CN114048584A - Transmission and structure parameterization design system for precise speed reducer of foot type robot - Google Patents
Transmission and structure parameterization design system for precise speed reducer of foot type robot Download PDFInfo
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- CN114048584A CN114048584A CN202111144511.7A CN202111144511A CN114048584A CN 114048584 A CN114048584 A CN 114048584A CN 202111144511 A CN202111144511 A CN 202111144511A CN 114048584 A CN114048584 A CN 114048584A
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Abstract
The invention discloses a transmission and structure parametric design system for a precision speed reducer of a foot robot, which comprises a planetary transmission gear matching module, a gear matching module and a control module, wherein the planetary transmission gear matching module is used for simulating a gear and matching transmission gear matching; the deflection parameter calculation module is used for calculating parameters; and the simulation analysis module is used for carrying out simulation analysis. According to the invention, a single-stage large transmission ratio high bearing capacity planetary reducer transmission and structure parametric design development platform is established by researching planetary gear matching, displacement parameter analysis and tooth profile optimization technologies, so that the transmission and structure parametric design of a precision reducer of a foot robot is facilitated.
Description
Technical Field
The invention relates to the field of robots, in particular to a transmission and structure parameterization design system for a precision speed reducer of a foot type robot.
Background
The quadruped robot is a typical representative of a bionic robot, has remarkable advantages in complex terrain adaptability compared with a traditional wheel-track type mobile platform, and can be widely applied to multiple fields of security accompanying and attending, inspection and detection, express logistics and the like. At present, the four-foot robots of Bigdog, LS3, Spot, Spotmini and other series developed by the United states Boston Power company have the capabilities of multi-mode walking, mechanical arm carrying and the like, and the four-foot robots developed by the national northern vehicle institute of China, Shandong university, Zhejiang university, Yushu science and technology and the like have larger technical difference in the aspects of motion capability and operation capability.
A single-stage planetary reducer with large transmission ratio and high bearing capacity is an important component for stable walking of a bionic foot type robot. Before the single-stage planetary speed reducer with large transmission ratio and high bearing capacity is produced, a more perfect design is required, but a configuration design system of the single-stage planetary speed reducer with large transmission ratio and high bearing capacity is lacked at present.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides a transmission and structure parameterization design system for a precision speed reducer of a foot robot.
A transmission and structure parametric design system for a precision speed reducer of a foot robot comprises a planetary transmission gear matching module, a gear matching module and a control module, wherein the planetary transmission gear matching module is used for simulating a gear and matching transmission gear matching; the deflection parameter calculation module is used for calculating parameters; and the simulation analysis module is used for carrying out simulation analysis.
Based on the above, the simulation analysis module includes a kinematics simulation analysis module for simulation analysis of the kinematics relationship of the coordinated motion of each component in the planetary transmission.
Based on the above, the simulation analysis module comprises a statics simulation analysis module for simulation analysis of interdental load distribution coefficient, tooth surface hertz contact, material, and boundary conditions.
Based on the above, the simulation analysis module comprises a multi-body dynamic simulation analysis module, and is used for establishing a rigid-flexible coupling multi-body dynamic model of meshing rigidity and gear tooth deformation factors and simulating and analyzing dynamic transmission errors.
Based on the above, the deflection parameter calculation module is configured to determine a gear ratio, a number of planet gears, and a minimum number of teeth.
Compared with the prior art, the invention has outstanding substantive characteristics and remarkable progress, and particularly, the invention establishes a single-stage large-transmission-ratio high-bearing-capacity planetary reducer transmission and structure parametric design development platform by researching the planetary gear tooth matching, displacement parameter analysis and tooth profile optimization technology, thereby facilitating the transmission and structure parametric design of the precision reducer of the foot robot.
Drawings
FIG. 1 is a schematic diagram of the transmission principle of the single-stage planetary speed reducer with high transmission ratio and high bearing capacity.
FIG. 2 is a schematic illustration of the statics simulation and analysis of the present invention.
FIG. 3 is a schematic diagram of rigid-flexible coupling-based multi-body dynamics simulation and analysis according to the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below in connection with specific embodiments, but it should be understood by those skilled in the art that the embodiments described below are only for illustrating the present invention and should not be construed as limiting the scope of the present 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.
It is to be understood that the following examples are given for illustrative purposes only and are not intended to limit the scope of the present invention. Various modifications and substitutions may be made by those skilled in the art without departing from the spirit and scope of the invention, and all such modifications and substitutions are intended to be within the scope of the claims.
The experimental procedures used in the following examples are all conventional procedures unless otherwise specified. Materials, reagents and the like used in the following examples are commercially available unless otherwise specified.
As shown in figures 1-3, the transmission and structure parametric design system for the precision speed reducer of the foot robot mainly aims at the gear matching, the displacement parameter analysis and the tooth profile optimization of a planet wheel, and establishes a single-stage large-transmission-ratio high-bearing-capacity planet speed reducer transmission and structure parametric design development platform.
The single-stage planetary speed reducer with high transmission ratio and bearing capacity adopts a novel single-stage planetary transmission principle with high transmission ratio, wherein a duplex planetary gear is not arranged, so that the manufacturing and the assembly are easier, the gear processing precision is improved, the surface roughness is reduced, and higher transmission efficiency can be still obtained when the transmission ratio is very high. .
Firstly, determining the transmission ratio and the number n of planet wheelspAnd the minimum number of teeth zaThe tooth matching calculation is carried out according to the following formula.
za+zb＝C1np；za+ze＝C2np，ze-zb＝±np(mounting Condition)
Can be solved to obtain:
if z ise-zaAnd if the number is even:
if the number is odd:
in the precision speed reducer, a single-ring planet gear c needs to be meshed with a central gear a, and simultaneously needs to be meshed with an internal tooth fixed gear b and an internal tooth output gear e, so that the center distance is not matched when each gear pair is not displaced. In order to match the center distance and improve the meshing performance, three pairs of gear meshing pairs of a-c, b-c and e-c need to be subjected to precise angular displacement or height displacement, and the planetary transmission is ensured to have no backlash in an ideal state.
According to the meshing center distance a' after the gear pair e-c is adopted to shiftecAs a 'common centre-to-centre distance for three gear pairs'ac＝a’bc＝a’ec＝a’ecSo that both gear pairs a-c and b-c should adopt positive angular transmission, i.e.
And
since a ═ aecThen gear pair e-c should adopt height displacement, i.e. have
Then, the meshing parameter of each gear pair can be calculated according to the following formula: center distance variation coefficient:
gear pair meshing angle:
the gear pair displacement coefficient sum:
crest height variation coefficient: Δ y ═ x∑-y. The shift coefficient x of the sun gear a can be determined by an analytical method and a closed graph methodaAnd then, carrying out detailed calculation and check on other gear deflection parameters by the formula.
The method comprises the steps of establishing a kinematic model for a single-stage large-transmission-ratio high-bearing-capacity planetary reducer and a kinematic relation of coordinated motion of all parts in planetary transmission, solving a kinematic equation through numerical calculation to obtain complex motion characteristics such as the track, displacement, speed and acceleration of a central gear, a planetary gear, an output gear and a planet carrier, verifying the contact ratio of the planetary transmission displacement track and the theoretical track, and providing a kinematic basis for rigid-flexible coupled multi-body dynamics.
A statics model of the single-stage planetary reducer with the large transmission ratio and the high bearing capacity is established, factors such as inter-tooth load distribution coefficient, tooth surface Hertz contact, materials and boundary conditions are comprehensively considered, stress distribution conditions of key components in the single-stage planetary reducer with the large transmission ratio and the high bearing capacity are analyzed through statics calculation under a limit working condition, component failure positions under an overload working condition are determined, influence rules of different tooth profile parameters, materials and working conditions on load distribution and tooth surface contact stress of the reducer are researched, a weak structure of the reducer is designed in a reinforcing mode, and a basis is provided for bearing capacity and fatigue life prediction of the reducer.
The method comprises the steps of establishing a rigid-flexible coupling multi-body dynamic model of the single-stage large transmission ratio high bearing capacity planetary reducer considering factors such as meshing rigidity and gear tooth deformation to obtain dynamic characteristics of the reducer under various working conditions, analyzing dynamic transmission errors of the single-stage large transmission ratio high bearing capacity planetary reducer, measuring vibration response characteristics of the single-stage large transmission ratio high bearing capacity planetary reducer under various working conditions in combination with test tests, and evaluating dynamic transmission precision of the reducer.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (5)
1. The utility model provides a be used for accurate reduction gear transmission of sufficient robot and structure parameterization design system which characterized in that: comprises that
The planetary transmission gear matching module is used for simulating a gear and matching transmission gear matching;
the deflection parameter calculation module is used for calculating parameters;
and the simulation analysis module is used for carrying out simulation analysis.
2. The transmission and structure parameterization design system for the precision speed reducer of the legged robot according to claim 1, characterized in that: the simulation analysis module comprises a kinematics simulation analysis module which is used for simulating and analyzing the kinematics relationship of coordinated movement of each component in the planetary transmission.
3. The transmission and structure parameterization design system for the precision speed reducer of the legged robot according to claim 1, characterized in that: the simulation analysis module comprises a statics simulation analysis module which is used for simulation analysis of interdental load distribution coefficients, tooth surface Hertz contact, materials and boundary conditions.
4. The transmission and structure parameterization design system for the precision speed reducer of the legged robot according to claim 1, characterized in that: the simulation analysis module comprises a multi-body dynamic simulation analysis module and is used for establishing a rigid-flexible coupling multi-body dynamic model of meshing rigidity and gear tooth deformation factors and simulating and analyzing dynamic transmission errors.
5. The transmission and structure parameterization design system for the precision speed reducer of the legged robot according to claim 1, characterized in that: the shift parameter calculation module is configured to determine a gear ratio, a number of planet gears, and a minimum number of teeth.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114970050A (en) * | 2022-07-26 | 2022-08-30 | 北京航空航天大学 | Matrix-based vehicle planetary transmission device configuration design method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114970050A (en) * | 2022-07-26 | 2022-08-30 | 北京航空航天大学 | Matrix-based vehicle planetary transmission device configuration design method |
| CN114970050B (en) * | 2022-07-26 | 2022-10-28 | 北京航空航天大学 | Matrix-based vehicle planetary transmission device configuration design method |
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Inventor after: Yang Haifeng Inventor before: Yang Haifeng Inventor before: Liu Zhenyu Inventor before: Gao Lianguo Inventor before: Sun Junda Inventor before: Gao Feng Inventor before: Li Pengfei |