Reasons and countermeasures for the design of KUKA robot reducer

Create Date: 2024-8-30 12:03:23|Source: KUKA

1. Japan RV reducer internal gear accuracy level planning Japan RV reducer planners often consider economic factors as much as possible more economical confession gear accuracy grade negligence accuracy grade is the symbol of gear noise and backlash. The United States Gear Manufacturers Association has concluded through many gear studies that the noise generated by high-precision gears is much smaller than that of low-precision gears. Therefore, if conditions permit, the accuracy level of the traveling gear should be as good as possible, which can not only reduce transmission errors, but also reduce noise.

                               Reasons and countermeasures for the design of KUKA robot reducer

2. The internal gear width of the Japan RV reducer is added when the transmission space of the Japan RV reducer allows, which can reduce the unit load under stable torque. Reduced tooth deflection reduces noise and then reduces transmission noise. The study of H Opaz in Germany shows that the torque is constant and the noise curve gradient of small tooth width is higher than that of large tooth width. Adding the gear width together can also increase the bearing capacity of the gear to travel the bearing torque of the RV reducer in Japan.

3. The tooth pitch and pressure angle of the internal gear of the Japan RV reducer are small, and the tooth pitch can ensure that there are more gear teeth touching together, and the gear stacking is increased, reducing the deflection of a single gear, reducing the transmission noise, and traveling transmission accuracy. The pressure angle is small, because the gear touch angle and the transverse stacking ratio are relatively large, so the operation noise is small and the accuracy is high.

4. The correct selection of the internal gear displacement coefficient of Japan RV reducer and the reasonable selection of the displacement coefficient can not only prevent the gear from undercutting at the center distance to ensure satisfactory concentric conditions, improve the transmission function and travel of the gear, its bearing ability and the service life of the traveling gear, but also effectively control the backlash, temperature rise and noise. In the closed gear transmission, the main failure method for the gear with a hard tooth surface hardness of 350HBS is that the tooth root is tired and broken, and this gear transmission planning is generally carried out according to the bending fatigue strength, and when selecting the displacement coefficient, it should be ensured that the gear teeth that are meshed have the same bending strength. For gears with a soft tooth surface hardness of 350HBS, the main failure method is fatigue pitting, this gear transmission planning is generally carried out according to the touch fatigue intensity, and when selecting the displacement coefficient, it should be ensured that the maximum touch fatigue strength and fatigue life are used.

The constraints for the reasonable selection of displacement coefficients are:

(1) Make sure that the gear to be cut does not undercut

(2) To ensure the smoothness and coincidence of gear transmission, it is necessary to be greater than 1, and the general requirement is greater than 1.2

(3) Make sure that the top of the tooth has a certain thickness

(4) When a pair of gears mesh transmission, if the involute of one wheel tooth top touches the transition curve of the other wheel tooth root, because the transition curve is not an involute, the common normal of the two tooth profiles at the contact point can not pass through the fixed node, so the change of the transmission ratio may also make the two wheels stuck, and this transition curve is dry and necessary to prevent when selecting the displacement coefficient.

5. Japan RV reducer internal gear tooth shape trimming and root trimming and tooth top chamfering cut the tooth shape of the tooth top into a slightly convex shape than the correct involute curve. When the tooth surface of the gear is deformed by external force, it can prevent the gear from drying and meshing with it, and can reduce the noise and extend the life of the gear. It should be noted that excessive trimming is equivalent to adding tooth shape faults, which will adversely affect the mesh.

6. Analysis of gear acoustic radiation characteristics: When selecting gears with different structural methods, an acoustic radiation model is established for the specific structure of gears, dynamic analysis is carried out, and the noise of gear transmission system is reviewed in advance. In order to be satisfied according to the different requirements of the user, whether the application site is unmanned, whether it is in the urban interior, whether there are specific requirements for underground buildings, whether there are noise protection or other specific requirements.

7. The operating speed of the power source of the Japan RV reducer is indicated according to the experiment of the Japan RV reducer under different speed conditions, and the noise will increase with the addition of the input speed of the Japan RV reducer.

8. Japan RV reducer box structure method experimental research indicates that the selection of cylindrical box is beneficial to shock absorption, under the same conditions other conditions, the cylindrical box is 5dB lower than other types of box noise level. The resonance test of the RV reducer case in Japan was carried out to find out the resonance position, and the appropriate rib plate was added to reduce the stiffness of the traveling box, reduce the oscillation of the box, and complete noise reduction. In the case of multi-stage transmission, the instantaneous transmission ratio is required to be changed as little as possible to ensure stable transmission, small impact and low oscillation, and low noise.

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