An optimization design method, system, device and medium of a few-tooth-difference rotary speed reducer
By optimizing the design of the low-tooth-difference rotary reducer through torque distribution and module verification algorithms, the problem of design dependence on experience was solved, and efficient and accurate generation of reducer structural parameters was achieved, thereby improving transmission efficiency and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SUZHOU BONRAY MEASURE & CONTROL EQUIP
- Filing Date
- 2026-02-06
- Publication Date
- 2026-06-05
AI Technical Summary
The design of existing rotary reducers with low tooth difference relies on the designer's experience, resulting in repeated design modifications, low efficiency, difficulty in achieving optimization goals, and impact on the power density performance of hub motors.
The torque distribution algorithm is used to calculate the transmission torque at each stage, and the gear module is determined by combining the module verification and strength verification algorithm. Parametric modeling and finite element analysis are used to optimize the design parameters, so as to realize the automated and precise design of the reducer structure.
It significantly improves the design precision, reliability, and development efficiency of the speed reducer, and enhances transmission efficiency and operational stability.
Smart Images
Figure CN122154088A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of reducer design technology, and in particular to an optimized design method, system, equipment and medium for a rotary reducer with a small tooth difference. Background Technology
[0002] As a power transmission device, rotary speed reducers are widely used in various industries such as power, petroleum, chemical, and metallurgy. With the rapid development of industries such as petroleum and chemical, the requirements for speed reducers in various industries are also becoming increasingly higher.
[0003] In the existing structure of a rotary reducer with a small tooth difference, the transmission method is that the motor drives the motor gear transmission, and the motor gear transmits the power to the input gear. This part constitutes a first-stage reduction gear set. The input gear is fixed to the electric worm gear by a flat key. When the input gear rotates, it drives the worm gear to rotate. The worm gear transmits power to the worm wheel. The worm wheel is fixed on the eccentric shaft and drives the planetary gears to rotate. The planetary gears drive the actuator shaft to rotate and transmit the power to the output end.
[0004] In existing rotary reducers with low tooth difference: (1) When the worm rotates, it will be subjected to a reaction axial force from the worm wheel, causing the worm to move axially and compress the disc spring, thereby driving the torque feedback shaft to rotate, and thus controlling the magnitude of the torque. (2) While the main shaft rotates, it drives the valve position encoder to rotate, and the encoder transmits the valve position information to the control system in real time.
[0005] Existing patents disclose a method, device, medium, and equipment for determining the design parameters of a hub motor reducer. The method involves parametrically modeling the key components of the reducer to obtain a parametric model. This parametric model combines the design requirements of each component with the assembly constraints between adjacent components. The focus of lightweight reducer design is to reduce weight while ensuring meshing performance. Therefore, by using geometric and assembly parameter models as constraints and optimizing the reducer's design parameters with the overall mass and gear meshing performance as optimization objectives, the design requirements for a lightweight reducer can be well met. Furthermore, the non-dominated genetic algorithm, when performing multi-objective optimization, can ensure that the overall mass and meshing performance are optimal within a certain range. Therefore, the optimal design parameters can be determined without relying on human experience or undergoing complex and repeated verification, thereby improving the power density of the hub motor.
[0006] The existing technical solutions mentioned above have the following drawbacks: the selection of parameters for current reducers largely depends on the experience and judgment of designers, which easily leads to repeated design modifications, low efficiency, and difficulty in achieving optimization goals. It often results in structural redundancy and excessive mass, which in turn affects the power density performance of the hub motor. Summary of the Invention
[0007] To address the shortcomings of existing technologies, the purpose of this application is to provide an optimized design method, system, equipment, and medium for a rotary reducer with a small tooth difference. By adjusting the transmission mechanism of each stage of the planetary gear set with a small tooth difference, the transmission efficiency and operational stability of the final product rotary reducer with a small tooth difference are improved.
[0008] This was achieved using the following technical solutions: In a first aspect, this application provides an optimized design method for a rotary reducer with a small tooth difference, comprising: Based on the stall torque, overall transmission ratio, and overall transmission efficiency, determine the first-stage gear transmission torque, and calculate and verify the first-stage gear module; Based on the first-stage gear module and the number of gear teeth, and combined with the tooth tip correlation coefficient, the gear structure parameters are calculated; Based on the first-stage gear transmission torque and the first-stage gear transmission ratio, determine the second-stage worm gear transmission torque, and calculate the worm structure parameters and worm gear structure parameters; Based on the torque of the second-stage worm gear transmission and the transmission ratio of the third-stage gear, determine the stall torque and calculate the structural parameters of the third-stage planetary gear set; Based on the gear structure parameters, the structure parameters of the three-stage planetary gear set, the worm gear structure parameters, and the worm wheel structure parameters, a parameterized model of the reducer is constructed. Based on the finite element analysis of the reducer transmission principle and the correction of the reducer parameterized model, the optimal reducer structural parameters are obtained.
[0009] By adopting the above technical solution, the torque of each stage of transmission is derived from the stall torque through the torque distribution algorithm, and the module of the first-stage gear is determined by the module verification and strength verification algorithm. Then, based on the gear design, worm gear parameter calculation and planetary gear set design algorithms, the structural parameters of each component are generated in sequence. Then, the overall model is constructed using the parametric modeling algorithm. Finally, the finite element analysis algorithm is used for simulation optimization and correction, thereby obtaining the optimal reducer structural parameters in a systematic and automated manner, which significantly improves the design accuracy, reliability and development efficiency.
[0010] This application further specifies: determining the primary gear transmission torque based on the stall torque, overall transmission ratio, and overall transmission efficiency; calculating and verifying the primary gear module, including: ; If the standard center distance of the gears is greater than or equal to the theoretical center distance of the gears, it indicates that the module of the first-stage gear is compliant and the contact strength of the current gears meets the standards.
[0011] By adopting the above technical solution, the transmission torque is derived step by step from the stall torque based on the transmission ratio and efficiency allocation algorithm, and the gear module is calculated and verified by the contact strength check and center distance verification algorithm. This achieves accurate and systematic design of the key parameters of the reducer, significantly improving the reliability, calculation efficiency and standardization of the design.
[0012] This application further specifies: based on the module of the primary gear and the number of teeth of different gears, and combined with gear correlation coefficients, calculating gear structural parameters, including: ; .
[0013] By adopting the above technical solution and based on the parametric design algorithm, the system generates all structural parameters of the master and slave gears quickly and accurately using systematic geometric formulas (including the calculation of pitch circle, addendum circle, and dedendum circle) according to the gear module and number of teeth. This achieves automation, standardization, and efficiency in gear design, and significantly improves design accuracy and consistency.
[0014] This application further specifies: determining the second-stage worm gear transmission torque based on the first-stage gear transmission torque and the first-stage gear transmission ratio, and calculating the worm gear structure parameters and worm wheel structure parameters, including: ; ; By adopting the above technical solution, the worm gear transmission torque is determined based on the torque distribution algorithm, and the contact stress verification and stiffness calculation algorithm is used to systematically solve the worm gear module, pitch circle diameter and worm structure parameters. This achieves precise matching and efficient design of the worm gear pair, significantly improving the reliability, space utilization and design efficiency of the transmission components.
[0015] This application further specifies: determining the stall torque based on the second-stage worm gear transmission torque and the third-stage gear transmission ratio, and calculating the structural parameters of the third-stage planetary gear set, including: The stall torque is determined based on the torque of the second-stage worm gear transmission and the gear ratio of the third stage. ; Calculate the module of the third-stage planetary gear based on the stall torque and the number of teeth on the output gear; ; Based on the module of the three-stage planetary gear and the number of teeth of the output gear or the number of teeth of the fixed internal gear ring, calculate the pitch circle diameter, addendum circle diameter, addendum circle diameter, dedendum circle diameter, and dedendum circle diameter of the three-stage planetary gear set.
[0016] By adopting the above technical solution, based on the torque distribution algorithm and the contact strength verification algorithm, the stall torque is derived from the torque of the second-stage worm gear transmission and the planetary gear module is determined. Then, the key dimensions such as the pitch circle, addendum circle and dedendum circle of all gears in the planetary gear train are calculated through the parametric geometric design algorithm. This realizes the automated, precise and systematic design of the structural parameters of the planetary gear set, which significantly improves the reliability, efficiency and consistency of the design.
[0017] Secondly, this application also provides an optimized design system for a rotary reducer with a small tooth difference, employing the following technical solution: An optimization design system for a rotary reducer with a small tooth difference, and an optimization design method for implementing it, including: The first-stage gear parameter calculation module is used to determine the transmission torque of the first-stage gear based on the stall torque, total transmission ratio, and total transmission efficiency; calculate and verify the first-stage gear module; and calculate the gear structure parameters by combining the tooth tip correlation coefficient and the number of gear teeth. The second-stage worm gear parameter calculation module is used to determine the second-stage worm gear transmission torque based on the first-stage gear transmission torque and the first-stage gear transmission ratio, and to calculate the worm structure parameters and worm gear structure parameters. The three-stage gear parameter calculation module is used to determine the stall torque and calculate the structural parameters of the three-stage planetary gear set based on the torque of the two-stage worm gear transmission and the transmission ratio of the three-stage gear. The twin building block is used to construct a parameterized model of the reducer based on the structural parameters of the gears, the three-stage planetary gear set, the worm gear, and the worm wheel. The model optimization module is used to perform finite element analysis based on the transmission principle of the reducer and correct the parameterized model of the reducer to obtain the optimal structural parameters of the reducer.
[0018] By adopting the above technical solution, the torque and module of each transmission component are derived step by step based on the torque distribution and contact strength verification algorithm. The structural parameters of gears, worm gears and planetary gear trains are automatically generated through the parametric design algorithm. Finally, the model is optimized using the finite element analysis algorithm. This realizes the full-process automated design of the reducer from system design to detailed optimization, which significantly improves the design accuracy, reliability and development efficiency.
[0019] Thirdly, this application also provides an electronic device, comprising: One or more processors; Memory, used to store one or more programs; When one or more programs are executed by one or more processors, the one or more processors implement any of the methods in the above scheme.
[0020] Fourthly, this application also provides a storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to realize the optimized design method of the low-tooth-difference rotary reducer as described above.
[0021] In summary, the beneficial technical effects of this application are as follows: By adjusting the transmission mechanism of the planetary gear set with small tooth difference at each stage, the transmission efficiency and operational stability of the final product, the rotary reducer with small tooth difference, were improved. By deriving the transmission torque of each stage from the stall torque and applying the module verification and strength verification algorithm to determine the module of the first-stage gear, the structural parameters of each component are generated sequentially based on gear design, worm gear parameter calculation and planetary gear set design algorithms. Then, the overall model is constructed using parametric modeling algorithm, and finally, simulation optimization and correction are performed using finite element analysis algorithm, thereby automatically obtaining the optimal reducer structural parameters, which significantly improves the design accuracy, reliability and development efficiency. Attached Figure Description
[0022] Figure 1 This is a schematic diagram of the overall process of the optimization design method in this application; Figure 2 This is a flowchart illustrating step S1 in the optimization design method of this application; Figure 3 This is a schematic diagram of the optimized design system in this application. Detailed Implementation
[0023] The present application will be further described in detail below with reference to the accompanying drawings.
[0024] Reference Figure 1 This application discloses an optimized design method for a rotary reducer with a small tooth difference, comprising: S1: Determine the first-stage gear transmission torque based on the stall torque, total transmission ratio, and total transmission efficiency; calculate and verify the first-stage gear module. S2: Calculate the gear structure parameters based on the first-stage gear module and the number of gear teeth, combined with the tooth tip correlation coefficient; S3: Determine the torque of the second-stage worm gear transmission based on the first-stage gear transmission torque and the first-stage gear transmission ratio, and calculate the worm structure parameters and worm gear structure parameters; S4: Determine the stall torque based on the torque of the second-stage worm gear transmission and the gear ratio of the third stage, and calculate the structural parameters of the third-stage planetary gear set; S5: Construct a parameterized model of the reducer based on the gear structure parameters, the structure parameters of the three-stage planetary gear set, the worm gear structure parameters, and the worm wheel structure parameters; S6: Based on the finite element analysis of the reducer transmission principle and the correction of the reducer parameterized model, the optimal reducer structural parameters are obtained.
[0025] In this embodiment, the input torque of the first-stage gear transmission (10.5 N·m) is first determined by torque distribution calculation based on the stall torque (500 N·m), total transmission ratio (50) and total transmission efficiency (0.95) required by the equipment. Based on this, the module (1.5 mm) is initially selected, and then the module is verified by combining the tooth root bending strength and tooth surface contact strength.
[0026] Subsequently, based on the determined first-stage gear module, pinion teeth (20) and addendum coefficient (1), the gear structure parameters such as pitch circle diameter (30mm), addendum circle diameter (33mm), and root circle diameter (26.25mm) are accurately calculated. Then, based on the product of the first-stage gear transmission torque and the first-stage transmission ratio (5), the second-stage worm gear transmission torque (49.9N·m) is determined after considering the meshing efficiency loss, and the worm gear structure parameters such as worm pitch circle diameter (20mm), lead angle (10°), worm gear module (2mm), and teeth (30) are calculated accordingly.
[0027] Then, the stall torque (499 N·m) was calculated by multiplying the torque of the second-stage worm gear transmission with the transmission ratio of the third-stage planetary gear (10) to verify the design matching degree. The structural parameters of the third-stage planetary gear set, such as the sun gear module (2.5 mm), the number of planet gears (3), and the number of teeth on the gear ring (75), were calculated. Subsequently, all the calculated structural parameters of the gears, worm gears and planetary gear sets were integrated to construct a parametric model of the reducer in the three-dimensional modeling software.
[0028] Finally, based on the transmission principle of the reducer, the model was subjected to finite element analysis. The structural strength and stiffness were verified by stress cloud diagrams (e.g., maximum stress at the tooth root of 180MPa) and deformation cloud diagrams (e.g., maximum deformation of the worm shaft of 0.02mm). Based on the analysis results, the module (the module of the first-stage gear was adjusted to 2mm) or the tooth width (the tooth width of the worm gear was increased to 25mm) was corrected. After three rounds of iterative optimization, the optimal reducer structural parameters that meet the strength requirements (safety factor ≥1.5), transmission accuracy (backlash ≤5arcmin), and lightweight target (total weight ≤8kg) were obtained.
[0029] The implementation principle of this embodiment is as follows: Based on the system load transmission analysis, the transmission torque of the first-stage gear is first calculated according to the stall torque and transmission efficiency. The module and gear parameters are verified and determined by the bending strength and contact strength formulas. Then, the structural parameters of the second-stage worm gear and the third-stage planetary gear are designed in sequence according to the torque distribution, and a complete reducer model is constructed using parametric modeling technology. Finally, the strength, stiffness and transmission performance of the model are analyzed by finite element simulation, and the optimal combination of structural parameters that meets the design requirements is obtained through iterative optimization.
[0030] Preferably, refer to Figure 2 Step S1 includes:
[0031] ; ; S16: If the standard center distance of the gear is greater than or equal to the theoretical center distance of the gear, it indicates that the module of the first-stage gear is compliant and the contact strength of the current gear meets the standard.
[0032] In this embodiment, based on the stall torque T=500N·m required by the equipment, the total transmission ratio i=50 (composed of three-stage transmission ratios i1=5, i2=2, i3=5), and the total transmission efficiency η=0.95 (composed of three-stage efficiencies η1=0.98, η2=0.97, η3=0.99), the first-stage gear transmission torque is determined using the formula T1=T / (i·η)≈10.5N·m; subsequently, based on the load coefficient k=1.3, material correction coefficient A_m=12, composite tooth profile coefficient Y_FS=4.2, tooth width coefficient Φ_d=1.0, main gear tooth number Z1=20, and allowable tooth root stress... With a force σ_FP = 300MPa, and using the module formula m1≥1.8mm, the module m1 = 2.0mm was initially selected. Then, based on the number of teeth Z1 = 20 and Z2 = 100 of the master and slave gears, the standard center distance a1 = m1(Z1+Z2) / 2 = 120mm was calculated. Based on the gear ratio u = Z2 / Z1 = 5 and the allowable contact stress σ_HP = 600MPa, the theoretical center distance [a] ≥ ≈ 118mm was obtained using the formula. Finally, it was verified that a1 = 120mm ≥ [a] = 118mm, indicating that the module of the first-stage gear is compliant and the contact strength meets the standard, thus completing the parameter design and verification of the first-stage gear transmission.
[0033] Preferably, step S2 includes: ; .
[0034] In this embodiment, based on the number of teeth of the main gear Z1=20, the number of teeth of the driven gear Z2=100, and the module of the first-stage gear m1=2.0mm, the pitch circle diameter of the main gear is calculated using the formula d1=m1·Z1=40mm. Combined with the standard addendum coefficient h*=1, the addendum circle diameter of the main gear da1=m1·(Z1+2h*)=44mm is calculated. Simultaneously, combined with the clearance coefficient c*=0.25, the root circle diameter of the main gear df1=m1·[Z1-2(h*+c*)]=35mm is calculated. Similarly, the pitch circle diameter of the driven gear d2=m1·Z2=200mm, the addendum circle diameter of the driven gear da2=m1·(Z2+2h*)=204mm, and the root circle diameter of the driven gear df2=m1·[Z2-2(h*+c*)]=195mm are calculated, thus completing the design of the key geometric parameters of the first-stage gear transmission pair.
[0035] Preferably, step S3 includes: Based on the first-stage gear transmission torque and the first-stage gear transmission ratio, determine the second-stage worm gear transmission torque, and calculate the worm and worm gear structural parameters, including: ; .
[0036] In this embodiment, based on the first-stage gear transmission torque T1 = 10.5 N·m and the first-stage transmission ratio i1 = 5, the second-stage worm gear transmission torque T2 ≈ 49.9 N·m is determined. Combining the worm gear tooth number Z3 = 30 and the material contact stress σ_HP = 600 MPa, the worm gear module is calculated using the formula m2 ≥ 2.0 mm, and the pitch circle diameter d3 ≈ 60 mm is calculated. Based on the worm diameter coefficient q = 10, the worm pitch circle diameter d4 ≈ 20 mm and the center distance a2 ≈ 40 mm are calculated. Finally, based on the worm length L = 50 mm, the shear modulus G = 79 GPa, and the torsional stiffness K = 1.5 × 10⁻⁶, the calculation is complete. 4 The stiffness of the worm diameter is checked using the formula d_f≈9.5mm, based on N·m / rad, thus realizing the complete parametric design of the two-stage worm gear transmission system.
[0037] Preferably, step S4 includes: The stall torque is determined based on the torque of the second-stage worm gear transmission and the gear ratio of the third stage. ; Calculate the module of the third-stage planetary gear based on the stall torque and the number of teeth on the output gear; ; Based on the module of the three-stage planetary gear and the number of teeth of the output gear or the number of teeth of the fixed internal gear ring, calculate the pitch circle diameter, addendum circle diameter, addendum circle diameter, dedendum circle diameter, and dedendum circle diameter of the three-stage planetary gear set. .
[0038] Based on the second-stage worm gear transmission torque T2 = 49.9 N·m and the third-stage planetary gear transmission ratio i3 = Z6 / (Z6-Z5) = 10 (where the number of teeth on the sun gear Z5 = 20 and the number of teeth on the ring gear Z6 = 100), the stall torque is verified by back-calculating using the formula T = T2·i3 ≈ 499 N·m. Then, based on the output gear tooth number Z5 = 20, load factor k = 1.3, material contact stress σ_FP = 300 MPa, composite tooth form factor Y_FS = 4.2, and tooth width factor Φ_d = 1.0, the module of the third-stage planetary gear is determined using the formula m3 ≥ 2.5 mm. Module; finally, based on the module m3=2.5mm, the pitch circle diameter of the sun gear d5=m3Z5=50mm, the addendum circle diameter of the ring gear d_a6=m3(Z6-2h*)=245mm, the addendum circle diameter of the planet gear d_a=m3(Z+2h*)=65mm, the dedendum circle diameter of the ring gear d_f6=m3[Z6+(2h*+c*)]=253.75mm, and the dedendum circle diameter of the planet gear d_f=m3[Z-(2h*+c*)]=56.25mm were calculated, completing the precise design of all key geometric parameters of the three-stage planetary gear set.
[0039] Preferably, step S5 includes: Based on the established parameters of the three-stage planetary gear set (sun gear teeth Z5=20, ring gear teeth Z6=100, module m3=2.5mm) and worm gear parameters (second-stage worm gear output torque T_2=49.9 N·m), a fully parametric reducer model is constructed using 3D modeling software (such as SolidWorks or CATIA): Input key dimensions such as the sun gear pitch circle diameter d5=50mm and the ring gear addendum circle diameter da6=245mm to automatically generate accurate involute tooth profiles and associate them with the planet gear addendum circle diameter da=65mm and dedendum circle diameter df=56.25mm to ensure correct meshing. Link parameters such as worm lead angle and number of threads with the worm gear tooth profile to dynamically adjust the center distance to avoid interference. Set the planet carrier support structure and bearing position dimensions, and automatically update the evenly distributed layout of the planet gears through parameter drive.
[0040] Preferably, step S6 includes: In ANSYS Workbench, a stall torque T = 499 N·m and a load factor k = 1.3 were applied to analyze the stress at the root of the planetary gear teeth. The results showed that the initial root stress reached 320 MPa, exceeding the allowable contact stress σFP = 300 MPa, requiring parameter correction. Modal analysis and transient dynamic simulation of the parametric model revealed that the planetary carrier exhibited excessive vibration during start-stop operations. By adjusting the face width coefficient Φd from 1.0 to 1.2 and optimizing the sun gear support stiffness, the root stress was reduced to 290 MPa, while the vibration amplitude was reduced by 40%. The finite element results are fed back to the parametric model, which automatically updates the tooth width and support structure dimensions to generate the optimal structural parameters: the module is maintained at m3=2.5mm, but the tooth width is increased to b=30mm (the original design b=25mm), and the planetary carrier wall thickness is increased by 15%. Finally, the results are verified by fatigue life test.
[0041] Reference Figure 3 An optimization design system for a rotary reducer with a small tooth difference, applied to an optimization design method, includes: The first-stage gear parameter calculation module is used to determine the transmission torque of the first-stage gear based on the stall torque, total transmission ratio, and total transmission efficiency; calculate and verify the first-stage gear module; and calculate the gear structure parameters by combining the tooth tip correlation coefficient and the number of gear teeth. The second-stage worm gear parameter calculation module is used to determine the second-stage worm gear transmission torque based on the first-stage gear transmission torque and the first-stage gear transmission ratio, and to calculate the worm structure parameters and worm gear structure parameters. The three-stage gear parameter calculation module is used to determine the stall torque and calculate the structural parameters of the three-stage planetary gear set based on the torque of the two-stage worm gear transmission and the transmission ratio of the three-stage gear. The twin building block is used to construct a parameterized model of the reducer based on the structural parameters of the gears, the three-stage planetary gear set, the worm gear, and the worm wheel. The model optimization module is used to perform finite element analysis based on the transmission principle of the reducer and correct the parameterized model of the reducer to obtain the optimal structural parameters of the reducer.
[0042] The implementation principle of this embodiment is as follows: Based on the multi-level load decomposition algorithm, the load of each transmission pair is first allocated according to the stall torque and system efficiency. The structural parameters are determined by the gear strength calculation model and the worm gear design criteria. Then, the output of each module is integrated to build a three-dimensional digital model by relying on parametric constraint modeling technology. Finally, the optimal reducer structure design scheme that meets the requirements of strength, efficiency and compactness is automatically generated through finite element simulation combined with multi-objective optimization algorithm, which significantly improves the design accuracy and development efficiency.
[0043] An electronic device, comprising: One or more processors; Memory, used to store one or more programs; When one or more programs are executed by one or more processors, the one or more processors implement any of the methods in the above scheme.
[0044] A storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the optimized design method as described above.
[0045] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. An optimized design method for a rotary reducer with a small tooth difference, characterized in that, include: Based on the stall torque, overall transmission ratio, and overall transmission efficiency, determine the first-stage gear transmission torque, and calculate and verify the first-stage gear module; Based on the first-stage gear module and the number of gear teeth, and combined with the tooth tip correlation coefficient, the gear structure parameters are calculated; Based on the first-stage gear transmission torque and the first-stage gear transmission ratio, determine the second-stage worm gear transmission torque, and calculate the worm structure parameters and worm gear structure parameters; Based on the torque of the second-stage worm gear transmission and the transmission ratio of the third-stage gear, the stall torque is determined, and the structural parameters of the third-stage planetary gear set are calculated.
2. The optimized design method for a rotary reducer with a small tooth difference according to claim 1, characterized in that, The process of determining the primary gear transmission torque based on the stall torque, overall transmission ratio, and overall transmission efficiency, and calculating and verifying the primary gear module, includes: Calculate the total transmission ratio and total transmission efficiency based on the transmission ratio and pair transmission efficiency of the multi-stage gears. The primary gear transmission torque is determined based on the stall torque, the overall transmission ratio, and the overall transmission efficiency. The module of the first-stage gear is calculated based on the combined load coefficient and the composite tooth profile coefficient of the first-stage gear transmission torque.
3. The optimized design method for a rotary reducer with a small tooth difference according to claim 2, characterized in that, The process of determining the primary gear transmission torque based on the stall torque, overall transmission ratio, and overall transmission efficiency, and calculating and verifying the primary gear module, also includes: Calculate the standard center distance of the gears based on the module of the first-stage gear, the number of teeth of the main gear, and the number of teeth of the driven gear; The theoretical center distance of the gears is calculated based on the face width coefficient and the transmission torque of the first-stage gear, combined with the gear ratio. If the standard center distance of the gear is greater than or equal to the theoretical center distance of the gear, it indicates that the module of the first-stage gear is compliant and the contact strength of the current gear meets the standard.
4. The optimized design method for a rotary reducer with a small tooth difference according to claim 1, characterized in that, The calculation of gear structure parameters based on the module of the first-stage gear and the number of teeth of different gears, combined with gear correlation coefficients, includes: Calculate the pitch circle diameter of the main gear based on the number of teeth of the main gear and the module of the first-stage gear. Then, calculate the addendum circle diameter of the main gear based on the addendum coefficient. Finally, calculate the root circle diameter of the main gear based on the clearance coefficient. The pitch circle diameter of the driven gear is calculated based on the number of teeth of the driven gear and the module of the first-stage gear. The addendum circle diameter of the driven gear is calculated by combining the addendum coefficient. The root circle diameter of the driven gear is calculated by combining the clearance coefficient.
5. The optimized design method for a rotary reducer with a small tooth difference according to claim 1, characterized in that, The process of determining the second-stage worm gear transmission torque and calculating the worm and worm gear structural parameters based on the first-stage gear transmission torque and the first-stage gear transmission ratio includes: Based on the first-stage gear transmission torque and the first-stage transmission ratio, determine the second-stage worm gear transmission torque, and calculate the worm gear module and worm gear pitch circle diameter by combining the number of worm gear teeth; Calculate the worm pitch circle diameter and worm center distance based on the worm wheel module and worm diameter coefficient. The worm diameter is calculated based on the torsional stiffness and shear modulus, combined with the worm length.
6. The optimized design method for a rotary reducer with a small tooth difference according to claim 1, characterized in that, The process of determining the stall torque based on the second-stage worm gear transmission torque and the third-stage gear transmission ratio, and calculating the structural parameters of the third-stage planetary gear set, includes: The stall torque is determined based on the torque of the second-stage worm gear transmission and the gear ratio of the third stage. Calculate the module of the third-stage planetary gear based on the stall torque and the number of teeth of the output gear; Based on the module of the three-stage planetary gear and the number of teeth of the output gear or the number of teeth of the fixed internal gear ring, calculate the pitch circle diameter, addendum circle diameter, addendum circle diameter, dedendum circle diameter, and dedendum circle diameter of the three-stage planetary gear set.
7. The optimized design method for a rotary reducer with a small tooth difference according to claim 1, characterized in that, The optimization design method further includes: Based on the gear structure parameters, the structure parameters of the three-stage planetary gear set, the worm gear structure parameters, and the worm wheel structure parameters, a parameterized model of the reducer is constructed. Based on the finite element analysis of the reducer transmission principle and the correction of the parameterized model of the reducer, the optimal structural parameters of the reducer are obtained.
8. An optimization design system for a rotary reducer with a small tooth difference, used to implement the optimization design method as described in any one of claims 1-7, characterized in that, include: The first-stage gear parameter calculation module is used to determine the transmission torque of the first-stage gear based on the stall torque, total transmission ratio, and total transmission efficiency; calculate and verify the first-stage gear module; and calculate the gear structure parameters by combining the tooth tip correlation coefficient and the number of gear teeth. The second-stage worm gear parameter calculation module is used to determine the second-stage worm gear transmission torque and calculate the worm structure parameters and worm gear structure parameters based on the first-stage gear transmission torque and the first-stage gear transmission ratio. The three-stage gear parameter calculation module is used to determine the stall torque based on the two-stage worm gear transmission torque and the three-stage gear transmission ratio, and to calculate the structural parameters of the three-stage planetary gear set. The twin building block is used to construct a parameterized model of the reducer based on the structural parameters of the gears, the three-stage planetary gear set, the worm gear, and the worm wheel. The model optimization module is used to perform finite element analysis based on the transmission principle of the reducer and correct the parameterized model of the reducer to obtain the optimal structural parameters of the reducer.
9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-7.
10. A storage medium storing at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the optimization design method as described in any one of claims 1 to 7.