滤波驱动机构齿轮副摩擦学性能优化设计
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摘要
该论文研究来源于2007年国家自然科学基金重点项目:新型高性能传动件及系统的可靠性设计理论与方法(50735008/E0512)。为了克服国内外谐波减速器、RV减速器等传动件及系统所存在的缺陷,满足特殊与极端环境下对减速器高精度、高可靠、大转矩、高效率、长寿命、小体积、轻量化的要求,重庆大学梁锡昌教授、王家序教授发明了滤波减速器(专利公开号:CN1699793),王家序教授等集成滤波减速器、直流无刷电机、角度编码器等于一体,发明了高性能机电驱动机构(专利公开号:CN101039053)。该论文主要以进一步提高该机电驱动机构的可靠性、降低摩擦损耗、延长使用寿命为目的,对其关键传动部件——滤波减速器的摩擦学行为展开研究。具体研究内容概括如下:
①通过分析高性能滤波驱动机构的结构和其关键传动件——滤波减速器的传动原理,揭示了滤波驱动机构中存在的主要摩擦学行为——齿轮副间的滚动和滑动摩擦以及啮合冲击;滚珠与双联齿轮内圈及偏心轴在运动过程中产生滚动和滑动摩擦;润滑油(脂)从齿面间挤出时产生的“挤出功率损耗”。
②建立滤波减速器主要传动件的三维实体模型,应用有限元软件对齿轮副进行动态接触有限元分析,确定了接触应力和Mises应力的动态分布;研究齿面滑动情况,确定滑动最严重的部分发生在双联齿轮的齿顶。
③研究行星齿轮内啮合传动齿轮副的滑动摩擦功率损失的计算方法,推导计算公式,并依据此方法计算了滤波减速器的滑动摩擦功率损失。
④分析齿轮啮合冲击产生的原因,研究滤波减速器中存在的啮合冲击和齿面刮行,确定双联齿轮齿顶滑动严重的原因是其在输出内齿轮的齿根发生了刮行现象。
⑤以避免啮合冲击,减轻齿顶的滑动,提高摩擦学性能为目的,对滤波减速器进行齿廓修形设计,确定了修形参数。通过有限元仿真对比修形前后减速器的性能变化。
This research is funded by the State Natural Sciences Foundation Monumental Projects of 2007:“Reliability design method and theory of new type high performance transmission parts and system”(50735008/E0512). Filtering gear reducer (Patent Number: CN1699793) is developed by Professor Wang Jiaxu and Liang Xichang to conquer disadvantages of harmonic gear reducer and RV reducer and satisfy the requirements of reducer in space environment, such as high accuracy, high reliability, big torque, low power loss, small volume, light weight and so on. This paper aims at promoting the reliability, reducing the friction loss and prolonging the service life of the high performance electromechanical driving mechanism (Patent Number: CN101039053), which is invented by professor Wang Jiaxu and others from the state key lab of mechanical transmission of Chongqing university, by studying the tribological behaviors of its’key transmission unit. The major works in this paper are listed as follows:
①By analyzing the structure of high performance electromechanical driving mechanism and the transmission principle of its key transmission unit, the main tribological behaviors occurred in filtering gear reducer are defined. Tribological behaviors of filtering gear reducer mainly include rolling and sliding friction of gear pairs, meshing impact between gears, rolling and sliding friction among rolling balls, inside track of dual gear and eccentric shaft, and friction loss of the lubrication oil piled out from the gear surface.
②Solid models of key transmission parts of filtering gear reducer was built up and dynamic contact finite element analysis of the gear pairs was carried out. According to them, dynamic distribution of contact stress and Von Mises stress were defined and sliding situation of tooth surface was analyzed. The results indicate that the most serious sliding is arisen at tooth tip of dual gear.
③Sliding friction loss calculation method of planet inner gear transmission was researched. In addition, the calculation formula was derived and sliding friction loss of filtering gear reducer was calculated.
④The cause of contact impact between gears is analyzed and the meshing impact and scrape sliding occurred in filtering gear reducer is studied in this paper.. Based on the analysis, it can be found that the serious sliding phenomenon of dual gear tooth tip is caused by the scrape sliding which happened at the tooth root of output gear.
⑤To avoid meshing impact, lighten sliding of gear tip and improve tribology capability, profile modification was carried out and modification parameters were is confirmed. Performance variety was compared between modification and non-modification gears by finite element simulation.
①通过分析高性能滤波驱动机构的结构和其关键传动件——滤波减速器的传动原理,揭示了滤波驱动机构中存在的主要摩擦学行为——齿轮副间的滚动和滑动摩擦以及啮合冲击;滚珠与双联齿轮内圈及偏心轴在运动过程中产生滚动和滑动摩擦;润滑油(脂)从齿面间挤出时产生的“挤出功率损耗”。
②建立滤波减速器主要传动件的三维实体模型,应用有限元软件对齿轮副进行动态接触有限元分析,确定了接触应力和Mises应力的动态分布;研究齿面滑动情况,确定滑动最严重的部分发生在双联齿轮的齿顶。
③研究行星齿轮内啮合传动齿轮副的滑动摩擦功率损失的计算方法,推导计算公式,并依据此方法计算了滤波减速器的滑动摩擦功率损失。
④分析齿轮啮合冲击产生的原因,研究滤波减速器中存在的啮合冲击和齿面刮行,确定双联齿轮齿顶滑动严重的原因是其在输出内齿轮的齿根发生了刮行现象。
⑤以避免啮合冲击,减轻齿顶的滑动,提高摩擦学性能为目的,对滤波减速器进行齿廓修形设计,确定了修形参数。通过有限元仿真对比修形前后减速器的性能变化。
This research is funded by the State Natural Sciences Foundation Monumental Projects of 2007:“Reliability design method and theory of new type high performance transmission parts and system”(50735008/E0512). Filtering gear reducer (Patent Number: CN1699793) is developed by Professor Wang Jiaxu and Liang Xichang to conquer disadvantages of harmonic gear reducer and RV reducer and satisfy the requirements of reducer in space environment, such as high accuracy, high reliability, big torque, low power loss, small volume, light weight and so on. This paper aims at promoting the reliability, reducing the friction loss and prolonging the service life of the high performance electromechanical driving mechanism (Patent Number: CN101039053), which is invented by professor Wang Jiaxu and others from the state key lab of mechanical transmission of Chongqing university, by studying the tribological behaviors of its’key transmission unit. The major works in this paper are listed as follows:
①By analyzing the structure of high performance electromechanical driving mechanism and the transmission principle of its key transmission unit, the main tribological behaviors occurred in filtering gear reducer are defined. Tribological behaviors of filtering gear reducer mainly include rolling and sliding friction of gear pairs, meshing impact between gears, rolling and sliding friction among rolling balls, inside track of dual gear and eccentric shaft, and friction loss of the lubrication oil piled out from the gear surface.
②Solid models of key transmission parts of filtering gear reducer was built up and dynamic contact finite element analysis of the gear pairs was carried out. According to them, dynamic distribution of contact stress and Von Mises stress were defined and sliding situation of tooth surface was analyzed. The results indicate that the most serious sliding is arisen at tooth tip of dual gear.
③Sliding friction loss calculation method of planet inner gear transmission was researched. In addition, the calculation formula was derived and sliding friction loss of filtering gear reducer was calculated.
④The cause of contact impact between gears is analyzed and the meshing impact and scrape sliding occurred in filtering gear reducer is studied in this paper.. Based on the analysis, it can be found that the serious sliding phenomenon of dual gear tooth tip is caused by the scrape sliding which happened at the tooth root of output gear.
⑤To avoid meshing impact, lighten sliding of gear tip and improve tribology capability, profile modification was carried out and modification parameters were is confirmed. Performance variety was compared between modification and non-modification gears by finite element simulation.
引文
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[3]潘继生.滤波减速器的创新研究[D].重庆大学硕士学位论文,2007.
[4]唐锋.滤波驱动机构总体集成精度分析和实验研究[D].重庆大学硕士学位论文,2008.
[5]李永亮.基于VC++的新型少齿差滤波驱动机构传动性能实验测试研究[D].重庆大学硕士学位论文,2008.
[6]高创宽,周谋,亓秀梅.齿面摩擦力对齿轮接触应力的影响[J].机械强度,2003,25 (6):642-645.
[7] Vedmar L,Henriksson B.A General Approach for Determining Dynamic Forces in Spur Gears[J].ASME Journal of Mechanical Design,1998,120 (12):593-598.
[8]费仁元,张慧慧.机器人机械设计和分析[M].北京:北京工业大学出版社,1998.
[9]陈宗源等.三环式减速(或增速)传动装置[P].中国,CN851 06692A,1987:1-5.
[10]温诗铸,杨沛然.弹性流体动力润滑[M].北京:清华大学出版社,1992.
[11] Larsson R.Transient non-Newtonian elastohydrodynamic lubrication analysis of an involute spur[J].Wear,1997, 207(11):67-73.
[12]王优强,杨沛然等.渐开线直齿圆柱齿轮非稳态热弹流润滑分析[J].机械工程学报,2004,40(9):10-15.
[13]汪久根.时变性对圆柱齿轮弹流润滑的影响[J].机械设计与研究,2003,19 (2):30-31.
[14]翁立军,汪晓萍等.谐波齿轮传动减速器的固体润滑失效机理[J].摩擦学学报,1997,17 (2),178-181.
[15]高雪官,辛一行,王统.齿形参数对齿轮摩擦学性能的影响分析[J].机械设计与研究,1994,3:34-37.
[16]杨生华.齿轮接触有限元分析[J].计算力学学报,2003,20 (2):189-194.
[17] Shuting Li *.Finite element analyses for contact strength and bending strength of a pair of spur gears with machining errors,assembly errors and tooth modifications[J].Mechanism and Machine Theory,2007 (42):88-114.
[18] Tengjiao Lin,H.Ou,Runfang Li.A finite element method for 3D static and dynamic contact/impact analysis of gear drives[J].Computer Methods in Applied.Mechanics Engineer,2007 (196):1716-1728.
[19] Qiang Gao,Makoto Tanabe,Kazue Nishihar.Contact-impact analysis of geared rotor systems[J].Journal of sound and Vibration 2009,(319):463-475.
[20] A Pasta,G VirzíMariotti.Finite element method analysis of a spur gear with a corrected profile[J].The Journal of Strain Analysis for Engineering Design,2007,42(5):281-292.
[21]周仲荣.摩擦学的发展前沿[M].北京:科学出版社,2006:173-177.
[22]李威,常山,唐群国等.齿廓修形斜齿轮弹性流体动力润滑的热分析[J].机械工程学报,1997,29 (1):44-47.
[23]段芳莉,段虞荣.优化齿廓修形曲线对润滑性能的影响[J].机械传动,1997,21(2):13-16.
[24]佩玲,鲁守荣,叶仲新.关于齿轮振动、噪声与齿轮修形关系的探讨[J].材料?工艺?设备,1998 (2):23-26.
[25]朱传敏,秦慧芳,宋孔杰等.齿轮传动动态系统辨识及修形研究[J].机械工程学报,1999, 35 (4):60-63.
[26] Tavakoli M S,Houser D R.Optimum Profile modification for the minimization of static transmission errors of spur gears[C].ASME Journal of Mechanisms,Transmissions andAutomation in Design,1996,108(3):86-90.
[27] Feng P H,Litv in F L.Determination of Principal Curvatures and Contact Ellipse for Profile Crowned Helical Gear[C].ASME Journal of Mechanical Design,1999,121(3):42-46.
[28]王统,李伟.齿轮轴三维综合弹性变形和齿向修形曲线的研究[J].上海交通大学学报,1993,27(1):64-71.
[29]刘树春,朱宝库,李华敏.大齿形角渐开线传动的弹性流体动力润滑的质量指标分析[J].哈尔滨工业大学学报,1982,01:51-61.
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