CN107956851A - A kind of flexbile gear design and production method of harmonic speed reducer - Google Patents
A kind of flexbile gear design and production method of harmonic speed reducer Download PDFInfo
- Publication number
- CN107956851A CN107956851A CN201711180325.2A CN201711180325A CN107956851A CN 107956851 A CN107956851 A CN 107956851A CN 201711180325 A CN201711180325 A CN 201711180325A CN 107956851 A CN107956851 A CN 107956851A
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- CN
- China
- Prior art keywords
- flexbile gear
- barrel
- speed reducer
- production method
- harmonic speed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- 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
Abstract
The invention discloses a kind of flexbile gear design and production method of harmonic speed reducer, it is characterized in that, the flexbile gear includes barrel, the barrel outer end forms external tooth, excessive fillet is provided between the rear end face and barrel of external tooth, the wall thickness S of the barrel is S=(0.005~0.01) * D2/ L, the length L of barrel (1) is L=(0.7 0.8) * D；External tooth (2) facewidth B is B=(0.15~0.17) * D2/L；The radius R of excessive fillet is R=(0.04~0.055) * D2/L；Wherein, D represents the internal diameter of flexbile gear.Manufacture craft of the invention by improving flexbile gear, the coefficient of expansion for reducing flexbile gear improve its transmission accuracy and improve its hardness, tensile strength, improve the shape of flexbile gear in addition, improve the service life of retarder.
Description
Technical field
The invention belongs to the flexbile gear designing and manufacturing method in retarder field, more particularly to a kind of harmonic speed reducer.
Background technology
Harmonic speed reducer have small, light-weight, stable drive, without impact, noiseless, kinematic accuracy is high, gearratio
Greatly, the advantages that bearing capacity is high, is widely used in the industries such as electronics, space flight and aviation, robot.Harmonic speed reducer is included with interior
The rigid gear (firm gear) of gear ring, the flexible gear (flexbile gear) with external toothing and wave producer.Wherein flexbile gear is harmonic wave
The important component of device, its shape and structure and making material etc. influence the service life of harmonic speed reducer.The design of current flexbile gear
Typically rule of thumb formula carries out, and then existing flexbile gear service life is relatively low.
The content of the invention
To solve the above problems, the present invention provides a kind of flexbile gear designing and manufacturing method of harmonic speed reducer, the present invention are logical
The design parameter of flexbile gear is improved, the flexbile gear design for being is more reasonable, improves the service life of flexbile gear.
To reach above-mentioned technique effect, the technical scheme is that：
A kind of flexbile gear design and production method of harmonic speed reducer, the flexbile gear include barrel, and the barrel outer end forms
External tooth, is provided with excessive fillet, the wall thickness S of the barrel is S=(0.005~0.01) * between the rear end face and barrel of external tooth
D2/ L, the length L of barrel is L=(0.7-0.8) * D；External tooth (2) facewidth B is B=(0.15~0.17) * D2/L；Excessive fillet
(3) radius R is R=(0.04~0.055) * D2/L；Wherein, D represents the internal diameter of flexbile gear.
It is further to improve, the wall thickness S=0.007*D2/L。
It is further to improve, the length L=0.8*D of barrel.
It is further to improve, the facewidth B=0.16*D of the external tooth2/L。
It is further to improve, the radius R=0.055*D of the excessively fillet2/L。
Brief description of the drawings
Fig. 1 is the structural scheme of mechanism of flexbile gear；
Fig. 2 is the flexbile gear fatigue life schematic diagram of different wall；
The schematic diagram of the flexbile gear fatigue life of Fig. 3 difference tube lengths；
The flexbile gear fatigue life of Fig. 4 difference facewidth；
Fig. 5 is the schematic diagram of the flexbile gear fatigue life of different chamfering radius.
Wherein, 1. barrel；2. external tooth；3. excessive fillet.
Embodiment
Illustrated below by way of embodiment and with reference to attached drawing to technical scheme.
Embodiment 1
By to analysis of the Structural Parameters for Flexible Ring to fatigue life sensitivity, can obtain table 1
Sensitirity va1ue of 1 flexbile gear service life fatigue life of table to parameters
Wherein, L is flexbile gear tube length, and excessive fillet, the D of R teeth rear end face and barrel are circular diameter in barrel, and B is external tooth tooth
Width, S are wall thickness, and the elasticity modulus that T is load torque, E is material, μ is material Poisson's ratio.Harmonic gear as shown in Table 1
Sensitivity of the flexbile gear fatigue life to each Parameters variation is descending to be followed successively by：S、B、L、R、E、D、T、μ.Can be relatively more clear
It was found that the structural parameters of flexbile gear have very big influence to its fatigue life, the influence in S, B, L, R labor service life is particularly particularly
Substantially, main design parameters be should be used as.Following test is done in the case where D is definite value：
According to test result, as shown in Figure 2 within the specific limits, Wall-thick increase can improve flexbile gear fatigue life,
But more than after some critical value, the fatigue life of flexbile gear can reduce, this is because wall thickness is too thin, the strength and stiffness of flexbile gear are not
Foot, and thickness empress dowager is likely to result in that distortional stress is excessive, this is all unfavorable for the service life of flexbile gear, recommend S=(0.005~
0.01)*D2/ L, wherein, the S=0.007*D under preferable working condition2/L。
Test result as shown in Figure 3, increase barrel lenght can improve the fatigue life of flexbile gear, but also should not be too large,
It is excessive not but not improve fatigue life, the waste in space can be caused on the contrary, recommend：
L=(0.7-0.8) * D, wherein, the L=0.8*D under preferable working condition.
As shown in figure 4, according to test result, the increase of the facewidth within the specific limits helps to improve the tired longevity of flexbile gear
Life, when excessive it is excessive not but not improve fatigue life, the waste in space can be caused on the contrary, recommend：B=(0.15~0.17) *
D2/ L, wherein, the B=0.16*D under preferable working condition2/L。
As shown in figure 5, according to test result, within the specific limits, the excessive fillet for increasing flexbile gear increment and barrel is (excessive
Chamfering) radius can show the fatigue life value for improving flexbile gear, but outside this section, increase end relief radius is to the tired of flexbile gear
The labor service life changes and unobvious, recommends：R=(0.04~0.055) * D2/ L, wherein, the R=0.055* under preferable working condition
D2/L。
Embodiment 2
A kind of production method of harmonic speed reducer, flexbile gear production method include the following steps：Proportionally material is added
Ball milling instrument is ground, and the material includes the iron (phosphorus content is less than 0.01%) of 94.3 parts by weight, the graphene of 5 parts by weight, 2 weight
The silicon of part, the manganese of 0.3 parts by weight, the nickel of 0.065 parts by weight；The sulphur of 0.05 parts by weight, the chromium of 1.6 parts by weight, 0.17 parts by weight
Copper, the aluminium of 0.07 parts by weight,；Material after grinding is added in inert gas filled smelting furnace, heating melting, forms alloy
Solution, during heating after 6 DEG C of heating per minute is heated to fully melting with mixed and alternate by the way of 4 DEG C of heating per minute, by
Alloy solution, which pours into be cooled and shaped in flexbile gear mold, is made flexbile gear embryo, and 600 DEG C of insulations 3 are heated under flexbile gear embryo nitrogen is protected
Hour, be subsequently cooled to 260 DEG C insulation 0.5 it is small when, then temperature be 80 DEG C, PH be 8 alkaline solution in insulation 0.5 it is small when,
Cleaning, drying；Then hot spinning is carried out to flexbile gear embryo, the pressure of hot spinning is：A=b*c.Wherein, a represents the pressure of hot spinning,
Unit is N；B represents the wall thickness of flexbile gear, unit mm；C is pressure parameter, value range 2600；The temperature of hot spinning is 430
℃；Flexbile gear finished product after natural cooling i.e..
Embodiment 3
On the basis of embodiment 2, the production method of flexbile gear includes the following steps：Material is proportionally added into ball milling instrument
Grinding, iron (phosphorus content be less than 0.01%) of the material including 96 parts by weight, the graphene of 1 parts by weight, 1.5 parts by weight
Silicon, the manganese of 0.2 parts by weight, the nickel of 0.044 parts by weight；The sulphur of 0.03 parts by weight, the chromium of 1.2 parts by weight, the copper of 0.1 parts by weight,
The aluminium of 0.02 parts by weight；Material after grinding is added in inert gas filled smelting furnace, heating melting, forms alloy solution,
During heating using it is per minute heating 6 DEG C with it is per minute heating 4 DEG C by the way of mixed and alternate be heated to fully melt after, alloy is molten
Liquid, which pours into be cooled and shaped in flexbile gear mold, is made flexbile gear embryo, will be heated under the protection of flexbile gear embryo nitrogen 630 DEG C keep the temperature 3 it is small when,
Be subsequently cooled to 280 DEG C insulation 1 it is small when, then temperature be 90 DEG C, PH be 9 alkaline solution in insulation 1 it is small when, cleaning, drying；
Then hot spinning is carried out to flexbile gear embryo, the pressure of hot spinning is：A=b*c.Wherein, a represents the pressure of hot spinning, unit N；b
Represent the wall thickness of flexbile gear, unit mm；C is pressure parameter, value range 3000；The temperature of hot spinning is 470 DEG C；Naturally it is cold
But flexbile gear finished product afterwards i.e..
Embodiment 4
On the basis of embodiment 2, material includes the iron (phosphorus content is less than 0.01%) of 95.2 parts by weight, 1.1 parts by weight
Graphene, the silicon of 1.8 parts by weight, the manganese of 0.25 parts by weight, the nickel of 0.052 parts by weight；The sulphur of 0.035 parts by weight, 1.4 weight
The chromium of part, the copper of 0.13 parts by weight, the aluminium of 0.05 parts by weight, and；Material after grinding is added into inert gas filled smelting furnace
In, heating melting, forms alloy solution, using 6 DEG C of heating per minute and the mixed and alternate per minute by the way of 4 DEG C that heats up during heating
After being heated to fully melting, alloy solution is poured into flexbile gear mold and is cooled and shaped i.e. obtained flexbile gear embryo, flexbile gear embryo nitrogen is protected
Be heated under shield 620 DEG C of insulations 3 it is small when, be subsequently cooled to 270 DEG C of insulations 0.5 it is small when, then in temperature be 85 DEG C, PH is 8-9
When insulation 0.5 is small in alkaline solution, cleaning, drying；Then hot spinning is carried out to flexbile gear embryo, the pressure of hot spinning is：A=b*c.
Wherein, a represents the pressure of hot spinning, unit N；B represents the wall thickness of flexbile gear, unit mm；C is pressure parameter, value range
For 2700；The temperature of hot spinning is 460 DEG C；Flexbile gear finished product after natural cooling i.e..
Obtained flexbile gear performance is as follows：
| Embodiment 2 | Embodiment 3 | Embodiment 4 | |
| Hardness (HRC) | 57.8 | 56.9 | 58.6 |
| Yield point (MPa) | 389 | 407 | 426 |
| Tensile strength (Mpa) | 592 | 595 | 627 |
| Thermal coefficient of expansion (10-6/℃) | 8.3 | 7.4 | 5.8 |
Therefore flexbile gear performance produced by the present invention is above the flexbile gear performance of in the market, while its side wall uses teeth portion as water
Flat to set, remainder is obliquely installed, and reduces its erection stress.
The specific guiding embodiment of the present invention is above are only, but the design concept of the present invention is not limited thereto,
All changes for carrying out unsubstantiality to the present invention using this design, should all belong to the behavior for invading protection scope of the present invention.
Claims (5)
1. the flexbile gear design and production method of a kind of harmonic speed reducer, it is characterised in that the flexbile gear includes barrel (1), the cylinder
Wall (1) outer end forms external tooth (2), and excessive fillet (3), the barrel are provided between the rear end face and barrel (1) of external tooth (2)
(1) wall thickness S is S=(0.005~0.01) * D2/ L, the length L of barrel (1) is L=(0.7-0.8) * D；External tooth (2) facewidth B
For B=(0.15~0.17) * D2/L；The radius R of excessive fillet (3) is R=(0.04~0.055) * D2/L；Wherein, D is represented soft
The internal diameter of wheel.
2. the flexbile gear design and production method of harmonic speed reducer as claimed in claim 1, it is characterised in that the wall thickness S=
0.007*D2/L。
3. the flexbile gear design and production method of harmonic speed reducer as claimed in claim 1, it is characterised in that the length L of barrel (1)
=0.8*D.
4. the flexbile gear design and production method of harmonic speed reducer as claimed in claim 1, it is characterised in that the external tooth (2)
Facewidth B=0.16*D2/L。
5. the flexbile gear design and production method of harmonic speed reducer as claimed in claim 1, it is characterised in that the excessive fillet
(3) radius R=0.055*D2/L。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711180325.2A CN107956851A (en) | 2017-11-23 | 2017-11-23 | A kind of flexbile gear design and production method of harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711180325.2A CN107956851A (en) | 2017-11-23 | 2017-11-23 | A kind of flexbile gear design and production method of harmonic speed reducer |
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| CN107956851A true CN107956851A (en) | 2018-04-24 |
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| CN201711180325.2A Pending CN107956851A (en) | 2017-11-23 | 2017-11-23 | A kind of flexbile gear design and production method of harmonic speed reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027181A (en) * | 2018-09-27 | 2018-12-18 | 东莞市国森科精密工业有限公司 | A kind of flat tube structure design method of harmonic speed reducer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4524639A (en) * | 1983-06-23 | 1985-06-25 | Usm Corporation | Extended flexspline arrangement |
| CN101561031A (en) * | 2008-04-18 | 2009-10-21 | 谐波传动系统有限公司 | Flexspline and wave gear device |
| CN106011621A (en) * | 2016-06-08 | 2016-10-12 | 东莞市本润机器人开发科技有限公司 | Preparation process of harmonic reducer flexible gear |
| CN205669567U (en) * | 2016-06-19 | 2016-11-02 | 河北海乾威钢管有限公司 | New harmonic reductor flexbile gear |
-
2017
- 2017-11-23 CN CN201711180325.2A patent/CN107956851A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4524639A (en) * | 1983-06-23 | 1985-06-25 | Usm Corporation | Extended flexspline arrangement |
| CN101561031A (en) * | 2008-04-18 | 2009-10-21 | 谐波传动系统有限公司 | Flexspline and wave gear device |
| CN106011621A (en) * | 2016-06-08 | 2016-10-12 | 东莞市本润机器人开发科技有限公司 | Preparation process of harmonic reducer flexible gear |
| CN205669567U (en) * | 2016-06-19 | 2016-11-02 | 河北海乾威钢管有限公司 | New harmonic reductor flexbile gear |
Non-Patent Citations (3)
| Title |
|---|
| 王新等: ""谐波减速器柔轮结构优化设计研究"", 《制造业自动化》 * |
| 董惠敏等: ""基于正交试验和有限元分析的谐波传动柔轮杯体结构优化"", 《机械传动》 * |
| 阳培等: ""谐波齿轮传动中柔轮初始变形力研究"", 《机械强度》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027181A (en) * | 2018-09-27 | 2018-12-18 | 东莞市国森科精密工业有限公司 | A kind of flat tube structure design method of harmonic speed reducer |
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Application publication date: 20180424 |
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