WO2022242684A1

WO2022242684A1 - Planar double-enveloping toroidal worm gear set and manufacturing method therefor

Info

Publication number: WO2022242684A1
Application number: PCT/CN2022/093579
Authority: WO
Inventors: 刘清友; 邓星桥; 王帆; 费春霞
Original assignee: 成都理工大学
Priority date: 2021-05-18
Filing date: 2022-05-18
Publication date: 2022-11-24
Also published as: CN113175501B; CN113175501A

Abstract

The present invention relates to a planar double-enveloping toroidal worm gear set and a manufacturing method therefor. The planar double-enveloping toroidal worm gear set at least comprises: a worm (100) and a gear (200) having rotation axes that are non-coplanar. The worm (100) at least comprises a left half-section worm (110) and a right half-section worm (120) that are coaxially sleeved. The worm (100) is manufactured by the following method: in a machining process, a worm first rotation direction (500) in which the left half-section worm (110) rotates about a worm rotation axis (140) is opposite to a worm second rotation direction (510) in which the right half-section worm (120) rotates around the worm rotation axis (140). Compared with common cylindrical worm drive, the toroidal worm drive can simultaneously contact more worm gear teeth to achieve multi-tooth contact and double-line contact. An included angle between a contact line and the relative sliding speed direction is close to 90°, so that a lubricating oil film is easily formed. The comprehensive curvature radius between meshed tooth surfaces is large, and the bearing capacity is stronger.

Description

一种平面二次包络环面蜗轮蜗杆及其制造方法A kind of planar quadratic enveloping toroidal worm gear and its manufacturing method

技术领域technical field

本发明涉及机械加工技术领域，尤其涉及一种平面二次包络环面蜗轮蜗杆及其制造方法。The invention relates to the technical field of mechanical processing, in particular to a plane secondary enveloping toroidal worm gear and a manufacturing method thereof.

背景技术Background technique

蜗轮蜗杆传动方式被广泛应用，蜗轮和蜗杆均通过转轴、轴承等安装在机体上，蜗杆外侧加工有螺旋齿，蜗轮周边加工有与螺旋齿相配的蜗轮齿，驱动装置带动蜗杆转动，通过螺旋齿带动蜗轮转动，达到传递动力的目的。由于蜗轮蜗杆传动摩擦力较大，磨损严重，运行一定时间后螺旋齿与蜗轮齿之间会产生较大间隙，目前使用的蜗轮蜗杆结构无法调整上述间隙，使传动精度下降，噪声增大，运行不平稳。The worm gear transmission mode is widely used. Both the worm gear and the worm are installed on the body through the rotating shaft and bearings. The outer side of the worm is processed with helical teeth, and the periphery of the worm gear is processed with worm gear teeth matching the helical teeth. The driving device drives the worm to rotate. Drive the worm gear to rotate to achieve the purpose of power transmission. Due to the large friction force and serious wear of the worm gear transmission, there will be a large gap between the helical teeth and the worm gear teeth after a certain period of operation. The worm gear structure currently used cannot adjust the above gap, which will reduce the transmission accuracy and increase the noise. unstable.

在蜗杆传动中相比于圆柱蜗杆传动，平面二次包络蜗杆传动：在传动时候接触齿数多，使每一接触点的载荷较小，传动时润滑条件好，齿面接触应力小。所以环面蜗杆传动的承载力大，传动效率高。目前国内对于环面蜗杆的磨削加工的原理靠调整机床回转工作台的距离来适应不同中心距离的蜗杆，使得机床运动层面多，对机床的精度有更高的要求，传统的包络法加工蜗杆在精度上存在无法解决的缺陷，主要表现为：蜗杆齿形加工不均匀，经常会出现各种缺陷且加工效率不高。In the worm drive, compared with the cylindrical worm drive, the planar secondary enveloping worm drive: the number of contact teeth is large during transmission, so that the load at each contact point is small, the lubrication conditions are good during transmission, and the contact stress on the tooth surface is small. Therefore, the toroidal worm drive has a large bearing capacity and high transmission efficiency. At present, the principle of grinding the toroidal worm in China depends on adjusting the distance of the rotary table of the machine tool to adapt to the worm with different center distances, which makes the machine tool have more layers of movement and has higher requirements for the accuracy of the machine tool. The traditional envelope method processing There are unsolvable defects in the precision of the worm, which are mainly manifested as: uneven processing of the tooth profile of the worm, various defects often appear and the processing efficiency is not high.

CN104139219 A公开了一种平面包络环面蜗杆五轴联动砂轮磨削加工方法，采用的加工机床是五轴联动数控机床，按照平面包络环面蜗杆的成型原理，通过机床五轴联动，使得砂轮磨削平面与虚拟齿轮的齿面重合，并绕虚拟齿轮旋转轴线旋转，同时工件蜗杆绕自身轴线旋转，两者的旋转速度和方向通过蜗杆副的旋向和传动比确定，虚拟齿轮轴线与工件蜗杆轴线距离等于蜗杆副中心距，从而利用砂轮平面包络磨削出平面包络环面蜗杆齿面。该发明第一次将五轴联动加工技术应用于平面包络环面蜗杆的磨削加工中，利用五轴加工机床的柔性和精密性，可大幅度提高平面包络环面蜗杆的磨削范围和磨削精度。但是该技术方案对磨削精度提高的幅度不能回收其投入的成本，例如复杂的计算过程和冗长的加工时间。CN104139219 A discloses a method for grinding a plane-enveloping toroidal worm with five-axis linkage grinding wheel. The processing machine tool adopted is a five-axis linkage numerical control machine tool. The grinding plane of the grinding wheel coincides with the tooth surface of the virtual gear, and rotates around the virtual gear rotation axis. At the same time, the workpiece worm rotates around its own axis. The rotation speed and direction of the two are determined by the rotation direction and transmission ratio of the worm pair. The axial distance of the workpiece worm is equal to the center distance of the worm pair, so that the plane enveloping toroidal worm tooth surface is ground by the plane envelope of the grinding wheel. This invention applies the five-axis linkage processing technology to the grinding process of the plane enveloping toroidal worm for the first time. Using the flexibility and precision of the five-axis machining machine tool, the grinding range of the plane enveloping toroidal worm can be greatly improved and grinding accuracy. However, the improvement of the grinding accuracy of this technical solution cannot recover its input cost, such as complicated calculation process and lengthy processing time.

CN104625663 A公开了一种平面二次包络蜗杆加工方法，首先根据零件材料和结构选择合适的侧铣刀具，随后根据选择的侧铣刀具确定侧铣工艺参数，接着五轴联动粗加工蜗杆，然后对粗加工后的蜗杆进行淬火热处理，最后五轴联动精加工蜗杆，其创新点在于：所述五轴联动粗加工蜗杆之后增加五轴联动半精加工蜗杆步骤，形成三级加工方法。该发明公开的平面二次包络蜗杆加工方法，解决了现有技术中改装机床加工精度较差，加工时间太长的难题，产品精度大大的提高，减少了装配的工时，提高了蜗杆承载力，使之传动效率得到大大提高，同时也提高锁紧块的使用寿命。但是该技术方案也不能解决运行一定时间后螺旋齿与蜗轮齿之间产生的较大间隙而造成的传动精度下降，噪声增大，运行不平稳的问题。CN104625663 A discloses a method for machining a plane quadratic enveloping worm. First, a suitable side milling tool is selected according to the material and structure of the part, and then the side milling process parameters are determined according to the selected side milling tool, and then the five-axis linkage rough machining of the worm , then quenching and heat-treating the rough-machined worm, and finally finishing the worm with five-axis linkage. The machining method of the planar double enveloping worm disclosed in this invention solves the problem of poor machining accuracy and too long machining time of the modified machine tool in the prior art, greatly improves the product accuracy, reduces the assembly time, and improves the bearing capacity of the worm , so that the transmission efficiency is greatly improved, and the service life of the locking block is also improved. However, this technical solution cannot solve the problems of decreased transmission accuracy, increased noise, and unstable operation caused by the large gap between the helical teeth and the worm gear teeth after running for a certain period of time.

此外，一方面由于对本领域技术人员的理解存在差异；另一方面由于申请人做出本发明时研究了大量文献和专利，但篇幅所限并未详细罗列所有的细节与内容，然而这绝非本发明不具备这些现有技术的特征，相反本发明已经具备现有技术的所有特征，而且申请人保留在背景技术中增加相关现有技术之权利。In addition, on the one hand, due to differences in the understanding of those skilled in the art; The present invention does not possess the characteristics of these prior art, on the contrary, the present invention already possesses all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology.

发明内容Contents of the invention

针对现有技术的不足，本发明旨在提供一种平面二次包络环面蜗轮蜗杆及其制造方法，在新型制造方法中通过特定公式更精确的计算出制造时的工艺参数，以使得精确加工而成的蜗轮蜗杆可以消除其正反转过程中的齿侧间隙并极大程度提高蜗轮蜗杆承载能力。通过本发明的制造方法所制成的蜗轮蜗杆可以应用于石油装备、钻机、压裂装备、高压钻井泵等石油装备中，解决大功率高压石油装备的传动问题。在大扭矩、高精度等领域也有巨大的应用前景。Aiming at the deficiencies of the prior art, the present invention aims to provide a plane quadratic enveloping toroidal worm gear and its manufacturing method. In the new manufacturing method, the process parameters during manufacturing are calculated more accurately through specific formulas, so that the precise The processed worm gear can eliminate the tooth backlash in the process of forward and reverse rotation and greatly improve the bearing capacity of the worm gear. The worm gear and worm produced by the manufacturing method of the present invention can be applied to petroleum equipment such as petroleum equipment, drilling rigs, fracturing equipment, high-pressure drilling pumps, etc., to solve the transmission problem of high-power high-pressure petroleum equipment. It also has great application prospects in the fields of high torque and high precision.

本发明公开了一种平面二次包络环面蜗轮蜗杆的制造方法，其至少包括如下步骤：蜗杆制造步骤、滚刀制造步骤及蜗轮制造步骤。制造方法至少包括如下步骤：The invention discloses a method for manufacturing a plane secondary enveloping toroidal worm gear, which at least includes the following steps: a manufacturing step of a worm, a manufacturing step of a hob and a manufacturing step of a worm gear. The manufacturing method at least includes the following steps:

S1、蜗杆制造步骤：将蜗杆至少分为左半段蜗杆和右半段蜗杆进行分段制造，分别基于相应的母面经过共轭运动包络形成各自的左蜗杆齿面和右蜗杆齿面；S1. Manufacturing steps of the worm: Divide the worm into at least a left half worm and a right half worm for sub-manufacturing, and form respective left worm tooth surfaces and right worm tooth surfaces respectively based on corresponding parent surfaces through conjugate motion envelopes;

S2、滚刀制造步骤：根据蜗杆切分的数量确定滚刀的制造数量，滚刀至少包括第一滚刀与第二滚刀，其中，第一滚刀的工艺参数根据左蜗杆齿面的设计结构而确定，第二滚刀的工艺参数根据右蜗杆齿面的设计结构而确定；S2. Manufacturing steps of the hob: determine the manufacturing quantity of the hob according to the number of worm splits, the hob at least includes the first hob and the second hob, wherein the process parameters of the first hob are based on the design of the tooth surface of the left worm The structure is determined, and the process parameters of the second hob are determined according to the design structure of the right worm tooth surface;

S3、蜗轮制造步骤：利用制得的第一滚刀和第二滚刀分别对蜗轮的蜗轮左齿面和蜗轮右齿面进行磨削。S3. The manufacturing step of the worm wheel: using the prepared first hob and the second hob to grind the left tooth surface and the right tooth surface of the worm wheel respectively.

平面二次包络环面蜗轮蜗杆由上述步骤制成的蜗轮与蜗杆相互啮合而成。左半段蜗杆的左蜗杆齿面啮合于蜗轮左齿面，右半段蜗杆的右蜗杆齿面啮合于蜗轮右齿面，从而可以完全消除平面二次包络环面蜗轮蜗杆正反转过程中的齿侧间隙。该技术方案的优点在于：相比于普通圆柱蜗杆传动，环面蜗杆传动能够同时接触更多的蜗轮齿数，以实现多齿接触和双线接触；接触线和相对滑动速度方向之间的夹角接近90°，易于形成润滑油膜；相啮合齿面间综合曲率半径较大，承载能力更强。而相比于直线环面蜗杆传动，包络环面蜗杆传动可以用平面或简单曲面代替直母线作为蜗杆螺旋面的母面，按包络法展成蜗杆螺旋面，以克服直线环面蜗杆难于精确磨削的缺点。而通过包络蜗杆的基本参数作为制造蜗轮滚刀的参数，并按共轭运动重新包络出蜗轮与原包络蜗杆组成的平面二次包络环面蜗杆传动还可以解决平面一次包络环面蜗杆传动的蜗轮不能包围蜗杆，以使得承载能力较低的问题，其在工作时可实现双线接触，以使得承载能力和传动精度均较高。而该技术方案采用的双反侧包络方法是基于彼此不同的两个母面分别进行的两次包络运动而形成蜗轮与蜗杆的齿面，两者相互啮合的匹配度更高，齿侧间隙更小甚至可以趋近于零，以使得承载能力和传动精度进一步增强。蜗杆采用分段加工再组合的形式构成，以使得不同分段的蜗杆能够通过不同的磨具进行加工以获得不同齿形结构的蜗杆齿。分段加工的方法是基于蜗杆的顺时针转动和逆时针转动的独立考虑，顺时针转动所采用的驱动齿不同于逆时针转动所采用的驱动齿，在实际使用场合中，经常会出现某个方向的旋转驱动明显多于另一个方向的旋转驱动，以使得蜗杆的一侧蜗杆齿面会比另一侧齿面的磨损量更大，通过蜗杆的分段组合，使得其中任意一个半段的蜗杆出现过度磨损或损坏时能够便于修理或更换。采用本设计后，备件数量得到极大地降低。同时，在蜗杆的分段加工时，可以根据蜗杆的实际工作过程，对两个半段的蜗杆选用不同硬度的材料通过不同热处理方法加工而成，其中，对磨损量更高的其中一个半段蜗杆采用硬度更高的材料以对应的热处理方式制成。蜗杆的两个半段分别在可选材料中选择适宜的材料并通过对应的热处理方式加工而成，通过排列组合的方式可以形成若干种不同硬度的组合式蜗杆以适应于不同的实际情况。可选地，蜗杆的材料牌号可包括45、40Cr、40CrNi、35SiMn、42SiMn、37SiMn2MoV、38SiMnMo、20Cr、20CrV、18CrMnTi、20CrMnTi、12CrNi3A、20MnVB、20SiMnVB、38CrMnTi和35CrMo等。可选地，蜗杆的热处理方式可包括表面淬火、渗碳淬火和调制等。The planar quadratic enveloping toroidal worm gear and worm is formed by meshing the worm gear and worm produced in the above steps. The left worm tooth surface of the left half-section worm meshes with the left tooth surface of the worm gear, and the right worm tooth surface of the right half-section worm meshes with the right tooth surface of the worm wheel, so that the process of forward and reverse rotation of the plane secondary enveloping toroidal worm gear can be completely eliminated. tooth backlash. The advantages of this technical solution are: compared with the ordinary cylindrical worm drive, the toroidal worm drive can contact more worm gear teeth at the same time to achieve multi-tooth contact and double-line contact; the angle between the contact line and the relative sliding speed direction Close to 90°, it is easy to form a lubricating oil film; the comprehensive radius of curvature between the meshing tooth surfaces is larger, and the bearing capacity is stronger. Compared with the linear toroidal worm drive, the enveloping toroidal worm drive can use a flat or simple curved surface instead of a straight generatrix as the generatrix of the worm helical surface, and develop the worm helical surface according to the envelope method to overcome the difficulty of the linear toroidal worm Disadvantages of precision grinding. The basic parameters of the enveloping worm are used as the parameters for manufacturing the worm gear hob, and the planar secondary enveloping toroidal worm drive composed of the worm wheel and the original enveloping worm can also solve the problem of the planar primary enveloping ring. The worm gear of the surface worm drive cannot surround the worm, so that the bearing capacity is low, and it can realize double-line contact during operation, so that the bearing capacity and transmission accuracy are high. The double-side envelope method used in this technical solution is based on two envelope movements performed by two different generatrix surfaces respectively to form the tooth surface of the worm wheel and the worm. Smaller or even close to zero, so that the bearing capacity and transmission accuracy are further enhanced. The worm is constructed in the form of subsection processing and recombination, so that different subsections of the worm can be processed by different grinding tools to obtain worm teeth with different tooth structures. The segmented machining method is based on the independent consideration of the clockwise rotation and counterclockwise rotation of the worm. The driving teeth used for clockwise rotation are different from those used for counterclockwise rotation. In actual use, a certain The rotational drive in one direction is significantly more than the rotational drive in the other direction, so that the tooth surface of the worm on one side of the worm will wear more than the tooth surface on the other side. Through the segmental combination of the worm, any half of the worm Allows for easy repair or replacement in the event of excessive wear or damage. After adopting this design, the number of spare parts is greatly reduced. At the same time, when the worm is processed in sections, according to the actual working process of the worm, materials with different hardness can be selected for the two halves of the worm and processed by different heat treatment methods. The worm is made of a harder material with corresponding heat treatment. The two halves of the worm are respectively selected from the appropriate materials and processed by corresponding heat treatment methods. By means of arrangement and combination, several combined worms with different hardness can be formed to adapt to different actual situations. Optionally, the material grades of the worm may include 45, 40Cr, 40CrNi, 35SiMn, 42SiMn, 37SiMn2MoV, 38SiMnMo, 20Cr, 20CrV, 18CrMnTi, 20CrMnTi, 12CrNi3A, 20MnVB, 20SiMnVB, 38CrMnTi, and 35CrMo. Optionally, the heat treatment of the worm may include surface quenching, carburizing and quenching, conditioning and the like.

蜗杆在制造前根据左半段蜗杆和右半段蜗杆各自的设计结构经过特定公式提前计算以确定对应的工艺参数，并可以保证至少在啮合间隙处以两个蜗杆齿面的齿顶倒角相互配合的形式构成蜗杆的螺旋线。蜗杆制造步骤可包括如下分步骤：Before the worm is manufactured, according to the respective design structures of the left half worm and the right half worm, the corresponding process parameters are calculated in advance through specific formulas, and the corresponding process parameters can be guaranteed to cooperate with each other at least at the meshing gap. The form constitutes the helix of the worm. The worm manufacturing steps may include the following sub-steps:

S1.1、分别利用第一磨具和第二磨具以相同的切入角度和/或切入深度对绕着蜗杆旋转轴线转动的左半段蜗杆和右半段蜗杆的毛坯进行磨削加工以形成各自对应的一次加工件；S1.1, use the first grinding tool and the second grinding tool to grind the blanks of the left half worm and the right half worm rotating around the worm axis of rotation at the same angle of cut and/or depth of cut to form Respectively corresponding primary processing parts;

S1.2、将第一磨具沿磨具第一转动方向以小于虚拟平面齿齿轮的齿距角的角度偏移并对左半段蜗杆的一次加工件进行磨削，以使得左蜗杆齿面的右侧齿面比其左侧齿面的磨削量更大；将第二磨具沿磨具第二转动方向以小于虚拟平面齿齿轮的齿距角的角度偏移并对右半段蜗杆的一次加工件进行磨削，以使得右蜗杆齿面的左侧齿面比其右侧齿面的磨削量更大；S1.2. Offset the first grinding tool along the first rotation direction of the grinding tool at an angle smaller than the pitch angle of the virtual plane tooth gear and grind the primary workpiece of the left half worm, so that the tooth surface of the left worm The grinding amount of the right side of the tooth surface is larger than that of the left side; the second grinding tool is shifted along the second rotation direction of the grinding tool at an angle smaller than the pitch angle of the virtual plane tooth gear and the right half of the worm The primary workpiece is ground so that the left tooth surface of the right worm tooth surface has a larger grinding amount than the right tooth surface;

S1.3、通过蜗杆轴将左半段蜗杆和右半段蜗杆同轴套接以形成蜗杆。蜗杆轴可设置于左半段蜗杆和右半段蜗杆中的其中一个，而未设置蜗杆轴的另一半段蜗杆在蜗杆轴的相应位置预留有用于安装蜗杆轴的蜗杆轴孔，以使得蜗杆轴在穿过蜗杆轴孔时，左半段蜗杆与右半段蜗杆能够实现拼接。S1.3. Coaxially socket the left half of the worm and the right half of the worm through the worm shaft to form a worm. The worm shaft can be set on one of the left half worm and the right half worm, while the other half worm without the worm shaft has a worm shaft hole for installing the worm shaft reserved at the corresponding position of the worm shaft, so that the worm When the shaft passes through the worm shaft hole, the left half worm and the right half worm can be spliced.

在对蜗杆毛坯进行加工时，可进行热处理工序以提高材料的机械性能、消除残余应力和改善金属的切削加工性。针对不同的蜗杆材料及需求的蜗杆硬度等因素选择对应的热处理方法进行加工。进一步地，蜗杆的两个半段采用不同材料并需求不同硬度等参数时，可分别进行彼此不同的热处理方法以满足不同需求。When processing worm blanks, a heat treatment process can be performed to improve the mechanical properties of the material, eliminate residual stress and improve the machinability of the metal. According to different worm materials and required worm hardness and other factors, select the corresponding heat treatment method for processing. Further, when the two halves of the worm are made of different materials and require different parameters such as hardness, different heat treatment methods can be performed to meet different requirements.

磨具在加工蜗杆时能够看作是虚拟平面齿齿轮与蜗杆的啮合，磨具在转动时的不同时刻能够对应于虚拟平面齿齿轮的不同虚拟蜗轮齿，相邻虚拟蜗轮齿之间相应位置转过的角度即为虚拟平面齿齿轮的齿距角。当磨具在绕着虚拟平面齿齿轮枢转轴线转过一个完整的齿距角时，加工出来的蜗杆的齿廓形状相同。当磨具在绕着虚拟平面齿齿轮枢转轴线转过小于一个齿距角的角度时，则能够对蜗杆进行二次加工，以使得对应的左侧齿面或右侧齿面以更大的磨削量被磨具磨削。可选地，当磨具的转动角度超出一个齿距角时，可根据转动规律通过类比确定相应结构。第一磨具和第二磨具的结构与常规砂轮有所区别，可根据相关参数进行计算设计。优选地，用于加工左半段蜗杆的第一磨具和用于加工右半段蜗杆的第二磨具结构彼此不同。该技术方案的优点在于：普通环面蜗杆齿面形成的包络运动是以一个平面齿蜗轮的齿面为母面与蜗杆进行一定的相对运动。而该技术方案中，由于蜗杆采用分段式加工，以使得左半段蜗杆与右半段蜗杆分别以彼此不同的两个平面齿蜗轮的齿面为母面与蜗杆进行一定的相对运动，以分别包络出齿面结构不同的左蜗杆齿面和右蜗杆齿面。左蜗杆齿面的右侧齿面比其左侧齿面的磨削量更大，右蜗杆齿面的左侧齿面比其右侧齿面的磨削量更大，以使得在最后的蜗杆与蜗轮的啮合过程中，左半段蜗杆只与蜗轮左齿面啮合，右半段蜗杆只与蜗轮右齿面啮合，并可借助弹簧张紧装置使得齿侧间隙进一步减小直至为零，从而完全消除平面二次包络环面蜗轮蜗杆正反转过程中的齿侧间隙。分段加工的方法是基于正转/反转的独立考虑，正转所采用的驱动齿不同于反转所采用的的驱动齿，在实际使用场合中，经常会出现某个方向的旋转驱动明显多于另一个方向的旋转驱动，对于磨损后的修复或更换而言，当前蜗杆左右两个半段的设计能够带来更大的修复/更换成本优势。采用本设计后，备件数量得到极大地降低。When the abrasive tool is processing the worm, it can be regarded as the meshing between the virtual plane gear and the worm. The grinding tool can correspond to different virtual worm gear teeth of the virtual plane gear at different moments during rotation, and the corresponding positions between adjacent virtual worm gear teeth rotate. The angle passed is the tooth pitch angle of the virtual plane tooth gear. When the grinding tool rotates through a complete pitch angle around the pivot axis of the virtual face tooth gear, the tooth profile of the machined worm has the same shape. When the grinding tool rotates through an angle less than one pitch angle around the pivot axis of the virtual plane tooth gear, the worm can be processed twice, so that the corresponding left or right tooth surface can be rotated with a larger The grinding amount is ground by the grinding tool. Optionally, when the rotation angle of the grinding tool exceeds a tooth pitch angle, the corresponding structure can be determined by analogy according to the rotation law. The structures of the first grinding tool and the second grinding tool are different from conventional grinding wheels, and can be calculated and designed according to relevant parameters. Preferably, the structure of the first grinding tool for processing the left-half worm and the second grinding tool for processing the right-half worm are different from each other. The advantage of this technical scheme is that: the envelope motion formed by the tooth surface of the ordinary toroidal worm gear uses the tooth surface of a plane-toothed worm wheel as the parent surface to perform a certain relative movement with the worm. In this technical solution, since the worm is processed in segments, the left half of the worm and the right half of the worm respectively use the tooth surfaces of two different planar worm gears as the parent surfaces to perform a certain relative movement with the worm, so that The left worm tooth surface and the right worm tooth surface with different tooth surface structures are enveloped respectively. The grinding amount of the right tooth surface of the left worm tooth surface is larger than that of the left tooth surface, and the grinding amount of the left tooth surface of the right worm tooth surface is larger than that of the right tooth surface, so that in the final worm During the meshing process with the worm gear, the left half of the worm only meshes with the left tooth surface of the worm wheel, and the right half of the worm only meshes with the right tooth surface of the worm wheel, and the tooth side clearance can be further reduced until it is zero by means of a spring tensioning device, so that Completely eliminate the tooth backlash during the forward and reverse rotation of the planar quadratic enveloping toroidal worm gear. The segmented machining method is based on the independent consideration of forward rotation/reverse rotation. The drive teeth used in forward rotation are different from those used in reverse rotation. In actual use, there are often obvious rotation drives in a certain direction. With more rotational drive in the other direction, the current design of the left and right halves of the worm provides a greater repair/replacement cost advantage for repair or replacement after wear. After adopting this design, the number of spare parts is greatly reduced.

左半段蜗杆和右半段蜗杆在加工过程中，左半段蜗杆绕蜗杆旋转轴线转动的蜗杆第一转动方向与右半段蜗杆绕蜗杆旋转轴线转动的蜗杆第二转动方向相反。第一磨具绕虚拟平面齿齿轮枢转轴线转动的磨具第一转动方向与第二磨具绕虚拟平面齿齿轮枢转轴线转动的磨具第二转动方向相反。磨具的转动在一定程度上可以看作是虚拟平面齿齿轮绕着虚拟平面齿齿轮枢转轴线相对于蜗杆的运动，这是由于磨具和虚拟平面齿齿轮都能够与相同转速的蜗杆啮合，以使得磨具在转动中的其中一个方向为绕着虚拟平面齿齿轮枢转轴线的转动。同时，磨具不同于虚拟平面齿齿轮之处在于，磨具还能够绕着自身的磨具旋转轴线高速转动，以实现对蜗杆的磨削。因此，磨具在对蜗杆进行磨削过程中，既能够绕着虚拟平面齿齿轮枢转轴线转动，也能够绕着磨具旋转轴线转动。During the processing of the left half worm and the right half worm, the first rotation direction of the worm in which the left half worm rotates around the worm axis of rotation is opposite to the second rotation direction of the worm in which the right half worm rotates around the worm axis of rotation. The first grinding tool rotation direction in which the first grinding tool rotates about the pivot axis of the virtual face tooth gear is opposite to the second grinding tool rotation direction in which the second grinding tool rotates about the virtual face tooth gear pivot axis. The rotation of the grinding tool can be regarded as the movement of the virtual face gear relative to the worm around the pivot axis of the virtual face gear to a certain extent, because both the grinding tool and the virtual face gear can mesh with the worm at the same speed, One of the directions in which the grinding tool is rotating is the rotation around the pivot axis of the virtual face tooth gear. At the same time, the grinding tool is different from the virtual plane tooth gear in that the grinding tool can also rotate at a high speed around its own grinding tool rotation axis to realize the grinding of the worm. Therefore, during the grinding process of the worm, the grinding tool can not only rotate around the pivot axis of the virtual plane tooth gear, but also rotate around the rotation axis of the grinding tool.

蜗轮在进行蜗轮左齿面加工时绕蜗轮旋转轴线转动的蜗轮第一转动方向与蜗轮在进行蜗轮右齿面加工时绕蜗轮旋转轴线转动的蜗轮第二转动方向相反。第一滚刀在加工蜗轮左齿面时绕虚拟蜗杆旋转轴线转动的滚刀第一转动方向与第二滚刀在加工蜗轮右齿面时绕虚拟蜗杆旋转轴线转动的滚刀第二转动方向。蜗轮在制造过程中利用第一滚刀与第二滚刀的更换实现蜗轮左齿面与蜗轮右齿面的依次磨削。第一滚刀和第二滚刀的安装次序能够被调换。The first rotation direction of the worm wheel rotating around the rotation axis of the worm wheel when processing the left tooth surface of the worm wheel is opposite to the second rotation direction of the worm wheel rotating around the rotation axis of the worm wheel when processing the right tooth surface of the worm wheel. The first hob rotation direction in which the first hob rotates around the virtual worm rotation axis when processing the left tooth surface of the worm wheel and the second rotation direction in which the second hob rotates around the virtual worm rotation axis when processing the right tooth surface of the worm gear. During the manufacturing process of the worm gear, the replacement of the first hob and the second hob is used to realize the sequential grinding of the left tooth surface of the worm wheel and the right tooth surface of the worm wheel. The installation order of the first hob and the second hob can be exchanged.

蜗杆加工过程中，控制蜗杆绕蜗杆旋转轴线的转速与磨具绕虚拟平面齿齿轮枢转轴线的转速之比等于预设的传动比。蜗轮加工过程中，控制蜗轮绕蜗轮旋转轴线的转速与滚刀绕虚拟蜗杆旋转轴线的转速之比等于预设的传动比。传动比是机构中两转动构件角速度的比值。During the machining process of the worm, the ratio of the rotational speed of the control worm around the axis of rotation of the worm to the rotational speed of the grinding tool around the pivot axis of the virtual plane tooth gear is equal to the preset transmission ratio. During the worm gear machining process, the ratio of the rotational speed of the control worm gear around the rotational axis of the worm gear to the rotational speed of the hob around the virtual worm rotational axis is equal to the preset transmission ratio. The transmission ratio is the ratio of the angular velocities of the two rotating members in the mechanism.

该技术方案的优点在于：在对蜗杆与蜗轮的齿面进行磨削加工时，不同的齿面需要加工件与被加工件以相应的旋转方向和适当的旋转速度转动，从而在相互配合的情况下完成磨削加工工艺。在进行蜗轮蜗杆加工前，可对期望获得的传动比进行预设，使得加工件与被加工件以相互匹配的速度值进行旋转磨削后，制得的蜗轮蜗杆能够满足预设的传动比。The advantage of this technical solution is that when grinding the tooth surfaces of worms and worm gears, different tooth surfaces require the workpiece and the workpiece to rotate in the corresponding direction of rotation and at an appropriate rotation speed, so that when they cooperate with each other Complete the grinding process. Before processing the worm gear, the desired transmission ratio can be preset, so that after the workpiece and the workpiece are rotated and ground at a speed value that matches each other, the manufactured worm gear can meet the preset transmission ratio.

蜗杆的轴向模数和/或轴向压力角与蜗轮的端面模数和/或端面压力角相匹配，以使得蜗杆与蜗轮正确啮合。轴向模数是轴向齿距除以圆周率所得到的商。端面模数是端面齿距除以圆周率所得到的商。轴向齿距是在蜗杆的轴平面内，两个相邻同侧齿廓之间的轴向距离。端面齿距是在蜗轮的端平面内，两个相邻同侧齿廓之间的分度圆弧长。齿廓是指齿面被一个与齿线相交的既定平面或曲面所截的截线。压力角是指不计算摩擦力的情况下，受力方向和运动方向所夹的锐角。The axial modulus and/or axial pressure angle of the worm are matched with the end face modulus and/or end face pressure angle of the worm gear, so that the worm and the worm gear are meshed correctly. The axial modulus is the quotient obtained by dividing the axial pitch by the pi. The face modulus is the quotient obtained by dividing the face pitch by the pi. The axial pitch is the axial distance between two adjacent tooth profiles on the same side in the axial plane of the worm. The end pitch is the length of the indexing arc between two adjacent tooth profiles on the same side in the end plane of the worm wheel. Tooth profile refers to the interception of the tooth surface by a predetermined plane or curved surface intersecting the tooth line. The pressure angle refers to the acute angle between the force direction and the motion direction without calculating the friction force.

该技术方案的优点在于：通过轴数与压力角的匹配来判断制造的蜗轮与蜗杆匹配程度，蜗杆是对轴线方向参数的判断，蜗轮时对端面方向参数的判断。The advantage of this technical solution is that the matching degree of the manufactured worm wheel and the worm is judged by the matching of the number of shafts and the pressure angle. The worm is judged on the axis direction parameter, and the end face direction parameter is judged on the worm gear.

本发明还提供了一种由上述制造方法制成的平面二次包络环面蜗轮蜗杆。平面二次包络环面蜗轮蜗杆至少包括彼此轴线异面的蜗杆和蜗轮。蜗杆至少包括同轴的左半段蜗杆和右半段蜗杆。左半段蜗杆和右半段蜗杆具有结构互不相同的齿面。当平面二次包络环面蜗轮蜗杆处于运行过程中时，左蜗杆齿面一直与蜗轮左齿面保持啮合，右蜗杆齿面一直与蜗轮右齿面保持啮合，从而完全消除平面二次包络环面蜗轮蜗杆在正反转过程中的齿侧间隙。左半段蜗杆与右半段蜗杆相向端面之间沿周向间隔设置有用于调整齿侧间隙的弹簧张紧装置，并通过蜗杆的环面结构以使得同时有若干个蜗轮的蜗齿与蜗杆的蜗道啮合，从而极大程度地提高了蜗轮蜗杆的承载能力。The present invention also provides a plane quadratic enveloping toroidal worm gear manufactured by the above-mentioned manufacturing method. A planar quadratic enveloping toroidal worm gear comprises at least a worm and a worm wheel whose axes are out of plane with each other. The worm comprises at least a coaxial left half section worm and a right half section worm. The left-half worm and the right-half worm have tooth surfaces with mutually different structures. When the plane quadratic enveloping toroidal worm gear is in operation, the tooth surface of the left worm keeps meshing with the left tooth surface of the worm gear, and the tooth surface of the right worm keeps meshing with the right tooth surface of the worm gear, thus completely eliminating the plane quadratic enveloping The backlash of the toroidal worm gear in the process of forward and reverse rotation. Between the opposite end faces of the left half of the worm and the right half of the worm, a spring tensioning device for adjusting the backlash of the teeth is arranged at intervals along the circumferential direction, and through the ring structure of the worm, there are several worm gears and worms at the same time. The worm gear meshes, thus greatly improving the load-carrying capacity of the worm gear.

该技术方案的优点在于：借助上述制造方法而制成的平面二次包络环面蜗轮蜗杆能够在运行过程中，左蜗杆齿面一直与蜗轮左齿面保持啮合，右蜗杆齿面一直与蜗轮右齿面保持啮合，以进一步地减小齿侧间隙，并可以在弹簧张紧装置的辅助作用下，完全消除平面二次包络环面蜗轮蜗杆在正反转过程中的齿侧间隙，从而可以极大程度地提高了蜗轮蜗杆的承载能力。The advantage of this technical solution is that the plane quadratic enveloping toroidal worm gear and worm produced by the above-mentioned manufacturing method can keep the left worm tooth surface meshing with the worm gear left tooth surface all the time, and the right worm tooth surface keep meshing with the worm gear tooth surface all the time. The right tooth surface keeps meshing to further reduce the tooth backlash, and with the assistance of the spring tensioner, it can completely eliminate the backlash of the plane secondary enveloping toroidal worm gear during the forward and reverse rotation, so that The bearing capacity of the worm gear can be greatly improved.

本发明还提供一种平面二次包络环面蜗轮蜗杆，至少包括：旋转轴线彼此异面的蜗杆和蜗轮，其中，所述蜗杆至少包括同轴套设的左半段蜗杆和右半段蜗杆，所述蜗杆是通过下述方法制造的：在加工过程中，所述左半段蜗杆绕蜗杆旋转轴线转动的蜗杆第一转动方向与所述右半段蜗杆绕蜗杆旋转轴线转动的蜗杆第二转动方向相反。The present invention also provides a planar quadratic enveloping toroidal worm gear and worm, which at least includes: a worm and a worm gear whose rotation axes are different from each other, wherein the worm at least includes a left half worm and a right half worm coaxially sleeved , the worm is manufactured by the following method: during processing, the first rotation direction of the worm in which the left half of the worm rotates around the axis of rotation of the worm and the second direction of rotation of the worm in which the right half of the worm rotates around the axis of rotation of the worm The direction of rotation is opposite.

优选地，所述蜗轮蜗杆由旋转轴线彼此异面的蜗杆与蜗轮在模数和/或压力角匹配的情况下啮合而成；其中，蜗杆旋转轴线以及蜗轮旋转轴线彼此正交。Preferably, the worm gear and worm are formed by meshing the worm gear and the worm gear whose rotation axes are in different planes with matching modulus and/or pressure angle; wherein, the rotation axis of the worm screw and the rotation axis of the worm gear are orthogonal to each other.

优选地，所述左半段蜗杆和所述右半段蜗杆具有结构互不相同的齿面，其中，当所述平面二次包络环面蜗轮蜗杆处于运行过程中时，所述左蜗杆齿面一直与所述蜗轮左齿面保持啮合，所述右蜗杆齿面一直与所述蜗轮右齿面保持啮合，从而完全消除所述平面二次包络环面蜗轮蜗杆在正反转过程中的齿侧间隙。Preferably, the left-half worm and the right-half worm have tooth surfaces with mutually different structures, wherein when the planar quadratic enveloping toroidal worm gear and worm is in operation, the teeth of the left worm The tooth surface of the right worm gear is always in mesh with the left tooth surface of the worm gear, and the tooth surface of the right worm gear is always in mesh with the right tooth surface of the worm wheel, thereby completely eliminating the Backlash.

本发明还提供一种平面二次包络环面蜗轮蜗杆的制造方法，所述制造方法至少包括如下步骤：所述蜗杆的左半段蜗杆和右半段蜗杆分别基于相应的母面经过共轭运动包络形成彼此不同的左蜗杆齿面和右蜗杆齿面，其中，所述左半段蜗杆和所述右半段蜗杆在加工过程中，所述左半段蜗杆绕蜗杆旋转轴线转动的蜗杆第一转动方向与所述右半段蜗杆绕蜗杆旋转轴线转动的蜗杆第二转动方向相反。The present invention also provides a method for manufacturing a plane quadratic enveloping toroidal worm gear. The manufacturing method at least includes the following steps: the left half of the worm and the right half of the worm are respectively based on the corresponding parent surfaces through conjugated The motion envelope forms a left worm tooth surface and a right worm tooth surface different from each other, wherein, during the processing of the left half worm and the right half worm, the left half worm rotates around the worm rotation axis The first rotation direction is opposite to the second rotation direction of the worm in which the right half of the worm rotates around the worm rotation axis.

优选地，所述制造方法还包括：所述蜗轮在进行所述蜗轮左齿面加工时绕蜗轮旋转轴线转动的蜗轮第一转动方向与所述蜗轮在进行所述蜗轮右齿面加工时绕蜗轮旋转轴线转动的蜗轮第二转动方向相反。Preferably, the manufacturing method further includes: the first rotation direction of the worm wheel in which the worm wheel rotates around the worm wheel rotation axis when processing the left tooth surface of the worm wheel is the same as The second direction of rotation of the worm wheel whose axis of rotation rotates is opposite.

优选地，第一滚刀在加工所述蜗轮左齿面时绕虚拟蜗杆旋转轴线转动的滚刀第一转动方向与第二滚刀在加工所述蜗轮右齿面时绕虚拟蜗杆旋转轴线转动的滚刀第二转动方向相反。Preferably, the first hob rotation direction in which the first hob turns around the virtual worm rotation axis when processing the left tooth surface of the worm wheel is the same as the first hob rotation direction in which the second hob rotates around the virtual worm rotation axis when processing the right tooth surface of the worm wheel. The second rotation of the hob is in the opposite direction.

优选地，所述方法还包括：将第一磨具沿磨具第一转动方向以小于虚拟平面齿齿轮的齿距角的角度偏移，以大于所述左蜗杆齿面的左侧齿面磨削量的程度对其右侧齿面进行磨削；将第二磨具沿磨具第二转动方向以小于虚拟平面齿齿轮的齿距角的角度偏移，以大于所述右蜗杆齿面的右侧齿面磨削量的程度对其左侧齿面进行磨削；所述第一磨具绕虚拟平面齿齿轮枢转轴线转动的所述磨具第一转动方向与所述第二磨具绕虚拟平面齿齿轮枢转轴线转动的所述磨具第二转动方向相反。Preferably, the method further includes: shifting the first grinder along the first rotation direction of the grinder at an angle smaller than the pitch angle of the virtual plane tooth gear, so as to grind the left side of the tooth surface larger than the left worm tooth surface. Grinding the right side tooth surface to the extent of cutting amount; the second grinding tool is shifted along the second rotation direction of the grinding tool at an angle smaller than the tooth pitch angle of the virtual plane tooth gear, so as to be larger than the tooth surface of the right worm The grinding amount of the right side tooth surface grinds its left side tooth surface; A second rotation of the abrasive tool about the pivot axis of the imaginary face tooth gear is in the opposite direction.

优选地，所述制造方法还包括：将经过磨削而成的所述蜗杆与所述蜗轮进行啮合以构成所述平面二次包络环面蜗轮蜗杆，其中，将所述左半段蜗杆的所述左蜗杆齿面啮合于所述蜗轮左齿面，将所述右半段蜗杆的所述右蜗杆齿面啮合于所述蜗轮右齿面。Preferably, the manufacturing method further includes: meshing the ground worm with the worm wheel to form the planar quadratic enveloping toroidal worm gear, wherein the left half of the worm The tooth surface of the left worm meshes with the left tooth surface of the worm wheel, and the tooth surface of the right worm of the right half-section worm meshes with the right tooth surface of the worm wheel.

优选地，所述制造方法还包括：所述制造方法还包括：在制造过程中利用第一滚刀与第二滚刀的更换实现所述蜗轮左齿面与所述蜗轮右齿面的依次磨削，其中，所述第一滚刀和所述第二滚刀的安装次序能够被调换。Preferably, the manufacturing method further includes: the manufacturing method further includes: during the manufacturing process, the replacement of the first hob and the second hob is used to sequentially grind the left tooth surface of the worm wheel and the right tooth surface of the worm wheel cutting, wherein the installation order of the first hob and the second hob can be exchanged.

优选地，所述制造方法还包括：在所述制造方法还包括：所述蜗杆加工过程中，控制所述蜗杆绕所述蜗杆旋转轴线的转速与所述磨具绕所述虚拟平面齿齿轮枢转轴线的转速之比等于预设的传动比。Preferably, the manufacturing method further includes: the manufacturing method further includes: during the processing of the worm, controlling the rotation speed of the worm around the worm rotation axis and the rotation speed of the grinding tool around the virtual plane tooth gear pivot The ratio of the rotational speeds of the rotating shafts is equal to the preset transmission ratio.

优选地，所述制造方法还包括：在所述蜗轮加工过程中，控制所述蜗轮绕所述蜗轮旋转轴线的转速与所述滚刀绕所述虚拟蜗杆旋转轴线的转速之比等于预设的传动比。Preferably, the manufacturing method further includes: during the machining process of the worm gear, controlling the ratio of the rotation speed of the worm wheel around the rotation axis of the worm wheel to the rotation speed of the hob around the virtual worm rotation axis to be equal to a preset gear ratio.

优选地，所述制造方法还包括：滚刀制造步骤：根据所述蜗杆切分的数量确定所述滚刀的制造数量，所述滚刀至少包括第一滚刀与第二滚刀，其中，所述第一滚刀的工艺参数根据所述左蜗杆齿面的设计结构而确定，所述第二滚刀的工艺参数根据所述右蜗杆齿面的设计结构而确定。Preferably, the manufacturing method further includes: a hob manufacturing step: determining the manufacturing quantity of the hob according to the number of cuts of the worm, and the hob includes at least a first hob and a second hob, wherein, The process parameters of the first hob are determined according to the design structure of the tooth surface of the left worm, and the process parameters of the second hob are determined according to the design structure of the tooth surface of the right worm.

本发明还提供一种平面二次包络环面蜗轮蜗杆的制造方法，所述制造方法至少包括如下步骤：将第一磨具沿磨具第一转动方向以小于虚拟平面齿齿轮的齿距角的角度偏移，以大于所述左蜗杆齿面的左侧齿面磨削量的程度对其右侧齿面进行磨削；The present invention also provides a method for manufacturing a plane quadratic enveloping toroidal worm gear. The manufacturing method at least includes the following steps: the first grinding tool is rotated along the first rotation direction of the grinding tool at an angle smaller than the pitch angle of the virtual plane tooth gear. The angular offset of the left worm tooth surface is ground to a degree greater than the grinding amount of the left tooth surface of the left worm tooth surface;

将第二磨具沿磨具第二转动方向以小于虚拟平面齿齿轮的齿距角的角度偏移，以大于所述右蜗杆齿面的右侧齿面磨削量的程度对其左侧齿面进行磨削；The second grinding tool is shifted along the second rotation direction of the grinding tool at an angle smaller than the pitch angle of the virtual plane tooth gear, and the grinding amount of the right tooth surface of the right worm tooth surface is greater than that of the right tooth surface of the right worm tooth surface. surface grinding;

所述第一磨具绕虚拟平面齿齿轮枢转轴线转动的所述磨具第一转动方向与所述第二磨具绕虚拟平面齿齿轮枢转轴线转动的所述磨具第二转动方向相反。The first rotational direction of the mill in which the first mill rotates about the pivot axis of the virtual face tooth gear is opposite to the second direction of rotation of the mill in which the second mill rotates about the pivot axis of the virtual face tooth gear .

优选地，所述制造方法还包括：所述蜗轮在进行所述蜗轮左齿面加工时绕蜗轮旋转轴线转动的蜗轮第一转动方向与所述蜗轮在进行所述蜗轮右齿面加工时绕蜗轮旋转轴线转动的蜗轮第二转动方向相反；Preferably, the manufacturing method further includes: the first rotation direction of the worm wheel in which the worm wheel rotates around the worm wheel rotation axis when processing the left tooth surface of the worm wheel is the same as The second rotation direction of the worm wheel whose rotation axis rotates is opposite;

第一滚刀在加工所述蜗轮左齿面时绕虚拟蜗杆旋转轴线转动的滚刀第一转动方向与第二滚刀在加工所述蜗轮右齿面时绕虚拟蜗杆旋转轴线转动的滚刀第二转动方向相反。The first hob rotation direction in which the first hob rotates around the virtual worm rotation axis when processing the left tooth surface of the worm wheel is the same as the first hob rotation direction in which the second hob rotates around the virtual worm rotation axis when processing the right tooth surface of the worm wheel. Two rotation directions are opposite.

优选地，所述制造方法还包括：所述蜗杆在制造前根据所述左半段蜗杆和所述右半段蜗杆各自的设计结构通过以下公式进行计算以确定对应的工艺参数：Preferably, the manufacturing method further includes: before manufacturing, the worm is calculated according to the respective design structures of the left half worm and the right half worm by the following formula to determine the corresponding process parameters:

根据齿轮啮合理论，齿面在啮合过程中的产生的啮合点处的公共法矢量与其相对运动速度矢量相正交，即在啮合点处，两啮合齿面沿公共法矢量方向的相对位置保持静止，则可得两齿面在啮合点处的啮合方程：ν ¹²·n＝0 According to the gear meshing theory, the common normal vector at the meshing point generated by the tooth surface during the meshing process is orthogonal to its relative motion velocity vector, that is, at the meshing point, the relative position of the two meshing tooth surfaces along the direction of the common normal vector remains stationary , then the meshing equation of the two tooth surfaces at the meshing point can be obtained: ν ¹² ·n=0

其中，ν ¹²是啮合位置的相对运动速度，n为啮合位置的公共法矢量， Among them, ν ¹² is the relative motion velocity of the meshing position, n is the public normal vector of the meshing position,

将啮合点处的相对速度矢量投影到n轴上，即可得到传动的啮合函数：The meshing function of the transmission can be obtained by projecting the relative velocity vector at the meshing point onto the n-axis:

其中，Φ为啮合函数，M ₁、M ₂、M ₃均为方程系数，

为蜗杆起始角，δ _F为安装倾角，β为母平面倾角，A为中心距，i为传动比，u、v为啮合点在动坐标系中的数值。 Among them, Φ is the meshing function, M ₁ , M ₂ , M ₃ are equation coefficients,

is the starting angle of the worm, δ _F is the installation inclination, β is the inclination of the parent plane, A is the center distance, i is the transmission ratio, u and v are the values of the meshing point in the moving coordinate system.

附图说明Description of drawings

图1为左蜗杆齿面磨削的加工示意图；Fig. 1 is the machining sketch map of left worm tooth surface grinding;

图2为右蜗杆齿面磨削的加工示意图；Fig. 2 is the processing sketch map of right worm tooth surface grinding;

图3为蜗轮左齿面磨削的加工示意图；Fig. 3 is the machining sketch map of worm gear left tooth surface grinding;

图4为蜗轮右齿面磨削的加工示意图；Fig. 4 is the processing sketch map of worm gear right tooth surface grinding;

图5为平面二次包络环面蜗轮蜗杆的三视图。Fig. 5 is a three-view view of the planar quadratic enveloping toroidal worm gear.

附图标记列表List of reference signs

1：平面二次包络环面蜗轮蜗杆；100：蜗杆；110：左半段蜗杆；111：左蜗杆齿面；120：右半段蜗杆；121：右蜗杆齿面；130：蜗杆轴；140：蜗杆旋转轴线；150：虚拟平面齿齿轮枢转轴线；160：蜗道；170：磨具旋转轴线；200：蜗轮；210：蜗轮左齿面；220：蜗轮右齿面；230：蜗齿240；蜗轮旋转轴线；250：虚拟蜗杆旋转轴线；300：磨具；310：第一磨具320；第二磨具；400：滚刀；410；第一滚刀；420：第二滚刀；500；蜗杆第一转动方向；510：蜗杆第二转动方向；520：磨具第一转动方向；530：磨具第二转动方向；540：蜗轮第一转动方向；550：蜗轮第二转动方向；560：滚刀第一转动方向；570：滚刀第二转动方向；X：第一方向的正方向；Y：第二方向的正方向。1: planar quadratic enveloping toroidal worm gear; 100: worm; 110: left half worm; 111: left worm tooth surface; 120: right half worm tooth surface; 121: right worm tooth surface; 130: worm shaft; 140 : worm rotation axis; 150: virtual plane gear pivot axis; 160: worm track; 170: mold rotation axis; 200: worm gear; 210: worm gear left tooth surface; 220: worm gear right tooth surface; 230: worm gear 240 ;rotation axis of worm wheel;250:virtual worm rotation axis;300:abrasive;310:first abrasive 320;second abrasive;400:hob;410;first hob;420:second hob;500 ;The first rotation direction of the worm; 510: the second rotation direction of the worm; 520: the first rotation direction of the grinding tool; 530: the second rotation direction of the grinding tool; 540: the first rotation direction of the worm wheel; 550: the second rotation direction of the worm wheel; 560 : the first rotation direction of the hob; 570: the second rotation direction of the hob; X: the positive direction of the first direction; Y: the positive direction of the second direction.

具体实施方式Detailed ways

下面结合附图进行详细说明。A detailed description will be given below in conjunction with the accompanying drawings.

实施例1Example 1

本发明提供了一种平面二次包络环面蜗轮蜗杆1的制造方法，其包括蜗杆100制造步骤、滚刀400制造步骤及蜗轮200制造步骤，其中，当蜗轮200是一个齿廓为直线的具有简单齿面的齿轮时，与蜗轮200对应的蜗杆100即为平面一次包络环面蜗杆传动。由平面包络形成的蜗杆齿面可以进行精确磨削,以使得不仅提高了加工精度，还可以采用硬齿面以提高承载能力。同时，可用蜗杆100的设计结构作为制造滚刀400的工艺参数，并按共轭运动重新包络出对应的蜗轮200，从而使得蜗轮200与蜗杆100组成在工作时可实现双线接触以提高承载能力和传动精度的平面二次包络环面蜗轮蜗杆1。平面二次包络环面蜗轮蜗杆1的制造方法的原理是以平面为母面通过相对圆周运动包络出环面蜗杆100的齿面，再以蜗杆100的齿面为母面通过相对运动包络出蜗轮200的齿面，以使得制得的平面二次包络环面蜗轮蜗杆1的在轴向上具有一定弧度的蜗杆100具有承载能力大、传动精度高、使用寿命长等优点。优选地，本发明所公开的平面二次包络环面蜗轮蜗杆1是由两个平面作为母面经过两次包络而形成的。The present invention provides a method for manufacturing a plane quadratic enveloping toroidal worm gear 1, which includes the steps of manufacturing the worm 100, the manufacturing step of the hob 400 and the manufacturing step of the worm wheel 200, wherein, when the worm wheel 200 is a straight tooth profile For a gear with a simple tooth surface, the worm 100 corresponding to the worm wheel 200 is a planar primary enveloping toroidal worm drive. The worm tooth surface formed by the plane envelope can be precisely ground, so that not only the machining accuracy is improved, but also the hard tooth surface can be used to improve the load-carrying capacity. At the same time, the design structure of the worm 100 can be used as the process parameter for manufacturing the hob 400, and the corresponding worm wheel 200 can be re-enveloped according to the conjugate motion, so that the worm wheel 200 and the worm 100 can realize double-line contact during operation to improve the bearing capacity. Capacity and transmission accuracy of planar quadratic enveloping toroidal worm gears 1 . The principle of the manufacturing method of the plane quadratic enveloping toroidal worm gear 1 is to envelop the tooth surface of the toroidal worm 100 through relative circular motion with the plane as the parent surface, and then use the tooth surface of the worm 100 as the parent surface to wrap the tooth surface through the relative motion. The tooth surface of the worm wheel 200 is wrapped, so that the obtained planar double-enveloping toroidal worm gear 1 with a certain radian in the axial direction has the advantages of large bearing capacity, high transmission precision, and long service life. Preferably, the planar quadratic enveloping toroidal worm gear 1 disclosed in the present invention is formed by two planes serving as the parent surfaces and enveloping twice.

在本实施例中，平面二次包络环面蜗轮蜗杆1的制造可先根据虚拟平面齿齿轮确定蜗杆100的设计结构并进行制造，再根据蜗杆100的设计结构来加工对应的滚刀400，最后利用加工而成的滚刀400对蜗轮200进行制造以获得匹配于蜗杆100齿面的蜗轮200齿面，从而使得制造的蜗轮200与蜗杆100之间能够相互啮合而构成完整的平面二次包络环面蜗轮蜗杆1。In this embodiment, the manufacture of the planar quadratic enveloping toroidal worm gear 1 can first determine and manufacture the design structure of the worm 100 according to the virtual planar gear, and then process the corresponding hob 400 according to the design structure of the worm 100, Finally, the processed hob 400 is used to manufacture the worm wheel 200 to obtain the tooth surface of the worm wheel 200 that matches the tooth surface of the worm 100, so that the manufactured worm wheel 200 and the worm 100 can mesh with each other to form a complete planar secondary package. Network toroidal worm gear 1.

图1和图2为蜗杆100的分段加工示意图，其中，蜗杆100的轴向定义为第一方向，第一方向的正方向X为左半段蜗杆110指向右半段蜗杆120的方向，图1为左蜗杆齿面111磨削的加工示意图，图2为右蜗杆齿面121磨削的加工示意图。Fig. 1 and Fig. 2 are schematic diagrams of segmental processing of the worm 100, wherein the axial direction of the worm 100 is defined as the first direction, and the positive direction X of the first direction is the direction in which the left half of the worm 110 points to the right half of the worm 120, as shown in Fig. 1 is a schematic diagram of grinding the tooth surface 111 of the left worm, and FIG. 2 is a schematic diagram of grinding the tooth surface 121 of the right worm.

在一优选实施方式中，进行蜗杆100制造时可将蜗杆100分为左半段蜗杆110和右半段蜗杆120以利用磨具300绕模具旋转轴线170的高速旋转进行分段加工，其中，用于加工左半段蜗杆110的称为第一磨具310和用于加工右半段蜗杆120的称为第二磨具320。优选地，磨具300采用砂轮对蜗杆100进行磨削。第一磨具310与第二磨具320可以是不同形状的砂轮。左蜗杆齿面111与右蜗杆齿面121可以分别看作是由对应的不同齿形的虚拟平面齿齿轮的齿面作为母面经过共轭运动包络形成，虚拟平面齿齿轮可包括第一虚拟平面齿齿轮和第二虚拟平面齿齿轮。在蜗杆100制造时，通过机床的联动使得砂轮的磨削平面与虚拟平面齿齿轮的齿面重合，并绕虚拟平面齿齿轮枢转轴线150转动，同时蜗杆100绕自身的蜗杆旋转轴线140转动，两者的旋转速度和方向通过平面二次包络环面蜗轮蜗杆1的旋向和传动比确定，虚拟平面齿齿轮枢转轴线150与蜗杆旋转轴线140距离等于平面二次包络环面蜗轮蜗杆1的中心距，从而利用砂轮平面包络磨削出蜗杆齿面。在使用第一磨具310加工左半段蜗杆110和使用第二磨具320加工右半段蜗杆120的两种情况下，磨具300绕虚拟平面齿齿轮枢转轴线150转动的方向和蜗杆100绕蜗杆旋转轴线140旋转的方向均相反。In a preferred embodiment, when the worm 100 is manufactured, the worm 100 can be divided into the left half worm 110 and the right half worm 120 so that the high-speed rotation of the grinding tool 300 around the mold rotation axis 170 can be used for segmentation processing, wherein The one used for processing the left half worm 110 is called the first grinding tool 310 and the one used for processing the right half worm 120 is called the second grinding tool 320 . Preferably, the grinding tool 300 uses a grinding wheel to grind the worm 100 . The first grinding tool 310 and the second grinding tool 320 may be grinding wheels of different shapes. The left worm tooth surface 111 and the right worm tooth surface 121 can be regarded as respectively formed by the tooth surfaces of the corresponding virtual flat tooth gears with different tooth shapes as the parent surfaces through the conjugate motion envelope, and the virtual flat tooth gear can include the first virtual A face gear and a second dummy face gear. When the worm 100 is manufactured, the grinding plane of the grinding wheel coincides with the tooth surface of the virtual plane gear through the linkage of the machine tool, and rotates around the pivot axis 150 of the virtual plane gear, while the worm 100 rotates around its own worm rotation axis 140, The rotation speed and direction of the two are determined by the direction of rotation and transmission ratio of the plane quadratic enveloping toroidal worm gear 1, and the distance between the virtual plane tooth gear pivot axis 150 and the worm rotation axis 140 is equal to that of the plane quadratic enveloping toroidal worm gear The center distance of 1, so that the worm tooth surface can be ground by using the plane envelope of the grinding wheel. In the two cases where the first grinding tool 310 is used to process the left half-section worm 110 and the second grinding tool 320 is used to process the right half-section worm 120 , the rotation direction of the grinding tool 300 around the virtual plane tooth gear pivot axis 150 and the worm 100 The directions of rotation about the worm axis of rotation 140 are all opposite.

在一优选实施方式中，蜗杆100制造步骤可包括如下分步骤：In a preferred embodiment, the manufacturing steps of the worm 100 may include the following sub-steps:

S1.1、分别利用第一磨具310和第二磨具320以相同的切入角度和/或切入深度对绕着蜗杆旋转轴线140转动的左半段蜗杆110和右半段蜗杆120的毛坯进行磨削加工以形成各自对应的一次加工件；S1.1, use the first grinding tool 310 and the second grinding tool 320 to carry out the blanks of the left half worm 110 and the right half worm 120 rotating around the worm rotation axis 140 at the same angle of cut and/or depth of cut respectively Grinding to form respective corresponding primary workpieces;

S1.2、将第一磨具310沿磨具第一转动方向520以小于虚拟平面齿齿轮的齿距角的角度偏移并对左半段蜗杆110的一次加工件进行磨削，以使得左蜗杆齿面111的右侧齿面比其左侧齿面的磨削量更大；将第二磨具320沿磨具第二转动方向530以小于虚拟平面齿齿轮的齿距角的角度偏移并对右半段蜗杆120的一次加工件进行磨削，以使得右蜗杆齿面121的左侧齿面比其右侧齿面的磨削量更大；S1.2. Offset the first grinder 310 along the first rotation direction 520 of the grinder at an angle smaller than the pitch angle of the virtual plane tooth gear and grind the primary workpiece of the left half worm 110, so that the left half The grinding amount of the right tooth surface of the worm tooth surface 111 is larger than that of the left tooth surface; the second grinding tool 320 is shifted along the second rotation direction 530 of the grinding tool at an angle smaller than the pitch angle of the virtual flat tooth gear And the primary workpiece of the right half section worm 120 is ground, so that the grinding amount of the left side tooth surface of the right worm tooth surface 121 is larger than its right side tooth surface;

S1.3、通过蜗杆轴130将左半段蜗杆110和右半段蜗杆120组合以形成蜗杆。S1.3. Combine the left-half worm 110 and the right-half worm 120 through the worm shaft 130 to form a worm.

在一种优选实施方式中，左半段蜗杆110和右半段蜗杆120在分别加工各自的齿廓时，需要根据蜗杆头数、蜗轮齿数、蜗轮蜗杆中心距、蜗杆齿顶高、蜗杆齿根高、蜗轮齿顶高、蜗轮齿根高、截面齿型角、牙型角、调整间隙等参数通过公式计算来分别求得彼此具有不同设计结构的左半段蜗杆110和右半段蜗杆120所对应的工艺参数。进一步地，左半段蜗杆110和右半段蜗杆120的工艺参数可由如下公式推导计算得出：In a preferred embodiment, when the left-half worm 110 and the right-half worm 120 process their respective tooth profiles, it needs to be based on the number of worm heads, the number of worm gear teeth, the center distance of the worm gear, the height of the worm addendum, and the height of the worm dedendum. Parameters such as height, worm gear addendum height, worm gear root height, cross-sectional tooth profile angle, tooth profile angle, and adjustment clearance are calculated by formulas to obtain the left-half worm 110 and right-half worm 120 with different design structures. Corresponding process parameters. Further, the process parameters of the left-half worm 110 and the right-half worm 120 can be deduced and calculated by the following formula:

根据齿轮啮合理论，齿面在啮合过程中的产生的啮合点处的公共法矢量与其相对运动速度矢量相正交，即在啮合点处，两啮合齿面沿公共法矢量方向的相对位置保持静止，则可得两齿面在啮合点处的啮合方程：ν ¹²·n＝0。其中，ν ¹²是啮合位置的相对运动速度，n为啮合位置的公共法矢量。 According to the gear meshing theory, the common normal vector at the meshing point generated by the tooth surface during the meshing process is orthogonal to its relative motion velocity vector, that is, at the meshing point, the relative position of the two meshing tooth surfaces along the direction of the common normal vector remains stationary , then the meshing equation of the two tooth surfaces at the meshing point can be obtained: ν ¹² ·n=0. Among them, ν ¹² is the relative velocity of the meshing position, and n is the public normal vector of the meshing position.

将啮合点处的相对速度矢量投影到n轴上，即可得到该传动的啮合函数：The meshing function of the transmission can be obtained by projecting the relative velocity vector at the meshing point onto the n-axis:

其中，Φ为啮合函数，M ₁、M ₂、M ₃均为方程系数，

为蜗杆起始角，δ _F为安装倾角，β为母平面倾角，A为中心距，i为传动比。u、v为啮合点在动坐标系中的数值。 Among them, Φ is the meshing function, M ₁ , M ₂ , M ₃ are equation coefficients,

is the starting angle of the worm, δ _F is the installation inclination, β is the inclination of the mother plane, A is the center distance, and i is the transmission ratio. u and v are the values of the meshing point in the moving coordinate system.

在一优选实施方式中，在进行蜗杆100分段加工前，左半段蜗杆110和右半段蜗杆120根据设计结构基于计算公式获得的工艺参数，可以保证至少位于啮合间隙处的左半段蜗杆110和右半段蜗杆120在各自相向端面上的蜗杆齿面的齿顶倒角相互配合，从而形成蜗杆100侧面流畅的螺旋线，由此可避免设计结构不同的左半段蜗杆110和右半段蜗杆120在啮合间隙处无法匹配的情况发生。In a preferred embodiment, before performing segmental processing of the worm 100, the left half worm 110 and the right half worm 120 can ensure that at least the left half worm located at the meshing gap 110 and the right-half worm 120 cooperate with each other on the tooth top chamfers of the worm tooth surfaces on the opposite end faces, thereby forming a smooth spiral line on the side of the worm 100, thus avoiding the design of the left-half worm 110 and the right-half worm with different structures. It occurs that the worm segments 120 do not match at the mesh gap.

由于左半段蜗杆110和右半段蜗杆120的工艺参数互不相同以使得左蜗杆齿面111与右蜗杆齿面121具有不同的结构，因此在进行平面二次包络环面加工时，可根据左半段蜗杆110和右半段蜗杆120不同的齿面结构制造出对应的不同结构的滚刀400。滚刀400可至少包括对应于左半段蜗杆110的第一滚刀410和对应于右半段蜗杆120的第二滚刀420，其中，第一滚刀410可用于加工蜗轮左齿面210，第二滚刀420可用于加工蜗轮右齿面220。优选地，滚刀400的类型和主要参数与蜗杆100相同，其中，滚刀400的主要参数可包括模数﹑齿形角﹑分度圆直径﹑螺旋升角和螺纹头数等。可选地，根据滚刀400的外径大小，可将滚刀400制成套装式或带柄式。Since the process parameters of the left-half worm 110 and the right-half worm 120 are different from each other, the left worm tooth surface 111 and the right worm tooth surface 121 have different structures. According to the different tooth surface structures of the left-half worm 110 and the right-half worm 120 , corresponding hobs 400 with different structures are manufactured. The hob 400 may at least include a first hob 410 corresponding to the left half of the worm 110 and a second hob 420 corresponding to the right half of the worm 120, wherein the first hob 410 can be used to process the left tooth surface 210 of the worm wheel, The second hob 420 can be used to process the right tooth surface 220 of the worm gear. Preferably, the type and main parameters of the hob 400 are the same as those of the worm 100 , wherein the main parameters of the hob 400 may include modulus, tooth profile angle, pitch circle diameter, helix angle, and number of thread starts. Optionally, according to the outer diameter of the hob 400, the hob 400 can be made into a set type or a handle type.

在一优选实施方式中，滚刀400制造S2可包括如下分步骤：In a preferred embodiment, the manufacturing S2 of the hob 400 may include the following sub-steps:

S2.1、根据左半段蜗杆110和右半段蜗杆120各自的设计结构，确定滚刀400中第一滚刀410和第二滚刀420的基本结构，并进行依次加工；S2.1. According to the respective design structures of the left-half worm 110 and the right-half worm 120, determine the basic structures of the first hob 410 and the second hob 420 in the hob 400, and perform sequential processing;

S2.2、根据滚刀400的基本结构，在普通磨床上用磨轮对滚刀400的毛坯加工出所需滚刀400的内孔、外圆、两个端面及所有的前刀面，并使各前刀面的前角为零度，以得到半成品滚刀；S2.2. According to the basic structure of the hob 400, the inner hole, outer circle, two end faces and all rake faces of the hob 400 are processed on the blank of the hob 400 with a grinding wheel on an ordinary grinding machine, and the The rake angle of each rake face is zero degrees to obtain a semi-finished hob;

S2.3、将滚刀400齿形按放大比例放大n倍，用线切割加工出与放大n倍后的滚刀400齿形相匹配的样板，并用加工好的标准样板去检验该样板，得到符合技术要求的合格样板；S2.3. Enlarge the tooth shape of the hob 400 by n times according to the magnification ratio, and use wire cutting to process a model that matches the tooth shape of the hob 400 after the magnification by n times, and use the processed standard model to test the model, and obtain the conformity Qualified samples for technical requirements;

S2.4、将上述加工好的样板安装在样板磨床上并缩小n倍，由样板磨床加工出轧辊铣刀，然后用标准样板检验该轧辊铣刀，得到符合技术要求的合格的轧辊铣刀；S2.4, install the above-mentioned processed template on the sample grinder and reduce it by n times, process the roll milling cutter by the sample grinder, then use the standard template to check the roll milling cutter, and obtain a qualified roll milling cutter that meets the technical requirements;

S2.5、在铣床上，用上述合格的轧辊铣刀加工出退火后的轧辊，并用标准样板检验该轧辊，得到符合技术要求的合格轧辊；S2.5, on the milling machine, process the annealed roll with the above-mentioned qualified roll milling cutter, and check the roll with a standard sample to obtain a qualified roll that meets the technical requirements;

S2.6、在轧辊机床上，用上述合格的轧辊挤压出金刚石磨轮的轮齿，并用标准样板检验该金刚石磨轮的轮齿，得到符合技术要求的合格金刚石磨轮的轮齿；S2.6, on the roll lathe, extrude the gear teeth of the diamond grinding wheel with the above-mentioned qualified rolls, and check the gear teeth of the diamond grinding wheel with a standard template, and obtain the gear teeth of the qualified diamond grinding wheel meeting the technical requirements;

S2.7、在铲磨机床上，用上述加工好的金刚石磨轮的轮齿对的半成品滚刀进行铲磨，加工获得滚刀400的齿形，并用滚刀样板检验该滚刀400的齿形，获得符合加工要求的合格的滚刀400。S2.7. On the relief grinding machine, use the above-mentioned processed diamond grinding wheel teeth to carry out relief grinding on the semi-finished hob to obtain the tooth profile of the hob 400, and use the hob template to check the tooth profile of the hob 400 , Obtain a qualified hob 400 that meets the processing requirements.

图3和图4均为蜗轮200的加工示意图，其中，蜗轮200的周向定义为第二方向，第二方向的正方向Y为同一蜗齿230的蜗轮左齿面210指向蜗轮右齿面220的方向。图3为蜗轮左齿面210磨削的加工示意图，图4为蜗轮右齿面220磨削的加工示意图。Fig. 3 and Fig. 4 are the processing schematic diagrams of the worm wheel 200, wherein, the circumferential direction of the worm wheel 200 is defined as the second direction, and the positive direction Y of the second direction is that the worm wheel left tooth surface 210 of the same worm tooth 230 points to the worm wheel right tooth surface 220 direction. FIG. 3 is a schematic diagram of grinding the left tooth surface 210 of the worm wheel, and FIG. 4 is a schematic diagram of grinding the right tooth surface 220 of the worm wheel.

利用制得的第一滚刀410和第二滚刀420分别对蜗轮左齿面210和蜗轮右齿面220进行磨削，蜗轮左齿面210与蜗轮右齿面220可以分别看作是由对应的不同齿形的虚拟蜗杆100的齿面作为母面经过共轭运动包络形成，虚拟蜗杆可包括第一虚拟蜗杆和第二虚拟蜗杆。在蜗轮200制造时，通过机床的联动使得滚刀400的轴线与虚拟蜗杆旋转轴线250重合，并绕虚拟蜗杆旋转轴线250转动，同时蜗轮200绕自身的蜗轮旋转轴线240转动，两者的旋转速度和方向通过平面二次包络环面蜗轮蜗杆1的旋向和传动比确定，从而利用滚刀400包络磨削出蜗轮齿面。在使用第一滚刀410加工蜗轮左齿面210和使用第二滚刀420加工蜗轮右齿面220的两种情况下，滚刀400绕虚拟蜗杆旋转轴线250旋转的方向与蜗轮200绕蜗轮旋转轴线240旋转的方向均相反。The first hob 410 and the second hob 420 are used to grind the left tooth surface 210 of the worm wheel and the right tooth surface 220 of the worm wheel respectively, and the left tooth surface 210 and the right tooth surface 220 of the worm wheel can be regarded as corresponding The tooth surface of the virtual worm 100 with different tooth shapes is formed as a generatrix through a conjugate motion envelope, and the virtual worm may include a first virtual worm and a second virtual worm. When the worm gear 200 is manufactured, the axis of the hob 400 coincides with the virtual worm rotation axis 250 through the linkage of the machine tool, and rotates around the virtual worm rotation axis 250, while the worm gear 200 rotates around its own worm rotation axis 240. The sum direction is determined by the direction of rotation and the transmission ratio of the plane quadratic enveloping toroidal worm gear 1 , so that the hob 400 is used to envelope grind the worm gear tooth surface. In the two cases where the first hob 410 is used to process the left tooth surface 210 of the worm wheel and the second hob 420 is used to process the right tooth surface 220 of the worm wheel, the direction in which the hob 400 rotates around the virtual worm rotation axis 250 is the same as the direction in which the worm wheel 200 rotates around the worm wheel. The directions of rotation of the axes 240 are opposite.

使用根据左半段蜗杆110的设计结构而加工成的第一滚刀410来制造蜗轮左齿面210，就是以第一虚拟平面齿齿轮的齿面为母面通过相圆周运动包络出环面的左蜗杆齿面111，再以左蜗杆齿面111为母面通过相对运动而包络出蜗轮左齿面210；使用根据右半段蜗杆120的设计结构而加工成的第二滚刀420来制造蜗轮右齿面220，就是以第二虚拟平面齿齿轮的齿面为母面通过相圆周运动包络出环面的右蜗杆齿面121，再以右蜗杆齿面121为母面通过相对运动就可包络出蜗轮右齿面220。Use the first hob 410 processed according to the design structure of the left half worm 110 to manufacture the left tooth surface 210 of the worm wheel, that is, take the tooth surface of the first virtual flat tooth gear as the parent surface to envelop the torus through phase circular motion The left worm tooth surface 111 of the left worm gear, and then envelop the left worm gear tooth surface 210 through relative motion with the left worm tooth surface 111 as the parent surface; use the second hob 420 processed according to the design structure of the right half worm 120 to To manufacture the right tooth surface 220 of the worm gear, the right worm tooth surface 121 of the toroidal surface is enveloped by using the tooth surface of the second virtual flat tooth gear as the parent surface through phase circular motion, and then the right worm tooth surface 121 is used as the parent surface through relative motion The right tooth surface 220 of the worm wheel can be enveloped.

在一优选实施方式中，蜗轮200制造S3可包括如下分步骤：In a preferred embodiment, manufacturing S3 of the worm gear 200 may include the following sub-steps:

S3.1、将第一滚刀410安装于蜗轮加工装置上，对齿坯进行滚齿一次粗加工，在完成一次粗加工后将第一滚刀410更换为第二滚刀420，以对齿坯进行滚齿二次粗加工，从而制得粗加工的蜗轮200，其中，第一滚刀410与第二滚刀420的安装顺序可以调换；S3.1. Install the first hob 410 on the worm gear processing device, perform a rough machining on the gear blank, and replace the first hob 410 with the second hob 420 after the rough machining is completed, so as to The blank is hobbed for secondary rough machining, so as to produce a rough machined worm wheel 200, wherein the installation sequence of the first hob 410 and the second hob 420 can be exchanged;

S3.2、将剃刀或珩轮用蜗杆磨床进行磨削，并将蜗轮加工装置上的第一滚刀410或第二滚刀420拆下，以更换为磨削后的剃刀或珩轮；S3.2. Grinding the razor or honing wheel with a worm grinder, and removing the first hob 410 or the second hob 420 on the worm gear processing device to replace it with the ground razor or honing wheel;

S3.3、对制得的粗加工的蜗轮200进行强力剃齿或强力珩齿，制得精加工的蜗轮200。S3.3. Powerfully shaving or honing the rough processed worm wheel 200 to obtain a finished worm wheel 200 .

制造而成的蜗杆100的轴向模数和/或轴向压力角应当与制造而成的蜗轮200的端面模数和/或端面压力角相匹配，以使得蜗杆100与蜗轮200可以正确地通过齿面的啮合以形成完整的平面二次包络环面蜗轮蜗杆1，其中，左蜗杆齿面111啮合于蜗轮左齿面210，右蜗杆齿面121啮合于蜗轮右齿面220，用以消除平面二次包络环面蜗轮蜗杆1在正反转过程中的齿侧间隙。蜗杆100与蜗轮200在交错角吻合的情况下，蜗杆100的螺旋线旋向匹配于蜗轮200的螺旋线旋向。The axial modulus and/or axial pressure angle of the manufactured worm 100 should match the end face modulus and/or end face pressure angle of the manufactured worm gear 200, so that the worm screw 100 and the worm gear 200 can pass through correctly The meshing of the tooth surfaces to form a complete plane quadratic enveloping toroidal worm gear 1, wherein the left worm tooth surface 111 meshes with the worm wheel left tooth surface 210, and the right worm tooth surface 121 meshes with the worm right tooth surface 220, in order to eliminate The tooth backlash of the planar quadratic enveloping toroidal worm gear 1 during forward and reverse rotation. When the staggered angles of the worm 100 and the worm wheel 200 match, the helical direction of the worm 100 matches the helical direction of the worm wheel 200 .

实施例2Example 2

本发明还公开了一种采用实施例1中所述制造方法而制成的平面二次包络环面蜗轮蜗杆1，如图5所示为平面二次包络环面蜗轮蜗杆1的三视图。The present invention also discloses a plane quadratic enveloping toroidal worm gear 1 manufactured by the manufacturing method described in Example 1, as shown in FIG. .

平面二次包络环面蜗轮蜗杆1由旋转轴线彼此异面的蜗杆100与蜗轮200在模数和/或压力角匹配的情况下啮合而成。优选地，轴线异面是指蜗轮旋转轴线240与蜗杆旋转轴线140彼此为异面直线，蜗杆旋转轴线140以及蜗轮旋转轴线240不在同一面上，两者既不相交又不平行。优选地，蜗杆旋转轴线140以及蜗轮旋转轴线240彼此正交。通过该设置方式，能够减少蜗齿230与蜗道160之间的摩擦，并具有较大的传动比。蜗杆100与蜗轮200在交错角吻合的情况下，蜗杆100的螺旋线旋向匹配于蜗轮200的螺旋线旋向。蜗杆齿面是以齿廓为直线的齿轮的简单齿面作为母面通过相对圆周运动而包络形成，蜗轮齿面是以蜗杆100的齿面为母面通过相对运动而包络形成，从而形成的平面二次包络环面蜗轮蜗杆1具有承载能力大、传动精度高、使用寿命长等优点。The planar quadratic enveloping toroidal worm gear 1 is formed by meshing a worm 100 and a worm gear 200 whose rotation axes are out of plane with each other under the condition of matching modulus and/or pressure angle. Preferably, axes out of plane means that the worm wheel rotation axis 240 and the worm screw rotation axis 140 are out-of-plane straight lines, the worm wheel rotation axis 140 and the worm wheel rotation axis 240 are not on the same plane, neither intersecting nor parallel. Preferably, the worm axis of rotation 140 and the worm wheel axis of rotation 240 are orthogonal to each other. Through this arrangement, the friction between the worm gear 230 and the wormway 160 can be reduced, and a larger transmission ratio can be obtained. When the staggered angles of the worm 100 and the worm wheel 200 match, the helical direction of the worm 100 matches the helical direction of the worm wheel 200 . The tooth surface of the worm is formed by enveloping the simple tooth surface of the gear whose tooth profile is a straight line as the parent surface through relative circular motion. The planar secondary enveloping toroidal worm gear 1 has the advantages of large load capacity, high transmission precision, and long service life.

蜗杆100包括齿面结构不同的同轴安装的左半段蜗杆110和右半段蜗杆120，以使得左半段蜗杆110与右半段蜗杆120在各自的齿面间的蜗道160结构也不相同。蜗杆100还可包括蜗杆轴130，其中，蜗杆轴130可与左半段蜗杆110和右半段蜗杆120的其中一个一体式同轴安装，并与左半段蜗杆110和右半段蜗杆120中的另一个可拆卸地同轴安装。左半段蜗杆110与右半段蜗杆120相向端面之间沿周向间隔设置有用于调整齿侧间隙的弹簧张紧装置，齿侧间隙还可通过设置于蜗杆轴130与左半段蜗杆110或右半段蜗杆120之间的胀紧套部件进行调节。优选地，蜗杆100一般采用合金材料制作，例如40Cr合金钢。The worm 100 comprises a left half section worm 110 and a right half section worm 120 coaxially installed with different tooth surface structures, so that the worm road 160 structure between the left half section worm 110 and the right half section worm 120 between the respective tooth surfaces is also different. same. The worm 100 can also include a worm shaft 130, wherein the worm shaft 130 can be integrally installed coaxially with one of the left half worm 110 and the right half worm 120, and can be integrated with the left half worm 110 and the right half worm 120. The other is detachably mounted coaxially. Between the opposite end surfaces of the left half worm 110 and the right half worm 120, a spring tensioning device for adjusting the backlash of the tooth side is arranged at intervals along the circumferential direction, and the backlash of the tooth side can also be arranged between the worm shaft 130 and the left half worm 110 or The expansion sleeve part between the right half section worm screw 120 is adjusted. Preferably, the worm 100 is generally made of alloy material, such as 40Cr alloy steel.

蜗轮200沿其周向间隔排列设置有若干能够与蜗杆100的蜗道160相互接合的蜗齿230，其中，所有蜗齿230的蜗轮左齿面210结构匹配于左蜗杆齿面111，所有蜗齿230的蜗轮右齿面220结构匹配于右蜗杆齿面121，且蜗轮左齿面210与蜗轮右齿面220的结构不相同。优选地，蜗轮200可以采用GCr15的合金钢，其弹性模量E＝206000MPa，泊松比μ＝0.3。The worm wheel 200 is provided with several worm teeth 230 arranged at intervals along its circumferential direction, which can engage with the worm 160 of the worm 100, wherein, the structure of the left tooth surface 210 of all the worm teeth 230 is matched with the left worm tooth surface 111, and all the worm teeth The structure of the right worm gear tooth surface 220 of 230 is matched with the right worm gear tooth surface 121 , and the structures of the worm wheel left tooth surface 210 and the worm wheel right tooth surface 220 are different. Preferably, the worm wheel 200 can be made of GCr15 alloy steel, its elastic modulus E=206000 MPa, and Poisson's ratio μ=0.3.

至少在弹簧张紧装置的作用下，平面二次包络环面蜗轮蜗杆1在运行过程中，左半段蜗杆110一直与蜗轮左齿面210保持啮合，以使得蜗轮200的蜗齿230进入左半段蜗杆110的蜗道160内时，贴合于蜗轮左齿面210的左蜗杆齿面111的右侧可以对蜗齿230提供向右的支撑力，同时右半段蜗杆120一直与蜗轮右齿面220保持啮合，以使得蜗轮200的蜗齿230进入右半段蜗杆120的蜗道160内时，贴合于蜗轮右齿面220的右蜗杆齿面121的左侧可以对蜗齿230提供向左的支撑力。因此，处于啮合处不同位置的蜗齿230都会受到指向于蜗杆200的两个半段彼此对接中心部位的方向上的支撑力，以使得蜗轮200的蜗齿230能够在蜗杆100的蜗道160间滑动，并完全消除平面二次包络环面蜗轮蜗杆1正反转过程中的齿侧间隙。At least under the action of the spring tensioning device, during the operation of the plane quadratic enveloping toroidal worm gear 1, the left half of the worm 110 keeps meshing with the left tooth surface 210 of the worm gear, so that the worm gear 230 of the worm gear 200 enters the left When the half-section worm 110 is in the wormway 160, the right side of the left worm tooth surface 111 that fits on the left tooth surface 210 of the worm wheel can provide a rightward support force for the worm tooth 230, and at the same time, the right half-section worm 120 is always in contact with the right side of the worm wheel. The tooth surface 220 keeps meshing, so that when the worm tooth 230 of the worm wheel 200 enters the worm track 160 of the right half worm 120, the left side of the right worm tooth surface 121 that fits on the right tooth surface 220 of the worm wheel can provide the worm tooth 230 with Support to the left. Therefore, the worm teeth 230 at different positions of the meshing place will be subjected to a supporting force directed to the direction where the two halves of the worm 200 butt against each other, so that the worm teeth 230 of the worm wheel 200 can be between the worm tracks 160 of the worm 100 Sliding, and completely eliminate the backlash of the plane quadratic enveloping toroidal worm gear 1 during forward and reverse rotation.

需要注意的是，上述具体实施例是示例性的，本领域技术人员可以在本发明公开内容的启发下想出各种解决方案，而这些解决方案也都属于本发明的公开范围并落入本发明的保护范围之内。本领域技术人员应该明白，本发明说明书及其附图均为说明性而并非构成对权利要求的限制。本发明的保护范围由权利要求及其等同物限定。本发明说明书包含多项发明构思，诸如“优选地”、“根据一个优选实施方式”或“可选地”均表示相应段落公开了一个独立的构思，申请人保留根据每项发明构思提出分案申请的权利。It should be noted that the above specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the scope of the disclosure of the present invention and fall within the scope of this disclosure. within the scope of protection of the invention. Those skilled in the art should understand that the description and drawings of the present invention are illustrative rather than limiting to the claims. The protection scope of the present invention is defined by the claims and their equivalents. The description of the present invention contains a number of inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally" all indicate that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to propose a division based on each inventive concept right to apply.

Claims

一种平面二次包络环面蜗轮蜗杆，至少包括：旋转轴线彼此异面的蜗杆(100)和蜗轮(200)，A planar quadratic enveloping toroidal worm gear, comprising at least: a worm (100) and a worm wheel (200) whose rotation axes are in different planes from each other,

其中，所述蜗杆(100)至少包括同轴套设的左半段蜗杆(110)和右半段蜗杆(120)，Wherein, the worm (100) at least includes a coaxially sleeved left half worm (110) and a right half worm (120),

其特征在于，所述蜗杆(100)是通过下述方法制造的：It is characterized in that the worm (100) is manufactured by the following method:

在加工过程中，所述左半段蜗杆(110)绕蜗杆旋转轴线(140)转动的蜗杆第一转动方向(500)与所述右半段蜗杆(120)绕蜗杆旋转轴线(140)转动的蜗杆第二转动方向(510)相反。During processing, the first rotation direction (500) of the worm in which the left-half worm (110) rotates around the worm axis of rotation (140) is different from the direction in which the right-half worm (120) rotates around the worm axis of rotation (140) The second direction of rotation (510) of the worm is opposite.
根据权利要求1所述的平面二次包络环面蜗轮蜗杆，其特征在于，所述蜗轮蜗杆由旋转轴线彼此异面的蜗杆(100)与蜗轮(200)在模数和/或压力角匹配的情况下啮合而成；其中The planar quadratic enveloping toroidal worm gear and worm according to claim 1, characterized in that, the worm gear and worm are matched in modulus and/or pressure angle by the worm (100) whose rotation axes are different from each other and the worm wheel (200) meshed under the circumstances; where

蜗杆旋转轴线(140)以及蜗轮旋转轴线(240)彼此正交。The axis of rotation of the worm (140) and the axis of rotation of the worm wheel (240) are orthogonal to each other.
根据权利要求1或2所述的平面二次包络环面蜗轮蜗杆，其特征在于，所述左半段蜗杆(110)和所述右半段蜗杆(120)具有结构互不相同的齿面，其中，当所述平面二次包络环面蜗轮蜗杆(1)处于运行过程中时，所述左蜗杆齿面(111)一直与所述蜗轮左齿面(210)保持啮合，所述右蜗杆齿面(121)一直与所述蜗轮右齿面(220)保持啮合，从而完全消除所述平面二次包络环面蜗轮蜗杆(1)在正反转过程中的齿侧间隙。The planar quadratic enveloping toroidal worm gear according to claim 1 or 2, characterized in that, the left-half worm (110) and the right-half worm (120) have tooth surfaces with mutually different structures , wherein, when the plane quadratic enveloping toroidal worm gear (1) is in operation, the left worm tooth surface (111) keeps meshing with the worm gear left tooth surface (210), and the right The tooth surface of the worm (121) is always in mesh with the right tooth surface (220) of the worm gear, thereby completely eliminating the tooth backlash of the plane quadratic enveloping toroidal worm gear (1) during forward and reverse rotation.
一种平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，A method for manufacturing a plane quadratic enveloping toroidal worm gear, characterized in that,

所述制造方法至少包括如下步骤：The manufacturing method at least includes the following steps:

所述蜗杆(100)的左半段蜗杆(110)和右半段蜗杆(120)分别基于相应的母面经过共轭运动包络形成彼此不同的左蜗杆齿面(111)和右蜗杆齿面(121)，其中，The left half of the worm (110) and the right half of the worm (120) of the worm (100) form different left worm tooth surfaces (111) and right worm tooth surfaces through conjugate motion envelopes based on the corresponding parent surfaces, respectively. (121), where,

所述左半段蜗杆(110)和所述右半段蜗杆(120)在加工过程中，所述左半段蜗杆(110)绕蜗杆旋转轴线(140)转动的蜗杆第一转动方向(500)与所述右半段蜗杆(120)绕蜗杆旋转轴线(140)转动的蜗杆第二转动方向(510)相反。During the processing of the left half worm (110) and the right half worm (120), the first rotation direction (500) of the worm in which the left half worm (110) rotates around the worm rotation axis (140) The second rotation direction (510) of the worm is opposite to that of the right half worm (120) rotating around the worm rotation axis (140).
根据权利要求4所述的平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，所述制造方法还包括：The manufacturing method of the planar quadratic enveloping toroidal worm gear according to claim 4, wherein the manufacturing method further comprises:

所述蜗轮(200)在进行所述蜗轮左齿面(210)加工时绕蜗轮旋转轴线(240)转动的蜗轮第一转动方向(540)与所述蜗轮(200)在进行所述蜗轮右齿面(220)加工时绕蜗轮旋转轴线(240)转动的蜗轮第二转动方向(550)相反。The first rotation direction (540) of the worm wheel (540) that the worm wheel (200) rotates around the worm wheel rotation axis (240) when processing the left tooth surface of the worm wheel (210) is the same as that of the worm wheel (200) when processing the right tooth surface of the worm wheel (210). The second rotation direction (550) of the worm wheel rotating around the worm wheel rotation axis (240) is opposite when the surface (220) is processed.
根据权利要求4或5所述的平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，第一滚刀(410)在加工所述蜗轮左齿面(210)时绕虚拟蜗杆旋转轴线(250)转动的滚刀第一转动方向(560)与第二滚刀(420)在加工所述蜗轮右齿面(220)时绕虚拟蜗杆旋转轴线(250)转动的滚刀第二转动方向(570)相反。The method for manufacturing a planar quadratic enveloping toroidal worm gear according to claim 4 or 5, characterized in that the first hob (410) rotates around the virtual worm axis when processing the left tooth surface (210) of the worm gear (250) the first rotation direction (560) of the hob and the second rotation direction of the hob (420) which rotates around the virtual worm rotation axis (250) when the second hob (420) is processing the right tooth surface (220) of the worm wheel (570) On the contrary.
根据权利要求4～6任一项所述的平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，所述方法还包括：The method for manufacturing a plane quadratic enveloping toroidal worm gear according to any one of claims 4 to 6, characterized in that the method further comprises:

将第一磨具(310)沿磨具第一转动方向(520)以小于虚拟平面齿齿轮的齿距角的角度偏移，以大于所述左蜗杆齿面(111)的左侧齿面磨削量的程度对其右侧齿面进行磨削；The first grinder (310) is shifted along the first rotation direction (520) of the grinder at an angle smaller than the pitch angle of the virtual plane tooth gear, so as to grind the left side of the tooth surface larger than the left worm tooth surface (111). Grind the tooth surface on the right side according to the degree of cutting amount;

将第二磨具(320)沿磨具第二转动方向(530)以小于虚拟平面齿齿轮的齿距角的角度偏移，以大于所述右蜗杆齿面(121)的右侧齿面磨削量的程度对其左侧齿面进行磨削；The second grinder (320) is shifted along the second rotation direction (530) of the grinder at an angle smaller than the pitch angle of the virtual plane tooth gear, so as to grind the right side of the tooth surface greater than the right worm tooth surface (121). Grind the tooth surface on the left side according to the degree of cutting amount;

所述第一磨具(310)绕虚拟平面齿齿轮枢转轴线(150)转动的所述磨具第一转动方向(520)与所述第二磨具(320)绕虚拟平面齿齿轮枢转轴线(150)转动的所述磨具第二转动方向(530)相反。The first grinding tool rotation direction (520) in which the first grinding tool (310) rotates around the virtual plane tooth gear pivot axis (150) is the same as the second grinding tool (320) pivoting around the virtual plane tooth gear The second rotational direction (530) of said abrasive tool in which the axis (150) rotates is opposite.
根据权利要求4～7任一项所述的平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，所述制造方法还包括：The manufacturing method of the planar quadratic enveloping toroidal worm gear according to any one of claims 4 to 7, characterized in that the manufacturing method further comprises:

将经过磨削而成的所述蜗杆(100)与所述蜗轮(200)进行啮合以构成所述平面二次包络环面蜗轮蜗杆(1)，其中，将所述左半段蜗杆(110)的所述左蜗杆齿面(111)啮合于所述蜗轮左齿面(210)，将所述右半段蜗杆(120)的所述右蜗杆齿面啮合于所述蜗轮右齿面(220)。The ground worm (100) is meshed with the worm wheel (200) to form the plane quadratic enveloping toroidal worm (1), wherein the left half worm (110 The left worm tooth surface (111) of the ) is meshed with the worm wheel left tooth surface (210), and the right worm tooth surface of the right half worm (120) is meshed with the worm wheel right tooth surface (220 ).
根据权利要求4～8任一项所述的***，其特征在于，所述制造方法还包括：所述制造方法还包括：The system according to any one of claims 4-8, wherein the manufacturing method further comprises: the manufacturing method further comprises:

在制造过程中利用第一滚刀(410)与第二滚刀(420)的更换实现所述蜗轮左齿面(210)与所述蜗轮右齿面(220)的依次磨削，其中，所述第一滚刀(410)和所述第二滚刀(420)的安装次序能够被调换。In the manufacturing process, the replacement of the first hob (410) and the second hob (420) is used to realize the sequential grinding of the left tooth surface (210) and the right tooth surface (220) of the worm wheel, wherein the The installation order of the first hob (410) and the second hob (420) can be exchanged.
根据权利要求4～9任一项所述的平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，所述制造方法还包括：The manufacturing method of the planar quadratic enveloping toroidal worm gear according to any one of claims 4 to 9, characterized in that the manufacturing method further comprises:

在所述制造方法还包括：所述蜗杆(100)加工过程中，控制所述蜗杆(100)绕所述蜗杆旋转轴线(140)的转速与所述磨具(300)绕所述虚拟平面齿齿轮枢转轴线(150)的转速之比等于预设的传动比。The manufacturing method further includes: during the processing of the worm (100), controlling the rotational speed of the worm (100) around the worm rotation axis (140) and the rotation speed of the grinding tool (300) around the virtual plane tooth The ratio of the rotational speeds of the gear pivot axis (150) is equal to the preset transmission ratio.
根据权利要求4～10任一项所述的平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，所述制造方法还包括：The manufacturing method of the planar quadratic enveloping toroidal worm gear according to any one of claims 4-10, characterized in that the manufacturing method further comprises:

在所述蜗轮(200)加工过程中，控制所述蜗轮(200)绕所述蜗轮旋转轴线(240)的转速与所述滚刀(400)绕所述虚拟蜗杆旋转轴线(250)的转速之比等于预设的传动比。During the machining process of the worm wheel (200), control the ratio between the rotation speed of the worm wheel (200) around the rotation axis of the worm wheel (240) and the rotation speed of the hob (400) around the virtual worm rotation axis (250) The ratio is equal to the preset transmission ratio.
根据权利要求4～11任一项所述的平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，所述制造方法还包括：The manufacturing method of the planar quadratic enveloping toroidal worm gear according to any one of claims 4 to 11, characterized in that the manufacturing method further comprises:

滚刀(400)制造步骤：根据所述蜗杆(100)切分的数量确定所述滚刀(400)的制造数量，所述滚刀(400)至少包括第一滚刀(410)与第二滚刀(420)，其中，所述第一滚刀(410)的工艺参数根据所述左蜗杆齿面(111)的设计结构而确定，所述第二滚刀(420)的工艺参数根据所述右蜗杆齿面(121)的设计结构而确定。Hob (400) manufacturing step: determine the manufacturing quantity of the hob (400) according to the number of cuts of the worm (100), the hob (400) at least includes a first hob (410) and a second hob (410) hob (420), wherein the process parameters of the first hob (410) are determined according to the design structure of the left worm tooth surface (111), and the process parameters of the second hob (420) are determined according to the Determined by the design structure of the right worm tooth surface (121).
一种平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，A method for manufacturing a plane quadratic enveloping toroidal worm gear, characterized in that,

所述制造方法至少包括如下步骤：The manufacturing method at least includes the following steps:

将第一磨具(310)沿磨具第一转动方向(520)以小于虚拟平面齿齿轮的齿距角的角度偏移，以大于所述左蜗杆齿面(111)的左侧齿面磨削量的程度对其右侧齿面进行磨削；The first grinder (310) is shifted along the first rotation direction (520) of the grinder at an angle smaller than the pitch angle of the virtual plane tooth gear, so as to grind the left side of the tooth surface larger than the left worm tooth surface (111). Grind the tooth surface on the right side according to the degree of cutting amount;

将第二磨具(320)沿磨具第二转动方向(530)以小于虚拟平面齿齿轮的齿距角的角度偏移，以大于所述右蜗杆齿面(121)的右侧齿面磨削量的程度对其左侧齿面进行磨削；The second grinder (320) is shifted along the second rotation direction (530) of the grinder at an angle smaller than the pitch angle of the virtual plane tooth gear, so as to grind the right side of the tooth surface greater than the right worm tooth surface (121). Grind the tooth surface on the left side according to the degree of cutting amount;

所述第一磨具(310)绕虚拟平面齿齿轮枢转轴线(150)转动的所述磨具第一转动方向(520)与所述第二磨具(320)绕虚拟平面齿齿轮枢转轴线(150)转动的所述磨具第二转动方向(530)相反。The first grinding tool rotation direction (520) in which the first grinding tool (310) rotates around the virtual plane tooth gear pivot axis (150) is the same as the second grinding tool (320) pivoting around the virtual plane tooth gear The second rotational direction (530) of said abrasive tool in which the axis (150) rotates is opposite.
根据权利要求13所述的平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，所述制造方法还包括：The manufacturing method of the planar quadratic enveloping toroidal worm gear according to claim 13, characterized in that, the manufacturing method further comprises:

所述蜗轮(200)在进行所述蜗轮左齿面(210)加工时绕蜗轮旋转轴线(240)转动的蜗轮第一转动方向(540)与所述蜗轮(200)在进行所述蜗轮右齿面(220)加工时绕蜗轮旋转轴线(240)转动的蜗轮第二转动方向(550)相反；The first rotation direction (540) of the worm wheel (540) that the worm wheel (200) rotates around the worm wheel rotation axis (240) when processing the left tooth surface of the worm wheel (210) is the same as that of the worm wheel (200) when processing the right tooth surface of the worm wheel (210). The second rotation direction (550) of the worm wheel rotating around the worm wheel axis of rotation (240) during surface (220) processing is opposite;

第一滚刀(410)在加工所述蜗轮左齿面(210)时绕虚拟蜗杆旋转轴线(250)转动的滚刀第一转动方向(560)与第二滚刀(420)在加工所述蜗轮右齿面(220)时绕虚拟蜗杆旋转轴线(250)转动的滚刀第二转动方向(570)相反。When the first hob (410) is processing the left tooth surface of the worm wheel (210), the hob first rotation direction (560) that rotates around the virtual worm rotation axis (250) is different from that of the second hob (420) when processing the left tooth surface of the worm wheel (210). The second rotation direction (570) of the hob rotating around the virtual worm rotation axis (250) is opposite to that of the right tooth surface (220) of the worm gear.
根据权利要求13或14所述的平面二次包络环面蜗轮蜗杆的制造方法，其特征在于，所述制造方法还包括：The manufacturing method of the planar quadratic enveloping toroidal worm gear according to claim 13 or 14, characterized in that the manufacturing method further comprises:

所述蜗杆(100)在制造前根据所述左半段蜗杆(110)和所述右半段蜗杆(120)各自的设计结构通过以下公式进行计算以确定对应的工艺参数：The worm (100) is calculated according to the respective design structures of the left half worm (110) and the right half worm (120) by the following formula to determine the corresponding process parameters before manufacture:

根据齿轮啮合理论，齿面在啮合过程中的产生的啮合点处的公共法矢量与其相对运动速度矢量相正交，即在啮合点处，两啮合齿面沿公共法矢量方向的相对位置保持静止，则可得两齿面在啮合点处的啮合方程：According to the gear meshing theory, the common normal vector at the meshing point generated by the tooth surface during the meshing process is orthogonal to its relative motion velocity vector, that is, at the meshing point, the relative position of the two meshing tooth surfaces along the direction of the common normal vector remains stationary , then the meshing equation of the two tooth surfaces at the meshing point can be obtained:

ν ¹²·n＝0 ν ¹² ·n=0

其中，ν ¹²是啮合位置的相对运动速度，n为啮合位置的公共法矢量， Among them, ν ¹² is the relative motion velocity of the meshing position, n is the public normal vector of the meshing position,

将啮合点处的相对速度矢量投影到n轴上，即可得到传动的啮合函数：The meshing function of the transmission can be obtained by projecting the relative velocity vector at the meshing point onto the n-axis:

其中，Φ为啮合函数，M ₁、M ₂、M ₃均为方程系数，
为蜗杆起始角，δ _F为安装倾角，β为母平面倾角，A为中心距，i为传动比，u、v为啮合点在动坐标系中的数值。 Among them, Φ is the meshing function, M ₁ , M ₂ , M ₃ are equation coefficients,
is the starting angle of the worm, δ _F is the installation inclination, β is the inclination of the parent plane, A is the center distance, i is the transmission ratio, u and v are the values of the meshing point in the moving coordinate system.