CN111288125A - Planetary gear transmission system with high-damping high-flexibility bearing nested structure - Google Patents
Planetary gear transmission system with high-damping high-flexibility bearing nested structure Download PDFInfo
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- CN111288125A CN111288125A CN202010088607.5A CN202010088607A CN111288125A CN 111288125 A CN111288125 A CN 111288125A CN 202010088607 A CN202010088607 A CN 202010088607A CN 111288125 A CN111288125 A CN 111288125A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
- F16F15/12—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon
- F16F15/1207—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon characterised by the supporting arrangement of the damper unit
- F16F15/1208—Bearing arrangements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
- F16F15/12—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon
- F16F15/121—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon using springs as elastic members, e.g. metallic springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/0006—Vibration-damping or noise reducing means specially adapted for gearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2224/00—Materials; Material properties
- F16F2224/02—Materials; Material properties solids
- F16F2224/0208—Alloys
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H2057/085—Bearings for orbital gears
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a planetary gear transmission system with a high-damping high-flexibility bearing nested structure, which comprises an inner gear ring, wherein a sun gear is arranged in the inner gear ring, a plurality of planet gears are meshed between the sun gear and the inner gear ring, the sun gear is arranged on an input shaft through an input shaft bearing, the planet gears are arranged on planet pin shafts through planet gear bearings, a flexible damping ring is further arranged between the planet gears and the planet gear bearings, and/or a flexible damping ring is further arranged between the sun gear and the input shaft bearing, and the flexible damping ring is nested and arranged between the inner rings of the sun gear and the planet gears and the outer rings of the bearings, and is a high-damping high-flexibility bearing nested structure with an arc-shaped waist-shaped hole stacked and. The invention solves the problems of uniform load and dynamics in a planetary gear transmission system or an epicyclic gear train by designing the high-damping high-flexibility bearing nest with the arc-shaped kidney-shaped holes in a laminated and staggered layout, obviously reduces the vibration and noise of the system, and improves the stability and reliability of equipment.
Description
Technical Field
The invention relates to a planetary gear transmission system, in particular to a planetary gear transmission system with high damping and high flexibility.
Background
In a planetary gear transmission system or an epicyclic gear train, due to the existence of machining errors and rigid assembly relations between planetary gears and a planet carrier and between a sun gear and an input shaft, the matching between the gears is not flexible, so that the system has obvious problems of dynamics and uneven load distribution, and strong vibration and noise problems are caused. This type of vibration and noise is a serious problem in terms of operational stability and reliability of both commercial and military products.
At present, the method for improving the assembly flexibility of the planet wheel or the sun wheel mainly focuses on hole digging treatment of the assembly pin shaft, so that the support rigidity can be reduced, the flexibility can be improved, and the aims of vibration reduction and noise reduction can be expected to be achieved. In fact, both finite element analysis and experiments show that hole digging treatment has a remarkable effect on light weight of the system, but does not have a remarkable effect on improving the dynamics problems of uniform load and the like of a planetary gear transmission system or an epicyclic gear train.
FIG. 1 is a mathematical model of a planetary gear transmission system, where ks represents the support stiffness of the sun gear, from which analysis it can be derived the change in the load sharing characteristics of the system as stiffness increases (i.e., as compliance decreases), as shown in FIG. 2. In fig. 2, the abscissa represents stiffness, and the ordinate represents a load balancing coefficient, and when the stiffness is increased to a certain region, the load balancing coefficient is greatly increased, so that the load balancing performance of the system is remarkably reduced. In addition, the dashed line represents a high damping support structure, enabling a low damping support structure to be represented, it can be seen that the high damping support structure has better and more efficient load leveling performance than the low damping support structure.
Disclosure of Invention
The invention aims to solve the problems of uniform load and dynamics in a planetary gear transmission system or an epicyclic gear train by designing the high-damping high-flexibility bearing nest with the arc-shaped kidney-shaped holes in a laminated and staggered layout, remarkably reduce the vibration and noise of the system and improve the stability and reliability of equipment.
The invention adopts the following technical scheme:
the planetary gear transmission system with the high-damping high-flexibility bearing nesting structure comprises an inner gear ring, wherein a sun gear is arranged in the inner gear ring, a plurality of planet gears are meshed between the sun gear and the inner gear ring, the sun gear is installed on an input shaft through an input shaft bearing, the planet gears are installed on a planet pin shaft through a planet gear bearing, a flexible damping ring is further arranged between the planet gears and the planet gear bearing, and/or a flexible damping ring is further arranged between the sun gear and the input shaft bearing, is nested and installed between the inner rings of the sun gear and the planet gears and the outer ring of the bearing, and is the high-damping high-flexibility bearing nesting structure with the arc-shaped waist-shaped hole stacking and staggered layout.
Furthermore, the flexible damping ring is made of a high-manganese-based high-damping alloy material which has the strength of low-carbon steel and has a damping effect similar to that of rubber.
Furthermore, a planet wheel bearing is respectively arranged on two sides of the planet wheel, and a flexible damping ring is arranged between the planet wheel and each planet wheel bearing.
Furthermore, two sides of the sun gear are respectively provided with an input shaft bearing, and a flexible damping ring is arranged between the sun gear and each input shaft bearing.
Further, the optimized structure of the flexible damping ring satisfies the following conditions:
in the formula, C1 and C2 represent boundary conditions required for optimizing design, wherein C2 means that in order to maximize the damping effect of the damping ring structure, the maximum comprehensive stress under the action of external load is required to be under the fatigue strength σf95% -100%.
The invention has the following beneficial effects:
(1) the high-damping high-flexibility bearing nest with the arc-shaped kidney-shaped holes in a laminated and staggered layout is designed by adopting a high-manganese-based damping alloy material, and the bearing nest is arranged between the inner rings of the sun wheel and the planet wheel and the outer ring of the bearing, so that the damping and flexibility effects generated by the deformation of the nest are utilized to the maximum extent under the condition of ensuring the strength of the bearing nest, and the load balancing and dynamic performance of the system are obviously improved;
(2) and comparing the calculation results of the three schemes of the arc-shaped waist-shaped hole stacking staggered layout, the honeycomb staggered layout and the circular hole staggered layout by a finite element method. The result shows that under the same load, the laminated staggered layout of the arc-shaped kidney-shaped holes is higher than the latter two layouts by deformation amount which is tens of times, so that the laminated staggered layout of the arc-shaped kidney-shaped holes has the optimal flexibility and damping effect, and the latter two layouts have the optimal light weight and weight reduction effect;
(3) by providing the optimal design method of bearing nesting with the arc-shaped kidney-shaped holes in a laminated and staggered layout, the optimal design scheme of the structure is obtained by taking the maximum comprehensive deformation as a target and the limit of the stress value smaller than the fatigue strength of the damping alloy material and the size of the structure space as boundary conditions.
Drawings
FIG. 1 is a mathematical model of a planetary gear transmission system;
FIG. 2 is a graph of the load sharing factor of a planetary gear system as a function of stiffness;
FIG. 3 is an overall view of the planetary gear system without flexible nesting;
FIG. 4 is an exploded view of the planetary gear drive system without the flexible damping nest;
FIG. 5 is an exploded view of a planetary transmission with flexible nesting;
FIG. 6 is a detailed view of an arcuate kidney shaped flexible damping structure;
FIG. 7 is an enlarged view of a portion A-A of FIG. 6;
FIG. 8 is a view of a honeycomb shaped flexible damping structure;
FIG. 9 is a view of a circular hole-shaped flexible damper;
FIG. 10 is a graph of stress and deformation for three shapes obtained under the same boundary constraints and loads.
The labels in the figure are: 1. an output shaft bearing; 2. a bolt; 3. an output shaft; 4. an upper cover plate of the planet carrier; 5. an upper cover plate bearing; 6. a planet wheel upper bearing; 7. an inner gear ring; 8. a planet pin shaft; 9. a planet wheel lower bearing; 10. a key; 11. a sun gear; 12. a planet wheel; 13. a lower cover plate of the planet carrier; 14. an input shaft bearing; 15. an inner bearing of the sun gear input shaft; 16. a snap ring; 17. an input shaft; 18. a damping ring; 19. a planet carrier-sun gear-output shaft assembly; 20. a flexible damping ring-bearing combination; 21. the planet wheel-flexible damping ring-bearing-supporting pin combination.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 3 is an assembly diagram of a planetary gear transmission system without flexible nesting, which mainly comprises an inner gear ring, a sun gear, a planet gear shaft, a planet carrier, a bearing, an output shaft and the like. Wherein, the inner gear ring is fixed and the shaft is fixedly arranged on the gear box body.
FIG. 4 is an exploded view of the planetary gear system without the flexible nest. The output shaft bearing 1 is installed on the output shaft 3, the output shaft 3 is installed in a threaded hole on the planet carrier upper cover plate 4 through the bolt 2, a planet wheel upper bearing 6 and a planet wheel lower bearing 9 are installed in an inner hole of a planet wheel 12 in a combined mode, namely two bearings are installed inside one planet wheel 12, the planet wheel 12 is installed with a planet pin shaft 8 in a combined mode through the two bearings, therefore, three groups of gear-shaft-pin shaft modules are formed inside the system, one end of the planet pin shaft 8 in each module is installed in a hole of the planet carrier upper cover plate 4, and the other end of the pin shaft 8 is installed in a corresponding hole of the planet carrier lower cover.
The sun gear 11 is mounted at the middle position of the stepped shaft of the input shaft 17 through the key 10, the upper cover plate bearing 5 is mounted in the middle hole of the planet carrier upper cover plate 4, the inner ring of the bearing 5 is used for mounting the small end face of the stepped shaft of the input shaft 17, the outer ring of the input shaft bearing 14 is mounted in the middle hole of the planet carrier lower cover plate 13, and the inner ring of the bearing 14 is used for mounting the large end face of the stepped shaft in the input shaft 17. The sun gear input shaft inner bearing 15 is mounted in the inner bore of the large end face of the input shaft 17.
At the moment, the system forms a planetary gear transmission system, wherein the inner gear ring 7 is fixedly arranged on the box body, the input shaft 17 inputs power to the sun gear 11 through the key 10, the sun gear 11 drives the planet gears 12 to rotate, and then the planet gears drive the planet carrier consisting of the upper cover plate 4, the lower cover plate 13 and the output shaft 3 to rotate around the central shaft thereof, so that the power is output.
As can be seen from the exemplary planetary gear system, the sun gear 11 is rigidly fixed in its own position by the input shaft 17, the bearing 14, the lower cover plate 13 and the upper cover plate 4, while the planet gears 6 are also rigidly fixed to the planet carrier by the bearings 6 and 9, and the planet pins 8, the upper cover plates 4 and 13. It can be seen that the lack of a flexible support structure in the system can improve the load balancing and dynamic performance of the system, which is guaranteed entirely by the machining accuracy, thus neither guaranteeing the system performance nor being economical.
FIG. 5 is an exploded view of a planetary gear drive system with flexible nested damping rings. The planetary gear transmission system comprises a planet carrier-sun gear-output shaft assembly 19, a flexible damping ring-bearing combination 20 and a planet gear-flexible damping ring-bearing-pin shaft combination 21. It can be seen from the figure that the "planet wheel-bearing-pin shaft" combination in fig. 4 is changed into a "planet wheel-flexible damping ring-bearing-pin shaft combination 21" through design, that is, the flexible damping ring 18 is added between the bearing 9 and the planet wheel 12, so that the planet wheel has high-flexibility and high-damping performance, and the load balancing and dynamic performance of the system can be greatly improved. Similarly, the method of installing a flexible damping ring nest on the outer ring of the bearing of the sun gear 11 can further improve the flexibility and damping effect of the system. It should be noted that the material of the flexible damping ring 18 is an alloy material with high damping effect, such as high manganese-based high damping alloy, for example, the damping material with the designation M2052, which has the strength of low carbon steel and has the damping effect similar to rubber.
Fig. 6-9 are structures of an arc waist-shaped hole flexible damping ring, a honeycomb-shaped damping ring and a round hole type damping ring, respectively, and through finite element analysis, under the condition of loading the same boundary constraint and load, stress and deformation of three shapes can be obtained, and are respectively shown in fig. 10. As can be seen from the results shown in fig. 10, the arc-shaped kidney-shaped hole structure has the largest deformation amount without exceeding the fatigue strength of the material, and the damping effect is provided by the more damping material participating in the deformation. The deformation of the honeycomb hole pattern structure and the circular hole pattern structure is only about five ten-thousandth of that of the arc waist hole pattern structure, namely the deformation of the arc waist hole pattern structure is 2000 times that of the honeycomb and circular hole pattern structure, but the stress of the arc waist hole pattern structure is only about 7 times that of the honeycomb and circular hole pattern structure. Obviously, most materials of the arc waist-shaped porous damping ring participate in deformation due to the structural characteristics of the arc waist-shaped porous damping ring, and only a small part of the damping ring with the honeycomb-shaped and round hole structure participates in deformation. From another aspect, the damping ring with the arc waist-shaped hole structure is suitable for occasions requiring flexible deformation, and the honeycomb-shaped and round hole structure is suitable for product design requiring light weight.
In order to obtain an optimized damping ring with an arc-shaped kidney-shaped hole structure, an optimal design scheme needs to be obtained through optimized design, and the design process is as follows:
(1) size parameters representing structural characteristics of the arc-shaped kidney-shaped holes are obtained, and the size parameters comprise an inner diameter A, an outer diameter B, a circular arc center distance C of adjacent kidney-shaped holes, a kidney-shaped hole center distance D, a kidney-shaped hole layer distance E, an innermost layer distance F, an outermost layer distance H, a kidney-shaped hole circular arc radius G and a height I of the damping ring, and are shown in figure 6.
(2) Obtaining the change intervals of the parameters, which are respectively expressed by [ a ], [ b ], [ c ], [ d ], [ e ], [ f ], [ g ], [ h ] and [ i ];
(3) considering the complexity of the system structure, an analytic solution cannot be obtained through a formula. Therefore, the method can only be solved by a finite element method, and the parameters are taken as design variables, corresponding change intervals and the fatigue limit sigma of the materialfIs a boundary condition where σ is the specific damping alloy materialfIs a deterministic value. Finally, the minimum ratio of the maximum stress sigma of the system to the deformation T is taken as a design target, and the design target is expressed as follows by a formula:
in the formula, C1 and C2 represent boundary conditions required for optimizing design, wherein C2 means that in order to maximize the damping effect of the damping ring structure, the maximum comprehensive stress under the action of external load is required to be under the fatigue strength σf95% -100%.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. Planetary gear transmission system with high flexible bearing nested structure of high damping, including ring gear (7), be provided with sun gear (11) in ring gear (7), the meshing has a plurality of planet wheel (12) between sun gear (11) and ring gear (7), sun gear (11) are installed on the input shaft through the input shaft bearing, planet wheel (12) are installed on planet round pin axle (8) through planet wheel bearing, its characterized in that: and a flexible damping ring (18) is further arranged between the planet wheel (12) and the planet wheel bearing, and/or a flexible damping ring (18) is further arranged between the sun wheel (11) and the input shaft bearing, and the flexible damping ring (18) is nested and installed between the inner rings of the sun wheel and the planet wheel and the outer ring of the bearing and is of a high-damping high-flexibility bearing nested structure in an arc-shaped kidney-shaped hole stacking and staggered layout.
2. A planetary gear transmission system with a high damping and high compliant bearing nesting structure as in claim 1, wherein: the flexible damping ring (18) is made of a high-manganese-based high-damping alloy material which has the strength of low-carbon steel and has a damping effect similar to that of rubber.
3. A planetary gear transmission system with a high damping and high compliant bearing nesting structure as in claim 1, wherein: and two planet wheel bearings are respectively arranged on two sides of the planet wheel (12), and a flexible damping ring (18) is arranged between the planet wheel (12) and each planet wheel bearing.
4. A planetary gear transmission system with a high damping and high compliant bearing nesting structure as in claim 1, wherein: an input shaft bearing is respectively installed on two sides of the sun gear (11), and a flexible damping ring (18) is arranged between the sun gear (11) and each input shaft bearing.
5. A planetary gear transmission system with a high damping and high compliant bearing nesting structure as in claim 1, wherein: the optimized structure of the flexible damping ring (18) satisfies the following conditions:
C1:A∈[a],B∈[b],C∈[c],D∈[d],E∈[e],F∈[f],G∈[g],H∈[h],I∈[i]
C2:
in the formula, C1 and C2 represent boundary conditions required for optimizing design, wherein C2 means that in order to maximize the damping effect of the damping ring structure, the maximum comprehensive stress under the action of external load is required to be under the fatigue strength σf95% -100%.
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| CN202010088607.5A CN111288125B (en) | 2020-02-12 | 2020-02-12 | Planetary gear transmission system with high-damping high-flexibility bearing nested structure |
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| CN202010088607.5A CN111288125B (en) | 2020-02-12 | 2020-02-12 | Planetary gear transmission system with high-damping high-flexibility bearing nested structure |
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| CN111288125B CN111288125B (en) | 2021-03-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112728014A (en) * | 2020-12-25 | 2021-04-30 | 杭州宇树科技有限公司 | Overload impact resistant planetary reducer, robot joint and quadruped robot |
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| JP2007270943A (en) * | 2006-03-31 | 2007-10-18 | Nsk Ltd | Worm reducer and electric power steering device inc0rporating the same |
| JP2014031851A (en) * | 2012-08-06 | 2014-02-20 | Takuya MURAKITA | Variable impedance servo motor |
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| CN112728014A (en) * | 2020-12-25 | 2021-04-30 | 杭州宇树科技有限公司 | Overload impact resistant planetary reducer, robot joint and quadruped robot |
| WO2022135078A1 (en) * | 2020-12-25 | 2022-06-30 | 杭州宇树科技有限公司 | Overload impact-resistant planetary reducer, robot joint, and quadruped robot |
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| CN111288125B (en) | 2021-03-19 |
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