摆线针轮传动与小型RV二级减速器的研究
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摘要
摆线针轮减速器与RV传动作为行星齿轮减速器中的优秀传动,因其高传动比,小体积,高精度,高刚度等优点被广泛应用于工业与生活领域。
论文先对摆线齿轮齿廓修形进行了基础研究,建立了正等距正移距组合修形的数学模型,实现了修形参数的计算机优化,编制了Matlab优化程序,并得到了良好的结果。此外针对摆线齿廓,根据摆线行星传动时的啮合特点与要求,还提出了一种新型的摆线齿廓分段修形理论。利用该方法得到平滑的复合齿廓分为工作段、齿根非工作段与齿顶非工作段,其特点是在工作段为严格共轭齿廓,非工作段留有适当间隙。建立了分段修形参数的求解模型并编制了程序,确定了分段复合齿廓的三段式曲线方程,最后给出了一个求解实例。利用该修形方法使得回差减小,增强了摆线针轮传动的啮合性能。
其次,论文介绍了无针齿摆线内齿廓针齿壳,依据外摆线形成的两种方法对无针轮摆线传动的啮合性能进行了分析,首次推导了摆线齿廓针齿壳的方程,提出了一套参数搜索结合图像识别优选摆线齿廓针齿壳曲线的计算机图解方法,编制了程序并得以应用。
此外论文还针对某飞行器用舵机减速器的特殊要求提出一种新构型——小型RV二级减速机构,它由一级RV减速机构和一级摆线针轮传动结构有机结合,在保证其减速比特别大、体积特别小的设计要求时不丢失其刚度高、强度高及精度高的既有优点。
论文对小型RV二级减速机构进行了详细的理论分析,推导了传动比,制定了各个部件的尺寸,计算了理论效率,还对关键零件的强度进行校核,并计算了样机的回差;建立了小型RV二级减速机构的三维模型以及二维工程图,为后续加工做准备。通过虚拟样机技术对小型RV二级减速机构做了运动学初步仿真,并提出了运动学仿真的改进方案。最后总结了本论文的工作,对于涉及到的未研究到的内容提出了延展方案,为摆线传动与小型RV二级减速传动的长远发展打下基础。
Cycloidal pinwheel transmission and RV transmission, both of which are important ones among planetary gear reducers, are widely applied for industrial fields because of their advantages such as high transmission ratio, high precision, high stiffness, etc.
In this paper, the mending tooth shape of cycloid gear tooth profile is researched, the mathematical model of positive equidistance and moved distance is established, the computer optimization of parameters of mending tooth shape is realized, a Matlab optimization program is composed, and a good result is obtained.
Besides, according to cycloid tooth profile and the meshing characteristics and requirements of cycloid planetary transmission, a new method of cycloid gear modification is presented in this paper. The compound cycloid gear profile that we get from this method is constituted of work section, non-work section of gear root and non-work section of gear top. The feature is that the work section is a strict conjugate gear profile, while proper clearance is set aside in the non-work sections. The mathematical solution model is proposed, at the same time, a solving program of the model is compiled. An example is given in the end. The backlash can be reduced by using this method, which also can enhance the meshing performance of cycloid pin gear transmission.
In addition, the feasibility of non-pin cycloid transmission is analyzed according to the two ways of formation of cycloid. And a computer graphic method is presented that the determination of optimum cycloid gear profile pin shell is depended on parameter search and image recognition. The program of the method is established and an example is given.
At the same time, a small-sized RV reducer with two stages, is a new configuration presented in this paper according to the special requirements of some spacecraft actuator reducer. It is constituted of primary RV deceleration mechanism and primary cycloid pin gear transmission structure. It will keep its high stiffness, high strength and high precision on the premise that it guarantees the requirements of its reduction ratio and size.
The theoretical analysis of the small-sized RV reducer with two stages is made in detail, and the formula of transmission ratio is deduced, the dimention of each part is determined, and the theoretical efficiency is calculated. Also, the strength of key parts is checked, and the backlash of the prototype is calculated. The 3D model and 2D engineering drawings of the small-sized RV reducer with two stages are established, which is a preparation for follow-up machining. Preliminary kinematical simulation of the small-sized RV reducer with two stages is made by using virtual prototype, and improved scheme of the kinematical simulation is presented. In the end, the work in this paper is summarized, and also an extended scheme of involved but unstudied late contents is presented, which lays the foundation for long term development of decelerating transmission equipments.
论文先对摆线齿轮齿廓修形进行了基础研究,建立了正等距正移距组合修形的数学模型,实现了修形参数的计算机优化,编制了Matlab优化程序,并得到了良好的结果。此外针对摆线齿廓,根据摆线行星传动时的啮合特点与要求,还提出了一种新型的摆线齿廓分段修形理论。利用该方法得到平滑的复合齿廓分为工作段、齿根非工作段与齿顶非工作段,其特点是在工作段为严格共轭齿廓,非工作段留有适当间隙。建立了分段修形参数的求解模型并编制了程序,确定了分段复合齿廓的三段式曲线方程,最后给出了一个求解实例。利用该修形方法使得回差减小,增强了摆线针轮传动的啮合性能。
其次,论文介绍了无针齿摆线内齿廓针齿壳,依据外摆线形成的两种方法对无针轮摆线传动的啮合性能进行了分析,首次推导了摆线齿廓针齿壳的方程,提出了一套参数搜索结合图像识别优选摆线齿廓针齿壳曲线的计算机图解方法,编制了程序并得以应用。
此外论文还针对某飞行器用舵机减速器的特殊要求提出一种新构型——小型RV二级减速机构,它由一级RV减速机构和一级摆线针轮传动结构有机结合,在保证其减速比特别大、体积特别小的设计要求时不丢失其刚度高、强度高及精度高的既有优点。
论文对小型RV二级减速机构进行了详细的理论分析,推导了传动比,制定了各个部件的尺寸,计算了理论效率,还对关键零件的强度进行校核,并计算了样机的回差;建立了小型RV二级减速机构的三维模型以及二维工程图,为后续加工做准备。通过虚拟样机技术对小型RV二级减速机构做了运动学初步仿真,并提出了运动学仿真的改进方案。最后总结了本论文的工作,对于涉及到的未研究到的内容提出了延展方案,为摆线传动与小型RV二级减速传动的长远发展打下基础。
Cycloidal pinwheel transmission and RV transmission, both of which are important ones among planetary gear reducers, are widely applied for industrial fields because of their advantages such as high transmission ratio, high precision, high stiffness, etc.
In this paper, the mending tooth shape of cycloid gear tooth profile is researched, the mathematical model of positive equidistance and moved distance is established, the computer optimization of parameters of mending tooth shape is realized, a Matlab optimization program is composed, and a good result is obtained.
Besides, according to cycloid tooth profile and the meshing characteristics and requirements of cycloid planetary transmission, a new method of cycloid gear modification is presented in this paper. The compound cycloid gear profile that we get from this method is constituted of work section, non-work section of gear root and non-work section of gear top. The feature is that the work section is a strict conjugate gear profile, while proper clearance is set aside in the non-work sections. The mathematical solution model is proposed, at the same time, a solving program of the model is compiled. An example is given in the end. The backlash can be reduced by using this method, which also can enhance the meshing performance of cycloid pin gear transmission.
In addition, the feasibility of non-pin cycloid transmission is analyzed according to the two ways of formation of cycloid. And a computer graphic method is presented that the determination of optimum cycloid gear profile pin shell is depended on parameter search and image recognition. The program of the method is established and an example is given.
At the same time, a small-sized RV reducer with two stages, is a new configuration presented in this paper according to the special requirements of some spacecraft actuator reducer. It is constituted of primary RV deceleration mechanism and primary cycloid pin gear transmission structure. It will keep its high stiffness, high strength and high precision on the premise that it guarantees the requirements of its reduction ratio and size.
The theoretical analysis of the small-sized RV reducer with two stages is made in detail, and the formula of transmission ratio is deduced, the dimention of each part is determined, and the theoretical efficiency is calculated. Also, the strength of key parts is checked, and the backlash of the prototype is calculated. The 3D model and 2D engineering drawings of the small-sized RV reducer with two stages are established, which is a preparation for follow-up machining. Preliminary kinematical simulation of the small-sized RV reducer with two stages is made by using virtual prototype, and improved scheme of the kinematical simulation is presented. In the end, the work in this paper is summarized, and also an extended scheme of involved but unstudied late contents is presented, which lays the foundation for long term development of decelerating transmission equipments.
引文
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[8]张明路,刘冰清,戴天尾.利用非线性曲线拟合法搜寻摆线轮齿廓修形量的研究[J].河北工学院学报,1994(23):57-63.
[9]何卫东,李力行,李欣.机器人用高精度RV减速器中摆线轮优化新齿形[J].机械工程学报,2000(36):51-55.
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[14]汪和平.高精度电动舵机技术研究[D].西安.西北工业大学.2003.
[15]吴忠,刘元度.谐波传动的工程应用研究[J],航空精密制造技术,2005,41(4):23-25.
[16]何卫东,李力行,李欣.机器人用高精度RV减速器中摆线轮优化新齿形[J].机械工程学报,2000(36):51-55.
[17]张明路,刘冰清,戴天尾.利用非线性曲线拟合法搜寻摆线轮齿廓修形量的研究[J].河北工学院学报,1994(23):57-63.
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[19]崔学昶.三片摆线行星齿轮减速器的研究[D].南京.南京理工大学.2004.
[20]万朝燕,李力行.摆线针轮行星传动的参数优化[J].大连铁道学院学报,1992(13):42-47.
[21]于影,邵忠喜,于波.摆线轮啮合齿形工作范围的确定[J].机械设计与研究.2006(12):65-67.
[22]李力行,洪淳赫.摆线针轮行星传动中摆线轮齿形通用方程式的研究[J].大连铁道学院学报.1992,13(1):7-12.
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