本文選題：RV減速器 + 修形有隙嚙合受力分析��； 參考：《哈爾濱工業(yè)大學(xué)》2012年碩士論文

【摘要】：隨著我國(guó)汽車行業(yè)的發(fā)展，工業(yè)機(jī)器人被大量應(yīng)用于汽車的噴漆、熱處理、焊接等高危繁重作業(yè)中。工業(yè)機(jī)器人的核心部件就是轉(zhuǎn)臂驅(qū)動(dòng)裝置，RV減速器因其體積小、回差小、剛度高、壽命長(zhǎng)等特點(diǎn)，被廣泛用作工業(yè)機(jī)器人轉(zhuǎn)臂驅(qū)動(dòng)的最佳裝置。 通過(guò)對(duì)RV減速器的運(yùn)動(dòng)學(xué)分析、受力分析以及回差分析研究了RV減速器的設(shè)計(jì)方法，并運(yùn)用此方法設(shè)計(jì)某一型號(hào)RV減速器。其中設(shè)計(jì)工作主要包括傳動(dòng)方案設(shè)計(jì)、回差分析、結(jié)構(gòu)設(shè)計(jì)、計(jì)算機(jī)三維建模以及繪制工程圖紙。 分析了RV減速器的傳動(dòng)原理及特點(diǎn)，結(jié)合RV減速器的設(shè)計(jì)條件和要求，對(duì)RV減速器進(jìn)行了配齒計(jì)算。綜合考慮結(jié)構(gòu)尺寸及載荷分配，在12組滿足條件的配齒方案中，選出了一組最優(yōu)配齒。根據(jù)RV減速器齒輪參數(shù)的計(jì)算方法和齒輪幾何尺寸計(jì)算公式，計(jì)算了RV減速器齒輪傳動(dòng)的其它參數(shù)。 為了合理分配各傳動(dòng)零件的加工精度，詳細(xì)分析了各個(gè)傳動(dòng)零件各種誤差因素對(duì)RV減速器輸出軸回差的影響，建立了各誤差因素影響輸出軸回差的數(shù)學(xué)模型。通過(guò)敏感性分析，找出了對(duì)輸出軸回差影響較大的誤差因素。在設(shè)計(jì)RV減速器時(shí)，有效的控制了這些誤差因素，并用概率統(tǒng)計(jì)的方法對(duì)輸出軸回差進(jìn)行了計(jì)算。經(jīng)過(guò)反復(fù)調(diào)整和計(jì)算，，確定了各零件的公差，最終將輸出軸回差控制在60arc sec左右。 對(duì)RV減速器主要零件的精度、材料及熱處理進(jìn)行了選擇，分析了RV減速器各齒輪的受力，并計(jì)算了強(qiáng)度。對(duì)RV減速器最危險(xiǎn)的曲柄軸進(jìn)行了受力分析及強(qiáng)度校核，并選擇了合適的滾動(dòng)軸承。用UG建立減速器的虛擬樣機(jī)，檢查零件結(jié)構(gòu)對(duì)裝配的合理性。繪制了減速器的全套工程圖紙，完成了RV減速器的設(shè)計(jì)。
[Abstract]:With the development of automobile industry in China, industrial robots are widely used in high risk heavy work such as painting, heat treatment, welding and so on. The core component of industrial robot is the rotary arm drive device (RV), which is widely used as the best driving device for industrial robot because of its small volume, small return difference, high stiffness and long life. The design method of RV reducer is studied by means of kinematics analysis, force analysis and return difference analysis, and a certain type of RV reducer is designed by using this method. The design work mainly includes transmission scheme design, back difference analysis, structure design, computer 3D modeling and drawing engineering drawings. The transmission principle and characteristics of RV reducer are analyzed. The gear matching calculation of RV reducer is carried out according to the design conditions and requirements of RV reducer. Considering the structural size and load distribution, a group of optimal tooth matching schemes is selected out of 12 groups of matching schemes which satisfy the conditions. According to the calculation method of RV reducer gear parameter and the formula of gear geometry dimension, the other parameters of RV reducer gear transmission are calculated. In order to reasonably distribute the machining accuracy of each transmission part, the influence of various error factors on the output shaft return error of RV reducer is analyzed in detail, and the mathematical model of each error factor influencing the output shaft return error is established. Through sensitivity analysis, the error factors which have a great influence on the output shaft return difference are found out. In the design of RV reducer, these error factors are effectively controlled, and the output shaft return error is calculated by the method of probability and statistics. After repeated adjustment and calculation, the tolerance of each part is determined, and the output shaft return error is finally controlled at 60arc sec. The precision, material and heat treatment of the main parts of RV reducer are selected. The forces on each gear of RV reducer are analyzed and the strength is calculated. The most dangerous crank shaft of RV reducer is analyzed and its strength is checked, and a suitable rolling bearing is selected. The virtual prototype of reducer is built by UG, and the rationality of assembly is checked. A complete set of engineering drawings of the reducer is drawn, and the design of the RV reducer is completed.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH132.46

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