CN109344484B - Method and device for calculating design life of cycloid gear - Google Patents
Method and device for calculating design life of cycloid gear Download PDFInfo
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Abstract
The invention provides a method and a device for calculating the design life of a cycloid gear, and relates to the field of robot cycloid reducers. The angle that the cycloid gear corresponding to the pressure and the torque of the ith needle tooth acting on the cycloid gear rotates anticlockwise is calculated according to parameters such as the radius of the needle tooth pin, the effective tooth width of the cycloid gear, the curvature radius of the cycloid gear, the Poisson ratio of the needle tooth pin, the Poisson ratio of the cycloid gear, the elastic modulus of the needle tooth pin, the elastic modulus of the cycloid gear, the friction force of the needle tooth acting on the cycloid gear and the like; then, calculating the basic rated dynamic load of the radial roller bearing according to the coefficient related to the material hardness, the bearing type coefficient, the shape of the bearing part and other parameters; and finally, the design life of the cycloid gear is calculated according to the basic rated dynamic load, the radial load, the number of pin teeth, the number of cycloid gear teeth and the cycloid gear-pin gear transmission input rotating speed, and the calculation method is simple, reasonable and effective, has a reasonable calculation program structure and high calculation efficiency and has higher engineering application value.
Description
Technical Field
The invention relates to the field of robot cycloid speed reducers, in particular to a method and a device for calculating the design life of a cycloid gear.
Background
The cycloidal speed reducer is a novel transmission device which applies planetary transmission principle and adopts cycloidal pin gear engagement. All transmission devices of the cycloidal pin gear speed reducer can be divided into three parts: an input part, a deceleration part and an output part. The input shaft is equipped with a double eccentric sleeve which is dislocated by 180 deg., and on the eccentric sleeve two roller bearings called rotating arms are mounted, so that it can form H mechanism, and the central holes of two cycloidal gears are the roller paths of the bearings of rotating arms on the eccentric sleeve, and the cycloidal gears are meshed with a group of annularly-arranged needle teeth on the needle gear so as to form an internal gearing speed-reducing mechanism whose tooth difference is one tooth (in the speed reducer whose speed ratio is small for reducing friction, the needle teeth are equipped with needle tooth sleeve). When the input shaft drives the eccentric sleeve to rotate for one circle, the motion of the cycloid wheel is a plane motion with revolution and rotation due to the characteristics of the tooth profile curve on the cycloid wheel and the limitation of the tooth profile curve on the needle gear, when the input shaft rotates for one circle, the eccentric sleeve also rotates for one circle, the cycloid wheel rotates for one tooth in the opposite direction to obtain speed reduction, and then the low-speed rotation motion of the cycloid wheel is transmitted to the output shaft through the pin shaft by virtue of the W output mechanism, so that the lower output rotating speed is obtained.
In the traditional technology, because the planetary transmission of the cycloid pin gear is complex in stress, no theoretical calculation method exists at present for the design life of the cycloid gear.
Disclosure of Invention
In view of the above, an object of the embodiments of the present invention is to provide a method and an apparatus for calculating a design life of a cycloid gear, so as to improve the above-mentioned problems.
In a first aspect, an embodiment of the present invention provides a method for calculating a design life of a cycloid gear, where the method for calculating a design life of a cycloid gear includes:
receiving the radius of a pin gear pin, the effective tooth width of a cycloidal gear, the curvature radius of the cycloidal gear, the Poisson ratio of the pin gear pin, the Poisson ratio of the cycloidal gear, the elastic modulus of the pin gear pin, the elastic modulus of the cycloidal gear, the friction force of the pin gear acting on the cycloidal gear, the intersection angle of the tangent direction of the tangent point of a needle passing wheel and the cycloidal gear, the tangent point of the needle passing wheel and the cycloidal gear and the connecting line of the fixed shaft center and the pressure direction of the ith pin gear acting on the cycloidal gear, the distance between the center of the cycloidal gear and the contact point of the pin wheel of the cycloidal gear and the torque of the cycloidal gear, which are sent by a user terminal;
receiving a coefficient related to material hardness, a bearing type coefficient, a coefficient determined by the shape, accuracy and material of a bearing part, the number of rows of rotating bodies in a single bearing, the effective contact length of a roller and a track surface, a nominal contact angle, the number of rotating bodies in a single row and the diameter of the roller, which are sent by a user terminal;
receiving a radial load, a pin gear tooth number, a cycloid gear tooth number and a cycloid gear-pin gear transmission input rotating speed sent by a user terminal;
calculating the angle of the cycloid gear which is corresponding to the pressure and the torque of the ith needle tooth acting on the cycloid gear and anticlockwise rotated according to the radius of the needle tooth pin, the effective tooth width of the cycloid gear, the curvature radius of the cycloid gear, the Poisson ratio of the needle tooth pin, the Poisson ratio of the cycloid gear, the elastic modulus of the needle tooth pin, the elastic modulus of the cycloid gear, the friction force of the needle tooth acting on the cycloid gear, the tangential direction of the tangent point of the needle wheel and the cycloid gear, the tangent direction of the connecting line of the tangent point of the needle wheel and the cycloid gear and the center of the fixed shaft, the intersection angle of the pressure direction of the ith needle tooth acting on the cycloid gear, the tangential direction vector of the connecting line of the tangent point of the cycloid gear and the center of the fixed shaft and the torque of the cycloid gear;
calculating the basic rated dynamic load of the radial roller bearing according to a coefficient related to the hardness of a material, a bearing type coefficient, a coefficient determined by the shape, the accuracy and the material of a bearing part, the row number of rotating bodies in a single bearing, the effective contact length of a roller and a track surface, a nominal contact angle, the number of rotating bodies in a single row and the diameter of the roller;
and calculating the design life of the cycloid gear according to the basic rated dynamic load, the radial load, the number of pin teeth, the number of cycloid gear teeth and the transmission input rotating speed of the cycloid gear and the pin gear.
In a second aspect, an embodiment of the present invention further provides a device for calculating a designed life of a cycloid gear, where the device for calculating a designed life of a cycloid gear includes:
the information receiving unit is used for receiving the radius of a pin gear pin, the effective tooth width of the cycloidal gear, the curvature radius of the cycloidal gear, the Poisson ratio of the pin gear pin, the Poisson ratio of the cycloidal gear, the elastic modulus of the pin gear pin, the elastic modulus of the cycloidal gear, the friction force of the pin gear acting on the cycloidal gear, the intersection angle of the tangent direction of the tangent point of the needle wheel and the cycloidal gear, the pressure direction of the ith needle gear acting on the cycloidal gear, the distance between the center of the cycloidal gear and the contact point of the needle wheel of the cycloidal gear and the torque of the cycloidal gear, which are sent by a user terminal;
the information receiving unit is also used for receiving coefficients related to material hardness, bearing type coefficients, coefficients determined by the shape, accuracy and material of bearing parts, the number of rows of rotating bodies in a single bearing, the effective contact length of a roller and a track surface, a nominal contact angle, the number of rotating bodies in a single row and the diameter of the roller, which are sent by a user terminal;
the information receiving unit is also used for receiving the radial load, the pin gear tooth number, the cycloid gear tooth number and the cycloid gear-pin gear transmission input rotating speed sent by the user terminal;
the calculation unit is used for calculating the angle which the cycloid gear corresponding to the pressure and the torque of the ith needle tooth acting on the cycloid gear rotates in the anticlockwise direction according to the radius of the needle tooth pin, the effective tooth width of the cycloid gear, the curvature radius of the cycloid gear, the Poisson ratio of the needle tooth pin, the Poisson ratio of the cycloid gear, the elastic modulus of the needle tooth pin, the elastic modulus of the cycloid gear, the friction force of the needle tooth acting on the cycloid gear, the tangential direction of the tangent point of the needle wheel and the cycloid gear, the tangent point of the needle wheel and the cycloid gear, the intersection angle of the tangent point of the needle wheel and the tangent point of the cycloid wheel and the pressure direction of the ith needle tooth acting on the cycloid gear, the tangential direction vector of the tangent point of the cycloid wheel and the tangent direction of the tangent point of the cycloid center of the cycloid gear and the torque of the cycloid gear;
the calculation unit is also used for calculating the basic rated dynamic load of the radial roller bearing according to the coefficient related to the hardness of the material, the coefficient of the type of the bearing, the coefficient determined by the shape, the accuracy and the material of the bearing part, the row number of the rotating bodies in a single bearing, the effective contact length of the roller and the track surface, the nominal contact angle, the number of the rotating bodies in a single row and the diameter of the roller;
the calculation unit is also used for calculating the design life of the cycloid gear according to the basic rated dynamic load, the radial load, the number of teeth of the pin gear, the number of teeth of the cycloid wheel and the transmission input rotating speed of the cycloid wheel and the pin wheel.
Compared with the prior art, the method and the device for calculating the design life of the cycloid gear provided by the invention calculate the pressure of the ith needle tooth acting on the cycloid gear and the angle of the cycloid gear which is corresponding to the torque and rotates anticlockwise according to the radius of the needle tooth pin, the effective tooth width of the cycloid gear, the curvature radius of the cycloid gear, the poisson ratio of the needle tooth pin, the poisson ratio of the cycloid gear, the elastic modulus of the needle tooth pin, the elastic modulus of the cycloid gear, the friction force of the needle tooth acting on the cycloid gear, the tangent direction of the tangent point of the needle wheel and the cycloid gear, the tangent point of the needle wheel and the cycloid gear and the tangent direction of the fixed shaft center, the intersection angle of the pressure direction of the ith needle tooth acting on the cycloid gear, the tangent direction of the tangent point of the cycloid wheel and the fixed shaft center, and the torque of the cycloid gear; then calculating the basic rated dynamic load of the radial roller bearing according to the coefficient related to the hardness of the material, the coefficient of the type of the bearing, the coefficient determined by the shape, the accuracy and the material of the bearing part, the row number of the rotating bodies in a single bearing, the effective contact length of the roller and the track surface, the nominal contact angle, the number of the rotating bodies in a single row and the diameter of the roller; and finally, the design life of the cycloid gear is calculated according to the basic rated dynamic load, the radial load, the number of pin teeth, the number of cycloid gear teeth and the transmission input rotating speed of the cycloid gear-pin wheel.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of interaction between a server and a user terminal according to an embodiment of the present invention;
fig. 2 is a block diagram of a server according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for calculating a life of a cycloid gear design provided in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a cycloid gear provided in an embodiment of the present invention;
fig. 5 is a functional block diagram of a device for calculating a design life of a cycloid gear according to an embodiment of the present invention.
Icon: 100-a user terminal; 200-a server; 300-a wireless network; 101-a memory; 102-a memory controller; 103-a processor; 104-a peripheral interface; 105-a cycloid gear; 106-pinwheel; 107-fixed axis; 501-an information receiving unit; 502-a calculation unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention without making any creative effort, fall within the protection scope of the invention.
The device and method for calculating the design life of the cycloid gear provided by the preferred embodiment of the invention can be applied to the application environment shown in fig. 1. As shown in fig. 1, the user terminal 100 and the server 200 are located in a wireless network 300, and the user terminal 100 and the server 200 perform data interaction through the wireless network 300. In the embodiment of the present invention, at least one application is installed in the user terminal 100, and corresponds to the server 200, so as to provide services for the user. In this embodiment, the application installed in the user terminal 100 is capable of setting parameters and displaying output results. In the embodiment of the present invention, the user terminal 100 is preferably an industrial computer.
Fig. 2 is a schematic diagram of functional modules of a cycloidal gear design life calculation device 100 provided by the present invention. The server 200 in which the cycloid gear design life calculation apparatus 100 is installed includes a memory 101, a memory controller 102, a processor 103, and a peripheral interface 104. The memory 101, the memory controller 102, the processor 103, and the peripheral interface 104 are electrically connected to each other directly or indirectly, so as to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The cycloid gear design life calculation device 100 includes at least one software functional module that may be stored in the memory 101 or solidified in the server in the form of software or firmware (firmware). The processor 103 is used to execute executable modules stored in the memory 101, such as software functional modules or computer programs included in the cycloid gear design life calculation apparatus 100.
The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 101 is configured to store a program, and the processor 103 executes the program after receiving the execution instruction, where the method performed by the server defined by the flow process disclosed in any embodiment of the foregoing invention may be applied to the processor 103, or implemented by the processor 103.
The processor 103 may be an integrated circuit chip having signal processing capabilities. The Processor 103 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. The general purpose processor may be a microprocessor or the processor 103 may be any conventional processor or the like.
The peripheral interface 104 couples various input/output devices to the processor 103 as well as to the memory 101. In some embodiments, peripheral interface 104, processor 103, and memory controller 102 may be implemented in a single chip. In other examples, they may be implemented separately from each other.
Referring to fig. 3, an embodiment of the present invention further provides a method for calculating a design life of a cycloid gear, which is used for a cycloid pin gear planet in a working state. As shown in fig. 4, the cycloid pin gear planet includes a cycloid wheel 105, a plurality of pin gears 106 and a fixed shaft 107, the plurality of pin gears 106 are engaged with the edge of the cycloid wheel 105, the cycloid wheel 105 is sleeved outside the fixed shaft 107, and the assembly gap is zero; the cycloidal gear 105 and the needle wheel 106 are changed into a fixed shaft 107 transmission rotating around the fixed shaft 107, and the deformation of the needle gear shell and the rotating arm is ignored when the stress analysis is carried out. The cycloid gear 105 in the meshing instant position serves as a separate body, and the cycloid gear 105 mainly bears three loads: the first load is the pressure P of the ith pin on the cycloidal gear 105 i The action lines of all the pressures are along the common normal direction of the meshing point and intersect at the node P; the second load is the frictional force f of the pin teeth acting on the cycloid gear 105 i The line of action of the friction force is along the common tangent to the point of engagement and is parallel to P i The direction is acute; the third load is a resultant force of the swing arm bearing acting on the cycloid wheel 105. The method for calculating the design life of the cycloid gear comprises the following steps:
step S301: receiving the radius of a pin gear pin, the effective tooth width of a cycloidal gear, the curvature radius of the cycloidal gear, the Poisson ratio of the pin gear pin, the Poisson ratio of the cycloidal gear, the elastic modulus of the pin gear pin, the elastic modulus of the cycloidal gear, the friction force acted on the cycloidal gear by the pin gear, the tangent direction of the tangent line of the passing pin gear and the cycloidal gear, the tangent point of the passing pin gear and the cycloidal gear and the pressure direction acted on the cycloidal gear by the ith pin gear, the distance between the center of the cycloidal gear and the contact point of the pin gear of the cycloidal gear and the torque of the cycloidal gear, which are sent by a user terminal.
The user may input the above parameters in the user terminal 100 and send the parameters to the server 200.
Step S302: receiving a coefficient related to material hardness, a bearing type coefficient, a coefficient determined by the shape, accuracy and material of a bearing part, the number of rows of rotating bodies in a single bearing, the effective contact length of a roller and a track surface, a nominal contact angle, the number of rotating bodies in a single row and the diameter of the roller, which are sent by a user terminal.
Step S303: and receiving the radial load, the pin gear tooth number, the cycloid gear tooth number and the cycloid gear-pin gear transmission input rotating speed sent by the user terminal.
Step S304: and calculating the angle of the cycloid gear which is rotated anticlockwise by the pressure and the torque of the ith needle tooth acting on the cycloid gear according to the radius of the needle tooth pin, the effective tooth width of the cycloid gear, the curvature radius of the cycloid gear, the Poisson ratio of the needle tooth pin, the Poisson ratio of the cycloid gear, the elastic modulus of the needle tooth pin, the elastic modulus of the cycloid gear, the friction force of the needle tooth acting on the cycloid gear, the tangential direction of the tangent point of the needle wheel and the cycloid gear, the tangent point of the needle wheel and the cycloid gear, the tangential direction vector of the pressure direction of the ith needle tooth acting on the cycloid gear, the tangential direction vector of the tangent point of the cycloid gear and the tangent line of the fixed shaft center, and the torque of the cycloid gear.
In particular, in order to determine the cycloid gear and pinwheel contact force P i Assuming that the cycloid gear is at the resisting moment M a Under the action of Hertz contact elastic deformation between meshing teeth, the cycloid gear rotates counterclockwise by an angle delta beta, and a small displacement delta generated in the normal direction of a meshing point of the cycloid gear i ＝Δβ×ra×sinθ i ，l i Is the rotation center O of the cycloid gear a Perpendicular distance to normal of ith point of engagement, r a Is the central circle radius of the meshing point, b i The intersection angle of the pressure vector acting on the cycloid wheel and the Y axis with the rotation center as the vertex is theta bi 。
In FIG. 4, for Δ M i O b P is obtained according to the sine theorem
According to the cosine law
Then there is
Let P be the pressure of the ith needle tooth acting on the cycloidal gear i Radius of curvature of the pinwheel is r z Radius of curvature of cycloid wheel is p i Then there is
According to the Hertz formula
For Δ C i O a P is obtained by reusing the cosine theorem
Torque M on cycloidal gear a Transmitted by n teeth, resulting from moment balance
Will P i 、l i Substituting the corresponding equation into the above formula at the torque M a When known, the pressure P can be further obtained by solving the value of delta beta under the corresponding torque of the square Cheng Kede i 。
Step S305: and calculating the basic rated dynamic load of the radial roller bearing according to the coefficient related to the hardness of the material, the coefficient of the type of the bearing, the coefficient determined by the shape, the accuracy and the material of the bearing part, the number of rows of rotating bodies in a single bearing, the effective contact length of the roller and the track surface, the nominal contact angle, the number of the rotating bodies in the single row and the diameter of the roller.
Specifically, the formula C can be followed r ＝f H b m f c (kl eff cosα 0 ) 7/9 z 3/4 D w 29/27 Calculating the basic rated dynamic load of the radial roller bearing, wherein f H Is a coefficient related to the hardness of the material; b is a mixture of m Is a bearing type coefficient; f. of c The coefficient determined by the shape, accuracy and material of the bearing part; k is the number of rows of rotors in a single bearing; l eff The effective contact length of the roller and the track surface; alpha is alpha 0 Is the nominal contact angle; z is the number of rotors in a single row; d w Is the roller diameter. Wherein, the coefficients can be obtained by consulting relevant technical manuals.
For example, in a cycloidal gear-pin gear structure, the pin gear may resemble a radial roller bearing structure, b m ＝1.1；k＝1；l eff Equal to the width b of the teeth of the cycloid wheel; alpha (alpha) ("alpha") o =0 °; z is equal to the number of pin gear teeth; d w I.e. the diameter of the pin gear, the effective contact length l of the roller and the track surface eff And (B). When the surface hardness of the track and the rotor is less than HRC 58, f H The value of (c) can be calculated from the following empirical formula.
Step S306: and calculating the design life of the cycloid gear according to the basic rated dynamic load, the radial load, the number of pin teeth, the number of cycloid teeth and the transmission input rotating speed of the cycloid gear and the pin wheel.
Specifically, the formula can be followed
Calculating the age at allowable torque>
P ri ＝P i *cosθ i ，/>
Wherein Z is the number of teeth of the pin gear, Z c Number of teeth of cycloid gear, N I For inputting rotational speed, N, for cycloidal-pinwheel drive 0 To output a rotational speed, P i The pressure of the ith needle tooth acting on the cycloid wheel is calculated for the torque of the cycloid wheel, theta i The intersection angle P from the center of the needle wheel to the tangent point direction of the fixed shaft and the cycloidal gear and the tangent point of the fixed shaft and the cycloidal gear to the center of the fixed shaft r For radial loading, P ri Radial load of the ith tooth, C r At a basic rated dynamic load, L h1 The life under the allowable torque.
In addition, the method can also be based on the formula
The life at the allowable torque is calculated, wherein,
P dr is the central circle radius of the cycloid gear; alpha is alpha c Is the pressure angle, P, of the cycloid gear i Calculating the ith gear for the torque of cycloidal gearPressure, θ, acting on the cycloid gear i The direction from the center of the pinwheel to the tangent point of the fixed shaft and the cycloid wheel and the intersection angle between the tangent point of the fixed shaft and the cycloid wheel and the center of the fixed shaft, C r For basic rated dynamic load, T l Is the load torque, P dr Is the central radius of cycloid gear, L h2 The life under the allowable torque.
Step S307: equation of basis T le ＝P e ·P r Calculating the allowable torque at life expectancy, P e ＝P r ·tan(90°-α c )，
T le Is the allowable torque at the expected life, P e For rotational direction loading, α c Is the pressure angle, P, of the cycloid gear r For radial loads, C r At a basic rated dynamic load, L a To expect life, N 0 Is the output rotational speed.
In this embodiment, the program for calculating the design life of the cycloid wheel-pinwheel transmission is as follows:
theta _ b = theta _ b pi/180; when the% cycloid wheel rotates by corresponding angle, the angle value corresponding to the needle tooth
KT = sin (theta _ b); % needle gear and cycloid gear contact stress judgment parameter
theta _ i = asin (sin (theta _ b)./sqrt (1 + K1^2-2 + K1 + cos (theta _ b))); % when the cycloidal gear rotates by a corresponding angle, the common normal line of the needle tooth meshing point or the included angle between the normal line of the point to be meshed and the rotating arm
The% calls a dichotomy program to calculate a rotation angle delta _ b value of the cycloidal gear caused by the deformation of the force transmission part corresponding to the KK node, and further calculate parameter values such as a pressure angle, a load in the rotation direction of the cycloidal gear, a radial load and the like
[alpha_c,pr,pe]＝function_dichotomy(bot,top,err,l,R0,KT,theta_i,theta_b,KK)；
% stores parameter values of each pressure angle, the load of the cycloid wheel in the rotating direction, the radial load and the like obtained by each angle calculation node in a corresponding matrix%
In addition, through the tests of the inventor, taking a certain cycloidal pin gear transmission mechanism as an example, when the pin radius Rz =0.003m, the pin tooth center circle radius Rz =0.0765m, the pin wheel tooth number Z =40, the cycloidal gear tooth number Zc =39, the cycloidal gear eccentricity a =0.0015m, the cycloidal gear tooth width b =0.01185m, the cycloidal gear number Nc =2, and the hardness HRC of the pin tooth pin and the cycloidal gear =58; cycloidal gear-pinwheel transmission input rotating speed NI =1815min-1, cycloidal gear input torque T =431.3N · m and cycloidal gear load torque T 1 =1000N · m; elastic modulus of the pin gear pin E1=2.06e11Pa, elastic modulus of the cycloidal gear E2=2.08e11Pa, and poisson ratio mu of the pin gear pin 1 (ii) Poisson ratio mu of cycloidal gear of =0.3 2 =0.3, coefficient of friction μ =0.1, nominal contact angle alpha0=0, number k of rows of rolling elements in a single bearing =1, coefficient of bearing type b m =1.1, expected life L a And when the torque is not less than 10000h, substituting the parameter values into the program to calculate, and finally obtaining the service life of the cycloid wheel-pin wheel transmission mechanism under the allowable torque as follows: 8.1337e +05h, the life under load torque is 7.5315e +05h, and the allowable torque under the expected life is 3.65e + 03N.m.
Referring to fig. 5, the embodiment of the present invention provides a device for calculating the designed life of a cycloid gear, the basic principle and the technical effect of the device for calculating the designed life of the cycloid gear provided by the embodiment of the present invention are the same as those of the above embodiment, and for the sake of brief description, corresponding contents in the above embodiment may be referred to where not mentioned in this embodiment. The device for calculating the design life of the cycloid gear comprises an information receiving unit 501 and a calculating unit 502.
The information receiving unit 501 is used for receiving the radius of the pin gear pin, the effective tooth width of the cycloid gear, the curvature radius of the cycloid gear, the poisson ratio of the pin gear pin, the poisson ratio of the cycloid gear, the elastic modulus of the pin gear pin, the elastic modulus of the cycloid gear, the friction force of the pin gear acting on the cycloid gear, the tangent direction of the tangent point of the needle wheel and the cycloid gear, the intersection angle of the pressure direction of the ith needle gear acting on the cycloid gear, the distance between the center of the cycloid gear and the contact point of the needle wheel of the cycloid gear and the torque of the cycloid gear, which are sent by a user terminal;
the information receiving unit 501 is further configured to receive a coefficient related to material hardness, a bearing type coefficient, a coefficient determined by a shape, accuracy, and material of a bearing component, a number of rows of rotating bodies in a single bearing, an effective contact length between a roller and a track surface, a nominal contact angle, a number of rotating bodies in a single row, and a roller diameter, which are sent by a user terminal;
the information receiving unit 501 is further configured to receive a radial load, a pin tooth number, a cycloid gear tooth number, and a cycloid gear-pin gear transmission input rotation speed sent by a user terminal;
the calculation unit 502 is used for calculating the angle which the cycloid gear corresponding to the pressure and the torque of the ith needle tooth acting on the cycloid gear rotates in the anticlockwise direction according to the radius of the needle tooth pin, the effective tooth width of the cycloid gear, the curvature radius of the cycloid gear, the Poisson ratio of the needle tooth pin, the Poisson ratio of the cycloid gear, the elastic modulus of the needle tooth pin, the elastic modulus of the cycloid gear, the friction force of the needle tooth acting on the cycloid gear, the tangential direction of the tangent point of the needle wheel and the cycloid gear, the tangent point of the needle wheel and the cycloid gear, the intersection angle of the tangent point of the needle wheel and the cycloid wheel, the pressure direction of the ith needle tooth acting on the cycloid wheel and the center of the fixed shaft, the tangential direction vector of the tangent point of the cycloid wheel and the line of the center of the fixed shaft and the torque of the cycloid gear;
the calculating unit 502 is further configured to calculate a basic rated dynamic load of the radial roller bearing according to a coefficient related to material hardness, a coefficient of a bearing type, a coefficient determined by a shape, accuracy and material of a bearing part, a row number of rotating bodies in a single bearing, an effective contact length of a roller and a track surface, a nominal contact angle, a number of rotating bodies in a single row and a roller diameter;
the calculating unit 502 is further configured to calculate the design life of the cycloid gear according to the basic rated dynamic load, the radial load, the number of teeth of the pin gear, the number of teeth of the cycloid gear, and the cycloid gear-pin gear transmission input rotation speed.
The calculating unit 502 is specifically used for calculating the formula C r ＝f H b m f c (kl eff cosα 0 ) 7/9 z 3/4 D w 29/27 Calculating the basic rated dynamic load of the radial roller bearing, wherein f H Is a coefficient related to the hardness of the material; b m Is the bearing type coefficient; f. of c A coefficient determined by the shape, accuracy and material of the bearing component; k is the number of rows of rotors in a single bearing; l eff Is the effective contact length of the roller and the track surface; alpha (alpha) ("alpha") 0 Is the nominal contact angle; z is the number of rotors in a single row; d w Is the roller diameter.
The calculating unit 502 is specifically used for the basis formula
Calculating the life under allowable torque>
P ri ＝P i *cosθ i ，/>
Wherein Z is the number of teeth of the pin gear, Z c Number of teeth of cycloid gear, N I For inputting rotational speed, N, for cycloidal-pinwheel drive 0 To output a rotational speed, P i The pressure of the ith tooth acting on the cycloidal gear is calculated for the torque of the cycloidal gear i The direction from the center of the pin wheel to the tangent point of the fixed shaft and the cycloidal gear and the intersection angle between the tangent point of the fixed shaft and the cycloidal gear and the center of the fixed shaft are P r For radial loading, P ri Radial load of the ith tooth, C r At basic rated dynamic load, L h1 The life at the allowable torque.
The calculating unit 502 is specifically used for the basis equation
Calculating the permissible torque life, wherein>
P dr Is the central circle radius of the cycloid gear; alpha is alpha c Is the pressure angle, P, of the cycloid gear i The pressure of the ith needle tooth acting on the cycloidal gear is calculated for the torque of the cycloidal gear i The direction from the center of the pin wheel to the tangent point of the fixed shaft and the cycloidal gear and the intersection angle between the tangent point of the fixed shaft and the cycloidal gear and the center of the fixed shaft, C r For basic rated dynamic load, T l Is a load torque, P dr Is the radius of the central circle of the cycloid gear, L h2 The life at the allowable torque.
The calculating unit 502 is further configured to calculate the formula T le ＝P e ·P r Calculate the capacity at life expectancy Xu Niuju, P e ＝P r ·tan(90°-α c )，
T le Allowable torque at life expectancy, P e For rotational direction loading, α c Is the pressure angle, P, of the cycloid gear r For radial loading, C r At a basic rated dynamic load, L a To expect lifetime, N 0 Is the output rotational speed.
In summary, the method and the device for calculating the design life of the cycloid gear provided by the invention calculate the pressure of the ith needle tooth acting on the cycloid gear and the angle of the cycloid gear which is corresponding to the torque and rotates anticlockwise according to the radius of the needle tooth pin, the effective tooth width of the cycloid gear, the curvature radius of the cycloid gear, the poisson ratio of the needle tooth pin, the poisson ratio of the cycloid gear, the elastic modulus of the needle tooth pin, the elastic modulus of the cycloid gear, the friction force of the needle tooth acting on the cycloid gear, the tangent direction of the tangent point of the needle wheel and the cycloid gear, the tangent point of the needle wheel and the cycloid gear and the center of the fixed shaft, the intersection angle of the pressure direction of the ith needle tooth acting on the cycloid gear, the tangent direction vector of the tangent point of the cycloid wheel and the center of the fixed shaft, and the torque of the cycloid gear; then calculating the basic rated dynamic load of the radial roller bearing according to the coefficient related to the hardness of the material, the coefficient of the type of the bearing, the coefficient determined by the shape, the accuracy and the material of the bearing part, the number of rows of rotating bodies in a single bearing, the effective contact length of the roller and the track surface, the nominal contact angle, the number of the rotating bodies in a single row and the diameter of the roller; and finally, the design life of the cycloid gear is calculated according to the basic rated dynamic load, the radial load, the number of pin teeth, the number of cycloid gear teeth and the cycloid gear-pin gear transmission input rotating speed, and the calculation method is simple, reasonable and effective, has a reasonable calculation program structure and high calculation efficiency and has higher engineering application value.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (6)
1. A method for calculating the design life of a cycloid gear is characterized by comprising the following steps:
receiving the radius of a pin gear pin, the effective tooth width of a cycloidal gear, the curvature radius of the cycloidal gear, the Poisson ratio of the pin gear pin, the Poisson ratio of the cycloidal gear, the elastic modulus of the pin gear pin, the elastic modulus of the cycloidal gear, the friction force acted on the cycloidal gear by the pin gear, the tangent direction of the tangent point of a needle passing wheel and the cycloidal gear, the tangent point of the needle passing wheel and the cycloidal gear and the pressure direction of the fixed shaft center, the intersection angle of the ith pressure direction acted on the cycloidal gear by the pin gear, the distance between the center of the cycloidal gear and the contact point of the pin wheel of the cycloidal gear and the torque of the cycloidal gear, which are sent by a user terminal;
receiving a coefficient related to material hardness, a bearing type coefficient, a coefficient determined by the shape, accuracy and material of a bearing part, the number of rows of rotating bodies in a single bearing, the effective contact length of a roller and a track surface, a nominal contact angle, the number of rotating bodies in a single row and the diameter of the roller, which are sent by a user terminal;
receiving a radial load, a pin gear tooth number, a cycloid gear tooth number and a cycloid gear-pin gear transmission input rotating speed sent by a user terminal;
calculating the pressure of the ith needle tooth acting on the cycloidal gear according to the radius of the needle tooth pin, the effective tooth width of the cycloidal gear, the curvature radius of the cycloidal gear, the Poisson ratio of the needle tooth pin, the Poisson ratio of the cycloidal gear, the elastic modulus of the needle tooth pin, the elastic modulus of the cycloidal gear, the friction force of the needle tooth acting on the cycloidal gear, the tangential direction of the tangent line of the tangent point of the needle wheel and the cycloidal gear, the tangent point of the needle wheel and the cycloidal gear and the center of a fixed shaft, the intersection angle of the pressure direction of the ith needle tooth acting on the cycloidal gear, the distance between the center of the cycloidal gear and the contact point of the needle wheel of the cycloidal gear and the torque of the cycloidal gear;
calculating the basic rated dynamic load of the radial roller bearing according to a coefficient related to the hardness of a material, a coefficient of the type of the bearing, a coefficient determined by the shape, the accuracy and the material of a bearing part, the number of rows of rotating bodies in a single bearing, the effective contact length of a roller and a track surface, a nominal contact angle, the number of rotating bodies in a single row and the diameter of the roller;
calculating the design life of the cycloid gear according to the basic rated dynamic load, the radial load, the number of teeth of the pin gear, the number of teeth of the cycloid gear and the transmission input rotating speed of the cycloid gear and the pin gear;
the design life of the cycloid gear is the life under the allowable torque, and the step of calculating the design life of the cycloid gear according to the basic rated dynamic load, the radial load, the number of teeth of the pin gear, the number of teeth of the cycloid gear and the transmission input rotating speed of the cycloid gear and the pin gear comprises the following steps of:
formula of basis
Calculating the age at allowable torque>
P ri ＝P i *cosθ i ，
Wherein Z is the number of teeth of the pin gear, Z c Number of teeth of cycloid gear, N I For inputting rotational speed, N, for cycloidal-pinwheel drive 0 To output a rotational speed, P i The pressure of the ith needle tooth acting on the cycloid gear is calculated for the torque of the cycloid gear, theta i The direction from the center of the pin wheel to the tangent point of the fixed shaft and the cycloidal gear and the intersection angle between the tangent point of the fixed shaft and the cycloidal gear and the center of the fixed shaft are P r For radial loading, P ri Radial load of the ith tooth, C r At a basic rated dynamic load, L h1 Life at allowable torque;
the design life of the cycloid gear is the life under the actual use torque, and the step of calculating the design life of the cycloid gear according to the basic rated dynamic load, the radial load, the number of teeth of the pin gear, the number of teeth of the cycloid gear and the transmission input rotating speed of the cycloid gear and the pin gear further comprises the following steps:
formula of basis
Calculating the service life at an allowable torque, wherein>
P dr Is the central circle radius of the cycloid gear; alpha (alpha) ("alpha") c Is the pressure angle, P, of the cycloid gear i The pressure of the ith tooth acting on the cycloidal gear is calculated for the torque of the cycloidal gear i The direction from the center of the pin wheel to the tangent point of the fixed shaft and the cycloidal gear and the intersection angle between the tangent point of the fixed shaft and the cycloidal gear and the center of the fixed shaft, C r For basic rated dynamic load, T l As load torque, P dr Is the central radius of cycloidal gear, L h2 The life at the allowable torque.
2. The cycloid gear design life calculation method of claim 1 wherein the step of calculating the basic dynamic load rating of the radial roller bearing based on the coefficient relating to material hardness, the coefficient of bearing type, the coefficient determined by bearing part shape, accuracy, material, number of rows of rotors in a single bearing, effective contact length of the roller with the raceway surface, nominal contact angle, number of rotors in a single row, and roller diameter comprises:
equation of basis C r ＝f H b m f c (kl eff cosα 0 ) 7/9 z 3/4 D w 29/27 Calculating the basic dynamic load rating of the radial roller bearing, wherein f H Is a coefficient related to the hardness of the material; b m Is a bearing type coefficient; f. of c The coefficient determined by the shape, accuracy and material of the bearing part; k is the number of rows of rotors in a single bearing; l eff Is the effective contact length of the roller and the track surface; alpha is alpha 0 Is the nominal contact angle; z is the number of rotors in a single row; d w Is the roller diameter.
3. The cycloidal gear design life calculation method of claim 1 further comprising:
equation of basis T le ＝P e ·P r Calculating the allowable torque at life expectancy, P e ＝P r ·tan(90°-α c )，
T le Allowable torque at life expectancy, P e For rotational direction loading, α c Is the pressure angle, P, of the cycloid gear r For radial loads, C r At a basic rated dynamic load, L a To expect life, N 0 Is the output rotational speed.
4. A cycloid gear design life calculation apparatus characterized by comprising:
the information receiving unit is used for receiving the radius of a pin gear pin, the effective tooth width of the cycloid wheel, the curvature radius of the cycloid wheel, the Poisson ratio of the pin gear pin, the Poisson ratio of the cycloid wheel, the elastic modulus of the pin gear pin, the elastic modulus of the cycloid wheel, the friction force acted on the cycloid wheel by the pin gear, the intersection angle of the tangent direction of the tangent point of the needle wheel and the cycloid wheel, the tangent point of the needle wheel and the cycloid wheel and the pressure direction acted on the cycloid wheel by the ith pin gear, the distance between the center of the cycloid wheel and the contact point of the needle wheel of the cycloid wheel and the torque of the cycloid wheel, which are sent by a user terminal;
the information receiving unit is also used for receiving a coefficient related to material hardness, a bearing type coefficient, a coefficient determined by the shape, accuracy and material of a bearing part, the number of rows of rotating bodies in a single bearing, the effective contact length between the roller and the track surface, a nominal contact angle, the number of rotating bodies in a single row and the diameter of the roller, which are sent by a user terminal;
the information receiving unit is also used for receiving the radial load, the pin gear tooth number, the cycloid gear tooth number and the cycloid gear-pin gear transmission input rotating speed sent by the user terminal;
the calculation unit is used for calculating the pressure of the ith needle tooth acting on the cycloidal gear according to the radius of the needle tooth pin, the effective tooth width of the cycloidal gear, the curvature radius of the cycloidal gear, the Poisson ratio of the needle tooth pin, the Poisson ratio of the cycloidal gear, the elastic modulus of the needle tooth pin, the elastic modulus of the cycloidal gear, the friction force of the needle tooth acting on the cycloidal gear, the tangent direction of the tangent point of the needle wheel and the cycloidal gear, the tangent point of the needle wheel and the cycloidal gear and the pressure direction of the fixed shaft center, the distance between the center of the cycloidal gear and the contact point of the needle wheel of the cycloidal gear and the torque of the cycloidal gear;
the calculation unit is also used for calculating the basic rated dynamic load of the radial roller bearing according to the coefficient related to the hardness of the material, the coefficient of the type of the bearing, the coefficient determined by the shape, the accuracy and the material of the bearing part, the row number of the rotating bodies in a single bearing, the effective contact length of the roller and the track surface, the nominal contact angle, the number of the rotating bodies in a single row and the diameter of the roller;
the calculating unit is also used for calculating the design life of the cycloid gear according to the basic rated dynamic load, the radial load, the number of pin teeth, the number of cycloid gear teeth and the transmission input rotating speed of the cycloid gear and the pin gear;
wherein the computing unit is specifically used for the basis equation
The life span under the allowable torque is calculated,
P ri ＝P i *cosθ i ，/>
wherein Z is the number of teeth of the pin gear, Z c Number of teeth of cycloid gear, N I For inputting rotational speed, N, for cycloidal-pinwheel drive 0 To output a rotational speed, P i The pressure of the ith tooth acting on the cycloidal gear is calculated for the torque of the cycloidal gear i For centering the pinwheelDirection of tangent point of the axle to the cycloid wheel and angle of intersection of tangent point of the fixed axle to the cycloid wheel and center of the fixed axle, P r For radial loading, P ri For the ith tooth radial load, C r At a basic rated dynamic load, L h1 Life at allowable torque;
the computing unit is further specifically configured to calculate a basis equation
Calculating a life under allowable torque, wherein>
P dr Is the central circle radius of the cycloid gear; alpha is alpha c Is the pressure angle, P, of the cycloid gear i The pressure of the ith needle tooth acting on the cycloid gear is calculated for the torque of the cycloid gear, theta i The direction from the center of the pin wheel to the tangent point of the fixed shaft and the cycloidal gear and the intersection angle between the tangent point of the fixed shaft and the cycloidal gear and the center of the fixed shaft, C r For basic rated dynamic load, T l Is the load torque, P dr Is the central radius of cycloidal gear, L h2 The life at the allowable torque.
5. The cycloidal gear design life calculation apparatus of claim 4 wherein the calculation unit is specifically configured to be in accordance with equation C r ＝f H b m f c (kl eff cosα 0 ) 7/9 z 3/4 D w 29/27 Calculating the basic rated dynamic load of the radial roller bearing, wherein f H Is a coefficient related to the hardness of the material; b is a mixture of m Is the bearing type coefficient; f. of c The coefficient determined by the shape, accuracy and material of the bearing part; k is the number of rows of rotors in a single bearing; l. the eff The effective contact length of the roller and the track surface; alpha (alpha) ("alpha") 0 Is the nominal contact angle; z is the number of rotors in a single row; d w Is the roller diameter.
6. Pendulum according to claim 4Device for calculating the design life of a line gear, characterized in that the calculation unit is also adapted to calculate the design life of the line gear according to the formula T le ＝P e ·P r Calculating the allowable torque at life expectancy, P e ＝P r ·tan(90°-α c )，
T le Is the allowable torque at the expected life, P e For rotational direction loading, α c Is the pressure angle, P, of the cycloid gear r For radial loads, C r At a basic rated dynamic load, L a To expect life, N 0 Is the output rotational speed. />
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