CN103453078B - A kind of harmonic wave speed reducing machine of novel wave-generator - Google Patents
A kind of harmonic wave speed reducing machine of novel wave-generator Download PDFInfo
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Abstract
The invention discloses a kind of harmonic wave speed reducing machine of novel wave-generator, the internal surface of ring rigid wheel arranges rigidity internal tooth, arranges wave-generator in ring rigid wheel; Described wave-generator is made up of the rigid cam and the flexible bearing be embedded on rigid cam outer ring with cartouche; The bearing outer ring of wave-generator is set with compliant wheel, and compliant wheel outer surface arranges the external tooth coordinated with ring rigid wheel internal tooth; Compliant wheel and the firm gear arranged coaxial of ring; Wave-generator has driven by motor as rotary driving source; Wave-generator cam face curve has particular expression formula.Do not only give the expression of wave-generator cam face curve in the present invention, and this wave-generator makes flexbile gear and has just taken turns to engage better, improves the distribution of force of flexible bearing and the gears meshing flank of tooth, reduces at the bottom of flexbile gear tooth stressed.
Description
Technical Field
The invention relates to a harmonic speed reducer.
Background
The harmonic speed reducer has the characteristics of high precision, small volume and high bearing torque, and is widely applied to the field of industrial robots.
The wave generator consists of rigid wave generator cam and wave generator bearing embedded in the outer ring. The shape of the wave generator cam has great influence on the performance of the harmonic speed reducer, and particularly has direct influence on rated torque, efficiency and service life.
In the design of the shape of a wave generator cam of a harmonic speed reducer, the wave generator cam of an elliptic curve is mostly adopted in the harmonic speed reducer in the world, and the harmonic speed reducer has the advantages of simple design and uncomplicated manufacture, and has the defects that the flexible gear bottom in the speed reducer is stressed greatly, the service life of the flexible gear of the harmonic speed reducer is influenced, and the number of teeth of the flexible gear meshed with the circular rigid gear is less. Other wave generator cam shapes include mixed arc curves, four profile curves, double arc curves, involute curves, cycloid curves, etc. Wherein, a wave generator cam of a mixed arc is adopted, and the aim is to ensure that the stress distribution is good when the flexible wheel and the circular rigid wheel are meshed; the wave generator cam with four profiles is adopted, and a shape expression, parameters and the like are given, but effective evaluation on the shape of the wave generator cam cannot be made.
In summary, although some researches and inventions have been made on the shape of the wave generator cam of the harmonic speed reducer at home and abroad, the cam has two disadvantages: firstly, the given wave generator cam shape curve expression is not exhaustive; and secondly, the given shape of the wave generator cam ensures that when the flexible wheel is meshed with the circular rigid wheel, the bottom of the flexible wheel is stressed greatly, and the number of meshed teeth is small.
Disclosure of Invention
The invention aims to provide a harmonic speed reducer of a novel wave generator, which has a reasonable structure and long service life.
The technical solution of the invention is as follows:
a harmonic speed reducer of a novel wave generator is characterized in that: the device comprises a circular rigid wheel, wherein rigid internal teeth are arranged on the inner surface of the circular rigid wheel, and a wave generator is arranged in the circular rigid wheel; the wave generator consists of a rigid cam with an oval profile and a flexible bearing embedded on an outer ring of the rigid cam; a flexible wheel is sleeved on a bearing outer ring of the wave generator, and outer teeth matched with the inner teeth of the circular rigid wheel are arranged on the outer surface of the flexible wheel; the flexible wheel and the circular rigid gear are coaxially arranged; the wave generator is driven by a motor to be used as a rotary driving source; wave generator cam shape curve expression:
wherein,
the first half of the expression of R (θ) is an elliptic curve:
the latter half of the expression of R (θ) is a radial correction term:
in the formula,
radial of R (theta) -wave generator cam curve
a-long half axis of wave generator cam in elliptical shape
b-minor half axis of wave generator in cam ellipse shape
Theta-the included angle between the major axis of the wave generator cam curve and the radial direction R (theta is more than or equal to 0 degree and less than or equal to 90 degrees)
k0-constant number
L-circumference of wave generator cam
n is an integer
Ai-constant (i =0, 1, 2 … … n)
ωi-constant (i =0, 1, 2 … … n)
Correcting k in the term (2) in the radial direction R (theta)0The constants are generally set at [0.05, 0.1 ]]Within the range.
The difference between the rigid inner tooth number of the circular rigid wheel and the outer tooth number of the flexible wheel is 2n teeth, and n is a positive integer.
The invention has reasonable structure, not only provides a concrete expression of the shape curve of the wave generator cam, but also the wave generator enables the flexible wheel and the annular rigid wheel to be better engaged, improves the stress distribution of the engaging tooth surface of the flexible bearing and the gear, and reduces the stress of the bottom of the flexible gear.
Two harmonic reducers A and B with the same type and the same reduction ratio. Under the condition of the same operation condition, the harmonic reducer A is replaced by an elliptic curve wave generator cam; the harmonic speed reducer B is replaced by the cam of the curve wave generator with the shape of the invention. The transmission precision error, rated torque, efficiency and the like of the two harmonic reducers are tested and compared as follows:
(1) the transmission precision errors of the harmonic speed reducer A and the harmonic speed reducer B are within 0.5 arcmin;
(2) the rated torque of the harmonic speed reducer B is 16% greater than that of the harmonic speed reducer A;
(3) under rated conditions, the efficiency of the harmonic speed reducer B is about 8% higher than that of the harmonic speed reducer A;
(4) the meshing tooth number of the flexible wheel and the circular ring-shaped rigid wheel in the harmonic speed reducer B is 15% more than that of the flexible wheel and the circular ring-shaped rigid wheel in the harmonic speed reducer A.
According to the harmonic speed reducer of the shape curve wave generator, the rated torque and the efficiency are increased under the condition of ensuring the transmission precision, the meshing tooth number of the flexible wheel and the circular rigid wheel is increased, and the service life is prolonged.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a cross-sectional view of the present invention.
Fig. 2 is a schematic view of a gear meshing state.
Fig. 3 is a schematic diagram of a wave generator cam curve.
In fig. 3: 8-standard elliptic curve; 9-shape curves of the invention; 10-major axis position; 11-minor axis location; a-radius of major axis of standard ellipse; b-standard ellipse minor axis radius.
Detailed Description
A harmonic reducer of a novel wave generator comprises a circular rigid wheel 1, wherein the inner surface of the circular rigid wheel is provided with rigid inner teeth 7, and a wave generator 3 is arranged in the circular rigid wheel; the wave generator consists of a rigid cam 4 with an oval profile and a flexible bearing 5 embedded on the outer ring of the rigid cam; a bearing outer ring of the wave generator is sleeved with a flexible wheel 2, and the outer surface of the flexible wheel is provided with outer teeth 5 matched with the inner teeth of the circular rigid wheel; the flexible wheel and the circular rigid gear are coaxially arranged; the wave generator is driven by a motor to be used as a rotary driving source; wave generator cam shape curve expression:
wherein,
the first half of the expression of R (θ) is an elliptic curve:
the latter half of the expression of R (θ) is a radial correction term:
in the formula,
radial of R (theta) -wave generator cam curve
a-long half axis of wave generator cam in elliptical shape
b-minor half axis of wave generator in cam ellipse shape
Theta-the included angle between the major axis of the wave generator cam curve and the radial direction R (theta is more than or equal to 0 degree and less than or equal to 90 degrees)
k0-constant number
L-circumference of wave generator cam
n is an integer
Ai-constant (i =0, 1, 2 … … n)
ωi-constant (i =0, 1, 2 … … n)
Correcting k in the term (2) in the radial direction R (theta)0The constants are generally set at [0.05, 0.1 ]]Within the range.
The difference between the rigid inner tooth number of the circular rigid wheel and the outer tooth number of the flexible wheel is 2n teeth, and n is a positive integer.
Constant A in term (2) is corrected to radial R (theta)i、ωiThe values of (d) are shown in table 1 below.
TABLE 1 constant A of radial correction termi、ωi
| Constant Ai | Numerical value | Constant omegai | Numerical value |
| A0 | 4.0653X 10-3 | ω0 | 0.0000 |
| A1 | 2.2330×10-10 | ω1 | 4.2569 |
| A2 | 4.3398×10-2 | ω2 | 3.7700×10-7 |
| A3 | 7.5600×10-8 | ω3 | 2.8233×10-1 |
| A4 | 6.2544×10-3 | ω4 | 3.1416×102 |
| A5 | 1.2000×10-9 | ω5 | 1.7926 |
| A6 | 3.7800×10-3 | ω6 | 5.2324 |
The values of the integer n in the term (2) are corrected to the radial R (θ) as shown in table 2 below.
TABLE 2 radial correction term integer n
| Reduction ratio j | Integer n |
| j≤80 | 4 |
| 80＜j≤160 | 5 |
| j＞160 | 6 |
Fig. 2 is a schematic diagram of a gear meshing state of the harmonic reducer. The wave generator 3 bends the flexible wheel 2 into an ellipse, so that partial external teeth 6 at two ends of the flexible wheel 2 in the long axis direction of the ellipse are meshed with partial internal teeth 7 of the circular rigid wheel 1. Generally, the circular ring-shaped rigid wheel 1 is fixed on a fixed body, and the wave generator 3 is driven by a motor as a rotary driving source. The wave generator 3 rotates so that the meshing position of the two gears 1, 2 moves in the circumferential direction. The difference in the number of teeth between the two gears 1, 2 is 2n teeth (n is a positive integer), and the difference in the number of teeth causes a relative rotational movement between the two gears 1, 2 that is greatly decelerated with respect to the rotation of the wave generator 3. Since the circular rigid wheel 1 is fixed, the rotation of the flexible wheel 2 causes the rotation of the part connected to it, in such a way as to transmit the rotary deceleration movement.
Fig. 3 is a cam curve diagram of a harmonic reducer wave generator. The elliptic curve 8 is a standard elliptic curve with a major axis radius of a and a minor axis radius of b. Under the condition that the circumference of the curve is not changed, the radius a of the long axis is kept unchanged, and the radius of the short axis is reduced, so that the curve is deformed into the wave generator cam shape curve 9 designed by the invention. In the shape curve 9, the radial direction of the shape curve 9 is larger than that of the elliptic curve 8 at the major axis part 10, compared with the elliptic curve 8; in the minor axis portion 11, the radial direction of the shape curve 9 is smaller than that of the elliptic curve 8. Because major axis position 10 is the meshing position of ring shape rigid wheel 1 and flexbile wheel 2, and the radial direction of shape curve 9 is bigger than oval curve 8, makes the flexible wheel 2 tooth bottom bending volume reduce, and then the flexible wheel 2 tooth bottom atress reduces to the number of meshing teeth increases, improves flexible wheel life.
Claims (2)
1. A harmonic reducer of a wave generator is characterized in that: the device comprises a circular rigid wheel, wherein rigid internal teeth are arranged on the inner surface of the circular rigid wheel, and a wave generator is arranged in the circular rigid wheel; the wave generator consists of a rigid cam with an oval profile and a flexible bearing embedded on an outer ring of the rigid cam; a flexible wheel is sleeved on a bearing outer ring of the wave generator, and outer teeth matched with the inner teeth of the circular rigid wheel are arranged on the outer surface of the flexible wheel; the flexible wheel and the circular rigid gear are coaxially arranged; the wave generator is driven by a motor to be used as a rotary driving source; wave generator cam shape curve expression:
wherein,
the first half of the expression of R (θ) is an elliptic curve:
the latter half of the expression of R (θ) is a radial correction term:
in the formula,
radial of R (theta) -wave generator cam curve
a-long half axis of wave generator cam in elliptical shape
b-minor half axis of wave generator in cam ellipse shape
Theta-the included angle between the major axis of the wave generator cam curve and the radial direction R (theta is more than or equal to 0 degree and less than or equal to 90 degrees)
k0-constant number
L-circumference of wave generator cam
n is an integer
Ai-constant (i ═ 0, 1, 2 … … n)
ωi-constant (i ═ 0, 1, 2 … … n)
Correcting k in the term (2) in the radial direction R (theta)0The constants are generally set at [0.05, 0.1 ]]Within the range.
2. The harmonic reducer of a wave generator as set forth in claim 1, wherein: the difference between the rigid inner tooth number of the circular rigid wheel and the outer tooth number of the flexible wheel is 2n teeth, and n is a positive integer.
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| JP6017066B2 (en) * | 2014-07-11 | 2016-10-26 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device having continuous contact tooth profile formed using arc tooth profile |
| CN105822725B (en) * | 2015-01-06 | 2018-04-24 | 上银科技股份有限公司 | The harmonic wave speed reducing machine of transmission accuracy can be lifted |
| CN105987152A (en) * | 2015-02-03 | 2016-10-05 | 重庆科谷机械有限公司 | Flexible rolling non-circular completely-conjugated shock wave device of cycloid oscillating tooth speed reducer |
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| CN106352025B (en) * | 2016-11-29 | 2019-02-01 | 李宗翰 | A kind of harmonic speed reducer |
| CN108427779B (en) * | 2017-02-15 | 2019-07-09 | 湖北科峰传动设备有限公司 | The optimum design method of cam and its curve, wave producer and harmonic wave speed reducing machine |
| DE102017114175B3 (en) * | 2017-06-27 | 2018-09-13 | Schaeffler Technologies AG & Co. KG | The wave gear |
| CN107676456A (en) * | 2017-08-31 | 2018-02-09 | 成都瑞迪机械科技有限公司 | long-life harmonic speed reducer |
| CN109707821A (en) * | 2019-01-30 | 2019-05-03 | 成都瑞迪机械科技有限公司 | Wave producer and harmonic wave speed reducing machine with the wave producer |
| CN110307322A (en) * | 2019-05-24 | 2019-10-08 | 宁波中大力德智能传动股份有限公司 | A kind of harmonic drive reduction mechanism |
| CN111120622B (en) * | 2020-01-14 | 2022-02-11 | 湖北科峰智能传动股份有限公司 | Modified wave cam and design method thereof, wave generator and wave reducer |
| DE102020201392A1 (en) | 2020-02-05 | 2021-08-05 | Zf Friedrichshafen Ag | Shape-optimized corrugated washer |
| CN111927934B (en) * | 2020-07-14 | 2024-05-14 | 国人机器人（天津）有限公司 | Harmonic speed reducer |
| CN113931990B (en) * | 2021-08-31 | 2023-04-14 | 北京精密机电控制设备研究所 | Harmonic drive cam |
| CN113898712A (en) * | 2021-10-08 | 2022-01-07 | 吴松涛 | Harmonic speed reducer |
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