【摘要】：諧波減速器由于安裝空間有限,因此柔輪的筒長尺寸越短越好。但是短筒柔輪會造成輪齒的應(yīng)力增大,傳動剛度下降。將剛輪輪齒做成帶有傾斜角度的形式可以顯著地提高輪齒之間的接觸面積,從而提高諧波傳動的剛度。但是目前還沒有一個完整的優(yōu)化設(shè)計方法,也沒有對短筒柔輪的幾何變形特征進行分析對照。本文結(jié)合諧波傳動中的運動學(xué)分析以及包絡(luò)理論得到了剛輪齒廓。分析發(fā)現(xiàn)輪齒嚙合對脫開位置處于尖點嚙合狀態(tài),接觸面積小,而波發(fā)生器長軸位置的嚙合狀況良好。通過三維空間內(nèi)柔輪幾何變形分析,發(fā)現(xiàn)短筒柔輪輪齒在波發(fā)生器長軸處以及夾角45°處會產(chǎn)生較大的張角。前者是由于柔輪輪齒的徑向位移導(dǎo)致的,后者是由于周向位移導(dǎo)致的。結(jié)合輪齒接觸狀態(tài)分析,提出了一種評價輪齒之間接觸面積的評價方法,通過有限元計算結(jié)果驗證,評價指標(biāo)與柔輪輪齒應(yīng)力沿圓周方向的分布具有一致的變化規(guī)律。利用赫茲公式推導(dǎo)出不考慮輪齒傾斜時諧波傳動嚙合力分布狀態(tài),發(fā)現(xiàn)波發(fā)生器長軸處輪齒會承受更大負(fù)載。參考國標(biāo)進行了諧波齒輪結(jié)構(gòu)設(shè)計,并借助參數(shù)化建模方法建立了三維幾何模型。針對對不同筒長以及徑向變形系數(shù)的CSD14以及CSD20機型進行了有限元分析。對短筒柔輪與長筒柔輪做對比,發(fā)現(xiàn)長筒柔輪的應(yīng)力主要集中區(qū)域位于波發(fā)生器長軸處柔輪輪齒根部,而短筒柔輪的應(yīng)力還有一個集中區(qū)域在輪齒接近脫開處。對不同徑向變形系數(shù)0*的諧波傳動進行對比,發(fā)現(xiàn)0*增大會減小包絡(luò)區(qū)間,增大輪齒的應(yīng)力。分析柔輪的模態(tài),發(fā)現(xiàn)其在實際工況下不會發(fā)生共振。針對短筒柔輪在輪齒接近脫開處輪齒應(yīng)力值偏大的問題,提出了一種剛輪齒廓修正方法,使得柔輪的應(yīng)力值下降。結(jié)合前文的分析,以輪齒接觸面積評價指標(biāo)為目標(biāo)函數(shù),建立了剛輪輪齒帶有傾角的諧波傳動的優(yōu)化設(shè)計方法。針對CSD20機型的短筒柔輪諧波減速器,在剛輪輪齒傾斜角度取為0.25°并且進行了剛輪齒廓的修正時,接觸面積相比于未加傾斜角度時增大了48.8%,顯著地增大了傳動剛度。
[Abstract]:Because of the limited installation space of harmonic reducer, the shorter the length of the flexible wheel is, the better. But the short flexible wheel will cause the stress of the gear tooth increase and the transmission stiffness decrease. The contact area between gear teeth can be significantly increased by making rigid gear teeth with inclined angle and thus the stiffness of harmonic transmission can be improved. However, there is not a complete optimal design method and no analysis and comparison of the geometric deformation characteristics of the short tube flexure wheel. Combined with kinematics analysis and envelope theory of harmonic transmission, the tooth profile of rigid wheel is obtained in this paper. It is found that the gear tooth meshing is in the cusp meshing state and the contact area is small, while the long axis position of the wave generator is in good meshing condition. By analyzing the geometric deformation of the flexible wheel in three dimensional space, it is found that the short tube flexible wheel teeth will produce a large angle at the long axis of the wave generator and at the angle of 45 擄. The former is caused by radial displacement of flexible gear teeth, and the latter is caused by circumferential displacement. Based on the analysis of gear tooth contact state, an evaluation method is proposed to evaluate the contact area between gear teeth. The results of finite element analysis show that the evaluation index is consistent with the stress distribution along the circumference direction of the flexible gear tooth. By using Hertz formula, the meshing force distribution state of harmonic drive without considering the inclination of the gear teeth is deduced, and it is found that the gear teeth on the long axis of the wave generator will bear more load. The harmonic gear structure is designed with reference to the national standard, and the 3D geometric model is established by means of parametric modeling method. Finite element analysis was carried out for CSD14 and CSD20 models with different tube length and radial deformation coefficient. By comparing the short tube flexible wheel with the long tube flexible wheel, it is found that the stress concentration area of the long tube flexible wheel is mainly located at the root of the flexible wheel tooth on the long axis of the wave generator, while the stress of the short tube flexible wheel has a concentrated area near the gear tooth unwinding. By comparing the harmonic transmission with different radial deformation coefficient 0 *, it is found that the increase of 0 * decreases the envelope interval and increases the stress of the gear teeth. By analyzing the mode of the flexible wheel, it is found that it will not resonate under the actual working conditions. In order to solve the problem that the stress value of short cylinder flexure wheel is larger than that of gear tooth when the gear tooth is near to detach, a method for correcting the tooth profile of rigid wheel is proposed, which can reduce the stress value of flexible wheel. Based on the analysis above, the optimal design method of harmonic transmission with inclination angle for rigid gear teeth is established by taking the evaluation index of gear tooth contact area as objective function. For the short cylinder flexible wheel harmonic reducer of CSD20 model, when the angle of tooth inclination of the rigid wheel is 0.25 擄and the tooth profile of the rigid wheel is corrected, the contact area is increased by 48.8% and the transmission stiffness is significantly increased compared with the one without the angle.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH132.43

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