Design,Manufacture And Performance Test Of Precision Herringbone Planetary Reducer For Industrial Robots

With the gradual expansion of industrial robots in various fields of application in the national industry,the localization of the design and manufacture of industrial robot core components has received increasing attention.Current reducers for industrial robots are generally cycloid reducer,RV reducer,and harmonic reducer.Harmonic reducers are often used for light loads.Cycloid reducers and RV reducers use cycloid pins.Based on the wheel planetary transmission,due to its structural characteristics,it is obviously inferior to the involute gear transmission in terms of transmission efficiency and service life.Although the involute planetary gear has a good process performance,low processing cost,high precision,and a low sensitivity to error,a large gear ratio multi-stage planetary gear reducer is usually used for positioning bearings,planetary carriers,and sun gears.The connection,the connection between the two stages of the planet carrier leads to an oversize.Therefore,a new structural design for the planetary transmission and a smaller volume design scheme for large transmission ratios are of great significance for replacing the RV reducer and the harmonic reducer.This paper first introduces the transmission principle of common reducers used in industrial robots,and compares the transmission characteristics of cycloid reducer,RV reducer,harmonic reducer and involute planetary gear reducer.Taking the technical parameters of a certain type of reducer already existing on the market as a reference index,the structural design of the reducer with the herringbone gear planetary transmission system is compared.The different plans that meet the design requirements are compared,and the optimal selection based on the structural parameters is selected.A program for specific parameter design.The static analysis of the reducer rated conditions and the strength check of the parts.Under the conditions of meeting the design requirements,each part drawing was drawn,and a herringbone gear planetary reducer prototype was machined.In order to improve the load-sharing characteristics of the herringbone gear reducer,the optimization design of the planet carrier was carried out through the topology optimization theory.The torsional deformation and axial deformation of the planet carrier with different solutions were analyzed by finite element method.The design of the diaphragm-type flexible planet carrier was designed.New configuration.The Adams rigid-flexible coupling dynamics simulation of a two-stage planetary transmission system was performed to verify that the diaphragm-type flexible planet carrier can improve the load-sharing performance of the transmission system.The dynamic test bench for the prototype gear reducer planetary reducer was designed and compared with the RV reducer for dynamic transmission test and torsional stiffness test.The experimental contents include: transmission efficiency test,transmission accuracy test,torsional stiffness test and vibration signal test experiment.