行星齒輪減速機之研究與發展

Research and Development of Planetary Gear Reducers

陳子夏(Tzu-Hsia Chen)

指導教授 ： 謝龍昌

國立虎尾科技大學/工程學院/機械與機電工程研究所/博士(2013年)

摘要

行星齒輪系(或稱周轉輪系)由於結構緊密、重量較輕、強度較佳、減速比大及多自由度等因素，廣泛的應用於共種的傳動需求。本研究著重於自運動分析、效率分析、工程設計到雛型機的試製等完整之設計流程，故可稱之為行星齒輪系之研究與發展。首先藉由 輪系方程式 及 相對功理論，可獲得行星齒輪系之減速比及其效率方程式組。再基於以上結果，即可完成相關行星齒輪系之運動設計及其效率分析。本研究完成了四種不同設計之雛型機試製，分別為: (a) 減速比為4之2K type 行星齒輪減速機。(b) 減速比為19.8之雙級行星齒輪減速機。(c) 減速比為156之3K type 行星齒輪減速機。(d) 減速比為50及 100之共構3K type 行星齒輪減速機。最後，上述四種不同形式之減速機雛形皆通過實驗方式測試其整體效率，並得到下列幾項結論:
1. 對於單級級雙級行星齒輪減速機而言，機械效率與輸入轉速成反比。
2. 對於單級級雙級行星齒輪減速機而言，機械效率與輸出荷載成正比。
3. 由於輪系循環功因素，3K 及 2K-2H 型式之行星齒輪減速機，效率不佳。

關鍵字

3K type 行星齒輪減速機 ； 相對功理論 ； 嚙合效率 ； 行星齒輪內變速器 ； 輪系方程式。

並列摘要

Due to the reason of compact size, light weight, strong strength, high reduction ratio, and multi-degrees of freedom, planetary gear trains are commonly used in various transmissions. The works in this thesis including kinematic design, efficiency analysis, engineering design, and prototype manufacture of planetary gear trains, the complete process can call as the research and development of planetary gear reducers. By referring to the train value equation and latent power theorem, the reduction-ratio and meshing-efficiency equations of planetary gear trains are derived. Based on the reduction-ratio and meshing-efficiency equations, the kinematic design and meshing-efficiency analysis of corresponding planetary gear trains are accomplished. Four prototypes of planetary gear reducers are manufactured. The four prototypes including: (a)2K type planetary gear reducer with reduction ratio equal to four (Rr=4), (b)Two-stage planetary gear reducer with Rr=19.8, (c)3K type planetary gear reducers with Rr=156, and (d)3K type planetary gear reducers with Rr=50, and Rr=100. The four prototypes are installed to the test platform to carry out the efficiency test. We conclude:
1. For one- and two-stage planetary gear reducers, the mechanical efficiency decreases when input rotating speed increases.
2. For one- and two-stage planetary gear reducers, the mechanical efficiency increases when output torque increases.
3. Due to the reason of power circulation, the meshing efficiencies of 3K and 2K-2H type planetary gear reducers are not good.

並列關鍵字

3K type planetary gear reducer ； latent power theorem ； meshing efficiency ； planetary gear hub ； train value equation

參考文獻

Kinematic analysis

[1] Buchsbaum, F. and Freudenstein, F. (1970), “Synthesis of Kinematic Structure of Geared Kinematic Chains and Other Mechanisms,” Journal of Mechanisms, Vol. 5, pp. 357-392.

[2] Freudenstein, F. and Yang, A.T. (1972), “Kinematics and Statics of a Coupled Epicyclic Spur-Gear Train,” Mechanism and Machine Theory, Vol. 7, pp. 263-275.

[3] Tsai, L.W. (1985), “An Algorithm for the Kinematic Analysis of Epicyclic Gear Trains,” Proceedings of the 9th Applied Mechanism Conference, Kansas City, Missouri, Vol. 1, pp. 1-5.

[4] Hsieh, L.C., Yan, H.S. and Wu L.I. (1989), “An Algorithm For The Automatic Kinematic Analysis of Planetary Gear Trains By Fundamental Circuit Method,” Journal of the Chinese Society of Mechanical Engineers, Vol. 10, No. 2, pp.153-158.