發(fā)布時間：2018-06-11 15:13

  本文選題：無級變速器 + 端面摩擦傳動　； 參考：《哈爾濱工業(yè)大學(xué)》2013年碩士論文

【摘要】：小型移動機器人在軍用和民用上都有廣泛的應(yīng)用前景。變速器作為小型移動機器人傳動系統(tǒng)關(guān)鍵的一環(huán)，對速度、效率和負(fù)載能力有決定性的影響。無級變速器具有可以連續(xù)改變傳動比的優(yōu)點，可有效解決小型移動機器人在復(fù)雜路況下的適應(yīng)性問題。然而小型移動機器人對無級變速器尺寸小、重量輕的要求使得大部分現(xiàn)有的無級變速器無法直接應(yīng)用在其上。國內(nèi)外對小型移動機器人的無級變速器的研究很少，，且國外無級變速器價格高昂購買困難。因此面向小型移動機器人對無級變速器進(jìn)行研究是有意義且十分必要的。本文主要目的是設(shè)計適用于小型移動機器人的無級變速器并對其進(jìn)行準(zhǔn)靜態(tài)分析、模態(tài)分析、熱分析和性能測試。 本文首先基于端面摩擦傳動的理論對無級變速器進(jìn)行了結(jié)構(gòu)設(shè)計，主要包括主傳動部分、調(diào)節(jié)壓緊力裝置和變速裝置的具體結(jié)構(gòu)設(shè)計。為了更好地將端面摩擦傳動的形式應(yīng)用在變速器上，設(shè)計出了一款新型的小輪，可以減小變速所需推動力。對滾動摩擦進(jìn)行了分析計算，并且從幾何的角度對推動時間進(jìn)行了計算推導(dǎo)。 然后，對無級變速器端面摩擦傳動進(jìn)行了準(zhǔn)靜態(tài)分析、模態(tài)分析以及熱結(jié)構(gòu)耦合分析。對端面摩擦傳動中的摩擦力做了定性分析；對端面摩擦傳動的主要零部件進(jìn)行了準(zhǔn)靜態(tài)分析，得到了接觸的應(yīng)力和應(yīng)變圖；進(jìn)行了模態(tài)分析，得出了端面摩擦傳動零部件的十階固有頻率和振型，證明了端面摩擦傳動完全能適應(yīng)小型移動機器人作業(yè)中振動多而復(fù)雜的特點；完成了端面摩擦傳動的溫度場的分析，進(jìn)而進(jìn)行了熱結(jié)構(gòu)耦合分析，得出了熱載荷對摩擦傳動影響并不顯著的結(jié)論。以上分析為端面摩擦傳動形式的無級變速器的應(yīng)用提供了依據(jù)。 最后，完成了無級變速器的試驗研究。設(shè)計并搭建了測試臺，完成了對變速器體積、重量、變速比、調(diào)速時間、輸出扭矩的測試，進(jìn)行了變速比、輸入轉(zhuǎn)速、阻力矩三個因素對傳動效率影響的測試。證明了無級變速器性能符合要求。 本文驗證了基于端面摩擦傳動原理的無級變速器應(yīng)用在小型移動機器人上的可行性，為適用于小型移動機器人的無級變速器研制的進(jìn)一步完善和端面摩擦傳動的研究提供了支持。
[Abstract]:Small mobile robots are widely used in military and civil applications. As the key link of the small mobile robot transmission system, the transmission has a decisive effect on the speed, efficiency and load capacity. CVT has the advantage of continuously changing the transmission ratio, and can effectively solve the adaptability problem of small mobile robot under complex road conditions. However, the requirements of small mobile robots for CVT are small in size and light in weight, which makes most of the existing CVTs can not be directly applied to them. There is little research on the stepless transmission of small mobile robot at home and abroad, and it is difficult to buy it at high price abroad. So it is meaningful and necessary to study the stepless transmission for small mobile robot. The main purpose of this paper is to design a stepless transmission suitable for small mobile robot and carry out quasi-static analysis and modal analysis. Firstly, based on the theory of end face friction transmission, the structure design of the stepless transmission is carried out, including the main transmission part, the adjusting compression force device and the specific structure design of the speed change device. In order to better apply the form of end friction transmission to the transmission, a new type of small wheel is designed, which can reduce the driving force required for speed change. The rolling friction is analyzed and calculated, and the driving time is calculated from the geometric point of view. Then, the quasi static analysis, modal analysis and thermal structure coupling analysis are carried out for the friction transmission on the end face of the stepless variable transmission. The friction force in the end friction transmission is qualitatively analyzed, the quasi static analysis of the main components of the end face friction transmission is carried out, and the contact stress and strain diagrams are obtained. The tenth order natural frequency and vibration mode of the end face friction transmission parts are obtained. It is proved that the end face friction transmission can fully adapt to the characteristics of the small mobile robot with many and complex vibration, and the analysis of the temperature field of the end face friction transmission is completed. Then the thermal structure coupling analysis is carried out, and the conclusion that the thermal load has no significant effect on the friction transmission is obtained. The above analysis provides the basis for the application of the stepless transmission in the form of end friction transmission. Finally, the experimental study of the stepless transmission is completed. The test bench is designed and built, and the transmission volume, weight, speed ratio, speed regulation time and output torque are tested. The effect of three factors on transmission efficiency is tested, such as speed ratio, input speed and resistance moment. It is proved that the performance of CVT meets the requirements. The feasibility of applying CVT based on the principle of end-face friction transmission to small mobile robot is verified in this paper. It provides support for the further improvement of the stepless transmission for small mobile robots and the research of the end face friction transmission.
【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】：2013
【分類號】：TP242;TH132.46

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本文編號：2005732