少齿差变齿厚RV行星精密传动研究

The RV planetary precision transmission of beveloid gears with small tooth difference have substantial advantages including simple construction, convenient machining and low manufacturing costs and it can be widely applied in precision transmission fields such as the aerospace vehicle, robots and so on. However, the tooth profile of beveloid gear forms a certain taper, the determination of modification coefficient and interference conditions are much more complicated than the conventional planetary transmission with small tooth difference. Also, for the two rows of simultaneous meshing beveloid gears, the coupling mechanism of the systematic deformation and the correlation between machining parameters and the systematic precision are unknown. In brief, all these reasons mentioned above lead to some critical technical problems of this transmission such as low precision and capacity, vibration, high noise and so on. In this project, the research on multipoint conjugated meshing theory, systematic precision control, dynamic analysis and precision manufacturing methods for beveloid gears will be performed. Then the pitch cone designed multipoint conjugated meshing theory for beveloid planetary gears will be proposed. The precision control model for the RV planetary precision transmission of beveloid gears with small tooth difference under the coupled systematic deformation condition will be established to control the precision. The calculation method of the multipoint conjugated meshing excitation based on three dimensional mesh stiffness for the taper beveloid gears will be proposed. And the systematic dynamic model will be created and analyzed to predict and control the dynamic characteristics. The corresponding professional design software will be developed. And the RV planetary precision transmission prototype of beveloid gears with small tooth difference will be manufactured, whose ratio is 121 and output torque is 200Nm. The major properties of the prototype will reach the level of the similar transmissions in abroad. It will lay a theoretical foundation for the industrialization of the transmission.

少齿差变齿厚RV行星精密传动具有结构简单、加工方便、制造成本低等优点，可广泛应用于航空航天器、机器人等精密传动领域。但由于变齿厚齿轮齿形沿轴向成一定锥度，其变位系数选择、干涉条件计算复杂；两级传动系统变形协调条件、设计参数与系统精度关联规律不清楚，导致该传动存在传动精度与承载能力低、振动噪声大等关键技术问题。项目开展变齿厚齿轮的多点共轭啮合理论、系统精度和动态特性分析、精密加工方法等研究，提出基于节圆锥的变齿厚齿轮行星传动多点共轭啮合理论、建立多级耦合变形协调条件下系统传动精度分析模型，实现系统精度控制；提出基于锥形齿面三维时变刚度、多级少齿差变齿厚齿轮副多点共轭啮合激励计算方法，建立系统动力学模型，实现系统动态特性的预估与控制；开发出相应设计软件；研制传动比121、输出扭矩200 Nm的样机，主要性能指标达到国外同等规格产品水平，为该传动的产业化奠定基础。

项目将齿轮啮合理论、变齿厚齿轮设计制造方法和实验研究相结合，就其多点共轭啮合原理、精度分析与控制、系统动态特性分析及变齿厚齿轮精密加工方法进行深入研究，开发出主要性能指标达到国外同等规格水平的样机。.1）研究少齿差变齿厚RV行星精密传动总体布置方案；基于节圆锥的变齿厚齿轮行星传动多点共轭啮合理论，研究考虑根切、干涉、齿顶变尖、重合度等因素的少齿差变齿厚齿轮副参数设计、匹配与优化方法，完成了样机的设计，掌握了变齿厚RV减速器的设计理论和方法。.2）基于有限元法对变齿厚少齿差行星传动的多齿弹性啮合效应和考虑两级传动耦合作用的变齿厚RV减速器啮合特性分析。分析了齿轮设计参数、偏心轴平行度误差、偏心轴相位误差和内齿轮相位误差等主要加工误差对渐开线变齿厚RV减速器系统传动精度的影响规律。为变齿厚RV减速器的变齿厚轮副强度计算、修形、精度控制等提供了理论依据。.3）基于集中参数法，考虑轮齿的时变啮合刚度、轴承刚度、碟簧刚度、加工误差、阻尼和传递误差等因素，建立了考虑加工误差的系统弯-扭-轴耦合动力学模型。分析了设计参数、载荷变化等因素对系统动态响应的影响，为系统动态特性的分析与优化提供了理论依据。.4）提出一种精密加工变齿厚内齿轮的插齿刀设计方法以及机床工艺参数的优化方法。研究了变齿厚齿轮齿厚和各项偏差的测量方法，为变齿厚齿轮的精密加工提供技术支撑。.5）研制了变齿厚RV减速器样机，并对样机进行空载、超载、扭转刚度、回差、传动误差等试验。实验结果表明所研制的样机主要性能指标达到或接近国外同等规格产品水平。