摘要:In order to study the influence of profile modification on the internal flow field,temperature field and stress field of the gearbox system,the gear with or without modification are accurately modeled by Pro/E. The fluid field of gearbox system is calculated by overset grid method,and the steady calculation result is transmitted to the boundary of the gear to solve the temperature field and the stress field,i.e. thermal-fluid-solid coupling numerical simulation is used to study the gearbox oil bath lubrication. The lubrication volume fraction of the end part of gear pair,internal pressure variance of the gearbox,temperature and stress distribution of the gear solid body are compared and analyzed under different modification conditions. The results show that when b=1(i.e. straight-line modification),the temperature field and stress field of the gear are not improved much,and the modification effect is not evident. Then, when b=2, and when b=1.22,the modification show the best effect. No matter what kind of modification curve is used,the stress concentration of the gear root could be significantly improved.
摘要:In order to realize the dynamic response of spherical roller toroidal planetary worm drive, considering the independent motion of the rolling element and the stiffness of the bearing, the rigid body dynamics model of the transmission is established, and the thin-walled toroidal stator is flexibly reinforced by finite element software. A rigid-flexible coupled dynamics model is established. The system contact stiffness excitation and error excitation are quantitatively analyzed, and the dynamic response of the rigid body model and the coupled model under internal excitation is compared. The results show that due to the introduction of flexible parts, the coupled model will have sliding teeth and tooth skipping phenomenon, and the vibration is more severe than the rigid body model. The alternating sudden change of the roller speed and the high-speed rotation when not in contact will aggravate the vibration of the transmission system. The coupled model has a higher resonance frequency than rigid body model, the internal excitation has a modulation effect on the frequency response. This study provides a reference for the optimization design of the toroidal planetary worm drive dynamics.
摘要:The vibration signal generated by the micro-crack defects of vehicle gears is very weak,and it is difficult to be found and extracted in the background noise signal, which causes serious safety accidents and economic losses. Taking the spur gear as research object, innovatively applying the amplification effect of resonance on weak vibration signals, a structural tuning resonance method for detecting micro cracks defect in gears is proposed. An experimental testing system based on structure tuning resonance is constructed by combining finite element modal analysis technique with experimental modal analysis technique, the micro cracks defect of spur gear is detected by using this test system. Experiments result show that the frequency of the sideband around the meshing frequency in the spectrum of the signal measured by the structural tuning resonance method is more obvious, which is more conducive to the identification and diagnosis of micro defects of the gear.
摘要:Grinding machining is the final procedure in the machining process of the hypoid gear. The grinding quality directly affects the meshing performance and machining accuracy of the gear pair. In view of the poor quality stability of the rear axle hypoid gear grinding machining, the orthogonal experiment is carried out with the spindle speed, load torque and the number of grinding cycles as the influencing factors. Through the influence of the above parameters on the tooth surface roughness, combined with the range analysis, the combination of grinding parameters with the smallest surface roughness is determined and tested. The test results show that the optimized grinding parameter combination can effectively reduce the tooth surface roughness and improve the grinding quality, and also provide a reference for the selection of grinding tooth processing parameters.
摘要:Because of the particularity of the design of double circular arc gears, the influence of tooth surface friction on the transmission of double circular arc gears is often neglected in the past research on the dynamic characteristics of double circular arc gears. The precise model of double circular arc gear is designed by parameterization, and the dynamics performance of double circular arc gear is simulated by Adams software combined with multi-body dynamics analysis theory. By setting different friction coefficients between tooth surfaces, the influence of tooth surface friction on the dynamic performance of double circular arc gear transmission is analyzed, which is further verified by the transmission test of double circular arc gear. The simulation results provide some reference for the correlation between the double circular arc gear transmission and the tooth surface friction.
摘要:In order to satisfy the requirements of complex space environment, a wire-driven multi-section continuous manipulator is designed. A simple modeling method for wire-driven continuous manipulators is presented based on geometric analysis method. The mapping relationship between joint space,driving space and operation space of the single section flexible joint are analyzed,and a decoupling kinematics algorithm for three sections manipulator is given. The manipulator workspace is described using improved Monte Carlo method. The kinematics simulation of the manipulator is carried out by using Matlab. The correctness of the kinematics algorithm is verified by the experimental study of the principle prototype,and the good bending ability of the manipulator is demonstrated.
摘要:A new type of frictionless synchronizer is designed,and its three-dimensional model is built by using the software CATIA. The three-dimensional model is imported into Adams to establish a virtual prototype model and a two-gear pure electric vehicle model is built in Matlab/Simulink which is used to simulate the speed synchronization and backing process of the new synchronizer. The simulation results show that the jerk produced by the new type of synchronizer in the speed synchronization and backing process is reduced and the required time of speed synchronization and backing is also greatly reduced,which reduce the power interruption and shift frustration in the process of automobile shift,comparing with the traditional synchronizer which relies on friction to achieve speed synchronization. Finally,the influence of vehicle speed in synchronization process, helical spring stiffness and shift force for the synchronization process of frictionless synchronizer is analyzed.
摘要:In view of the high risk and low efficiency of the manual maintenance of the safety rope during the work of the tower, the V-shaped angle steel symmetrical clamping mechanism is designed based on the principle of rhombus principle. It is mainly composed of a gripping hand, an abduction mechanism and an ejection mechanism. The clamping hand realizes the grasping of the diagonal steel by the cooperation of the screw jack and the sliding rail, and the abduction mechanism perpendicular to the clamping arm changes the position of the gripping hand by adjusting the exhibition distance thereof, and the V-shaped block on the front end of the ejector mechanism ensures that the robot body is always parallel to the angle. According to the analysis of the climbing environment of the transmission tower climbing robot, the three-dimensional model of the mechanism is drawn. The model is simplified according to the principle of rhombus principle and the rationality of the centering and the size of the mechanism is verified. The statics model is established and the clamping force is used for mechanical analysis and structural statics simulation. Through the prototype development and test, the feasibility of the clamping mechanism is preliminarily verified.
摘要:A solving method for the inverse-kinematics (IK) problem of a kind of 6 degree of freedom (DOF) manipulator with the axes of the 3 adjacent rotational joints in the arm part,shoulder,elbow and wrist parallel is presented. The merit of this method is that,by utilizing the geometrical relation between the end-effector,hand and wrist of the manipulator determined by its structure,the position of the wrist corresponding to a desired end-effector orientation and position can be solved at the first step in the whole calculation process. And then,the solution of a 6-variable equations,which describes the relationship between the 6 joint positions of the manipulator and its end-effector orientation and position is reduced into two 3-variable equations,one of which describes the relationship between the wrist position and the positions of 3 joints distributed in the shoulder and elbow,and the other describes the relationship between the end-effector orientation and the positions of the rest 3 joint distributed in the wrist. This method reduces the complexity of solving the IK problem of a 6 DOF manipulator. The experiment results with an UR3 manipulator shows that,the method is able to compute the joints positions,in comparison with by applying the algorithm of the UR3 controller,the end-effector positioning accuracy of the manipulator by applying the presented method is up to millimeter-scale in linear and 1 degree in angular.
摘要:With the extensive application of nine-bar two-DOF mechanism in light industry, packaging machinery and other equipment, it is particularly important to study the tracing algorithm to achieve the predetermined trajectory. Taking the medicine box with nine-barrel two-degree-of-freedom mechanism as the study object, it is transformed into two kinds of eight-degree single degrees of freedom mechanism, the mathematical model of motion analysis is established.Through the kinematics simulation analysis, the motion regions of two eight-bar single degree of freedom mechanism are obtained, and the trajectory and range of motion of the nine-bar two degree of freedom mechanism are obtained. Then, based on the parameterization of the mechanism and the process trajectory, the constraint conditions are established, and the tracing algorithm of the nine-bar two-degree-of-freedom mechanism to achieve the predetermined trajectory is proposed. The tracing algorithm is used to obtain a nine-bar inner box motion trajectory of the original control parameters. Finally, the tracing algorithm is improved, and the motion parameters obtained by the control parameters are used to verify the accuracy of the tracing algorithm.
摘要:The accurate tooth surface modeling of the helical-face gear pair with linear contact cross axis is given. Based on the meshing theory, the mathematical model of the tooth surface of the helical-face gear with cross axis is established, and the discrete data points of the tooth surface are calculated. According to the tooth surface uniform discrete point output data, the tooth surface is reconstructed, the precise solid modeling of the face gear is realized and the meshing simulation is carried out. By using the tooth surface deviation method, accuracy of the model is evaluated, the model can be used for the digital design and manufacture of face gear.
摘要:A design method of discretization envelope is proposed for the variable ratio rack and pinion, a transverse profile model of helical gear is established as the gear shaper cutter and the generating motion of gear shaping is simulated to obtain the envelope point cloud of the variable ratio rack in Matlab. The data points in the envelope point cloud are very dense, and at the same height, the distance between the adjacent tooth profile points is far greater than that between the non-tooth profile points. Based on this, a new numerical algorithm for tooth profile point extraction is proposed. The process is intuitive and the coordinates of rack tooth profile point are determined to improve the accuracy. The program is optimized to greatly improve the efficiency of design and model. The simulation of the variable ratio rack and pinion based on Adams and proved the feasibility and correctness of the design method.
摘要:At present,the formula for calculating time-varying meshing stiffness of gears is often simplified according to the ISO experimental values. This method cannot accurately reflect the comprehensive characteristics of the meshing stiffness of different gears. Aiming at this problem, by using the APDL, a parametric finite element model of involute spur gear is established. The contact displacement of the gear tooth is obtained by contact analysis and the stiffness is calculated. The effect of rim thickness on stiffness is considered. The spur gear single tooth stiffness formula is obtained by least square method and the time-varying mesh stiffness formula of any tooth number meshing is derived. By comparing with the Ishikawa formula, potential energy method, Kuang method, the advantages and disadvantages of each calculation method in calculating the time-varying stiffness are illustrated. The results of FEA formula and ISO are compared to verify the reliability of the results.
摘要:In the industrial field,the rigid mechanism design of the pick-and-place robot tends to be mature,but it has the defects of has a lot of mass and high risk factor when human and machine work together. At the same time,as a new design material,the elastic rod has been applied in the fields of medical treatment and exploration due to its own material advantages. Based on this,a parallel elastic rod robot mechanism that can be applied to pick-and-place tasks is proposed. By using the simplified Cosserat elastic rod model,the deformation of the elastic rod is described from the perspective of rigid body motion,and the dynamics model of the elastic rod is derived. The equation and virtual prototype model of the parallel elastic rod are established in Matlab. Through the analysis of key materials and workspace,the corresponding mechanism parameters are obtained. The relationship between the input angle,the torque and the displacement of the end-effector is studied. The feasibility of the theory and the rationality of the design are verified by setting up the prototype,which also provides a reference for the industrial application of the elastic rod.
摘要:Taking the rotate vector (RV) reducer which is widely used in industrial robot joint as research object, combining with the principle of transmission error measurement, a high-precision encoder is used to build a high-precision test bench, and the data acquisition and processing program is programmed with the help of LabVIEW software. The transmission error measurement tests of imported and domestic reducer are carried out, and the test data is processed by the filtering analysis method, and the result can show the main source of the transmission error of reducer, a reliable reference for the optimization design and manufacturing process improvement of key parts of RV reducer is provided.
摘要:In order to improve NVH performance of drive bridge,from the aspect of transmission error,a method of drive bridge NVH analysis and performance optimization is established based on actual working conditions. Firstly,the exactly model of drive bridge is established based on MASTA software,and the gear meshing misalignments are calculated according to the actual load. Secondly,the change law of load contact area and load transmission error is obtained by TCA and LTCA analysis for drive bridge gear based on the actual working conditions. On this basis,the NVH simulation and analysis method for drive bridge is studied based on the MASTA software,and the drive bridge noise curve under the actual working conditions is obtained. Finally,the influence relation between the load transmission error and drive bridge noise curve is established,and the drive bridge NVH performance is optimized by controlling the transmission error. The theoretical guidance for vibration and noise reduction of drive bridge and modification and optimization of main reducer gear are provided.
摘要:As a conventional form of gear failure,crack-wear coupled damage dramatically changes the vibration characteristics of a gear transmission system .In order to verify the influences of the coupled damage on the vibration characteristics of the transmission system,a dynamics model of spur gear transmission system,in which included the effect of crack and wear,is established,and its vibration analysis is carried out. Firstly,the nonlinear dynamics model of spur gear transmission system is established by means of lumped parameter method,the influence of tooth crack on mesh stiffness of gear pair is analyzed based on potential energy method. The comprehensive quantity of tooth surface wear is calculated by wear simulation,and the tooth surface wear is being introduced to the displacement excitation of the transmission system. Then,the steady dynamics responses of the transmission system are solved by Runge-Kutta method,and the vibration characteristics of spur gear system with crack-wear coupled damage mode are analyzed. The results show that crack-wear coupled damage induce amplitude modulation and frequency modulation of the system vibration,and it will produce more obvious mesh impact than a single damage.
摘要:In order to analyze the bearing capacity and transmission performance of equal base circle bevel gear under actual working conditions, the tooth contact analysis (TCA)is performed to simulate the tooth surface contact pattern and transmission error. Without errors of installing,the modification of tooth line and tooth profile of bevel gear is carried out, the influence of modification parameters of tooth line and tooth profile on transmission error of bevel gear and change of contact area of tooth surface are analyzed. By adjusting the modification parameters to improve the meshing characteristics of the gears,realize better lubricating performance and transmission stability. By machining and rolling a pair of modified equal base bevel gears,the correctness of TCA modification program is verified. The theoretical and experimental basis for the meshing performance analysis of gear is provided.
摘要:In order to study the lubrication performance of rolling linear guides,based on the LG-45 rolling linear guides,the kinematics analysis is carried out. An elastohydrodynamic lubrication(EHL)model is established for the rolling linear guides,and its lubricating performance is investigated. The film thickness with various contact angle,ball diameter,load,curvature ratio and lubricant parameters is analyzed. Effects of the ball diameter and the contact angle on the lubrication state of the guide rail are discussed. The results show that the oil film thickness decreases when the contact angle increases. The oil film thickness increases with the ball diameter increasing. When the curvature ratio increases,the oil film thickness increases,but the increase trend becomes less. Under the same working condition,when the viscosity and viscosity-pressure coefficient of lubricating oil is large,the film is thicker. Variations in the ball diameter and the contact angle cannot change the lubrication state with parameters discussed.
摘要:Taking the tooth surface of spiral bevel gear after grinding as study object, according to the grinding principle of spiral bevel gear, the grinding mask of tooth surface is solved, and the life prediction equation of the elastohydrodynamic lubrication oil film is established. On basis of this, the influence of surface texture parameters and roughness amplitude on the oil film life of the elastohydrodynamic lubrication is analyzed,and the validity of the oil film life calculation model is verified by experiment. The results show that surface texture parameters of spiral bevel gear pair have minimal impact on the elastohydrodynamic lubrication oil film life, and within the scope of the calculation of roughness, the moderate improvement of gear surface roughness will be conducive to promoting the oil film life of the spiral bevel gear pair in the elastohydrodynamic lubrication phase.
摘要:Numerical control power skiving is a modern and productive method in the manufacturing of cylindrical gears. Aiming at the problem of short service life of single-edge tool in powerful tooth skiving technology, a novel skiving tool with multiple blades with higher efficiency is proposed. Based on the meshing theory of crossed axes and the cutting process of tooth surface in gear skiving, the kinematics model of powerful tooth scraping and the cutting model of tapered multi-edge cutter are established. By using the machining simulation software, a simulation method for the analysis of the forming process of multi-blade gear cutters, simulation model setting and simulation cutting procedure are given. By comparing the simulation cutting results, the similarities and differences between multi-blade and single-blade are analyzed, and the feasibility of tapered multi-blade skiving tool is verified. The study results provide the theory basis for the productive generating mechanism of cylindrical gears and the development of multi-blade skiving tool.
摘要:Aiming at the temperature warning problem of axlebox bearing in a high-speed train in China, ANSYS is used to establish the finite element simulation model of axlebox bearing, the frictional heating power of the bearing is distributed according to the force of each rolling element, the steady temperature field analysis of the axlebox bearing is completed by using FLUEEN and the validity of the model is verified by using the actual monitoring data. On this basis, the influence of wind direction and grease injection amount on the temperature field of axlebox bearings is analyzed, and the influence of wind speed, driving speed and ambient temperature on temperature field is simulated by orthogonal test method. The results show that the wind direction has little effect on the temperature field of the axlebox bearing, when the grease injection amount is 240 g,the temperature of the temperature measurement hole and the maximum temperature of the bearing are higher than 220 g. The wind speed, driving speed and ambient temperature have significant influence on the temperature of the temperature measurement hole, and the degree of influence from the largest to the smallest is the driving speed, ambient temperature, wind speed. The temperature of the temperature measuring hole and maximum temperature of the bearing decrease with the increase of the wind speed, and increase with the increase of the driving speed and ambient temperature, however, the wind speed and ambient temperature have little effect on the maximum bearing temperature. The research results provide a reference for the analysis of the cause of the temperature warning of the axle box bearing and the reasonable setting of the reasonable setting of the warning threshold of the temperature sensor.
摘要:A six-axis industrial robot kinematics calibration method based on laser scanning measurement arm measurement system is proposed. Firstly,the motion deviation of the robot itself is analyzed and the problem of non-coincidence between the robot coordinate system constructed by the measurement system and the real base calibration system is comprehensively considered. The absolute positioning error equation related to the parameters of each end of the robot is established, based on the error equation,using the portable laser scanning measurement arm measurement system, the flange center point of the robot in different spatial position posture is measured, and the error equation is solved by least square method. By using the calculated parameter error, the nominal parameters in the robot model are corrected, the accuracy of the robot movement can be improved. By applying the method to the Staubli TX90 industrial robot,the experimental results show that the absolute positioning accuracy of the robot is reduced from the mean/standard deviation of 0.742 5 mm/0.191 0 mm before calibration to 0.242 8 mm/0.098 1 mm after calibration,which is increased by nearly 50%,indicating the validity and accuracy of the calibration method.
摘要:Aiming at the situation that there are a large number of paraplegic patients in China and there is a shortage of rehabilitation training equipment for lower limbs, a simple rehabilitation training mechanism for lower limbs is designed. The structure, driving method and length adjusting mechanism of the mechanism are introduced,its kinematics and dynamics are analyzed theoretically. By using the dynamic simulation software, the change of angular velocity and output torque of each joint in one motion period is analyzed. The flexibility analysis of the thigh and calf length adjusting mechanism is carried out, and the stress variation of the thigh and calf length adjusting mechanism is obtained in one motion period. The maximum stress is 70 MPa, which is less than the allowable stress of aluminum alloy, and the strength meets the use requirements. At last, the lower limb rehabilitation mechanism is verified by experiments. The measured output torque of hip joint and knee joint show the same trend as the simulation results, the correctness and feasibility of the simulation is proved. In the simulation, the gap and human resistance are ignored, resulting in the measured moment slightly larger than the simulation result.
摘要:The vibration characteristic of gearbox of high-speed train under different working conditions is studied. With a gearbox of a certain type of high-speed train as the object, the main influence factors of vibration are studied by the method of combining the modal test and bench test. The results show that the vibration of the gearbox of is greatly affected by the rotational speed. The characteristic frequency of the gearbox will coincide with the modal frequency of the gearbox housing to cause resonance. The vibration of axial direction is significantly affected by the modal shape of gearbox housing. Through the experimental analysis, the vibration characteristics of the gearbox are obtained, a foundation for the analysis and structural optimization of the high-speed train is provided.
摘要:In order to improve the accuracy of automatic visual inspection of photoelectric products,a kind of prototype of 4SPS/S spherical parallel mechanism (PM) adjustment platform with redundant driving branches is developed. The redundant 4SPS/S PM is of three-rotational degrees of freedom(DOF)around the center of the platform and used for obtaining the image information of the inspected parts from arbitrary angle. Firstly,the kinematics model of the PM is established, and the forward and inverse kinematics equations and Jacobian matrix are derived. Moreover,the singularity is discussed based on Jacobian matrix in terms of rank deficiency, and it is also proved that the redundant drive branch chain can eliminate the singularity in the mechanism. Based on non-redundant decomposition of Jacobian matrix,an evaluation index of force transmissibility suitable for redundantly PM is proposed. Secondly,the influence of the spherical joints layout on kinematical performance of the PM is analyzed,and a set of layout of the spherical joints with large attitude space and good dexterity is obtained. Further,the prototype of spherical parallel detection platform is designed and manufactured. Finally,the distribution of posture space, dexterity and force transfer performance of the prototype in posture space is analyzed and drawn. The results show that the prototype has large rotation space, no internal singularity, high dexterity and force transfer performance, and uniform distribution,which can meet the detection process requirements of photoelectric product.
摘要:In order to study the engagement performance of engagement sleeve and engagement gear ring in the shifting process of without synchronous AMT transmission mounted on hybrid vehicle, improve the smoothness of gear shifting and shorten the shifting time, the theoretical analysis and the virtual prototype simulation analysis method are used to study the engagement process between engagement sleeve and engagement gear ring of AMT transmission. The engagement process is divided into four stages: free sliding stage, tooth tip collision stage, tooth tip friction stage and inter-tooth meshing stage, a mathematical model is established. The dynamics model of the engagement process is established by Adams. The simulation model is compared with the theoretical calculation value, and the error is 7.3%. The effects of the speed difference between the meshing sleeve and the engagement gear ring and the shift force acting on the meshing sleeve on the meshing process are studied, and the optimum range of the speed difference is obtained. The research results of the study can provide critical guidance for automatic shift control.
摘要:Based on FLUENT software,the CFD analysis model of tile surface oil-taking of thrust bearing is established. The influence of tile surface oil-taking groove pressure,position and width on the bearing capacity of thrust bearing is studied. Research shows that reasonable tile surface oil-taking groove design is beneficial to improve the bearing capacity of the thrust bearing. When the oil groove pressure reaches a certain value, it has a positive pressurization effect on the oil film. The oil groove should be close to the side of tile entering oil. The width of the oil groove has little effect on the bearing capacity. The heavy-duty thrust bearing device with tile surface oil-taking is developed,the performance test and 1 100 h long-distance running test are carried out,a reference for the design of the lubrication system for thrust bearing is provided.
摘要:The electric wheel drive technology subverts the driving mode of the traditional automobile and represents the development direction of the electric vehicle in the future. In particular,the electric wheel with reducer has great development potential due to its compact structure,large output torque,high efficiency and specific power. The concept,working principle,technical characteristics and suitable types of the reducer(wheel side reducer and wheel hub reducer)for electric wheel drive electric vehicles are described. The present situation of application and research of wheel side reducer and wheel hub reducer at home and abroad are briefly introduced. The performance indexes and suggestions for the type of reducer of three kinds of common electric wheel deceleration drive vehicles are given. The common problems hindering the development of wheel side reducer and wheel hub reducer are summarized,and the corresponding solutions are summarized for the bottleneck problems of wheel side reducer development. The future development direction and challenges of wheel side reducer and wheel hub reducer are prospected.
摘要:High-speed gear transmission technology and equipment are widely used. The application characteristics, development status and development trend of high-speed gear transmission under different conditions is briefly described, the problems and challenges in the development of high-speed gear transmission in energy and chemical industries of China are analyzed, and the countermeasures for high-speed gear transmission technology of China are proposed. The reference for the research and development of equipment is provided.