CN108533715A - A kind of two-way conjugate tooth profile design method for Harmonic Gears - Google Patents
A kind of two-way conjugate tooth profile design method for Harmonic Gears Download PDFInfo
- Publication number
- CN108533715A CN108533715A CN201810691115.8A CN201810691115A CN108533715A CN 108533715 A CN108533715 A CN 108533715A CN 201810691115 A CN201810691115 A CN 201810691115A CN 108533715 A CN108533715 A CN 108533715A
- Authority
- CN
- China
- Prior art keywords
- tooth
- gear
- exterior feature
- flexbile gear
- double wedge
- Prior art date
- 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.)
- Granted
Links
Classifications
-
- 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
Abstract
A kind of two-way conjugate tooth profile design method for Harmonic Gears, it first passes through parametric equation and indicates flexbile gear top section double wedge exterior feature coordinate, it is transformed into firm gear coordinate system, solve to obtain the wide theoretical discrete point coordinates for being conjugated concave tooth exterior feature and double wedge exterior feature of flexbile gear top section double wedge, pass through least square fitting, it determines the firm gear flank profil wokring depth of tooth, matched curve section is determined as firm gear bottom section concave tooth exterior feature and firm gear top section double wedge is wide, calculates the tooth Shape Design for completing firm gear；Then parametric equation is utilized to indicate firm gear top section double wedge exterior feature coordinate, it is transformed into flexbile gear coordinate system, it solves and obtains the discrete point coordinates of the recessed conjugate profiles of the theory in the segment limit of flexbile gear bottom, pass through least square fitting, determine that flexbile gear tooth is high, matched curve is determined as flexbile gear bottom section concave tooth exterior feature, flexbile gear work flank profil is calculated；The present invention directly obtains flexbile gear and firm gear flank profil with biconjugate and secondary conjugation phenomenon, improves conjugation contact area and region of engagement, reduces Contact Stress of Gear, increase the transmission accuracy of harmonic speed reducer.
Description
Technical field
The present invention relates to harmonic speed reducer technical fields, and in particular to a kind of two-way conjugation tooth for Harmonic Gears
Shape design method.
Background technology
Technology of Harmonic Wave Transmission mainly realizes that movement or power are transmitted using the elastic deformation wave of flexible working member, by
There are teeth number differences between flexbile gear and firm gear, and in wave producer rotation process, flexbile gear is moved with firm gear side set, dynamic to realize
Power is transmitted.The tooth form of flexbile gear and firm gear has prodigious influence to performance in harmonic speed reducer.Involute profile is due to craftsmanship
Preferably, it is used widely in Harmonic Gears, but involute profile is not conjugate profiles, the flexbile gear flank profil in transmission
Smaller with firm gear profile contact face, most flexbile gear gear teeth are in cusp meshing state, the performance that cannot be optimal.Select conjugation
Flank profil can improve service life and the transmission performance of harmonic speed reducer.The work flank profil of bicircular arcs tooth form can be divided into top section by pitch circle
Dome arc and bottom section concave arc, two sections of flank profils are connected by common tangent section, with larger conjugation region, may be implemented continuously altogether
Yoke contacts.
Current two-way conjugate tooth profile design method is flexbile gear tooth profile parameter determining first, then calculates separately two sections of circles of flexbile gear
The conjugate profiles of curved tooth exterior feature, then obtain firm gear flank profil by being fitted to conjugate profiles.It can be obtained by envelope method soft
The theoretical conjugation concave tooth exterior feature CT1 of wheel top section double wedge exterior feature ST1 and the theoretical conjugation for being conjugated double wedge exterior feature CT2 and bottom section concave tooth exterior feature SA1
Concave tooth exterior feature CA1.The flank profil ST2 and SA2 of firm gear should be fitted by the theoretical conjugate profiles of flexbile gear.Due to two sections of circular arcs of flexbile gear
Flank profil can all be engaged with the dome segmental arc ST2 of firm gear, and can obtain the conjugate profiles CT2 of each comfortable firm gear top section in the calculation
And CA1, but in order to ensure the gear teeth do not interfere, the rightmost side one in conjugate profiles can only be selected wide as firm gear double wedge.
When CA1 is on right side, ST2 is determined by CA1, and in engaging-in bosom, there are one section of region of engagement, flexbile gear dome segmental arc and concave arc sections
Conjugate profiles (i.e. " biconjugate " phenomenon) is formed with two sections of circular arc profiles of firm gear simultaneously, larger conjugation contact surface can be reached
Product, but conjugate relation is not present in engaging-in and very long a part of region that is nibbling out, flexbile gear double wedge exterior feature and firm gear double wedge exterior feature, do not have
It engages so that region of engagement very little, the number of teeth for simultaneously participating in engagement are less；When CT2 is on right side, ST2 is determined by CT2,
In the movement of harmonic drive, two sections of flank profils of firm gear are all the conjugate profiles (i.e. " secondary conjugation " phenomenon) of flexbile gear dome segmental arc, this
Sample region of engagement range is maximum, but flexbile gear concave arc is not engaged in engagement, and the contact surface of engagement is smaller；It, will when CA1 intersects with CT2
Rightmost side part in CA1 and CT2 two lines is fitted to obtain ST2, has both the advantage and disadvantage of two kinds of situations.
To realizing that conjugation contact area is maximum, maximum region of engagement is obtained again it is necessary to make CA1 be overlapped with CT2, it is existing
Design method, such result cannot be obtained；Although can be by optimizing flexbile gear tooth profile parameter, so that CA1 and CT2 is heavy as possible
It closes.But because the double circular arc tooth shape parameter of flexbile gear is more, it usually needs suitable parameter can just be found by carrying out a large amount of calculate, this
Sample makes the design process of bicircular arcs tooth form very complicated, and the time of consuming is also long, and can only obtain approximation.
Invention content
In order to overcome the disadvantages of the above prior art, the object of the present invention is to provide one kind being used for Harmonic Gears
Two-way conjugate tooth profile design method, directly obtain with biconjugate and it is secondary conjugation phenomenon flexbile gear and firm gear flank profil, improve
It is conjugated contact area and region of engagement, reduces Contact Stress of Gear, increases the transmission accuracy of harmonic speed reducer.
In order to achieve the above object, the technical solution that the present invention takes is：
A kind of two-way conjugate tooth profile design method for Harmonic Gears includes the following steps：
1) parameter preset is selected according to the design requirement of harmonic speed reducer first, parameter preset includes inner diameter of flexspline, flexbile gear
Wall thickness, thickness on pitch circle ratio and the high coefficient of tooth etc., the basic design parameters for determining flexbile gear top section double wedge exterior feature ST1, and pass through ginseng
Number equation indicates the coordinate (x of flexbile gear top section double wedge exterior feature ST11(s),y1(s))；
2) by coordinate transform by the coordinate (x of flexbile gear top section double wedge exterior feature ST11(s),y1(s)) it is transformed into firm gear coordinate system
Under, substitute into Envelope equation, by numerical computations solve flexbile gear top section double wedge exterior feature ST1 theoretical conjugation concave tooth exterior feature CT1 and theory
It is conjugated the discrete point coordinates of double wedge exterior feature CT2；
3) wide by least square fitting firm gear bottom section concave tooth using the discrete point coordinates of theoretical conjugation concave tooth exterior feature CT1, it adjusts
Whole fitting parameter makes the discrete point of theoretical conjugation concave tooth exterior feature CT1 all in the inside of matched curve, to ensure that interference of tooth profiles does not occur；
Similarly, using the discrete point coordinates of theoretical conjugation double wedge exterior feature CT2, fitting firm gear top section double wedge is obtained by least square fitting
Exterior feature, and adjusting fitting parameter makes theoretical conjugation double wedge exterior feature CT2 discrete points all in the outside of matched curve；
According to the high coefficient of the tooth of firm gear, firm gear flank profil wokring depth of tooth range is determined, the fitting in firm gear tooth high scope is bent
Line segment is identified as firm gear bottom section concave tooth exterior feature SA2 and firm gear top section double wedge exterior feature ST2；
4) its common tangent section is calculated according to firm gear bottom section concave tooth exterior feature SA2 and firm gear top section double wedge exterior feature ST2, firm gear bottom section is recessed
Flank profil SA2, firm gear top section double wedge exterior feature ST2 and its common tangent section combine to obtain complete firm gear work flank profil；Calculate firm gear work
Flank profil and the tangent easement curve of firm gear root circle, complete the tooth Shape Design of firm gear；
5) parametric equation is utilized to indicate the coordinate (x of firm gear top section double wedge exterior feature ST22(s),y2It (s)), will by coordinate transform
Coordinate (the x of firm gear top section double wedge exterior feature ST22(s),y2(s)) it is transformed under flexbile gear coordinate system, substitutes into Envelope equation, numerical solution obtains
The discrete point coordinates of the recessed conjugate profiles CT3 of theory in flexbile gear bottom segment limit；
6) wide by least square fitting flexbile gear bottom section concave tooth using the discrete point coordinates of theoretical conjugation concave tooth exterior feature CT3, it adjusts
Whole fitting parameter makes the discrete point of theoretical recessed conjugate profiles CT3 all in the inside of matched curve, to ensure that interference of tooth profiles does not occur；
According to the high coefficient of the tooth of flexbile gear, flexbile gear tooth high scope is determined, the matched curve in flexbile gear tooth high scope is determined as flexbile gear bottom section
Concave tooth exterior feature SA1；
7) its common tangent is calculated according to flexbile gear top section double wedge exterior feature ST1 and flexbile gear bottom section concave tooth exterior feature SA1, by flexbile gear top section double wedge
Wide ST1, flexbile gear bottom section concave tooth exterior feature SA1 and its common tangent section combine to obtain complete flexbile gear work flank profil；Calculate flexbile gear work tooth
The wide and tangent easement curve of flexbile gear root circle, completes the tooth Shape Design of flexbile gear.
A kind of two-way conjugate tooth profile design method for Harmonic Gears is suitable for by root portions circular arc
The double circular arc tooth outline that section and tip portion arc section are constituted, is also applied for meeting the non-circular curve tooth form of the following conditions, i.e. flexbile gear
Top section and bottom section flank profil are divided by pitch circle with the flank profil of firm gear, wherein top section is that double wedge is wide, bottom section is that concave tooth is wide.
Beneficial effects of the present invention are：
It has been used in the methods of the invention by flexbile gear flank profil to firm gear flank profil, then double in this way from firm gear flank profil to flexbile gear flank profil
To envelope be conjugated and calculate, the flexbile gear top designed section double wedge exterior feature ST1 in gear motion successively and firm gear bottom section concave tooth is wide
SA2 and top section double wedge exterior feature ST2 conjugation contacts, realize secondary conjugation, increase region of engagement range, increase and simultaneously participate in engagement
Tooth logarithm.It designs obtained flexbile gear bottom section concave tooth exterior feature SA1 to contact with firm gear double wedge exterior feature ST2 conjugation, while flexbile gear top section double wedge is wide
ST1 is contacted with firm gear bottom section concave tooth exterior feature SA2 conjugation, is realized biconjugate, is increased conjugation contact area, reduces face and answer
Power reduces tooth surface abrasion.The torsion stiffness and transmission accuracy for making harmonic speed reducer are improved.
Description of the drawings
Fig. 1 is the flow chart of the method for the present invention.
Fig. 2 is the relative position and coordinate system of Harmonic Gears flexbile gear and the firm gear gear teeth.
Fig. 3 is the flexbile gear tooth top double wedge exterior feature section under flexbile gear coordinate system.
Specific implementation mode
The present invention will be described in detail with reference to the accompanying drawings and examples.
It is designed as example with the bicircular arcs tooth form of Harmonic Gears, it is referring to Fig.1, a kind of for the two-way of Harmonic Gears
Conjugate tooth profile design method, includes the following steps：
1) design for completing structural parameters according to requirements such as loads first, the engagement ginseng of design tooth profile required for then determining
Number；As shown in Fig. 2, initially setting up each coordinate system, wave producer coordinate system { OXY } is established, origin is located in wave producer rotation
The heart, Y-axis are overlapped with major axis of wave generator, and X-axis is overlapped with minor axis of wave generator；Establish flexbile gear gear teeth coordinate system { o1x1y1, y1
Axis is overlapped with flexbile gear tooth center line, origin o1Then it is located on flexbile gear neutral line curve (i.e. primitive curve), x1Axis and y1Axis is mutual
It is vertical and tangent with primitive curve；Establish firm gear coordinate system { o1x1y1, origin o2It is overlapped with O points, y2Axis and firm gear tooth socket center
Line overlaps, x2Axis and y2Axis is mutually perpendicular to；The distance of point to origin O on primitive curve are expressed as
In formula,For the non-deformed end corner of flexbile gear, rmFor flexbile gear neutral layer radius, ω is the radial-deformation of flexbile gear；Tangentially
Deflection is
According to the geometrical relationship in figure, y1With o1o2Angle be
It is constant according to flexbile gear neutral line length it is assumed that the arc length before and after deformation of flexible wheel is equal, solve equation
After ignoring high-order amount, obtaining deformation of flexible wheel end rotational angle is
Firm gear rotational angle is obtained according to gear ratio calculation
In formula, z1For the flexbile gear number of teeth, z2For the firm gear number of teeth；Flexbile gear is with firm gear outer corner difference
Angle between flexbile gear coordinate system and firm gear coordinate system
φ=μ+γ
According to geometrical relationship, obtain coordinate conversion matrix flexbile gear coordinate system being transformed under firm gear coordinate system
Parameter preset is determined according to the design parameter of harmonic drive, as shown in figure 3, AB sections of circular arcs are that flexbile gear top section is convex in figure
Flank profil ST1 first determines flexbile gear thickness on pitch circle ratio K, flexbile gear height of teeth top ha1, flexbile gear dome arc wokring depth of tooth hlWith circular arc angle of inclination beta, obtain
It is to thickness on pitch circle
In formula, d1For flexbile gear pitch diameter, the radius of flexbile gear top section double wedge exterior feature ST1 is
The center location of flexbile gear top section double wedge exterior feature ST1
Determine the flank profil coordinate points (x of flexbile gear top section double wedge exterior feature ST11(s),y1(s)) parametric equation is
In formula, s is to the arc length from point A, in the range of 0≤s≤ρa(α1-β)；
2) by coordinate transform by the coordinate (x of flexbile gear top section double wedge exterior feature ST11(s),y1(s)) it is transformed into firm gear coordinate system
Under,
Substitute into Envelope equation
Solution obtains meeting theoretical conjugate profiles coordinate
Here the theoretical conjugate profiles solution obtained is discrete coordinate, as shown in Figure 2；Two solution sections, reason can be divided into
By conjugation concave tooth exterior feature CT1 and theoretical conjugation double wedge exterior feature CT2；
3) theory conjugation concave tooth exterior feature CT1 is fitted to obtain the center of circle and radius by least square circular arc, changes radius and makes
Theory conjugation concave tooth exterior feature CT1 all the points are all fallen in circle, avoid interference of tooth profiles；It, will be in model further according to the bottom of the tooth segment limit of firm gear
Fitting circular arc in enclosing is as firm gear concave tooth exterior feature section SA2；Similarly, theory conjugation double wedge exterior feature CT2 is intended by least square circular arc
Conjunction obtains the center of circle and radius, changes radius and theoretical conjugation double wedge exterior feature CT2 all the points are all fallen outside circle；Further according to the tooth of firm gear
It rises, using the fitting circular arc in the segment limit of top as firm gear double wedge exterior feature section ST2；
4) the common tangent section for calculating firm gear bottom section concave tooth exterior feature SA2 and firm gear top section double wedge exterior feature ST2, obtains the complete work of firm gear
Make flank profil；
5) under firm gear coordinate system, the flank profil coordinate (x of the convex circular arc profile ST2 of firm gear2(s),y2(s)), pass through coordinate transform
It converts it under flexbile gear coordinate system
Substitute into Envelope equation
Solution obtains meeting theoretical conjugate profiles coordinate
Obtain the theoretical conjugation concave tooth exterior feature CT3 within the scope of flexbile gear bottom of the tooth；
6) using the discrete point coordinates of theoretical conjugation concave tooth exterior feature CT3, first to conjugate profiles point (x1,y1) carry out minimum two
Multiply circular fitting and obtain the fitting center of circle and radius, then adjusting radius makes theoretical conjugation concave tooth exterior feature CT3 points all in fitting circular arc
Inside, to ensure that interference of tooth profiles does not occur；According to the high coefficient of the tooth of flexbile gear, flexbile gear tooth root high scope is determined, by flexbile gear tooth Gao Fan
Matched curve in enclosing is determined as flexbile gear bottom section concave tooth exterior feature SA1；
7) its common tangent is calculated according to flexbile gear top section double wedge exterior feature ST1 and flexbile gear bottom section concave tooth exterior feature SA1, by flexbile gear top section double wedge
Wide ST1, flexbile gear bottom section concave tooth exterior feature SA1 and its common tangent section combine to obtain complete flexbile gear work flank profil；Calculate flexbile gear work tooth
The wide and tangent easement curve of flexbile gear root circle, completes the tooth Shape Design of flexbile gear.
The present invention obtains flexbile gear flank profil and firm gear flank profil：In engagement bosom, entire flank profil may be implemented and be involved in engagement,
There are biconjugate phenomenon, conjugation contact area increases, and reduces Contact Stress of Gear, reduces tooth surface abrasion；When engaging-in and engagement
The flexbile gear at two moment of bosom with the firm gear flank profil position of engagement it is found that flexbile gear double wedge exterior feature is there are secondary conjugation phenomenon, nibble by increase
Area's range is closed, the tooth logarithm for simultaneously participating in engagement is increased, improves the torsion stiffness and transmission accuracy of harmonic speed reducer.
Claims (2)
1. a kind of two-way conjugate tooth profile design method for Harmonic Gears, which is characterized in that include the following steps：
1) first according to the design requirement of harmonic speed reducer select parameter preset, parameter preset include inner diameter of flexspline, Wall-thick,
Thickness on pitch circle ratio and the high coefficient of tooth etc., the basic design parameters for determining flexbile gear top section double wedge exterior feature ST1, and pass through parametric equation
Indicate the coordinate (x of flexbile gear top section double wedge exterior feature ST11(s),y1(s))；
2) by coordinate transform by the coordinate (x of flexbile gear top section double wedge exterior feature ST11(s),y1(s)) it is transformed under firm gear coordinate system, generation
Enter Envelope equation, by numerical computations solve flexbile gear top section double wedge exterior feature ST1 theoretical conjugation concave tooth exterior feature CT1 and theoretical conjugation it is convex
The discrete point coordinates of flank profil CT2；
3) using the discrete point coordinates of theoretical conjugation concave tooth exterior feature CT1, wide by least square fitting firm gear bottom section concave tooth, adjustment is quasi-
Closing parameter makes the discrete point of theoretical conjugation concave tooth exterior feature CT1 all in the inside of matched curve, to ensure that interference of tooth profiles does not occur；Together
It manages, using the discrete point coordinates of theoretical conjugation double wedge exterior feature CT2, fitting firm gear top section double wedge exterior feature is obtained by least square fitting,
And adjusting fitting parameter makes theoretical conjugation double wedge exterior feature CT2 discrete points all in the outside of matched curve；
According to the high coefficient of the tooth of firm gear, firm gear flank profil wokring depth of tooth range is determined, by the matched curve section in firm gear tooth high scope
It is identified as firm gear bottom section concave tooth exterior feature SA2 and firm gear top section double wedge exterior feature ST2；
4) its common tangent section is calculated according to firm gear bottom section concave tooth exterior feature SA2 and firm gear top section double wedge exterior feature ST2, firm gear bottom section concave tooth is wide
SA2, firm gear top section double wedge exterior feature ST2 and its common tangent section combine to obtain complete firm gear work flank profil；Calculate firm gear work flank profil
The tangent easement curve with firm gear root circle, completes the tooth Shape Design of firm gear；
5) parametric equation is utilized to indicate the coordinate (x of firm gear top section double wedge exterior feature ST22(s),y2(s)), by coordinate transform by firm gear
Push up the coordinate (x of section double wedge exterior feature ST22(s),y2(s)) it is transformed under flexbile gear coordinate system, substitutes into Envelope equation, numerical solution obtains soft
Take turns the discrete point coordinates of the recessed conjugate profiles CT3 of theory in the segment limit of bottom；
6) using the discrete point coordinates of theoretical conjugation concave tooth exterior feature CT3, wide by least square fitting flexbile gear bottom section concave tooth, adjustment is quasi-
Closing parameter makes the discrete point of theoretical recessed conjugate profiles CT3 all in the inside of matched curve, to ensure that interference of tooth profiles does not occur；According to
The high coefficient of tooth of flexbile gear, determines flexbile gear tooth high scope, and the matched curve in flexbile gear tooth high scope is determined as flexbile gear bottom section concave tooth
Wide SA1；
7) its common tangent is calculated according to flexbile gear top section double wedge exterior feature ST1 and flexbile gear bottom section concave tooth exterior feature SA1, flexbile gear top section double wedge is wide
ST1, flexbile gear bottom section concave tooth exterior feature SA1 and its common tangent section combine to obtain complete flexbile gear work flank profil；Calculate flexbile gear work flank profil
The tangent easement curve with flexbile gear root circle, completes the tooth Shape Design of flexbile gear.
2. a kind of two-way conjugate tooth profile design method for Harmonic Gears according to claim 1, feature exist
In：A kind of two-way conjugate tooth profile design method for Harmonic Gears is suitable for by root portions arc section and tooth
The double circular arc tooth outline that top part arc section is constituted, is also applied for meeting the non-circular curve tooth form of the following conditions, i.e. flexbile gear and firm gear
Flank profil top section and bottom section flank profil are divided by pitch circle, wherein top section is that double wedge is wide, bottom section is that concave tooth is wide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810691115.8A CN108533715B (en) | 2018-06-28 | 2018-06-28 | Bidirectional conjugate tooth profile design method for harmonic gear transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810691115.8A CN108533715B (en) | 2018-06-28 | 2018-06-28 | Bidirectional conjugate tooth profile design method for harmonic gear transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108533715A true CN108533715A (en) | 2018-09-14 |
| CN108533715B CN108533715B (en) | 2020-01-21 |
Family
ID=63487574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810691115.8A Active CN108533715B (en) | 2018-06-28 | 2018-06-28 | Bidirectional conjugate tooth profile design method for harmonic gear transmission |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108533715B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109472066A (en) * | 2018-10-23 | 2019-03-15 | 西安电子科技大学 | Reflector antenna random error analysis method based on the displacement of unit center point |
| CN109630652A (en) * | 2019-01-08 | 2019-04-16 | 四川大学 | A kind of three-arc harmonic wave wheel gear shaped cutter and its tooth Profile Design method |
| CN110188475A (en) * | 2019-05-31 | 2019-08-30 | 西安工业大学 | Flexbile gear measurement and evaluation method under a kind of working condition based on firm gear parameter |
| CN110263492A (en) * | 2019-07-15 | 2019-09-20 | 北京工业大学 | A kind of harmonic speed reducer double circular arc tooth outline torsion stiffness calculation method |
| CN110688716A (en) * | 2019-09-23 | 2020-01-14 | 大连理工大学 | Method for obtaining harmonic gear transmission conjugate profile based on rotation transformation |
| CN110688614A (en) * | 2019-09-18 | 2020-01-14 | 北京工业大学 | Multi-tooth meshing composite stress solving method for cup-shaped flexible gear of harmonic reducer |
| CN110909430A (en) * | 2019-11-26 | 2020-03-24 | 北京工业大学 | Harmonic reducer flexible gear cycloid tooth form design method |
| CN111400835A (en) * | 2020-03-23 | 2020-07-10 | 南京信息工程大学 | Design method of harmonic S-shaped tooth form based on conjugation principle |
| CN111810608A (en) * | 2020-06-05 | 2020-10-23 | 金齿传动科技(大连)有限公司 | Harmonic gear with continuous meshing tooth profile and tooth profile design method thereof |
| CN112747101A (en) * | 2020-12-29 | 2021-05-04 | 华南理工大学 | Tooth shape design method for double-arc tooth profile harmonic reducer |
| CN113268831A (en) * | 2021-06-03 | 2021-08-17 | 重庆大学 | Analysis method for obtaining transmission stress of harmonic gear |
| CN113361031A (en) * | 2021-06-03 | 2021-09-07 | 重庆大学 | Three-dimensional tooth shape design method for flexible gear of harmonic reducer |
| CN113486476A (en) * | 2021-08-11 | 2021-10-08 | 重庆大学 | Grinding wheel tooth profile design method for grinding double-arc harmonic reducer rigid wheel slotting tool |
| CN113931991A (en) * | 2021-08-31 | 2022-01-14 | 北京精密机电控制设备研究所 | Method for determining small reduction ratio harmonic transmission tooth profile |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102927241A (en) * | 2012-11-13 | 2013-02-13 | 常州大学 | Tooth matching method for harmonic gear transmission with external wave generator |
| CN202901214U (en) * | 2012-08-24 | 2013-04-24 | 王建海 | Harmonic retarding electric bicycle double-arc tooth profile |
| CN103615501A (en) * | 2013-11-06 | 2014-03-05 | 中国航天科技集团公司第九研究院第七七一研究所 | Small harmonic reducer and optimum design method thereof |
| JP2015075149A (en) * | 2013-10-08 | 2015-04-20 | キヤノン株式会社 | Process of manufacture of wave gear device |
| CN204729582U (en) * | 2015-05-13 | 2015-10-28 | 东莞市鑫拓智能机械科技有限公司 | A kind of firm wheel construction of S shape tooth being applied to harmonic speed reducer |
| JP2017166649A (en) * | 2016-03-18 | 2017-09-21 | 日立オートモティブシステムズ株式会社 | Actuator for internal combustion engine linkage mechanism and wave gear reducer |
| CN107882950A (en) * | 2017-10-27 | 2018-04-06 | 广州启帆工业机器人有限公司 | A kind of involute profile correction method of harmonic drive |
| US20180149255A1 (en) * | 2015-06-02 | 2018-05-31 | Harmonic Drive Systems Inc. | Strain wave gearing with compound meshing that involves congruity of tooth surfaces |
-
2018
- 2018-06-28 CN CN201810691115.8A patent/CN108533715B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202901214U (en) * | 2012-08-24 | 2013-04-24 | 王建海 | Harmonic retarding electric bicycle double-arc tooth profile |
| CN102927241A (en) * | 2012-11-13 | 2013-02-13 | 常州大学 | Tooth matching method for harmonic gear transmission with external wave generator |
| JP2015075149A (en) * | 2013-10-08 | 2015-04-20 | キヤノン株式会社 | Process of manufacture of wave gear device |
| CN103615501A (en) * | 2013-11-06 | 2014-03-05 | 中国航天科技集团公司第九研究院第七七一研究所 | Small harmonic reducer and optimum design method thereof |
| CN204729582U (en) * | 2015-05-13 | 2015-10-28 | 东莞市鑫拓智能机械科技有限公司 | A kind of firm wheel construction of S shape tooth being applied to harmonic speed reducer |
| US20180149255A1 (en) * | 2015-06-02 | 2018-05-31 | Harmonic Drive Systems Inc. | Strain wave gearing with compound meshing that involves congruity of tooth surfaces |
| JP2017166649A (en) * | 2016-03-18 | 2017-09-21 | 日立オートモティブシステムズ株式会社 | Actuator for internal combustion engine linkage mechanism and wave gear reducer |
| CN107882950A (en) * | 2017-10-27 | 2018-04-06 | 广州启帆工业机器人有限公司 | A kind of involute profile correction method of harmonic drive |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109472066A (en) * | 2018-10-23 | 2019-03-15 | 西安电子科技大学 | Reflector antenna random error analysis method based on the displacement of unit center point |
| CN109472066B (en) * | 2018-10-23 | 2023-04-18 | 西安电子科技大学 | Reflecting surface antenna random error analysis method based on unit central point displacement |
| CN109630652A (en) * | 2019-01-08 | 2019-04-16 | 四川大学 | A kind of three-arc harmonic wave wheel gear shaped cutter and its tooth Profile Design method |
| CN109630652B (en) * | 2019-01-08 | 2021-07-30 | 四川大学 | Three-arc harmonic gear slotting cutter and tooth profile design method thereof |
| CN110188475A (en) * | 2019-05-31 | 2019-08-30 | 西安工业大学 | Flexbile gear measurement and evaluation method under a kind of working condition based on firm gear parameter |
| CN110188475B (en) * | 2019-05-31 | 2023-04-18 | 西安工业大学 | Flexible gear measuring and evaluating method based on rigid gear parameters in working state |
| CN110263492A (en) * | 2019-07-15 | 2019-09-20 | 北京工业大学 | A kind of harmonic speed reducer double circular arc tooth outline torsion stiffness calculation method |
| CN110263492B (en) * | 2019-07-15 | 2023-05-02 | 北京工业大学 | Method for calculating torsional rigidity of double-arc tooth profile of harmonic reducer |
| CN110688614B (en) * | 2019-09-18 | 2022-10-28 | 北京工业大学 | Multi-tooth meshing composite stress solving method for cup-shaped flexible wheel of harmonic reducer |
| CN110688614A (en) * | 2019-09-18 | 2020-01-14 | 北京工业大学 | Multi-tooth meshing composite stress solving method for cup-shaped flexible gear of harmonic reducer |
| CN110688716A (en) * | 2019-09-23 | 2020-01-14 | 大连理工大学 | Method for obtaining harmonic gear transmission conjugate profile based on rotation transformation |
| CN110688716B (en) * | 2019-09-23 | 2021-03-26 | 大连理工大学 | Method for obtaining harmonic gear transmission conjugate profile based on rotation transformation |
| CN110909430A (en) * | 2019-11-26 | 2020-03-24 | 北京工业大学 | Harmonic reducer flexible gear cycloid tooth form design method |
| CN110909430B (en) * | 2019-11-26 | 2024-03-08 | 北京工业大学 | Design method for cycloidal tooth profile of flexible gear of harmonic reducer |
| CN111400835A (en) * | 2020-03-23 | 2020-07-10 | 南京信息工程大学 | Design method of harmonic S-shaped tooth form based on conjugation principle |
| CN111810608A (en) * | 2020-06-05 | 2020-10-23 | 金齿传动科技(大连)有限公司 | Harmonic gear with continuous meshing tooth profile and tooth profile design method thereof |
| CN111810608B (en) * | 2020-06-05 | 2023-05-09 | 金齿传动科技(大连)有限公司 | Tooth form design method for harmonic gear with continuous meshing tooth form |
| CN112747101A (en) * | 2020-12-29 | 2021-05-04 | 华南理工大学 | Tooth shape design method for double-arc tooth profile harmonic reducer |
| CN113361031A (en) * | 2021-06-03 | 2021-09-07 | 重庆大学 | Three-dimensional tooth shape design method for flexible gear of harmonic reducer |
| CN113268831A (en) * | 2021-06-03 | 2021-08-17 | 重庆大学 | Analysis method for obtaining transmission stress of harmonic gear |
| CN113361031B (en) * | 2021-06-03 | 2023-03-17 | 重庆大学 | Three-dimensional tooth shape design method for flexible gear of harmonic reducer |
| CN113268831B (en) * | 2021-06-03 | 2023-05-16 | 重庆大学 | Analysis method for obtaining harmonic gear transmission stress |
| CN113486476A (en) * | 2021-08-11 | 2021-10-08 | 重庆大学 | Grinding wheel tooth profile design method for grinding double-arc harmonic reducer rigid wheel slotting tool |
| 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 |
| CN113931991A (en) * | 2021-08-31 | 2022-01-14 | 北京精密机电控制设备研究所 | Method for determining small reduction ratio harmonic transmission tooth profile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108533715B (en) | 2020-01-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108533715A (en) | A kind of two-way conjugate tooth profile design method for Harmonic Gears | |
| CN101937211B (en) | Involute straight tooth cone gear trimming method | |
| JP3942249B2 (en) | Flexible meshing gear system having a three-dimensional non-interfering wide-area meshing tooth profile | |
| CN104074948A (en) | Cup-shaped harmonic gear with common tangent type double-circular arc tooth profile and tooth profile design method of gear | |
| CN110020509B (en) | Harmonic gear with variable coefficient cycloid tooth profile | |
| CN112283317B (en) | Arc cycloid harmonic tooth form, generation method and device thereof, and storage medium | |
| CN107191570A (en) | The three-arc tooth Profile Design of continuous conjugation cup or carnival hat shape harmonic gear | |
| CN109630652B (en) | Three-arc harmonic gear slotting cutter and tooth profile design method thereof | |
| CN109707822B (en) | Design method of small-modulus harmonic transmission meshing tooth form applied to robot and detector | |
| CN108730480B (en) | Cycloidal gear of RV reducer and tooth profile reverse active modification method thereof | |
| CN106641183B (en) | Harmonic drive rack gear approximation tooth Profile Design method | |
| CN111322373B (en) | Gear pair design method based on claw helix rack knife | |
| CN111120622B (en) | Modified wave cam and design method thereof, wave generator and wave reducer | |
| US10871213B2 (en) | Strain wave gearing with compound meshing that involves congruity of tooth surfaces | |
| CN102162503B (en) | Involute gear transmission device based on line and plane conjugation | |
| WO2001001020A1 (en) | Helical and spur gear drive with double crowned pinion tooth surfaces and conjugated gear tooth surfaces | |
| CN104819267B (en) | Harmonic gear device adopting non-interference and wide range meshing tooth profile | |
| CN113032923A (en) | Flexible gear, tooth shape design method thereof and harmonic reducer | |
| WO2023015948A1 (en) | Harmonic speed reducer having conjugate cycloidal tooth profile | |
| CN107882950A (en) | A kind of involute profile correction method of harmonic drive | |
| CN113486476B (en) | Grinding wheel tooth profile design method for grinding double-arc harmonic reducer rigid wheel slotting tool | |
| CN112182795B (en) | Different tooth form comparison modeling method for harmonic speed reducer | |
| CN110802280A (en) | Involute spiral bevel gear tooth surface design method | |
| US3820414A (en) | Gear tooth design | |
| CN113324008B (en) | Method for improving stress concentration of flexible gear outer contour |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |