机械5

自动搓背机器人的新型内摆线机构设计 摘要 摆线针轮行星传动于1922年由德国学者卢布林卡提出。由于这种传动具有结构紧凑、单级传动比大、工作平稳、噪音甚低、承载能力和效率高等一系列有点。在许多情况下,它可以代替二级、三级普通齿轮搓背机和蜗轮蜗杆搓背机。 本设计针对便于制造、装配和检修方面，设计了具有合理结构的摆线针轮行星搓背机。并对其主要件的强度进行了计算并校核及对转臂轴承、各支承轴承的寿命进行计算，从分析结果可以看到，各轴承性能指标均符合要求。 利用solidworks软件对摆线针轮搓背机主要零件建立几何三维模型、利用Auto CAD软件生成摆线针轮搓背机的工程图。用本文的方法设计摆线针轮搓背机，具有设计快捷、方便等特点。研究结果对于提高设计的速度、质量具都有重要意义。 关键词：摆线针轮摆线针轮搓背机 Desig
n of put forward bythe Germa
n scholar Ruble Cycloidal drives Abstract：Cycloidal drives has bee
n put forward bythe Germa
n scholar Ruble Li
nka i
n 1922.I
n ma
nycases,it ca
n substitute for seco
ndarya
nd tertiaryge
neral gear reducer a
ndworm gear reducer because it has the compact structure,large si
ngle-stage tra
nsmissio
n ratio,stableworki
ng,low
noise,a
nd high efficie
ncya
nd carryi
ng capacity.Thus,it iswidelyused i
n machi
neryma
nufacturi
ng,petrochemical i
ndustry,hoisti
ng a
nd co
nveyi
ng machi
nery,geological drilli
ng a
nd so o
n. I
n this desig
n,the author desig
ns a cycloid pi
n gear pla
netaryreducerwith reaso
nable structure to facilitate the ma
nufacturi
ng,assemblya
nd mai
nte
na
nce.A
nd the stre
ngth of the mai
n parts have bee
n calculated a
nd checked,a
nd the life of tumbler beari
ng a
nd back-up beari
ng also has bee
n calculated.A
nd from the a
nalysis of the result,it is obviouslythat all the beari
ng performa
nce i
ndexes meet the requireme
nts. This desig
n makes use of the Pro/e software to establish a three-dime
nsio
nal geometric model about the mai
n parts of cycloidal pi
nwheel reducer,a
nd makes use of the Auto CAD software to assemble of cycloidal pi
nwheel reducer i
nvirtual a
nd ge
nerate the e
ngi
neeri
ng drawi
ngs.Cycloidal pi
nwheel reducer,which is desig
ned byusi
ng the method of this paper,has ma
nycharacteristics,such as desig
n fast a
nd co
nve
nie
nt.The results of the studyhave great sig
nifica
nce to improve the speed a
nd qualityof desig
n. Keywords:cycloid cam,pi
nwheel,cycloid 目录 摘要1 第一章引言5 1.1摆线针轮的类别5 1.2摆线针轮行星轮的特点5 1.3本文设计内容5 第二章摆线针轮搓背机的传动原来6 3传动装置的总体设计7 3.1电动机的选择8 3.2计算传动比8 3.3传动装置的运动和动力参数计算9 4传动零件的计算9 4.1摆线轮啮合承载能力计算10 4.2摆线轮滚动轴承的承载能力计算11 4.3摆线机构承载能力计算12 5轴的设计计算13 5.1输入轴的设计计算13 5.1.1轴的材料选择和最小直径估计14 5.1.2轴的校核计算14 5.2输出轴的设计计算18 6其它传动零部件设计计算及校核18 6.1输入轴上的两轴承寿命计算18 6.2.键的选择19 6.3联轴器的选择21 7润滑及密封21 7.1润滑21 7.2密封21 结论21 参考文献22 致谢23