某机械手回转机构的轮齿磨损特征分析

Analysis of Gear Teeth Wear Characteristics of Manipulator Slewing Mechanism

为获得某机械手回转机构的轮齿动态磨损特征,将渐开线齿形离散成一系列点。引入弹簧阻尼元件描述啮合过程中接触表面的弹性变形和阻尼,采用石川法计算时变啮合刚度并考虑磨损间隙,建立了齿轮啮合动力学模型。提取啮合力结合Archard磨损方程推导了离散齿面的磨损深度计算公式,并给出齿形重构方法。算例分析表明:节点之上的齿面比节点之下的齿面磨损速度慢,节点处磨损速度最慢理想情况下为零;一定范围内,啮合力随着磨损增加而趋于平稳,对啮合力傅里叶变换发现除1倍和2倍啮合频率振幅增大外,其它频率振幅均降低,高频部分尤其明显。

In order to obtain the dynamic wear characteristics of the gear teeth of manipulator slewing mechanism,The involute gear teeth are dispersed into several individual points.The spring-damping model is used to describe the collision process of the gear teeth engagement in consideration of its clearance,Ishikawa method is used to calculate its time-varying meshing stiffness,and then its dynamic model is established,Archard formulation for the meshing force is put forward,which is used to describe the meshing depth of the discrete tooth surface and the method of the tooth profile reconstruction is given out.The case above shows the wearing depth of the different part on the tooth surface is not same,the wearing depth of the top surface is less than that of the bottom surface（it is better to be zero under the ideal condition） but the confact pressure becomes stable with the wearing depth increase.With the Fourier transform of contact pressure,it is found that the the amplitude is decreased except one and double meshing frequency,especially in the high frequency region.