无传动间隙的3K行星齿轮减速器设计
Design of 3K Planetary Gear Reducers with No Backlash
王慰军 1杨桂林 1杜庆皓 2陈庆盈1
作者信息
- 1. 中国科学院宁波材料技术与工程研究所,宁波,315201;浙江省机器人与智能制造装备技术重点实验室,宁波,315201
- 2. 中国科学院宁波材料技术与工程研究所,宁波,315201;浙江省机器人与智能制造装备技术重点实验室,宁波,315201;中国科学院大学材料科学与光电技术学院,北京,100049
- 折叠
摘要
3K行星齿轮减速器的啮合齿轮副存在齿侧间隙,使得传动链中引入了传动间隙,导致传动精度降低以及换向冲击.为消除3 K行星齿轮减速器的传动间隙,利用3 K行星齿轮传动中行星架不参与力矩传递的特性,提出了一种柔性行星架以消除传动间隙,并通过仿真分析验证了所提消隙机构的有效性.通过配齿及效率优化实现了高效的正向和反向传动.研制样机并进行了传动精度、滞回特性、正弦响应误差、正向传动效率、反向传动效率以及反向启动扭矩测试,结果验证了所提柔性行星架对消除3K行星齿轮减速器传动间隙、提高传动精度和传动效率以及提高反向传动性能的有效性.
Abstract
Due to the presence of clearances in the gearing of 3K planetary gear reducers,trans-mission clearances were introduced into the transmission chain,resulting in a decrease in transmission accuracy and causing impacts during driving direction changes.By utilizing the characteristics that the carrier did not participate in torque transmission in 3K planetary gear transmission,a flexible planeta-ry carrier was innovatively proposed to eliminate clearances of 3K planetary gear reducers,and the ef-fectiveness of the proposed clearance elimination mechanisms was verified through simulation analysis.Gear matching and efficiency optimization were performed to achieve high forward and backward driv-ing efficiency.Through the development of a prototype and testing of transmission accuracy,hystere-sis characteristics,sinusoidal response error,transmission efficiency,and reverse starting torque,the effectiveness of the proposed flexible planetary carrier in eliminating clearances,transmission accuracy improvement,transmission efficiency and reverse transmission performance promoting was verified.
关键词
3K行星齿轮减速器/柔性行星架/反向传动/消隙/协作机器人Key words
3K planetary gear reducer/flexible carrier/back drivable/clearance elimination/col-laborative robot引用本文复制引用
基金项目
国家自然科学基金重大研究计划(92048201)
国家自然科学基金(U21A20121)
浙江省重点研发计划(2022C01101)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据