿生机器人等迫切需求体积小、重量轻、承载能力强、传动平稳和效率高等诸多优点的微型减速器。在超精密加工制造技术快速发展的今天，加工精度已不再是推广应用摆线类齿轮的障碍。 深入分析国内外关于摆线类曲线的数学模型后，，通过以基圆圆心为定坐标系的原点建立了更简单的摆线及其等距线的数学模型。以单一摆线及其等距线为基础构建了摆线原始连续型齿廓，在基于齿廓啮合原理上研究了此类齿廓共轭啮合的可能性及形式，以及重合度的定义与计算。针对摆线原始连续型齿廓重合度小等缺点，以齿数少、重合度适宜为目标，在满足齿廓共轭条件的基础上，提出了多种针对原始连续型齿廓的修形方法，并运用这些改进方法演绎出了10多种新型摆线齿廓。 用运动学方法研究出摆线原始连续型齿廓的啮合轨迹线后，基于摆线的修形原理，将其推广得到了摆线修形齿廓和新型摆线齿廓的啮合轨迹线。根据齿轮传动重合度和啮合角的定义，通过分析齿廓啮合轨迹线，提出了各摆线齿轮传动的重合度与啮合角计算方法。研究确定这些摆线齿轮的基本设计参数后，依次推导出了各摆线齿轮的几何尺寸计算公式。经比较各摆线齿轮的几何特点和传动特性后，选择了新型摆线齿廓设计直齿轮，研究其齿轮设计约束条件，以及各设计参数对传动特性的影响。 研究比较了3K型行星传动效率与配齿，结合新型摆线齿轮的特点，选取3K-I型行星传动并选择合适的设计参数设计各新型摆线齿轮。确定各新型摆线齿轮副受力情况并校核齿面接触疲劳强度后，分析轴系的弯扭受力及校核，选用各轴支撑轴承与校核。从传动性能、加工工艺、安装工艺等多方面考虑设计了行星架与微型减速器的结构、减速器与伺服电机的连接、减速器与机体的连接等。
[Abstract]:Cycloidal gear transmission has many advantages, such as smooth coincidence, uniform tooth surface wear, less tooth number and no root cut, but its center distance is not divisible, and the tool manufacturing difficulty has greatly limited the application of cycloidal gear. At present, high-end precision mechanical systems such as aerospace, medical devices, bionic robots and other urgent needs for small volume, light weight, strong bearing capacity, stable transmission and high efficiency of a number of advantages of the miniaturization reducer. With the rapid development of ultra-precision manufacturing technology, machining accuracy is no longer an obstacle to the popularization and application of cycloidal gears. After deeply analyzing the mathematical models of cycloidal curves at home and abroad, a simpler mathematical model of cycloid and its equidistant line is established by taking the center of the base circle as the origin of the fixed coordinate system. On the basis of a single cycloid and its equidistant line, the original continuous tooth profile of cycloid is constructed. The possibility and form of conjugate engagement of this kind of tooth profile and the definition and calculation of the degree of coincidence are studied on the basis of the principle of tooth profile meshing. Aiming at the shortcomings of low coincidence degree of cycloid original continuous tooth profile, aiming at the small number of teeth and the suitable coincidence degree, on the basis of satisfying the conjugate condition of tooth profile, several modification methods for the original continuous tooth profile are put forward. More than 10 kinds of new cycloid tooth profiles are deduced by using these improved methods. After the meshing locus of the original continuous tooth profile of cycloid is studied by kinematics method, based on the modification principle of cycloid, the meshing locus of cycloid modified tooth profile and new cycloid tooth profile are obtained. According to the definition of the degree of coincidence and the angle of engagement of gear transmission, the calculation method of the degree of coincidence and the angle of engagement of cycloidal gear transmission is put forward by analyzing the gear profile meshing trajectory. After studying and determining the basic design parameters of these cycloidal gears, the formulas for calculating the geometric dimensions of each cycloidal gear are derived in turn. After comparing the geometric characteristics and transmission characteristics of cycloidal gears, a new type of cycloidal spur gear is selected to study the constraints of gear design and the influence of design parameters on transmission characteristics. The efficiency and gear matching of 3K type planetary transmission are studied and compared. Combined with the characteristics of the new cycloidal gear, the 3K-I type planetary transmission is selected and the suitable design parameters are selected to design each new cycloid gear. After determining the force situation of each new cycloidal gear pair and checking the contact fatigue strength of the tooth surface, the bending and torsional force of the shafting is analyzed and checked, and the bearing supported by each shaft is selected and checked. The structure of the planetary frame and the miniature reducer, the connection between the reducer and the servo motor, the connection between the reducer and the body, and so on are considered from the aspects of transmission performance, processing technology and installation technology.
【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
本文编号：2319527
[Abstract]:Cycloidal gear transmission has many advantages, such as smooth coincidence, uniform tooth surface wear, less tooth number and no root cut, but its center distance is not divisible, and the tool manufacturing difficulty has greatly limited the application of cycloidal gear. At present, high-end precision mechanical systems such as aerospace, medical devices, bionic robots and other urgent needs for small volume, light weight, strong bearing capacity, stable transmission and high efficiency of a number of advantages of the miniaturization reducer. With the rapid development of ultra-precision manufacturing technology, machining accuracy is no longer an obstacle to the popularization and application of cycloidal gears. After deeply analyzing the mathematical models of cycloidal curves at home and abroad, a simpler mathematical model of cycloid and its equidistant line is established by taking the center of the base circle as the origin of the fixed coordinate system. On the basis of a single cycloid and its equidistant line, the original continuous tooth profile of cycloid is constructed. The possibility and form of conjugate engagement of this kind of tooth profile and the definition and calculation of the degree of coincidence are studied on the basis of the principle of tooth profile meshing. Aiming at the shortcomings of low coincidence degree of cycloid original continuous tooth profile, aiming at the small number of teeth and the suitable coincidence degree, on the basis of satisfying the conjugate condition of tooth profile, several modification methods for the original continuous tooth profile are put forward. More than 10 kinds of new cycloid tooth profiles are deduced by using these improved methods. After the meshing locus of the original continuous tooth profile of cycloid is studied by kinematics method, based on the modification principle of cycloid, the meshing locus of cycloid modified tooth profile and new cycloid tooth profile are obtained. According to the definition of the degree of coincidence and the angle of engagement of gear transmission, the calculation method of the degree of coincidence and the angle of engagement of cycloidal gear transmission is put forward by analyzing the gear profile meshing trajectory. After studying and determining the basic design parameters of these cycloidal gears, the formulas for calculating the geometric dimensions of each cycloidal gear are derived in turn. After comparing the geometric characteristics and transmission characteristics of cycloidal gears, a new type of cycloidal spur gear is selected to study the constraints of gear design and the influence of design parameters on transmission characteristics. The efficiency and gear matching of 3K type planetary transmission are studied and compared. Combined with the characteristics of the new cycloidal gear, the 3K-I type planetary transmission is selected and the suitable design parameters are selected to design each new cycloid gear. After determining the force situation of each new cycloidal gear pair and checking the contact fatigue strength of the tooth surface, the bending and torsional force of the shafting is analyzed and checked, and the bearing supported by each shaft is selected and checked. The structure of the planetary frame and the miniature reducer, the connection between the reducer and the servo motor, the connection between the reducer and the body, and so on are considered from the aspects of transmission performance, processing technology and installation technology.
【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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