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The thickened gear has the characteristics of different displacement coefficients at different end sections. If the displacement coefficient is designed to vary linearly along the axis, the shape is represented by a certain taper of the tooth tip along the axial direction, so that by controlling its axis The displacement can adjust the meshing side gap of the gear to achieve the purpose of adjusting the gap or eliminating the gap, thereby reducing the backlash and achieving precision transmission. The transmission has small backlash, high rigidity, large carrying capacity and stable operation, and is suitable for mechanical transmission with high precision, high rotation speed and acceleration and deceleration in a short time. This is the transmission mechanism that is urgently needed for robots and other precision mechanical transmissions. Based on the characteristics of thickened gears, in order to meet the needs of industrial robot joint transmission, an adjustable clearance RV30-AII thickening gear reducer capable of replacing imported products and harmonic reducers was developed to realize the robot joint. The replacement of the transmission and the localization of the RV reducer. As a robot joint drive device, the thickened gear reducer is often subjected to excitation force and excitation torque during the work of transmitting motion and power from the motor to the robot arm. For example, the robot arm often needs to stop or reciprocate. The torsion vibration is generated by the reducer, thereby affecting the working performance and the motion accuracy of the robot. The torsional vibration of the rotating part of industrial robots in China has always been a prominent problem. In order to understand the dynamic characteristics of the thickened gear reducer we developed, it is necessary to analyze the torsional vibration mechanics in order to evaluate its vibration level and find the weak link that affects the dynamic characteristics, and limit its vibration to a lower range. To solve the vibration problem of the robot. The dynamics of the reducer is studied. The most important thing is to study the dynamic characteristics of the thickened gear pair. The key technology is to determine the meshing stiffness of the thickened gear teeth.
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