CN102615653A - Double-arc harmonic wave robot joint - Google Patents
Double-arc harmonic wave robot joint Download PDFInfo
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- CN102615653A CN102615653A CN2012101237104A CN201210123710A CN102615653A CN 102615653 A CN102615653 A CN 102615653A CN 2012101237104 A CN2012101237104 A CN 2012101237104A CN 201210123710 A CN201210123710 A CN 201210123710A CN 102615653 A CN102615653 A CN 102615653A
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Abstract
The invention discloses a double-arc harmonic wave robot joint, and relates to the technical field of manufacturing of robots, in particular to the technical field of designing of robot joints. The inside of a joint shell is connected with a rigid double-arc gear; a flexible double-arc cup-shaped gear is engaged in the rigid double-arc gear; the inside of the flexible double-arc cup-shaped gear is connected with a wave generator through a flexible bearing and a double-arc harmonic wave speed reducer; a control end of the wave generator of the double-arc harmonic wave speed reducer is connected with a rotor of a synchronous alternating current servo motor; the center of the flexible double-arc cup-shaped gear is connected with an output bar; and the output bar is inserted into a through hole of the joint shell in a clearance mode. By the double-arc harmonic wave robot joint, the stress condition and the transmission engagement quality of a double-arc cup-shaped gear tooth root can be improved, and the bearing capacity and the torsion rigidity of the robot joint can be improved. The double-arc harmonic wave robot joint has the characteristics of stably and accurately moving, along with low noise and low heat radiation in the movement process.
Description
Technical field
The present invention relates to the design field in robot manufacturing technology field, particularly joint of robot.
Background technology
There are two problems in the harmonic wave joint of robot that with the involute profile is the basis at present: involute flexbile gear tooth root portion stress is bigger, causes the bearing capacity and the not enough problem of torsional rigidity of harmonic wave joint of robot thus.Flexbile gear tooth root portion stress distribution is relevant with tooth profile, therefore, adopts other tooth profile, reduces flexbile gear tooth root portion stress.In the harmonic drive design; The flexbile gear tooth is supposed and geometry designs based on the large deflection mechanical foundation with firm gear teeth meshing; The curvature of the strain curve of flexbile gear center line is not a constant, possibly cause the flexbile gear strain and the flexbile gear gear teeth that cause lack visual check with the meshing interference of the wheel gear teeth just to wave producer.Because there is interference in gear teeth meshing, tooth is out of shape greatly when causing harmonic drive, and the engagement heating is big.Therefore, need to introduce visual means check and elimination engaging tooth interference in design process in the harmonic drive method for designing.
Summary of the invention
The object of the invention is to propose a kind of two circular arc harmonic wave joint of robot that can overcome the prior art defective.
The present invention connects a rigidity Novikov gears with double circular arc tooth profiles in the shell of joint; The two circular arc cup-shaped gears of flexibility of engagement in said rigidity Novikov gears with double circular arc tooth profiles; In the two circular arc cup-shaped gears of said flexibility, be connected through the wave producer of flexible bearing with two circular arc harmonic speed reducers, the control end of the wave producer of said pair of circular arc harmonic speed reducer is connected with the rotor of a synchronous AC servo motor; Center at the two circular arc cup-shaped gears of said flexibility connects take-off lever, and said take-off lever clearance-type is placed through in the through hole of said joint shell.
Rotate through its rotor of synchronous ac servomotor control, thereby the wave producer of the two circular arc harmonic speed reducers of drive relatively rotates flexible two circular arc cup-shaped gears and rigidity Novikov gears with double circular arc tooth profiles.The present invention is under computer control, and the synchronous ac servomotor is the dynamic Control input, and flexible two circular arc cup-shaped gears are the motion output; The present invention is easy to realize on technology, after Harmonic Gears adopts circular arc profile, can improve the stress state of flexible two circular arc cup-shaped Gear Root and the meshing quality of transmission, improves joint of robot bearing capacity and torsional rigidity.The present invention has the advantages that steadily and accurately carry out motion, when motion, has the characteristics of low noise and low heating.
The present invention can be through the distribution situation of tooth behind the flexible two circular arc cup-shaped gear shifting quadrant texturings under the ANSYS finite element software simulation no-load condition; The work circular arc center of circle of wheel tooth top section that draws flexible two circular arc cup-shaped gears is with respect to the deferent of the rigidity Novikov gears with double circular arc tooth profiles gear teeth, thereby obtains the tangent double circular arc tooth outline of rigidity Novikov gears with double circular arc tooth profiles; Pass through the deferent of the tooth top section work circular arc center of circle of rigidity Novikov gears with double circular arc tooth profiles again with respect to the gear teeth of flexible two circular arc cup-shaped gears; Thereby obtain the tangent double circular arc tooth outline of flexible two circular arc cup-shaped gears; The flexible two circular arc cup-shaped gears and the tangent double circular arc tooth outline of rigidity Novikov gears with double circular arc tooth profiles that draw; Can guarantee the continuous conjugation engagement of the two circular arc cup-shaped gear teeth of single flexible and the rigidity double circular arc tooth gear teeth, and exist two circular arc cup-shaped gear double wedges exterior features of one section flexibility and recessed flank profil respectively and the recessed flank profil of rigidity Novikov gears with double circular arc tooth profiles and double wedge exterior feature be in simultaneously between " biconjugate " region of engagement of conjugate movement.
Description of drawings
Fig. 1 is two circular arc harmonic wave joint of robot schematic diagrams.
Fig. 2 is the double circular arc tooth outline curve map of flexible two circular arc cup-shaped gears.
Fig. 3 is the double circular arc tooth outline curve map of rigidity Novikov gears with double circular arc tooth profiles.
The specific embodiment
As shown in Figure 1; The present invention connects a rigidity Novikov gears with double circular arc tooth profiles 7 in joint shell 8; The two circular arc cup-shaped gears 6 of flexibility of engagement in rigidity Novikov gears with double circular arc tooth profiles 7; In flexible two circular arc cup-shaped gears 6, be connected through the wave producer 5 of flexible bearing 4 with two circular arc harmonic speed reducers, the control end of the wave producer 5 of two circular arc harmonic speed reducers is connected with the rotor 1 of a synchronous AC servo motor.Outside the rotor 1 of synchronous ac servomotor, also be provided with stator, the synchronous ac servomotor also is provided with encoder 2.
Center at flexible two circular arc cup-shaped gears 6 connects take-off lever 9, and take-off lever clearance-type 9 is placed through among the through hole 8-1 of joint shell 8.
When the number of teeth of flexible two circular arc cup-shaped gears 6 is 120, the number of teeth of rigidity Novikov gears with double circular arc tooth profiles 7 is 122, and modulus is 1.When the rotor 1 of synchronous ac servomotor rotated a circle, flexible two circular arc cup-shaped gears 6 rotated 6 degree round about, realize rotating ratio 1:60.
Like Fig. 2, shown in 3, the two circular arc cup-shaped gears 6 of flexibility of the present invention adopt double circular arc tooth shape in designing with rigidity Novikov gears with double circular arc tooth profiles 7.
Fig. 2 is the double circular arc tooth outline curve map of flexible two circular arc cup-shaped gears 6, and wherein flexible two circular arc cup-shaped gear 6 tooth top section work arc radius are R
A1, tooth root section work arc radius is R
F1, tooth root place chamfer radius is R
1, for tooth top dieback phenomenon takes place the gear teeth that prevent flexible two circular arc cup-shaped gears 6, make chamfered in engaging-in process, chamfer radius is R
2
Fig. 3 is the double circular arc tooth outline curve map of rigidity Novikov gears with double circular arc tooth profiles 7, and wherein rigidity Novikov gears with double circular arc tooth profiles 7 top section work arc radius are R
A2, tooth root section work arc radius is R
F2, tooth root place chamfer radius is R
3
The detailed process of design is described below:
1, according to harmonic drive engagement basic theories; Distribution situation through the flexible two circular arc cup-shaped gears 6 distortion back teeth under the ANSYS finite element software simulation no-load condition; Draw flexible two circular arc cup-shaped gear 6 and take turns the deferent of the work circular arc center of circle of tooth top section, thereby obtain the tangent double circular arc tooth outline of rigidity Novikov gears with double circular arc tooth profiles 7 with respect to rigidity Novikov gears with double circular arc tooth profiles 7 gear teeth; Again through the deferent of the rigidity Novikov gears with double circular arc tooth profiles 7 tooth top section work circular arc centers of circle with respect to the gear teeth of flexible two circular arc cup-shaped gears 6; Thereby obtain the tangent double circular arc tooth outline of flexible two circular arc cup-shaped gears 6; The flexible two circular arc cup-shaped gears 6 and the rigidity Novikov gears with double circular arc tooth profiles 7 tangent double circular arc tooth outlines that draw; Can guarantee the gear teeth and the continuous conjugation engagement of the gear teeth of rigidity Novikov gears with double circular arc tooth profiles 7 of the two circular arc cup-shaped gears 6 of single flexible, and exist two circular arc cup-shaped gear 6 double wedges exterior features of one section flexibility and recessed flank profil respectively and rigidity Novikov gears with double circular arc tooth profiles 7 recessed flank profils and double wedge exterior feature be in simultaneously between " biconjugate " region of engagement of conjugate movement.After the double circular arc tooth shape design of completion Harmonic Gears, under the UG environment, carry out flexible two circular arc cup-shaped gears 6 and design with rigidity Novikov gears with double circular arc tooth profiles 7 complete geometric modeling and parametrizations.
2, calculate according to finite element theory; The double circular arc tooth generating gear has remarkable advantages with involute profile on mechanical strength; After adopting the design of double circular arc tooth shape, flexible two circular arc cup-shaped gear 6 tooth root portion stress reduce about 25%, and torsional rigidity improves about 40%.Therefore select the flank profil of double circular arc tooth shape, to improve joint of robot bearing capacity and torsional rigidity for flexible two circular arc cup-shaped gears 6 and rigidity Novikov gears with double circular arc tooth profiles 7.
3, flexible two circular arc cup-shaped gears 6 of application of finite element ANSYS software analysis and rigidity Novikov gears with double circular arc tooth profiles 7 are at the later deformation state of assembling; The position of engagement of the gear teeth of the flexible two circular arc cup-shaped gears 6 in visualization display flexible two circular arc cup-shaped gears 6 distortion backs and the gear teeth of rigidity Novikov gears with double circular arc tooth profiles 7; Contact problems between flexible two circular arc cup-shaped gears 6 of simulation and the rigidity Novikov gears with double circular arc tooth profiles 7, the gear teeth of check rigidity Novikov gears with double circular arc tooth profiles 7 and the interference problem of the gear teeth of flexible two circular arc cup-shaped gears 6.Through computer visualization design, check and design process again,, revise double circular arc tooth shape through the parametrization design; The adjustment pressure angle; Guarantee that no interference takes place in the tooth engaged transmission, optimize Harmonic Gears, make two circular arc harmonic wave joint of robot motions steadily; Reduce the joint of robot heating, lower the joint of robot work noise simultaneously.
Claims (1)
1. two circular arc harmonic wave joint of robot; Comprise the joint shell; It is characterized in that in the shell of said joint, connecting a rigidity Novikov gears with double circular arc tooth profiles; The two circular arc cup-shaped gears of flexibility of engagement in said rigidity Novikov gears with double circular arc tooth profiles are connected through the wave producer of flexible bearing with two circular arc harmonic speed reducers in the two circular arc cup-shaped gears of said flexibility, and the control end of the wave producer of said pair of circular arc harmonic speed reducer is connected with the rotor of a synchronous AC servo motor; Center at the two circular arc cup-shaped gears of said flexibility connects take-off lever, and said take-off lever clearance-type is placed through in the through hole of said joint shell.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101237104A CN102615653A (en) | 2012-04-25 | 2012-04-25 | Double-arc harmonic wave robot joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101237104A CN102615653A (en) | 2012-04-25 | 2012-04-25 | Double-arc harmonic wave robot joint |
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| CN102615653A true CN102615653A (en) | 2012-08-01 |
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| CN2012101237104A Pending CN102615653A (en) | 2012-04-25 | 2012-04-25 | Double-arc harmonic wave robot joint |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103438157A (en) * | 2013-09-09 | 2013-12-11 | 南京信息工程大学 | Bi-arc harmonic reducer |
| CN104358840A (en) * | 2014-10-23 | 2015-02-18 | 南京信息工程大学 | Loaded harmonic reducer |
| CN108843764A (en) * | 2018-07-26 | 2018-11-20 | 南京理工大学 | A kind of double transmission ratio harmonic gear reducers |
| CN109027167A (en) * | 2018-07-26 | 2018-12-18 | 南京理工大学 | A kind of double transmission ratio second level-harmonic gear reducers |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59121255A (en) * | 1982-12-27 | 1984-07-13 | Komatsu Ltd | Backlash removing device for reduction gear in industrial robot |
| CN2481905Y (en) * | 2001-02-16 | 2002-03-13 | 北京中技克美谐波传动有限责任公司 | Harmonic drive unit with cup flexible wheel |
| CN101135357A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Harmonic gear power transmission with double circular arc tooth outline |
| CN101264603A (en) * | 2008-03-31 | 2008-09-17 | 哈尔滨工程大学 | Robot joint based on harmonic wave speed reducer |
| CN201162803Y (en) * | 2008-03-07 | 2008-12-10 | 哈尔滨工业大学 | Short cup type harmonic wave gear speed reducer |
| CN202702250U (en) * | 2012-04-25 | 2013-01-30 | 扬州谐波传动科技有限公司 | Double-circular arc harmonic wave robot joint |
-
2012
- 2012-04-25 CN CN2012101237104A patent/CN102615653A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59121255A (en) * | 1982-12-27 | 1984-07-13 | Komatsu Ltd | Backlash removing device for reduction gear in industrial robot |
| CN2481905Y (en) * | 2001-02-16 | 2002-03-13 | 北京中技克美谐波传动有限责任公司 | Harmonic drive unit with cup flexible wheel |
| CN101135357A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Harmonic gear power transmission with double circular arc tooth outline |
| CN201162803Y (en) * | 2008-03-07 | 2008-12-10 | 哈尔滨工业大学 | Short cup type harmonic wave gear speed reducer |
| CN101264603A (en) * | 2008-03-31 | 2008-09-17 | 哈尔滨工程大学 | Robot joint based on harmonic wave speed reducer |
| CN202702250U (en) * | 2012-04-25 | 2013-01-30 | 扬州谐波传动科技有限公司 | Double-circular arc harmonic wave robot joint |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103438157A (en) * | 2013-09-09 | 2013-12-11 | 南京信息工程大学 | Bi-arc harmonic reducer |
| CN104358840A (en) * | 2014-10-23 | 2015-02-18 | 南京信息工程大学 | Loaded harmonic reducer |
| CN108843764A (en) * | 2018-07-26 | 2018-11-20 | 南京理工大学 | A kind of double transmission ratio harmonic gear reducers |
| CN109027167A (en) * | 2018-07-26 | 2018-12-18 | 南京理工大学 | A kind of double transmission ratio second level-harmonic gear reducers |
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Application publication date: 20120801 |