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2.2 齿轮传动副的设计
齿轮传动是机电一体化机械传动系统中应用最广泛的一种机械传动,通常用齿轮传动装置传递转矩、转速和位移,使电机和滚珠丝杠副及工作台之间的转矩、转速和位移得到匹配。所以齿轮传动装置的设计是伺服机械传动系统设计的一个重要部分,在各类型机电一体化机械传动系统中得到广泛使用。
在机电一体化系统中,伺服电动机的伺服变速功能在很大程度上代替了传统机械传动中的变速机构,只有当伺服电机的转速范围满足不了系统要求时,才通过传动装置变速。由于机电一体化系统对快速响应指标要求很高,因此机电一体化系统中的机械传动装置不仅仅是用来解决伺服电机与负载间的力矩匹配问题,更重要的是为了提高系统的伺服性能。为了提高机械系统的伺服性能,要求机械传动部件的转动惯量小、摩擦小、阻尼合理、刚度大、抗振性好、间隙小,并满足小型、轻量、高速、低噪声和高可靠性等要求。
例如,数控机床的伺服电动机或步进电动机通常要通过齿轮传动装置配合滚珠丝杠副传递转矩和转速,并使电动机和螺旋传动机构及负载(即工作台)之间的转矩与转速得到匹配。因此,齿轮传动装置(齿轮减速箱)的设计是整个数控机床机械传动系统设计的一个重要组成部分。由于数控机床的电动机转速较高,而机械系统驱动的工作台的移动速度有时不能太高,变换范围也不能太大,故往往用齿轮装置将电动机输出轴的高转速低转矩换成为负载轴所要求的低转速高转矩。
对机电一体化机械传动系统总的要求是:精度高、稳定性好、响应快。而齿轮传动装置相当于系统中的一个一阶惯性环节或二阶振荡环节,对上述性能影响很大,因此,在设计齿轮传动装置时,以下三点应给以注意:
1.传动精度
传动精度是由传动件的制造误差、装配误差、传动间隙和弹性变形等所引起的。对于开环控制来说,传动误差直接影响整个系统的精度。
2.稳定性
对于闭环控制来说,齿轮传动装置完全在伺服回路内,其性能参数将直接影响整个系统的稳定性,因此,应考虑提高传动系统的固有频率,提高系统的阻尼能力,以便增加传动系统的抗振性能,满足稳定性要求。
3.响应速度
无论开环还是闭环控制,齿轮传动装置都将影响整个系统的响应速度。从这个角度考虑,齿轮传动装置的角加速度是关键因素,可以采取使传动装置减少摩擦,减少转动惯量,提高传动效率等措施。
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