CN109344484A - Cycloid gear projected life calculation method and device - Google Patents
Cycloid gear projected life calculation method and device Download PDFInfo
- Publication number
- CN109344484A CN109344484A CN201811108989.2A CN201811108989A CN109344484A CN 109344484 A CN109344484 A CN 109344484A CN 201811108989 A CN201811108989 A CN 201811108989A CN 109344484 A CN109344484 A CN 109344484A
- Authority
- CN
- China
- Prior art keywords
- cycloidal wheel
- wheel
- cycloidal
- pinwheel
- contact
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004364 calculation method Methods 0.000 title claims abstract description 34
- 239000000463 material Substances 0.000 claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000007306 turnover Effects 0.000 claims abstract description 5
- 238000013461 design Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 241000222712 Kinetoplastida Species 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 abstract description 4
- 210000000515 tooth Anatomy 0.000 description 89
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 9
- 230000002093 peripheral effect Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 3
- 240000002853 Nelumbo nucifera Species 0.000 description 3
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 241000270728 Alligator Species 0.000 description 1
- 241001232809 Chorista Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Physics & Mathematics (AREA)
- Geometry (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Computational Mathematics (AREA)
- Gears, Cams (AREA)
Abstract
The present invention provides a kind of cycloid gear projected life calculation method and devices, are related to robot cycloidal reducer field.Pass through the angle that the parameters such as the frictional force that acts in Cycloidal Wheel according to gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, the Poisson's ratio of gear pin, the Poisson's ratio of Cycloidal Wheel, the elasticity modulus of gear pin, the elasticity modulus of Cycloidal Wheel, needle tooth calculate the pressure that i-th of needle tooth act in Cycloidal Wheel, the corresponding cycloid gear of torque will turn over counterclockwise；Then according to coefficient related with material hardness, bearing type coefficient, the basic dynamic load rating for calculating by parameters such as bearing parts shapes weight-carrying roller bearing；Finally cycloid gear projected life is calculated according to basic dynamic load rating, radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, Cycloidal Wheel-pinwheel transmission input speed, calculation method is simple, reasonable, effective, calculation procedure is structurally reasonable, computational efficiency is high, has high engineering application value.
Description
Technical field
The present invention relates to robot cycloidal reducer fields, calculate in particular to a kind of cycloid gear projected life
Method and apparatus.
Background technique
Cycloidal reducer is a kind of application planetary drive principle, the novel transmission device engaged using cycloidal pin teeth.
Cycloidal planetary gear speed reducer whole transmission device can be divided into three parts: importation, deceleration part, output par, c.On input shaft
Double eccentric sleeves equipped with 180 ° of a dislocation fill there are two the roller bearing of referred to as pivoted arm on eccentric bushing, form H mechanism, two
The centre bore of a Cycloidal Wheel is the raceway of rotary arm bearing on eccentric bushing, and by one group of annular array in Cycloidal Wheel and pin gear
Needle tooth be meshed, with form tooth difference be a tooth internal messing deceleration mechanism, (in order to reduce friction, in the small deceleration of speed ratio
In machine, pin gear sleeve is had on needle tooth).When input shaft rotates one week with eccentric bushing, due to the spy of tooth curve in Cycloidal Wheel
Point and its by pin gear upper pin gear limit it is therefore, the movement of Cycloidal Wheel becomes existing revolution and has the plane motion of rotation, defeated
When entering the positive turn-week of axis, eccentric bushing is also rotated one week, and Cycloidal Wheel turns over a tooth to be slowed down, then by W in opposite direction
Output mechanism passes to output shaft, to obtain lower output revolving speed by the low speed spinning motion of Cycloidal Wheel by pin shaft.
In traditional technology, since cycloid pinwheel planetary gear transmission system stress is complicated, cycloid gear projected life there is no theory at present
Calculation method.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of cycloid gear projected life calculation method and dress
It sets, to improve above-mentioned problem.
In a first aspect, the embodiment of the invention provides a kind of cycloid gear projected life calculation method, the cycloid gear
Projected life calculation method includes:
Receive gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, gear pin that user terminal is sent
Poisson's ratio, the Poisson's ratio of Cycloidal Wheel, the elasticity modulus of gear pin, the elasticity modulus of Cycloidal Wheel, needle tooth act in Cycloidal Wheel
Frictional force, the line crossed the point of contact of pinwheel and Cycloidal Wheel and cross the point of contact and dead axle center of pinwheel and Cycloidal Wheel tangent line side
To with i-th of needle tooth act on the angle of cut of the pressure direction in Cycloidal Wheel, Cycloidal Wheel center and Cycloidal Wheel pinwheel contact point away from
Torque from, Cycloidal Wheel；
And receive user terminal send coefficient related with material hardness, bearing type coefficient, by bearing parts shape
The coefficient that shape, accuracy, material are determined, the columns of the rotor in single bearing, roller effectively contact length with orbital plane
Degree, nominal contact angle, the number of single-row middle rotor, roller diameter；
Receive radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, Cycloidal Wheel-pinwheel transmission input turn that user terminal is sent
Speed；
According to gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, the Poisson's ratio of gear pin, Cycloidal Wheel
Poisson's ratio, the elasticity modulus of gear pin, the elasticity modulus of Cycloidal Wheel, needle tooth act in Cycloidal Wheel frictional force, cross pinwheel
Make with the point of contact of Cycloidal Wheel and the tangential direction of the line at the point of contact and dead axle center for crossing pinwheel and Cycloidal Wheel and i-th of needle tooth
With the angle of cut of the pressure direction in Cycloidal Wheel, tangential direction vector, the cycloid of the line at the point of contact of Cycloidal Wheel and dead axle center
The torque meter of wheel calculates the pressure that i-th of needle tooth act in Cycloidal Wheel, the corresponding cycloid gear of torque will be to side counterclockwise
To the angle turned over；
It is determined according to coefficient related with material hardness, bearing type coefficient, by bearing parts shape, accuracy, material
It is fixed coefficient, the columns of the rotor in single bearing, effective contact length of roller and orbital plane, nominal contact angle, single-row
Number, the roller diameter calculation of middle rotor go out the basic dynamic load rating of weight-carrying roller bearing；
According to basic dynamic load rating, radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, Cycloidal Wheel-pinwheel transmission input
Revolving speed calculates cycloid gear projected life.
Second aspect, the embodiment of the invention also provides a kind of cycloid gear projected life computing device, the cycloid tooths
Taking turns projected life computing device includes:
Information receiving unit, for receiving the gear pin radius of user terminal transmission, effective facewidth, the cycloid of Cycloidal Wheel
Take turns radius of curvature, the Poisson's ratio of gear pin, the Poisson's ratio of Cycloidal Wheel, the elasticity modulus of gear pin, Cycloidal Wheel elasticity modulus,
The point of contact of frictional force, excessively pinwheel and Cycloidal Wheel that needle tooth acts in Cycloidal Wheel and point of contact and the dead axle for crossing pinwheel and Cycloidal Wheel
The tangential direction of the line at center and i-th needle tooth act on the angle of cut of the pressure direction in Cycloidal Wheel, Cycloidal Wheel center and pendulum
The torque of the distance, Cycloidal Wheel of line wheel pinwheel contact point；
The information receiving unit is also used to receive the coefficient related with material hardness of user terminal transmission, bearing class
Type coefficient, the coefficient determined by bearing parts shape, accuracy, material, rotor in single bearing columns, roller
With the effective contact length, nominal contact angle, the number of single-row middle rotor, roller diameter of orbital plane；
The information receiving unit is also used to receive the radial load of user terminal transmission, the needle tooth number of teeth, cycloidal gear teeth
Number, Cycloidal Wheel-pinwheel are driven input speed；
Computing unit, for according to gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, gear pin
Poisson's ratio, the Poisson's ratio of Cycloidal Wheel, the elasticity modulus of gear pin, the elasticity modulus of Cycloidal Wheel, needle tooth act in Cycloidal Wheel
Frictional force, the point of contact for crossing pinwheel and Cycloidal Wheel and the tangential direction of the line at the point of contact and dead axle center for crossing pinwheel and Cycloidal Wheel
With i-th of needle tooth act on the angle of cut of the pressure direction in Cycloidal Wheel, the point of contact of Cycloidal Wheel and dead axle center line tangent line
Direction vector, Cycloidal Wheel torque meter calculate i-th of needle tooth and act on pressure in Cycloidal Wheel, the corresponding cycloid gear of torque
The angle that will be turned over counterclockwise；
The computing unit is also used to according to coefficient related with material hardness, bearing type coefficient, by bearing parts shape
The coefficient that shape, accuracy, material are determined, the columns of the rotor in single bearing, roller effectively contact length with orbital plane
Degree, nominal contact angle, the number of single-row middle rotor, roller diameter calculation go out the basic dynamic load rating of weight-carrying roller bearing；
The computing unit is also used to according to basic dynamic load rating, radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, pendulum
Line wheel-pinwheel transmission input speed calculates cycloid gear projected life.
Compared with prior art, cycloid gear projected life calculation method provided by the invention and device, by according to needle
Alligator radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, the Poisson's ratio of gear pin, the Poisson's ratio of Cycloidal Wheel, needle tooth
Frictional force, excessively pinwheel and the Cycloidal Wheel that the elasticity modulus of pin, the elasticity modulus of Cycloidal Wheel, needle tooth act in Cycloidal Wheel are cut
Point acts in Cycloidal Wheel with the tangential direction of the line at the point of contact and dead axle center for crossing pinwheel and Cycloidal Wheel and i-th of needle tooth
The angle of cut of pressure direction, the tangential direction vector of line at the point of contact of Cycloidal Wheel and dead axle center, Cycloidal Wheel torque meter
Calculate the pressure that i-th of needle tooth act in Cycloidal Wheel, the angle that the corresponding cycloid gear of torque will turn over counterclockwise
Degree；Then it is determined according to coefficient related with material hardness, bearing type coefficient, by bearing parts shape, accuracy, material
It is fixed coefficient, the columns of the rotor in single bearing, effective contact length of roller and orbital plane, nominal contact angle, single-row
Number, the roller diameter calculation of middle rotor go out the basic dynamic load rating of weight-carrying roller bearing；It is last to be moved according to substantially specified
Load, radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, Cycloidal Wheel-pinwheel transmission input speed calculate cycloid gear design
In the service life, calculation method is simple, reasonable, effective, and calculation procedure is structurally reasonable, computational efficiency is high, has high engineering application valence
Value.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and match
Appended attached drawing is closed, is described in detail below.
Detailed description of the invention
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is the interaction schematic diagram of server provided in an embodiment of the present invention and user terminal；
Fig. 2 is the structural block diagram of server provided in an embodiment of the present invention；
Fig. 3 is the flow chart of cycloid gear projected life calculation method provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of cycloid gear provided in an embodiment of the present invention；
Fig. 5 is the functional block diagram of cycloid gear projected life computing device provided in an embodiment of the present invention.
Icon: 100- user terminal；200- server；300- wireless network；101- memory；102- storage control；
103- processor；104- Peripheral Interface；105- Cycloidal Wheel；106- pinwheel；107- dead axle；501- information receiving unit；502- meter
Calculate unit.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but be merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Cycloid gear projected life computing device provided by present pre-ferred embodiments and method can be applied to such as Fig. 1
Shown in application environment.As shown in Figure 1, user terminal 100, server 200 are located in wireless network 300, it is wireless by this
Network 300, user terminal 100 and server 200 carry out data interaction.In the embodiment of the present invention, pacify in user terminal 100
It is corresponding with server 200 equipped at least one application program, service is provided for user.In this present embodiment, user terminal
The application program of 100 installations is that parameter and display output result can be set.In the embodiment of the present invention, user terminal 100
Preferably industrial computer.
As shown in Fig. 2, being the functional block diagram of cycloid gear projected life computing device 100 provided by the invention.
The server 200 for being equipped with cycloid gear projected life computing device 100 includes memory 101, storage control 102, place
Manage device 103 and Peripheral Interface 104.Wherein, memory 101, storage control 102, processor 103, Peripheral Interface 104 are each
Element is directly or indirectly electrically connected between each other, to realize the transmission or interaction of data.For example, these elements mutually it
Between can pass through one or more communication bus or signal wire and realize and be electrically connected.The cycloid gear projected life computing device
100 include that at least one can be stored in the memory 101 or be solidificated in institute in the form of software or firmware (firmware)
State the software function module in server.The processor 103 is for executing the executable module stored in memory 101, example
The software function module or computer program for including such as the cycloid gear projected life computing device 100.
Wherein, memory 101 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-
Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory,
EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory,
EEPROM) etc..Wherein, memory 101 is for storing program, and the processor 103 executes institute after receiving and executing instruction
Program is stated, method performed by the server that the stream process that aforementioned any embodiment of the embodiment of the present invention discloses defines can answer
It is realized in processor 103, or by processor 103.
Processor 103 may be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 103 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hard
Part component.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General procedure
Device can be microprocessor or the processor 103 is also possible to any conventional processor etc..
Various input/output devices are couple processor 103 and memory 101 by the Peripheral Interface 104.One
In a little embodiments, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.At other
In some examples, they can be realized by independent chip respectively.
Referring to Fig. 3, the embodiment of the invention also provides a kind of cycloid gear projected life calculation method, for place
In the cycloidal-pin wheel planetary of working condition.As shown in figure 4, cycloidal-pin wheel planetary include Cycloidal Wheel 105, multiple pinwheels 106 and
Dead axle 107, multiple pinwheels 106 are engaged with the edge of Cycloidal Wheel 105, and Cycloidal Wheel 105 is set in outside dead axle 107, and fit-up gap is
Zero；The dead axle 107 that Cycloidal Wheel 105 and pinwheel 106 become turning round around dead axle 107 is driven, and is carried out pin wheel housing when force analysis and is turned
The deformation of arm is ignored.The Cycloidal Wheel 105 for engaging instantaneous position is used as chorista, and Cycloidal Wheel 105 is primarily subjected to three kinds of loads
Lotus: the first load is the pressure P that i-th of needle tooth acts in Cycloidal Wheel 105i, the public affairs of the position of each pressure along meshing point
Normal direction, and intersect at node P；Second of load is the frictional force f that needle tooth acts in Cycloidal Wheel 105i, frictional force
Common tangent and and P of the position along meshing pointiDirection is at an acute angle；The third load is that rotary arm bearing acts on Cycloidal Wheel 105
On resultant force.The cycloid gear projected life calculation method includes:
Step S301: gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel curvature half that user terminal is sent are received
Diameter, the Poisson's ratio of gear pin, the Poisson's ratio of Cycloidal Wheel, the elasticity modulus of gear pin, the elasticity modulus of Cycloidal Wheel, the effect of needle tooth
The company at the point of contact and dead axle center at the point of contact and pinwheel and Cycloidal Wheel excessively of frictional force, excessively pinwheel and Cycloidal Wheel in Cycloidal Wheel
The tangential direction of line and i-th of needle tooth act on the angle of cut of the pressure direction in Cycloidal Wheel, Cycloidal Wheel center and Cycloidal Wheel pinwheel
The torque of the distance, Cycloidal Wheel of contact point.
It should be noted that user can input above-mentioned parameter in user terminal 100, and it is sent to server 200.
Step S302: receive user terminal send coefficient related with material hardness, bearing type coefficient, by bearing
The coefficient that part shape, accuracy, material are determined, the columns of the rotor in single bearing, roller and orbital plane it is effective
Contact length, nominal contact angle, the number of single-row middle rotor, roller diameter.
Step S303: radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, Cycloidal Wheel-pinwheel that user terminal is sent are received
It is driven input speed.
Step S304: according to gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, the Poisson of gear pin
Than, the elasticity modulus of the elasticity modulus of the Poisson's ratio of Cycloidal Wheel, gear pin, Cycloidal Wheel, needle tooth act on the friction in Cycloidal Wheel
Power, the point of contact for crossing pinwheel and Cycloidal Wheel and the tangential direction and i-th of the line at the point of contact and dead axle center for crossing pinwheel and Cycloidal Wheel
A needle tooth act on the angle of cut of the pressure direction in Cycloidal Wheel, the point of contact of Cycloidal Wheel and dead axle center line tangential direction
Vector, Cycloidal Wheel torque meter calculate i-th of needle tooth act on pressure in Cycloidal Wheel, the corresponding cycloid gear of torque will be to
The angle counterclockwise turned over.
Specifically, in order to determine cycloid gear and pinwheel contact force PiSize, it is assumed that cycloid gear is in moment of resistance MaMake
Under, due to engaging the Hertz contact flexible deformation of between cog, cycloid gear will turn over the angle Δ β counterclockwise, and
The micro-displacement δ that the normal orientation of its meshing point generatesi=Δ β × ra × sin θi, liFor cycloid gear center of rotation OaTo
The vertical range of the normal of i meshing point, raFor the center radius of circle of meshing point, biIt as vertex and is acted on using center of rotation
The angle of cut of pressure vector and Y-axis in Cycloidal Wheel is θbi。
In Fig. 4, for Δ MiObP is obtained according to sine
It is obtained according to the cosine law
Then have
If it is P that i-th of needle tooth, which acts on the pressure in Cycloidal Wheel,i, pinwheel radius of curvature is rz, Cycloidal Wheel radius of curvature is
pi, then have
According to hertz formula
Needle tooth acts on the frictional force f in Cycloidal Wheeli, the work of frictional force
Common tangent direction and and P with line along meshing pointiDirection is at an acute angle, size fi=μ Pi.Enabled point CiWith CiOiVertical tangent line
Direction and PiBetween angle beFor Δ CiOaP is obtained according to the cosine law:
For Δ CiOaP is obtained according to the cosine law is reused
If torque M in Cycloidal WheelaIt is transmitted, is then obtained by equalising torque by n tooth
By Pi、liAbove-mentioned formula is brought into etc. corresponding formula, in torque MaWhen known, respective torque can be obtained by solving equation
Under Δ β value, can further acquire pressure Pi。
Step S305: according to coefficient related with material hardness, bearing type coefficient, by bearing parts shape, accurate
Degree, the coefficient that material is determined, the columns of rotor in single bearing, roller and effective contact length of orbital plane, nominal
Contact angle, the number of single-row middle rotor, roller diameter calculation go out the basic dynamic load rating of weight-carrying roller bearing.
It specifically, can be according to formula Cr=fHbmfc(kleffcosα0)7/9z3/4Dw 29/27Calculate weight-carrying roller bearing
Basic dynamic load rating, wherein f in formulaHFor coefficient related with material hardness；bmFor bearing type coefficient；fcBy bearing zero
The coefficient that part shape, accuracy, material are determined；K is the columns of the rotor in single bearing；leffFor roller and orbital plane
Effective contact length；α0For nominal contact angle；Z is the number of single-row middle rotor；DwFor roller diameter.Wherein, above-mentioned
Coefficient can be consulted to obtain in the relevant technologies handbook.
For example, needle tooth can similar be weight-carrying roller bearing structure, b in Cycloidal Wheel-needle toothingm=1.1；K=1；
leffEqual to Cycloidal Wheel facewidth b；αo=0 °；Z is equal to the pinwheel number of teeth；DwAs gear pin diameter, roller and orbital plane effectively connect
Touch length leff=B.When the surface hardness of track and rotor is less than HRC 58, fHValue can be calculated by following empirical equation
It arrives.
Wherein, fcValue by DW cos(α0)/DpWValue determine, wherein Dpw
For pitch diameter, that is, center diameter of gear pins of roller column.fcMedian can be obtained by interpolation.
Step S306: according to basic dynamic load rating, radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, Cycloidal Wheel-pinwheel
Transmission input speed calculates cycloid gear projected life.
It specifically, can be according to formulaThe service life under allowable torque is calculated,
Pri=Pi*cosθi,Wherein, Z is the needle tooth number of teeth, ZcFor the Cycloidal Wheel number of teeth, NIIt is passed for Cycloidal Wheel-pinwheel
Dynamic input speed, N0To export revolving speed, PiThe pressure in Cycloidal Wheel is acted on for torque meter i-th of needle tooth of calculating of Cycloidal Wheel,
θiFor pinwheel center to dead axle and Cycloidal Wheel point of contact direction and dead axle and Cycloidal Wheel point of contact and dead axle center the angle of cut, Pr
For radial load, PriFor i-th of needle tooth radial load, CrFor basic dynamic load rating, Lh1For the service life under allowable torque.
Furthermore it is also possible to according to formulaCalculate the service life under allowable torque, whereinPdrFor cycloid gear center radius of circle；αcFor cycloid gear pressure angle,
PiThe pressure in Cycloidal Wheel, θ are acted on for torque meter i-th of needle tooth of calculating of Cycloidal WheeliIt to dead axle and is put for the center of pinwheel
The angle of cut at the point of contact of the point of contact direction of line wheel and dead axle and Cycloidal Wheel and dead axle center, CrFor basic dynamic load rating, TlTo carry
Lotus torque, PdrFor cycloid gear center radius of circle, Lh2For the service life under allowable torque.
Step S307: according to formula Tle=Pe·PrCalculate the allowable torque under life expectancy, Pe=Pr·tan(90°-
αc),TleFor the allowable torque under life expectancy, PeFor direction of rotation load, αcFor
Cycloid gear pressure angle, PrFor radial load, CrFor basic dynamic load rating, LaFor life expectancy, N0To export revolving speed.
In the present embodiment, Cycloidal Wheel-pinwheel driven Design service life calculation procedure are as follows:
Theta_b=theta_b*pi/180；% Cycloidal Wheel is when turning over respective angles, angle value corresponding to needle tooth
KT=sin (theta_b)；% pin gear and Cycloidal Wheel whether contact critical parameter
Theta_i=asin (sin (theta_b) ./sqrt (1+K1^2-2*K1*cos (theta_b)))；% is in cycloid
When wheel turns over corresponding angle, the angle % between the common normal of needle tooth engagement point or the normal and pivoted arm of point to be engaged
% calls dichotomy program to calculate the corresponding Cycloidal Wheel due to caused by the deformation of force-transmitting part under KK node
Corner delta_b value, and then calculate the parameter values % such as pressure angle, Cycloidal Wheel direction of rotation load and radial load
[alpha_c, pr, pe]=function_dichotomy (bot, top, err, l, R0, KT, theta_i,
theta_b,KK)；
% is by each pressure angle striked by each angle calculation node, Cycloidal Wheel direction of rotation load and radial load etc.
Parameter value is stored in homography %
In addition, being tested through inventor, by taking certain Cycloidal pin-wheel drive mechanism as an example, when needle pin radius rz=0.003m, needle tooth
Center radius of circle Rz=0.0765m, pinwheel tooth number Z=40, Cycloidal Wheel number of teeth Zc=39, Cycloidal Wheel eccentricity A=0.0015m,
Cycloidal Wheel facewidth b=0.01185m, Cycloidal Wheel quantity Nc=2, the hardness HRC=58 of gear pin and Cycloidal Wheel；Cycloidal Wheel-needle
Wheel transmission input speed NI=1815min-1, Cycloidal Wheel input torque T=431.3Nm, Cycloidal Wheel load-torque T1=
1000N·m；The elastic modulus E 1=2.06e11Pa of gear pin, the elastic modulus E 2=2.08e11Pa of Cycloidal Wheel, gear pin
Poisson's ratio μ1=0.3, the Poisson's ratio μ of Cycloidal Wheel2=0.3, friction coefficient μ=0.1, nominal contact angle alpha0=0, individually
The columns k=1 of rotor in bearing, bearing type coefficient bm=1.1, life expectancy LaWhen=10000h, by above-mentioned parameter
Value substitutes into above-mentioned program and is calculated, and can finally obtain its service life under allowable torque of Cycloidal Wheel-pin wheel gear are as follows:
8.1337e+05h, load-torque lower service life are 7.5315e+05h, and allowable torque is 3.6565e+03Nm under life expectancy.
Referring to Fig. 5, the present invention is implemented the embodiment of the invention provides a kind of cycloid gear projected life computing device
The technical effect and above-described embodiment phase of cycloid gear projected life computing device provided by example, basic principle and generation
Together, to briefly describe, the present embodiment part does not refer to place, can refer to corresponding contents in the above embodiments.The cycloid tooth
Taking turns projected life computing device includes information receiving unit 501, computing unit 502.
Information receiving unit 501 is used to receive the gear pin radius of user terminal transmission, the effective facewidth of Cycloidal Wheel, pendulum
Line wheel radius of curvature, the Poisson's ratio of gear pin, the Poisson's ratio of Cycloidal Wheel, the elasticity modulus of gear pin, Cycloidal Wheel springform
Amount, needle tooth act on frictional force in Cycloidal Wheel, crosses the point of contact of pinwheel and Cycloidal Wheel and crosses pinwheel and Cycloidal Wheel point of contact and fixed
The tangential direction of the line of axis center and i-th of needle tooth act on the angle of cut of the pressure direction in Cycloidal Wheel, Cycloidal Wheel center with
The torque of the distance, Cycloidal Wheel of Cycloidal Wheel pinwheel contact point；
The information receiving unit 501 is also used to receive the coefficient related with material hardness of user terminal transmission, bearing
Genre modulus, the coefficient determined by bearing parts shape, accuracy, material, the columns of rotor in single bearing, rolling
Column and effective contact length of orbital plane, nominal contact angle, the number of single-row middle rotor, roller diameter；
The information receiving unit 501 is also used to receive the radial load of user terminal transmission, the needle tooth number of teeth, Cycloidal Wheel
The number of teeth, Cycloidal Wheel-pinwheel are driven input speed；
Computing unit 502 is used for according to gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, gear pin
Poisson's ratio, the Poisson's ratio of Cycloidal Wheel, the elasticity modulus of gear pin, the elasticity modulus of Cycloidal Wheel, needle tooth act in Cycloidal Wheel
Frictional force, the line crossed the point of contact of pinwheel and Cycloidal Wheel and cross the point of contact and dead axle center of pinwheel and Cycloidal Wheel tangent line side
It is cut to the line of the angle of cut of pressure direction, the point of contact of Cycloidal Wheel and dead axle center that are acted in Cycloidal Wheel with i-th of needle tooth
Line direction vector, Cycloidal Wheel torque meter calculate i-th of needle tooth and act on pressure in Cycloidal Wheel, the corresponding cycloid tooth of torque
Take turns the angle that will be turned over counterclockwise；
The computing unit 502 is also used to according to coefficient related with material hardness, bearing type coefficient, by bearing zero
The coefficient that part shape, accuracy, material are determined, the columns of the rotor in single bearing, roller and the effective of orbital plane connect
Touching length, nominal contact angle, the number of single-row middle rotor, roller diameter calculation go out the substantially specified dynamic of weight-carrying roller bearing
Load；
The computing unit 502 is also used to according to basic dynamic load rating, radial load, the needle tooth number of teeth, cycloidal gear teeth
Number, Cycloidal Wheel-pinwheel transmission input speed calculate cycloid gear projected life.
The computing unit 502 is specifically used for according to formula Cr=fHbmfc(kleffcosα0)7/9z3/4Dw 29/27Calculate diameter
To the basic dynamic load rating of roller bearing, wherein f in formulaHFor coefficient related with material hardness；bmFor bearing type system
Number；fcThe coefficient determined by bearing parts shape, accuracy, material；K is the columns of the rotor in single bearing；leff
For effective contact length of roller and orbital plane； α0For nominal contact angle；Z is the number of single-row middle rotor；DwIt is straight for roller
Diameter.
The computing unit 502 is specifically used for according to formulaCalculate the longevity under allowable torque
Life,Pri=Pi*cosθi,Wherein, Z is the needle tooth number of teeth, ZcFor the Cycloidal Wheel number of teeth, NIFor pendulum
Line wheel-pinwheel is driven input speed, N0To export revolving speed, PiCycloid is acted on for torque meter i-th of needle tooth of calculating of Cycloidal Wheel
Pressure on wheel, θiFor pinwheel center to the point of contact direction and dead axle and Cycloidal Wheel of dead axle and Cycloidal Wheel point of contact and dead axle
The angle of cut at center, PrFor radial load, PriFor i-th of needle tooth radial load, CrFor basic dynamic load rating, Lh1For torsion allowable
Service life under square.
The computing unit 502 is specifically used for according to formulaCalculate the longevity under allowable torque
Life, whereinPdrFor cycloid gear center radius of circle；αcFor cycloid tooth
Take turns pressure angle, PiThe pressure in Cycloidal Wheel, θ are acted on for torque meter i-th of needle tooth of calculating of Cycloidal WheeliIt is arrived for the center of pinwheel
The angle of cut in the point of contact direction and dead axle of dead axle and Cycloidal Wheel and the point of contact of Cycloidal Wheel and dead axle center, CrFor substantially specified dynamic load
Lotus, TlFor load-torque, PdrFor cycloid gear center radius of circle, Lh2For the service life under allowable torque.
The computing unit 502 is also used to according to formula Tle=Pe·PrCalculate the allowable torque under life expectancy, Pe=
Pr·tan(90°-αc),TleFor the allowable torque under life expectancy, PeFor rotation side
To load, αcFor cycloid gear pressure angle, PrFor radial load, CrFor basic dynamic load rating, LaFor life expectancy, N0It is defeated
Revolving speed out.
In conclusion cycloid gear projected life calculation method provided by the invention and device, by according to gear pin half
Diameter, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, the Poisson's ratio of gear pin, the Poisson's ratio of Cycloidal Wheel, gear pin bullet
Property modulus, the elasticity modulus of Cycloidal Wheel, needle tooth act in Cycloidal Wheel frictional force, cross point of contact and the mistake of pinwheel and Cycloidal Wheel
The tangential direction of the line at the point of contact and dead axle center of pinwheel and Cycloidal Wheel and i-th of needle tooth act on the pressure in Cycloidal Wheel
The torque meter calculating i-th of the angle of cut in direction, the tangential direction vector of the line at the point of contact of Cycloidal Wheel and dead axle center, Cycloidal Wheel
The angle that pressure that a needle tooth acts in Cycloidal Wheel, the corresponding cycloid gear of torque will turn over counterclockwise；Then according to
According to coefficient related with material hardness, bearing type coefficient, the coefficient determined by bearing parts shape, accuracy, material,
The columns of rotor, effective contact length of roller and orbital plane, nominal contact angle, single-row middle rotor in single bearing
Number, roller diameter calculation go out the basic dynamic load rating of weight-carrying roller bearing；Finally according to basic dynamic load rating, diameter
Cycloid gear projected life is calculated to load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, Cycloidal Wheel-pinwheel transmission input speed, is counted
Calculation method is simple, reasonable, effective, and calculation procedure is structurally reasonable, computational efficiency is high, has high engineering application value.
In several embodiments provided herein, it should be understood that disclosed device and method can also lead to
Other modes are crossed to realize.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and
Block diagram shows the system in the cards of the device of multiple embodiments according to the present invention, method and computer program product
Framework, function and operation.In this regard, each box in flowchart or block diagram can represent a module, program segment or generation
A part of code, a part of the module, section or code include one or more for realizing defined logic function
Executable instruction.It should also be noted that function marked in the box can also be in some implementations as replacement
Occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be basically executed in parallel,
They can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/or stream
The combination of each box in journey figure and the box in block diagram and or flow chart, can the function as defined in executing or dynamic
The dedicated hardware based system made is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
If the function is realized and when sold or used as an independent product in the form of software function module, can
To be stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention substantially or
Say that the part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
It is personal computer, server or the network equipment etc.) execute all or part of each embodiment the method for the present invention
Step.And storage medium above-mentioned include: USB flash disk, it is mobile hard disk, read-only memory (ROM, Read-Only Memory), random
Access various Jie that can store program code such as memory (RAM, Random Access Memory), magnetic or disk
Matter.It should be noted that, in this document, relational terms such as first and second and the like be used merely to an entity or
Person's operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and word
Mother indicates similar terms in following attached drawing, therefore, once it is defined in a certain Xiang Yi attached drawing, then in subsequent attached drawing
In do not need that it is further defined and explained.
Claims (10)
1. a kind of cycloid gear projected life calculation method, which is characterized in that the cycloid gear projected life calculation method packet
It includes:
Receive gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, the Poisson of gear pin that user terminal is sent
Than, the elasticity modulus of the elasticity modulus of the Poisson's ratio of Cycloidal Wheel, gear pin, Cycloidal Wheel, needle tooth act on the friction in Cycloidal Wheel
Power, the point of contact for crossing pinwheel and Cycloidal Wheel and the tangential direction and i-th of the line at the point of contact and dead axle center for crossing pinwheel and Cycloidal Wheel
A needle tooth acts on the angle of cut of the pressure direction in Cycloidal Wheel, Cycloidal Wheel center at a distance from Cycloidal Wheel pinwheel contact point, cycloid
The torque of wheel；
And receive user terminal send coefficient related with material hardness, bearing type coefficient, by bearing parts shape, essence
The coefficient that exactness, material are determined, the columns of the rotor in single bearing, roller and effective contact length of orbital plane, public affairs
Claim contact angle, the number of single-row middle rotor, roller diameter；
It receives radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, Cycloidal Wheel-pinwheel that user terminal is sent and is driven input speed；
According to gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, the Poisson's ratio of gear pin, Cycloidal Wheel pool
Loose ratio, the elasticity modulus of gear pin, the elasticity modulus of Cycloidal Wheel, needle tooth act on frictional force, excessively pinwheel and pendulum in Cycloidal Wheel
The point of contact of line wheel acts on pendulum with the tangential direction of the line at the point of contact and dead axle center for crossing pinwheel and Cycloidal Wheel and i-th of needle tooth
The angle of cut of pressure direction in line wheel, the tangential direction vector of the line at the point of contact of Cycloidal Wheel and dead axle center, Cycloidal Wheel turn
Square calculates pressure that i-th of needle tooth act in Cycloidal Wheel, the corresponding cycloid gear of torque will turn over counterclockwise
Angle；
It is determined according to coefficient related with material hardness, bearing type coefficient, by bearing parts shape, accuracy, material
Coefficient, the columns of rotor in single bearing, effective contact length of roller and orbital plane, nominal contact angle, single-row transfer
Number, the roller diameter calculation of kinetoplast go out the basic dynamic load rating of weight-carrying roller bearing；
Input speed meter is driven according to basic dynamic load rating, radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, Cycloidal Wheel-pinwheel
Calculate cycloid gear projected life.
2. cycloid gear projected life calculation method according to claim 1, which is characterized in that the foundation and material are hard
Spend related coefficient, bearing type coefficient, the coefficient determined by bearing parts shape, accuracy, material, in single bearing
The columns of rotor, effective contact length of roller and orbital plane, nominal contact angle, the number of single-row middle rotor, roller are straight
Diameter calculates the step of basic dynamic load rating of weight-carrying roller bearing and includes:
According to formula Cr=fHbmfc(kleffcosα0)7/9z3/4Dw 29/27The basic dynamic load rating of weight-carrying roller bearing is calculated,
Wherein, f in formulaHFor coefficient related with material hardness；bmFor bearing type coefficient；fcBy bearing parts shape, accuracy, material
The coefficient that matter is determined；K is the columns of the rotor in single bearing；leffFor effective contact length of roller and orbital plane；α0
For nominal contact angle；Z is the number of single-row middle rotor；DwFor roller diameter.
3. cycloid gear projected life calculation method according to claim 1, which is characterized in that the cycloid gear design
Service life is the service life under allowable torque, the basic dynamic load rating of the foundation, radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, pendulum
The step of line wheel-pinwheel transmission input speed calculates cycloid gear projected life include:
According to formulaThe service life under allowable torque is calculated,Pri=Pi*cosθi,Wherein, Z is the needle tooth number of teeth, ZcFor the Cycloidal Wheel number of teeth, NIInput speed, N are driven for Cycloidal Wheel-pinwheel0For
Export revolving speed, PiThe pressure in Cycloidal Wheel, θ are acted on for torque meter i-th of needle tooth of calculating of Cycloidal WheeliIt is arrived for the center of pinwheel
The angle of cut in the point of contact direction and dead axle of dead axle and Cycloidal Wheel and the point of contact of Cycloidal Wheel and dead axle center, PrFor radial load, PriFor
I-th of needle tooth radial load, CrFor basic dynamic load rating, Lh1For the service life under allowable torque.
4. cycloid gear projected life calculation method according to claim 1, which is characterized in that the cycloid gear design
Service life is the service life actually used under torque, the basic dynamic load rating of the foundation, radial load, the needle tooth number of teeth, cycloidal gear teeth
It counts, Cycloidal Wheel-pinwheel is driven the step of input speed calculates cycloid gear projected life and includes:
According to formulaCalculate the service life under allowable torque, whereinPdrFor cycloid gear center radius of circle；αcFor cycloid gear pressure angle,
PiThe pressure in Cycloidal Wheel, θ are acted on for torque meter i-th of needle tooth of calculating of Cycloidal WheeliFor pinwheel center to dead axle and cycloid
The angle of cut at the point of contact of the point of contact direction of wheel and dead axle and Cycloidal Wheel and dead axle center, CrFor basic dynamic load rating, TlFor load torsion
Square, PdrFor cycloid gear center radius of circle, Lh2For the service life under allowable torque.
5. cycloid gear projected life calculation method according to claim 1, which is characterized in that the cycloid gear design
Life Calculating Methods further include:
According to formula Tle=Pe·PrCalculate the allowable torque under life expectancy, Pe=Pr·tan(90°-αc),TleFor the allowable torque under life expectancy, PeFor direction of rotation load, αcFor cycloid tooth
Take turns pressure angle, PrFor radial load, CrFor basic dynamic load rating, LaFor life expectancy, N0To export revolving speed.
6. a kind of cycloid gear projected life computing device, which is characterized in that the cycloid gear projected life computing device packet
It includes:
Information receiving unit, for receiving gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel curvature of user terminal transmission
Radius, the Poisson's ratio of gear pin, the Poisson's ratio of Cycloidal Wheel, the elasticity modulus of gear pin, the elasticity modulus of Cycloidal Wheel, the effect of needle tooth
The line at the point of contact and dead axle center at the point of contact and pinwheel and Cycloidal Wheel excessively of frictional force, excessively pinwheel and Cycloidal Wheel in Cycloidal Wheel
Tangential direction and i-th of needle tooth angle of cut, Cycloidal Wheel center and the Cycloidal Wheel pinwheel of the pressure direction that act in Cycloidal Wheel connect
The torque of the distance, Cycloidal Wheel of contact；
The information receiving unit is also used to receive the coefficient related with material hardness of user terminal transmission, bearing type system
Number, the coefficient determined by bearing parts shape, accuracy, material, rotor in single bearing columns, roller and track
Effective contact length in face, nominal contact angle, the number of single-row middle rotor, roller diameter；
The information receiving unit is also used to receive the radial load of user terminal transmission, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, cycloid
Wheel-pinwheel is driven input speed；
Computing unit, for according to gear pin radius, the effective facewidth of Cycloidal Wheel, Cycloidal Wheel radius of curvature, the Poisson of gear pin
Than, the elasticity modulus of the elasticity modulus of the Poisson's ratio of Cycloidal Wheel, gear pin, Cycloidal Wheel, needle tooth act on the friction in Cycloidal Wheel
Power, the point of contact for crossing pinwheel and Cycloidal Wheel and the tangential direction and i-th of the line at the point of contact and dead axle center for crossing pinwheel and Cycloidal Wheel
A needle tooth act on the angle of cut of the pressure direction in Cycloidal Wheel, the point of contact of Cycloidal Wheel and dead axle center line tangential direction to
Amount, Cycloidal Wheel torque meter calculate i-th of needle tooth act on pressure in Cycloidal Wheel, the corresponding cycloid gear of torque will be to the inverse time
The angle that needle direction turns over；
The computing unit is also used to according to coefficient related with material hardness, bearing type coefficient, by bearing parts shape, essence
The coefficient that exactness, material are determined, the columns of the rotor in single bearing, roller and effective contact length of orbital plane, public affairs
The basic dynamic load rating for claiming contact angle, the number of single-row middle rotor, roller diameter calculation to go out weight-carrying roller bearing；
The computing unit is also used to according to basic dynamic load rating, radial load, the needle tooth number of teeth, the Cycloidal Wheel number of teeth, Cycloidal Wheel-
Pinwheel transmission input speed calculates cycloid gear projected life.
7. cycloid gear projected life computing device according to claim 6, which is characterized in that the computing unit is specific
For according to formula Cr=fHbmfc(kleffcosα0)7/9z3/4Dw 29/27The basic dynamic load rating of weight-carrying roller bearing is calculated,
Wherein, f in formulaHFor coefficient related with material hardness；bmFor bearing type coefficient；fcBy bearing parts shape, accuracy, material
The coefficient that matter is determined；K is the columns of the rotor in single bearing；leffFor effective contact length of roller and orbital plane；α0
For nominal contact angle；Z is the number of single-row middle rotor；DwFor roller diameter.
8. cycloid gear projected life computing device according to claim 6, which is characterized in that the computing unit is specific
For according to formulaThe service life under allowable torque is calculated,Pri=Pi*cosθi,Wherein, Z is the needle tooth number of teeth, ZcFor the Cycloidal Wheel number of teeth, NIInput speed, N are driven for Cycloidal Wheel-pinwheel0For
Export revolving speed, PiThe pressure in Cycloidal Wheel, θ are acted on for torque meter i-th of needle tooth of calculating of Cycloidal WheeliIt is arrived for the center of pinwheel
The angle of cut in the point of contact direction and dead axle of dead axle and Cycloidal Wheel and the point of contact of Cycloidal Wheel and dead axle center, PrFor radial load, PriFor
I-th of needle tooth radial load, CrFor basic dynamic load rating, Lh1For the service life under allowable torque.
9. cycloid gear projected life computing device according to claim 6, which is characterized in that the computing unit is specific
For according to formulaCalculate the service life under allowable torque, whereinPdrFor cycloid gear center radius of circle；αcFor cycloid gear pressure angle,
PiThe pressure in Cycloidal Wheel, θ are acted on for torque meter i-th of needle tooth of calculating of Cycloidal WheeliFor pinwheel center to dead axle and cycloid
The angle of cut at the point of contact of the point of contact direction of wheel and dead axle and Cycloidal Wheel and dead axle center, CrFor basic dynamic load rating, TlFor load torsion
Square, PdrFor cycloid gear center radius of circle, Lh2For the service life under allowable torque.
10. cycloid gear projected life computing device according to claim 6, which is characterized in that the computing unit is also
For according to formula Tle=Pe·PrCalculate the allowable torque under life expectancy, Pe=Pr·tan(90°-αc),TleFor the allowable torque under life expectancy, PeFor direction of rotation load, αcFor cycloid
Pressure angle, PrFor radial load, CrFor basic dynamic load rating, LaFor life expectancy, N0To export revolving speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811108989.2A CN109344484B (en) | 2018-09-21 | 2018-09-21 | Method and device for calculating design life of cycloid gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811108989.2A CN109344484B (en) | 2018-09-21 | 2018-09-21 | Method and device for calculating design life of cycloid gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109344484A true CN109344484A (en) | 2019-02-15 |
| CN109344484B CN109344484B (en) | 2023-04-18 |
Family
ID=65305939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811108989.2A Active CN109344484B (en) | 2018-09-21 | 2018-09-21 | Method and device for calculating design life of cycloid gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109344484B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040249619A1 (en) * | 2001-10-26 | 2004-12-09 | Seigou Urakami | Life predicting method for rolling bearing, life prediting device, rolling bearing selecting device using life predicing device, program and environment factor determining method |
| CN101705979A (en) * | 2009-11-27 | 2010-05-12 | 齐中才 | Cycloid-pin wheel speed reducer |
| CN105404737A (en) * | 2015-11-17 | 2016-03-16 | 天津百利机械装备研究院有限公司 | MATLAB based cycloid gear parameter optimization method |
| CN207730446U (en) * | 2017-12-28 | 2018-08-14 | 哈工大机器人（合肥）国际创新研究院 | The life test apparatus of robot precision cycloid decelerator |
-
2018
- 2018-09-21 CN CN201811108989.2A patent/CN109344484B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040249619A1 (en) * | 2001-10-26 | 2004-12-09 | Seigou Urakami | Life predicting method for rolling bearing, life prediting device, rolling bearing selecting device using life predicing device, program and environment factor determining method |
| CN101705979A (en) * | 2009-11-27 | 2010-05-12 | 齐中才 | Cycloid-pin wheel speed reducer |
| CN105404737A (en) * | 2015-11-17 | 2016-03-16 | 天津百利机械装备研究院有限公司 | MATLAB based cycloid gear parameter optimization method |
| CN207730446U (en) * | 2017-12-28 | 2018-08-14 | 哈工大机器人（合肥）国际创新研究院 | The life test apparatus of robot precision cycloid decelerator |
Non-Patent Citations (2)
| Title |
|---|
| 张爱荣: "基于遗传算法的摆线针轮行星减速器优化设计", 《机械设计与制造》 * |
| 易军等: "二齿差摆线针轮行星减速器的优化设计", 《机械设计与研究》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109344484B (en) | 2023-04-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110162909B (en) | Involute straight gear transmission system dynamic characteristic solving method | |
| Ma et al. | Time-varying mesh characteristics of a spur gear pair considering the tip-fillet and friction | |
| CN106041924B (en) | It is a kind of to measure the method for joint moment and joint control method using photoelectric encoder | |
| CN108361365B (en) | Cycloid pin gear transmission meshing state compensation method containing machining errors | |
| CN109115492A (en) | Cycloid pinwheel planetary gear transmission system mechanics analysis apparatus and method | |
| US11181170B2 (en) | Planetary gear device and planetary gear device design program | |
| Liu et al. | Kinematics analysis of the roller screw based on the accuracy of meshing point calculation | |
| CN107340005A (en) | Multi-turn absolute value encoder, drive device, storage medium and control method | |
| JP4909783B2 (en) | Inscribed rocking mesh planetary gear reducer | |
| Wang et al. | Theoretical investigation of the improved nonlinear dynamic model for star gearing system in GTF gearbox based on dynamic meshing parameters | |
| CN109344484A (en) | Cycloid gear projected life calculation method and device | |
| CN107387676A (en) | A kind of steering wheel of fewer differential teeth planetary slowing-down structure | |
| Deng et al. | Meshing characteristics and engagement of anti-backlash single-and double-roller enveloping hourglass worm gear | |
| CN107345802A (en) | The analytical equipment and method of a kind of planetary reduction gear gap dynamic characteristic | |
| Song et al. | A new method for calculating time‐varying torsional stiffness of RV reducers with variable loads and tooth modifications | |
| WO2006038901A1 (en) | Planetary gear transmission | |
| CN109141869A (en) | Swing pinwheel Gear Planet Transmission power analysis method and device | |
| CN110069799B (en) | Method for calculating strength of cycloid gear | |
| Hu et al. | Research on prediction method of transmission accuracy of harmonic drive | |
| Guo et al. | Experimental and theoretical study of gear dynamical transmission characteristic considering measured manufacturing errors | |
| Vinogradov et al. | The stress state of heavy loaded open gearing with incomplete tooth contact | |
| EP2577100B1 (en) | Mechanical speed variator with eccentric dynamic masses having a balanced structure | |
| US11441640B2 (en) | Balanced speed reducer of dual-ring gear variable-line-speed planetary row | |
| Mo et al. | Research on Multiple‐Split Load Sharing Characteristics of 2‐Stage External Meshing Star Gear System in Consideration of Displacement Compatibility | |
| CN207215074U (en) | A kind of analytical equipment of planetary reduction gear gap dynamic characteristic |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 213000, No. 258, Wuyi Road, Changzhou City, Jiangsu Province Patentee after: CRRC Qishuyan Locomotive and Rolling Stock Technology Research Institute Co.,Ltd. Country or region after: China Address before: 213000, No. 258, Wuyi Road, Changzhou City, Jiangsu Province Patentee before: CRRC QISHUYAN INSTITUTE Co.,Ltd. Country or region before: China |
|
| CP03 | Change of name, title or address |