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减速器回差的动态特性研究

石照耀 程慧明 俞志勇 左广祥 于渤

石照耀, 程慧明, 俞志勇, 等. 减速器回差的动态特性研究[J]. 航空动力学报, 2024, 39(9):20230541 doi: 10.13224/j.cnki.jasp.20230541
引用本文: 石照耀, 程慧明, 俞志勇, 等. 减速器回差的动态特性研究[J]. 航空动力学报, 2024, 39(9):20230541 doi: 10.13224/j.cnki.jasp.20230541
SHI Zhaoyao, CHENG Huiming, YU Zhiyong, et al. Dynamic characteristics of the lost motion of the reducer[J]. Journal of Aerospace Power, 2024, 39(9):20230541 doi: 10.13224/j.cnki.jasp.20230541
Citation: SHI Zhaoyao, CHENG Huiming, YU Zhiyong, et al. Dynamic characteristics of the lost motion of the reducer[J]. Journal of Aerospace Power, 2024, 39(9):20230541 doi: 10.13224/j.cnki.jasp.20230541

减速器回差的动态特性研究

doi: 10.13224/j.cnki.jasp.20230541
基金项目: 深圳市技术攻关重点项目(JSGG20220831104001002)
详细信息
    作者简介:

    石照耀(1964-),男,教育部长江学者特聘教授、博士生导师,博士,主要从事精密测试技术和仪器、齿轮工程与精密减速器方面的研究。E-mail:shizhaoyao@126.com

  • 中图分类号: V19

Dynamic characteristics of the lost motion of the reducer

  • 摘要:

    基于传动误差对回差的动态特性展开研究,综合考虑转矩、加载速率和转速的影响,解析了回差与传动误差的关系,论证了回差的动态特性,研究发现可通过正反向传动误差相减得到回差。探讨了回差的分类,可分为动态回差、准静态回差和静态回差。给出了回差的测试方法,动态回差可通过双向传动误差法得到,准静态回差和静态回差可以通过滞回曲线法获得。以小型减速器和大型减速器为例,进行了回差的试验研究,验证了回差的动态特性;研究发现动态回差和准静态回差是动态变化的,而静态回差不受加载速率依赖性的影响,试验结果与理论分析一致。最后指出了该研究在理论和工程应用方面的价值。

     

  • 图 1  减速器的滞回模型

    Figure 1.  Hysteretic model of reducer

    图 2  滞回曲线的组成

    Figure 2.  Composition of hysteresis curve

    图 3  减速器回差评定方法

    Figure 3.  Evaluation method for lost motion of reducers

    图 4  正反向传动误差测试原理

    Figure 4.  Measuring principle of the bidirectional transmission error

    图 5  动态回差曲线

    Figure 5.  Dynamic lost motion curve

    图 6  准静态回差测试步骤

    Figure 6.  Steps for quasi-static lost motion testing

    图 7  静态回差测试曲线

    Figure 7.  Static lost motion test curve

    图 8  小型减速器测试台

    Figure 8.  Testing machine for the small-sized reducer

    图 9  大型减速器测试台

    Figure 9.  Testing machine for the large reducer

    图 10  小型减速器实物图

    Figure 10.  Physical picture of the small-sized reducer

    图 11  大型减速器实物图

    Figure 11.  Physical picture of the large reducer

    图 12  小型减速器动态回差测试结果

    Figure 12.  Results of the dynamic test of lost motion for the small-sized reducer

    图 13  大型减速器动态回差测试结果

    Figure 13.  Results of the dynamic test of lost motion for the large reducer

    图 14  采用滞回曲线法对小型减速器进行回差测试

    Figure 14.  Using hysteresis curve method to perform lost motion testing on small-sized reducer

    图 15  采用滞回曲线法对大型精密减速器进行回差测试

    Figure 15.  Using hysteresis curve method to perform lost motion testing on Large precision reducerr

    表  2  减速器参数

    Table  2.   Parameters of the two types of reducers used in the experiments

    类型 额定转矩/(N·m) 最大转速/(r/min) 设计回差
    小型减速器 1.0 70 3.6°
    大型减速器 380.0 70 7′
    下载: 导出CSV

    表  1  测试设备参数

    Table  1.   Test equipment parameters

    指标 小型减速器 大型精密减速器
    转矩范围 0~10 N·m 0~1500 N·m
    转矩测量精度 ±0.1%F.S ±0.1%F.S
    角度测量精度 ±1.44″ ±1″
    下载: 导出CSV

    表  3  试验条件

    Table  3.   Experiment condition

    类型 负载转矩/
    ( N·m)
    条件1/
    (r/min)
    条件2/
    (r/min)
    条件3/
    (r/min)
    小型减速器 1.0 1 5 10
    大型精密减速器 380.0 1 5 10
    下载: 导出CSV

    表  4  动态回差试验结果

    Table  4.   Dynamic lost motion experiment result

    类型 结果1 结果2 结果3
    小型减速器/(°) 4.0638 3.9938 3.9314
    大型精密减速器/(′) 7.9829 7.9913 7.9675
    下载: 导出CSV

    表  5  试验条件

    Table  5.   Experiment condition

    类型 位置/(°) 条件1/
    ( N·m/s)
    条件2/
    ( N·m/s)
    条件3/
    ( N·m/s)
    小型减速器 180 0.02 0.05 0.1
    大型精密减速器 180 1 2.5 5
    下载: 导出CSV

    表  6  准静态回差测试结果

    Table  6.   Quasi static lost motion experiment results

    类型结果1结果2结果3
    小型减速器/(°)4.01263.90323.8521
    大型精密减速器/(′)7.99717.46787.2631
    下载: 导出CSV

    表  7  静态回差测试结果

    Table  7.   Static lost motion experiment results

    类型结果1结果2结果3
    小型减速器/(°)2.82582.79712.8012
    大型精密减速器/(′)3.62533.62293.6193
    下载: 导出CSV
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  • 收稿日期:  2023-08-28
  • 网络出版日期:  2024-04-25

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