Dynamic characteristics of the lost motion of the reducer
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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。
Abstract:The dynamic characteristics of lost motion based on transmission errors were explored. By considering the influences of torque, loading rate, and rotational speed, the relationship between lost motion and transmission errors was analytically derived. The dynamic characteristics of lost motion were substantiated, revealing that lost motion can be obtained by subtracting reverse transmission errors. The classification of lost motion was examined, and lost motion was divided into dynamic lost motion, quasi-static lost motion, and static lost motion. The testing methods for lost motion were provided, by which dynamic lost motion can be obtained through bidirectional transmission error analysis, and quasi-static lost motion and static lost motion can be acquired through hysteresis loop analysis. Experimental investigations on lost motion were conducted using examples of small and large reducers, confirming the dynamic characteristics of lost motion. It was observed that dynamic lost motion and quasi-static lost motion exhibited dynamic variations, while static lost motion was kept unaffected by loading rate dependence, aligning with theoretical analyses. In conclusion, the theoretical and engineering values of the research were highlighted.
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Key words:
- reducer /
- lost motion /
- bidirectional transmission error /
- dynamic characteristics /
- hysteresis curve
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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′ 
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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″
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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
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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
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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
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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/（°） 4.0126 3.9032 3.8521 大型精密减速器/（′） 7.9971 7.4678 7.2631
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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/（°） 2.8258 2.7971 2.8012 大型精密减速器/（′） 3.6253 3.6229 3.6193
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