CN110188475B - Flexible gear measuring and evaluating method based on rigid gear parameters in working state - Google Patents
Flexible gear measuring and evaluating method based on rigid gear parameters in working state Download PDFInfo
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- CN110188475B CN110188475B CN201910468105.2A CN201910468105A CN110188475B CN 110188475 B CN110188475 B CN 110188475B CN 201910468105 A CN201910468105 A CN 201910468105A CN 110188475 B CN110188475 B CN 110188475B
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Abstract
The invention relates to a flexible gear measuring and evaluating method under a working state based on rigid gear parameters, which comprises the following steps: 1. calculating to obtain an angle parameter alpha of a meshing area and a gear tooth pair number 4N-2 participating in meshing; 2, taking the basic parameters of the rigid wheel as the detection parameters of the flexible wheel, and taking the design tooth shape of the rigid wheel as the theoretical tooth shape of the flexible wheel; 3. measuring actual coordinate points of the tooth forms at two sides of different gear teeth of the evaluated flexible gear in different working states; simultaneously evaluating the performance of the flexible gear; 4. measuring the ith gear tooth form actual coordinate point and the tooth form error of the ith gear tooth, which has a delta angle with the major diameter of the wave generator, on the flexible gear, when-alpha is greater than delta and is less than alpha, the ith gear tooth is in a meshing working state, otherwise, the ith gear tooth is in a non-meshing state; 5. repeating the step 4;6. and comprehensively evaluating the quality of the flexible gear. The method provided by the invention aims at reflecting the comprehensive error, and not only comprises the design and processing tooth profile errors, but also comprises the influence on a wave generator; the problem that the performance of the flexible gear cannot be measured and evaluated in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of harmonic gear transmission detection, in particular to a flexible gear measuring and evaluating method based on rigid gear parameters in a working state.
Background
The harmonic gear reducer mainly comprises a rigid gear with internal teeth, a flexible gear with external teeth and capable of generating radial elastic deformation during working, and a wave generator which is arranged inside the flexible gear and is in an oval shape. The harmonic gear reducer has the advantages of simple structure, small volume, light weight, high transmission efficiency and the like. In the application field of harmonic drive, especially the field of industrial robots, the requirements on the harmonic gear drive precision and the space size are very strict, and at present, the main research focuses on the aspects of harmonic drive dynamic characteristics, structural parameter optimization, flexible gear tooth shape design, machining, flexible gear deformation and stress research and the like.
The tooth form of the flexible gear has a great influence on the performance of the harmonic gear transmission, and a simulation method is commonly adopted to research the performance of the harmonic gear transmission at present. Firstly, the flexible gear is subjected to tooth profile design and processing according to a conventional gear design method, then tooth profile modeling is carried out when the flexible gear works based on the action mechanism of a wave generator for deformation of the flexible gear, and the tooth profile of a rigid gear is designed according to the tooth profile of the flexible gear. At present, the mathematical modeling theory of the flexible gear tooth shape is complex, a plurality of assumptions and simplifications are often adopted, the flexible gear tooth shape has no processing error, the flexible gear tooth shape is rigid and has no deformation, the length of a flexible thin-wall neutral line is unchanged, and the like, and certain differences exist between the flexible gear tooth shape and the actual use condition. Because the flexible gear deforms when working, the flexible gear data obtained according to the measurement and evaluation of the common gear cannot represent the working performance of the flexible gear. At present, a method for detecting the tooth shape of the flexible gear and evaluating errors in a working state is lacked, and a comprehensive test bench and the like are often adopted to detect the comprehensive transmission precision of the harmonic gear reducer, so that the influence of the flexible gear on the transmission precision cannot be determined.
Disclosure of Invention
The invention provides a method for measuring and evaluating a flexible gear under a working state based on rigid gear parameters, which aims to solve the problem that the performance of the flexible gear cannot be measured and evaluated in the prior art.
In order to achieve the above purpose, the solution provided by the invention is as follows:
a flexible gear measuring and evaluating method under a working state based on rigid gear parameters comprises the following steps:
1) Establishing an Oxy coordinate system based on the parameters of the rigid gear, wherein O is superposed with the rotation center of the rigid gear, the gear teeth of the flexible gear are symmetrical relative to the X axis and consistent with the long axis direction and the X axis direction of the wave generator, and the short axis direction and the Y axis direction of the wave generator; under the action of the wave generator, the flexible gear deforms, gear teeth near the long axis of the wave generator participate in meshing, gear teeth far away from the long axis of the wave generator do not participate in meshing, and an angle parameter alpha of a meshing area and the number of pairs of gear teeth participating in meshing are obtained through calculation, namely 4N-2;
2) Taking the basic parameters of the rigid gear as the detection parameters of the flexible gear, and designing the tooth shape of the rigid gear as the theoretical tooth shape of the flexible gear;
3) According to a common gear detection method, measuring to obtain actual coordinate points of tooth forms on two sides of different gear teeth of the evaluated flexible gear in different working states; simultaneously evaluating the performance of the flexible gear;
4) Measuring the ith gear tooth form actual coordinate point and the tooth form error of the ith gear tooth, which has a delta angle with the major diameter of the wave generator, on the flexible gear, when-alpha is greater than delta and is less than alpha, the ith gear tooth is in a meshing working state, otherwise, the ith gear tooth is in a non-meshing state;
5) Repeating the step 4), and measuring to obtain actual coordinate points of tooth shapes at two sides of the gear teeth in different working states of meshing, meshing and meshing respectively;
6) And comprehensively evaluating the quality of the flexible gear according to the gear tooth profile information under different working states.
Further, the basic parameters of the rigid wheel in the step 2) comprise a rigid wheel module, the number of teeth, a pressure angle, a root circle diameter and a tip circle diameter.
Further, in the step 6), the flexible gear quality refers to performance indexes of tooth profile, tooth pitch, tooth thickness, top clearance, backlash, meshing logarithm and whether interference exists or not of each gear tooth.
Regardless of the influence law of the shape of the wave generator on the flexible gear, the final concern is the meshing transmission performance of the flexible gear and the rigid gear. The method provided by the invention aims at reflecting the comprehensive error, and not only comprises the design and processing tooth form errors, but also comprises the influence on the wave generator. Compared with the prior art, the invention has the advantages that:
1) Therefore, the invention provides a flexible gear measurement and evaluation method based on rigid wheel parameters in a working state, which can directly simplify a flexible gear mathematical theory model and realize direct evaluation of the transmission performance of the harmonic gear.
2) The invention obtains the theoretical line type of the theoretical flexible gear tooth form based on the rigid gear tooth form, namely the zero-error transmission line type, and the established flexible gear tooth form model has no principle error.
3) According to the method provided by the invention, the tooth forms of different gear teeth under all working states can be measured, and the full-meshing-state tooth form of the flexible gear can be subjected to performance evaluation such as tooth form, tooth pitch, tooth thickness, top clearance, side clearance, meshing logarithm, interference and the like; meanwhile, the tooth shape in the full meshing state can provide basis for the design of the wave generator.
Drawings
FIG. 1 is a schematic diagram of a wave generator and a 1 st tooth initial position and measurement coordinate system;
FIG. 2 is a schematic view of the wave generator in an incomplete meshing position with respect to the 1 st gear tooth after rotation of the flexspline;
fig. 3 is a schematic diagram of tooth profile measurement results of the flexspline in different working states.
Detailed Description
The method of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
The embodiment is as follows:
a flexible gear measuring and evaluating method under a working state based on rigid gear parameters comprises the following steps:
step 1), referring to fig. 1, on a speed reducer of a harmonic gear, firstly establishing an Oxy coordinate system based on rigid gear parameters, wherein O is superposed with the rotation center of a rigid gear, gear teeth of a flexible gear are symmetrical relative to an X axis and consistent with the direction of a long axis of a wave generator and the direction of an X axis, and the direction of a short axis of the wave generator is consistent with the direction of a Y axis; under the action of the wave generator, the flexible gear deforms, so that gear teeth close to the long axis of the wave generator participate in meshing, gear teeth far away from the long axis of the wave generator do not participate in meshing, namely, gear teeth in 4 gray areas symmetrical relative to the X axis participate in meshing, and an angle parameter alpha of a meshing area and a gear tooth logarithm participating in meshing, namely 4N-2, can be obtained through calculation;
step 2), taking basic parameters of the rigid gear as detection parameters of the flexible gear, taking the design tooth form of the rigid gear as the theoretical tooth form of the flexible gear, wherein the basic parameters of the rigid gear comprise the modulus of the rigid gear, the number of teeth, a pressure angle, the diameter of a root circle and the diameter of an addendum circle;
step 3), measuring to obtain the actual coordinate points of the tooth shapes on the two sides of the gear tooth in the meshing state of the 1 st flexible gear according to a common gear detection method;
step 4), as shown in fig. 2, measuring an ith gear tooth form actual coordinate point and a tooth form error thereof on the flexible gear, wherein the angle difference between the long diameter of the flexible gear and the long diameter of the wave generator is delta, when-alpha is less than delta and is less than alpha, the ith gear tooth is in a meshing working state, otherwise, the ith gear tooth is in a non-meshing state;
step 5), repeating the step 4) to obtain actual coordinate points of tooth shapes on two sides of the gear tooth, which are respectively in different working states of meshing, meshing and meshing;
step 6), comprehensively evaluating the quality of the flexible gear according to the gear tooth profile information under different working states; such as calculating the tooth profile, pitch, tooth thickness, tip clearance, backlash, the number of meshing pairs, the presence or absence of interference, etc. of each tooth.
Referring to fig. 3, the designed tooth profile of the rigid wheel is taken as a theoretical tooth profile, and a tooth profile error curve chart of each tooth is calculated; when the tooth top of the flexible gear is smaller than the tooth root of the rigid gear, a tip clearance exists; when a gap exists between the actual tooth form and the tooth form of the rigid wheel, the backlash exists in the transmission process; when the actual tooth form is intersected with the tooth form of the rigid wheel, the interference exists; the difference of the side gaps on the same side of the adjacent teeth is the adjacent tooth pitch deviation; the sum of the left and right side gaps of the same tooth is the tooth thickness deviation; when the tooth top of the flexible gear is lower than that of the rigid gear, the flexible gear is in an interference state; when the tooth top of the flexible gear is lower than that of the rigid gear, the flexible gear is in a non-meshing state, the number of meshing teeth is 2N-1 of the number of all gear teeth in the tooth top of the rigid gear, and the total meshing logarithm is 4N-2.
The present invention has been described in terms of specific examples, which are provided to aid in understanding the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (2)
1. A flexible gear measuring and evaluating method under a working state based on rigid gear parameters is characterized by comprising the following steps:
1) Establishing an Oxy coordinate system based on the parameters of the rigid gear, wherein O is superposed with the rotation center of the rigid gear, the gear teeth of the flexible gear are symmetrical relative to the X axis and consistent with the long axis direction and the X axis direction of the wave generator, and the short axis direction and the Y axis direction of the wave generator; under the action of a wave generator, a flexible gear is deformed, gear teeth near a long axis of the wave generator participate in meshing, gear teeth far away from the long axis of the wave generator do not participate in meshing, and an angle parameter alpha of a meshing area and a gear tooth pair number 4N-2 participating in meshing can be obtained through calculation;
2) Taking the basic parameters of the rigid gear as the detection parameters of the flexible gear, and taking the design tooth shape of the rigid gear as the theoretical tooth shape of the flexible gear;
3) According to a common gear detection method, measuring to obtain actual coordinate points of tooth forms on two sides of different gear teeth of the evaluated flexible gear in different working states; simultaneously evaluating the performance of the flexible gear;
4) Measuring the ith gear tooth form actual coordinate point and the tooth form error of the ith gear tooth, which has a delta angle with the major diameter of the wave generator, on the flexible gear, when-alpha is greater than delta and is less than alpha, the ith gear tooth is in a meshing working state, otherwise, the ith gear tooth is in a non-meshing state;
5) Repeating the step 4), and measuring to obtain actual coordinate points of tooth shapes at two sides of the gear teeth in different working states of meshing, meshing and meshing respectively;
6) Comprehensively evaluating the quality of the flexible gear according to the tooth profile information of the gear teeth in different working states;
the basic parameters of the rigid gear in the step 2) comprise a rigid gear module, the number of teeth, a pressure angle, a root circle diameter and a tip circle diameter.
2. The method for measuring and evaluating the flexible gear under the working condition based on the parameters of the rigid gear according to claim 1, wherein in the step 6), the quality of the flexible gear refers to performance indexes of tooth profile, tooth pitch, tooth thickness, top clearance, backlash, meshing logarithm and whether interference exists or not of each gear tooth.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007115510A1 (en) * | 2006-04-12 | 2007-10-18 | Beijing Kemei Harmonic Drive And Precision Machinery Co. | A harmonic drive device having three-dimensional modified involute 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 |
| WO2017215621A1 (en) * | 2016-06-16 | 2017-12-21 | 南通慧幸智能科技有限公司 | Tooth profile design method for three-dimensional high-rigidity harmonic speed reducer |
| CN108533715A (en) * | 2018-06-28 | 2018-09-14 | 西安交通大学 | A kind of two-way conjugate tooth profile design method for Harmonic Gears |
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- 2019-05-31 CN CN201910468105.2A patent/CN110188475B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007115510A1 (en) * | 2006-04-12 | 2007-10-18 | Beijing Kemei Harmonic Drive And Precision Machinery Co. | A harmonic drive device having three-dimensional modified involute 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 |
| WO2017215621A1 (en) * | 2016-06-16 | 2017-12-21 | 南通慧幸智能科技有限公司 | Tooth profile design method for three-dimensional high-rigidity harmonic speed reducer |
| CN108533715A (en) * | 2018-06-28 | 2018-09-14 | 西安交通大学 | A kind of two-way conjugate tooth profile design method for Harmonic Gears |
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