新型摆线齿轮3K型减速器的设计研究

国内图书分类号：TH13学校代码：10213国际图书分类号：621密级：公开硕士学位论文新型摆线齿轮3K型减速器的设计研究（工程硕士）硕士研究生：陈焕导师：陈明教授申请学位：全日制工程硕士学科：机械工程所在单位：机电工程学院答辩日期：2012年7月授予学位单位：哈尔滨工业大学ClassifiedIndex:TH13U.D.C:621DissertationfortheMasterDegreeinEngineeringRESEARCHANDDESIGNOFTHE3KGEARREDUCERWITHNEWCYCLOIDALGEARCandidate:ChenHuanSupervisor:Prof.ChenMingAcademicDegreeAppliedfor:MasterofEngineeringSpecialty:MechanicalEngineeringAffiliation:SchoolofMechatronicsEngineeringDateofDefence:July,2012Degree-Conferring-Institution:HarbinInstituteofTechnology哈尔滨工业大学工学硕士学位论文-I-摘要摆线齿轮传动有重合度大传动平稳、齿面磨损均匀、齿数少不根切等优点，但其中心距不具可分性、刀具制造困难等极大的限制了摆线齿轮的应用。目前高端精密机械系统如航空航天、医疗器械、仿生机器人等迫切需求体积小、重量轻、承载能力强、传动平稳和效率高等诸多优点的微型减速器。在超精密加工制造技术快速发展的今天，加工精度已不再是推广应用摆线类齿轮的障碍。深入分析国内外关于摆线类曲线的数学模型后，通过以基圆圆心为定坐标系的原点建立了更简单的摆线及其等距线的数学模型。以单一摆线及其等距线为基础构建了摆线原始连续型齿廓，在基于齿廓啮合原理上研究了此类齿廓共轭啮合的可能性及形式，以及重合度的定义与计算。针对摆线原始连续型齿廓重合度小等缺点，以齿数少、重合度适宜为目标，在满足齿廓共轭条件的基础上，提出了多种针对原始连续型齿廓的修形方法，并运用这些改进方法演绎出了10多种新型摆线齿廓。用运动学方法研究出摆线原始连续型齿廓的啮合轨迹线后，基于摆线的修形原理，将其推广得到了摆线修形齿廓和新型摆线齿廓的啮合轨迹线。根据齿轮传动重合度和啮合角的定义，通过分析齿廓啮合轨迹线，提出了各摆线齿轮传动的重合度与啮合角计算方法。研究确定这些摆线齿轮的基本设计参数后，依次推导出了各摆线齿轮的几何尺寸计算公式。经比较各摆线齿轮的几何特点和传动特性后，选择了新型摆线齿廓设计直齿轮，研究其齿轮设计约束条件，以及各设计参数对传动特性的影响。研究比较了3K型行星传动效率与配齿，结合新型摆线齿轮的特点，选取3K-I型行星传动并选择合适的设计参数设计各新型摆线齿轮。确定各新型摆线齿轮副受力情况并校核齿面接触疲劳强度后，分析轴系的弯扭受力及校核，选用各轴支撑轴承与校核。从传动性能、加工工艺、安装工艺等多方面考虑设计了行星架与微型减速器的结构、减速器与伺服电机的连接、减速器与机体的连接等。关键词：摆线；摆线等距线；摆线修形齿廓；摆线齿轮；3K型行星传动哈尔滨工业大学工学硕士学位论文-II-AbstractCycloidgeartransmissionhassomeadvantagessuchasbigcontactratio,smoothtransmission,uniformtoothsurfaceswearing,lesstooth,norootcuttingandsoon,butitscentredistancecannotbedividedinto,anditisdifficulttomanufacturetool,thenseverelylimitstheapplicationofcycloidgear.High-endprecisemechanicalsystemsuchasaerospaceandmedicalequipmentandroboticsurgentneedmicro-reducerwhichhassomeadvantageforexample:smallsize,lightweight,bigcarryingcapacity,smoothtransmissionandhighefficiency.Todaytheultra-precisionmanufacturingdevelopfast,machiningprecisionisnolongertheapplicationofcycloidgear’strouble.Simplermathematicalmodelofcycloidisestablishedthroughsettheheartofthebasecircleasthecoordinatesystem’soriginafteranalysisaboutcycloidtoothprofileandcycloidmodificationtoothprofileathomeandabroad.cycloidoriginalcontinuoustoothprofileisconstructedwhichisbasedoncycloidisometricline.Andstudiedthetoothprofile’spossibleandformofconjugatemeshing,howtodefineandcalculatethecontactratio.Accordingtotheshortcomingofsmallcontactratio’sonoriginalcontinuoustoothprofile,putforwardedsomeprofilemodificationmethodattheconjugatecondition,withlesstoothandsuitablecoincidencedegree,anddeductedmorethan10kindsofnewcycloidtoothprofileusedthesemodificationmethods.Themeshingtracklinesofcycloidrepairformtoothprofileandnewcycloidtoothprofilearegotbasedonthecycloidformprincipleafterstudiedthemeshingtracklineofcycloidoriginalcontinuoustoothprofilewiththemethodofkinematics.Accordingtothedefinitionofcontactratioandmeshingangle.putforwardtheallcycloidgeartransmissioncontactratioandmeshingangle’scalculationmethodafteranalysedthemeshingtracklines.Studiedanddeterminedthesecycloidgear’sbasicdesigningparameters,andtheneachcycloidgeargeometrycalculationformulaisdeduced.Newcycloidgearischoseandstudieditsdesigningconstraintsandtheeffectofthetransmissioncharacteristicswhenchangethedesignparameters,aftercomparedthegeometricfeaturesandtransmissioncharacteristicsofeachcycloidgear.Studiedandcomparedsome3Kplanetarytransmissionefficiencyandresultoftoothmatching,theselectionis3K-Itypeandselectdesignparametersforeachnewcycloidgearcombiningthecharacteristicsofthenewcycloidgear.Confirmthenewcycloidgearpair’sloadandcheckedtoothsurfacecontactfatiguestrength,andthen哈尔滨工业大学工学硕士学位论文-III-analyzestheshaftbendingandtwistingload,choosetheaxissupportbearing,andchecktheallcalculationresult.Designedthestructureofplanetshelfandminiaturereducer,andtheminiaturereducersystemhowtoconnectwithservomotorandthebody,afterstudiedthetransmissionproperties,processing,installationprocess,etc.Keywords:cycloidcurve,cycloidisometricline,cycloidrepairformtoothprofile,cycloidgear,3Kplanetarytransmission哈尔滨工业大学工学硕士学位论文-IV-目录摘要.................................................................................................................IAbstract...............................................................................................................II目录..............................................................................................................IV第1章绪论.....................................................................................................11.1课题的研究目的与意义..........................................................................11.2国内外发展历史及研究现状...................................................................11.2.1行星齿轮传动的发展历史及国内外研究现状................................11.2.2摆线齿轮的发展历史及国内外研究现状.......................................41.3本课题的主要研究内容..........................................................................6第2章摆线及摆线修形齿廓...........................................................................82.1引言.......................................................