机器人RV减速器摆线针轮传动轮齿接触分析
|
摘要
以机器人RV减速器中第二级摆线针轮传动为研究对象,通过分析摆线针轮传动的运动关系,构建了摆线针轮传动的轮齿接触分析模型,基于齿轮啮合原理和轮齿连续接触条件,建立轮齿接触分析方程组,阐述了轮齿接触分析计算过程中初始参考点求解的难点问题,求解出传统修形方式下摆线针轮传动的瞬时啮合状态、啮合区域,并得到了传动误差曲线和回程误差曲线,为承载下摆线针轮传动的轮齿啮合特性分析提供了理论基础。
The second-stage drive of the RV reducer,cycloidal pinwheel drive is taken as the research object. By analyzing the motion relationship of the cycloidal pinwheel drive,the tooth contact analysis(TCA)model is established. Based on the gear meshing principle and the condition for the continuous contact of the gear,the TCA equations are established. The difficulty of solving the initial reference points in the TCA calculation is described. The instantaneous meshing state,the meshing area and the transmission error of the cycloidal pinwheel drive with the traditional modification are solved. And then the return error is also solved. This method will provide a theoretical basis for the loaded tooth contact analysis of the cycloidal pinwheel drive.
The second-stage drive of the RV reducer,cycloidal pinwheel drive is taken as the research object. By analyzing the motion relationship of the cycloidal pinwheel drive,the tooth contact analysis(TCA)model is established. Based on the gear meshing principle and the condition for the continuous contact of the gear,the TCA equations are established. The difficulty of solving the initial reference points in the TCA calculation is described. The instantaneous meshing state,the meshing area and the transmission error of the cycloidal pinwheel drive with the traditional modification are solved. And then the return error is also solved. This method will provide a theoretical basis for the loaded tooth contact analysis of the cycloidal pinwheel drive.
引文
[1]邓效忠,张艳珍,李天兴,等.RV减速器摆线针轮传动精度控制的研究现状及需要解决的技术问题[J].机械传动,2015,39(2):162-165.
[2]DEMENEGOA,VECCHIATO D,LITVIN F L,et al.Design and simulation of meshing of a cycloidal pump[J].Mechanism&Machine Theory,2002,37(3):311-332.
[3]LINW S,SHIH Y P,LEE J J.Design of a two-stage cycloidal gear reducer with tooth modifications[J].Mechanism&Machine Theory,2014,79:184-197.
[4]赵博,邓效忠,李天兴,等.机器人RV减速器摆线轮修形的理论研究[J].机械传动,2015,39(12):1-6.
[5]姚文席,张志强,黄蔚.摆线针轮行星减速机的回程误差分析[J].机械设计与研究,2000(1):30-32.
[6]耿龙龙,邓效忠,曹雪梅.基于双重双面法的弧齿锥齿轮轮齿接触分析(TCA)研究[J].机械传动,2014,38(6):34-36.
[7]郑州工学院机械原理及机械零件教研室.摆线针轮行星传动[M].北京:科学出版社,1978:5-11.
[8]李力行,洪淳赫.摆线针轮行星传动中摆线轮齿形通用方程式的研究[J].大连铁道学院学报,1992(1):7-12.
[9]LITVINF L.齿轮几何学与应用理论[M].上海:上海科学技术出版社,2008:258-286.
[10]邓效忠,魏冰阳.锥齿轮设计的新方法[M].北京:科学出版社,2012:80-91.
[11]蒙运红.2K-H型摆线针轮行星传动性能理论的研究[D].武汉:华中科技大学,2007:39-40.
[12]齿轮手册编委会.齿轮手册:第8篇:摆线针轮传动[M].2版.北京:机械工业出版社,2001:40-45.
[2]DEMENEGOA,VECCHIATO D,LITVIN F L,et al.Design and simulation of meshing of a cycloidal pump[J].Mechanism&Machine Theory,2002,37(3):311-332.
[3]LINW S,SHIH Y P,LEE J J.Design of a two-stage cycloidal gear reducer with tooth modifications[J].Mechanism&Machine Theory,2014,79:184-197.
[4]赵博,邓效忠,李天兴,等.机器人RV减速器摆线轮修形的理论研究[J].机械传动,2015,39(12):1-6.
[5]姚文席,张志强,黄蔚.摆线针轮行星减速机的回程误差分析[J].机械设计与研究,2000(1):30-32.
[6]耿龙龙,邓效忠,曹雪梅.基于双重双面法的弧齿锥齿轮轮齿接触分析(TCA)研究[J].机械传动,2014,38(6):34-36.
[7]郑州工学院机械原理及机械零件教研室.摆线针轮行星传动[M].北京:科学出版社,1978:5-11.
[8]李力行,洪淳赫.摆线针轮行星传动中摆线轮齿形通用方程式的研究[J].大连铁道学院学报,1992(1):7-12.
[9]LITVINF L.齿轮几何学与应用理论[M].上海:上海科学技术出版社,2008:258-286.
[10]邓效忠,魏冰阳.锥齿轮设计的新方法[M].北京:科学出版社,2012:80-91.
[11]蒙运红.2K-H型摆线针轮行星传动性能理论的研究[D].武汉:华中科技大学,2007:39-40.
[12]齿轮手册编委会.齿轮手册:第8篇:摆线针轮传动[M].2版.北京:机械工业出版社,2001:40-45.