机器人精密减速器摆线针轮啮合传动瞬态接触性能分析  

Analysis on Transient Contact Performance of Meshing Transmission of Cycloid Pin Gear in Robot Precision Reducer

作　　者：乔雪涛[1] 贾克 陈春山[1] 王长路 韦乐余 张立勇 王伟功 Qiao Xuetao;Jia Ke;Chen Chunshan;Wang Changlu;Wei Leyu;Zhang Liyong;Wang Weigong(School of Mechatronics Engineering,Zhongyuan University of Technology,Zhengzhou 450007,China;Jiangsu Zhonggong Research Institute of Advanced Equipment Co.,Ltd.,Taixing 225400,China;School of Mechanical Engineering,North China University of Water Resources and Electric Power,Zhengzhou 450001,China;College of Mechanical Engineering,Anhui Science and Technology University,Fengyang 233100,China)

机构地区：[1]中原工学院机电学院,河南郑州450007 [2]江苏中工高端装备研究院有限公司,江苏泰兴225400 [3]华北水利水电大学机械学院,河南郑州450001 [4]安徽科技学院机械工程学院,安徽凤阳233100

出　　处：《机械传动》2021年第3期15-18,24,共5页Journal of Mechanical Transmission

基　　金：河南省科技重大专项(161100210100)河南省现代制造装备与仪器重点学科开放实验室项目(2017MEI001)。

摘　　要：工业机器人精密减速器的传动精度和动态稳定性在很大程度上取决于摆线针轮的啮合性能。通过Creo和ANSYS Workbench相结合的数字化设计与动力学分析平台,对精密减速器第二级减速机构的摆线针轮啮合传动部分进行了三维参数化建模和瞬态动力学分析,快速、准确地获得研究所需的精密减速器参数化模型和摆线针轮动态啮合过程中摆线轮齿表面的应力和应变云图,从而得出摆线针轮在啮合过程中接触应力分布规律。采用Hertz接触理论得出的理论计算结果与上述仿真结果进行对比分析,验证了所建模型的正确性,为摆线轮进一步的齿廓优化修形提供了必要的理论基础。Transmission accuracy and dynamic stability of industrial robots precision reducer depend on the meshing performance of cycloid pin gear to a great extent.Therefore,3D parametric modeling and transient dynamics analysis are carried out on the meshing transmission part of cycloid pin gear in the second stage of the precision reducer through the digital design and dynamics analysis platform combined with Creo and ANSYS Workbench,the model of precise reducer parameter and the stress and strain nephogram of cycloid pin gear tooth surface during dynamic meshing of cycloid needle wheel can be obtained quickly and accurately,thus the contact stress distribution law of cycloid and pin wheel in meshing process is obtained.The theoretical calculation results of Hertz contact theory are compared with the above simulation results,the correctness of the model is verified,which provides the necessary theoretical basis for the cycloid gear tooth profile optimization and modification.

关 键 词：机器人减速器 ANSYS Workbench 瞬态动力学 应力和应变 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH132.46[自动化与计算机技术—控制科学与工程]