This paper provides an effective systematic procedure for the efficient treatment of worm gearboxes for industrial-grade cases. The accurate and general dynamic model of the worm gearbox is analytically obtained and the effects of the dominant factors, such as the disturbance torque and friction between the teeth and threads, are also addressed. A universal algorithm is proposed for accurate estimation of the disturbance torque that makes no utilization of any designated sensing unit. Numerous experimentations have been conducted to validate the proposed procedure and algorithm. The contributions of this paper are not limited to worm gearboxes but rather are extendable to all other conventional gearboxes that use similar power transmission methods. The gradient patterns of the normal force, the friction force, and the coefficient of friction in worm gearboxes are also identified as a function of the effective elements, such as the output loading torque and angular velocity.

本文为有效处理工业级蜗杆变速箱提供了有效的系统程序。通过解析获得蜗轮蜗杆箱的准确，通用的动力学模型，并解决了主要因素的影响，例如扰动扭矩和齿与螺纹之间的摩擦。提出了一种通用算法，用于不使用任何指定的传感单元的干扰扭矩的精确估计。已经进行了许多实验以验证所提出的过程和算法。本文的贡献不仅限于蜗轮蜗杆减速机，还可以扩展到使用类似动力传递方法的所有其他常规变速箱。法向力，摩擦力，