最新刊期
期 10 ， 2022
- 摘要：By reasonably simplifying the three-dimensional model of the gearbox of the nuclear power circulating pump, a moving particle semi-implicit method is used to simulate the forced oil injection lubrication flow field of the nuclear power gearbox. The movement state of the complex flow field inside the gearbox is accurately and quickly obtained. The effects of the injection angle, the oil supply force and other injection parameters on the oil flow characteristics in the gearbox are studied; the parameter changes of oil particles near the inner and outer meshing areas and the influence mechanism of oil distribution on the lubrication behavior of planetary gears are analyzed. Results show that high-speed particles are concentrated in the outer meshing region, while the low-speed particles are mainly distributed on the surface of the ring gear and the inner meshing region. The effects of injection parameters on particle fluidity in inner and outer meshing regions are different. The optimization design of forced lubrication shall take into consideration of the lubrication characteristics of different areas.关键词：Nuclear power gearbox;Injection lubrication;Moving particle simulation;Flow field analysis
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发布时间：2022-11-05 -
Fault Diagnosis Method of Planetary Gearboxes Based on LMD Permutation Entropy and BP Neural Network
摘要：In view of the problems of poor discrimination of fault feature vectors extracted in the process of fault diagnosis of planetary gearboxes and insufficient diagnosis success rate, a method based on Local Mean Decomposition（LMD） permutation entropy and BP neural network is proposed. Through the LMD decomposition of the original signal, the PF components containing the main information are obtained, and the permutation entropy values are calculated to construct the feature vector. The extracted feature vectors are used to train the BP neural network and complete the failure pattern recognition test. Taking the EMD permutation entropy method and the non-dimensional analysis method as the comparison groups, the experiment proves that the feature vectors extracted from different working conditions with this method are more distinguishable, and the fault diagnosis effect is better. Moreover, this method shows better comprehensive performance when the number of training groups changes.关键词：Planetary gearbox;Fault diagnosis;Local mean decomposition;Permutation entropy;BP neural network- 12
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发布时间：2022-11-05 - 摘要：Aiming at the waste of resources caused by the bearing reaching the service time and still meeting the service conditions, a bearing remaining service life prediction method based on CNN-LSTM is proposed. Firstly, a high-speed railway traction motor bearing which has completed service but is still healthy is selected as the research object, the test platform is built and the bearing vibration signal is collected; secondly, a network model of CNN-LSTM is established; then, the collected vibration signal is input into the network model after Fourier transform, and its deep features are mined; finally, the remaining service life is predicted through the prediction module. The results show that the predicted value obtained by the proposed method is closer to the true value, which can well reflect the performance degradation trend of the bearing in operation.关键词：Rolling bearing;CNN-LSTM;Remaining service life prediction;Long and short term memory network
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发布时间：2022-11-05 - 摘要：Aiming at the problem that it is difficult to identify the composite fault characteristics of gearboxes in the case of small samples, a local mean decomposition(LMD) gearbox fault diagnosis method based on energy entropy is proposed. The LMD method is used to process the gearbox vibration signal to obtain several PF components；the dispersion value of component energy in the frequency domain is calculated using the uneven distribution of gearbox vibration signals in different states, which is the LMD energy entropy; the gearbox fault classification is carried out through the distribution of LMD energy entropy in different states. The experimental results show that in the case of small samples, the feature extraction and fault diagnosis of gearbox fault types can be accurately carried out based on the LMD energy entropy method, which also shows the superiority of this method in gearbox fault diagnosis.关键词：Gearbox;Local mean decomposition;Energy entropy;Fault diagnosis
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发布时间：2022-11-05 - 摘要：Before processing tooth modification profile using NC machine, it is usually necessary to process a specific trimming tool, which increases the cost of the tool. Thus, the theory of how to generate modification profile of tooth based on standard rack tools is studied. Based on the tooth profile modification equation and tooth contact analysis theory, the transmission error equations between rack cutters and gears in the modification process, involute meshing stage and transition stage of empty meshing are deduced, and the position and speed control equations of rack cutters in the NC machining process are given. The simulated tooth profile parameters coincide highly with the ideal design value of tooth profile. The tooth profile modification method proposed can effectively guide the NC machined gear tooth modification profile with the rack tool.关键词：Gear;NC machining;Profile modification;Transmission error;Theory of tooth contact analysis
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发布时间：2022-11-05 - 摘要：Fatigue cracking of the flexspline is an important cause of the decrease in accuracy and equipment reliability of the harmonic reducer. A model of harmonic reducer is taken as the research object, and an equivalent model of the flexspline is established based on the theory of shell moment to determine the parameters of stress concentration in the flexspline. Through finite element simulation, the location of the maximum stress node of the flexspline is obtained, and tiny angular cracks are introduced. By analyzing the crack tip stress field parameters, the ability and trend of the flexspline crack expansion are described. Based on the maximum principal stress damage evolution criterion, the differential behavior of crack expansion is simulated by the extended finite element method (XFEM), and an accelerated life experiment bench is built to verify the correctness of the extended finite element model. The results show that the crack expansion path matches with the finite element results; the stress concentration at the root of the flexspline teeth and the junction of the barrel and flange is prone to fatigue cracking most; the crack expansion path is affected by the incremental step and stress distribution； the stress distribution varies with the degree of crack expansion, causing a bias in the expansion path.关键词：Harmonic reducer;Flexspline;XFEM;Crack propagation
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发布时间：2022-11-05
Theory·Research
- 摘要：Aiming at the problem of rehabilitation training for hemiplegic patients with upper limb motor dysfunction caused by stroke, a fully-actuated five degrees of freedom upper limb exoskeleton rehabilitation robot for shoulder joint is designed. Firstly, based on the principles of ergonomics and rehabilitation medicine, the degree of freedom of the upper limbs and the range of motion of each joint are determined, and the structure of the upper limb rehabilitation robot is designed. Secondly, the kinematics model of the upper limb rehabilitation robot is established and the kinematics equation is derived. Finally, the kinematics simulation analysis and work space analysis of the designed upper limb rehabilitation robot are carried out, and the two motion forms of shoulder joint adduction/abduction are compared and analyzed. The simulation results show that the joint movement is stable, the torque fluctuation is small, the robot has no excessive impact on the arm, the time for the robot to perform shoulder joint adduction/abduction movement is reduced, the rationality of the design of the upper limb rehabilitation robot and the convenience of the rehabilitation process are verified.关键词：Upper limb exoskeleton;Rehabilitation robot;Shoulder joint;Structural design;Simulation
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发布时间：2022-11-05 - 摘要：In order to optimize the spatial position of each component of the steel plant bundled bar labeling robot system and improve its work efficiency, the motion of the industrial robot in the system is analyzed, the robot kinematics model is established by the D-H parameter method, the analytical solution of the inverse kinematics of the robot is solved by the separated variable method, and the spatial coordinates of the industrial robot and the label printer are taken as the design variables. Taking the shortest total stroke of the robot labeling process as the optimization goal of the placement position of the industrial robot and label printer, an improved particle swarm optimization algorithm is used for optimization calculation to obtain the optimal spatial position of the industrial robot and label printer, which improves the work efficiency of the labeling robot system, and has guiding significance for the practical application of the system.关键词：Labeling robot;Position optimization;Kinematic analysis;Monte Carlo method;Improved particle swarm algorithm
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发布时间：2022-11-05 - 摘要：The dynamic characteristics of face-gear transmission system directly affect the stability and reliability of the equipment. In order to reveal the dynamics and dynamic characteristics of face-gear in the transmission process, a nonlinear dynamic model of bending, torsion and pendulum of face-gear transmission system considering multi-state engagement is established. The changes of the load distribution rate and dynamic meshing force in three engaging states are calculated numerically. Three different Poincaré maps are defined, and the influence of load on the engaging force and dynamic characteristics of the system is analyzed by combining bifurcation diagram, maximum Lyapunov exponent spectrum, phase diagram and time history diagram of dynamic engaging force. The results show that with the change of parameters and the occurrence of single and double teeth alternate engagement, complex phenomena such as disengagement, tooth surface engagement and tooth back contact will occur in the process of face-gear transmission. The research can provide a theoretical basis for improving the smoothness of face-gear transmission process.关键词：Face-gear transmission system;Multi-state engagement;Dynamic engaging force;Stability
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发布时间：2022-11-05 - 摘要：In view of the real-time control problem caused by the strong coupling of input/output of the parallel mechanism, a three translation parallel mechanism with zero coupling degree is proposed according to the topological design theory and method of parallel mechanism of orientation feature position and orientation characteristic(POC) equation. The mechanism is composed of two CPR and one UPU branch chain, which has the characteristics of analytical position positive solution, low coupling degree, good flexibility of motion and large working space. The main topological characteristics such as azimuth feature set, freedom degree and coupling degree are calculated respectively. The motion constraint equation is established and the analytic expressions of input and output positions of the mechanism are obtained. The conditions of odd shape occurrence are studied, and the performance indexes such as dexterity of reciprocal of Jacobian matrix condition number and operation space at the end of dynamic platform are analyzed. Finally, the global dexterity of the mechanism is taken as the target of configuration optimization and the optimization of size parameters is carried out by the grasshopper optimization algorithm(GOA). It provides theoretical reference for the structural design and high precision position control of the parallel mechanism.关键词：Parallel mechanism;Three translation;Coupling degree;Workspace;Dexterity;GOA
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发布时间：2022-11-05 - 摘要：According to the needs of the urban rail train connection between the drive motor and gearbox, a toothed coupling for urban rail trains is designed. During the design process, the structure of the toothed coupling, gear geometry parameters, the sealing structure, theoretical calculation of tooth flank backlash, the space motion analysis and so on are studied. Through the establishment of a three-dimensional model of the toothed coupling and based on the calculation software of Ansys, a finite element analysis of three operating conditions of the toothed coupling and the calculation and analysis of gear strength using ZGCAD gear software are carried out, a prototype of toothed coupling is designed and manufactured, and the periodic cycle test of the prototype is carried out. The research results can provide reference for the design of toothed coupling in other fields.关键词：Toothed coupling;Structural design;Seal design;Finite element analysis;Prototype test
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发布时间：2022-11-05
Design· Calculation
- 摘要：As the core component of robots, the robot joint is mainly composed of drive control system and multi-stage gear transmission system. Under high speed and high load, the dynamic characteristics of gear transmission system are more complex. Taking the gear transmission system in the robot joint as the research object, the translation torsion coupling dynamic model is established by using the lumped parameter method, and the dynamic equations of each component are established according to Newton's second law. Therefore, the natural frequency, modal strain energy and modal kinetic energy of the system are analyzed, and the influence of system parameters on natural frequency is studied. The results show that for the modal energy of the system, the total strain energy is the largest at the 15th natural frequency, the overall deformation of the system is the largest, the total kinetic energy is the largest at the 24th natural frequency, and the vibration of the system is the most intense at this natural frequency; the influence of system parameters on natural frequency is mainly reflected in that higher-order natural frequency is obviously affected; affected by the change of system stiffness, some natural frequency trajectory curves gradually approach, and will quickly separate with large curvature near a certain point, resulting in modal transition. When the frequencies are similar, they will transition again.关键词：Robot joint;Inherent characteristics;Modal energy;Natural frequency;Modal transition
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发布时间：2022-11-05 - 摘要：Tooth surface equations of a curvilinear cylindrical gear with parabolic modification are derived based on the gear meshing theory. The solving method of the initial contact position of the gear finite element model is studied, a finite element model of the gear pair is established using the parameterized finite element technology, and the loaded transmission error is extracted from the finite element analysis results. With more than 20 sets of calculation examples, the effects of assembly errors, modification amount, curvature radius of the cutter, and offset of modification curve on loaded transmission errors are studied, respectively. The research results show that, assembly errors can reduce the fluctuation range of loaded transmission errors; larger modification amount can reduce the fluctuation range of loaded transmission errors; larger curvature radius of the cutter can reduce the value of loaded transmission errors and its fluctuation range; the offset of the modification curve has slight effect on loaded transmission errors. In summary, the use of a larger curvature radius of the cutter can be used to machine curvilinear cylindrical gears with better transmission performance.关键词：Curvilinear cylindrical gear;Assembly error;Tooth surface modification;Loaded transmission error;Finite element method;Mathematical model
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发布时间：2022-11-05 - 摘要：As an important part of large passenger aircraft, the analysis of motion state and motion mode of passenger doors is very important for the design of door function and motion mechanism. From the viewpoint of topological synthesis of robot mechanism, it is proposed for the first time to abstract the opening motion mechanism of a certain type of the sideward opening aircraft door into a parallel mechanism composed of two SS branches and one
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发布时间：2022-11-05 - 摘要：Focusing on optimal profile construction of epicycloid cam rotors for pump, using the bisymmetric method and taking the rolling radius ratio as the structural variables, an equation of inner conjugate curve corresponding to epicycloid is derived; and then the different performance features of the pump under the three specific forms of hypocycloid, straight line segments and fixed-point as inner conjugate curves are analyzed. All results show that the effect of rolling radius ratio on pump performance is rapid in the front and slow in the back; the larger the rolling radius ratio is, the larger the shape factor is; and the better the lightweight effect is, the worse the flow ripple performance is; the special inner straight form provides the best overall performance for lightweight, flow ripple and easy machining; the special inner fixed-point form provides the maximum shape factor and easiest machining under any profile, etc. It is concluded that the inner straight form is an ideal profile structure for epicycloid cam rotors.关键词：Cam rotor;Epicycloid;Rolling radius ratio;Shape factor;Volume utilization factor;Flow ripple factor;Lightweight
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发布时间：2022-11-05 - 摘要：In order to solve the problem that the detection of gear meshing state requires a large number of data samples, a gear meshing state detection method based on phase vibration measurement technology is proposed. This method uses a camera to shoot a gearbox, extracts vibration signals at multiple locations from the captured video, establishes time-frequency domain features for the vibration signals, and finally uses random forest classification to complete the detection. An open gearbox is taken as the object and the accuracy and effectiveness of the proposed method is proved through experiments.关键词：Phase vibration measurement technology;Random forest;Gear meshing state detection
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发布时间：2022-11-05 - 摘要：The meshing mechanical characteristics of crown gear pairs have an important impact on the bearing capacity and transmission performance of crown gear coupling. Based on the conventional crown gear pair structure, a late-model of crown gear pairs with transition gear sleeves is proposed, the meshing mechanical characteristics of crown gear pair are analyzed, and the influence of different inclination angles on the meshing mechanical characteristics of crown gear pairs is discussed. The results show that the maximum equivalent stress and strain of the conventional crown gear pair occurs on the internal gear shaft sleeve, and the maximum equivalent stress and strain of the new crown gear pair occurs on the transition gear sleeve; compared with the conventional gear pair system, the maximum equivalent stress in the new gear pair system is reduced by 32.12%, and the maximum equivalent strain is reduced by 21.4%. The stress concentration of the external gear shaft sleeve of the conventional gear pair occurs at the tooth root, and the stress concentration of the external gear shaft sleeve of the new gear pair occurs at the middle bulge position； compared with the conventional gear pair, the maximum equivalent stress of the external gear sleeve in the new gear pair is reduced by 15.75%. With the increase of the inclination angle between shafts, the maximum equivalent stress and strain in the conventional gear pair increase, while the equivalent stress and strain of the external gear sleeve in the new gear pair is partially transferred to the transition gear sleeve. Therefore, the external gear shaft sleeve in the new structure can still maintain a lower equivalent stress under a larger inclination angle, which can effectively protect the expensive external gear shaft sleeve.关键词：Crown gear pair;Variable inclination angle;Meshing mechanical characteristics;Stress concentration
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发布时间：2022-11-05 - 摘要：In view of the factors affecting the lubrication performance of crankshaft main bearing, an elastohydrodynamic lubrication model of crankshaft main bearing, considering thermal effect, is established. The model takes the external load of bearing, bearing clearance and oil inlet temperature as variables to analyze the maximum oil film pressure, minimum oil film thickness, maximum bearing temperature and maximum friction power loss under different variables. The calculation results show that the thermal effect has a great influence on the crankshaft main bearing. When the external load of the bearing increases, the maximum oil film pressure, minimum oil film thickness and maximum friction power loss will increase; when the bearing clearance becomes smaller, the maximum oil film pressure decreases and the bearing temperature increases; when the oil inlet temperature increases, the maximum oil film pressure increases, the minimum oil film thickness decreases and the maximum friction power loss decreases.关键词：Thermal effect;Crankshaft main bearing;Bearing clearance;Oil inlet temperature;External load
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发布时间：2022-11-05
Test·Analysis
- 摘要：The climbing pinion is an important part of the jacking system of a self-elevating platform and the manufacturing of super-large module climbing pinions belongs to the extreme processing requiring high manufacturing technology. Rough tooth processing, heat treatment process test and finished tooth processing are the key technologies in manufacturing super-large module climbing pinions. The improved oxygen-gas NC flame cutting technology is used for rough teeth, which can make the tooth flank and tooth root after quenching and tempering treatment obtain surface hardness above 330 HB. To study the mechanical properties of climbing pinions after quenching and tempering treatment, the material performance test is performed on the specimens taken from climbing pinion forgings, and the results show that the tensile property and impact energy of the materials meet the mechanical property requirements. NC milling technology is used to process finished teeth of climbing pinions, and the results show that the roughness of tooth surface of climbing pinions can be controlled within Ra=6.3 μm, and the deviation of common normal length can be controlled within 0.2 mm. The manufacturing process and control measures of the above key links ensure that the finished product quality of climbing pinions can meet the technical requirements.关键词：Climbing pinion;Rough tooth processing;Heat treatment process test;Material performance test;Finished tooth processing
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发布时间：2022-11-05 - 摘要：A model for calculating the topological deviation of the actual tooth surface based on the coordinates of the detected cylindrical gear tooth surface points is established. The 3D tooth surface topological deviation map is constructed,and tooth profile deviation curve and helix deviation curve at different positions are obtained by slicing along the direction of tooth length and tooth height. The extraction method of tooth profile deviation and helix deviation is established. The experimental test and analysis results are compared with the report of Gleason 650GMS Gear Measurement Center to verify the accuracy of the method and provide a theoretical basis for the comprehensive evaluation and digital control of tooth surface accuracy.关键词：Cylindrical gear;Tooth profile deviation;Helix deviation;Coordinates of actual tooth surface points;Tooth surface topological deviation
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发布时间：2022-11-05 - 摘要：Crawler combine harvesters are mostly used in paddy field operation in South China. The field operation load is complex and variable, which leads to fatigue fracture and other accidents of gearboxes under the impact of variable loads and seriously affects the trouble-free working time of the whole machine. In order to solve the problem of high fault rate of gearboxes of crawler combine harvesters, the single HST hydro-mechanical differential steering gearbox developed by the team is taken as the test object, this study designs and builds the gearbox assembly fatigue test bench, and then carries out the fatigue test of differential steering gearboxes. The test results show that the test bench can well test the comprehensive working performance and durability of differential steering gearboxes, and has advantages of simple structure, convenient installation, etc. This is of great significance to study the fatigue damage rule of differential steering gearboxes, optimize and improve the mechanical structure of gearboxes and reduce the fault rate of its internal parts in the future.关键词：Combine harvester;Differential steering gearbox;Fatigue test bench;Development
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发布时间：2022-11-05 - 摘要：Cylindrical spur gear pair is a commonly used key transmission part in the modern machinery industry. Root cracks often occur due to the periodic load and fatigue wear of the tooth surface. As a result, the vibration and noise of the gear pair are increased, which seriously affect the working performance of the mechanical system and need to be detected in time. However, there are factors such as random vibration and white noise in the working environment of the gear pair, so that the noise is generated in the vibration spectrum of the gear pair, and the defect frequency is submerged, which is not conducive to the identification of the crack defect of the gear pair. For the vibration signal of the gear pair with crack defects, wavelet transform is used to decompose and reconstruct the signal, and the noise reduction model based on double-tree complex wavelet is established to realize the effective noise reduction of the vibration signal and form a gear pair crack defect detection method. The experiment results show the noise reduction effect of this method is better than the commonly used hard threshold function wavelet noise reduction and the soft threshold function wavelet noise reduction algorithms, the defect type of the gear piar can be judged more accurately using this method and it provides a scientific basis for judging the state of the cylindrical spur gear pair.关键词：Spur gear pair;Root crack defects;Signal noise reduction;Double-tree complex wavelet;Defect diagnosis
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发布时间：2022-11-05 - 摘要：Under the unbalance-bearing coupling fault of the rotor system, the unbalance fault features and bearing faults modulate each other, and the weak fault features are easily submerged by the strong fault features and strong noise components. Thus, a multi-step grid search optimization sparse diagnosis method is proposed to improve the anti-interference ability of sparse representation algorithm by selecting the optimal parameters of sparse representation to reduce the sparse reconstruction error. Firstly, based on the multi-step grid search theory, a multi-step grid search optimization sparse representation method model is established to improve the calculation accuracy. Secondly, the signal reconstruction based on adaptive Gabor atom dictionary orthogonal matching tracking algorithm is realized by optimizing the displacement factor and frequency factor. Finally, the coupling simulation fault data with different SNR are analyzed. The results show that the anti-interference ability of the proposed method increases with the increase of noise interference and different experimental cases further verify the accuracy and applicability of the proposed method.关键词：Rotor system;Coupling fault diagnosis;Sparse representation;Grid search;Parameter optimization
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发布时间：2022-11-05 - 摘要：The fatigue life testing of the precision reducer for industrial robots using the reciprocating swing method can better represent the damage of the reducer in actual work. However, during the reciprocating swing testing, the speed and its direction of the reducer are changing. Therefore, it is difficult to locate the fault source of the reducer by performing spectrum analysis on time domain vibration signal to locate the fault point. Thus, an order tracking analysis method is proposed. By re-sampling the non-stationary vibration signals collected during the reciprocating swing fatigue testing of the planetary cycloid reducer for the robot, the stable angle domain signal of the vibration signal is obtained by equal-angle resampling. The order analysis diagram of the vibration signal is obtained by fast Fourier transform of the stationary signal in the angle domain. At the same time, the order characteristics of the planetary gear, cycloid gear, crankshaft, needle roller and crank bearing of the reducer are analyzed. By establishing the relationship between the order analysis result of the vibration signal of the reducer and the characteristic order of each key component, the fault diagnosis of the planetary cycloid reducer under variable speed experimental conditions is realized. The results show that the order tracking analysis method can help locate the faults under time-varying conditions, and provide guidance and assistance for the rapid location of the failure of the swing fatigue experiment.关键词：Planetary cycloid reducer;Time-varying operating conditions;Order analysis;Fault diagnosis
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发布时间：2022-11-05
Development·Application
- 摘要：Lower limb exoskeleton has always been a hot research direction in the field of exoskeleton development. In the research of lower limb exoskeleton, it can be divided into two driving types, including powered system drive and unpowered passive lower limb exoskeleton. In the powered system driven lower limb exoskeleton, it can be divided into rigid lower limb exoskeleton and flexible lower limb exoskeleton. The research on two different driven types of lower extremity exoskeletons is reviewed in this study. The development status, structure principle, advantages and disadvantages of the equipment are introduced, and their performance and the key technologies that need to be paid attention to in the future research are analyzed.关键词：Lower limb exoskeleton;Powered;Unpowered;Wearable;Key technology
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发布时间：2022-11-05 - 摘要：The decoupling configuration can achieve independent posture output through a specific drive, which can avoid many unnecessary output characteristics of the mechanism. The decoupling mechanism has broad application prospects for fast response time, low energy consumption and simple calibration. The unified type synthesis procedure is proposed through the comparative analysis of various decoupling type synthesis methods. The decoupling of the branch-chain constraint relationship is the key of the decoupling mechanism design. The constraint relation on the spatial direction and position of the kinematic pair axis is proposed. According to the influence of the arrangement order of the kinematic pair in the branch strand chain, the decoupling method is designed. Combined with the application of the decoupling mechanism in industry, precision engineering, medical treatment and bionic institutions, the research direction and application extension field of the decoupling mechanism are pointed out.关键词：Decoupling mechanism;Type synthesis;Constraint relationship;Axis configuration;Decoupling design
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发布时间：2022-11-05
Review
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