中文摘要：

针对机器人的结构模块化发展趋势及现有工业机器人关节减速器的不足,提出一种用于工业机器人智能关节的变齿厚内齿轮包络外转子鼓形蜗杆传动。基于空间啮合原理,建立了该传动的数学模型,推导了蜗杆传动的啮合方程、齿面接触线方程以及蜗杆的齿面方程,并导出了传动的诱导法曲率、润滑角和相对卷吸速度等计算公式。在大量数值计算的基础上,分析了该传动的蜗杆喉径系数、主基圆半径、母平面倾角等参数对传动啮合性能的影响。

英文摘要：

Aiming at the development trend of the robot＇ s modular structure and the problem of industrial robot joint deceleration device, a beveloid internal gear enveloping external-rotor crown worm drive for industrial robot intelligent joint is put forward. A mathematic model for the worm drive is established according to the space meshing theory, in which the meshing equation, the contact helix line equation and the tooth surface equation of the worm drive is derived. Then the induced normal curvature, the lubrication angle and the relatively entrainment velocity of the worm drive is derived. On the basis of a numerous calculation, analysing the impact of the worm throat diameter coefficient, the inclination angle of generating plane and the radious of main basic circle on the meshing performance.