摆线包络行星传动结构创新研究（本科毕业论文设计）.doc
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摆线包络行星传动结构创新研究（本科毕业论文设计）,摘要摆线针轮行星传动具有同时啮合齿数多、误差平均效应显著、传动精度高、无柔性构件、扭转刚度高等突出的特点，近年来在精密传动领域受到了广泛关注。应用微分几何和齿轮啮合原理，开展新型摆线包络行星精密传动的啮合理论研究，对于揭示其啮合传动的实质、提高传动的性能等具有重要的理论意...
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摆线包络行星传动结构创新研究（本科毕业论文设计）
摘要
摆线针轮行星传动具有同时啮合齿数多、误差平均效应显著、传动精度高、无柔性构件、扭转刚度高等突出的特点，近年来在精密传动领域受到了广泛关注。应用微分几何和齿轮啮合原理，开展新型摆线包络行星精密传动的啮合理论研究，对于揭示其啮合传动的实质、提高传动的性能等具有重要的理论意义和工程实用价值。本文的主要研究内容如下：
①讨论了摆线包络行星传动的啮合原理。根据齿轮啮合原理的运动学法，由针齿齿廓及给定行星运动建立了适用于一齿差及少齿差摆线针轮行星传动的摆线轮齿廓统一方程，详细讨论了摆线针轮行星传动的正确啮合条件，给出了计算公式。
②对摆线针轮行星传动的结构原理及特征进行了阐述，针对该传动装置的输出机构进行研究，分析比较了现有常用输出机构：销轴式输出机构，十字滑块式输出机构，浮动盘式输出机构，零齿差式输出机构以及RV传动输出机构等的优缺点。
③设计新的摆线针轮行星传动装置，即简支型浮动盘式摆线针轮行星传动。这种装置不仅结构对称而且功能对称，可以实现同轴同向的输入输出，减小转臂轴承的受力，提高转臂轴承寿命。
关键词：摆线包络，行星传动，啮合理论，输出机构
ABSTRACT
Cycloid Pin Gear Planet Transmission has a lot of advantages, which makes it been widely focused in Precision transmission area in recent years. The advantages are as follows: Half of the gear teeth are engaging simultaneously; the average effect of errors is obviously; high transmission accuracy; with no flexible component; high torsional stiffness and so on. The research on meshing theory of new cycloid enveloping planetary precision transmission is carried out according to differential geometry and gear geometry. It has important theoretic significance and practical value for revealing the essence of meshing and improving the characteristics of transmission, etc. Major contents of the thesis are as follows:
①Discuss the gear-meshing principle of cycloid enveloped planetary transmission. According to the kinematic methods of gear-meshing principle, Establish the unified equation of cycloid gear’s tooth profile which is fit for the cycloid enveloped planetary transmission that has only one tooth gap or just a few teeth gap, which is founded by the needle tooth that moves according to the given planetary motion. Then discuss the correct meshing conditions of cycloid enveloped planetary transmission, and give the calculation formula.
②Explain the structural principle and characteristic of the cyclonical pin gear planetary transmission, and especially studied on its output mechanisms. Analysis the advantages and disadvantages of the output mechanisms that were often used nowadays: pin types output mechanism, cross slider types output mechanism, floating disk types output mechanism, no tooth gap type output mechanism and the output mechanism of RV transmission etc.
③Design new transmission structure for the cyclonical pin gear planetary transmission, namely simply supported float disk type. This device is symmetrical both in the structure and the function, it can output the motion along the same shaft and directions, decrease the force of the rotary arm bearing, and improve its lifetime.
Keywords: Cycloid enveloped, planetary transmission, meshing theory,
Output mechanism
目录
摘要 I
ABSTRACT II
目录 IV
1 绪论 1
1.1课题来源及研究意义 1
1.2谐波齿轮传动的研究现状 1
1.3 摆线针轮行星传动的研究现状 3
1.4论文的主要研究内容 4
2 现有摆线针轮行星传动共轭啮合理论 5
2.1摆线针轮行星传动理论简述 5
2.2摆线齿廓的形成方法 6
2.1.1两圆外啮合形成法 6
2.1.2两圆内啮合形成法 7
2.1.3两种形成法之间的关系 8
2.3摆线轮齿廓曲线方程的包络法 9
2.3.1 坐标系的建立 10
2.3.2 啮合方程 10
2.3.3 行星轮的齿廓方程 11
2.3.4 短幅摆线形成的包络法 13
2.4摆线针轮行星传动的正确啮合条件 14
2.5 啮合线方程 15
2.5.1整体坐标系中的啮合线方程 15
2.5.2针轮坐标系中的接触线方程 15
2.6小结 16
3 摆线针轮行星传动的结构分析 17
3.1摆线针轮行星传动的主要结构形式 17
3.1.1 摆线针轮行星传动一般结构 17
3.1.2 RV传动的结构特点 19
3.2摆线针轮行星传动常用输出机构简介 21
3.2.1销轴式输出机构 22
3.2.2十字滑块式输出机构 25
3.2.3浮动盘式输出机构 26
3.2.4零齿差式输出机构 27
3.3 RV传动输出机构简介 28
3.4新型W输出机构的研究 29
3.5简支型浮动盘式输出机构 31
3.6 小结 32
4 结论 33
致谢 34
参考文献 35
摘要
摆线针轮行星传动具有同时啮合齿数多、误差平均效应显著、传动精度高、无柔性构件、扭转刚度高等突出的特点，近年来在精密传动领域受到了广泛关注。应用微分几何和齿轮啮合原理，开展新型摆线包络行星精密传动的啮合理论研究，对于揭示其啮合传动的实质、提高传动的性能等具有重要的理论意义和工程实用价值。本文的主要研究内容如下：
①讨论了摆线包络行星传动的啮合原理。根据齿轮啮合原理的运动学法，由针齿齿廓及给定行星运动建立了适用于一齿差及少齿差摆线针轮行星传动的摆线轮齿廓统一方程，详细讨论了摆线针轮行星传动的正确啮合条件，给出了计算公式。
②对摆线针轮行星传动的结构原理及特征进行了阐述，针对该传动装置的输出机构进行研究，分析比较了现有常用输出机构：销轴式输出机构，十字滑块式输出机构，浮动盘式输出机构，零齿差式输出机构以及RV传动输出机构等的优缺点。
③设计新的摆线针轮行星传动装置，即简支型浮动盘式摆线针轮行星传动。这种装置不仅结构对称而且功能对称，可以实现同轴同向的输入输出，减小转臂轴承的受力，提高转臂轴承寿命。
关键词：摆线包络，行星传动，啮合理论，输出机构
ABSTRACT
Cycloid Pin Gear Planet Transmission has a lot of advantages, which makes it been widely focused in Precision transmission area in recent years. The advantages are as follows: Half of the gear teeth are engaging simultaneously; the average effect of errors is obviously; high transmission accuracy; with no flexible component; high torsional stiffness and so on. The research on meshing theory of new cycloid enveloping planetary precision transmission is carried out according to differential geometry and gear geometry. It has important theoretic significance and practical value for revealing the essence of meshing and improving the characteristics of transmission, etc. Major contents of the thesis are as follows:
①Discuss the gear-meshing principle of cycloid enveloped planetary transmission. According to the kinematic methods of gear-meshing principle, Establish the unified equation of cycloid gear’s tooth profile which is fit for the cycloid enveloped planetary transmission that has only one tooth gap or just a few teeth gap, which is founded by the needle tooth that moves according to the given planetary motion. Then discuss the correct meshing conditions of cycloid enveloped planetary transmission, and give the calculation formula.
②Explain the structural principle and characteristic of the cyclonical pin gear planetary transmission, and especially studied on its output mechanisms. Analysis the advantages and disadvantages of the output mechanisms that were often used nowadays: pin types output mechanism, cross slider types output mechanism, floating disk types output mechanism, no tooth gap type output mechanism and the output mechanism of RV transmission etc.
③Design new transmission structure for the cyclonical pin gear planetary transmission, namely simply supported float disk type. This device is symmetrical both in the structure and the function, it can output the motion along the same shaft and directions, decrease the force of the rotary arm bearing, and improve its lifetime.
Keywords: Cycloid enveloped, planetary transmission, meshing theory,
Output mechanism
目录
摘要 I
ABSTRACT II
目录 IV
1 绪论 1
1.1课题来源及研究意义 1
1.2谐波齿轮传动的研究现状 1
1.3 摆线针轮行星传动的研究现状 3
1.4论文的主要研究内容 4
2 现有摆线针轮行星传动共轭啮合理论 5
2.1摆线针轮行星传动理论简述 5
2.2摆线齿廓的形成方法 6
2.1.1两圆外啮合形成法 6
2.1.2两圆内啮合形成法 7
2.1.3两种形成法之间的关系 8
2.3摆线轮齿廓曲线方程的包络法 9
2.3.1 坐标系的建立 10
2.3.2 啮合方程 10
2.3.3 行星轮的齿廓方程 11
2.3.4 短幅摆线形成的包络法 13
2.4摆线针轮行星传动的正确啮合条件 14
2.5 啮合线方程 15
2.5.1整体坐标系中的啮合线方程 15
2.5.2针轮坐标系中的接触线方程 15
2.6小结 16
3 摆线针轮行星传动的结构分析 17
3.1摆线针轮行星传动的主要结构形式 17
3.1.1 摆线针轮行星传动一般结构 17
3.1.2 RV传动的结构特点 19
3.2摆线针轮行星传动常用输出机构简介 21
3.2.1销轴式输出机构 22
3.2.2十字滑块式输出机构 25
3.2.3浮动盘式输出机构 26
3.2.4零齿差式输出机构 27
3.3 RV传动输出机构简介 28
3.4新型W输出机构的研究 29
3.5简支型浮动盘式输出机构 31
3.6 小结 32
4 结论 33
致谢 34
参考文献 35
