【摘要】：RV減速器是工業(yè)機(jī)器人關(guān)鍵零部件之一,由擺線針輪傳動機(jī)構(gòu)及漸開線圓柱齒輪行星傳動機(jī)構(gòu)組成,與伺服電機(jī)裝配,起到控制機(jī)器人關(guān)節(jié)運(yùn)動的作用。我國工業(yè)機(jī)器人用RV減速器主要依賴進(jìn)口,減速器相關(guān)技術(shù)也主要掌握在國外公司手中,針對RV減速器的相關(guān)技術(shù)研究還較少也較為落后,特別是減速器相關(guān)零部件的潤滑技術(shù)研究。目前,我國針對RV減速器相關(guān)零部件的潤滑技術(shù)研究還較少,特別是較容易出現(xiàn)異常的曲柄軸部位,曲柄軸相關(guān)軸承的壽命決定了 RV減速器的壽命,展開RV減速器曲柄軸相關(guān)軸承潤滑技術(shù)的研究,彌補(bǔ)了我國該領(lǐng)域相關(guān)研究的空白,對我國RV減速器用軸承零部件的開發(fā)有著重要的理論意義以及實(shí)際工程意義。論文的相關(guān)研究工作,運(yùn)用到了機(jī)械設(shè)計、摩擦學(xué)、設(shè)備潤滑、數(shù)值分析、計算機(jī)程序設(shè)計等多學(xué)科領(lǐng)域知識,系統(tǒng)深入的研究了工業(yè)機(jī)器人RV減速器,分析了實(shí)際工況下RV減速器曲柄軸圓柱滾子軸承、圓錐滾子軸承載荷分布及運(yùn)動參數(shù),基于Ostwald潤滑脂流變特性本構(gòu)方程分析建立了曲柄軸相關(guān)軸承線接觸等溫脂潤滑彈流潤滑模型,運(yùn)用多重網(wǎng)格法求解獲得曲柄軸圓柱滾子軸承、圓錐滾子軸承在實(shí)際工況下脂潤滑彈流潤滑數(shù)值解,求得了軸承滾子與內(nèi)圈接觸處潤滑膜膜厚分布和壓力分布,分析了相關(guān)參數(shù)的影響效應(yīng),得出以下結(jié)論:在RV減速器實(shí)際工況不同輸出轉(zhuǎn)速下或者相同輸出轉(zhuǎn)速不同潤滑脂流變指數(shù)下,求解得出的曲柄軸處圓柱滾子軸承和圓錐滾子軸承潤滑膜厚分布及壓力分布均符合典型彈流潤滑特征,潤滑膜壓力分布有明顯的范圍極小的二次壓力峰,潤滑膜厚分布在二次壓力峰處有明顯頸縮;隨著RV減速器輸出轉(zhuǎn)速的提高,曲柄軸圓柱滾子軸承和圓錐滾子軸承平均膜厚和最小膜厚相應(yīng)增加,潤滑膜壓力隨著輸出轉(zhuǎn)速的提高整體上呈增加趨勢;曲柄軸處圓柱滾子軸承和圓錐滾子軸承最大潤滑膜壓力、平均膜厚和最小膜厚均隨流變指數(shù)的增大而增大。在相同RV減速器輸出轉(zhuǎn)速條件下,圓柱滾子軸承潤滑膜的平均膜厚和最小膜厚較圓錐滾子軸承大,提高潤滑脂的流變指數(shù)也具有同樣結(jié)果,分析表明:在相同輸出轉(zhuǎn)速下,曲柄軸圓錐滾子軸承最大受力滾子單位長度所受的載荷w較大,且滾子與內(nèi)圈接觸處的表面平均速度較小,兩因素導(dǎo)致了上述結(jié)果發(fā)生。
[Abstract]:RV reducer is one of the key parts of industrial robot. RV reducer is composed of cycloid needle wheel drive mechanism and involute cylindrical gear planetary transmission mechanism. RV reducer is assembled with servo motor to control robot joint motion. The RV reducer for industrial robots in China mainly depends on imports, and the related technology of the reducer is also mainly held in the hands of foreign companies. The research on the related technology of RV reducer is still relatively few and relatively backward. Especially the lubrication technology of reducer related parts. At present, there are few researches on lubrication technology of RV reducer parts in our country, especially the abnormal crankshaft parts. The life of crankshaft bearing determines the life of RV reducer. The research on the lubrication technology of RV reducer crank shaft related bearing has made up the blank in this field in our country. It has important theoretical and practical significance for the development of bearing parts for RV reducer in our country. The related research work in this paper has been applied to mechanical design, tribology, equipment lubrication, numerical analysis, computer programming and other multidisciplinary knowledge, and the industrial robot RV reducer has been studied systematically and deeply. The load distribution and motion parameters of RV reducer crank shaft cylindrical roller bearing and tapered roller bearing are analyzed. Based on the constitutive equation analysis of rheological properties of Ostwald grease, a linear contact elastohydrodynamic lubrication model of crank shaft bearing was established. The multi-mesh method was used to obtain the crank shaft cylindrical roller bearing. The numerical solution of elastohydrodynamic lubrication of tapered roller bearing under actual working conditions is presented. The film thickness distribution and pressure distribution of lubrication film at the contact between roller and inner ring are obtained, and the effect of related parameters is analyzed. The following conclusions are drawn: under the different output speed of RV reducer in actual working condition or under different lubricating grease rheological index of the same output speed, The thickness distribution and pressure distribution of cylindrical roller bearing and cone roller bearing in crank shaft are in accordance with typical elastohydrodynamic lubrication characteristics, and the pressure distribution of lubrication film has obvious secondary pressure peak in a very small range. The average film thickness and minimum film thickness of crank shaft cylindrical roller bearing and tapered roller bearing increase with the increase of output speed of RV reducer. The average film thickness and the minimum film thickness of the cylindrical roller bearing and tapered roller bearing at the crank shaft increase with the increase of rheological index. Under the same RV reducer output speed, the average film thickness and minimum film thickness of cylindrical roller bearing are larger than those of tapered roller bearing, and the rheological index of lubricating grease can be improved by the same result. The analysis shows that under the same output speed, the average film thickness and minimum film thickness of cylindrical roller bearing are larger than those of cone roller bearing. The maximum load on roller unit length of crank shaft tapered roller bearing is large and the average surface velocity at the contact point between roller and inner ring is smaller. These results are caused by two factors.
【學(xué)位授予單位】：廣西大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242.2;TH117.2

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