【摘要】：工業(yè)機(jī)器人用薄壁四點(diǎn)接觸球軸承作為工業(yè)機(jī)器人的關(guān)鍵配套元件,其性能對(duì)機(jī)器人主機(jī)的動(dòng)作精度、平穩(wěn)性、靈活性、壽命和可靠性等性能指標(biāo)起著決定性的作用。為解決目前國內(nèi)此類軸承尚無成熟設(shè)計(jì)分析方法的問題,并滿足工業(yè)機(jī)器人主機(jī)的配套需要,有必要對(duì)工業(yè)機(jī)器人用薄壁四點(diǎn)接觸球軸承設(shè)計(jì)理論和設(shè)計(jì)方法進(jìn)行研究,建立此類軸承的優(yōu)化設(shè)計(jì)及分析方法,為國內(nèi)此類軸承的開發(fā)提供理論支持和設(shè)計(jì)依據(jù)。 鑒于此,本論文以工業(yè)機(jī)器人用薄壁四點(diǎn)接觸球軸承為研究對(duì)象,根據(jù)此類軸承的結(jié)構(gòu)特點(diǎn)、工況條件及使用要求,首先,從目標(biāo)函數(shù)選取、約束條件確定和多目標(biāo)優(yōu)化設(shè)計(jì)問題求解方面,對(duì)其主參數(shù)優(yōu)化設(shè)計(jì)方法進(jìn)行了研究,建立了軸承主參數(shù)優(yōu)化設(shè)計(jì)的數(shù)學(xué)模型和求解方法,并編寫了優(yōu)化設(shè)計(jì)的求解程序;然后,從軸承溝曲率半徑系數(shù)、擋邊高度、溝位置、游隙及性能等方面對(duì)其結(jié)構(gòu)參數(shù)設(shè)計(jì)進(jìn)行了研究,提出了軸承關(guān)鍵結(jié)構(gòu)參數(shù)的設(shè)計(jì)方法;在此基礎(chǔ)上,針對(duì)典型型號(hào)工業(yè)機(jī)器人用薄壁四點(diǎn)接觸球軸承FPXU408-ZRZ,采用ANSYS有限元仿真分析軟件,建立空心軸、FPXU408-ZRZ軸承和軸承座這一軸系的整體有限元仿真分析模型,按實(shí)際工況條件施加邊界條件,對(duì)軸承進(jìn)行了整體有限元分析,完成了此柔性支承軸承載荷分布問題的求解;最后,以Lundberg-Palmgren軸承壽命理論為基礎(chǔ),采用基于軸承實(shí)際載荷分布的壽命計(jì)算方法,對(duì)FPXU408-2RZ軸承壽命進(jìn)行了精確計(jì)算。 通過本文的研究,初步建立了工業(yè)機(jī)器人用薄壁四點(diǎn)接觸球軸承主參數(shù)和結(jié)構(gòu)參數(shù)優(yōu)化設(shè)計(jì)方法,彌補(bǔ)了國內(nèi)此類軸承缺乏設(shè)計(jì)方法的不足;解決了此柔性支承軸承載荷分布和壽命精確求解問題。有限元分析表明,軸系彈性變形對(duì)軸承內(nèi)部載荷分布狀態(tài)和壽命有很大影響,采用經(jīng)典方法求解柔性支承軸承的載荷分布和壽命存在很大的誤差,而有限元法可以很好的求解此問題。本文的研究可以為工業(yè)機(jī)器人用薄壁四點(diǎn)接觸球軸承的產(chǎn)品設(shè)計(jì)和理論分析提供一定的設(shè)計(jì)依據(jù)和理論支持,提高產(chǎn)品的設(shè)計(jì)分析水平和可靠性。
[Abstract]:Thin-wall four-point contact ball bearing is used as the key component of industrial robot. Its performance plays a decisive role in the performance of the robot's main engine, such as precision, stability, flexibility, life and reliability. In order to solve the problem that there is no mature design and analysis method for this kind of bearings in China, and to meet the needs of industrial robot mainframe, it is necessary to study the design theory and design method of thin-walled four-point contact ball bearings for industrial robots. The optimal design and analysis method of this kind of bearings are established to provide theoretical support and design basis for the development of this kind of bearings in China. In view of this, this paper takes the thin wall four-point contact ball bearing for industrial robot as the research object, according to the structure characteristic, the working condition and the use requirement of this kind of bearing, firstly, selects from the objective function, In the aspect of constraint condition determination and multi-objective optimization design problem solving, the main parameter optimization design method is studied, the mathematical model and solution method of bearing main parameter optimization design are established, and the program of optimization design is compiled. Then, the design of the structural parameters of the bearing is studied from the aspects of the radius coefficient of curvature of the bearing groove, the height of the flange, the position of the groove, the clearance and the performance, and the design method of the key structural parameters of the bearing is put forward. The finite element simulation model of hollow shaft, FPXU408-ZRZ bearing and bearing seat is established by using ANSYS finite element simulation software in FPXU408-ZRZ, which is used for thin-walled four-point contact ball bearing used in typical industrial robot, and the whole finite element simulation analysis model of hollow shaft, FPXU408-ZRZ bearing and bearing seat is established. The integral finite element analysis of the bearing is carried out according to the actual working conditions, and the load distribution problem of the flexible bearing is solved. Finally, based on the Lundberg-Palmgren theory of bearing life, The life of FPXU408-2RZ bearing is calculated accurately by using the life calculation method based on the actual load distribution of the bearing. Through the research in this paper, the optimization design method of main parameters and structural parameters of thin-walled four-point contact ball bearing for industrial robot is established, which makes up for the lack of design method of this kind of bearings in China. The load distribution and life of the flexible bearing are solved accurately. The finite element analysis shows that the elastic deformation of the shaft system has a great influence on the load distribution and life of the bearing, and there is a great error in solving the load distribution and life of the flexible bearing by the classical method. The finite element method can solve this problem well. The research in this paper can provide certain design basis and theoretical support for the product design and theoretical analysis of thin-walled four-point contact ball bearings for industrial robots, and improve the level and reliability of product design and analysis.
【學(xué)位授予單位】：河南科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH133.3

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