基于复合变位的新型变齿厚精密行星传动的研究

Aiming at the requirements of servo precise transmission mechanism characterized by high precision, small backlash, big reduction ratio, high rigidity, high load capacity and high reliability, this project proposed a new type of precise planetary mechanism with double floating plates and new type of variable tooth thickness involute gears based on compound modification, which possesses independent intellectual property rights. ..The new type of involute planetary gear with variable tooth thickness is machined through high precision and high efficiency of unilateral forming method, which is applicable to hardened tooth surface of internal gear precision processing and has good manufacturability. What's more, compared with the traditional variable tooth thickness gear with radial addendum modification, the new type of gear has the same sliding coefficient along the axial direction and uniformly distributed contact load and then results in little and uniform wear. At the same time, with big coefficient of engagement, the new type of gear pair has good dynamic performance. So, the technical bottleneck of the existing variable tooth thickness precise planetary mechanism based on the radial addendum modification can be resolved...Theoretically, the planetary transmission of new type of thickened gear with double floating plate may real has zero backlash by the adjustable mechanism. Adopting simply-supported structure of the double planetary gear and double floating plate, the planetary mechanism has the characteristics of balanced radial force, high load, high rigidity and good dynamic performance, which is suitable for the complex working conditions with impact or variable load. Because the output is torque of couple, it can greatly reduce the load of turn arm bearing. ..In this project, the research work will cover the mesh characteristics, precision machining, error mechanism, principle and characteristic of backlash adjustment, dynamic characteristics of theoretical and experimental, which will solve related issues of fundamental theories, make breakthrough progress in transmission accuracy, backlash control, and lay a solid foundation for its engineering application.

针对伺服传动所需高精度、小侧隙、大速比、高刚度、高承载能力、高可靠的精密传动装置，本项目提出了具有自主知识产权的基于复合变位变齿厚齿轮双浮动盘精密行星传动装置。该新型变齿厚齿轮采用高精度、高效率的单边成型法进行加工，适用于硬齿面内齿轮的精密加工，工艺性好；可实现轴向方向滑动系数相同和接触载荷均匀分布，磨损小且均匀；重合系数大、动态性能好，解决了现有径向变位变齿厚传动的技术瓶颈。由其组成的双浮动盘行星传动，采用变齿厚齿轮副调隙方式，理论上可实现消隙传动。采用双行星轮、双浮动盘的简支结构，径向力平衡，承载能力高、刚度大、动态特性好，适用于冲击、变载荷等复杂工况。输出转矩为力偶矩，大大降低转臂轴承的负荷。本项目将就啮合特性、精密加工、误差机理、调隙特性、动态特性等进行深入理论和实验研究，解决相关基础理论问题，在传动精度、回差控制等方面取得突破性进展，为其工程应用奠定坚实的基础。

本项目基于变齿厚齿轮齿厚沿轴向变化的特点，将其应用于基于复合变位的精密行星传动装置中，结合伺服消隙系统自主控制侧隙，提出了具有自主知识产权的基于复合变位变齿厚齿轮双浮动盘精密行星传动装置，开展系列理论和试验研究；对复合变位的新型变齿厚齿轮展开啮合特性、几何/强度设计、精密加工与检测方法研究；对精密行星传动精度、回差和动态特性等关键科学技术问题进行理论与试验分析；对复合变位的新型变齿厚行星装置进行动态分析与设计，结合航空航天环境研究高低温条件下复合变位精密行星装置动态特性。提出了新型电控消隙的精密行星传动装置和方法，能有效降低加工要求，提高精度；提出了一种侧隙连续测试的方法，可有效提高测试效率。项目的主要研究进展及结果如下：. 对复合变位的新型变齿厚齿轮展开啮合特性研究，推导了其齿面方程并进行了齿面仿真，对比分析了径向变位的变齿厚齿轮啮合副与复合变位的变齿厚齿轮啮合副在重合度和滑动系数方面的差别。通过复合变位变厚齿轮的接触应力和弯曲应力进行了参数化计算分析，通过“轴向切片”的方式对其沿轴向方向的弯曲应力变化及影响因素进行了分析。应用冲击/动力接触非线性有限元法，对动态啮合力/变形、啮合刚度、动态传动误差等动态特性进行了深入研究；针对恒定转速/转矩和变转速、变负载等不同工况，分别对复合变位齿轮副动态传动误差进行了有限元仿真计算；考虑了单/双几何偏心外啮合齿轮副的动态传动误差进行了理论仿真。针对齿轮特殊类循环对称结构采用随机子空间法对其模态分析及验证；利用函数波束形成声源识别算法对装置噪声声源识别进行分析和研究。对复合变位变齿厚齿轮传动进行了一系列理论和实验研究，包括：侧隙对变齿厚齿轮传动效率影响的计算及实验研究；侧隙曲线的连续测试方法的理论和试验研究；对基于复合变位变齿厚齿轮进行了消隙控制实验研究，结果表明：该消隙控制系统能有效进行侧隙的控制。