无传动间隙的3K行星齿轮减速器设计

doi:10.3969/j.issn.1004-132X.2024.01.003

中国机械工程 ›› 2024, Vol. 35 ›› Issue (01): 36-44,55.DOI: 10.3969/j.issn.1004-132X.2024.01.003

无传动间隙的3K行星齿轮减速器设计

王慰军1，2;杨桂林1，2;杜庆皓1，2，3;陈庆盈1，2

1.中国科学院宁波材料技术与工程研究所，宁波，315201
2.浙江省机器人与智能制造装备技术重点实验室，宁波，315201
3.中国科学院大学材料科学与光电技术学院，北京，100049

出版日期:2024-01-25 发布日期:2024-02-27
作者简介:王慰军，男，1981年生，高级工程师。研究方向为机器人技术及智能制造装备。E-mail：wangweijun@nimte.ac.cn。
基金资助:
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）

Design of 3K Planetary Gear Reducers with No Backlash

WANG Weijun1，2;YANG Guilin1，2;DU Qinghao1，2，3;CHEN Qingying1，2

1.Ningbo Institute of Material and Engineering Technology，Chinese Academy of Science，Ningbo，
Zhejiang，315201
2.Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology，
Ningbo，Zhejiang，315201
3.College of Material Science and Opto-Electronic Technology，University of Chinese Academy of
Science，Beijing，100049

Online:2024-01-25 Published:2024-02-27

摘要/Abstract

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3K行星齿轮减速器的传动间隙，利用3K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。

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

Abstract: Due to the presence of clearances in the gearing of 3K planetary gear reducers， transmission 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 planetary carrier was innovatively proposed to eliminate clearances of 3K planetary gear reducers， and the effectiveness of the proposed clearance elimination mechanisms was verified through simulation analysis. Gear matching and efficiency optimization were performed to achieve high forward and backward driving efficiency. Through the development of a prototype and testing of transmission accuracy， hysteresis 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.

Key words: , 3K planetary gear reducer, flexible carrier, back drivable, clearance elimination, collaborative robot

中图分类号:

TP242.6

王慰军, 杨桂林, 杜庆皓, 陈庆盈, . 无传动间隙的3K行星齿轮减速器设计[J]. 中国机械工程, 2024, 35(01): 36-44,55.

WANG Weijun, YANG Guilin, DU Qinghao, CHEN Qingying, . Design of 3K Planetary Gear Reducers with No Backlash[J]. China Mechanical Engineering, 2024, 35(01): 36-44,55.

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http://www.cmemo.org.cn/CN/Y2024/V35/I01/36

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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

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