| The robot industry is one of the key development areas of "Made in China 2025".At this stage,the robot industry will definitely develop rapidly.In particular,intelligent and specialized industrial robots will become more and more widely used in various fields of manufacturing.The rapid development of China's industrial robots must break through the technical constraints of the core component,the joint precision reducer,and achieve a high level of localization.In the current stage of industrial robot joint reducers,planetary reducers have large bearing torque,high transmission efficiency,low cost,and mature and reliable development of involute gears.Their applications in robots have also increased,but there are multiple stages of transmission volume.Large,performance degradation and other issues after precision.Based on the actual situation,this paper analyzes the static and dynamic characteristics of the main transmission components of the planetary reducer and studies it in combination with experiments.The main research is as follows:(1)The calculation of related parameters of precise planetary reducer,vibration analysis and the establishment of a planetary gear train dynamic model.First,calculate the transmission ratio and efficiency based on the analysis of the planetary gear train structure,and calculate the speed of each shaft of the reducer,and the meshing force and meshing frequency between the meshing gear pairs according to the input speed.Based on the actual operating conditions of the reducer,the main sources of excitation of the planetary gear system vibration are studied;then,the mathematical model of the dynamics of the precision planetary reducer gear system is established based on the related research of the gear dynamics model.(2)The three-dimensional model of planetary gear reducer is established and the main components are statically analyzed.According to the requirements of technical indicators,select the appropriate planetary reducer gear transmission scheme,design the size structure of each part,and complete the establishment of three-dimensional model;then carry out the static analysis of the most vulnerable planetary carrier components and planetary gear system in the reducer,obtain the strength and stress status of the structure,and then get the order of modes,and analyze its steady-state response;finally,the most vulnerable The life prediction of the effective planet carrier group verifies that the life of the pin shaft root is the shortest.The static characteristic analysis can get the force information of components,which can quickly reflect whether thestructural design is reasonable.(3)Analysis of the dynamic characteristics of the planetary gear system.The three-dimensional model of the gear transmission system is imported into the dynamics software,and the relevant parameters are set up in combination with the theoretical calculation to establish the virtual prototype model of the system.After the dynamic simulation,the angular velocity curve of each axis of the planetary gear system and the time-domain frequency diagram of the dynamic meshing force between the gear pairs are obtained.From the simulation results,the dynamic meshing characteristics of the planetary gear system are analyzed and compared with the theoretical values By comparison,the simulation model is proved to be reliable.(4)Experimental study on vibration and simulated load fatigue life of precision reducer.The vibration signal of the gear transmission system is measured and the frequency spectrum analysis is carried out.The results show that the main source of the vibration of the reducer is the gear meshing excitation,and the vibration of the reducer becomes more and more intense with the increase of the speed.In addition,under the simulated load condition,the fatigue life test is carried out for the main failure forms such as gear failure and planetary axle fracture,and the weakest part of the prototype is tested It can meet the use requirements,that is,the whole machine is reliable. |
PDF Full Text Request