刚柔耦合超环面行星蜗杆传动动态特性研究

Research of Dynamic Characteristic of Rigid-flexible Coupled Toroidal Planetary Worm Drive

针对球形滚子超环面行星蜗杆传动动态的响应问题,考虑滚动体的独立运动和轴承刚度,建立了该传动的刚体动力学模型;并借助有限元软件将薄壁超环面定子柔性化,建立了其刚柔耦合动力学模型。定量分析系统接触刚度激励和误差激励,比较了刚体模型和耦合模型在内部激励下的动态响应。结果表明,由于柔性件的引入,耦合模型会发生滑齿和跳齿现象,振动较刚体模型剧烈;滚子转速的交替突变和不接触时的高速旋转会加剧传动系统振动;耦合模型共振频率高于刚体模型,内部激励对频率响应有调制作用。研究为超环面行星蜗杆传动动力学优化设计提供了一定的参考依据。

In order to realize the dynamic response of spherical roller toroidal planetary worm drive,considering the independent motion of the rolling element and the stiffness of the bearing,the rigid body dynamics model of the transmission is established,and the thin-walled toroidal stator is flexibly reinforced by finite element software.A rigid-flexible coupled dynamics model is established.The system contact stiffness excitation and error excitation are quantitatively analyzed,and the dynamic response of the rigid body model and the coupled model under internal excitation is compared.The results show that due to the introduction of flexible parts,the coupled model will have sliding teeth and tooth skipping phenomenon,and the vibration is more severe than the rigid body model.The alternating sudden change of the roller speed and the high-speed rotation when not in contact will aggravate the vibration of the transmission system.The coupled model has a higher resonance frequency than rigid body model,the internal excitation has a modulation effect on the frequency response.This study provides a reference for the optimization design of the toroidal planetary worm drive dynamics.