滤波减速器的创新研究
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摘要
在承担国防科工委“卫星在轨自维护系统特种摩擦副与传动装置设计”课题中,需要研发一种具有运动精度高、回差小、刚度大、抗冲击能力强、体积小、结构紧凑等特点的具有自主知识产权的新型减速器,为此梁锡昌教授、王家序教授在谐波减速器的基础上提出了一种新型减速器——滤波减速器(发明专利公开号:CN1699793)。本文基于滤波减速器的基本原理设计出一种满足设计要求的新型滤波减速器,并进行了如下方面的研究:
1、介绍现有的各种减速器在尺寸相近的情况下的主要特点,详尽的介绍了谐波减速器等减速器的国内外研究状况和发展趋势,提出了本文的研究内容。
2、介绍了滤波减速器的结构和传动原理,针对设计任务要求设计出小模数滤波减速器和新型滤波减速器,对新型滤波减速器的设计过程、结构上的创新、材料的选择及强度的校核进行了描述,总结出新型滤波减速器的特点。
3、对新型滤波减速器渐开线少齿差内啮合副的基本定律及干涉问题进行了分析,通过啮合速度损耗法计算出内啮合齿轮副理论啮合效率并通过啮合功率法计算出新型滤波减速器的理论传动效率,从理论力学角度对新型滤波减速器的零部件载荷和偏心轴上滚柱的载荷进行了计算。
4、利用三维设计软件SolidWorks建立新型滤波减速器各零部件实体模型和装配模型。通过ADAMS软件建立起新型滤波减速器的虚拟样机模型并进行动力学仿真,得出各零部件随时间的运动关系图、受力图、啮合力时域和频域曲线图。
5、应用ANSYS Workbench对滤波减速器的偏心轴滚柱传动部件(偏心轴、滚柱及双联齿轮)和齿轮传动部件(双联齿轮、输出齿轮及固定齿轮)进行静力有限元分析,计算表明最大应力出现在滚柱接触处、输入键、齿轮啮合点和输出齿轮输出接口处;对滤波减速器的动态特性进行了有限元数值分析,求解其约束模态。
6、根据标准建立起传动精度、刚度回差、传动效率和传动扭矩等实验台架,在LabVIEW基础上编制出实验软件并对上述性能指标进行了测试。
本文在研究新型滤波减速器的基础上,深入研究了“基于逆滚动螺旋副的高效精密传动机构”,并获2005年教育部提名国家技术发明奖一等奖(证书号:2005-112);提出了解决特殊空间环境下的太阳能电池帆板展开机构,并申请了国家发明专利(公开号:CN1696012)。
One reducer with independent intellectual property was needed to development, which should have the characteristic of high motion accuracy, small backlash, big rigidity, strong resistance to shock ability, small cubage and structural compact, when we were charged with The Design of Special Friction Pairs and Transmission Devices of the In-orbit Satellite Self-maintenance System. Basing on harmonic reducer, a new type of gear reducer called filtering gear reducer (Patent Number: CN1699793) was invented by Prof. Liang Xichang and Wang Jiaxu. This thesis designed a new type of filtering gear reducer meeting the demand and studied on the major contents as follows:
1、Firstly, introduced the main features of reducers on dimension close in existence, then analyzed the research status and developing trend of harmonic reducer and so on in detail. Finally, presented the main contents of research.
2、Described the principle of filtering gear reducer and its structure. According to the design requirements, worked out a Small Modular filtering gear reducer and a new type of filtering gear reducer. Outlined the designing process of this reducer and its structural innovation, material selection and intensity check. Lastly, concluded the features of the new type of filtering gear reducer.
3、Analyzed the basic principle of involutes internal gear with few tooth number difference and interference problems of the new type of filtering gear reducer. Figured out the internal meshing gears theory meshing efficiency by meshing velocity method, and calculated the theory transmission efficiency of the reducer by meshing power method. Also, worked out the parts and components loading and ball bearing loading of eccentric shaft by the view of theory biomechanics point.
4、Built the solid models of each parts and assembled model of the new type of filtering gear reducer by 3D design software SolidWorks firstly. Transformed assembling model to ADAMS software and set up the Virtual Prototype model of the new type of filtering gear reducer. Simulation with Virtual Prototype and elicited kinesis relation diagram, force diagram, time and frequency domain diagram of each parts and components to time.
5、Analyzed the finite element of eccentric pin roller movement parts (eccentric shaft pin roller and dual gear) and gears movement parts(dual gear, output gear and stationary gear)by using ANSYS Workbench, the analysis indicates that the maximum stress area are the roller contact parts, enter key, the gears mesh points and the output interface of output gear. Analyzed the dynamic characteristic through finite element method and the restrain modal is solved.
6、Built the experiment table of transmission accuracy,rigidity and backlash, transmission efficiency and driving torque by experiment standard. Then program the experiment software with LabVIEW and experiment for the performance and indexes above.
Based on the filtering gear reducer, Reversing-ball-screw-based High-efficiency and Precision Transmission Mechanism was deeply studied and awarded the First Prize of the Ministry of Education Named State Technical Innovation in 2005(certificate number:2005-112). The Solar Cell Panel Unfolding Mechanism in Special spacial Environment was proposed, which had already been declared the Nation Invention Patent (published number: CN1696012).
1、介绍现有的各种减速器在尺寸相近的情况下的主要特点,详尽的介绍了谐波减速器等减速器的国内外研究状况和发展趋势,提出了本文的研究内容。
2、介绍了滤波减速器的结构和传动原理,针对设计任务要求设计出小模数滤波减速器和新型滤波减速器,对新型滤波减速器的设计过程、结构上的创新、材料的选择及强度的校核进行了描述,总结出新型滤波减速器的特点。
3、对新型滤波减速器渐开线少齿差内啮合副的基本定律及干涉问题进行了分析,通过啮合速度损耗法计算出内啮合齿轮副理论啮合效率并通过啮合功率法计算出新型滤波减速器的理论传动效率,从理论力学角度对新型滤波减速器的零部件载荷和偏心轴上滚柱的载荷进行了计算。
4、利用三维设计软件SolidWorks建立新型滤波减速器各零部件实体模型和装配模型。通过ADAMS软件建立起新型滤波减速器的虚拟样机模型并进行动力学仿真,得出各零部件随时间的运动关系图、受力图、啮合力时域和频域曲线图。
5、应用ANSYS Workbench对滤波减速器的偏心轴滚柱传动部件(偏心轴、滚柱及双联齿轮)和齿轮传动部件(双联齿轮、输出齿轮及固定齿轮)进行静力有限元分析,计算表明最大应力出现在滚柱接触处、输入键、齿轮啮合点和输出齿轮输出接口处;对滤波减速器的动态特性进行了有限元数值分析,求解其约束模态。
6、根据标准建立起传动精度、刚度回差、传动效率和传动扭矩等实验台架,在LabVIEW基础上编制出实验软件并对上述性能指标进行了测试。
本文在研究新型滤波减速器的基础上,深入研究了“基于逆滚动螺旋副的高效精密传动机构”,并获2005年教育部提名国家技术发明奖一等奖(证书号:2005-112);提出了解决特殊空间环境下的太阳能电池帆板展开机构,并申请了国家发明专利(公开号:CN1696012)。
One reducer with independent intellectual property was needed to development, which should have the characteristic of high motion accuracy, small backlash, big rigidity, strong resistance to shock ability, small cubage and structural compact, when we were charged with The Design of Special Friction Pairs and Transmission Devices of the In-orbit Satellite Self-maintenance System. Basing on harmonic reducer, a new type of gear reducer called filtering gear reducer (Patent Number: CN1699793) was invented by Prof. Liang Xichang and Wang Jiaxu. This thesis designed a new type of filtering gear reducer meeting the demand and studied on the major contents as follows:
1、Firstly, introduced the main features of reducers on dimension close in existence, then analyzed the research status and developing trend of harmonic reducer and so on in detail. Finally, presented the main contents of research.
2、Described the principle of filtering gear reducer and its structure. According to the design requirements, worked out a Small Modular filtering gear reducer and a new type of filtering gear reducer. Outlined the designing process of this reducer and its structural innovation, material selection and intensity check. Lastly, concluded the features of the new type of filtering gear reducer.
3、Analyzed the basic principle of involutes internal gear with few tooth number difference and interference problems of the new type of filtering gear reducer. Figured out the internal meshing gears theory meshing efficiency by meshing velocity method, and calculated the theory transmission efficiency of the reducer by meshing power method. Also, worked out the parts and components loading and ball bearing loading of eccentric shaft by the view of theory biomechanics point.
4、Built the solid models of each parts and assembled model of the new type of filtering gear reducer by 3D design software SolidWorks firstly. Transformed assembling model to ADAMS software and set up the Virtual Prototype model of the new type of filtering gear reducer. Simulation with Virtual Prototype and elicited kinesis relation diagram, force diagram, time and frequency domain diagram of each parts and components to time.
5、Analyzed the finite element of eccentric pin roller movement parts (eccentric shaft pin roller and dual gear) and gears movement parts(dual gear, output gear and stationary gear)by using ANSYS Workbench, the analysis indicates that the maximum stress area are the roller contact parts, enter key, the gears mesh points and the output interface of output gear. Analyzed the dynamic characteristic through finite element method and the restrain modal is solved.
6、Built the experiment table of transmission accuracy,rigidity and backlash, transmission efficiency and driving torque by experiment standard. Then program the experiment software with LabVIEW and experiment for the performance and indexes above.
Based on the filtering gear reducer, Reversing-ball-screw-based High-efficiency and Precision Transmission Mechanism was deeply studied and awarded the First Prize of the Ministry of Education Named State Technical Innovation in 2005(certificate number:2005-112). The Solar Cell Panel Unfolding Mechanism in Special spacial Environment was proposed, which had already been declared the Nation Invention Patent (published number: CN1696012).
引文
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[3] 蒋施恩.一种新型减速器──三环减速器.冶金矿山设计与建设.1994.02
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[6] Chen Yong,Ishibashi Akira,Sumi Yasuo.Power transmission efficiency of planetary gear drives for automatic transmission of automobiles.Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers.1995.03(61)
[7] 朱才朝,秦大同等.平行轴少齿差环式减速器动平衡研究.农业机械学报.2001.(3)
[8] 朱才朝,陈兵奎,洪沙等.平行动轴少齿差传动多齿接触问题动平衡研究.农业机械学报.2002.11
[9] 范元勋,王华坤.基于遗传算法的少齿差行星齿轮传动参数优化设计传动.机械设计与制造工程.2002.6.
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[2] 张展.齿轮减速器现状及发展趋势.水利电力机械.2001.01
[3] 蒋施恩.一种新型减速器──三环减速器.冶金矿山设计与建设.1994.02
[4] Zhu Caichao,Qin Datong,Li Runfang.Vibration control and experiment of three-ring reducer.Chinese Journal of Mechanical Engineering (English Edition).1998.11(11)
[5] 戴红娟,周红良,曾励.少齿差行星齿轮传动技术现状及发展.机械工程师.2005.12
[6] Chen Yong,Ishibashi Akira,Sumi Yasuo.Power transmission efficiency of planetary gear drives for automatic transmission of automobiles.Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers.1995.03(61)
[7] 朱才朝,秦大同等.平行轴少齿差环式减速器动平衡研究.农业机械学报.2001.(3)
[8] 朱才朝,陈兵奎,洪沙等.平行动轴少齿差传动多齿接触问题动平衡研究.农业机械学报.2002.11
[9] 范元勋,王华坤.基于遗传算法的少齿差行星齿轮传动参数优化设计传动.机械设计与制造工程.2002.6.
[10] 阳培,张立勇,王长路等.谐波齿轮传动技术发展概述.机械传动.2005.03
[11] Garcia O,Martinez-Avial M.D.,Cobos J.A.,Uceda, J..Harmonic reducer converter.PESC Record - IEEE Annual Power Electronics Specialists Conference.2002(2).
[12] 王长明,阳培,张立勇.谐波齿轮传动概述.机械传动.2006.04
[13] Papadrakakis M,Lagaros N. D.Reliability based structural optimization us2ing neural networks and Monte Carlo simulation.Computer Methods in Ap2plied Mechanics And Engineering.2002 (191)
[14] 李力行,何卫东,王秀奇等.机器人用高精度 RV 减速器的研究.大连铁道学院学报.1999.12
[15] 费仁元,张慧慧.机器人机械设计和分析[M].北京工业大学出版社.1998
[16] 何卫东,李力行.机器人用 RV 传动中摆线轮修形对回差影响的研究[J].机械传动.1999.23
[17] www.twinspin.sk
[18] www.mectrol.com
[19] 朱孝录.齿轮设计手册.化学工业出版社.2005 年
[20] 张展.机械设计通用手册.中国劳动出版社.1993.03
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