In electromechanical docking devices direct current drives are used. Tn reducers, as a rule, straight-toothed cylindrical gears are used. These reducers are structurally and technologically simple, well configured with the other elements (couplings, brakes, electromechanical brake, etc), and do not require long testing. The gears and shafts are usually manufactured of corrosion-resistant steel. To reduce the inertia of the docking mechanism reducers which operate during shock absorption, the gears are made as light as possible. Tn individual cases these gears are manufactured of a titanium alloy; unfortunately, titanium and its alloys have poor anti-friction characteristics, which prevents their widespread use in reducers. The gears are mainly manufactured in the seventh class of precision, and the hall hearings are of normal and higher classes of precision. To reduce friction in the reducer, which is especially important for elements of the differential connections, the degree of precision of the ball bearings, gears, and frequency of processing of teeth are increased. Tn individual cases to reduce inertia and size, bearings are used without internal rings with a support directly on the surface of the rotating parts, for example, for linings of the nut of the ball-screw converter. The short lifetime of the drives makes it possible to design gears with a durability rating only for the bending stress on the teeth, using the formula [13] from which the maximum momentum transmitted by the gear is determined. Here is acceptable tension, b is the width of the tooth, d is the diameter of the dividing circumference; is the modulus; and are coefficients of nonuniformity and dynamics, which are equal for gears with moderate rotation speeds (1.0-1.2), which were used; is the tooth shape coefficient. The moment of inertia of the gear is proportional to and (in the presence of significant lightening, approximately Consequently, to reduce the
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