1.中车戚墅堰机车车辆工艺研究所有限公司, 江苏 常州 213011
王起梁(1979— ),男,吉林辽源人,工学硕士,高级工程师,主要研究方向为机械传动系统设计与疲劳可靠性。
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王起梁,祝敏,陈馨雯等.考虑针齿位置和半径综合随机误差的摆线针轮啮合力计算方法[J].机械传动,XXXX,XX(XX):76-81.
Wang Qiliang Zhu Min Chen Xinwen Ye Xiaofen Meng Yongshuai Gong Feng.Calculation Method of the Meshing Force of Cycloid Pinwheel with Considering Position and Radius Combined Random Error of Pin[J].Journal of Mechanical Transmission,XXXX,XX(XX):76-81.
王起梁,祝敏,陈馨雯等.考虑针齿位置和半径综合随机误差的摆线针轮啮合力计算方法[J].机械传动,XXXX,XX(XX):76-81. DOI: 10.16578/j.issn.1004.2539.2019.10.015.
Wang Qiliang Zhu Min Chen Xinwen Ye Xiaofen Meng Yongshuai Gong Feng.Calculation Method of the Meshing Force of Cycloid Pinwheel with Considering Position and Radius Combined Random Error of Pin[J].Journal of Mechanical Transmission,XXXX,XX(XX):76-81. DOI: 10.16578/j.issn.1004.2539.2019.10.015.
摆线针轮行星传动是目前工业中常用的一种传动方式。实际加工和装配摆线轮与针轮时,各针齿的位置和半径难以精确为理论值,而是在加工误差范围内波动的随机变量,这会对摆线针轮的实际啮合情况有所影响。啮合力影响着摆线针轮传动的传动精度和平稳性,进而影响传动误差。推导了一种基于赫兹公式来计算摆线针轮传动啮合力的方法,提出在摆线轮与针齿啮合时存在针齿位置和半径的综合随机误差,推导了考虑这种综合随机误差的相对转角计算公式,并进一步结合算例进行了考虑随机误差的啮合力计算,分析了啮合力的变化对传动误差的影响。计算模型对机器人高精密减速器传动精度设计具有借鉴意义。
Cycloidal pinwheel planetary transmission is a kind of transmission method commonly used in industry. It is difficult to accurately process the position and the radius of pins as theoretical values when cycloidal wheels and pin wheels are machined and assembled. They are random variables that fluctuate in the range of machining errors. This will affect the meshing of the cycloidal pinwheel. The meshing force affects the accuracy and stability of cycloidal pinwheel planetary transmission,and then affects transmission error. A method for calculating the meshing force of cycloidal pinwheel based on Hertz formula is presented. It is proposed that there exists a combined random error of position and radius of pins during the meshing of cycloidal gear and pins. The formula for calculating the relative rotation angle considering this random error is deduced. The meshing force with considering the random error is further studied with an example. And the influence of meshing force on transmission error is analyzed. The computational model can be used for reference in the transmission accuracy design of robot high precision reducer.
摆线针轮 啮合力 传动误差 针齿位置 针齿半径
Cycloidal pinwheelMeshing forceTransmission errorPosition of pinRadius of pin
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