煤块搬运机器人谐波减速器有限元仿真

Finite Element Simulation for Harmonic Reducer of Robot in Finite Element Simulation for Harmonic Reducer of Robot in Removing Coal

针对煤块搬运机器人工作条件复杂、使用时间长、传动平稳性高等问题;以某型煤块搬运机器人谐波减速器研究对象,对谐波减速器组成进行分析,建立谐波减速器三维和有限元仿真模型;对谐波减速器等效应力和总变形进行有限元仿真。仿真结果表明:谐波减速器各部件等效应力和总变形满足实际工况条件要求;谐波减速器不同部件的最大等效应力和最大总变形分布位置不同,受力变形为椭圆的柔性轴承和柔性齿轮长轴处等效应力最大;该研究为煤块搬运机器人谐波减速器综合传动性能提高、疲劳寿命增加等方面研究提供依据。

To the problems of complicated working conditions,long service life,and high transmission stability of a coal handling robot,a harmonic reducer of a certain type of coal handling robot has been analyzed,and the composition of the harmonic reducer has been analyzed,the three-dimensional and finite element simulation model have been established;the equivalent stress and total deformation of harmonic reducer have been analyzed by the finite element simulation.The simulation results show that the equivalent stress and the total deformation for the components of the harmonic reducer meet the requirements to the actual working conditions;the maximum equivalent stress and the maximum total deformation of the different harmonic reducer parts are different,and the equivalent stresses at the long axis of the deform flexible bearing and the flexible gear deformed are the largest;the research provides the basis for the comprehensive transmission performance improving and fatigue life prolonging of the harmonic reducer of the coal handling robot.