采用NURBS曲线的钢球减速器的型线设计研究

王娟娟; 平雪良; 周忠良; 蒋路明

doi:10.13433/j.cnki.1003-8728.20200258

采用NURBS曲线的钢球减速器的型线设计研究

doi: 10.13433/j.cnki.1003-8728.20200258

1.
江南大学机械工程学院江苏省食品先进制造装备技术重点实验室, 江苏无锡 214122
2.
森力茂(无锡)智能科技有限公司, 江苏无锡 214176

基金项目:

江苏省研究生科研与实践创新计划项目 KYCX191879

详细信息

作者简介:
王娟娟(1996-), 硕士研究生, 研究方向为机电一体化, 1251991560@qq.com

通讯作者:
平雪良, 教授, 博士, ping@jiangnan.edu.cn

中图分类号: TH132
计量
- 文章访问数: 67
- HTML全文浏览量: 12
- PDF下载量: 18
- 被引次数: 0
出版历程
- 收稿日期: 2020-01-04
- 刊出日期: 2021-12-05

Research on Profile Design of Cycloid Steel Ball Reducer using NURBS Curve

1.
Jiangsu Province Key Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Jiangnan University, Wuxi 214122, Jiangsu, China
2.
Senlimao (Wuxi) Intelligent Technology Co., Ltd., Jiangsu Wuxi 214176, Jiangsu, China

摘要

摘要: 摆线钢球减速器在摆线盘型线设计与优化过程中对型线的自由度与可控性要求越来越高，由此本文提出了将NURBS曲线应用到减速器摆线盘的型线设计过程中，深入研究基于NURBS的摆线型线，通过对已知摆线型线进行采样，获取样本点，反求控制点、权因子、节点矢量，得到符合精度要求的拟合型线，并以此型线完成虚拟样机与试验样机的设计，仿真与实验结果显示NURBS曲线表示方法可以保证摆线钢球减速器的传动精度，为进一步提高摆线盘型线设计的灵活性与局部可调整性奠定了基础，并验证了减速器样机的传动误差和噪音等性能明显优于传统的行星减速器。
- 摆线钢球减速器 /
- 型线设计 /
- NURBS曲线 /
- 性能
Abstract: Higher requirements for the degree of freedom and controllability of the profile in the process of designing and optimizing the profile of the cycloidal disc have been proposed. Therefore, the NURBS curve is proposed to be applied in the profile design process of the reducer cycloid disc in this study. After in-depth study of the cycloid profile using NURBS, by sampling the known cycloid profile, obtaining sample points, inversely finding the control points, weight factors and node vectors to obtain a fitted profile that meets the accuracy requirements, the design of virtual prototype and test prototype are completed with this profile. Simulation and experimental results show that the NURBS curve representation method can ensure the transmission accuracy of the cycloid steel ball reducer, which has laid a foundation for further improving the flexibility and local adjustability of the cycloid plate design. It is verified that the transmission error and noise performance of the reducer prototype is obviously superior to the traditional planetary reducers.
- cycloid steel ball reducer /
- profile design /
- NURBS curve /
- performance

HTML全文

图 1 摆线钢球减速器结构图

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图 2 摆线形成原理图

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图 3 NURBS曲线设计流程

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图 4 NURBS曲线拟合型线的误差图

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图 5 NURBS型线法摆线盘模型

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图 6 虚拟样机角速度仿真结果

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图 7 传动误差

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图 8 传动误差测试平台

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图 9 实验测试结果

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图 10 噪音检测试验

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表 1 摆线设计计算公式

参数	计算公式
钢球数n_b	传动比确定
偏心距A	传递功率和机型
钢球直径d_b	传递功率和机型
外摆基圆半径r_e	r_e=R_bn_e/n_b
内摆基圆半径r_h	r_h=R_bn_h/n_b
滚圆半径r₀	r₀=R_b/n_b
钢球分布圆半径r_s	r_s=n_br₀
外摆线波数n_e	n_e=n_b+1
内摆线波数n_h	n_h=n_b+1
短幅系数K	k=An_b/(2R_b)
球径系数K₂	K₂=[d_zsin(π/n_b)]/d_b

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表 2 摆线盘型线设计参数

钢球数	偏心距	钢球半径	短幅系数	滚圆半径
21	1.4	3.5	0.894 25	1.118 25

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表 3 摆线方程法传动误差分析

速度	最小值/arc min	最大值/arc min	平均值/arc min
1 000 d	0.796	1.125	1.024 5
500 d	0.875	1.115	1.035 7
100 d	0.915	1.070	1.022 9

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表 4 NURBS型线法传动误差分析

速度	最小值/arc min	最大值/arc min	平均值/arc min
1 000 d	0.875	1.085	1.021 6
500 d	0.955	1.124	1.036 5
100 d	0.942	1.069	1.026 8

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表 5 不同品牌行星减速器性能对比

品牌	减速比	误差/arc min	噪音值/dB
台湾精工	1∶10	精密≤3 标准≤8	≤65
纽格特	1∶10	7~10	≤60
样机	1∶10	1.049	47.6

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