最新刊期
期 11 ， 2021
- 摘要：The development history of foreign face gear processing and the principles and methods of face gear processing are introduced，the application of face gears in the aerospace field is summarized，the progress and achievements of domestic face gear processing are expounded according to the different processing methods of face gears，and the domestic insufficiency of face gear processing technology is pointed out. Finally，in combination with actual development needs，it is proposed that the face gear should follow the concept of high-quality，high-efficiency and sustainable green development processing.关键词：Face gear;Machining;Development trend
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发布时间：2022-11-10
Review
- 摘要：The meshing force distribution of the harmonic reducer has a great effect on its carrying capacity，transmission efficiency，transmission accuracy and service life. An analytical model based on no-load backlash and circumferential meshing stiffness is proposed to describe the meshing condition between flexible wheel and rigid wheel more accurately under load status. The no-load backlash in the assembled state is calculated by geometric method，and the circumferential meshing stiffness is obtained through establishing and analyzing the mechanical model of the flexspline under load. The distribution of meshing force under different load conditions is obtained by iterative solution based on the no-load backlash and the circumferential meshing stiffness matrix. A finite element model is established to verify the accuracy of the analytical model，and the results are basically consistent.关键词：Harmonic reducer;Meshing force;No-load backlash;Meshing stiffness
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发布时间：2022-11-10 - 摘要：The knowledge units of gear transmission scheme digital design are established，and the motion，dynamic and structural attributes of the knowledge units are extracted. From the state space theory of mechanical motion scheme design，the motion and dynamic attributes of the knowledge units are transformed into feature vectors，so that the solution of gear transmission scheme is converted into a matrix calculation. The relationship between dynamic attributes of knowledge units and 3D parametric model is established to realize the visualization of transmission scheme. The knowledge unit database of the gear transmission scheme is established and transformed into the corresponding data structure. The solution of hybrid combination schemes of knowledge units is implemented by considering the series-parallel combination of knowledge units. The gear transmission scheme design module，which is developed by VS，is used to output the three-dimensional model of the gear transmission scheme meeting the user's requirements and the relevant details of the scheme.关键词：Gear transmission;Digital design;Conceptual design;Knowledge unit
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发布时间：2022-11-10 - 摘要：A flat-bottom follower cam-linkage mechanism with a swing follower with variable pivot has been studied which is used in cleaning equipment of tobacco machinery. In this mechanism，the pivot of the swing follower is installed on a slider with an adjustable track direction，the follower performs a complex planar motion，and the motion range of the output angle can be adjusted according to the output requirements. In order to synthesize this mechanism，firstly，the relevant model is established. Secondly，the inverse method and the envelope theory are employed to derive the solving model of the cam contour coordinates. Finally，the corresponding follower motion law is selected，the corresponding cam contour coordinates are calculated，and the entire cam contour curve is obtained using interpolation. The motion cam of an example mechanism is designed by using this processes and verified through motion simulations. The study work solves the equipment needs and enriches the design theory of cam-linkage mechanisms.关键词：Cam-linkage mechanism;Variable pivot swing;Flat-bottom follower;Design of cam contour;Envelope method
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发布时间：2022-11-10 - 摘要：In the creative design of mechanical devices，the isomorphic kinematic chains should be eliminated to reduce the mechanism scheme for subsequent design and improve the design efficiency of mechanical device. A new method for isomorphism recognition of kinematic chains is proposed based on the Hamming matrix. Firstly，the Hamming matrix of kinematic chains is educed from the link adjacency matrix，then the square matrix of Hamming matrix and the cubic matrix of link adjacency matrix are integrable to obtain the product matrix of kinematic chains. Secondly，the elements of each row in the product matrix are ordered in descending to get the row sequences of the product matrix. Finally，the isomorphism recognition code (IRC) of the kinematic chain is obtained by the sum of the product of the element in the row sequence with the defined topological factor. The isomorphism recognition code does not change with the link labels，so if the isomorphism recognition codes of the kinematic chains are the same，they are isomorphic，otherwise they are not. The effectiveness of this method is proved by a large number of examples. Because of its simplicity，efficiency and convenience for computer execution，it can be considered as a new option for isomorphism screening.关键词：Kinematic chain;Isomorphism;Planetary gear train;Hamming matrix
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发布时间：2022-11-10 - 摘要：In order to realize the continuous circumferential motion of the quadruped robot along the inner wall of the pipe，the plan of position and posture during the motion is carried out. Firstly，the pipeline coordinate system and the robot position and posture equations are established，and a circumferential motion including foot posture adjustment，body rotation and body translation is planned. In order to ensure the continuity of the circumferential motion，the angle，direction and displacement of the posture during the motion are planned，and the circumferential motion posture planning is realized through foot motion. Use the joint angle curve of the circumferential motion calculated by Matlab to perform wall-climbing experiments with the robot prototype. Finally，the experimental results and the roll angle analysis verify the correctness of the circumferential motion pose planning.关键词：Quadruped robot;Circumferential motion;Pose planning;Motion trajectory
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发布时间：2022-11-10 - 摘要：The crank-group driving mechanism is a kind of linkage truss mechanism with redundant constraints. Aiming at the mechanism characteristics，based on the dynamics model of ‘continuous contact model’，a virtual simulation model of the crank-group mechanism with six cranks is established，and the dynamics characteristics of mechanism with different clearance radius of rotating pair are studied by using simulation software Admas. The results show that，in a certain range of required accuracy，the clearance size of the rotating pair has little effect on the displacement and velocity of the driven component，but has obvious effect on the acceleration and contact force of the driven component. With the larger clearance radius of the rotating pair，the smaller the amplitude of the vibration of the acceleration and contact force of the driven component，the larger the oscillation frequency.关键词：Crank-group driving mechanism;Dynamics;Clearance
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发布时间：2022-11-10 - 摘要：Aiming at the topology optimization problem of rigid robot hand connecting rod considering dynamic load conditions，a comprehensive topology superposition method similar to equivalent static load technology is proposed. In this method，a single optimal topology corresponding to different angular positions is superimposed，so as to have better comprehensive effect at all angular positions. Then normalization and re-punishment are carried out to obtain the required volume fraction. In addition，image processing technology is used for post-processing to reduce stress value and geometric complexity. The performance of the integrated topology obtained is evaluated by theoretical simulation，and verified by taking the rigid link of 3-DOF industrial manipulator as an example. The results show that when the volume fraction is reduced by 30%，the joint torque can be reduced by 24.9%，and the deflection and stress are better. Compared with any single optimized topology，the deflection and stress of the integrated topology are reduced by 10%~25%.关键词：Industrial manipulator;Topology optimization;Rigid connecting rod;Equivalent static load;Dynamic load
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发布时间：2022-11-10 - 摘要：In order to clarify the influence mechanism of trapped-oil on output torque and speed of gear motor and its ripple minimization strategy，from its special trapped-oil characteristics analysis and two aspects of double tooth meshing and single tooth meshing，the proprietary calculation formula between partitions of output torque is established. Then from pressure difference energy of injected medium is equal to power energy of motor output，the proprietary calculation formula between partitions of output speed is established. Finally，according to the special meshing position of maximum and minimum torque，the axial double-pairs structure with minimum ripple is given. The results show that，trapped-oil phenomenon of gear motor is relatively mild，conventional double rectangular relief groove is suitable for relieving trapped-oil pressure. The tooth number is the biggest factor affecting torque and speed ripple，the ripple coefficients of torque and speed under the tooth number of 10 are 0.26 and 0.3，the idling motor gear is advantageous to double-pairs structure to minimize output torque and speed ripple，and following improvement rates are 61.5% and 65.3%，respectively，etc. It is concluded that lightweight through fewer teeth and ultra-low ripple through axis double-pairs with dislocation meshing can be perfectly fulfilled，which provides the basis for the further research and development of high quality gear motor.关键词：Gear motor;Trapped-oil phenomenon;Output torque;Output speed;Ripple minimization;Double gear pair
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发布时间：2022-11-10
Theory·Reserach
- 摘要：Combining the advantages of the foot robot and the wheeled robot，a wheel-foot hybrid walking robot configuration based on 2 (6-UPUR+3P) hybrid legs is proposed，and the kinematics modeling and simulation analysis of the robot are carried out. Based on the spiral theory，a six-dimensional motion spiral system of a single branch of the parallel leg of the robot is established. Based on this，the first-order influence coefficient matrix is obtained，and then the kinematics model of the 6-UPUR parallel leg is derived. A robot body posture adjustment algorithm is proposed to improve the motion stability of the robot body in a static walking gait. The correctness of the kinematics model obtained from the comparison of Matlab and Adams simulation is verified respectively，and the effectiveness of the body posture adjustment strategy is verified by the Adams/Simulink cosimulation，which lays the foundation for the further design of the wheel-foot hybrid walking robot control system.关键词：Wheel-foot hybrid walking robot;Kinematics;Spiral theory;Influence coefficient method;Posture adjustment
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发布时间：2022-11-10 - 摘要：To realize electric opening and electric lock with a single-motor drive in vehicle door latch，a double-layer compliant intermittent mechanism that can cooperate the movement of electric opening and electric safety branch chains is constructed，based on the characteristic that the elastic force of the constant force spring does not change with the change of the stroke. The forward driving pin-unit is supported by a lever support rigidized driving pin to move the type face turntable disk. The reverse driving pin-unit，the driving pin is disengaged from the support-level by the resistance of the turntable disk torsion spring，the driving pin rotates around the center and slides on the surface of the turntable disk. The mechanism has multiple movement modes including initial-support-maintenance，rigid-support-driving and compliant-avoidance adapted to the disk profile. Multi-mode switching of double-layer compliant intermittent mechanism can be realized by clockwise and anticlockwise rotation. The mechanism is simulated in the narrow space of the door latch，to realize the definite and reset movement of electric opening and lock mechanism under multi-working conditions. Comparing the contact force between the driving pin and the turntable disk，the maximum value is smaller and the change range is stable when using constant force spring，which realizes adaptability with other branch chains. The results show that，the mechanism can realize unlock in 30.8 ms，sequence unlock and electric opening in 97 ms，independent lock can be realized in 68.9 ms.关键词：Vehicle door latch;Compliant pair;Multi-mode mechanism;Dynamics simulation
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发布时间：2022-11-10 - 摘要：In order to realize the monitoring and maintenance of the internal environment of the pipeline，a cam-linkage mechanism is designed as a multi-legged pipeline robot，and the motion analysis and mechanism improvement of the single-leg mechanism are carried out，so as to improve the shortcomings of the initial connecting rod mechanism，such as low motion precision and large inertia force. The mechanism scheme is theoretically modeled，and then the motion analysis of the mechanism is carried out by using the method of the joint simulation of 3D modeling software SolidWorks and motion analysis software Adams. The mechanism is improved by changing relevant parameters of the mechanism. Through comparative analysis，it can be seen that the cam-linkage scheme has more advantages than the initial scheme. Change the size of the cam，the foot of the mechanism in the normal direction of the displacement of the greater，the foot will be lifted higher，and the same time can walk a longer distance. The results also show that the cam-linkage mechanism has less inertia force and impact，more stable operation，and easy to realize specific motion law.关键词：Pipeline robot;Cam;SolidWorks;Adams
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发布时间：2022-11-10 - 摘要：The driving linkage of single-crank and bi-rocker in plate turnover machine is essentially two crank-rocker linkages of centric type together with a driving shaft，in which two cranks have a phase difference. The working principle of the driving mechanism is analyzed and its accurate description of synthesis problem，which is synthesizing a crank-rocker mechanism of centric type according to allowable transmission angle，when the frame length and the swinging angle of rocker are given. The analytic relation of these mechanisms between the minimum transmission angle and the link lengths，the swinging angle of rocker is derived，the changing trends of the link lengths and the maximum length ratio when minimum transmission angle approaches its supremum is also analyzed. Furthermore，the analytic method is built to synthesize a crank-rocker mechanism of centric type according to permissible transmission angle. A case for synthesizing the driving linkage in plate turnover machine is given，and then the correctness and feasibility of the synthesis method of the results of performance parameter analysis are verified.关键词：Plate turnover machine;Crank and rocker mechanism;Centric type;Transmission angle;Analytic method
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发布时间：2022-11-10 - 摘要：Aiming at less space occupation，efficient driving and high-end multi-function of the door latch release branch chain，the type synthesis of single loop spatial mechanism is carried out，and the RRRSR mechanism which could realize power release is obtained. In order to meet the requirements of manual release motion compatibility of the power release branch chain，the RRSSR underactuated mechanism is obtained by reducing the kinematic pair constraints of RRRSR mechanism，which make the mechanism have the motion compatibility with other branch chains. By adding a torsion spring force constraint to the kinematic pair of the mechanism，the flexibility and stability of the mechanism are ensured. The dimension of equation variables is reduced by projection in a specific direction，and the kinematic equation variables of the spatial RRRSR mechanism are minimized，and the relationship between input angle and output angle is obtained analytically. The Adams simulation results show that the RRSSR underactuated mechanism with force constraint can not only complete the power release process，but also has the motion compatibility adaptability under the condition of manual release.关键词：Vehicle door latch;Type synthesis of spatial mechanism;Underactuated mechanism;Dynamics simulation
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发布时间：2022-11-10 - 摘要：The design of the existing pipe-climbing robot often focused on adaptability，obstacle climbing ability and load capacity，which cannot meet the comprehensive requirements of all aspects of performance in the actual operation. Therefore，based on the bionics theory and the metamorphic theory，a new kind of pipe-climbing robot is designed，which has the performance of adaptability，obstacle climbing ability and load capacity. The static models of the metamorphic grippers and the robot are established，and the gripper force and the friction force of the foot are analyzed under three conditions. The gait of climb in the vertical pipe robot climbing and flip movement is designed，and based on the Adams，pipe-climbing robot kinematics and dynamics simulation are analyzed. The clamping force and the friction force in the process of climbing pipe change rule is obtained. And the stability of the robot in the line movement is realized. Therefore the correctness of the structure design and mechanics model of the robot is verified.关键词：Metamorphic gripper;Pipe-climbing robot;Mechanical analysis;Motion stability
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发布时间：2022-11-10 - 摘要：The single-leg of quadruped robot is the main support unit of the whole robot，and it is also the motion unit of the bottom layer of quadruped robot. Therefore，the design of single-leg will directly affect the movement ability of quadruped robot. Aiming at the Trot gait characteristics of quadruped robot，a new type of single-leg structure adapted to Trot gait is designed，the structure of the new single-leg is optimized from the perspective of size optimization. The numerical results show that the optimized single-leg improves significantly in two aspects，such as increasing the working space and reducing the driving torque，which can be integrated into the whole quadruped robot system as the bottom structure，and also provide some references for the whole quadruped robot structure design.关键词：Quadruped robot;Single-leg;Structure design;Size optimization
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发布时间：2022-11-10 - 摘要：In order to meet the requirements of kinematic characteristics of driven gear，a design method of uniform non-circular gear is proposed. Based on the concept of uniform non-circular gear，the pitch curve equation is derived on the basis of velocity curve and acceleration curve，and the calculation model of gear section length and center distance is established. Taking type I uniform non-circular gear as an example，the design method of uniform non-circular gear transmission is proposed. The shape of angular velocity and angular acceleration curve of driven gear is simulated and analyzed by using Adams software，and the effectiveness of the design scheme is verified. The characteristics of pressure angle，undercutting and meshing coefficient are analyzed. The results show that，the proposed design method can realize the flexible control of pitch curve shape by changing the parameters of given speed curve and acceleration curve.关键词：Gear transmission;Uniform non-circular gear;Design method;Transmission characteristic
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发布时间：2022-11-10
Design· Calculation
- 摘要：Clearance joint and connecting rod flexibility are main factors that affect the dynamics performance of mechanism，which determine the reliability of mechanism operation. Crank and connecting rod mechanism as the object，the Lagrange multiplier method is used to establish the dynamics model of coupling connecting rod joint clearance and connecting rod flexible action. On this basis，the influence of clearance size，connecting rod flexibility and their coupling on the mechanism dynamics output response is systematically studied. The results show that，within the same cycle，the collisions are mainly concentrated in the early stage of the campaign close to the two sides of the crank，the connecting rod clearance increases，the collision between articulated components intensify，the oscillation amplitude of impact force and the embedding depth of increase obviously，and the stability of the axis trajectory is reduced，and the appropriate component flexible processing can reduce collisions caused by clearance joint.关键词：Crank and connecting rod mechanism;Clearance;Connecting rod flexibility;Dynamics analysis
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发布时间：2022-11-10 - 摘要：In order to study the influence of different base oils on the lubrication of planar double enveloping hourglass worm drive，running in test is carried out. It is found that，when using polyethylene glycol synthetic oil，the transmission efficiency increases by 4.5% and the temperature rise is 15 ℃ lower than that of poly-alpha-olefins synthetic oil. When mineral oil is used，the transmission efficiency will be reduced by about 10%，and the temperature rise will increase by more than 58 ℃. Polyethylene glycol synthetic oil has the better performance for long-term continuous working plane double enveloping hourglass worm reducer. Mineral oil is only suitable for discontinuous operation and low load applications. When heat dissipation measures are taken，poly-alpha-olefins synthetic oil can be used. Further research shows that the minimum film thickness is not enough to fully reflect the difference of transmission efficiency and temperature rise caused by different base oils，but it can be used to evaluate the lubrication state.关键词：Hourglass worm;Base oil;Transmission efficiency;Temperature rise;Minimum film thickness
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发布时间：2022-11-10 - 摘要：Chain drive has wide applications in engineering field. The wear failure of chain plate in the chain will lead to the decrease of fatigue strength and life，so it is important to analyze the wear reliability of the chain plate. Based on the Archard model，the reliability calculation model of the wear depth of the chain plate is established，the wear reliability and sensitivity analysis method of the chain plate is proposed，and the case analysis of the wear reliability of the chain plate in the leaf chain motion mechanism is carried out. The results show that distributed parameters of different random variables have different influence on failure probability. The sliding distance has the greatest influence on the failure probability of the chain plate. The wear allowance，material hardness and contact stress have great influence on the failure probability of the chain plate，and the wear coefficient has relatively little effect on the failure probability of the chain plate. The mean of the wear allowance and material hardness have negative effect on the failure probability of the chain plate，but other distributed parameters have positive effect on the failure probability of the chain plate.关键词：Chain;Wear;Reliability;Archard model
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发布时间：2022-11-10 - 摘要：In order to study the influence of random manufacturing error on the vibration characteristics of differential gear drive system of a new energy vehicle，the Lagrange energy method is used to establish the bending torsion shaft coupling vibration dynamic model of differential gear drive under multi-source time-varying excitation. The base pitch error and tooth profile error of the gear system are regarded as random variables，which are described by the random variables following the normal distribution law，and the dynamics analysis of the differential reducer transmission system is carried out by using the numerical simulation software. The results show that with the increase of random manufacturing error dispersion，the axial vibration amplitude of gear pair increases gradually，but the radial vibration of gear pair has no obvious change.关键词：Differential reducer;Random manufacturing error;Excitation;System dynamics
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发布时间：2022-11-10 - 摘要：For the aero-spiral bevel gears，the temperature of flank surface will be greatly increased in the high speed and heavy load conditions. It is necessary to consider the modal condition with the temperature field in designing early. Based on the traditional linear modal theory，the modal analysis model of aero-spiral bevel gears is established，what is considering the influence of rotational speed and temperature field on the stiffness. According to the model，the modal analysis of a driven gear of an aero-spiral bevel gear is carried out. The results show that the speed has a great influence on the stiffness of the gear，and which is not necessarily negative，and the uneven distribution of temperature field also affects the results of the modal analysis. The pitch diameter vibration mode is the main mode what is affected by the speed and temperature field.关键词：Aero-spiral bevel gear;Modal analysis;Temperature field
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发布时间：2022-11-10 - 摘要：In order to study the advantages of the annular groove of the tile surface on the bearing performance of the thrust sliding bearing，based on the theory of computational fluid dynamics (CFD)，the oil film analysis model of the inclined plane thrust sliding bearing with the annular groove is established. The law of influence of depth and width on the bearing performance of annular groove inclined plane thrust sliding bearing. The results show that the bearing capacity and peak oil film pressure of the thrust bearing increase first and then decrease with the increase in the proportion of the annular groove in the plane area，and as the proportion of the annular groove increases，the bearing temperature gradually decreases. When the width of the annular groove is constant，the increase of the depth makes the oil film pressure distribution of the thrust sliding bearing change obviously，and the bearing capacity shows a change law that first increases and then decreases，the depth of the annular groove remains unchanged，and the bearing capacity increases with the increase of the width of the annular groove Increase，adding a specific annular groove structure on the inclined plane thrust sliding bearing pad surface is beneficial to improve the bearing performance.关键词：CFD;Annular groove;Thrust journal bearing;Bearing capability
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发布时间：2022-11-10
Test·Analysis
- 摘要：In the actual working condition，the fault samples of wind turbine gearbox are mostly unbalanced. In order to overcome the influence of sample imbalance on the diagnosis effect，a fault diagnosis method of wind turbine gearbox based on LSGAN and VMD-MPE-KELM is proposed. Firstly，LSGAN algorithm is used to generate and process a few kinds of fault samples. The generated data with original sample characteristics is expanded to make its distribution balanced. The VMD method is used to decompose the vibration signals of all kinds of faults in the sample set，and the MPE value of each modal component is calculated to extract the signal features. Then，KPCA method is used to reduce the dimension to obtain the feature vector of fault samples，which is substituted into KELM model for diagnosis. The experimental results show that LSGAN algorithm overcomes the problems of GAN gradient disappearance，unstable training and poor data quality in generating fault samples. The VMD-MPE-KPCA method can effectively extract fault features. This method effectively improves the diagnosis accuracy of unbalanced gearbox fault samples.关键词：Variational mode decomposition;LSGAN;Gearbox;MPE;Fault diagnosis
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发布时间：2022-11-10 - 摘要：By using Hypermesh to mesh the harmonic reducer and utilizing Abaqus to complete its transient analysis. Based on the results of transient analysis，the position of the dangerous point of the flexspline is determined，a method of extracting and synthesizing the stress spectrum of the dangerous point of the flexspline is proposed. By counting the rain flow of the stress spectrum，combining the modified P-S-N curve and Miner theory，the life of the flexspline of the harmonic reducer is predicted. The predicted result agrees with the life of domestic harmonic reducer products. This work will provide a reference for the quantitative evaluation of the fatigue performance of the flexspline of the harmonic reducer.关键词：Flexspline;Transient analysis;Stress spectrum;P-S-N curve;Life prediction
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发布时间：2022-11-10 - 摘要：Based on the motion principle of guide bar mechanism，a spinning forming method of cylindrical parts with quadrilateral fillet section is proposed. Based on this principle and using the transformation method of high pair and low generation，the accurate mathematical model of the spinning wheel motion track in the spinning process of the cylinder with four corner fillet section is established，and the mechanism motion relationship of the spinning wheel and the parts is obtained. At the same time，the movement track of the spinning wheel in the forming process is simulated and calculated，and the influence of the spinning wheel number and wheel size on the spinning forming process is analyzed，and the wheel size and the number of the spinning wheel in the forming process which are conducive to the forming quality of the parts and improve the speed fluctuation of the wheel disc are obtained，which provides a theoretical basis for the research on the processing technology of the quadrilateral fillet shaped cylindrical parts.关键词：Spinning forming method;Cylindrical parts with quadrilateral fillet section;High pair with low pair;Path of the spinning wheel
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发布时间：2022-11-10 - 摘要：In view of the problem of ambiguity in the frequency spectrum of the vibration signal of the wind power gearbox under variable working conditions，and the traditional time-domain synchronous averaging method，the key phase signal and speed stability requirements are required. A time-domain synchronous averaging method that can track the instantaneous frequency of variable-speed vibration signals without key phase signals is proposed. This method uses non-linear short-time Fourier transform（NLSTFT） to obtain the instantaneous frequency curve of the variable speed gearbox vibration signal，and integrates to obtain the instantaneous phase curve. Resample the original signal in the angular domain according to the instantaneous phase to obtain the order signal. Finally，the order signal is processed by TSA for gear fault diagnosis. Based on the measured data of the gearbox of a unit，the validity and engineering practicability of the proposed method in the fault diagnosis of wind power gearbox are effectively verified.关键词：Non-linear short-time Fourier transform;Instantaneous frequency;Gearbox;Angular domain resampling;Time-domain synchronization average;Fault diagnosis
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发布时间：2022-11-10
Development·Application
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