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Journal of Chongqing University (English Edition) [ISSN 1671-8224] September 2010
Abstract: Due to low carrying capacity and short life of current ring reducer, we proposed a new planetary gearing with internal
gear ring, which consisted of two stages. One was an involute planetary drive and the other was an N-type planetary drive with
small teeth difference. The kinematic calculation was conducted based on the analysis of structural composition and working
principle. Formulas of backlash calculation for the new planetary gearing were derived by using probabilistic theory and the
analytical model was created at the same time. Then, main factors that affect the systematic backlash were introduced and the
effects of manufacture error, misaligments and roller bearing parameters on the distribution of backlash were presented. The
influence of gear backlash on systematic return difference was performed based on the backlash mathematic model proposed. The
results show that the backlash is a little large, of which the backlash of bearing takes a greater part than two gearing stages. So we
presented some practical methods to reduce the systematic backlash.
Keywords: planetary gearing with internal gear ring; probabilistic theory; return difference; gear backlash
Corresponding author, ZHU Cai-chao (): cycloid drive structure and conducted the test. Wu, et al.
cczhu@cqu.edu.cn. [8-9] investigated the return difference of RV drive. In
XIAO Ning (): xiao_xiao_ning@163.com. this paper, the probabilistic method [10-13] was used to
Funded by Key Technology R&D Program of Chongqing (No. perform the systematic backlash analysis of a new
2008AC3087), and Science Technology Project of Chongqing planetary drive with internal gear ring. Some practical
Education Committee (No. KJ091414). methods were put forward to reduce the backlash
which could be beneficial to the design of planetary
151
C. C. Zhu, et al.
New planetary gearing with internal gear ring
1. Output shaft; 2. Left box; 3. External gear ring; 4. Internal gear ring;
5. Planet gear; 6. Right box; 7. Input shaft; 8. Supporting disc;
9. Eccentric shaft
Fig. 2 Structure chart of the new planetary drive
152 J. Chongqing Univ. Eng. Ed. [ISSN 1671-8224], 2010, 9(3): 151-158
C. C. Zhu, et al.
New planetary gearing with internal gear ring
ab 12 u ,
(2)
T T ab T12 T u ,
2 2 2
J. Chongqing Univ. Eng. Ed. [ISSN 1671-8224], 2010, 9(3): 151-158 153
C. C. Zhu, et al.
New planetary gearing with internal gear ring
EWms EWmi _
E1 6 cos _ 180 60 3
ab i 2 r jEi ,
aH a i 1
(8)
3.1.2 Gear radial integrated error T 180 60T jE ,
ab 2
ra
iaH
During the gear manufacturing process, geometry
2
eccentricity will appeared due to the existence of radial where iaH is the transmission ratio of whole system,
and T jE is the backlash tolerance of the first stage
circle run-out. The influence of its radial component is
similar to the one of the central distance deviation and
obeys Gauss distribution. The equivalent value jE 2 and which can be represented by
variance D jE 2 of gear backlash caused by radial 3
jE 2 0,
F tan
2
(6)
D jE 2 .
3
f tan
2
(7)
D j E3 .
points while O1' is the actual gear center when offset error
3 exists, P is the theoretical mesh point while P ' is the actual
mesh point, and A is the value of offset error.
154 J. Chongqing Univ. Eng. Ed. [ISSN 1671-8224], 2010, 9(3): 151-158
C. C. Zhu, et al.
New planetary gearing with internal gear ring
3.2 Backlash analysis for the second stage circumferential backlash caused by average deviation
of common normal line are
3.2.1 Inherent errors
EWms EWmi
jE 2 2 cos ,
Inherent errors of gear include the reduction of tooth
(12)
D j EWms EWmi .
2
thickness and gear eccentricity [16]. Reduction of tooth
thickness is often represented by radial feeding error E2 6 cos
Er of gear cutting and tooth thickness allowance
Es . Geometry eccentricity is often represented by 3) Radial circle run-out Fr of gear ring
radial circle run-out Fr of gear ring gear or radial The equivalent value jE 4 and variance D jE 4 of
integrated error Fi and motion eccentric is denoted
"
circumferential backlash caused by radial circle run-out
by average deviation EWM of common normal line. Fr of gear ring are represented by
1) tooth thickness allowance Es jE 4 0,
Assuming the normal tooth thickness as a basic line,
Fr K tan
2
(13)
the upper deviation of tooth thickness is Ess , lower D jE 4 .
3
deviation is Esi , and the tolerance is Es (Fig. 6). Both
Ess and Esi should be minus due to gear backlash.
3.2.2 Assembly error
Es is a type of size error while submits to Gauss
distribution. Offset error and pitch error of holes of box are
included. However, only offset error is considered in
this part because it has taken the pitch error of holes of
box into account.
Offset error is the difference of practical center
distance and normal center distance, which not only
considers the pitch error of holes of box, but also takes
the errors of each component that make up the gear pair
into account.
The equivalent value jE 5 and variance D jE 5 of
circumferential backlash caused by offset error are
jE 5 0,
f K tan
2
(14)
D jE 5 .
3
Fig. 6 Tooth thickness allowance
3.2.3 Integrated backlash of the second stage
The equivalent value jE1 and variance D jE1 of
gear backlash caused by deviation of tooth thickness Based on the mathematical model of backlash, the
_
are
equivalent value 12 and variance T 12 of return
Ess Esi difference of the second stage can be obtained by
jE1 ,
2
(11)
_ 180 60 5
D j Ess Esi .
2
12 jEi ,
i12H r1 i 1
E1
6
(15)
T 180 60T jE ,
2) Average deviation of common normal line i12H r1
12
J. Chongqing Univ. Eng. Ed. [ISSN 1671-8224], 2010, 9(3): 151-158 155
C. C. Zhu, et al.
New planetary gearing with internal gear ring
where i12H is the transmission ratio of the second stage, 3.3.3 Backlash caused by bearing
and T jE is the backlash tolerance of the second
Based on the mathematical models, the equivalent
stage which can be represented by _
value u and variance T u of return difference of
5
T jE D j .
i 1
Ei (16) bearing can be represented by
_ 180 60 2
Therefore, the return difference of output shaft u j ,
ao i 1 Ei
caused by the second stage is (21)
T 180 60T jE ,
_
T 12 u
ao
12 12 . (17)
2
where T jE is the backlash tolerance of bearing and
3.3 Backlash analysis of bearing it can be shown as
2
3.3.1 Radial clearance T jE D j .
i 1
Ei (22)
156 J. Chongqing Univ. Eng. Ed. [ISSN 1671-8224], 2010, 9(3): 151-158
C. C. Zhu, et al.
New planetary gearing with internal gear ring
Table 4 Errors that affect backlash of bearing machine tools and assembly accuracy can decrease
r /um the inherent error effectively;
f x /um f y /um 2) The influences of each stage on backlash increase
r min /um r max /um
from the initial stage to the final one. That is, the
Bearing 2 13 5.5 11 backlash of the second stage has the greatest
influence on the whole system, while the backlash
caused by the initial stage has a smaller influence on
According to the parameters above, the backlash of the system. Therefore, we should try our best to
each stage and the whole system can be obtained. The control the backlash caused by the second stage;
results are shown in Table 5. 3) Transmission ratio has great influence on the
Table 5 Computational results backlash of transmission chains, so the number of
transmission stages should be reduced. The
Stage Expression Computational transmission ratio should be as large as possible and
symbol result be allocated reasonably;
1st stage ab 0.335' 0.103' 4) Backlash of gear train has a large relationship with
2nd stage 12 0.419' 0.164' ring gear. Therefore, the diameter of ring gear should
Bearing roller u 0.6146' 0.335' be as large as possible if the requirements for design
The whole system 1.7557' 0.9815' are satisfied.
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J. Chongqing Univ. Eng. Ed. [ISSN 1671-8224], 2010, 9(3): 151-158 157
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New planetary gearing with internal gear ring
158 J. Chongqing Univ. Eng. Ed. [ISSN 1671-8224], 2010, 9(3): 151-158