农业机器人用摆线传动加载接触及误差分析  

Cycloidal Drive Loading Contact and Error Analysis of Agricultural Robots

作　　者：张宇 张立勇 蒋业虎 王长路 郑天乐 Zhang Yu;Zhang Liyong;Jiang Yehu;Wang Changlu;Zheng Tianle(College of Mechanical Engineeing,Anhui Science and Technology University,Chuzhou,Anhui 233100,China;Anhui Zhongxin Technology Co.,LTD.,Chuzhou,Anhui 239300,China;Jiangsu Zhonggong Research Institute of Advanced Equipment Co.,LTD,Taixing,Jiangsu 225400,China)

机构地区：[1]安徽科技学院机械工程学院,安徽滁州233100 [2]安徽众鑫科技股份有限公司,安徽滁州239300 [3]江苏中工高端装备研究院有限公司,江苏泰兴225400

出　　处：《黑龙江工业学院学报（综合版）》2023年第9期150-156,共7页Journal of Heilongjiang University of Technology(Comprehensive Edition)

基　　金：安徽省科技厅重点研发计划项目“新能源汽车超级混动(DM-i)传动装置集成化设计及近净成型制造技术研发及产业化”(项目编号:2022a05020063);天长智能研究院项目“新能源汽车用精密齿轮传动装置成套设计制造技术研究”(项目编号:tzy202101);安徽科技学院人才项目“基于多齿啮合的齿轮传动精度分析及试验研究”(项目编号:RCYJ201904)。

摘　　要：摆线传动为多齿啮合,具有高精度、抗冲击和回差小等优点,为农业机器人提供高的定位精度的同时具有很好的刚度和抗冲击性。利用软件进行典型参数摆线传动加载接触和动力学仿真,结果表明:连续针齿随着时间的推移受力曲线呈错位排布,修形是为了抵消实际装配误差,以及干涉会影响减速机寿命,对减速器在实际设计中选取修形方式提供一定的依据和理论支撑,对我国农业机器人关节减速器具有工程实际意义。The cycloid drive is multi-tooth meshing,which has the advantages of high precision,impact resistance and small differential difference,and provides high positioning accuracy for agricultural robots while having good rigidity and impact resistance.The results show that the continuous needle teeth are arranged with dislocation over time,and the modification is to offset the actual assembly error,and interference will affect the life of the reducer,which provides a certain basis and theoretical support for the selection of the modification method of the reducer in the actual design,which has practical engineering significance for the joint reducer of agricultural robots in China.

关 键 词：摆线传动 修形 传动特性 接触有限元 

分 类 号：TH132.4[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]