【作者】 王淑妍；

【导师】 陈兵奎；

【作者基本信息】 重庆大学 ， 机械设计及理论， 2008， 博士

【摘要】 精密传动是以高精度传递运动为主要目的的一类机械传动形式,在航空航天、武器装备、数控机床、机器人、精密机械、印刷包装机械、交通运输机械、医疗器械等领域应用十分广泛,是制造装备业和国防工业极其重要的基础件。锥形摆线行星传动是依据普通摆线针轮行星传动的针齿半径改变时对应的系列变幅摆线互为等距线而提出的新型传动。该传动可以通过调整锥形摆线啮合副的轴向位置调整啮合的间隙,利用多齿啮合的误差均化效应获得高的传动精度。系统深入地开展关于锥形摆线行星传动的理论和设计方法、制造关键技术和实验研究,奠定其工程应用的基础,具有重要的理论意义和工程实用价值。本文的主要内容如下:①根据齿轮啮合原理的运动学法,讨论了平行轴内啮合行星传动的啮合方程,给出了行星轮共轭齿廓方程的一般表达式,建立了锥形摆线行星传动的啮合理论;论证了变截面摆线行星传动针齿齿廓半径沿轴向变化时所对应的系列短幅摆线互为等距线;针对变截面摆线传动,给出了针齿半径沿轴向线性变化的锥形摆线轮和非线性变化的鼓形行星轮的设计实例,从而验证了理论推导的正确性;给出了横截面为抛物线的行星轮的齿廓曲面方程,讨论了行星轮齿廓曲面的多样性;分别讨论了变截面摆线传动和抛物线柱面行星传动的齿廓曲率特性。②提出了以锥形摆线轮大端面为设计基准的设计方法,完成了锥形摆线啮合副齿廓曲面的设计;提出了基于锥形摆线的N型传动、NN型传动和双圆盘摆线行星传动三种结构形式,并针对不同的结构形式,给出了计算实例。③分析了锥形啮合副的受力情况,提出了锥形啮合副的接触应力计算方法;采用有限元方法完成了分别使用独立销套和整体销套的悬臂梁式输出机构和简支梁式输出机构的应力应变分析。④应用Microsoft Visual C++6.0编制了锥形摆线行星传动的可视化设计分析软件系统,实现N型、N-N型传动和双圆盘摆线传动各参数、齿廓的自动计算,以及力学特性等的计算机辅助设计。⑤提出了用指锥刀具/磨具直接形成零件轴向锥形,而零件截面摆线或圆弧齿通过展成方式形成的“指锥包络”切削加工方法和圆弧面砂轮磨削法,并分别进行了加工仿真。在此基础上,研制出三台套实验样机。⑥提出了变截面行星啮合副齿廓曲面的坐标测量和误差评定方法。编制了基于三坐标测量机变截面摆线轮齿廓曲面的通用自动测量程序,完成了样机齿廓曲面的精度检测;提出了采用最小二乘法的数据处理方法,对锥形啮合副的齿距偏差、齿廓偏差和锥度误差等保证锥形摆线行星传动运动精度和平稳性的重要指标进行了评定。⑦完成了实验台的研制和和改装,分别开展了普通摆线行星传动减速机、双圆盘摆线行星传动、双圆盘锥形摆线行星传动样机的实验研究,包括传动效率、传动精度、回差等。实验结果表明,三台减速器均具有高的传动效率,双圆盘摆线行星传动样机可以承受较大的轴向载荷,双圆盘锥形摆线行星传动通过调整啮合零件轴向位置可以调整啮合的间隙。更多还原

【Abstract】 Precision transmission is a kind of mechanical transmission mainly for high precision, which is extensively applied to many industry fields such as aviation and spaceflight, weaponry and equipment, NC machine tools, robot, precision machinery, printing and packaging machinery, transportation machinery, medical apparatus and so on. It is an important basic element in manufacturing equipment industry and national defense industry. The conic cycloidal gear planetary transmission is proposed as a new cycloidal gearing based on the theory that series of epicycloids are equidistant curves with radius of pins variable along its axis. The conic cycloid gearing can realize lower backlash by adjusting the axial location of the variable cross cycloid gear pair, and can gain higher transmission precision by error averaging with multi-tooth meshing. Therefore, it has important theoretical significance and reference value in the engineering practice to develop studies deeply and systematically on the related basic theory, machining and measuring, experiments of new conic cycloidal gearing.Major contents of the dissertation are as follows:①According to gear geometry kinematics, the meshing equation of parallel internal planetary drive is discussed, the general equation of conjugate surfaces of planet gear is derived, and the meshing theory of conic cycloidal gearing is developed. It is proved that series of epicycloids are equidistant curves with radius of pins variable along its axis. Design examples of linear variable cross section cycloid gear as conic cycloid gear and nonlinear as drum cycloid gear are given, and the numerical work is presented to demonstrate the correction of formulations. Profile equation of planetary gear whose cross section is a parabola is given, and diversity of profile surface of planetary gear is also discussed. Profile’s curvature of variable cross section cycloidal gear and paraboloid planetary gear is discussed respectively.②The design method using the large end face of conic cycloidal gear as design standard is put forward, with which the profile surfaces of the conic cycloidal meshing pair are designed. Three innovative structural designs as N gearing, NN gearing and double-disc cycloidal gearing are developed based on conic cycloid gearing. And calculation examples for different structural designs are given respectively.③The force condition of the conic meshing pair is studied, and contact strength calculation method is proposed. Stress and strain analysis of the output mechanism concerning about cantilever beam type and simple supported beam type with separate pin sleeve and unique pin sleeve is carried out respectively with Finite Element Method.④The Windows-based visual analysis software system for the conic cycloidal gearing is developed with the Microsoft Visual C++6.0, which can realize automatic calculation on design parameters and profiles, and computer assistant design on mechanics of the N gearing, the NN gearing and double-disc cycloidal gearing.⑤New cutting/grinding method called“finger cone enveloping”is put forward, that is, the axis direction cone of the gear is shaped by finger conic cutter or grinder, and cycloid or arc profile is formed by enveloping. Machining simulations are respectively carried out. Three sets of prototype are developed by using this method.⑥The method of coordinate measurement and error evaluation on variable cross section cycloidal gear’s profile surface is proposed. A general automatic measuring program of variable section cycloidal gear’s profile surface is developed based on coordinate measurement machine. The precision measurement on profile surface of prototypes has been finished. Date processing method based on the least squares method is developed, and pitch error, profile error and conic error of conic cycloidal meshing pair are evaluated, which are important indexes to guarantee smooth motion and precision of conic cycloidal gear pair.⑦Experimental equipments are developed or refitted. Experimental study on three sets of prototype is carried out, which includes transmission efficiency, backlash and precision. The results show that three sets of prototype all have higher efficiency, double-disc cycloidal gearing can work well with larger axial loads, and can also adjusted the meshing clearance by adjusting the axial location of the meshing pair.更多还原