新型活动柱销式摆线减速器设计及模态特性分析  

Design and Modal Analysis of a New Type Cycloidal Reducer with Movable Output-pins

作　　者：李洋[1] 许立新 侯昌兴 常乐 Li Yang;Xu Lixin;Hou Changxing;Chang Le(College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400044,China;State Key Laboratory of Mechanical Transmissions,Chongqing University,Chongqing 400044,China;Tianjin Navigation Instrument Research Institute,Tianjin 300131,China)

机构地区：[1]重庆大学机械与运载工程学院,重庆400044 [2]重庆大学机械传动国家重点实验室,重庆400044 [3]天津航海仪器研究所,天津300131

出　　处：《机械传动》2023年第6期121-129,159,共10页Journal of Mechanical Transmission

基　　金：国家自然科学基金面上项目(52075052);广东省重点领域研发计划项目(2020B090926003);重庆市自然科学基金(cstc2019jcyj-msxmX0023)。

摘　　要：提出了一种新型活动柱销式精密摆线减速器。首先,阐述了活动柱销式摆线减速器的传动原理与结构特点,该新型摆线减速器设有活动柱销输出机构,将输出柱销与柱销孔之间的滑动摩擦转变为滚动摩擦,可显著提高减速器传动效率;其次,对关键传动零部件的静力学特性进行了计算,分析了摆线齿廓修形和柱销孔配合间隙分别对摆线传动啮合力和活动柱销接触力的影响;然后,基于有限元技术对减速器整机的模态特性进行分析,获得了减速器各阶固有频率和振型特征;最后,完成了活动柱销式摆线减速器物理样机制造并进行了传动效率测试,为工业机器人精密减速器产品创新提供了一种有效的技术方案。A new precision cycloidal reducer with movable output-pins is proposed.Firstly,the transmis⁃sion principle and structural characteristics of the cycloidal reducer with movable output-pins are explained,and the new cycloidal reducer is equipped with the movable output-pin mechanism,which can significantly im⁃prove the transmission efficiency of the reducer by changing the sliding friction between the output-pin and the pin-hole into rolling friction.Secondly,the static characteristics of key transmission components are calculated,and the effects of cycloidal tooth profile modification and pin-hole fit clearance on the cycloidal transmission meshing force and movable output-pin contact force are analyzed,respectively.Then,the modal characteristics of the reducer are analyzed based on the finite element technology and the inherent frequencies and vibration characteristics of each order of the reducer are obtained.Finally,the physical prototype of the cycloidal reducer with movable output-pins is manufactured and the transmission efficiency is tested,which provides an effective technical solution for the product innovation of industrial robot precision reducers.

关 键 词：摆线减速器 活动输出柱销机构 静力学分析 模态分析 样机制造 

分 类 号：TH132.46[机械工程—机械制造及自动化]