【作者】 赵博；

【导师】 邓效忠；

【作者基本信息】 河南科技大学 ， 机械设计及理论， 2015， 硕士

【摘要】 工业机器人产业竞争力强、成长性好,对于工业转型升级具有重要的促进作用。RV减速器在工业机器人成本中所占比重达到三分之一,目前主要依赖日本等国进口,实现RV减速器的国产化是国产机器人降低生产成本必须解决的问题。RV减速器的摆线轮对制造精度要求高,齿面修形质量直接决定着产品的性能和可靠性。因此,对摆线轮修形理论及成形磨齿装备进行研究便显得尤为重要,本文的研究正是在此背景下开展的。本文对摆线轮齿廓的修形进行了一种新的尝试,并联合洛阳科大越格数控机床有限公司开展了相关加工设备的研制,本文的主要研究内容如下:1对摆线轮等距、移距、转角三种基本修形方式或组合修形方式进行了分析研究,对比了基本修形方式和组合修形方式对摆线轮啮合性能的影响,得出的结论是负等距加正移距是最佳组合形式。2在对传统修形方法研究的基础上,对摆线轮修形进行了一种新的尝试,以无加载情况下单齿接触,加载后多齿接触,且在摆线轮主要工作段尽可能逼近共轭齿廓为目标,提出了一种单齿无侧隙抛物线失配修形理论,建立了修形量与摆线针轮啮合点至节点之间距离的抛物线函数关系,将该修形量直接叠加至摆线轮理论齿廓的法线方向,推导出了对应的齿面方程。将该方法与传统修形方法进行了对比分析,证明了该修形方式的可行性。3利用Matlab软件编写了RV减速器第二级摆线针轮副的轮齿接触分析(TCA)程序,分别形成了“抛物线”和“平顶抛物线”型的传动误差曲线,可有效补偿由于制造、安装等误差对传动误差的影响,为RV减速器摆线轮的修形提供了一种新的思路。4联合洛阳科大越格数控机床有限公司,对RV500摆线轮数控成形磨齿机进行了设计与研制,在Solidworks中完成机床各部件的建模与装配,为摆线轮的加工提供了高精度设备。更多还原

【Abstract】 The Industrial robots industry has great competitive advantages and a promising prospect.The cost of RV reducer reached the proportion of one-third in the Industrial robots and this kind of reducers are mainly dependent on imports.Reaching the localization of the RV reducer is a problem which must be solved to reduce the cost. RV reducer has a high demand of the manufacturing precision on the cycloidal gear and the quality of tooth profile modification directly determines the performance and the reliability of the products. Therefore,the research on the modification theory of cycloidal gear and relevant forming grinding equipment is particular important. This is the background of the thesis.This is a new attempt on the tooth profile modification of the cycloidal gear. The relevant machining equipment in developed in Luoyang Keda Yuege CNC Machine Tool Co.Ltd. The main contents of this thesis are as follows:1 Analyzed the three basic and combined modification methods of the cycloidal gear, including equidistant modification, moved distance modification and whirl angle modification. By comparing the modification effects of them, the resulted best method is negative equidistant combining with positive moved distance modification.2 Made a new attempt of the cycloidal tooth profile modification on the basis of traditional correcting methods: single gears contact without load,and multiple gears contact after load.Aiming at approaching the normal cycloidal profile in the main working segment as far as possible, a new theory of single tooth mismatch with no backlash was proposed. The modification amount was set to be a parabolic relationship on the distance between meshing point of the cycloidal gear and the pinwheel, and the pitch point. The parabolic modification amount on its theoretical tooth profile in normal direction was superimposed. The tooth surface equation of this modification method was deduced and the comparison of this method and the traditional method was made, verifying the feasibility of the parabolic modification method.3 Programming the TCA procedure of the cycloidal gear which is meshing with the pinwheel that is on the second stage of the RV reducer by Matlab. It formed a parabolic and flat parabolic curve of transmission error,which can absorb the errors caused by manufacture and installation effectively. Providing a new idea on modifying the cycloidal gear of the RV reducer.4 Researched the RV500 CNC forming grinding machine on machining Cycloidal gear in cooperation with Luoyang Keda Yuge CNC Machine Co.Ltd. Performed the modeling on every component of the machine and finished the assembly, providing the high-precision equipment on machining the cycloidal gear.更多还原