RV传动中摆线针轮副啮合力和转角误差的计算
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摘要
RV减速器中摆线针轮副的啮合是一个连续过程,在分析了最先接触点不同对初始间隙的影响和摆线针轮副传动具有小周期特点的基础上,提出了基于迭代原理的最先接触点分布区间计算方法;并借助赫兹接触理论对RV传动中摆线针轮副的小变形非线性接触问题进行啮合全过程的求解,得到连续的单针齿啮合力和RV减速器的转角误差,由此将RV传动传统受力分析方法从只能对某一特殊位置分析扩展到了摆线针轮副连续啮合的全过程,建立了摆线针轮副单个针齿受力分析和整机转角误差的连续分析模型;并研究了摆线针轮副结构参数对单针齿啮合力和整机转角误差的影响。
In the reduced vector(RV) reducer, the meshing of the cycloidal pin set is a continuous process, the influence of the first contact point on the initial clearance and the small cycle of the cycloidal wheel and pinion transmission are analyzed. A new method to calculate the distribution interval of the first contact point is proposed based on iteration principle. On this basis, the problem of small deformation nonlinear contact of cycloid wheel set in RV drive was solved by means of Hertz contact theory. Then, obtained the continuous single needle tooth meshing force and RV reducer angular error. And the results of traditional stress analysis at special position were compared with the analysis results of the corresponding positions in the continuous analysis. Therefore, the traditional method of force analysis was extended from the analysis of a special position to the continuous meshing of cycloid wheel set. A continuous analysis model of cycloidal wheel and pinion force and angle error was established. Then, the influence of the parameters of cycloidal wheel pair on the meshing force of single pin gear and the angular error of RV reducer is studied.
In the reduced vector(RV) reducer, the meshing of the cycloidal pin set is a continuous process, the influence of the first contact point on the initial clearance and the small cycle of the cycloidal wheel and pinion transmission are analyzed. A new method to calculate the distribution interval of the first contact point is proposed based on iteration principle. On this basis, the problem of small deformation nonlinear contact of cycloid wheel set in RV drive was solved by means of Hertz contact theory. Then, obtained the continuous single needle tooth meshing force and RV reducer angular error. And the results of traditional stress analysis at special position were compared with the analysis results of the corresponding positions in the continuous analysis. Therefore, the traditional method of force analysis was extended from the analysis of a special position to the continuous meshing of cycloid wheel set. A continuous analysis model of cycloidal wheel and pinion force and angle error was established. Then, the influence of the parameters of cycloidal wheel pair on the meshing force of single pin gear and the angular error of RV reducer is studied.
引文
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[7]YANG D C H,BLANCHE J G.Design and Application Guidelines for Cycloid Drives with Machining Tolerances[J].Mechanism and Machine Theory,1990,25(5):487-501.
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[9]张东生,关天民.摆线针轮行星传动中最先接触点分布区间的判定[J].机械设计,2006,23(12):28-31.ZHANG D S,GUAN T M.Judgment of the Distribution Section of the First Contacting Point in the Cycloid Pin-wheel Planet Transmission[J].Journal of Machine Design,2006,23(12):28-31.
[10]冉毅,杜雪松,孙章栋,等.RV减速器的摆线针轮副接触分析[J].新型工业化,2014(11):31-36.RAN Y,DU X S,SUN Z D,et al.Cycloid Pin Gear Contact Analysis Based on Finite Element Method[J].New Industrialization Straregy,2014(11):31-36.
[2]张东生,关天民.摆线针轮传动动态受力分析理论[J].机械设计,2006,23(10):35-37.ZHANG D S,GUAN T M.Dynamic Force Bearing Analytical Theory of Cycloidal Pinwheel Transmission[J].Journal of Machine Design,2006,23(10):35-37.
[3]何卫东,李力行,李军.机器人用RV传动中摆线轮受力分析[J].大连铁道学院学报,1999,20(2):49-53.HE W D,LI L X,LI J.Force Analysis on Cycloidal Gear of the RV Drive Used in Robot[J].Journal of Dalian Railway Institute,1999,20(2):49-53.
[4]关天民,张东生.摆线针轮行星传动中反弓齿廓研究及其优化设计[J].机械工程学报,2005,41(1):151-156.GUAN T M,ZHANG D S.Inverse Arch-Shaped Teeth Profile and Its Optimization in A Cycloid Drive[J].Journal of Mechanical Engineering,2005,41(1):151-156.
[5]LIN W S,SHIH Y P,LEE J J.Design of a Two-Stage Cycloidal Gear Reducer with Tooth Modifications[J].Mechanism and Machine Theory,2015,79(5):184-197.
[6]张东生,关天民.基于最先接触区间判定的针摆传动受力分析[J].机械设计与研究,2006,22(6):45-46.ZHANG D S,GUAN T M.Theory of Force Analysis Based on Calculated Distribution Area of First Contacting Point in Cycloid Drive[J].Machine Design and Research,2006,22(6):45-46.
[7]YANG D C H,BLANCHE J G.Design and Application Guidelines for Cycloid Drives with Machining Tolerances[J].Mechanism and Machine Theory,1990,25(5):487-501.
[8]BLANCHE J G,YANG D C H.Cycloid Drives with Machining Tolerances[J].ASME Journal of Mechanisms and Transmissions,and Automation in Design,1989,111(3):337-344.
[9]张东生,关天民.摆线针轮行星传动中最先接触点分布区间的判定[J].机械设计,2006,23(12):28-31.ZHANG D S,GUAN T M.Judgment of the Distribution Section of the First Contacting Point in the Cycloid Pin-wheel Planet Transmission[J].Journal of Machine Design,2006,23(12):28-31.
[10]冉毅,杜雪松,孙章栋,等.RV减速器的摆线针轮副接触分析[J].新型工业化,2014(11):31-36.RAN Y,DU X S,SUN Z D,et al.Cycloid Pin Gear Contact Analysis Based on Finite Element Method[J].New Industrialization Straregy,2014(11):31-36.