内啮输出环形重载精密谐波传动承载与失效的研究
发布时间：2019-03-09 14:23
【摘要】：在航天特殊工况下,要求伺服传动系统具有小型化、轻量化、承载能力极大化的特点,普通商业化的产品难以满足指标要求,传统的谐波传动设计都是基于假设性力学模型和经验公式,尤其对于重载精密谐波传动的设计尚缺乏理论支撑和试验验证。本文以内啮输出重载环形谐波齿轮为研究对象,充分考虑航天工况的特殊性,重点对其力学性能、承载能力及失效进行了理论研究,旨在为设计满足航天需求的新产品提供必要的理论依据。 文中首先在以往研究和航天工况下谐波传动承载特性基础上,分析得出谐波传动中薄弱环节柔轮的应力与变形直接影响系统的承载能力。应用一般设计理论对柔轮进行设计,借助Abaqus有限元工具对其进行装配体应力与变形仿真分析,分析结果表明,柔轮主要截面的应力与变形和理论值存在差异,通过对差异的研究发现有限元计算更能揭示柔轮真实的应力和变形规律。进而通过改变柔轮长径比、壁厚、输入齿宽、输出齿宽等结构参数,得到了结构参数对环形谐波传动空载下应力与变形的影响规律。 根据航天工况载荷的特殊性,在装配体仿真的基础上对环形谐波传动进行1倍到5倍额定载荷下的柔轮应力与变形分析,通过提取柔轮典型截面在不同载荷下的应力与位移值作对比研究,找出了柔轮承载下的危险截面及其主要影响应力,得到了柔轮应力与变形随载荷的变化规律。同时研究了柔轮长径比、壁厚、输入齿宽、输出齿宽等主要结构参数对柔轮承载能力的影响,通过对不同结构参数下环形谐波传动1倍、3倍和5倍载荷下的应力分析,获得了承载能力随柔轮结构参数变化的规律,研究表明柔轮长径比、柔轮壁厚以及输入齿宽是影响柔轮承载能力主要因素。 根据谐波传动工况的特殊性分析了在强过载下柔轮的主要失效形式,并且根据柔轮负载下变形规律推导出适用于内啮输出环形柔轮的齿面磨损理论计算公式,由优化后的柔轮不同载荷下应力分析得出在强过载下尖顶接触是造成失效的主要原因。
[Abstract]:Under the special conditions of spaceflight, servo drive system is required to be miniaturized, lightweight and load-carrying capacity maximized. It is difficult for commercial products to meet the requirements of indexes. The traditional harmonic drive design is based on hypothetical mechanical model and empirical formula, especially for the design of heavy-duty precise harmonic drive, there is still lack of theoretical support and experimental verification. In this paper, the internal meshing output heavy load ring harmonic gear is taken as the research object, considering the particularity of the spaceflight condition, the mechanical properties, bearing capacity and failure of the gear are studied in theory. In order to provide the necessary theoretical basis for the design of new products to meet the needs of aerospace. Firstly, based on the previous research and the characteristics of harmonic drive under space conditions, it is concluded that the stress and deformation of the soft wheel in harmonic drive directly affect the bearing capacity of the system. The flexible wheel is designed by using the general design theory, and the stress and deformation of the flexible wheel is simulated by means of Abaqus finite element method. The results show that the stress and deformation of the main section of the flexure wheel are different from the theoretical value, and the stress and deformation of the main section of the flexible wheel are different. Through the study of the difference, it is found that the finite element calculation can more reveal the true stress and deformation law of the flexure wheel. Then by changing the structural parameters such as the ratio of length to diameter, wall thickness, input tooth width and output tooth width, the influence of structural parameters on stress and deformation of ring harmonic drive under no load is obtained. According to the particularity of spaceflight load, the stress and deformation of ring harmonic drive under 1 to 5 times rated load are analyzed on the basis of assembly simulation. By comparing the stress and displacement of typical section of flexure wheel under different loads, the dangerous section and its main influence stress are found out, and the variation rule of stress and deformation of flexure wheel with load is obtained. At the same time, the influence of the main structural parameters, such as the ratio of length to diameter, wall thickness, input tooth width and output tooth width, on the bearing capacity of the flexible wheel is studied. The stress analysis of the ring harmonic drive under 1, 3 and 5 times loads under different structural parameters is carried out. The law of the bearing capacity varying with the structural parameters of the pulley is obtained. The study shows that the main factors affecting the bearing capacity of the flexible wheel are the ratio of length to diameter, the thickness of the wall and the width of the input teeth. According to the particularity of harmonic drive, the main failure forms of flexible wheel under strong overloading are analyzed. According to the deformation rule of flexible wheel under load, the theoretical calculation formula of tooth surface wear suitable for internal meshing output ring flexible wheel is deduced. According to the stress analysis of the optimized flexible wheel under different loads, it is concluded that the tip contact is the main cause of failure under strong overloading.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH132.43
，
本文编号：2437546
[Abstract]:Under the special conditions of spaceflight, servo drive system is required to be miniaturized, lightweight and load-carrying capacity maximized. It is difficult for commercial products to meet the requirements of indexes. The traditional harmonic drive design is based on hypothetical mechanical model and empirical formula, especially for the design of heavy-duty precise harmonic drive, there is still lack of theoretical support and experimental verification. In this paper, the internal meshing output heavy load ring harmonic gear is taken as the research object, considering the particularity of the spaceflight condition, the mechanical properties, bearing capacity and failure of the gear are studied in theory. In order to provide the necessary theoretical basis for the design of new products to meet the needs of aerospace. Firstly, based on the previous research and the characteristics of harmonic drive under space conditions, it is concluded that the stress and deformation of the soft wheel in harmonic drive directly affect the bearing capacity of the system. The flexible wheel is designed by using the general design theory, and the stress and deformation of the flexible wheel is simulated by means of Abaqus finite element method. The results show that the stress and deformation of the main section of the flexure wheel are different from the theoretical value, and the stress and deformation of the main section of the flexible wheel are different. Through the study of the difference, it is found that the finite element calculation can more reveal the true stress and deformation law of the flexure wheel. Then by changing the structural parameters such as the ratio of length to diameter, wall thickness, input tooth width and output tooth width, the influence of structural parameters on stress and deformation of ring harmonic drive under no load is obtained. According to the particularity of spaceflight load, the stress and deformation of ring harmonic drive under 1 to 5 times rated load are analyzed on the basis of assembly simulation. By comparing the stress and displacement of typical section of flexure wheel under different loads, the dangerous section and its main influence stress are found out, and the variation rule of stress and deformation of flexure wheel with load is obtained. At the same time, the influence of the main structural parameters, such as the ratio of length to diameter, wall thickness, input tooth width and output tooth width, on the bearing capacity of the flexible wheel is studied. The stress analysis of the ring harmonic drive under 1, 3 and 5 times loads under different structural parameters is carried out. The law of the bearing capacity varying with the structural parameters of the pulley is obtained. The study shows that the main factors affecting the bearing capacity of the flexible wheel are the ratio of length to diameter, the thickness of the wall and the width of the input teeth. According to the particularity of harmonic drive, the main failure forms of flexible wheel under strong overloading are analyzed. According to the deformation rule of flexible wheel under load, the theoretical calculation formula of tooth surface wear suitable for internal meshing output ring flexible wheel is deduced. According to the stress analysis of the optimized flexible wheel under different loads, it is concluded that the tip contact is the main cause of failure under strong overloading.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH132.43
，
本文编号：2437546
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