Method for calculating axial clearance of high-precision shafting of multi-stage planetary speed reducing mechanism

Abstract

The invention, which belongs to the field of integrated assembly and testing of space driving mechanisms, relates to a method for calculating the axial clearance of a high-precision shafting of a multi-stage planetary speed reducing mechanism. The method comprises the steps: step 1, establishing a multi-stage planetary speed reducing mechanism shafting is established; step 2, measuring the multi-stage planetary speed reducing mechanism shafting by using a three-coordinate measuring machine to obtain L1, L2, L3, L4 and L5; step 3, establishing a multi-stage planetary speed reducing mechanism shafting equation set; step 4, calculating a width average value H1 of a first group of bearings and a width average value H2 of a second group of bearings; and step 5, substituting the H1 and H2 into the multi-stage planetary speed reducing mechanism shafting equation set, and calculating a thickness d1 of a second isolating ring and a thickness d2 of a bearing pressing gasket. Therefore, accurateand quantitative control over the axial clearance of the shaft system of the space driving mechanism is achieved; and the control precision and efficiency of the axial clearance of the shafting are improved.

Description

Technical field [0001] The invention belongs to the field of integrated assembly and testing of a space drive mechanism, and relates to a method for calculating the axial clearance of a high-precision shafting of a multi-stage planetary reduction mechanism. Background technique [0002] The manipulator joint is the core component of the space manipulator. It is the basis for the flexible movement of the manipulator and the realization of various motion functions. It is the key to ensuring the motion accuracy, connection stiffness, output torque and other functions and performance indicators of the manipulator. The joint provides auxiliary functions such as mechanical and electrical synchronous fast connection, cable transmission and so on for the mechanical arm. [0003] The joint has the characteristics of large output torque, high output accuracy and electromechanical heating. It is a typical multi-stage planetary reduction mechanism. The structure is mainly composed of motor com...

AI Technical Summary

Problems solved by technology

[0005] At present, the axial clearance control of the shafting of the space drive mechanism is mainly carried out in the iterative manner of assembly-measurement-disassembly-adjustment-assembly-measurement. The control process often relies on the experience of technicians and operators, and the control efficiency is low and there is no effective Quantitative control means

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