【摘要】：擺線齒輪傳動有重合度大傳動平穩(wěn)、齒面磨損均勻、齒數(shù)少不根切等優(yōu)點，但其中心距不具可分性、刀具制造困難等極大的限制了擺線齒輪的應用。目前高端精密機械系統(tǒng)如航空航天、醫(yī)療器械、仿生機器人等迫切需求體積小、重量輕、承載能力強、傳動平穩(wěn)和效率高等諸多優(yōu)點的微型減速器。在超精密加工制造技術快速發(fā)展的今天，加工精度已不再是推廣應用擺線類齒輪的障礙。 深入分析國內(nèi)外關于擺線類曲線的數(shù)學模型后，，通過以基圓圓心為定坐標系的原點建立了更簡單的擺線及其等距線的數(shù)學模型。以單一擺線及其等距線為基礎構建了擺線原始連續(xù)型齒廓，在基于齒廓嚙合原理上研究了此類齒廓共軛嚙合的可能性及形式，以及重合度的定義與計算。針對擺線原始連續(xù)型齒廓重合度小等缺點，以齒數(shù)少、重合度適宜為目標，在滿足齒廓共軛條件的基礎上，提出了多種針對原始連續(xù)型齒廓的修形方法，并運用這些改進方法演繹出了10多種新型擺線齒廓。 用運動學方法研究出擺線原始連續(xù)型齒廓的嚙合軌跡線后，基于擺線的修形原理，將其推廣得到了擺線修形齒廓和新型擺線齒廓的嚙合軌跡線。根據(jù)齒輪傳動重合度和嚙合角的定義，通過分析齒廓嚙合軌跡線，提出了各擺線齒輪傳動的重合度與嚙合角計算方法。研究確定這些擺線齒輪的基本設計參數(shù)后，依次推導出了各擺線齒輪的幾何尺寸計算公式。經(jīng)比較各擺線齒輪的幾何特點和傳動特性后，選擇了新型擺線齒廓設計直齒輪，研究其齒輪設計約束條件，以及各設計參數(shù)對傳動特性的影響。 研究比較了3K型行星傳動效率與配齒，結合新型擺線齒輪的特點，選取3K-I型行星傳動并選擇合適的設計參數(shù)設計各新型擺線齒輪。確定各新型擺線齒輪副受力情況并校核齒面接觸疲勞強度后，分析軸系的彎扭受力及校核，選用各軸支撐軸承與校核。從傳動性能、加工工藝、安裝工藝等多方面考慮設計了行星架與微型減速器的結構、減速器與伺服電機的連接、減速器與機體的連接等。
[Abstract]:Cycloidal gear transmission has many advantages, such as smooth coincidence, uniform tooth surface wear, less tooth number and no root cut, but its center distance is not divisible, and the tool manufacturing difficulty has greatly limited the application of cycloidal gear. At present, high-end precision mechanical systems such as aerospace, medical devices, bionic robots and other urgent needs for small volume, light weight, strong bearing capacity, stable transmission and high efficiency of a number of advantages of the miniaturization reducer. With the rapid development of ultra-precision manufacturing technology, machining accuracy is no longer an obstacle to the popularization and application of cycloidal gears. After deeply analyzing the mathematical models of cycloidal curves at home and abroad, a simpler mathematical model of cycloid and its equidistant line is established by taking the center of the base circle as the origin of the fixed coordinate system. On the basis of a single cycloid and its equidistant line, the original continuous tooth profile of cycloid is constructed. The possibility and form of conjugate engagement of this kind of tooth profile and the definition and calculation of the degree of coincidence are studied on the basis of the principle of tooth profile meshing. Aiming at the shortcomings of low coincidence degree of cycloid original continuous tooth profile, aiming at the small number of teeth and the suitable coincidence degree, on the basis of satisfying the conjugate condition of tooth profile, several modification methods for the original continuous tooth profile are put forward. More than 10 kinds of new cycloid tooth profiles are deduced by using these improved methods. After the meshing locus of the original continuous tooth profile of cycloid is studied by kinematics method, based on the modification principle of cycloid, the meshing locus of cycloid modified tooth profile and new cycloid tooth profile are obtained. According to the definition of the degree of coincidence and the angle of engagement of gear transmission, the calculation method of the degree of coincidence and the angle of engagement of cycloidal gear transmission is put forward by analyzing the gear profile meshing trajectory. After studying and determining the basic design parameters of these cycloidal gears, the formulas for calculating the geometric dimensions of each cycloidal gear are derived in turn. After comparing the geometric characteristics and transmission characteristics of cycloidal gears, a new type of cycloidal spur gear is selected to study the constraints of gear design and the influence of design parameters on transmission characteristics. The efficiency and gear matching of 3K type planetary transmission are studied and compared. Combined with the characteristics of the new cycloidal gear, the 3K-I type planetary transmission is selected and the suitable design parameters are selected to design each new cycloid gear. After determining the force situation of each new cycloidal gear pair and checking the contact fatigue strength of the tooth surface, the bending and torsional force of the shafting is analyzed and checked, and the bearing supported by each shaft is selected and checked. The structure of the planetary frame and the miniature reducer, the connection between the reducer and the servo motor, the connection between the reducer and the body, and so on are considered from the aspects of transmission performance, processing technology and installation technology.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH132.46

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