【摘要】：本課題來(lái)源于國(guó)家自然科學(xué)基金《基于泛函逼近的旋轉(zhuǎn)機(jī)械性能衰退預(yù)測(cè)》。隨著我國(guó)的航天科技的不斷壯大,各類型空間機(jī)構(gòu)正在從“單次短時(shí)間使用”變成“長(zhǎng)時(shí)間不間斷使用”。這樣的轉(zhuǎn)變對(duì)空間機(jī)構(gòu)的可靠性和耐用性提出了更高的要求。RV減速器作為一種新型的高扭矩傳動(dòng)機(jī)構(gòu)被廣泛用于各類空間機(jī)構(gòu)和工業(yè)機(jī)器人當(dāng)中。但現(xiàn)階段RV減速器作為轉(zhuǎn)動(dòng)機(jī)構(gòu)中的關(guān)鍵部件并沒有一套成型的可靠性壽命預(yù)測(cè)方法和體系,這樣會(huì)對(duì)RV減速器的保養(yǎng)和維修帶來(lái)極大的影響,甚至還會(huì)對(duì)整體機(jī)構(gòu)造成不可估量的傷害。針對(duì)上述問(wèn)題,本文基于加速退化試驗(yàn)對(duì)RV減速器進(jìn)行了壽命預(yù)測(cè)分析。通過(guò)對(duì)采集到的產(chǎn)品性能退化數(shù)據(jù)的處理,建立了RV減速器可靠性壽命模型,從而實(shí)現(xiàn)了預(yù)知RV減速器在正常工況下的可靠性壽命的可能。本文具體研究?jī)?nèi)容如下所示:1.明確了RV減速器的失效機(jī)理。首先逐一分析各種減速器常見實(shí)效形式及原因,并與RV減速器本身進(jìn)行對(duì)比分析。其次參考RV減速器實(shí)際使用環(huán)境,并著重觀察其系統(tǒng)關(guān)鍵部件磨損及消耗情況,最終分析明確RV減速器的失效機(jī)理。2.針對(duì)RV減速器進(jìn)行了基于偽失效壽命的加速退化試驗(yàn)。首先確定了加速試驗(yàn)方案,包括選定合理的加速應(yīng)力及樣本數(shù)量等,其次搭建加速試驗(yàn)系統(tǒng)測(cè)試平臺(tái),并間斷性地采集不同工況下的樣本性能退化數(shù)據(jù)。3.通過(guò)對(duì)退化數(shù)據(jù)的處理獲得產(chǎn)品壽命若干可靠性數(shù)據(jù)。首先依據(jù)傳統(tǒng)退化模型及性能退化數(shù)據(jù)確定RV減速器性能退化模型,并參照失效閾值獲得產(chǎn)品偽失效壽命。其次借助圖估法及MATLAB擬合出了基于威布爾分布的RV減速器可靠性壽命分布函數(shù),并對(duì)其進(jìn)行了基于Minitab的假設(shè)檢驗(yàn),驗(yàn)證了產(chǎn)品壽命模型的合理性。最后對(duì)Weibull分布中的參數(shù)進(jìn)行了基于極值分布和高斯-馬爾科夫定理的參數(shù)估計(jì),并獲得了RV減速器在正常工況下的若干可靠性壽命數(shù)據(jù)。4.針對(duì)加速退化試驗(yàn)的關(guān)鍵環(huán)節(jié)進(jìn)行分析驗(yàn)證。首先基于布朗運(yùn)動(dòng)原理建立性能退化模型,并與RV減速器壽命函數(shù)進(jìn)行對(duì)比分析,從而驗(yàn)證本文產(chǎn)品壽命模型的合理性。其次基于扭轉(zhuǎn)剛度條件對(duì)RV減速器進(jìn)行了有限元仿真分析,獲得產(chǎn)品實(shí)際扭轉(zhuǎn)剛度,并與產(chǎn)品設(shè)計(jì)指標(biāo)相對(duì)比,從而驗(yàn)證本文加速退化試驗(yàn)中加速應(yīng)力選取的合理性。
[Abstract]:This topic comes from the National Natural Science Foundation of China, "Prediction of rotational mechanical properties decline based on functional approximation". With the development of space science and technology in China, all kinds of space agencies are changing from "single short time use" to "long time continuous use". As a new type of high torque transmission, RV reducer is widely used in all kinds of space mechanisms and industrial robots. However, RV reducer, as a key component of rotating mechanism, does not have a set of reliable life prediction methods and systems, which will have a great impact on the maintenance and repair of RV reducer. It can even cause incalculable damage to the whole organization. Aiming at the above problems, the life prediction analysis of RV reducer is carried out based on accelerated degradation test. The reliability life model of RV reducer is established by processing the data of product performance degradation, and the possibility of predicting the reliability life of RV reducer under normal working condition is realized. The specific contents of this paper are as follows: 1. The failure mechanism of RV reducer is clarified. Firstly, the common effective forms and causes of various reducers are analyzed one by one, and compared with RV reducers themselves. Secondly, referring to the actual operating environment of RV reducer, and observing the wear and consumption of the key parts of RV reducer, the failure mechanism of RV reducer is analyzed. The accelerated degradation test of RV reducer based on pseudo failure life was carried out. First, the accelerated test scheme is determined, including the reasonable acceleration stress and sample size, and then the test platform of the accelerated test system is built, and the performance degradation data of the samples under different working conditions are collected intermittently. 3. Some reliability data of product life are obtained by processing degradation data. Firstly, the performance degradation model of RV reducer is determined based on the traditional degradation model and the performance degradation data, and the pseudo-failure life of RV reducer is obtained by reference to the failure threshold. Secondly, the reliability life distribution function of RV reducer based on Weibull distribution is fitted with the help of graph estimation method and MATLAB, and the hypothesis test based on Minitab is carried out to verify the rationality of the product life model. Finally, the parameters of Weibull distribution are estimated based on extreme value distribution and Gao Si Markov theorem, and some reliability life data of RV reducer under normal working condition are obtained. The key link of accelerated degradation test is analyzed and verified. Firstly, a performance degradation model based on Brownian motion principle is established and compared with the RV reducer life function, which verifies the rationality of the product life model in this paper. Secondly, based on the torsional stiffness condition, the finite element simulation analysis of RV reducer is carried out, and the actual torsional stiffness of the product is obtained, and compared with the product design index, which verifies the rationality of the accelerated stress selection in the accelerated degradation test in this paper.
【學(xué)位授予單位】：哈爾濱理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH132.46;V441

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本文編號(hào)：2128125