CN113591244A - Gear transmission error method considering assembly error and manufacturing error - Google Patents

Gear transmission error method considering assembly error and manufacturing error Download PDF

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CN113591244A
CN113591244A CN202110877669.9A CN202110877669A CN113591244A CN 113591244 A CN113591244 A CN 113591244A CN 202110877669 A CN202110877669 A CN 202110877669A CN 113591244 A CN113591244 A CN 113591244A
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error
gear
axis
transmission
errors
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赵永胜
苏李航
杨聪彬
曹子睿
赵鹏睿
李志雄
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Beijing University of Technology
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
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    • G06F2111/10—Numerical modelling

Abstract

The invention discloses a gear transmission error model considering assembly errors and manufacturing errors, which comprises the following steps: (1) constructing a gear pair error model based on an SDT method; (2) acquiring various error sources influencing gear transmission, and establishing a relation with transmission errors; (3) and constructing a gear transmission error model. Considering various errors in the gear manufacturing process, the errors are associated with transmission errors, the influence on the gear axis pose in the gear assembling process and the transmission errors are hooked, a gear transmission error model is established, and a theoretical basis is provided for realizing transmission precision prediction.

Description

Gear transmission error method considering assembly error and manufacturing error
Technical Field
The invention belongs to the technical field of gear transmission error prediction, and particularly relates to a gear transmission error model considering assembly errors and manufacturing errors.
Background
The gear transmission mechanism is one of the most important transmission forms in the precision transmission machinery, the precision machinery has higher requirements on transmission precision, and gear errors directly influence the accuracy of motion transmission, so people develop a great deal of research on the gear transmission errors, analyze error sources, summarize error action modes and establish corresponding detection standards. However, the existing transmission error calculation method only focuses on the manufacturing error of the gear, but neglects the assembly error generated in the gear assembly process, and the assembly error affects the axis pose of the gear, so that the transmission is affected.
Disclosure of Invention
In view of this, the invention provides a gear transmission error model considering assembly errors and manufacturing errors, which can comprehensively consider the assembly errors and the manufacturing errors and calculate the transmission errors.
The technical scheme of the invention is as follows:
a gear transmission error model considering assembly errors and manufacturing errors is characterized in that according to error characteristics of a gear pair, an SDT method is adopted to construct positions of an axis AB and an axis CD of an error model of the gear pair as two meshing gear axes of the gear pair under an ideal condition, an axis C 'D' is an axis position after error is introduced under an actual condition of a gear, and the axis C 'D' can be regarded as an offset distance T in a Y-axis direction by taking the axis CD as a referenceyOffset by T in the Z-axis directionzRotating R around Y-axisyRotate R about the Z-axisz. If the non-zero SDT vector of the gear actual axis C 'D' is V ═ (0, V, ω,0, β, γ), then the SDT expression is V ═ (0, T)y,Tz,0,Ry,Rz). Therefore, the axis pose of the gear in the actual situation can be expressed as:
Figure BDA0003190920620000021
wherein, the matrix LThe、LActRepresenting the coordinates of each point in the theoretical and actual axes, respectively, and the matrix R, TAnd the pose transformation matrix represents the rotation and translation of the actual axis coordinate system around the coordinate axis of the theoretical axis coordinate system. Since the axis error rotation component is small, sin θ and cos θ can be approximated to be 1, and the high-order error term in the calculation process, such as sinR · T, is ignored, the error variation matrix W of the actual axis coordinate system relative to the ideal axis coordinate systemerrCan be simplified as follows:
Figure BDA0003190920620000022
and establishing a functional relation among gear pitch errors, radial run-out errors, parallelism errors and transmission errors.
According to the error variation matrix W of the actual axis coordinate system relative to the ideal axis coordinate systemerrEstablishing a functional relationship between the assembly error and the transmission error, specifically, T in the error variation matrixyFor y-axis offset, rotate the pinion gear in the positive direction, when TyThe value being positive, it can be regarded as a reduction in the clearance between the two running flanks, i.e. a reduction in the circumferential backlash TyThe magnitude of the error generated in the transmission system can be calculated by the following equation:
Figure BDA0003190920620000031
t in error variation matrixzTo offset along the z-axis, the drive gear is rotated in the positive direction, when TzThe value being positive, it can be seen that the two working gears are reduced in distance, i.e. the radial backlash is reduced by TzThe magnitude of the error generated in the transmission system can be calculated by the following equation:
Figure BDA0003190920620000032
in the formula: r is the reference circle radius (mm), anIs the pitch normal profile angle (°).
The actual gear axis coordinate system is obtained by translating and rotating the ideal coordinate system, and the gear axes are parallelThe common plane in the error variation matrix is defined as a plane determined by the longer one of two bearing spans in a pair of meshed gears and one bearing on the other shaft, and the rotation angle value R in the error variation matrix is obtained without considering the influence of the translation variation of the gear axis coordinate system on the common planey、RzThe gear axis parallelism error can be respectively corresponding to the deviation on the common plane and the deviation on the staggered axis plane perpendicular to the common plane, so that the error of the rotation quantity in the error variation matrix on the transmission system can be calculated by the following formula:
Figure BDA0003190920620000033
Figure BDA0003190920620000034
the single pitch error refers to the algebraic difference between the actual pitch and the theoretical pitch, the cumulative total pitch deviation can reflect the change of the transmission ratio in one rotation process of the gear, and is the tangential deviation in the gear error, and the linear pitch error is converted into the angular error at the pitch circle of the gear, so the angular error generated by the single pitch error can be calculated by the following formula:
Figure BDA0003190920620000035
in the formula (I), the compound is shown in the specification,
Figure BDA0003190920620000041
for angular error (°), f, produced by pitchptIs the pitch deviation (. mu.m) and r is the reference circle radius (mm).
The radial runout of the gear refers to the difference between the maximum radial distance and the minimum radial distance from the side head to the axis of the gear, the radial runout can affect the accuracy of the transmission motion of the gear, is the radial deviation in the gear error, the caused radial backlash is converted into circumferential backlash and is converted into the angular error of a reference circle, and the angular error generated by the radial runout of the gear can be calculated by the following formula:
Figure BDA0003190920620000042
in the formula (I), the compound is shown in the specification,
Figure BDA0003190920620000043
angular error (°), F, produced for radial run-outrIs the radial run-out (mum), r is the reference circle radius (mm),
the axial parallelism error of two meshed gears can cause the clearance of the meshed gears in the circumferential direction, and the parallelism error can be decomposed into deviation delta f on a common planeyAnd a deviation Δ f in the plane of the alternate axis perpendicular to the common planexAxis deviation Δ f on common planeyThe resulting radial play of the gear wheels,
Figure BDA0003190920620000044
the included angle of the gear axis, OO' is the gear axis, the midpoint A is selected as the stationary point of rotation, b is the tooth width, and r is the gear reference circle radius, so that the axis deviation delta f can be obtainedyResulting maximum radial displacement Δ F at the gear faceJ：
Figure BDA0003190920620000045
Figure BDA0003190920620000046
Angle between gear axes
Figure BDA0003190920620000047
The circumferential backlash value can be obtained by the relationship between the radial backlash and the circumferential backlash of the gear
Figure BDA0003190920620000048
Figure BDA0003190920620000049
The angular error caused by the deviation of the gear axis parallelism error in the common plane is:
Figure BDA0003190920620000051
axial deviation Δ f in the plane of the staggered axesxResulting tooth flank variation Δ FC：
Figure BDA0003190920620000052
This variation causes the gear backlash to decrease, and
Figure BDA0003190920620000053
value of circumferential backlash
Figure BDA0003190920620000054
Figure BDA0003190920620000055
The angular error caused by the deviation of the gear axis parallelism error in the plane of the staggered shaft is:
Figure BDA0003190920620000056
the driveline transmission error may be calculated by:
Figure BDA0003190920620000057
the invention has the advantages that: according to the gear error prediction method, the concepts of the pitch error, the gear radial run-out error and the gear axis parallelism error in gear error measurement are combined, the gear transmission error is decomposed into the gear axis position error and the gear manufacturing error, the functional relation is established between each quantity value in the axis position error variation matrix and the transmission error, a transmission error model containing the gear manufacturing error and the error variation generated to the axis position in the assembly process is established, and the accuracy of the transmission error model can be effectively improved to provide a basis for realizing the transmission error prediction.
Description of the drawings:
FIG. 1 is a schematic diagram of an error model of a gear pair
FIG. 2 is a schematic view of gear parallelism error
FIG. 3 is a graph showing the deviation of the gear parallelism error in a common plane
FIG. 4 is a schematic diagram of the deflection of the gear parallelism error in the plane of the alternate axis
FIG. 5 is a schematic view of a coordinate system in the positive rotation direction of a gear
Detailed Description
The invention is described in detail below with reference to the attached drawing
According to the error characteristics of the gear pair, a gear pair error model is constructed by adopting an SDT method as shown in figure 1, an axis AB and an axis CD are the positions of two meshing gear axes of the gear pair under the ideal condition, an axis C 'D' is the position of the axis after error is introduced under the actual condition of the gear, and the axis C 'D' can be regarded as a deviation distance T along the Y-axis direction by taking the axis CD as a referenceyOffset by T in the Z-axis directionzRotating R around Y-axisyRotate R about the Z-axisz. If the non-zero SDT vector of the gear actual axis C 'D' is V ═ (0, V, ω,0, β, γ), then the SDT expression is V ═ (0, T)y,Tz,0,Ry,Rz). Therefore, the axis pose of the gear in the actual situation can be expressed as:
Figure BDA0003190920620000061
wherein, the matrix LThe、LActRespectively representing the coordinates of each point in the theoretical and actual axes, and the matrix R, T respectively representing the pose transformation matrix of the actual axis coordinate system rotating and translating around the coordinate axes of the theoretical axis coordinate system. Since the axis error rotation component is small, sin θ can be approximatedAnd cos theta is 1, and high-order error terms in the calculation process are ignored, such as sinR.T, so that the error variation matrix W of the actual axis coordinate system relative to the ideal axis coordinate systemerrCan be simplified as follows:
Figure BDA0003190920620000062
and establishing a functional relation among gear pitch errors, radial run-out errors, parallelism errors and transmission errors.
And (3) establishing a gear rotating direction, and if the gear rotating direction and the positive direction of the axis coordinate system meet the right-hand spiral rule, namely the thumb pointing direction is consistent with the positive direction of the coordinate system, and the gear rotating direction is consistent with the four-finger direction, then the gear rotating direction at the moment is called as the positive direction, and otherwise, the gear rotating direction is called as the negative direction. As shown in fig. 5, the thumb is pointed in the positive x-axis direction, and the gear rotation direction is positive.
According to the error variation matrix W of the actual axis coordinate system relative to the ideal axis coordinate systemerrEstablishing a functional relationship between the assembly error and the transmission error, specifically, T in the error variation matrixyFor y-axis offset, rotate the pinion gear in the positive direction, when TyThe value being positive, it can be regarded as a reduction in the clearance between the two running flanks, i.e. a reduction in the circumferential backlash TyThe magnitude of the error generated in the transmission system can be calculated by the following equation:
Figure BDA0003190920620000071
t in error variation matrixzTo offset along the z-axis, the drive gear is rotated in the positive direction, when TzThe value being positive, it can be seen that the two working gears are reduced in distance, i.e. the radial backlash is reduced by TzThe magnitude of the error generated in the transmission system can be calculated by the following equation:
Figure BDA0003190920620000072
in the formula: r is the reference circle radius (mm), anIs the pitch normal profile angle (°).
The actual gear axis coordinate system is obtained by translating and rotating an ideal coordinate system, a common plane is defined as a plane determined by a longer one of two bearing spans in a pair of meshed gears and a bearing on the other shaft in the gear axis parallelism error, and a rotation angle value R in an error variation matrix is obtained by not considering the influence of the translation variation of the gear axis coordinate system on the common planey、RzThe gear axis parallelism error can be respectively corresponding to the deviation on the common plane and the deviation on the staggered axis plane perpendicular to the common plane, so that the error of the rotation quantity in the error variation matrix on the transmission system can be calculated by the following formula:
Figure BDA0003190920620000081
Figure BDA0003190920620000082
the single pitch error refers to the algebraic difference between the actual pitch and the theoretical pitch, the cumulative total pitch deviation can reflect the change of the transmission ratio in one rotation process of the gear, and is the tangential deviation in the gear error, and the linear pitch error is converted into the angular error at the pitch circle of the gear, so the angular error generated by the single pitch error can be calculated by the following formula:
Figure BDA0003190920620000083
in the formula (I), the compound is shown in the specification,
Figure BDA0003190920620000084
for angular error (°), f, produced by pitchptIs the pitch deviation (. mu.m) and r is the reference circle radius (mm).
The radial runout of the gear refers to the difference between the maximum radial distance and the minimum radial distance from the side head to the axis of the gear, the radial runout can affect the accuracy of the transmission motion of the gear, is the radial deviation in the gear error, the caused radial backlash is converted into circumferential backlash and is converted into the angular error of a reference circle, and the angular error generated by the radial runout of the gear can be calculated by the following formula:
Figure BDA0003190920620000085
in the formula (I), the compound is shown in the specification,
Figure BDA0003190920620000086
angular error (°), F, produced for radial run-outrIs radial run-out (mum), r is reference circle radius (mm) [0038 ]]The axial parallelism error of two meshed gears can cause the clearance of the meshed gears in the circumferential direction, and the parallelism error can be decomposed into deviation delta f on a common planeyAnd a deviation Δ f in the plane of the alternate axis perpendicular to the common planexAs shown in fig. 2.
Axis deviation Δ f on common planeyThe resulting gear radial clearance is shown in figure 3,
Figure BDA0003190920620000091
the included angle of the gear axis, OO' is the gear axis, the midpoint A is selected as the stationary point of rotation, b is the tooth width, and r is the gear reference circle radius, so that the axis deviation delta f can be obtainedyResulting maximum radial displacement Δ F at the gear faceJ：
Figure BDA0003190920620000092
Figure BDA0003190920620000093
Angle between gear axes
Figure BDA0003190920620000094
The circumferential backlash value can be obtained by the relationship between the radial backlash and the circumferential backlash of the gear
Figure BDA0003190920620000095
Figure BDA0003190920620000096
The angular error caused by the deviation of the gear axis parallelism error in the common plane is:
Figure BDA0003190920620000097
axial deviation Δ f in the plane of the staggered axesxResulting tooth flank variation Δ FCAs shown in fig. 4:
Figure BDA0003190920620000098
this variation causes the gear backlash to decrease, and
Figure BDA0003190920620000099
value of circumferential backlash
Figure BDA00031909206200000910
Figure BDA00031909206200000911
The angular error caused by the deviation of the gear axis parallelism error in the plane of the staggered shaft is:
Figure BDA00031909206200000912
the driveline transmission error may be calculated by:
Figure BDA00031909206200000913
the invention has the advantages that: according to the gear error prediction method, the concepts of the pitch error, the gear radial run-out error and the gear axis parallelism error in gear error measurement are combined, the gear transmission error is decomposed into the gear axis position error and the gear manufacturing error, the functional relation is established between each quantity value in the axis position error variation matrix and the transmission error, a transmission error model containing the gear manufacturing error and the error variation generated to the axis position in the assembly process is established, and the accuracy of the transmission error model can be effectively improved to provide a basis for realizing the transmission error prediction.

Claims (5)

1. A gear transmission error method considering assembly errors and manufacturing errors is characterized in that according to error characteristics of a gear pair, an SDT method is adopted to construct positions of an axis AB and an axis CD of an error model of the gear pair as two meshing gear axes of the gear pair under an ideal condition, an axis C 'D' is an axis position after error is introduced under an actual condition of a gear, and the axis C 'D' can be regarded as an offset distance T in a Y-axis direction by taking the axis CD as a referenceyOffset by T in the Z-axis directionzRotating R around Y-axisyRotate R about the Z-axisz(ii) a If the non-zero SDT vector of the gear actual axis C 'D' is V ═ (0, V, ω,0, β, γ), then the SDT expression is V ═ (0, T)y,Tz,0,Ry,Rz) (ii) a Therefore, the actual axis pose of the gear is expressed as:
Figure FDA0003190920610000011
wherein, the matrix LThe、LActRespectively represents the coordinates of each point in the theoretical axis and the actual axis, and the matrix R, T respectively represents the pose transformation matrix of the actual axis coordinate system rotating and translating around the coordinate axis of the theoretical axis coordinate system; because the axis error rotation component is tiny, the approximate sin theta is theta, the cos theta is 1, and the high-order error term sin R & T in the calculation process is ignored, the error variation matrix W of the actual axis coordinate system relative to the ideal axis coordinate system is obtainederrThe method is simplified as follows:
Figure FDA0003190920610000012
2. a gear transmission error method taking into account assembly errors and manufacturing errors as recited in claim 1, wherein gear pitch errors, runout errors, and parallelism errors are functionally related to the transmission errors.
3. A gear transmission error method considering assembly error and manufacturing error as claimed in claim 1 wherein, the error variation matrix W is based on the actual axis coordinate system relative to the ideal axis coordinate systemerrEstablishing a functional relation between the assembly error and the transmission error, and T in an error variation matrixyFor y-axis offset, rotate the pinion gear in the positive direction, when TyWith a positive value, considered as a reduction in the clearance between the two running flanks, i.e. a reduction in the circumferential backlash TyThe magnitude of the error generated in the transmission system can be calculated by the following equation:
Figure FDA0003190920610000021
t in error variation matrixzTo offset along the z-axis, the drive gear is rotated in the positive direction, when TzWith a positive value, the distance between two working gears is considered to decrease, i.e. the radial backlash decreases by TzThe magnitude of the error generated in the transmission system can be calculated by the following equation:
Figure FDA0003190920610000022
in the formula: r is the reference circle radius, mm, anIs the reference circle normal tooth profile angle;
the actual gear axis coordinate system is obtained by translation and rotation of an ideal coordinate system, and the parallelism of the gear axis is mistakenDefining the common plane as the plane determined by the longer one of the two bearing spans and one bearing on the other shaft in the pair of meshed gears in the difference, and considering the influence of the translation change of the gear axis coordinate system on the common plane, the rotation angle value R in the error variation matrixy、RzThe gear axis parallelism error can be respectively corresponding to the deviation on the common plane and the deviation on the staggered axis plane perpendicular to the common plane, so that the error of the rotation quantity in the error variation matrix on the transmission system can be calculated by the following formula:
Figure FDA0003190920610000023
Figure FDA0003190920610000024
in the formula: r is the radius of the reference circle, mm; a isnIs the reference circle normal tooth profile angle; b is the tooth width mm.
4. A gear transmission error method considering assembly errors and manufacturing errors according to claim 2,
(1) the single pitch error refers to the algebraic difference between the actual pitch and the theoretical pitch, the cumulative total pitch deviation can reflect the change of the transmission ratio in one rotation process of the gear, and is the tangential deviation in the gear error, the linear pitch error is converted into the angular error at the pitch circle of the gear, and the angular error generated by the single pitch error is calculated by the following formula:
Figure FDA0003190920610000031
in the formula (I), the compound is shown in the specification,
Figure FDA0003190920610000032
is the angular error, degree, produced by the tooth pitch; f. ofptIs a pitch offsetPoor, μm; r is the radius of the reference circle, mm;
(2) the radial runout of the gear refers to the difference between the maximum radial distance and the minimum radial distance from the side head to the axis of the gear, the radial runout can affect the accuracy of the transmission motion of the gear, is the radial deviation in the gear error, the caused radial backlash is converted into circumferential backlash and is converted into the angular error of a reference circle, and the angular error generated by the radial runout of the gear can be calculated by the following formula:
Figure FDA0003190920610000033
in the formula (I), the compound is shown in the specification,
Figure FDA0003190920610000034
angular error, degree, due to radial run-out; frIs runout, μm; r is the radius of the reference circle, mm;
(3) the axial parallelism error of two meshed gears can cause the clearance of the meshed gears in the circumferential direction, and the parallelism error is decomposed into deviation delta f on a common planeyAnd a deviation Δ f in the plane of the alternate axis perpendicular to the common planexAxis deviation Δ f on common planeyThe resulting radial play of the gear wheels,
Figure FDA0003190920610000035
the included angle of the gear axis is shown, OO' is the gear axis, the midpoint A is selected as the stationary point of rotation, b is the tooth width, r is the gear reference circle radius, and the axis deviation delta f is obtainedyResulting maximum radial displacement Δ F at the gear faceJ：
Figure FDA0003190920610000036
Figure FDA0003190920610000037
Angle between gear axes
Figure FDA0003190920610000038
The circumferential backlash value can be obtained by the relationship between the radial backlash and the circumferential backlash of the gear
Figure FDA0003190920610000039
Figure FDA00031909206100000310
The angular error caused by the deviation of the gear axis parallelism error in the common plane is:
Figure FDA00031909206100000311
axial deviation Δ f in the plane of the staggered axesxResulting tooth flank variation Δ FC：
Figure FDA00031909206100000312
This variation causes the gear backlash to decrease, and
Figure FDA0003190920610000041
value of circumferential backlash
Figure FDA0003190920610000042
Figure FDA0003190920610000043
The angular error caused by the deviation of the gear axis parallelism error in the plane of the staggered shaft is:
Figure FDA0003190920610000044
5. a gear transmission error method considering assembly errors and manufacturing errors according to claim 1, wherein the transmission system transmission error is calculated by the following formula:
Figure FDA0003190920610000045
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