CN105299151B - A kind of harmonic gear reducer - Google Patents
A kind of harmonic gear reducer Download PDFInfo
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- CN105299151B CN105299151B CN201410259615.6A CN201410259615A CN105299151B CN 105299151 B CN105299151 B CN 105299151B CN 201410259615 A CN201410259615 A CN 201410259615A CN 105299151 B CN105299151 B CN 105299151B
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Abstract
The invention discloses a kind of harmonic gear reducers, and including flexbile gear, firm gear, elliptical cam wave generator, the bottom of a cup of flexbile gear is connected with exporting axis, elliptical cam wave generator and input axis connection；Flexbile gear is equipped with circular arc involute circular arc profile along the outer wall of rim of a cup, and elliptical cam wave generator is arranged on flexbile gear rim of a cup inner wall；Firm gear is fixedly connected with the casing, and inner wall is equipped with engages connection with flexbile gear with the matched circular arc involute circular arc profile of flexbile gear flank profil, firm gear by flank profil.In engagement process, flexbile gear is continuously conjugated with firm gear and engages, and " biconjugate " in conjugate movement engages section simultaneously with the concave tooth exterior feature of firm gear and double wedge exterior feature respectively for double wedge exterior feature there are flexbile gear and concave tooth exterior feature.The present invention has both the advantages of arc toothed harmonic drive and involute profile harmonic drive, can not only realize modified transmission, but also can expand gear teeth meshing region, improves mesh stiffness, transmission efficiency and the bearing capacity of harmonic gear reducer.
Description
Technical field
The present invention relates to Technology of Harmonic Wave Transmission field more particularly to a kind of harmonic gear reducers.
Background technology
Harmonic drive has big simple in structure, light-weight, gear range, high transmission accuracy, backlash small while engaging tooth
The advantages of number is more and realizes to numerous uniquenesses such as confined space transmission movement and power.In recent decades, Harmonic Gears
Technology and transmission device have been widely used in space technology, lathe, instrument and meter, robot, automobile, shipbuilding, weaving, smelting
The fields such as gold, conventional weapon, precision optics equipment, printing packaging machinery and medical instrument.Application practice both domestic and external proves,
Power harmonic drive either as the accurate harmonic drive of highly sensitive servomechanism or as the big torque of transmission, all
Show good performance.
As the application in various automation equipments is more and more, the spies such as joint of robot, aircraft servo mechanism
Determine operating mode servo power transmission mechanism to Harmonic Gears require it is higher and higher, especially to volume, weight, dynamic characteristics, can
Requirement by property etc. nearly reaches harsh stage.And there are shortcomings for common involute profile harmonic drive：Tooth
Root Stress concentrates more serious, fatiguability fracture；Tooth contact stress is big, and engagement section is small, influences bearing capacity；Heavy load transmission
When cusp engagement flexbile gear be easily distorted, it is difficult to realize high rigidity, and can cause contacting profile interfere or slip teeth, seriously restrict whole
Body bearing capacity.Although common double circular arc tooth outline improves bearing capacity to a certain extent, due to that can not conjugate, production system
The ability of making is extremely restricted, and lacks actual use value.The research of harmonic drive tooth form, parameter and structure design is not deep enough
Enter, the far behind specific operations such as joint of robot, space flight servo mechanism constrain the performance requirement of harmonic drive
The development of robot technology and other precision drive technologies.
Invention content
The purpose of the present invention is to provide a kind of harmonic gear reducers, and it is high to overcome common involute Harmonic Gears
Easily occurs the deficiencies of root portion stress concentration, fatigue fracture, cusp engagement, flexbile gear distortion, latch and slip teeth under carrying.
Realize the object of the invention technical solution be：A kind of harmonic gear reducer, including flexbile gear, firm gear, ellipse
Cam wave generator, the bottom of a cup of flexbile gear are connected with exporting axis, elliptical cam wave generator and input axis connection；Flexbile gear is along rim of a cup
Outer wall is equipped with flank profil, and flank profil initial position is b apart from rim of a cup Edge Distance1；Elliptical cam wave generator is arranged on flexbile gear rim of a cup
Inner wall, the axial width line of symmetry of elliptical cam wave generator are overlapped with the flank profil width line of symmetry of flexbile gear；Firm gear is consolidated with housing
Fixed connection, firm gear inner wall is equipped with is set in flexbile gear equipped with elliptical cam wave generator with the matched flank profil of above-mentioned flank profil, firm gear
The outside of one end, firm gear engage connection, the flank profil width line of symmetry of firm gear and the flank profil width pair of flexbile gear with flexbile gear by flank profil
Line is claimed to overlap；Above-mentioned flexbile gear uses the flank profil of circular arc-involute-circular arc, and basic rack tooth profile parameter is：Addendum coefficientHeight of teeth root coefficientTip clearance coefficientPressure angle α=15 °~25 °,
Tooth top active section arc radius coefficientTooth root active section arc radius coefficientTooth
Thickness rate K=Er/Sr=1.05~1.2, tooth root transition arc radius coefficientTooth top thickness coefficient* table
Show the coefficient of relevant parameter divided by modulus.
Tooth top interference phenomenon occurs during engaging-in for the flank profil of above-mentioned flexbile gear in order to prevent, and tooth crest is allocated as at fillet
Reason, radius of corner coefficient
Firm gear uses the flank profil of circular arc-involute-circular arc, and pressure angle is consistent with the flank profil of above-mentioned flexbile gear, basic tooth
Wide parameter is：Addendum coefficientHeight of teeth root coefficientTip clearance coefficientTooth
It pushes up active section arc radius and is more than flexbile gear tooth root active section arc radius, coefficientTooth root active section circular arc
Radius factorTransverse tooth thickness compares K=Eg/Sg=1.05~1.2, tooth root transition arc radius coefficient
Flexbile gear flank profil completely engaging-in firm gear when depth of engagement coefficient
The flank profil width of flexbile gear is bR；The flank profil width of firm gear is bG, bG=bR+ (2~3), unit mm.
Above-mentioned flank profil initial position is b apart from rim of a cup Edge Distance1, b1=0.2bR。
Compared with prior art, the present invention its remarkable advantage is：Flexbile gear and firm gear in harmonic gear reducer of the present invention
Flank profil replaces involute profile using new flank profil, reduces root stress concentration, eliminates EDGE CONTACT, flexbile gear under heavy load transmission
It is not susceptible to distort, wedge-shaped sideshake is more advantageous to oil film and is formed；On the other hand, common double circular arc tooth outline is replaced with this, solved
The problem of cutter can not conjugate, is effectively improved manufacturing capacity.In engagement process, flexbile gear and firm gear flank profil are in continuous common
Yoke meshing state, and it is in conjugate movement simultaneously with firm gear concave tooth exterior feature and double wedge exterior feature respectively there are flexbile gear double wedge exterior feature and concave tooth exterior feature
" biconjugate " engages section, expands gear teeth meshing region, increases the depth of engagement, while also reduce contact stress, improves
The mesh stiffness of harmonic gear reducer, transmission efficiency and bearing capacity.
Description of the drawings
Fig. 1 is the sectional view of harmonic gear reducer of the present invention.
Fig. 2 is flexbile gear of the present invention and the whole mesh schematic representation of firm gear.
Fig. 3 is the tooth curve of harmonic gear reducer flexbile gear of the present invention.
Fig. 4 is the tooth curve of harmonic gear reducer firm gear of the present invention.
Fig. 5 is flexbile gear of the embodiment of the present invention and the local mesh schematic representation of firm gear.
Fig. 6 is the benchmark model of flexbile gear hobboing cutter normal plane flank profil of the present invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
A kind of harmonic gear reducer, including flexbile gear 1, firm gear 2, elliptical cam wave generator 3 and housing, flexbile gear 1, firm gear
2 and elliptical cam wave generator 3 be placed in housing, the bottom of a cup of flexbile gear 1 is connected with exporting axis, elliptical cam wave generator 3 with
Input axis connection；The outer wall of flexbile gear 1 along rim of a cup is equipped with flank profil, and flank profil initial position is b apart from rim of a cup Edge Distance1；It is oval convex
Wheel wave producer 3 is arranged on 1 rim of a cup inner wall of flexbile gear, the axial width line of symmetry of elliptical cam wave generator 3 and the flank profil of flexbile gear 1
Width line of symmetry overlaps；Firm gear 2 is fixedly connected with the casing, and 2 inner wall of firm gear is equipped with and the matched flank profil of above-mentioned flank profil, firm gear 2
The outside that flexbile gear 1 is equipped with 3 one end of elliptical cam wave generator is set in, firm gear 2 engages connection, firm gear 2 with flexbile gear 1 by flank profil
Flank profil width line of symmetry overlapped with the flank profil width line of symmetry of flexbile gear 1；Above-mentioned flexbile gear 1 uses the tooth of circular arc-involute-circular arc
Exterior feature, basic rack tooth profile parameter are：Addendum coefficientHeight of teeth root coefficientTip clearance coefficientPressure angle α=15 °~25 °, tooth top active section arc radius coefficientTooth root active section
Arc radius coefficientTransverse tooth thickness compares K=Er/Sr=1.05~1.2, tooth root transition arc radius coefficientTooth top thickness coefficient* the coefficient of relevant parameter divided by modulus is represented.
Tooth top interference phenomenon occurs during engaging-in for the flank profil of above-mentioned flexbile gear 1 in order to prevent, and tooth crest is allocated as at fillet
Reason, radius of corner coefficient
For firm gear 2 using the flank profil of circular arc-involute-circular arc, pressure angle is consistent with the flank profil of above-mentioned flexbile gear 1, basic
Parametric is：Addendum coefficientHeight of teeth root coefficientTip clearance coefficient
Tooth top active section arc radius is more than 1 tooth root active section arc radius of flexbile gear, coefficientTooth root active section
Arc radius coefficientTransverse tooth thickness compares K=Eg/Sg=1.05~1.2, tooth root transition arc radius coefficient
1 flank profil of flexbile gear completely engaging-in firm gear 2 when depth of engagement coefficient
The flank profil width of flexbile gear 1 is bR；The flank profil width of firm gear 2 is bG, bG=bR+ (2~3), unit mm.
Above-mentioned flank profil initial position is b apart from rim of a cup Edge Distance1, b1=0.2bR。
With reference to Fig. 1, a kind of harmonic gear reducer includes flexbile gear 1, firm gear 2, wherein elliptical cam wave generator 3, firm gear 2
It is rigid body with elliptical cam wave generator 3, the bottom of a cup of flexbile gear 1 is connected with exporting axis, elliptical cam wave generator 3 and input shaft
Connection, firm gear 2 are fixedly connected with the casing；Flexbile gear 1 is equipped with flank profil along the outer wall of rim of a cup；Elliptical cam wave generator 3 is arranged on soft
1 rim of a cup inner wall is taken turns, the axial width line of symmetry of elliptical cam wave generator 3 is overlapped with the flank profil width line of symmetry of flexbile gear 1；Firm gear
2 inner walls are equipped with to be set in flexbile gear 1 and is equipped with the outer of 3 one end of elliptical cam wave generator with the matched flank profil of above-mentioned flank profil, firm gear 2
Side, firm gear 2 engage connection, the flank profil width line of symmetry of firm gear 2 and the flank profil width line of symmetry of flexbile gear 1 with flexbile gear 1 by flank profil
It overlaps.During installation, elliptical cam wave generator 3 uses the cooperation of H8/h7 with 1 inner wall of flexbile gear.The specific work process of the present invention
It is：After elliptical cam wave generator 3 is packed into flexbile gear 1, flexbile gear 1 is caused to generate flexible deformation, generate the flexbile gear 1 of flexible deformation with
The rotation of elliptical cam wave generator 3 generates periodically deforming, the flexbile gear 1 at 3 long axis both ends of elliptical cam wave generator
The flank profil of flank profil and firm gear 2 is at a fully engaged " biconjugate " state, soft at 3 short axle both ends of elliptical cam wave generator
The flank profil of wheel 1 is in fully unmated state with the flank profil of firm gear 2, and half engagement or half disengaged condition are in rest interval.
With reference to Fig. 6, Fig. 6 is the benchmark model of flexbile gear hobboing cutter normal plane flank profil of the present invention, is made of circular arc-straight line-circular arc, soft
The flank profil of wheel 1 is designed as basic tooth profile.O1For the center of circle of hobcutter tooth root active section circular arc, O2For gear hobbing cutter tooth
The center of circle of active section circular arc is pushed up, AB sections are with O2For the center of circle, RfRFor the circular arc of radius, CD sections are with O1For the center of circle, RaRFor radius
Circular arc, BC sections be AB sections of circular arcs with CD sections of circular arcs common tangent.AB sections, BC sections and CD sections are flexbile gear hobboing cutter normal plane datum tooths
Exterior feature, basic rack tooth profile parameter should all be consistent with the basic rack tooth profile parameter of flexbile gear 1 to be processed.For the needs of processing, rolling
There are certain bottom clearance at the tooth top tooth root of serrated knife, and make fillet processing, radius is respectively R1、R2.Each letter meaning in figure
For：M- moduluses；Flexbile gear addendum coefficient；Flexbile gear height of teeth root coefficient；Flexbile gear tip clearance coefficient；α-flexbile gear pressure angle；Flexbile gear tooth top active section arc radius coefficient；Flexbile gear tooth root active section arc radius coefficient；Hobcutter tooth root mistake
Arc radius coefficient is crossed, value is 0.5~0.9；Hobcutter tooth top transition arc radius coefficient, value are 0.3~0.8.
" * " represents the coefficient of relevant parameter divided by modulus.
Embodiment 1
With reference to Fig. 3, Fig. 3 is the tooth curve of harmonic gear reducer flexbile gear 1 of the present invention.Harmonic gear reducer of the present invention
Flexbile gear 1 is process by hobcutter position changing cutting.The basic rack tooth profile curve of flexbile gear 1 is made of circular arc-involute-circular arc, this reality
It applies in example, the basic rack tooth profile parameter of flexbile gear 1 is：
Addendum coefficientHeight of teeth root coefficientTip clearance coefficientPressure angle α=20 ° become
Potential coefficient xR=3.52, tooth top active section arc radius coefficientTooth root active section arc radius coefficient
Transverse tooth thickness is than K=1.05, tooth root transition arc radius coefficientTooth top thickness coefficientThe tooth of flexbile gear in order to prevent
Tooth top interference phenomenon occurs during engaging-in for exterior feature, and tooth crest is allocated as fillet processing, radius of corner coefficient
With reference to Fig. 4, Fig. 4 is the tooth curve of harmonic gear reducer firm gear 2 of the present invention.Harmonic gear reducer of the present invention
The basic rack tooth profile curve of firm gear 2 is made of circular arc-involute-circular arc, is process using pinion cutter position changing cutting, pressure angle
It should be consistent with flexbile gear, other basic rack tooth profile parameters need to be determined with reference to the flexbile gear parameter being engaged with.In the present embodiment,
The basic rack tooth profile parameter of firm gear 2 is：
Addendum coefficientHeight of teeth root coefficientTip clearance coefficientPressure angle α=20 ° become
Potential coefficient xG=3.15, tooth top active section arc radius coefficientTooth root active section arc radius coefficientTooth
Thickness rate K=1.05, tooth root transition arc radius coefficientFlexbile gear flank profil completely engaging-in firm gear when depth of engagement coefficient
With reference to Fig. 2 and Fig. 5, Fig. 5 is the local mesh schematic representation of above-described embodiment flexbile gear 1 and firm gear 2, reflects flexbile gear 1
Single flank profil with respect to the flank profil of firm gear 2 the engaging-in process of nibbling out.Fig. 2 is that above-described embodiment flexbile gear 1 is engaged with the entirety of firm gear 2
Schematic diagram.Embodiment shows that in engagement process the flank profil of flexbile gear 1 there is no interference and is in continuously altogether with the flank profil of firm gear 2
Yoke meshing state, there are 1 double wedge exterior features of flexbile gear and concave tooth exterior feature to be in conjugate movement simultaneously with 2 concave tooth exterior feature of firm gear and double wedge exterior feature respectively
" biconjugate " engages section, this plays an important roll the transmission efficiency and bearing capacity that improve harmonic gear reducer.With
Compared with model involute profile, using novel tooth form harmonic gear reducer during the work time simultaneously engaging tooth logarithm be gradually
2 times or so of the tooth form that bursts at the seams；Under the same terms, ultimate bearing capacity is 4 times of involute profile or so, and torsion stiffness ratio is gradually opened
Line tooth form improves 50% or so.
Claims (4)
1. a kind of harmonic gear reducer, including flexbile gear (1), firm gear (2), elliptical cam wave generator (3), it is characterised in that：
The bottom of a cup of flexbile gear (1) is connected with exporting axis, elliptical cam wave generator (3) and input axis connection；Outer wall of the flexbile gear (1) along rim of a cup
Equipped with flank profil, flank profil initial position is b apart from rim of a cup Edge Distance1；Elliptical cam wave generator (3) is arranged on flexbile gear (1) cup
Mouth inner wall, the axial width line of symmetry of elliptical cam wave generator (3) are overlapped with the flank profil width line of symmetry of flexbile gear (1)；Firm gear
(2) inner wall is equipped with is set in flexbile gear (1) equipped with elliptical cam wave generator (3) with the matched flank profil of above-mentioned flank profil, firm gear (2)
The outside of one end, firm gear (2) engage connection, flank profil width line of symmetry and the flexbile gear (1) of firm gear (2) with flexbile gear (1) by flank profil
Flank profil width line of symmetry overlap；Using the flank profil of circular arc-involute-circular arc, basic rack tooth profile parameter is above-mentioned flexbile gear (1)：
Addendum coefficientHeight of teeth root coefficientTip clearance coefficientPressure angle α=
15o~25o, tooth top active section arc radius coefficientTooth root active section arc radius coefficientTransverse tooth thickness compares K=Er/Sr=1.05~1.2, tooth root transition arc radius coefficient
Tooth top thickness coefficient* the coefficient of relevant parameter divided by modulus is represented；
Tooth top interference phenomenon occurs during engaging-in for the flank profil of above-mentioned flexbile gear (1) in order to prevent, and tooth crest is allocated as fillet processing,
Radius of corner coefficient
For firm gear (2) using the flank profil of circular arc-involute-circular arc, pressure angle is consistent with the flank profil of above-mentioned flexbile gear (1), basic
Parametric is：Addendum coefficientHeight of teeth root coefficientTip clearance coefficient
Tooth top active section arc radius is more than flexbile gear (1) tooth root active section arc radius, coefficientTooth root active section
Arc radius coefficientTransverse tooth thickness compares K=Eg/Sg=1.05~1.2, tooth root transition arc radius coefficient
2. harmonic gear reducer according to claim 1, it is characterised in that：The completely engaging-in firm gear (2) of flexbile gear (1) flank profil
When depth of engagement coefficient
3. harmonic gear reducer according to claim 1, it is characterised in that：The flank profil width of flexbile gear (1) is bR；Firm gear
(2) flank profil width is bG, bG=bR+ (2~3), unit mm.
4. the harmonic gear reducer according to claim 1 or 3, it is characterised in that：Above-mentioned flank profil initial position is apart from cup
Mouth Edge Distance is b1, b1=0.2bR。
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| CN110725919A (en) * | 2019-11-18 | 2020-01-24 | 广州市新豪精密科技有限公司 | Flexible gear, rigid gear and harmonic reducer |
| CN112283317B (en) * | 2020-11-09 | 2022-06-07 | 武汉理工大学 | Arc cycloid harmonic tooth form, generation method and device thereof, and storage medium |
| CN113486476B (en) * | 2021-08-11 | 2023-04-18 | 重庆大学 | Grinding wheel tooth profile design method for grinding double-arc harmonic reducer rigid wheel slotting tool |
| CN114110136B (en) * | 2021-11-30 | 2024-01-26 | 重庆大学 | Method for designing internal tooth profile of complex wave type movable tooth speed reducer and two-stage speed reducer |
| CN114263708B (en) * | 2021-12-31 | 2024-02-06 | 浙江如川谐波传动科技有限公司 | Harmonic reducer |
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Effective date of registration: 20230721 Address after: Room 1807, No. 1, Kexiang, Qinhuai District, Nanjing, Jiangsu 210002 Patentee after: Ruibang Intelligent Technology (Nanjing) Co.,Ltd. Address before: 210094 No. 200 Xiaolingwei street, Xuanwu District, Jiangsu, Nanjing Patentee before: NANJING University OF SCIENCE AND TECHNOLOGY |
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