RV减速器摆线轮磨齿机振动特性分析

发布时间：2018-08-29 15:33

【摘要】：随着“工业4.0”、创新驱动、“中国制造2025”等相继提出,为智能机器人产业以及高端数控制造装备产业提供了新的机遇。RV减速器是一种广泛应用于机器人关节的减速机构,是机器人领域的核心部件,主要有前级行星齿轮和后级摆线针轮两级组成,其中摆线针轮是减速器的核心。目前我国在这方面的研究,虽有进步但仍处于落后状态,且技术受限。因此,研发专用摆线针轮修形数控机床是提高摆线轮精度的关键,本课题正是在此背景下展开的。本课题针对新研发的RV减速器摆线轮磨齿机,基于整机的结构原理,结合机械动力学,机械振动理论,以及信号分析理论,开展了如下研究:(1)分析摆线轮齿廓形成原理,构建摆线轮磨齿机的三维实体模型,并计算磨削加工时的磨削力,进一步推导了金刚轮运动轨迹方程;结合机械振动理论,建立并分析了磨齿机磨削振动模型,为研究机床的动力学特性奠定基础。(2)针对磨齿机立柱以及主轴磨削系统,分析结构参数变化对系统固有频率和最大变形量的灵敏度关系,发现加强筋尺寸设计对提高立柱静动态性能作用显著,结合面的刚度对磨削系统性能影响较大,尤其是主轴前端法兰与砂轮的结合面。对最优参数下的系统进行了动静力学分析,立柱一阶固有频率提高10.9%,主轴磨削系统提高12.9%。(3)完成对整机实体模型的简化,导入ANSYS Workbench有限元分析软件,通过虚拟拓扑、定义各部件的接触关系等前处理,选用合理的网格划分,施加必要的约束,选择合适的算法分析求解模型,完成对整机系统静力学分析和工作载荷下的模态分析。(4)组建振动测试平台,编写摆线轮磨削加工的数控程序,完成对摆线轮的磨削加工。采集不同磨削参数下磨齿机的振动信号,通过编写Matlab程序进行离线处理。针对采集的不同主轴转速、不同磨削深度下磨齿机的振动信号,通过频谱分析研究了机床振动情况以及机床振动可能产生的原因,为降低振动对摆线轮精度的影响提供了参考。
[Abstract]:With "industry 4.0" and innovation-driven, "made in China 2025" has been put forward one after another, which provides a new opportunity for intelligent robot industry and high-end NC manufacturing equipment industry. RV reducer is a kind of deceleration mechanism widely used in robot joints. It is the core component of robot field, which consists of front planetary gear and rear cycloid needle wheel, in which cycloidal needle wheel is the core of reducer. At present, China's research in this area, although there is progress, but still in a backward state, and limited technology. Therefore, it is the key to improve the accuracy of cycloidal wheel to develop a special CNC machine tool for cycloid wheel modification. Aiming at the newly developed cycloidal gear grinding machine of RV reducer, based on the structure principle of the whole machine, combined with mechanical dynamics, mechanical vibration theory and signal analysis theory, the following research has been carried out: (1) analyzing the forming principle of cycloidal gear tooth profile. The three-dimensional solid model of cycloidal gear grinder is constructed, and the grinding force is calculated, and the equation of motion trajectory of diamond wheel is deduced, and the grinding vibration model of grinding machine is established and analyzed by combining with the theory of mechanical vibration. It lays a foundation for studying the dynamic characteristics of machine tools. (2) for the grinding system of grinding machine column and spindle, the sensitivity of structural parameters to the natural frequency and maximum deformation of the system is analyzed. It is found that the design of reinforcement has a significant effect on improving the static and dynamic performance of the column, and the stiffness of the combined surface has a great effect on the performance of the grinding system, especially the interface between the flange of the front end of the spindle and the grinding wheel. The static and dynamic analysis of the system under the optimal parameters is carried out. The first natural frequency of the column is increased by 10.9, and the grinding system of the spindle is improved by 12.9. (3) the simplification of the solid model of the whole machine is completed, the ANSYS Workbench finite element analysis software is imported, and the virtual topology is adopted. Preprocessing such as defining the contact relation of each component, selecting reasonable mesh division, imposing necessary constraints, selecting the appropriate algorithm to analyze and solve the model, The static analysis and modal analysis of the whole machine system are completed. (4) the vibration testing platform is set up, the NC program of cycloidal wheel grinding is compiled, and the grinding process of cycloidal wheel is completed. The vibration signals of grinding machine with different grinding parameters were collected and Matlab program was written for off-line processing. Aiming at the vibration signals of grinding machine under different spindle speed and different grinding depth, the vibration situation of machine tool and the possible cause of machine tool vibration are studied through spectrum analysis, which provides a reference for reducing the influence of vibration on the accuracy of cycloidal gear.
【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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