工業(yè)機器人專用減速器的設(shè)計【含CAD圖紙】

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編號 無錫太湖學院 畢業(yè)設(shè)計（論文） 相關(guān)資料 題目： 工業(yè)機器人專用減速器的設(shè)計 信機 系 機械工程及自動化專業(yè) 學 號： 　　　 0923229　　　　 學生姓名： 賁素東 指導教師： 　 許菊若 （職稱：副教授 ） （職稱： ） 2013年5月25日 目 錄 一、畢業(yè)設(shè)計（論文）開題報告 二、畢業(yè)設(shè)計（論文）外文資料翻譯及原文 三、學生“畢業(yè)論文（論文）計劃、進度、檢查及落實表” 四、實習鑒定表 無錫太湖學院 畢業(yè)設(shè)計（論文） 開題報告 題目： 工業(yè)機器人專用減速器的設(shè)計 信機 系 機械工程及自動化 專業(yè) 學 號： 0923229 學生姓名： 賁素東 指導教師： 許菊若 （職稱：副教授 ） （職稱： ） 2012年11月25日 課題來源 導師布置的任務 科學依據(jù)（包括課題的科學意義；國內(nèi)外研究概況、水平和發(fā)展趨勢；應用前景等） （1）課題科學意義 減速器是各種機械設(shè)備中最常見的部件,它的作用是將電動機轉(zhuǎn)速減少或增加到機械設(shè)備所需要的轉(zhuǎn)速, 擺線針輪行星減速器由于具有減速比大、體積小、重量輕、效率高等優(yōu)點，在許多情況下可代替二級、三級的普通齒輪減速器和渦輪減速器，所以使用越來越普及，為世界各國所重視。 擺線針輪行星減速器作為重要的機械傳動部件具有體積小、重量輕、傳動效率高的特點。本設(shè)計在全面考慮多齒嚙合、運轉(zhuǎn)平穩(wěn)、輪齒均載等運動學和動力學的要求，實現(xiàn)高承載能力、高傳遞效率、高可靠性和優(yōu)良動力學性能等指標，而且要便于制造、裝配和檢修，設(shè)計了該具有合理結(jié)構(gòu)的擺線針輪行星減速器。 （2）擺線針輪減速器的研究狀況及其發(fā)展前景 擺線針輪傳動較之普通漸開線齒輪或蝸輪傳動的優(yōu)點是：高傳動比和高效率；同軸輸出，結(jié)構(gòu)體積小和重量輕；傳動平穩(wěn)和噪聲低。由于擺線針輪傳動同時嚙合的齒數(shù)要比漸開線外齒輪傳動同時嚙合的齒數(shù)多，因而承載能力較大，嚙合效率要高；還由于擺線輪和針輪的輪齒均可淬硬、精磨，較漸開線少齒差傳動中內(nèi)齒輪的被加工性能要好，齒面硬度更高，因而使用壽命要長；加上擺線輪的加工技術(shù)已經(jīng)過關(guān)，專業(yè)加工設(shè)備齊全，擺線輪已納入專業(yè)通用件，在國內(nèi)已做到通用化批量生產(chǎn)，生產(chǎn)成本下降，因此擺線針輪傳動的減速器當前廣為應用。擺線針輪減速技術(shù)至今，雖在品種、規(guī)格等方面做了不少改進，但再沒有作本質(zhì)、原理上的創(chuàng)新。現(xiàn)今擺線針輪減速器，其原理和結(jié)構(gòu)還是1926年德國的原型。 研究內(nèi)容 ① 了解工業(yè)機器人的總體設(shè)計的相關(guān)內(nèi)容； ② 熟悉擺線針輪行星減速器的各個部分； ③ 熟練擺線針輪行星減速器的傳動比的計算； ④ 掌握擺線輪行星曲線齒廓形成原理； ⑤ 掌握對擺線輪、針輪及其他只要零件尺寸的計算及校核 擬采取的研究方法、技術(shù)路線、實驗方案及可行性分析 （1）技術(shù)路線：電動機的選擇及其基本參數(shù)計算；擺線輪材料的選擇；擺線輪、針輪、銷軸尺寸的計算；根據(jù)所得尺寸對零件進行校核。 （2）研究方法 研究方法：理論計算、校核、計算機繪圖； 研究計劃及預期成果 研究計劃： 2012年11月12日-2012年12月2日：按照任務書要求查閱論文相關(guān) 2012年12月3日-2013年1月20日：專業(yè)實訓。 2013年1月21日-2013年3月1日：按照要求修改畢業(yè)設(shè)計開題報告 2013年3月1日-2013年3月8日：學習并翻譯一篇與畢業(yè)設(shè)計相關(guān)的英文資料 2013年3月11日-2013年3月15日：分析資料，分析比較各種設(shè)計方案。 2013年3月25日-2013年3月29日：總體設(shè)計。 2013年4月8日-2013年4月12日：畢業(yè)論文撰寫和修改工作。 2013年4月29日-2013年5月3日：整理說明書。 2013年5月6日-2013年5月10日：完成設(shè)計說明書。 預期成果： 1.完成工業(yè)機器人專用減速器裝置二套（第二，三臂各一套），繪制擺線針輪 減速器裝配圖（兩份）。 2.完成部分零件圖設(shè)計，繪制零件圖4份。 3.完成設(shè)計說明書一份。 特色或創(chuàng)新之處 傳動比大，結(jié)構(gòu)緊湊，傳動效率高，傳動穩(wěn)定，使用壽命長，與漸開線少齒差行星傳動相比無齒頂相碰和齒廓重疊現(xiàn)象。 已具備的條件和尚需解決的問題 ① 理論設(shè)計較為成熟，生產(chǎn)設(shè)備條件能夠得到滿足，材料的選擇能夠滿足要求。 ② 制造成本高：擺線針輪行星減速器對材料的要求較高，因而增加了制造成本。 加工工藝復雜：加工擺線針輪需要專門的加床，對裝配工藝也有較嚴格的工藝要求。 指導教師意見 指導教師簽名： 年 月 日 教研室（學科組、研究所）意見 教研室主任簽名： 年 月 日 系意見 主管領(lǐng)導簽名： 年 月 日 英文原文 Mineral product monorail reduction gear synopsis、the main parts of the paper and the research on the noice reducer First:what is reducer Reducer is a dynamic communication agencies, the use of gear speed converters, motor rotational speed reducer to the Rotary to be few, and have greater torque institutions. The reducer role 1) velocity at the same time increase the output torque, torque output ratio by motor output by slowdown, but the attention should be paid to exceed the rated torque reducer. 2) the speed at the same time reduce the inertia load, the inertia of deceleration than reduced to the square. We can look at the General Motors has a value of inertia. The type of reducer General helical gear reducer has reducer (including parallel shaft helical gear reducer, a worm reducer, bevel gear reducer, etc.), planetary gear reducer, Cycloid reducer, a worm reducer, a planetary friction CVT mechanical machines. ?Common reducer 1) worm reducer is the main characteristics of a reverse self-locking function, can be larger than a slowdown, input shaft and output shaft axis is not the same, nor in the same plane. But generally larger, transmission efficiency is not high, the accuracy is not high. 2) Harmonic Harmonic Drive reducer is controllable using flexible components to transfer elastic deformation and dynamic movement, not volume, high precision, but the disadvantage is that flexible wheel limited life, impatient shocks, rigidity and pieces of metal relatively poor. Not too high speed input. 3) planetary reducer its comparative advantage is compact structure, the return gap small, high precision, and have a long life span rated output torque can be done great. However, a price slightly expensive, the requirements of parts before assembly 1. Rolling cleaning with gasoline, kerosene other parts cleaning. All parts and Xiangbenna not allowed to have any impurities exist. Gear box and the inner wall (Worm), unprocessed surface has not been coated twice erosion-resistant oil paint, box has the outer surface coated primer and paint color (color requested by host). 2. Parts coated with a face wash after lubricants Second, the requirements of installation and adjustment 1. Rolling installation Rolling bearing inner ring should be installed at the shaft shoulder close to gap must not pass 0.05 mm thick Cypriot feet. 2. Bearing axial clearance of the clearance can not be adjusted bearings (such as deep groove ball bearings), axial clearance of 0.25 to 0.4 mm; the clearance adjustable bearing axial clearance numerical table. Click Tapered Roller Bearings axial clearance; angular contact ball bearing axial clearance 3. Gear (Worm) meshing tooth space available Cypriot side foot of lead or pressure. Will be lead wire on the alveolar, and then turning gear and squash lead wire, measuring two teeth side was crushed lead wire thickness and the size of which is adjacent teeth. 4. Tooth contact dot cylinder gear tooth contact Dot 2-10-4; bevel gear tooth contact Dot 2-11-4; Gearing contact Dot 2-12-4 Third, seal requirements 1. Box partition between the surface does not allow any pads filled, but can be coated or water glass sealant to ensure that the seal; 2. Assembly, the bolt tightening box, before using 0.05 mm Cypriot-foot inspection Covers Block with me and between the sealing surface; 3. Shaft seal should stretch to smear grease. The seal should be installed in strict accordance with the requirements Forth, lubrication requirements 1. Rationally determine the types of lubricants and greases and grades 2. Bearing lubrication fat, grease filled in the general Fatliquor space can be 1 / 2 to 2 / 3. 3. Lubricants should be regularly replaced, the new reducer used for the first time, the operation of oil-7 ~ 14 days, according to the situation can be after every 3 to 6 months for first oil. Fifth, the test requirements 1. Empty operation: at rated speed is, anti-running 1 to 2 hours; 2. Load test: at rated speed, rated load operation, the oil temperature balance to date. On the gear reducer, requested the pool temperature is not more than 35 oC, bearing temperature rise no more than 40 oC; the worm reducer, requested the pool temperature not more than 60 oC, bearing temperature of not more than 50 oC; 3. Entire testing process for the smooth operation, noise, not loosening the fixed link, sealed, not with the Sixth, packaging and transportation requirements 1. Protruding shaft and its annex should Oiler packaging; 2. Handling, lifting may not use screw rings and lug all of the above technical requirements are not necessarily listed, and sometimes also by other projects, mainly by the specific design requirements. Seventh. Technical requirements 1. Assembly, all parts cleaning with kerosene, gasoline Rolling cleansing, while the existence of any debris. Oil is not painted wall corrosion coatings twice; 2. Backlash with lead wire mesh test of not less than 0.16 mm, lead wire Backlash may not exceed the smallest of the four times; 3. Used Tu-color dot test. Tooth high point of contact by not less than 40% of contact spots on teeth not less than 50 per cent. Can be used when necessary, grinding or scraping after grinding to improve contacts; 4. Bearing axial clearance should be adjusted: φ40 0.05 - 0.1 mm, φ55 0.08 - 0.15 mm; 5. Test reducer subdivision surface, the contact surface and seal, oil spills are not allowed. Split-Tu allowed to paint or water glass seal and allow the use of any filler; 6. Engine lubricants to the contents N100 provisions height; Below I introduce our country reduction gear the development present situation First, the domestic reduction gear many by the gear drive, the worm drive primarily, but has the power and the load ratio generally is small, or velocity ratio great and mechanical efficiency excessively low question.Moreover, in the material quality and the technological level also has many weakness, the large-scale reduction gear question is specially more prominent, the service life is not long.The domestic use large-scale reduction gear (above 500kw), many from overseas (for example Denmark, Germany and so on) imports The 60's start few tooth reduction gears and so on difference transmission, cycloid pin gear transmission, overtone transmission which produces has the velocity ratio to be big, volume small, mechanical efficiency higher merit? .But its transmission theory limit, cannot transmit the oversized power, the power all must be smaller than generally 40kw. Because in the transmission theoretically, the technological level and the material quality aspect has not broken through, therefore, has not been able fundamentally to solve the transmission power in a big way, the velocity ratio big, the volume small, the weight light, mechanical efficiency higher these requests basically.The 90's initial period, the home appears three links (gear) the reduction gear, is one kind of outside stable motion gear drive reduction gear, it may realize the great velocity ratio, transmission load ability is also big. Its volume and the weight are all lighter than the dead axle speed reducer gear, the structure is simple, the efficiency is also high.Because this reduction gear three axle parallel structure, therefore caused the power/volume (or weight) the ratio is still small.Also its input axis and the output shaft on the identical spool thread, this do not have in the use many inconveniently. Not only Beijing Institute of Technology develops in successful " stable motion speed reducer gear " to have outside three link reduction gear merit, but also has the big power/weight (or volume) the ratio, as well as the input axis and the output shaft on identical spool thread merit, is at the domestic leading position.The home has the minority college and the factory and mining enterprise does the research work to in stable motion gear drive certain principles, has published some research paper, in has done some work using the cycloidal tooth crop rotation stable motion reduction gear. Second, the stable motion speed reducer gear principle of work synopsis, the stable motion speed reducer gear is refers to in a counter gear transmission, a gear in the stable motion generator actuation mean plane parallel motion, meshing through tooth profile between, actuates another tooth crop rotation dead axle to decelerate the rotation, the realization reduction gear function.The stable motion generator may use the parallelogram organization, either sine organization or cross slide organization.This achievement uses the parallelogram organization to take the stable motion generator. The stable motion generator may be the hypothesized use parallelogram organization, also may be the entity use parallelogram organization.Has the practical value stable motion gear mechanism for in counter gear organization, therefore may divide into the internal tooth crop rotation stable motion movement and the external tooth crop rotation stable motion movement two kind of situations.Outside the stable motion gear reduction organization, its internal tooth crop rotation stable motion movement, actuates the external gear and makes the deceleration rotation output.This organization also calls three links (gear) the reduction gear. As a result of the internal tooth crop rotation stable motion, two crank centers establish outside the annular gear tooth ring, therefore its size is not compact, cannot solve the volume major problem.? In stable motion gear reduction, its external tooth crop rotation stable motion movement, actuation internal tooth crop rotation deceleration rotation output.As a result of the external tooth crop rotation stable motion, two crank centers can establish in the external gear tooth ring, reduced the organization overall size greatly. Because in stable motion gear mechanism transmission efficiency high, volume small, input output coaxial line, therefore by widespread application prospect. Third, this project technical characteristic and key technologies? 1. this project technical characteristics, in this new " stable motion speed reducer gear " and domestic and foreign had the speed reducer gear compares, has the following characteristic: (1) velocity ratio scope is big, gets up from I=10, may reach most greatly several thousand.If manufactures the great velocity ratio the reduction gear, then demonstrates this reduction gear the merit.(2) transmission power scope is big: And may connect a body manufacture with the electric motor. (3) structure simple, the volume small, the weight is light.Reduces about 1/3 compared to the existing speed reducer gear.(4) mechanical efficiency is high.95 (5) this reduction gear input axis and the output shaft are on the identical spool thread.This reduction gear see Table 1 with other reduction gear performance comparison. Because lacks the data, various reduction gears power/load ratio which in the table arranges in order is most superior.? Table 1? Each kind of reduction gear comparison model power (kw) reduction gear ratio quality (kg) QI-450? 93 31.5 1820 ZSY-250? 95 31.5 540 NGW-92 88.1 31.5 577 SEW (Germany)? 90 28.61 1300 NP-100? 100 30 400 Note: NP-100 is in the stable motion speed reducer gear, the SEW reduction gear quality contains the electrical machinery.2. this project key technologies? May know by Figure 2, in “stable motion speed reducer gear " is by annular gear Z2, external gear Z1 and the parallelogram organization combination becomes.Its transmission principle is: The electrical machinery input rotary motion, the external tooth crop rotation parallel migration, its center of circle path is a circle, makes the dead axle rotation with it meshing annular gear. Because external tooth crop rotation parallel migration, therefore name stable motion gear mechanism.The gear parallel migration needs to have the auxiliary body help realization, may use (6~12) to sell the axis, the roller takes the hypothesized auxiliary stable motion organization, also may use the eccentric shaft to take the entity auxiliary stable motion organization.In the stable motion speed reducer gear key technologies and the essential craft are the composition parallelogram component size computation and the request processing precision, the gear teeth main parameter choice. These factors will all affect the transmission ability and the transmission quality.Overall speaking, the group cost reduction gear various spare parts all request to have the high precision, they will be deciding the reduction gear overall transmis3. this project survey this project has obtained the Chinese practical new patent, the patent number: ZL95227767.0? .? This project trial produced the first prototype from 1995 (power 2.5kW, after velocity ratio I=32), with some factory and mine cooperation, has one after another designed following several kind of different powers, the different velocity ratio reduction gear.(1) electrically operated on rollers gate uses the reduction gear, power 550W, velocity ratio I=26, is united as one body with the electrical machinery.sion quality. (2) mixer uses the reduction gear, power 370W, velocity ratio I=17.(3) some military goods use two kind of reduction gears, one kind of power 370W, velocity ratio I=23.5; Another kind of power 370W, velocity ratio I=103 two level of transmission reduction gear.(4) steel mill large package rotary abutment reduction gear, power 7.5kw, velocity ratio I=64.(5) steel mill table reduction gear, power 7.5kw, transmission I=11. In this patent foundation, has developed one kind of new ultra-large reduction gear, the power may reach 1000kw, at present is developing subminiature (outlook size for a millimeter level) miniature reduction gear. Graduation design task First, a design Monorail Driver Design reducer Second, the design of the original data 1 Monorail drive reducer Power Rating: 7.5 KW; 2 Monorail reducer drive the total transmission ratio: 15 around; 3 Monorail reducer drive car driven by the side of the output shaft from the race distance of not more than 200 mm; 4 Monorail reducer drive the total length of less than 420 mm, the width is not more than 450 mm and the total height of not more than 690 mm; Third, the equipment and the working environment This can be used to mine underground, open-air, dust, humidity, air quality, bad comparison bad work environment, and the operational requirements of a safe space. Fourth, the design requirements To meet the application requirements under the premise that the minimum cost of manufacturing. From the following aspects considered; (L) to streamline the shape of each parts, machinery simple structure; ?? ?(2) merge the functions of spare parts, reducing the types or quantities of spare parts; ?? (3) Application of the new structure, new technology, new materials, product reliability; ?? (4) decomposition components, its assembly, the assembly of the most simple structure; ??? (5) similar to parts of the division; ??? (6) standards for similar products by product serial number sequence analysis; ??? (7) The realization of the common parts of the product and standardization. ??? (8) assembly equipment design a map (0), the Six Parts (3), the design specification of a (not less than 30,000 words), and the design of technical and economic analysis. GEAR AND SHAFT INTRODUCTION In the force analysis of spur gears, the forces are assumed to act in a single plane. We shall study gears in which the forces have three dimensions. The reason for this, in the case of helical gears, is that the teeth are not parallel to the axis of rotation. And in the case of bevel gears, the rotational axes are not parallel to each other. There are also other reasons, as we shall learn. Helical gears are used to transmit motion between parallel shafts. The helix angle is the same on each gear, but one gear must have a right-hand helix and the other a left-hand helix. The shape of the tooth is an involute helicoid. If a piece of paper cut in the shape of a parallelogram is wrapped around a cylinder, the angular edge of the paper becomes a helix. If we unwind this paper, each point on the angular edge generates an involute curve. The surface obtained when every point on the edge generates an involute is called an involute helicoid. The initial contact of spur-gear teeth is a line extending all the way across the face of the tooth. The initial contact of helical gear teeth is a point, which changes into a line as the teeth come into more engagement. In spur gears the line of contact is parallel to the axis of the rotation; in helical gears, the line is diagonal across the face of the tooth. It is this gradual of the teeth and the smooth transfer of load from one tooth to another, which give helical gears the ability to transmit heavy loads at high speeds. Helical gears subject the shaft bearings to both radial and thrust loads. When the thrust loads become high or are objectionable for other reasons, it may be desirable to use double helical gears. A double helical gear (herringbone) is equivalent to two heli