CN105587840A - Flexible gear delta-shaped tooth of harmonic reducer - Google Patents
Flexible gear delta-shaped tooth of harmonic reducer Download PDFInfo
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- CN105587840A CN105587840A CN201610112625.6A CN201610112625A CN105587840A CN 105587840 A CN105587840 A CN 105587840A CN 201610112625 A CN201610112625 A CN 201610112625A CN 105587840 A CN105587840 A CN 105587840A
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- Prior art keywords
- curve
- flexbile gear
- tooth
- profile
- speed reducer
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0833—Flexible toothed member, e.g. harmonic drive
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gears, Cams (AREA)
Abstract
The invention relates to the field of harmonic reducers, in particular to a flexible gear delta-shaped tooth of a harmonic reducer. The flexible gear delta-shaped tooth is composed of continuous single teeth. Each single tooth comprises a top curve, a transition curve and a bottom curve which are symmetrically distributed. The arc tops of the transition curves protrude outwards. The arc tops of the bottom curves are indented inwards. The top curves, the transition curves and the bottom curves are in smooth connection. Due to the adoption of the scheme, the service life of the harmonic reducer can be prolonged.
Description
Technical field
The present invention relates to harmonic speed reducer field, refer in particular to a kind of harmonic speed reducer flexbile gear δ profile of tooth.
Background technology
In harmonic speed reducer, flexbile gear and the just flute profile of wheel have direct impact to the performance of harmonic speed reducer, at presentGeneral flute profile is involute tooth type, and the feature of this flute profile is exactly that cutter making is relatively easy, but for high-performanceHarmonic speed reducer, this flute profile has its intrinsic shortcoming, is easily worn in use, thereby produces vibrations, impactThe precision of harmonic speed reducer.
Therefore, the inventor makes further research this, develops a kind of harmonic speed reducer flexbile gear δ profile of tooth, and this case thusProduce.
Summary of the invention
The object of the present invention is to provide a kind of harmonic speed reducer flexbile gear δ profile of tooth, can improve the performance of harmonic speed reducer,Extend the service life of harmonic speed reducer.
To achieve these goals, technical scheme of the present invention is as follows:
A kind of harmonic speed reducer flexbile gear δ profile of tooth, is made up of continuous monodentate, described monodentate comprise symmetrical top curve,Easement curve, bottom curve, the arc top of described easement curve is outwardly, and the arc top of described bottom curve caves inward, and topIn smoothing junction between portion's curve, easement curve and bottom curve.
Further, symmetrical structure centered by described easement curve.
Further, the curvature of described top curve is less than easement curve.
A method that designs above-mentioned flexbile gear δ profile of tooth, comprises the steps:
(1) taking barreled tooth flank as basis, as the basic flute profile of harmonic speed reducer flexbile gear;
(2) according to specification, calculate flexbile gear outside circle and tooth root diameter of a circle, determine the shape of flexbile gear outer curve and transverse tooth thickness andBacklash size, the finally whole flute profile of definite flexbile gear;
(3) according to the flute profile of flexbile gear, then according to back clearance size and the envelope principle of just taking turns between flexbile gear, design the tooth of firm wheelType.
Adopt after such scheme, the present invention compared with prior art, has the following advantages:
This flute profile can make harmonic speed reducer all the time in good working order, adopts this flute profile basis easilyActual conditions are adjusted back clearance; Compared with common involute tooth type, same specification, the bearing capacity of this flute profile will exceed30% left and right, and the Acceptable life of this flute profile is also long than involute tooth type, at present in actual use, operationAfter 5000 hours, the retentivity of precision is very good.
Brief description of the drawings
Fig. 1 is schematic diagram of the present invention;
Fig. 2 is the present invention and the schematic diagram of just taking turns gear teeth meshing.
Label declaration
Top curve 1, easement curve 2, bottom curve 3, the just gear teeth 4.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
As shown in the figure, a kind of harmonic speed reducer flexbile gear δ profile of tooth that the present invention discloses, is made up of Mei Gedan continuous monodentateTooth can be divided into three sections of curves: be positioned at the top curve 1 at monodentate top, bottom curve 3 in monodentate tooth root, and in topEasement curve 2 between curve 1 and bottom curve 3, the arc top of easement curve 2 is outwardly, and the arc top of bottom curve 3 concavesFall into, and in smoothing junction between top curve 1, easement curve 2 and bottom curve 3. Wherein easement curve 2 is fitted with just taking turns the gear teeth 4,And left gap between top curve 1 and the firm wheel gear teeth 4; Between between bottom curve 3 and the firm wheel gear teeth 4, also leave gap, andBottom curve 3 and the just gap between the wheel gear teeth 4 are larger the closer to monodentate tooth root.
As preferably, symmetrical structure centered by easement curve 2, and the curvature of top curve 1 is less than easement curve 2.
Design principle:
While designing this flute profile, can be with reference to following three principles:
(1), taking barreled tooth flank as basis, utilize the high bearing capacity of barreled tooth flank, as the flexbile gear basis flute profile of harmonic speed reducer;
(2) according to specification, calculate flexbile gear outside circle and tooth root diameter of a circle, determine shape and transverse tooth thickness and the tooth of flexbile gear principal curveGap size, the finally whole flute profile of definite flexbile gear;
(3) according to the flute profile of flexbile gear, then according to back clearance size and the envelope principle of just taking turns between flexbile gear, design the tooth of firm wheelType.
Computational methods
(1), according to the specification requirement of concrete harmonic speed reducer, calculate the modulus of this flexbile gear;
(2), according to the modulus value of gained, determine the main outline of δ curve;
(3), according to outside circle and root circle, select suitable tooth top arc radius and fillet radius;
(4), according to the flexbile gear tooth curve of gained and back clearance value, calculate corresponding just wheel contour curve.
Compared with common involute tooth type, same specification, the bearing capacity of this flute profile will exceed 30% left and right, andAnd the Acceptable life of this flute profile is also long than involute tooth type, at present in actual use, move after 5000 hours essenceThe retentivity of degree is very good.
Above are only specific embodiments of the invention, but design concept of the present invention is not limited to this, all this structures that utilizesThink the present invention to carry out the change of unsubstantiality, all should belong to the behavior of invading protection domain of the present invention.
Claims (4)
1. a harmonic speed reducer flexbile gear δ profile of tooth, is characterized in that: be made up of continuous monodentate, described monodentate comprises symmetrical pointThe top curve of cloth, easement curve, bottom curve, the arc top of described easement curve is outwardly, the arc top of described bottom curveCave inward, and in smoothing junction between top curve, easement curve and bottom curve.
2. a kind of harmonic speed reducer flexbile gear δ profile of tooth according to claim 1, is characterized in that: during described easement curve isThe symmetrical structure of the heart.
3. a kind of harmonic speed reducer flexbile gear δ profile of tooth according to claim 1, is characterized in that: the song of described top curveRate is less than easement curve.
4. a method for design flexbile gear δ profile of tooth as claimed in claim 1, comprises the steps:
Taking barreled tooth flank as basis, as the basic flute profile of harmonic speed reducer flexbile gear;
According to specification, calculate flexbile gear outside circle and tooth root diameter of a circle, determine shape and transverse tooth thickness and the tooth of flexbile gear outer curveGap size, the finally whole flute profile of definite flexbile gear;
According to the flute profile of flexbile gear, then according to back clearance size and the envelope principle of just taking turns between flexbile gear, design the flute profile of firm wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610112625.6A CN105587840A (en) | 2016-02-29 | 2016-02-29 | Flexible gear delta-shaped tooth of harmonic reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610112625.6A CN105587840A (en) | 2016-02-29 | 2016-02-29 | Flexible gear delta-shaped tooth of harmonic reducer |
Publications (1)
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| CN105587840A true CN105587840A (en) | 2016-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610112625.6A Pending CN105587840A (en) | 2016-02-29 | 2016-02-29 | Flexible gear delta-shaped tooth of harmonic reducer |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105840765A (en) * | 2016-05-25 | 2016-08-10 | 浙江来福谐波传动股份有限公司 | Delta-tooth-shaped harmonic reducer |
| CN106002497A (en) * | 2016-07-12 | 2016-10-12 | 北京精密机电控制设备研究所 | Deformation compatibility formed grinding method of flexible gear |
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
| CN109732153A (en) * | 2019-01-08 | 2019-05-10 | 四川大学 | A kind of three-arc harmonic wave gear hobbing cutter and its tooth Profile Design method |
| CN110486444A (en) * | 2019-08-20 | 2019-11-22 | 西安长剑飞控机电有限责任公司 | The repairing type method of nonstandard modulus harmonic gear |
| CN112119243A (en) * | 2018-05-14 | 2020-12-22 | 谐波传动系统有限公司 | Wave gear device |
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| EP0767325A2 (en) * | 1995-10-06 | 1997-04-09 | Teijin Seiki Boston, Inc. | Harmonic drive devices, and a method of generating tooth profiles therefor |
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| DE102012109774A1 (en) * | 2012-10-15 | 2014-05-15 | Ovalo Gmbh | Gear construction structure installed in e.g. steering element of e.g. agricultural vehicle, has outer toothing that is provided with several teeth whose height is increased and decreased along tooth width |
| CN203656069U (en) * | 2013-10-29 | 2014-06-18 | 北京精密机电控制设备研究所 | CTC tooth-shaped harmonic gear reducer |
| CN104074948A (en) * | 2014-07-02 | 2014-10-01 | 天津工业大学 | Cup-shaped harmonic gear with common tangent type double-circular arc tooth profile and tooth profile design method of gear |
| CN104455316A (en) * | 2014-11-21 | 2015-03-25 | 南京信息工程大学 | Harmonic reducer gear with beta type gear shape and machining method thereof |
| CN104514847A (en) * | 2014-12-19 | 2015-04-15 | 西安交通大学 | Flat harmonic transmission device with drum-shaped gear teeth |
| CN104625664A (en) * | 2014-12-24 | 2015-05-20 | 厦门大学 | Numerical control machining method for harmonic reducer flexible gear bi-directional crowned tooth profile |
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2016
- 2016-02-29 CN CN201610112625.6A patent/CN105587840A/en active Pending
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| CN104455316A (en) * | 2014-11-21 | 2015-03-25 | 南京信息工程大学 | Harmonic reducer gear with beta type gear shape and machining method thereof |
| CN104514847A (en) * | 2014-12-19 | 2015-04-15 | 西安交通大学 | Flat harmonic transmission device with drum-shaped gear teeth |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105840765A (en) * | 2016-05-25 | 2016-08-10 | 浙江来福谐波传动股份有限公司 | Delta-tooth-shaped harmonic reducer |
| CN106002497A (en) * | 2016-07-12 | 2016-10-12 | 北京精密机电控制设备研究所 | Deformation compatibility formed grinding method of flexible gear |
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
| CN112119243A (en) * | 2018-05-14 | 2020-12-22 | 谐波传动系统有限公司 | Wave gear device |
| CN109732153A (en) * | 2019-01-08 | 2019-05-10 | 四川大学 | A kind of three-arc harmonic wave gear hobbing cutter and its tooth Profile Design method |
| CN110486444A (en) * | 2019-08-20 | 2019-11-22 | 西安长剑飞控机电有限责任公司 | The repairing type method of nonstandard modulus harmonic gear |
| CN110486444B (en) * | 2019-08-20 | 2020-11-13 | 西安长剑飞控机电有限责任公司 | Modification method of nonstandard module harmonic gear |
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Application publication date: 20160518 |