本文選題：RV減速器 + 滾針軸承��； 參考：《浙江大學(xué)》2017年碩士論文

【摘要】：工業(yè)機(jī)器人正在被廣泛使用,來代替人完成各種重復(fù)勞動和特殊工作環(huán)境的勞動,正逐漸改變著人類社會。我國工業(yè)機(jī)器人市場規(guī)模巨大,但一直被國外機(jī)器人公司壟斷,實現(xiàn)工業(yè)機(jī)器人國產(chǎn)化是國家的一項重要戰(zhàn)略目標(biāo)。研究機(jī)器人用RV減速器是實現(xiàn)工業(yè)機(jī)器人國產(chǎn)化中最重要也最難的部分,在RV減速器中,轉(zhuǎn)臂滾針軸承的工作性能和使用壽命嚴(yán)重制約了整個減速器的可靠性。本文在滾動軸承潤滑理論研究的基礎(chǔ)上,針對機(jī)器人用RV減速器滾針軸承的潤滑特性進(jìn)行了研究,通過建模并用MATLAB編程求解了滾針軸承潤滑膜的壓力和膜厚,軸承表面應(yīng)力場等,對軸承的性能進(jìn)行了定性和定量的分析。本文第一部分闡述了 RV減速器滾針軸承摩擦學(xué)分析的工程意義,總結(jié)了線接觸摩擦副彈流潤滑理論研究和實驗研究的國內(nèi)外進(jìn)展,歸納了常用的膜厚公式和彈流模型的求解方法。第二部分建立了線接觸表面彈性變形求解模型,分別考慮了五種主流的彈性變形計算方法,求解了在Hertz壓力分布、三角形壓力分布和均勻壓力分布下的線接觸表面彈性變形后的膜厚,對結(jié)果加以比較,對五種方法進(jìn)行了評判。第三部分建立了考慮表面波紋度和凹坑的滾針軸承接觸彈流潤滑模型,利用MATLAB編程分別求解了輕載波紋度和高載波紋度不同波幅、不同波長,輕載和高載入口區(qū)、接觸中心、出口區(qū)不同深度凹坑的情況下的滾針軸承潤滑膜厚度、壓力分布和軸承表層Mises應(yīng)力場,探討了表層最大應(yīng)力出現(xiàn)的位置及其大小,并進(jìn)行了對比分析,得出了波紋度和凹坑對滾針軸承潤滑的影響。第四部分建立了基于Ostwald本構(gòu)模型的脂潤滑控制方程,求解了脂潤滑條件下的潤滑膜厚度、壓力分布和軸承表層Mises應(yīng)力場。分別探討了不同流變指數(shù)、不同載荷、不同卷吸速度對脂潤滑彈流特性的影響。第五部分對全文的主要研究內(nèi)容進(jìn)行了總結(jié),指出了本文研究的諸多不足,提出了需要進(jìn)一步研究的方向。
[Abstract]:Industrial robots are being widely used to replace people to complete all kinds of repetitive work and special work environment, and are gradually changing the human society. The market of industrial robots in China is huge, but it has been monopolized by foreign robotics companies all the time. It is an important strategic goal of our country to realize the localization of industrial robots. The research of RV reducer for robot is the most important and difficult part in realizing the localization of industrial robot. In the RV reducer, the reliability of the whole reducer is seriously restricted by the working performance and service life of the rotary arm needle roller bearing. Based on the theoretical research of rolling bearing lubrication, the lubrication characteristics of needle bearing of RV reducer for robot are studied in this paper. The pressure and film thickness of needle roller bearing lubrication film are solved by modeling and MATLAB programming. The surface stress field of bearing is analyzed qualitatively and quantitatively. In the first part of this paper, the engineering significance of the tribological analysis of needle bearing of RV reducer is expounded, and the progress of theoretical and experimental research on elastohydrodynamic lubrication of linear contact friction pair is summarized. The common formula of film thickness and the method of solving elastohydrodynamic model are summarized. In the second part, the solution model of elastic deformation of linear contact surface is established. Five main methods of elastic deformation calculation are considered, and the Hertz pressure distribution is solved. The film thickness after elastic deformation of linear contact surface under triangular pressure distribution and uniform pressure distribution is compared and five methods are evaluated. In the third part, the contact elastohydrodynamic lubrication model of needle roller bearing considering surface ripple and crater is established, and the contact center is solved by MATLAB programming, including different wave amplitude, different wavelength, light load and high loading port area, and high load port area, respectively. The lubrication film thickness, pressure distribution and Mises stress field of needle roller bearing at different depths in the outlet area are discussed. The position and magnitude of the maximum stress in the surface layer are discussed, and the results are compared and analyzed. The influence of corrugation and pit on the lubrication of needle roller bearing is obtained. In the fourth part, the governing equation of grease lubrication based on Ostwald constitutive model is established, and the thickness of lubrication film, pressure distribution and Mises stress field of the surface layer of bearing are solved under the condition of grease lubrication. The effects of different rheological indexes, different loads and different entrainment speeds on the elastohydrodynamic characteristics of grease lubrication were discussed. The fifth part summarizes the main contents of this paper, points out the shortcomings of this study, and puts forward the direction of further research.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH132.46

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