| Studies have shown that the main vibration noise of a gear transmission system is the result of dynamic excitation of gear meshing, comprehensive error of tooth profile and tooth time-varying stiffness, etc. The meshing shock and edge shock caused by the backlash are the major cause of meshing dynamic excitation. Generally, the gear transmission system transfers the power through the meshing of gear tooth, in order to guarantee the relative movement between the meshing tooth profile and the oil film lubrication, there must be a certain gap between the gear pair. Therefore, gear transmission system is a typical nonlinear dynamic system with clearance.This research is aiming at gear transmission system, studying the mechanism of the backlash dynamic characteristics and its influence on the transmission accuracy, thus solve the transmission system accuracy which principally includes gear transmission. We have selected the planetary gear reducer(APEX) and worm gears reducer(DYNABOX), two kinds of high-precision gear reducer for the construction of the GTSP test platform, including the design of the test support, the movement control cards and servo motor selection, the connection and debugging of the servo drives; motion controls programming, components' installation on the support, Bruel & Kjaer vibration meter collecting vibration signals, etc. Overall, we used SolidWorks to model two kinds of gear reducer in the first step, import the models into the finite element analysis software, and then give them simulation analysis under static and dynamic condition, respectively. Basis on the simulation results, we have built drive-load double servo motor platform. We successfully developed the YASKAWA motor under the location model as the drive, gear reducer as the intermediate transmission mechanism and Lenze motor under torque mode as load. The drive motor and load motor are controlled by the movement control cards. Two kinds of gear reducer are used to do speed-torque orthogonal experiment, set different speed and load values to perform more groups of experiment, respectively. From the feedback of input and output shaft's pulse variation which is achieved by motor encoder and the vibration signal which is thus obtained by vibration meter, we can monitor the reducer's vibration characteristic under different load and speed, to get the influence which is caused by backlash to GTSP under different parameters and the accuracy of the theoretical model is verified.The finished vibration experiment proved that the test platform can complete the GTSP's basic test. Later, the transmission accuracy and retrace error test, etc are also possible. Further, characteristics of backlash dynamic change by means of theory and experiment describe. Finally, the online dynamic detection and establish a dynamic backlash's elimination algorithm is realized. |
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