A method for adjusting the gear clearance of a painting robot

Abstract

The present application relates to a kind of combined gear gap adjustment method based on spraying robot, it includes the following steps: step 1, the gap adjustment of first bevel gear pair;Step 2, the gap adjustment of second bevel gear pair;Step 3, the gap adjustment of third bevel gear pair;Step 4, the gap between the installation surface of fourth bevel gear and fifth bevel gear is adjusted using shim, and the thickness of the shim is jx13, jx13=jx7+jx14+jx19.The present application solves the problem that the combined gear gap cannot accurately predict the copper sheet usage required for adjusting each gear at one time, the thickness of the copper sheet pad is rationalized, and the workload due to repeated disassembly is reduced.

Description

Technical Field

[0001] This invention relates to the field of spraying robot technology, and more specifically to a method for adjusting the clearance of a combined gear based on a spraying robot. Background Technology

[0002] The end effector of a painting robot uses multiple pairs of gears for mating. Its joints are small and flexible, and it is commonly used in the painting field. Due to assembly and machining errors, some backlash is inevitable during the meshing process of the end effector gears. The bevel gear with its shaft angle is a key component for transmission. The size of the meshing gear backlash affects the robot's accuracy and gear life. Generally, if the gear backlash is too small, the gear operating temperature will increase, increasing the motor load and leading to excessive load. If the backlash is too large, the gear tooth surface will experience impact load, increasing noise and accelerating tooth surface wear. Therefore, copper shims are often used to adjust the gear backlash.

[0003] However, combined gear transmissions have complex structures, numerous assembly processes, and cumbersome clearance adjustment steps. Using copper shims to adjust the clearance requires repeated disassembly and reassembly to determine the required copper shim thickness for each gear, resulting in a huge workload. There is no specific standard for the required copper shim thickness; the thickness used is entirely based on intuition, and excessively large or small clearances will affect the gear's lifespan. Therefore, accurately determining the clearance between gears is crucial. Summary of the Invention

[0004] The purpose of this invention is to provide a method for adjusting the clearance of combined gears based on a painting robot, so as to solve the problem that the amount of copper sheet required for each gear adjustment cannot be accurately predicted at one time, to optimize the thickness of the copper sheet pad, and to reduce the workload caused by repeated disassembly and assembly.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A method for adjusting the backlash of a combined gear system based on a painting robot. The combined gear system includes three pairs of bevel gears. The first bevel gear pair includes a first bevel gear and a second bevel gear; the second bevel gear pair includes a third bevel gear and a fourth bevel gear; and the third bevel gear pair includes a fifth bevel gear and a sixth bevel gear. The three pairs of bevel gears are driven by two motors. The first bevel gear, acting as the main bevel wheel, is directly driven by one motor, which in turn drives the second bevel gear to rotate. The third bevel gear, also acting as the main bevel wheel, is directly driven by another motor, which in turn drives the fourth bevel gear to rotate. The fourth and fifth bevel gears are locked together. When the fifth bevel gear rotates, it drives the sixth bevel gear to rotate as well. The method includes the following steps:

[0007] Step 1: Adjusting the clearance of the first bevel gear pair;

[0008] Step 1.1: Measure the rotational angular backlash θ1 of the first bevel gear pair, and calculate the circumferential backlash j of the first bevel gear pair based on the positive and negative angular deviation value θ1. t1 The rotational angular clearance θ1 is the positive and negative angular deviation value of the first bevel gear pair.

[0009] Step 1.2: Based on the circumferential backlash j of the first bevel gear pair t1 Calculate the normal backlash j of the first bevel gear pair. n1 Normal side clearance j n1 It is the shortest distance between the contact point of the meshing tooth surfaces of the first and second bevel gears and the non-meshing tooth surfaces;

[0010] Step 1.3: Calculate the cone angle δ1 of the first bevel gear and the cone angle δ2 of the second bevel gear using the number of teeth of the first bevel gear and the shaft intersection angle;

[0011] Step 1.4: Utilize the normal backlash j of the first bevel gear pair n1 Normal pressure angle α n1 The axial backlash j of the first bevel gear is calculated using the cone angle δ1 of the first bevel gear and the cone angle δ2 of the second bevel gear. x7 Axial backlash j of the second bevel gear x10 ;

[0012] Step 1.5: Adjust the axial backlash of the first bevel gear using two shims. x7 Axial backlash j of the second bevel gear x10 The thicknesses of the two gaskets are j respectively. x7 j x10 ;

[0013] Step 2: Adjusting the clearance of the second bevel gear pair;

[0014] Step 2.1: Measure the rotational angular clearance θ2 of the second bevel gear pair, and calculate the circumferential clearance jt2 of the second bevel gear pair based on the positive and negative angular deviation value θ2; the rotational angular clearance θ2 is the positive and negative angular deviation value of the first bevel gear pair;

[0015] Step 2.2: Based on the circumferential backlash j of the second bevel gear pair t2 Calculate the normal backlash j of the second bevel gear pair. n2 Normal side clearance j n2 This is the shortest distance between the contact point of the meshing tooth surfaces of the third and fourth bevel gears and the non-meshing tooth surfaces.

[0016] Step 2.3: Calculate the cone angle δ3 of the third bevel gear and the cone angle δ4 of the fourth bevel gear using the number of teeth of the third bevel gear and the shaft intersection angle;

[0017] Step 2.4: Utilize the normal backlash j of the second bevel gear pair n2 Normal pressure angle α n2 The axial backlash j of the third bevel gear is calculated using the cone angles δ3 and δ4 of the third and fourth bevel gears. x14 and the axial backlash j of the fourth bevel gear x17 ;

[0018] Step 2.5: Adjust the axial backlash of the third bevel gear using two shims. x14 and the axial backlash j of the fourth bevel gear x17 The thicknesses of the two gaskets are j respectively. x14 j x17 ;

[0019] Step 3: Adjusting the clearance of the third bevel gear pair;

[0020] Step 3.1: Measure the rotational angular backlash θ3 of the third bevel gear pair, and calculate the circumferential backlash j of the third bevel gear pair based on the positive and negative angular deviation value θ3. t3 The rotational angular clearance θ3 is the positive and negative angular deviation value of the first bevel gear pair.

[0021] Step 3.2: Based on the circumferential backlash j of the third bevel gear pair t3 Calculate the normal backlash j of the third bevel gear pair. n3 Normal side clearance j n3 This is the shortest distance between the contact point of the meshing tooth surfaces of the fifth and sixth bevel gears and the non-meshing tooth surfaces;

[0022] Step 3.3: Calculate the cone angle δ5 of the fifth bevel gear and the cone angle δ6 of the sixth bevel gear using the number of teeth of the fifth and sixth bevel gears and the shaft intersection angle;

[0023] Step 3.4: Utilize the normal backlash j of the third bevel gear pair n3 Normal pressure angle α n3 The axial backlash j of the fifth bevel gear is calculated using the cone angles δ5 and δ6 of the fifth and sixth bevel gears. x19 and the axial backlash j of the sixth bevel gear x21 ;

[0024] Step 3.5: Adjust the axial backlash j of the fifth bevel gear using two shims. x19 and the axial backlash j of the sixth bevel gear x21 The thicknesses of the two gaskets are j respectively. x19 j x21 ;

[0025] Step 4: Adjust the gap between the mounting surfaces of the fourth and fifth bevel gears using a shim. The thickness of the shim is j. x13j x13 =j x7 +j x14 +j x19 .

[0026] The formulas for calculating the circumferential backlash of the first bevel gear pair, the second bevel gear pair, and the third bevel gear pair are as follows:

[0027]

[0028] Where d is the pitch circle diameter, and when calculating the circumferential backlash of each bevel gear pair, θ in the formula is replaced with θ1, θ2 or θ3.

[0029] The formulas for calculating the normal backlash of the first bevel gear pair, the second bevel gear pair, and the third bevel gear pair are as follows:

[0030] j n =j t cosa n cosβ m

[0031] Among them, a n β is the normal pressure angle. m The helix angle is j in the formula when calculating the normal backlash of each bevel gear pair. t Replace with j t1 j t2 or j t3 .

[0032] The cone angle of each bevel gear pair is calculated as follows:

[0033]

[0034] Since the two cone angles of each bevel gear pair are equal, only one cone angle needs to be calculated for each bevel gear pair; where z1 is the number of teeth of the driving bevel gear in each bevel gear pair, and z2 is the number of teeth of the driven bevel gear in each bevel gear pair; ∑ is the shaft intersection angle. When calculating the cone angle of each bevel gear pair, ∑ in the formula is replaced with ∑1, ∑2, and ∑3.

[0035] The formula for calculating the axial backlash of each bevel gear pair is as follows:

[0036]

[0037] Since the two cone angles of each bevel gear pair are equal, the axial backlash of the two bevel gears is also equal. When calculating the axial backlash of each bevel gear pair, j in the formula... n , δ, a n Make the appropriate replacements.

[0038] By adopting the above solution, the present invention solves the problem that the amount of copper sheet required for adjustment of each gear cannot be accurately predicted at one time in the case of combined gear clearance, optimizes the thickness of the copper sheet pad, and reduces the workload caused by repeated disassembly and assembly. Attached Figure Description

[0039] Figure 1 This is a flowchart of the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of the first bevel gear pair;

[0041] Figure 3 This is a schematic diagram of measuring the first bevel gear pair using an angle measuring device;

[0042] Figure 4 This is a schematic diagram of the second bevel gear pair;

[0043] Figure 5 This is a schematic diagram of measuring the second bevel gear pair using an angle measuring device;

[0044] Figure 6 This is a schematic diagram of the third bevel gear pair;

[0045] Figure 7 This is a schematic diagram of measuring the third bevel gear pair using an angle measuring device. Detailed Implementation

[0046] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0047] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0048] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0049] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0050] like Figure 1-7 As shown, this invention discloses a method for adjusting the backlash of a combined gear system in a painting robot. The combined gear system adjusted by this method includes three pairs of bevel gears. The first bevel gear pair includes a first bevel gear 9 and a second bevel gear 8. The second bevel gear pair includes a third bevel gear 16 and a fourth bevel gear 15. The third bevel gear pair includes a fifth bevel gear 12 and a sixth bevel gear 20. The three pairs of bevel gears are driven by two motors. The first bevel gear 9, the main bevel gear, is directly driven by the motor, causing the second bevel gear 8 to rotate. At this time, one joint axis of the robot also rotates. The third bevel gear 16, the main bevel gear, is directly driven by another motor, causing the fourth bevel gear 15 to rotate. The fourth bevel gear 15 and the fifth bevel gear 12 are locked together and rotate synchronously. When the fifth bevel gear 12 rotates, the sixth bevel gear 20 also rotates, causing the robot's end joint axis to rotate as well.

[0051] like Figure 1 As shown, the adjustment method of the present invention is as follows:

[0052] Step 1: Adjust the clearance of the first bevel gear pair, refer to the following for details. Figure 2-3 As shown.

[0053] Step 1.1: Measure the rotational angular backlash θ1 of the first bevel gear pair, and calculate the circumferential backlash j of the first bevel gear pair based on the positive and negative angular deviation value θ1. t1 The rotational angle clearance θ1 is the positive and negative angular deviation value of the first bevel gear pair.

[0054] In this embodiment, the rotational backlash θ1 of the first bevel gear pair is measured using an angle measuring device. The angle measuring device includes an electronic torque wrench 1, a measuring bar 2, an angle dial indicator 3, and a measuring ring 4. The electronic torque wrench 1 applies a certain torque value to the measuring bar 2. The measuring bar 2 and the measuring ring 4 are fixed together, and the measuring ring 4 is fixed together with a five-axis flange. The electronic wrench can also rotate around the gear axis with a certain torque.

[0055] An angle measuring device is installed at one end of the first bevel gear 9 of the first bevel gear pair, and the other end is fixed. Using a circumferential force of 15-20N, a torque wrench is moved to obtain the positive and negative angle deviation value θ1. This angle deviation value θ1 is the side clearance of the bevel gear rotation angle.

[0056] Circumferential backlash j of the first bevel gear pair t1 The calculation is as follows:

[0057]

[0058] Where d is the pitch circle diameter, and j t For j t1 , θ is θ1.

[0059] Step 1.2: Based on the circumferential backlash j of the first bevel gear pair t1 Calculate the normal backlash j of the first bevel gear pair. n1 Normal side clearance j n1 This represents the shortest distance between the contact point of the meshing tooth surfaces of the first bevel gear 9 and the second bevel gear 8 and their non-meshing tooth surfaces. It is calculated using the following formula:

[0060] j n =j t cosa n cosβ m

[0061] Among them, a n β is the normal pressure angle. m Let j be the helix angle. In calculating the normal backlash j of the first bevel gear pair... n1 When, in the formula j t Replace with j t1 , a in the formula n Replace with a n1 β in the formula m Replace with β m1 .

[0062] Step 1.3: Calculate the cone angle δ1 of the first bevel gear 9 and the cone angle δ2 of the second bevel gear 8 using the number of teeth of the first bevel gear 9 and the shaft intersection angle.

[0063]

[0064] Since the two cone angles of each bevel gear pair are equal, only one cone angle needs to be calculated for each bevel gear pair: δ2=∑-δ1; where z1 is the number of teeth of the driving bevel gear in each bevel gear pair, z2 is the number of teeth of the driven bevel gear in each bevel gear pair, and ∑ is the shaft intersection angle. When calculating the cone angle of each bevel gear pair, ∑ in the formula is replaced with ∑1, ∑2, and ∑3.

[0065] Step 1.4: Utilize the normal backlash j of the first bevel gear pair n1 Normal pressure angle α n1 The axial backlash j of the first bevel gear 9 is calculated using the cone angle δ1 of the first bevel gear 9 and the cone angle δ2 of the second bevel gear 8. x7 Axial backlash j of the second bevel gear 8 x10 .

[0066] The formula for calculating the axial backlash of a bevel gear pair is as follows:

[0067]

[0068] Since the two cone angles of each bevel gear pair are equal, the axial backlash of the two bevel gears is also equal. When calculating the axial backlash of each bevel gear pair, j in the formula... n , δ, a n Make the appropriate replacements.

[0069] Step 1.5: Adjust the axial backlash j of the first bevel gear 9 using two shims. x7 Axial backlash j of the second bevel gear 8 x10 The thicknesses of the two gaskets are j respectively. x7 j x10 .

[0070] Step 2, Adjustment of the clearance of the second bevel gear pair, refer to the following for details. Figure 4-5 As shown.

[0071] Step 2.1: Measure the rotational angular backlash θ2 of the second bevel gear pair, and calculate the circumferential backlash j of the second bevel gear pair based on the positive and negative angular deviation value θ2. t2 The rotational angular clearance θ2 is the positive and negative angular deviation value of the second bevel gear pair.

[0072] Step 2.2: Based on the circumferential backlash j of the second bevel gear pair t2 Calculate the normal backlash j of the second bevel gear pair. n2 Normal side clearance j n2 This is the shortest distance between the contact point of the meshing tooth surfaces of the third bevel gear 16 and the fourth bevel gear and the non-meshing tooth surfaces.

[0073] Step 2.3: Calculate the cone angle δ3 of the third bevel gear 16 and the cone angle δ4 of the fourth bevel gear using the number of teeth of the third bevel gear 16 and the shaft intersection angle.

[0074] Step 2.4: Utilize the normal backlash j of the second bevel gear pair n2 Normal pressure angle α n2 The axial backlash j of the third bevel gear 16 is calculated using the cone angle δ3 of the third bevel gear 16 and the cone angle δ4 of the fourth bevel gear. x14 and the axial backlash j of the fourth bevel gear x17 .

[0075] Step 2.5: Adjust the axial backlash j of the third bevel gear 16 using two shims. x14 and the axial backlash j of the fourth bevel gear x17 The thicknesses of the two gaskets are j respectively. x14 jx17 .

[0076] Step 3, adjusting the clearance of the third bevel gear pair, refer to the following for details. Figure 6-7 As shown.

[0077] Step 3.1: Measure the rotational angular backlash θ3 of the third bevel gear pair, and calculate the circumferential backlash j of the third bevel gear pair based on the positive and negative angular deviation value θ3. t3 The rotational angle backlash θ3 is the positive and negative angular deviation value of the third bevel gear pair.

[0078] Step 3.2: Based on the circumferential backlash j of the third bevel gear pair t3 Calculate the normal backlash j of the third bevel gear pair. n3 Normal side clearance j n3 It is the shortest distance between the contact point of the meshing tooth surfaces of the fifth bevel gear 12 and the sixth bevel gear 20 and the non-meshing tooth surfaces.

[0079] Step 3.3: Calculate the cone angle δ5 of the fifth bevel gear 12 and the cone angle δ6 of the sixth bevel gear 20 using the number of teeth of the fifth bevel gear 12 and the shaft intersection angle.

[0080] Step 3.4: Utilize the normal backlash j of the third bevel gear pair n3 Normal pressure angle α n3 The axial backlash j of the fifth bevel gear 12 is calculated using the cone angle δ5 of the fifth bevel gear 12 and the cone angle δ6 of the sixth bevel gear 20. x19 and the axial backlash j of the sixth bevel gear 20 x20 .

[0081] Step 3.5: Adjust the axial backlash j of the fifth bevel gear 12 using two shims. x19 and the axial backlash j of the sixth bevel gear 20 x21 The thicknesses of the two gaskets are j respectively. x19 j x21 .

[0082] The methods for obtaining each parameter in steps 2-3 are the same as in step 1. Only the corresponding parameters need to be replaced. Therefore, the details of steps 2 and 3 will not be repeated here.

[0083] Step 4, as follows Figure 7 As shown, a shim is used to adjust the gap between the mounting surfaces of the fourth bevel gear and the fifth bevel gear 12. The thickness of the shim is j. x13 j x13 =j x7 +j x14 +j x19 .

[0084] The fifth bevel gear 12 is locked to the fourth bevel gear 15, and the fourth bevel gear 15 meshes with the third bevel gear 16.

[0085] Because a shim is installed at position 7 between the fourth bevel gear 15 and the bearing, the position of the fourth bevel gear 15 is raised, while the position of the fifth bevel gear 12 remains unchanged. Therefore, a gap will be created at position 13 between the mounting surfaces of the fourth bevel gear 15 and the fifth bevel gear 12. The size of this gap is equal to the thickness j of the copper shim installed at position 7 between the fourth bevel gear 15 and the bearing. x7 After the fifth bevel gear 12 and the fourth bevel gear 15 are locked together, the inner ring of the bearing is subjected to axial pressure, causing it to be unable to rotate. Therefore, a shim needs to be placed at position 13 on the mounting surface of the fourth bevel gear 15 and the fifth bevel gear 12. x7 Thick gasket.

[0086] Furthermore, due to the position 14 pad between the fourth bevel gear 15 and its bearing... x14 With shims of varying sizes and thicknesses, and the bearing position of the fourth bevel gear 15 remaining unchanged, the position of the fourth bevel gear 15 is raised. Consequently, a gap will be created at position 13 between the mounting surfaces of the fourth bevel gear 15 and the fifth bevel gear 12. The size of this gap is determined by the thickness j of the copper shim at position 14 between the fourth bevel gear 15 and its bearing. x14 After the fifth bevel gear 12 and the fourth bevel gear 15 are locked together, the inner ring of the bearing is also subjected to axial pressure, causing it to be unable to rotate. Therefore, a shim needs to be placed at position 13 on the mounting surface of the fourth bevel gear 15 and the fifth bevel gear 12. x14 Thick gasket.

[0087] Furthermore, because the position of the fifth bevel gear 12 will be raised after the shim is placed, the inner ring of the bearing will also be subjected to axial pressure after the fifth bevel gear 12 and the fourth bevel gear 15 are locked together, causing it to be unable to rotate. Therefore, a shim needs to be placed at position 13 on the mounting surface of the fourth bevel gear 15 and the fifth bevel gear 12. x19 Thick gasket.

[0088] Therefore, the required shim thickness for the gap between the mounting surfaces of the fourth bevel gear and the fifth bevel gear 12 is j. x13 =j x7 +j x14 +j x19 .

[0089] To provide a detailed account of the present invention, detailed embodiments will be described below.

[0090]

[0091]

[0092] Table 1

[0093] The first bevel gear pair uses an angle measuring device to acquire angle information and determine whether there is clearance. Assume the deflection angle is 0.2°.

[0094] Calculate circumferential clearance:

[0095] Calculate the normal backlash: j n =j t cosa n cosρ m =0.202×cos20°cos10°=0.187.

[0096] Calculate the cone angle of the bevel gear:

[0097] δ1 = 60°, so the other cone angle can be calculated: δ2 = ∑1 - δ1 = 60°

[0098] Finally, the normal backlash is calculated.

[0099] j x7 =j x10 =0.315mm. Therefore, shims with a thickness of 0.315mm are needed on the second bevel gear 8 and the first bevel gear 9, corresponding to positions 7 and 10 respectively.

[0100] Specifically, pad j at position 13. x7 A shim with a thickness of 0.315mm is used to prevent the fourth bevel gear 15 and the fifth bevel gear 12 from being unable to rotate after being locked.

[0101] Similarly, for the second bevel gear pair, the angle measuring device acquires angle information to determine whether there is clearance, assuming the deflection angle is 0.2°.

[0102] Calculate circumferential clearance:

[0103] Calculate the normal backlash: j n =j t cosa n cosρ m =0.157×cos20°cos10°=0.145

[0104] Calculate the cone angle of the bevel gear:

[0105] δ3 = 60°, so the other cone angle can be calculated: δ4 = ∑2 - δ3 = 60°

[0106] Finally, the normal backlash is calculated:

[0107] j x14 =jx17 =0.24mm. Therefore, 0.24mm thick shims need to be placed on the fourth bevel gear 15 and the third bevel gear 16, respectively, at positions 14 and 17.

[0108] Specifically, pad j at position 13. x14 A shim with a thickness of 0.24mm is used to prevent the fourth bevel gear 15 and the fifth bevel gear 12 from being unable to rotate after being locked.

[0109] Similarly, when adjusting the clearance of the third bevel gear pair, the angle measuring device obtains the angle information to determine whether there is clearance, assuming the deflection angle is 0.2°.

[0110] Calculate circumferential clearance:

[0111] Calculate the normal backlash: j n =j t cosa n cosρ m =0.157×cos20°cos10°=0.145

[0112] Calculate the cone angle of the bevel gear:

[0113] δ5 = 60°, so the other cone angle can be calculated: δ6 = ∑3 - δ5 = 60°

[0114] Finally, the normal backlash is calculated.

[0115] j x19 =j x21 =0.24mm. Therefore, 0.24mm thick shims need to be placed on the fourth bevel gear 15 and the third bevel gear 16, respectively, at positions 14 and 17.

[0116] Specifically, a shim with a thickness of jx19 = 0.24mm is placed at position 13 to prevent the fourth bevel gear 15 and the fifth bevel gear 12 from being unable to rotate after being locked.

[0117] In summary, this invention solves the problem of not being able to accurately predict the amount of copper sheet needed to adjust each gear in a single operation when the clearance of a combined gear is not readily available, optimizes the thickness of the copper sheet pads, and reduces the workload caused by repeated disassembly and assembly.

[0118] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein.

[0119] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for adjusting the backlash of a combined gear system based on a painting robot, wherein the combined gear system adjusted by the method comprises three pairs of bevel gears, the first bevel gear pair comprising a first bevel gear and a second bevel gear, the second bevel gear pair comprising a third bevel gear and a fourth bevel gear, and the third bevel gear pair comprising a fifth bevel gear and a sixth bevel gear; the three pairs of bevel gears are driven by two motors, the first bevel gear being the main bevel wheel directly driven by the motor, thereby driving the second bevel gear to rotate; the third bevel gear being the main bevel wheel directly driven by another motor, thereby driving the fourth bevel gear to rotate; the fourth bevel gear and the fifth bevel gear are locked together; when the fifth bevel gear rotates, it drives the sixth bevel gear to rotate together; characterized in that: The method includes the following steps: Step 1: Adjusting the clearance of the first bevel gear pair; Step 1.1: Measure the rotational angular clearance θ1 of the first bevel gear pair, and calculate the circumferential clearance j of the first bevel gear pair based on this rotational angular clearance θ1. t1 The rotational angular clearance θ1 is the positive and negative angular deviation value of the first bevel gear pair. Step 1.2: Based on the circumferential backlash j of the first bevel gear pair t1 Calculate the normal backlash j of the first bevel gear pair. n1 Normal side clearance j n1 It is the shortest distance between the contact point of the meshing tooth surfaces of the first and second bevel gears and the non-meshing tooth surfaces; Step 1.3: Calculate the cone angle δ1 of the first bevel gear and the cone angle δ2 of the second bevel gear using the number of teeth of the first bevel gear and the shaft intersection angle; Step 1.4: Utilize the normal backlash j of the first bevel gear pair n1 Normal pressure angle α n1 The axial backlash j of the first bevel gear is calculated using the cone angle δ1 of the first bevel gear and the cone angle δ2 of the second bevel gear. x7 Axial backlash j of the second bevel gear x10 ; Step 1.5: Adjust the axial backlash of the first bevel gear using two shims. x7 Axial backlash j of the second bevel gear x10 The thicknesses of the two gaskets are j respectively. x7 j x10 ; Step 2: Adjusting the clearance of the second bevel gear pair; Step 2.1: Measure the rotational angular clearance θ2 of the second bevel gear pair, and calculate the circumferential clearance j of the second bevel gear pair based on this rotational angular clearance θ2. t2 The rotational angular clearance θ2 is the positive and negative angular deviation value of the second bevel gear pair. Step 2.2: Based on the circumferential backlash j of the second bevel gear pair t2 Calculate the normal backlash j of the second bevel gear pair. n2 Normal side clearance j n2 This is the shortest distance between the contact point of the meshing tooth surfaces of the third and fourth bevel gears and the non-meshing tooth surfaces. Step 2.3: Calculate the cone angle δ3 of the third bevel gear and the cone angle δ4 of the fourth bevel gear using the number of teeth of the third bevel gear and the shaft intersection angle; Step 2.4: Utilize the normal backlash j of the second bevel gear pair n2 Normal pressure angle α n2 The axial backlash j of the third bevel gear is calculated using the cone angles δ3 and δ4 of the third and fourth bevel gears. x14 and the axial backlash j of the fourth bevel gear x17 ; Step 2.5: Adjust the axial backlash of the third bevel gear using two shims. x14 and the axial backlash j of the fourth bevel gear x17 The thicknesses of the two gaskets are j respectively. x14 j x17 ; Step 3: Adjusting the clearance of the third bevel gear pair; Step 3.1: Measure the rotational backlash θ3 of the third bevel gear pair, and calculate the circumferential backlash j of the third bevel gear pair based on this rotational backlash θ3. t3 The rotational angular clearance θ3 is the positive and negative angular deviation value of the third bevel gear pair. Step 3.2: Based on the circumferential backlash j of the third bevel gear pair t3 Calculate the normal backlash j of the third bevel gear pair. n3 Normal side clearance j n3 This is the shortest distance between the contact point of the meshing tooth surfaces of the fifth and sixth bevel gears and the non-meshing tooth surfaces; Step 3.3: Calculate the cone angle δ5 of the fifth bevel gear and the cone angle δ6 of the sixth bevel gear using the number of teeth of the fifth and sixth bevel gears and the shaft intersection angle; Step 3.4: Utilize the normal backlash j of the third bevel gear pair n3 Normal pressure angle α n3 The axial backlash j of the fifth bevel gear is calculated using the cone angles δ5 and δ6 of the fifth and sixth bevel gears. x19 and the axial backlash j of the sixth bevel gear x21 ; Step 3.5: Adjust the axial backlash j of the fifth bevel gear using two shims. x19 and the axial backlash j of the sixth bevel gear x21 The thicknesses of the two gaskets are j respectively. x19 j x21 ; Step 4: Adjust the gap between the mounting surfaces of the fourth and fifth bevel gears using a shim. The thickness of the shim is j. x13 j x13 =j x7 +j x14 +j x19 .

2. The method for adjusting the clearance of a combined gear based on a spraying robot according to claim 1, characterized in that: The formulas for calculating the circumferential backlash of the first bevel gear pair, the second bevel gear pair, and the third bevel gear pair are as follows: Where d is the pitch circle diameter, and when calculating the circumferential backlash of each bevel gear pair, θ in the formula is replaced with θ1, θ2 or θ3.

3. The method for adjusting the clearance of a combined gear based on a spraying robot according to claim 2, characterized in that: The formulas for calculating the normal backlash of the first bevel gear pair, the second bevel gear pair, and the third bevel gear pair are as follows: j n =j t What n cosβ m Among them, a n β is the normal pressure angle. m The helix angle is j in the formula when calculating the normal backlash of each bevel gear pair. t Replace with j t1 j t2 or j t3 .

4. The method for adjusting the clearance of a combined gear based on a spraying robot according to claim 3, characterized in that: The cone angle of each bevel gear pair is calculated as follows: δ represents the cone angle, where δ1 is the cone angle of the first bevel gear, δ2 is the cone angle of the second bevel gear, δ3 is the cone angle of the third bevel gear, δ4 is the cone angle of the fourth bevel gear, δ5 is the cone angle of the fifth bevel gear, and δ6 is the cone angle of the sixth bevel gear. Since the two cone angles of each bevel gear pair are equal, only one cone angle needs to be calculated for each bevel gear pair. z1 represents the number of teeth on the driving bevel gear of each bevel gear pair, and z2 represents the number of teeth on the driven bevel gear of each bevel gear pair. Σ represents the shaft intersection angle. When calculating the cone angle of each bevel gear pair, Σ is replaced by Σ1, Σ2, and Σ3 in the formula, where Σ1, Σ2, and Σ3 are the shaft intersection angles of the first, second, and third bevel gear pairs, respectively.

5. The method for adjusting the clearance of a combined gear based on a spraying robot according to claim 4, characterized in that: The formula for calculating the axial backlash of each bevel gear pair is as follows: Since the two cone angles of each bevel gear pair are equal, the axial backlash of the two bevel gears is also equal. When calculating the axial backlash of each bevel gear pair, j in the formula... n , δ, a n Make the appropriate replacements.

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