本文選題：純滾動(dòng) + 類擺線　； 參考：《北京郵電大學(xué)》2014年博士論文

【摘要】：擺線針輪類減速器具有減速比范圍大、傳動(dòng)效率高、傳動(dòng)平穩(wěn)、結(jié)構(gòu)緊湊等諸多優(yōu)點(diǎn),在國(guó)民經(jīng)濟(jì)各個(gè)領(lǐng)域得到了廣泛應(yīng)用。以擺線針輪行星傳動(dòng)為基礎(chǔ)改進(jìn)而來(lái)的RV減速器、FA型擺線針輪行星減速器更是在工業(yè)機(jī)器人、航空航天、大型望遠(yuǎn)鏡等精密傳動(dòng)領(lǐng)域占有大部分市場(chǎng)份額。然而擺線針輪類減速器也存在一定的缺點(diǎn)。其轉(zhuǎn)臂軸承相對(duì)轉(zhuǎn)速高、受力大,長(zhǎng)時(shí)間工作會(huì)較早出現(xiàn)失效,是減速器的薄弱環(huán)節(jié)；輸出機(jī)構(gòu)一般采用柱銷式結(jié)構(gòu),屬于懸臂梁結(jié)構(gòu),受力不均勻,容易出現(xiàn)疲勞斷裂；同時(shí),當(dāng)減速比較高時(shí)針齒半徑較小,無(wú)法加裝針齒套,針齒與擺線輪之間增加了滑動(dòng)摩擦,降低了傳動(dòng)效率。 在詳細(xì)分析了常用的擺線類減速器的結(jié)構(gòu)特點(diǎn)和運(yùn)行原理后,本文提出了一種新結(jié)構(gòu)減速器。該減速器由雙類擺線針輪傳動(dòng)和少齒差共面雙內(nèi)嚙合傳動(dòng)兩大部分構(gòu)成。本文分別闡述了這兩部分傳動(dòng)形式的結(jié)構(gòu)特點(diǎn)、傳動(dòng)原理,建立了兩種傳動(dòng)的三維原理模型,對(duì)虛擬樣機(jī)進(jìn)行了運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析,并通過(guò)物理樣機(jī)實(shí)驗(yàn)驗(yàn)證了該傳動(dòng)形式的合理性。 提出了新型純滾動(dòng)類擺線針輪行星傳動(dòng)。針對(duì)雙擺線針輪行星傳動(dòng)中針齒無(wú)法做純滾動(dòng)的問(wèn)題,本文以內(nèi)外齒輪一擺弧長(zhǎng)相等和針齒與內(nèi)外齒輪嚙合點(diǎn)是速度瞬心為條件,設(shè)計(jì)了一種新型齒廓曲線——類擺線,并通過(guò)疊加小齒來(lái)限制針齒切向移動(dòng),減小減速器軸向尺寸。通過(guò)對(duì)比幾種常用的疊加小齒的方法,確定了使用折算齒形法在類擺線上疊加漸開(kāi)線小齒。建立了優(yōu)化的雙擺線行星齒輪減速器的三維實(shí)體模型,通過(guò)對(duì)虛擬樣機(jī)的運(yùn)動(dòng)學(xué)分析和物理樣機(jī)的實(shí)驗(yàn),驗(yàn)證了這種新型傳動(dòng)形式的可行性。 提出了少齒差共面雙內(nèi)嚙合傳動(dòng)。針對(duì)擺線針輪行星傳動(dòng)中中心軸承和輸出機(jī)構(gòu)受力大容易失效的問(wèn)題,通過(guò)對(duì)RV減速器、三環(huán)減速器、內(nèi)平動(dòng)減速器等軸承受力的分析,提出了一種新型傳動(dòng)結(jié)構(gòu)——少齒差共面雙內(nèi)嚙合傳動(dòng)。該傳動(dòng)形式將NN型少齒差行星傳動(dòng)中兩對(duì)齒輪副放置在一個(gè)平面,內(nèi)外層布置。通過(guò)對(duì)該傳動(dòng)的動(dòng)態(tài)靜力分析,驗(yàn)證了中心軸承受力只為負(fù)載受力的1/5～1/4。根據(jù)該傳動(dòng)形式的特點(diǎn),給出了齒輪參數(shù)設(shè)計(jì)方法,設(shè)計(jì)了原理驗(yàn)證模型。完成了模型的關(guān)鍵部件受力分析與校核。加工了減速器物理樣機(jī),實(shí)驗(yàn)驗(yàn)證了該傳動(dòng)形式的可行性。 綜合了純滾動(dòng)類擺線針輪傳動(dòng)和少齒差共面雙內(nèi)嚙合傳動(dòng),提出了一種新型減速器結(jié)構(gòu)。該傳動(dòng)將兩對(duì)雙類擺線針輪行星傳動(dòng)在軸向上共面設(shè)計(jì),具有針齒純滾動(dòng)、中心軸承受力小、取消柱銷式輸出機(jī)構(gòu)、軸向尺寸小等諸多優(yōu)點(diǎn),可以為工業(yè)機(jī)器人關(guān)節(jié)用減速器提供一種新的結(jié)構(gòu)形式,具有深入研究的價(jià)值。
[Abstract]:Cycloidal needle wheel reducer has many advantages such as wide range of deceleration ratio, high transmission efficiency, stable transmission, compact structure and so on. It has been widely used in various fields of national economy. The modified RV reducer based on cycloid pin planetary transmission has a large market share in the fields of industrial robot, aerospace, large telescope and so on. However, cycloidal needle wheel reducer also has some shortcomings. The rotor bearing has high relative rotational speed, large force and early failure during long working time, which is the weak link of the reducer, and the output mechanism generally adopts the column pin type structure, which belongs to the cantilever beam structure, and the force is not uniform, and fatigue fracture is easy to occur. At the same time, when the deceleration is high, the radius of the needle tooth is smaller, so the needle tooth sleeve can not be installed, the sliding friction between the needle tooth and the cycloid wheel is increased, and the transmission efficiency is reduced. This paper presents a new type of cycloidal reducer based on the detailed analysis of its structure and operation principle. The reducer consists of two parts: double cycloid needle wheel drive and coplanar double internal meshing transmission with less tooth difference. In this paper, the structural characteristics and transmission principle of these two parts of transmission are described, and the three dimensional principle models of the two kinds of transmission are established, and the kinematics and dynamics of the virtual prototype are analyzed. The rationality of the transmission form is verified by the physical prototype experiment. A new type of pure rolling cycloid gear planetary transmission is proposed. In order to solve the problem that the needle teeth can not be pure rolling in double cycloid gear planetary transmission, a new type of tooth profile curve-cycloid is designed based on the condition that the length of one pendulum arc is equal and the point of engagement between the inner and outer gears is the instantaneous center of velocity. The axial dimension of the reducer is reduced by overlaying the small teeth to limit the tangential movement of the needle teeth. By comparing several common methods of superposition of small teeth, the method of superimposing involute teeth on cycloid is determined. The 3D solid model of the optimized double cycloid planetary gear reducer is established. The feasibility of this new transmission is verified by the kinematics analysis of the virtual prototype and the experiment of the physical prototype. A coplanar double internal meshing transmission with less tooth difference is proposed. Aiming at the problem that the bearing and output mechanism of cycloidal pin planetary transmission are easy to fail, this paper analyzes the bearing force of RV reducer, three-ring reducer and inner translational reducer. A new type of transmission structure-coplanar double internal meshing transmission with less tooth difference is proposed. In this transmission form, two pairs of gear pairs are placed in one plane and the inner and outer layers are arranged in the NN type planetary transmission with less tooth difference. Through the dynamic static analysis of the drive, it is verified that the force of the central bearing is only 1 / 5 / 1 / 4 of the load. According to the characteristics of the transmission form, the gear parameter design method is given, and the principle verification model is designed. The key components of the model are analyzed and checked. The physical prototype of the reducer is processed, and the feasibility of the transmission form is verified by experiments. A new type of reducer structure is proposed by synthesizing the pure rolling cycloidal needle wheel drive and the coplanar double internal meshing transmission with less tooth difference. The two pairs of cycloidal gear planetary transmission are designed on the axial upper coplanar, which has many advantages, such as pure rolling of needle teeth, small force on center bearing, cancellation of pin output mechanism, small axial size, etc. It can provide a new structure form for industrial robot joint reducer, and has the value of further study.
【學(xué)位授予單位】：北京郵電大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH132.46

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