减-变速集成齿轮啮合原理与时变瞬心复合激励下的动态特性

For defects of difficult pitch curve construction and long drive chain in noncircular gear application, a high efficiency gear pair with the integration functions of circular and noncircular gears is presented. Not only does this gear implements any periodical motion, but also realize maximum efficiency and minimum weight of the transmission system, which has enormous potential on the field with special mass, space and transmission requirements，such as aerospace and robots. The meshing theory and nonlinear dynamic characteristics of the speed integration gear are two scientific issues to be resolved in the project. It includes the following contents: ① Based on the classic meshing theory of gears, the transmitting mechanism of the speed integration gear is going to be researched to develop unified models of its spatial pitch curves and tooth surfaces, with the gear interference, contact lines and relative sliding velocity of teeth analyzed. ② Considering the feature of time-varying instantaneous center, the dynamic model of the speed integration gears is to be built by separation of elastic rotational angle to reveal their motion stability and rattling feature with time-varying instantaneous center. ③ The torsional vibration features under different incentive conditions will be tested in a specialized device to validate the accuracy of the theoretical method. The project contributions not only establish the theoretical foundation for the dynamic design and performance evaluation of the high-quality speed integration gear, but also have positive effect on enriching and developing the engagement theory and dynamics of noncircular gears.

针对非圆齿轮节曲线可构建性差、传动中需圆齿轮减速辅助的缺陷，提出了集圆齿轮减速和非圆齿轮变速功能于一体的高效齿轮副，不仅能实现任意周期性传动规律，而且可使传动系统最大限度轻量化，在对重量、空间和传动性能有特殊要求的航空航天、机器人等领域具有巨大应用潜力。本项目拟研究减-变速集成齿轮的啮合原理和非线性动态特性，内容包括：①基于齿轮啮合原理，揭示减-变速集成齿轮的传动机理，建立其空间节曲线和共轭齿廓模型，分析轮齿干涉、接触迹线、齿面相对滑动速度等啮合特性；②在齿轮几何模型的基础上，根据时变瞬心激励特点，采用弹性转角分离方法，建立减-变速集成齿轮动力学模型，探索时变瞬心复合激励下的稳定性及拍击振动特性；③搭建振动测试平台，检测该齿轮的动态特性，验证理论方法的准确性。项目成果为高品质减-变速集成齿轮的动态设计及性能评价奠定理论基础，对丰富和发展非圆齿轮啮合理论及动力学具有积极的推进作用。

发展核心基础零部件是中国制造2025的战略举措之一，非圆齿轮作为一种具有高可靠性和精确变速比特性的重要基础元件，在农业、车辆、机器人、医疗等许多国家重点行业获得广泛关注。针对非圆齿轮的节曲线可构建性差、传动过程需圆齿轮辅助减速的缺陷，本项目提出了兼具圆齿轮减速功能和非圆齿轮变速功能的减-变速集成齿轮副，不仅能实现减速和变速的任意匹配，而且使传动系统最大程度轻量化，在对重量和空间有较高要求的航空航天、机器人等行业极具应用价值。.本项目以减-变速集成齿轮为研究对象，研究了圆与非圆配合模式下齿轮传动的啮合理论与动力学。基于齿轮空间啮合定律，建立了减-变速集成齿轮的节曲线与空间齿面模型，提出了齿轮的封闭原则以及根切和顶切判别依据，形成了减-变速集成齿轮的几何设计方法；根据齿轮经典动力学理论，阐明了减-变速集成齿轮的时变瞬心激励机制，分别构建了含/不含齿侧间隙的齿轮扭转振动模型，研究了恒定/周期负载下齿轮的非线性振动行为，揭示了双参变激励下的振动特征与振动行为随系统参数的演变规律；设计并试制了减-速集成齿轮样机，通过运动与振动测试获得齿轮实际运动和振动数据，验证了减-变速集成齿轮的传动原理，运动规律，齿形设计方法以及振动分析结果的正确性，以上研究成果为减-变速集成齿轮的几何设计，动态分析以及制造技术奠定了理论基础。