Analysis and Experimental Study on the Hysteresis of a New Adjustable Clearance RV Reducer

Analysis and Experimental Research on the Hysteresis of the New Adjustable Clearance Gear Reducer Wu Junfei School of Mechanical Engineering, Qingdao University of Science and Technology, Qingdao, Shandong; The formula is calculated and the experimental study of the retarder of the reducer is carried out.
The retarder of the reducer has manufacturing assembly errors due to the components of the transmission.
As well as temperature deformation and elastic deformation during use, there is always an error in the angle of the output shaft during the transmission.
The hysteresis of the gear transmission refers to the fact that when the input shaft starts to reverse rotation and the output shaft also rotates in the opposite direction, the output shaft is in the device on the corner, and more and more situations are required to improve the motion accuracy and reduce the backlash error. The requirement of a gapless transmission is also often proposed. For sticky robots. In order to ensure the accuracy between the positions, that is, the repeatability, when the phase period is completed multiple times, the accuracy of the backhaul error is improved. In response to the above situation, various countries have developed various types of gapless reducers into adjustable speed reducers. In order to reduce the difference, the precision transmission is realized. In this regard, Germany and Japan are at the forefront, and they have developed a variety of adjustable speed reducers.
4 before. The development of the adjustable clearance precision reduction gear of the robot is still blank in China. In order to fill this gap, we have applied the thickening gear to your reducer for the first time on the basis of absorbing the advantages of the transmission, and developed a new type of variable gear 1 salt speeder for robots. The thickened gear has the characteristics of different displacement coefficients on different end sections, and the displacement coefficient is set to linearly change along the axis. Then its shape appears to have a fixed taper along the axial direction of the tooth tip, so that by controlling its axial displacement, the meshing backlash of the gear can be adjusted, and the 863 fund-funded project of the National Fund of the Fund Fund Project can be realized. The relationship between the axial clearance of the thick gear and the hysteresis is thicker. The gear machining adopts the oblique interpolation method. When the internal and external gears are inserted by the same toothed cutter, the oblique insertion angle of the two gears is ensured in order to ensure the minimum tooth shape error. In general, they are not equal. Therefore, when we design the internal meshing to become a gear pair, the pitching pitch of the external gear is usually equal to the root inclination angle of the external gear. Make them have the same headspace along the tooth direction. In this way, the tooth tip and the root of each gear have different inclination angles.
When the axial displacement clearance amount of the thickened external gear is, the radial clearance variation of the corresponding thickened external gear tooth tip and the root root is respectively the thickened external gear tooth root inclination angle.
The relationship between the axial clearance and its hysteresis is 2. The calculation formula of the gear change of the thickened gear is derived. Among the factors affecting the side clearance of the gear pair, some can cause the constant side gap, and some can cause the variable side. Gap. For thickened gears, the mountain can completely eliminate the often hunger backlash by adjusting its axial displacement.
Variable backlash cannot be eliminated. Therefore, when performing the back analysis, the influence of the constant backlash factor can be ignored, and only the factor causing the variable backlash can be considered. There are two main factors that can cause variable backlash of the gear pair, namely the radial integrated error â–³ when the gear is double-engaged and the eccentricity error of each component.
2.1 The radial comprehensive error of the gear double-engagement The influence of the factory on the gear backlash double-engagement makes the weeping error and the resulting gear, the variable backlash should be caused by the one-cycle fluctuation of the tooth drop radial runout factory; . Radially adjacent; the integrated gap produces a high-frequency fluctuation of the gap, which is a comprehensive reflection of the deviation of the tooth profile error.
The thickening gears of the mountain sighs are called comprehensive, and when the squeezing causes the thickened gears to mesh, the calculation of the circumferential backlash of the gear pairs in the tooth-toothed plane caused by the double-integrated radial integrated error â–³ is 32.2 eccentricity error of each component. Effect on the gear backlash 2.2.1 Thickened gears. The influence of eccentricity on the gear backlash In the thickening gear take-off reducer, the geometric eccentricity of the thickened external gear is caused by the eccentricity of the two bearing holes.
The theoretical center point of the thickened external gear is that the actual center point is the theoretical center point of the two bearing holes, respectively, and the actual center point is 1, and 02. When the thickened external gear is actually processed, the six points are relative. The target point of the factory can be accurately measured using a child measuring device such as a coordinate measuring device. Then, using these two coordinate values, it is possible to calculate the actual eccentricity of the gear. The circumferential clearance of the gear caused by the commonality is 2.2.2. The eccentricity error of the bearing hole on the gear shaft bracket is taken on the gear side gap thickening gear. In the reducer, the eccentric shaft on the thickened external gear is supported by a planetary wheel bracket and a bracket side plate. Therefore, the eccentricity error of the bearing hole on the bracket also causes geometrical eccentricity of the thickened external gear. After the coordinate point of the bearing hole is actually measured, the external tooth caused by the deviation can be calculated by Equation 4. 2.2.3 The jump of the shaft at the gear mounting position on the gear, the influence of the gap at the gear mounting position will cause Change the side, set the radial runout tolerance of the shaft top to be the rotation eccentricity 6=2. The circumferential clearance of the gear caused by the towel is 2.2.4 The eccentricity of the rolling bearing moving ring on the bracket affects the gear backlash The eccentricity of the rolling bearing moving ring will cause The offset of the on-axis gear relative to the actual center of rotation, thereby causing a variable backlash of the gear.
It is assumed that the radial runout tolerance of the outer ring of the bearing inner ring to the inner hole is Mao.
Then, the eccentricity of the rotation = this 2. The resulting circumferential clearance of the gear is such that the circumferential backlash of the gear pair in the tooth-to-facial direction caused by the eccentricity error of each component when the gear pair is meshed with the internal mesh can be obtained. The calculation formula is the calculation of the hysteresis of the gear of the 3 thickening gear reducer. The influence of all the above factors on the hysteresis can be obtained. In the thickening gear, the internal gearing and thickening gear transmission in the reducer is used to calculate the The value backlash passes through the thickened gear gear backlash value. However, due to the existence of variable backlash, the position of the variable backlash minimum cannot be determined at the time of actual installation. If the constant backlash is adjusted to zero at the non-minimum position of the variable backlash, then when the gear pair is operated, the gear pair is near the minimum value of the variable backlash due to the periodic variation of the variable backlash. A negative backlash occurs, so that the guide wheel set cannot rotate and a jam occurs. Therefore, the normal backlash cannot be fully adjusted. The backlash should be retained. At this time, there is still no guarantee that the gear will not be stuck when the gear rotates. Because the oil film has thickness and the temperature changes, when adjusting the gear backlash, there should be more The segment gap is reserved. In order to be safe and reliable in designing random assembly, it is possible to make 2 sweats also have a side gap of the wheel. At this time, if we consider the influence of the variable gear clearance on the side clearance of the gear pair, the backlash calculation formula should be in the formula. When the backlash is adjusted, 4 should take a negative value; when the side gap is adjusted, the , 1; value.
Finally, we get the internal friction thickening gear pair hysteresis calculation formula ei The total hysteresis of the entire gear transmission chain is the total transmission ratio of the thickening gear step reducer in all the stages of the return type 13; the difference is added owned. However, the total backlash must be reduced to a specific axis of the drive chain, such as the input shaft or the output shaft. The return of each gear stage must be adjusted with a suitable speed ratio factor. The full-scale gear reduction device, in which the ordinary gear of the stage deceleration milk 1 is made into the deceleration part, the calculation of the difference can refer to the relevant data, and the stage deceleration is reduced by the variable gear 1; 1 transmission part, 叵> calculation It should be calculated according to the above formula. The difference calculation formula of the gear reducer of each gear of the two-stage deceleration section is the number of teeth of the thickened external gear.
4 variable gear 1 reducer calculation example variable gear; reducer's hysteresis index is set to be less than 1 3 Japanese similar product's hysteresis index, each part is designed according to 6 precision, and each eccentricity error is less than 0.03 can guarantee 1 The feedback of the transmission system meets the requirements of the index.
The errors of the planetary gears are listed in 1; the errors of the graded gear pairs are listed in 2.
The data in the calculation can be used to calculate the gap backlash of the thickened gear take-off and reducer system. The various errors of the gear shift of the sun gear and the planetary gear wheel can be adjusted by considering the influence of thickening gear clearance. The effect of the gap on the return of the reducer system is J! 7.05arcsecimn. The effect of variable thick gear clearance on the return difference of the reducer is very 5. The measurement method of the backlash test can be divided into static measurement and dynamic measurement. 3, in Beijing Zhongji Kemei Harmonic Drive Co., Ltd. Static measurements were used in the acceptance test. During the measurement, the input shaft of the reducer is connected to the grating, and the angle at which the input shaft is actually rotated is read by the grating recorder. 14 A high-precision angular measuring element 12-face body is mounted on the output shaft, and the polyhedron is observed and positioned by a self-aligned light pipe. Change 7 gear, reducer return test principle 3.
1.1 An important feature of the return hysteresis of the output shaft is that its size is caused by factors such as the gear center. Therefore, the difference in return must be measured at several locations. 3 List the input shaft dead time data measured in this test, select the maximum value in each set of measured data, and use the following formula to calculate the empty return hysteresis of the output shaft (4) The output shaft dead time difference 7 is the total gear ratio of the reducer.
5. Reducer bracket 6. Thickened gear take-up reducer 7. Reducer input shaft 8. Joint 29. Grating 10. Grating record, category back-difference result 6 Conclusion (1) Established variable wheel, reducer 8 by theoretical analysis In the meantime, it is explained that the established backlash calculation formula can accurately calculate the hysteresis index of the reducer.
Whether it is the calculation result of the backlash calculation formula or the result of the backlash experiment, it is determined that the return difference of the reducer is smaller than that of the Japanese similar product, that is, less than 131.0.
When the reducer system has a difference of 7.053, the variable gear is at 1; the reducer should be able to significantly reduce the difference and achieve precision transmission.
Ij Li Wei Han Yuankong. under. Knowing that the line is caught in a 41-inch cut. Beijing Machine Publishing House, 3 Sun Linzhi, Zhang E, Zhao Mingjing, and so on. Small modular precision gear drive. Beijing Mechanical Industry Press, 1985.8.
4 Zou Guigen. Hysteresis analysis of precision small modulus gear train chain. Gear Research, 1983225 5I Wu Junfei. Development of an adjustable gap thickening gear reducer for robots. Harbin Institute of Technology, Harbin, 1999.
6I Zhu Jingyu, Shi Mingshan, Cai Xinshi. Test and research on double crank type involute planetary gear reducer with small tooth difference. Lifting and transport machinery, 198552530.
Responsible Editor Fang Bizhen Our School of Biological and Chemical Engineering signed a technical cooperation and product development agreement with Guangzhou Sangyuan Health Products Co., Ltd. Our School of Biological and Chemical Engineering and Guangzhou Sangyuan Health Products Co., Ltd. are based on the spirit of mutual benefit and mutual benefit. The company has signed a cooperation agreement on technology development technology services and product promotion in the field of health products, and plans to jointly establish the Guangzhou Trace Element Testing Research Center.
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