本文選題：諧波齒輪傳動(dòng)　切入點(diǎn)：柔輪　出處：《吉林大學(xué)》2011年碩士論文　論文類型：學(xué)位論文

【摘要】：諧波齒輪傳動(dòng)作為一種新型的傳動(dòng)技術(shù)在最近的幾十年里發(fā)展的速度非�？�。諧波齒輪傳動(dòng)主要是依靠柔輪的彈性變形來(lái)傳遞運(yùn)動(dòng)和載荷的。隨著社會(huì)的進(jìn)步和發(fā)展,在諧波齒輪傳動(dòng)出現(xiàn)后的幾十年里,不僅僅科技強(qiáng)國(guó)在研究這項(xiàng)技術(shù),世界上還有一些工業(yè)比較發(fā)達(dá)的國(guó)家也在這種新型傳動(dòng)技術(shù)的研發(fā)中投入了大量的人力和財(cái)力,針對(duì)這種新型傳動(dòng)技術(shù)在實(shí)際應(yīng)用中出現(xiàn)的全部問題,各國(guó)學(xué)者都做了大量的工作。正是因?yàn)橹C波齒輪傳動(dòng)本身所帶有的復(fù)雜性和廣泛性問題,所以至今還有不少問題沒有完全很好的解決。所以,研究諧波齒輪傳動(dòng)具有非常重要的意義。本文主要對(duì)諧波齒輪傳動(dòng)關(guān)鍵零件的力學(xué)特性進(jìn)行了研究,同時(shí)對(duì)柔輪的運(yùn)動(dòng)特性作出了一定的分析。本文主要內(nèi)容: (1)全面的介紹和分析了諧波齒輪傳動(dòng)技術(shù)的發(fā)展趨勢(shì)、研究現(xiàn)狀,發(fā)現(xiàn)國(guó)內(nèi)外諧波齒輪傳動(dòng)裝置的現(xiàn)有產(chǎn)品在性能上還是有一定的差別,實(shí)際工作環(huán)境對(duì)諧波齒輪傳動(dòng)裝置的要求非常高,特別是對(duì)傳動(dòng)裝置在安裝空間、使用壽命、承載能力等方面的要求比較高,基于這種問題提出了對(duì)諧波齒輪傳動(dòng)裝置關(guān)鍵零件的力學(xué)特性有限元分析。 (2)介紹了諧波齒輪傳動(dòng)的原理、結(jié)構(gòu)及特點(diǎn),諧波齒輪傳動(dòng)中柔輪變形規(guī)律;根據(jù)柔輪變形的基本公式,計(jì)算出柔輪受四力作用時(shí)各點(diǎn)位移,得到柔輪的變形形狀。最后在三維造型軟件CATIA中建立諧波齒輪傳動(dòng)裝置的實(shí)體模型,為諧波齒輪傳動(dòng)裝置關(guān)鍵零件的力學(xué)特性有限元分析奠定了基礎(chǔ)。 (3)諧波齒輪傳動(dòng)裝置是依靠柔輪齒與剛輪齒之間的嚙合來(lái)傳遞運(yùn)動(dòng)和載荷的,柔輪是在波發(fā)生器作用的情況下柔輪齒與剛輪齒才發(fā)生嚙合,柔輪殼體的彈性變形帶動(dòng)著柔輪齒的運(yùn)動(dòng),再通過(guò)柔輪齒與剛輪齒的嚙合來(lái)實(shí)現(xiàn)輪齒的共軛運(yùn)動(dòng)及錯(cuò)齒運(yùn)動(dòng)。齒廓嚙合接觸力的分布體現(xiàn)了諧波齒輪傳動(dòng)裝置的嚙合性能。所以通過(guò)有限元接觸分析對(duì)齒間的接觸力進(jìn)行分析。 (4)柔輪是諧波齒輪傳動(dòng)裝置的主要構(gòu)件,柔輪是一個(gè)薄壁殼體,柔輪殼體在實(shí)際工作環(huán)境中在交變應(yīng)力的作用下,很容易發(fā)生疲勞破壞,整個(gè)諧波齒輪傳動(dòng)裝置的使用壽命取決于柔輪殼體的強(qiáng)度,因此分析柔輪殼體的強(qiáng)度在對(duì)諧波齒輪傳動(dòng)的研究中的具有重要意義。本文分析了柔輪殼體中的應(yīng)力大小和分布規(guī)律。 (5)進(jìn)行了有限元?jiǎng)恿W(xué)分析,確定了結(jié)構(gòu)振動(dòng)特性。對(duì)模型進(jìn)行模態(tài)分析可以確定某個(gè)振型在特定方向上參與振動(dòng)的程度,即可以確定模型的固有頻率、振型。為了避免結(jié)構(gòu)共振或以特定頻率進(jìn)行振動(dòng),對(duì)模型進(jìn)行模態(tài)分析非常有效,這樣使設(shè)計(jì)人員可以得到模型在不同固有頻率下的不同振型,對(duì)剛輪和柔輪嚙合的模型進(jìn)行模態(tài)分析就可以得到模擬真實(shí)工作的振動(dòng)情況,在此基礎(chǔ)上可以對(duì)其它力學(xué)特性進(jìn)行分析。 柔輪的應(yīng)力應(yīng)變情況在載荷的作用下變得非常復(fù)雜。特別是波發(fā)生器的輸入轉(zhuǎn)速一般都比較高,柔輪在波發(fā)生器的作用下發(fā)生連續(xù)性的彈性變形,長(zhǎng)時(shí)間承受著交變應(yīng)力的作用,諧波齒輪傳動(dòng)的使用壽命在相當(dāng)大的程度上取決于柔輪的強(qiáng)度。柔輪輪齒和殼體的疲勞斷裂是諧波齒輪傳動(dòng)最主要的失效形式,因此在提高諧波齒輪使用壽命的研究中柔輪應(yīng)力的分布狀況顯得十分重要。
[Abstract]:The harmonic gear drive as a new transmission technology development in recent decades is very fast. The harmonic gear drive mainly relies on the elastic deformation to transfer and load. With the social progress and development, in the harmonic gear drive after decades, not only in this country in science and technology research technology, there are some industrial developed countries in the development of this new transmission technology invested a lot of manpower and financial resources for all the problems of this new transmission technology in the practical application, the Chinese scholars have done a lot of work. It is because of the complexity of the harmonic gear drive and widespread problem, so far there are still many problems not well solved. Therefore, it is very important to research the harmonic gear drive. This paper focuses on the harmonic The mechanical characteristics of the key parts of the gear drive are studied. At the same time, the motion characteristics of the flexible wheel are analyzed.
(1) the research status of a comprehensive introduction and analysis of the development trend of harmonic gear transmission technology, found that the existing products of domestic and international harmonic gear drive still has some differences in performance requirements, the actual work environment of the harmonic gear drive is very high, especially for the gear life in the installation space. The bearing capacity, and other aspects of the requirements are relatively high, based on the finite element analysis of mechanical properties of key parts of the harmonic gear transmission is presented.
(2) introduced the principle of harmonic drive, the structure and characteristics of Flexspline in harmonic gear drive according to the basic formula of deformation; deformation of flexspline, calculate the displacement of the flexible wheel by four force, get the deformation of the flexible wheel. Finally established the entity model of the harmonic gear drive in the three-dimensional modeling software in CATIA, laid the foundation for finite element analysis of mechanical properties for the key parts of the harmonic gear transmission.
(3) the harmonic gear drive is to rely on the engagement between flexspline and rigid gear to transmit motion and loads, the flexible wheel is in the wave generator under the action of flexspline and rigid gear meshing occurs, the elastic deformation of flexible wheel drives flexspline movement, through the soft and rigid gear tooth the mesh to achieve conjugate movement and the wrong tooth movement. The distribution of tooth profile meshing contact force reflects the meshing performance of the harmonic gear drive. So through the finite element analysis of the contact force between the teeth contact analysis.
(4) is the main component of Flexspline in harmonic gear drive, flexspline is a thin shell, flexible wheel in the actual working environment under the action of alternating stress, it is prone to fatigue failure, service life depends on the harmonic gear driving device for flexible wheel strength, so the analysis is in research on harmonic gear drive of flexible wheel strength important significance. This paper analyzes the flexible wheel stress in size and distribution.
(5) the finite element dynamic analysis to determine the structural vibration. The modal analysis can determine a modal vibration in a certain direction of the extent of the model, which can determine the natural frequency, vibration model. In order to avoid the resonance structure or at a specific frequency in the vibration of the model is very effective. Modal analysis, so that designers can get different shape models with different natural frequencies, modal analysis of rigid gear and flexible gear meshing vibration model can simulate the real work, on the basis of the analysis of mechanical properties of the other.
The stress and strain of the flexspline under load becomes very complicated. Especially the wave generator input speed is generally relatively high, the flexible wheel in the wave generator under the effect of continuous elastic deformation, long time under the action of alternating stress, the life-span of the harmonic drive in a considerable degree depends on the strength of the flexible wheel. The fatigue fracture of the flexspline and the shell is the main failure form of harmonic gear drive, so soft round of stress distribution in the study on improving the service life of the harmonic gear is very important.

【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH132.43

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