【摘要】：隨著“工業(yè)4.0”、創(chuàng)新驅(qū)動(dòng)、“中國制造2025”等相繼提出,為智能機(jī)器人產(chǎn)業(yè)以及高端數(shù)控制造裝備產(chǎn)業(yè)提供了新的機(jī)遇。RV減速器是一種廣泛應(yīng)用于機(jī)器人關(guān)節(jié)的減速機(jī)構(gòu),是機(jī)器人領(lǐng)域的核心部件,主要有前級(jí)行星齒輪和后級(jí)擺線針輪兩級(jí)組成,其中擺線針輪是減速器的核心。目前我國在這方面的研究,雖有進(jìn)步但仍處于落后狀態(tài),且技術(shù)受限。因此,研發(fā)專用擺線針輪修形數(shù)控機(jī)床是提高擺線輪精度的關(guān)鍵,本課題正是在此背景下展開的。本課題針對(duì)新研發(fā)的RV減速器擺線輪磨齒機(jī),基于整機(jī)的結(jié)構(gòu)原理,結(jié)合機(jī)械動(dòng)力學(xué),機(jī)械振動(dòng)理論,以及信號(hào)分析理論,開展了如下研究:(1)分析擺線輪齒廓形成原理,構(gòu)建擺線輪磨齒機(jī)的三維實(shí)體模型,并計(jì)算磨削加工時(shí)的磨削力,進(jìn)一步推導(dǎo)了金剛輪運(yùn)動(dòng)軌跡方程;結(jié)合機(jī)械振動(dòng)理論,建立并分析了磨齒機(jī)磨削振動(dòng)模型,為研究機(jī)床的動(dòng)力學(xué)特性奠定基礎(chǔ)。(2)針對(duì)磨齒機(jī)立柱以及主軸磨削系統(tǒng),分析結(jié)構(gòu)參數(shù)變化對(duì)系統(tǒng)固有頻率和最大變形量的靈敏度關(guān)系,發(fā)現(xiàn)加強(qiáng)筋尺寸設(shè)計(jì)對(duì)提高立柱靜動(dòng)態(tài)性能作用顯著,結(jié)合面的剛度對(duì)磨削系統(tǒng)性能影響較大,尤其是主軸前端法蘭與砂輪的結(jié)合面。對(duì)最優(yōu)參數(shù)下的系統(tǒng)進(jìn)行了動(dòng)靜力學(xué)分析,立柱一階固有頻率提高10.9%,主軸磨削系統(tǒng)提高12.9%。(3)完成對(duì)整機(jī)實(shí)體模型的簡(jiǎn)化,導(dǎo)入ANSYS Workbench有限元分析軟件,通過虛擬拓?fù)�、定義各部件的接觸關(guān)系等前處理,選用合理的網(wǎng)格劃分,施加必要的約束,選擇合適的算法分析求解模型,完成對(duì)整機(jī)系統(tǒng)靜力學(xué)分析和工作載荷下的模態(tài)分析。(4)組建振動(dòng)測(cè)試平臺(tái),編寫擺線輪磨削加工的數(shù)控程序,完成對(duì)擺線輪的磨削加工。采集不同磨削參數(shù)下磨齒機(jī)的振動(dòng)信號(hào),通過編寫Matlab程序進(jìn)行離線處理。針對(duì)采集的不同主軸轉(zhuǎn)速、不同磨削深度下磨齒機(jī)的振動(dòng)信號(hào),通過頻譜分析研究了機(jī)床振動(dòng)情況以及機(jī)床振動(dòng)可能產(chǎn)生的原因,為降低振動(dòng)對(duì)擺線輪精度的影響提供了參考。
[Abstract]:With "industry 4.0" and innovation-driven, "made in China 2025" has been put forward one after another, which provides a new opportunity for intelligent robot industry and high-end NC manufacturing equipment industry. RV reducer is a kind of deceleration mechanism widely used in robot joints. It is the core component of robot field, which consists of front planetary gear and rear cycloid needle wheel, in which cycloidal needle wheel is the core of reducer. At present, China's research in this area, although there is progress, but still in a backward state, and limited technology. Therefore, it is the key to improve the accuracy of cycloidal wheel to develop a special CNC machine tool for cycloid wheel modification. Aiming at the newly developed cycloidal gear grinding machine of RV reducer, based on the structure principle of the whole machine, combined with mechanical dynamics, mechanical vibration theory and signal analysis theory, the following research has been carried out: (1) analyzing the forming principle of cycloidal gear tooth profile. The three-dimensional solid model of cycloidal gear grinder is constructed, and the grinding force is calculated, and the equation of motion trajectory of diamond wheel is deduced, and the grinding vibration model of grinding machine is established and analyzed by combining with the theory of mechanical vibration. It lays a foundation for studying the dynamic characteristics of machine tools. (2) for the grinding system of grinding machine column and spindle, the sensitivity of structural parameters to the natural frequency and maximum deformation of the system is analyzed. It is found that the design of reinforcement has a significant effect on improving the static and dynamic performance of the column, and the stiffness of the combined surface has a great effect on the performance of the grinding system, especially the interface between the flange of the front end of the spindle and the grinding wheel. The static and dynamic analysis of the system under the optimal parameters is carried out. The first natural frequency of the column is increased by 10.9, and the grinding system of the spindle is improved by 12.9. (3) the simplification of the solid model of the whole machine is completed, the ANSYS Workbench finite element analysis software is imported, and the virtual topology is adopted. Preprocessing such as defining the contact relation of each component, selecting reasonable mesh division, imposing necessary constraints, selecting the appropriate algorithm to analyze and solve the model, The static analysis and modal analysis of the whole machine system are completed. (4) the vibration testing platform is set up, the NC program of cycloidal wheel grinding is compiled, and the grinding process of cycloidal wheel is completed. The vibration signals of grinding machine with different grinding parameters were collected and Matlab program was written for off-line processing. Aiming at the vibration signals of grinding machine under different spindle speed and different grinding depth, the vibration situation of machine tool and the possible cause of machine tool vibration are studied through spectrum analysis, which provides a reference for reducing the influence of vibration on the accuracy of cycloidal gear.
【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】：2017
【分類號(hào)】：TP242

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