新型行星式回转支承动力学特性研究

Dynamic characterization of a new type of planetary slewing bearing

传统单齿轮式回转支承存在偏载、传动精度低和非正常磨损等问题,无法满足坦克及火炮系统等高负载装备对回转支承高精度,长寿命的要求。结合行星式传动与回转轴承的特点,设计了一种新型行星式回转支承,并进行了力学性能研究和理论验证。基于Hertz接触理论,考虑接触弹性变形与实际接触角的耦合作用,推导了回转轴承在纯轴向载荷下的力学平衡方程。考虑倾覆角度与径向位移的耦合作用,建立了联合载荷下回转轴承的力学模型,运用Newton-Raphson迭代方法对回转轴承精确的接触角、最大载荷和载荷分布规律等进行了数值计算。运用ADAMS仿真平台,考虑钢球和套圈滚道的四点动态接触作用和轮齿动态啮合作用,分别建立了回转轴承、单齿轮式回转支承和新型行星式回转支承的多体接触动力学仿真模型,计算分析了3种模型的动态啮合力、动态接触力和振动位移等动态特性和振动响应。结果表明:回转轴承的接触角和载荷分布规律等仿真结果与精确的理论结果具有较好的一致性。研发的新型行星式回转支承呈现平衡对称和均载分布的周期性啮合力和轴承内部接触力,消除了单齿轮式回转支承的啮合冲击和偏载现象,显著降低轮齿啮合力、轴承内部载荷和系统振动响应,提高了行星式回转支承的传动力学性能和运动平稳性。提出的新方案和动力学模型为研发高性能军事装备的新型回转支承产品及其动态设计提供了理论指导。

The traditional single-toothed wheel type slewing bearing has the problems of partial load,low transmission precision,and abnormal wear,which cannot meet the requirements of high load equipment such as tanks and artillery systems for the slewing bearing with high precision and long service life.Combining the characteristics of planetary transmission and slewing bearing,a new type of planetary slewing bearing is designed,and the mechanical performance research and theoretical verification are carried out.Based on the Hertz contact theory,the mechanical equilibrium equation of the slewing bearing under pure axial load is deduced by considering the coupling effect of contact elastic deformation and actual contact angle.Considering the coupling effect of tilting angle and radial displacement,the mechanical model of the slewing bearing under combined load is established,and the precise contact angle,maximum load and load distribution law of the slewing bearing are numerically calculated by using the Newton-Raphson iterative method.Using ADAMS simulation platform,the multi-body contact dynamics simulation models of slewing bearings,single-toothed wheel slewing bearings and new planetary slewing bearings were established by considering the four-point dynamic contact action of steel balls and raceways and dynamic meshing action of gear teeth,and the dynamic characteristics and vibration responses of the three models,such as dynamic meshing force,dynamic contact force and vibration displacement,were calculated and analyzed.The results show that the simulation results of the contact angle and load distribution law of the slewing bearing are in good agreement with the accurate theoretical results.The developed new planetary slewing bearing presents balanced symmetry and even load distribution of periodic meshing force and bearing internal contact force,eliminates the meshing impact and partial load phenomenon of single-tooth wheel slewing bearing,significantly reduces the wheel tooth meshing force,bearing internal load and system vibration response,and improves the transmission mechanical performance and smoothness of motion of planetary slewing bearing.The proposed new scheme and dynamic model provide theoretical guidance for the research and development of new type of slewing bearing products for high-performance military equipment and their dynamic design.