CN110222354A - A kind of design method, wave producer and the harmonic speed reducer of wave producer cam - Google Patents
A kind of design method, wave producer and the harmonic speed reducer of wave producer cam Download PDFInfo
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- CN110222354A CN110222354A CN201910247641.XA CN201910247641A CN110222354A CN 110222354 A CN110222354 A CN 110222354A CN 201910247641 A CN201910247641 A CN 201910247641A CN 110222354 A CN110222354 A CN 110222354A
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- cam
- wave producer
- speed reducer
- harmonic speed
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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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/30—Circuit design
- G06F30/32—Circuit design at the digital level
- G06F30/33—Design verification, e.g. functional simulation or model checking
- G06F30/3323—Design verification, e.g. functional simulation or model checking using formal methods, e.g. equivalence checking or property checking
-
- 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
- F16H57/00—General details of gearing
- F16H2057/0087—Computer aided design [CAD] specially adapted for gearing features ; Analysis of gear systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/06—Power analysis or power optimisation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- General Physics & Mathematics (AREA)
- Evolutionary Computation (AREA)
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- Mathematical Analysis (AREA)
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Abstract
The present invention provides a kind of design methods of new wave producer cam, comprising establishing finite element model, importing several key steps such as boundary condition, analytical calculation, fitting, the cam outer counter designed in this way meets calculated curve equation by this method rather than standard ellipse, the harmonic speed reducer for the wave producer cam that should be designed in this way can effectively reduce tooth surface abrasion, wave producer pushes and the problems such as play, abnormal sound.
Description
Technical field
The present invention relates to harmonic speed reducer technical fields, more specifically to a kind of design side of wave producer cam
Method, wave producer and harmonic speed reducer.
Background technique
Harmonic speed reducer is mainly made of three wave producer, flexible gear, rigid gear basic building blocks.It is a kind of by wave
Generator fit on flexible bearing makes flexible gear generate controlled elasticity deformation, and be meshed with rigid gear come passing movement and
The gear drive of power.Its application branch of learning: mechanical engineering (first level discipline)；It is driven (second level subject)；Gear drive (three-level
Section) Harmonic Drive Reducer is a kind of Novel reducer to be grown up using Planetary Gear Transmission principle.
In harmonic speed reducer with return difference is small, single-stage speed reducing is bigger than range, movement is steady, low noise, transmission efficiency is high, holds
The advantages of various other retarders such as big, the small in size, light weight of power do not have is carried, therefore just causes various countries at once once coming out
Most attention, the U.S., the former Soviet Union, Japan, Germany, Britain etc. country and China all carried out harmonic speed reducer theory,
This technology is widely used in the various of spacecraft by technical research, the advanced countries such as U.S. such as manufacture, processing, lubrication
Implement on the movement mechanisms such as expansion, driving, accurate direction, scanning, robot for space turning joint, and has promoted the use of ground
In a variety of industries such as radar antenna, communication, electronics, medical instrument, industrial robot, instrument and meter, huge military affairs are obtained
Income and social benefit.
By harmonic drive working principle and form it is found that wave producer is the key that portion in harmonic drive
One of part, main element include flexible thin-wall bearing and wave producer cam.Cam-type wave generator, not only can be reduced due to
Contact area is small and flexbile gear contact position is made to generate very big stress and distortion, and is avoided that disk-type wave generator generates like that
Unbalance loading.In actual production process, the manufacture processing of wave producer is relatively difficult, often to be set according to the deformation rule of flexbile gear
Meter, the gabarit of wave producer will not only match with the deformation of flexbile gear, it is also necessary to and the inner ring of flexible bearing matches, Cai Nengbao
It demonstrate,proves harmonic drive to work normally, and reduces the stress concentration effect of flexbile gear, improve stress condition, improve harmonic drive
Efficiency and bearing capacity improve the service life of harmonic wave speed reducing machine to reduce driving error.
Most harmonic speed reducer currently on the market, uses standard ellipse cam-type wave generator, this harmonic wave subtracts
Fast device is simple, easy to process because of its structure and is widely applied.But this wave producer in harmonic operation due to
Curvature of curve situation of change is not suitable for harmonic motion track, and the harmonic wave flank of tooth will appear serious abrasion and directly result in iron content
It is excessively high, the harmonic wave service life is played and is directly affected；In addition, this harmonic speed reducer majority will appear the phenomenon that wave producer pushes,
With using time growth bearing and flexible bearing to will appear different damages, when damage time-harmonic wave performance meeting straight line occurs in bearing
Decline: finally, be easy the phenomenon that will appear play, abnormal sound in this harmonic speed reducer use process, at this moment harmonic reduction chance
It is excessively high to there is temperature, when the temperature is excessively high, the flank of tooth is easier to deform and generate and be seriously worn.
Summary of the invention
Technical problem to be solved by the present invention lies in a kind of design method of new wave producer cam is provided, this is used
The cam outer counter of kind method design meets calculated curve equation in this way rather than standard ellipse, using this
The harmonic speed reducer for the wave producer cam that kind of method is designed, tooth surface abrasion can be effectively reduced, wave producer pushes and
The problems such as play, abnormal sound.
Foregoing invention purpose can be solved by following technological means:
A kind of design method of wave producer cam, includes the following steps:
I. finite element model is established
Have by needing harmonic speed reducer structure to be applied to establish in finite-element preprocessing device according to wave producer cam
Meta-model is limited, which includes wave producer cam, flexbile gear and firm gear；
Ii. boundary condition is imported
After obtaining virtual finite meta-model, it is imported into program of finite element by finite-element preprocessing device model, is being had
Relative harmonic simulation model is established in finite element analysis program, while establishing the boundary condition of each component of harmonic speed reducer；
Iii. it analyzes
The static strength situation for first calculating harmonic wave speed reducing machine, after obtaining harmonic wave speed reducing machine static strength situation, limited
It is analyzed and is calculated after re-establishing the boundary condition of model in meta analysis program, obtain each tooth in each section in different moments
World coordinates under the practical flank of tooth motion conditions, and extract world coordinates of each tooth under different moments；
Iv. it is fitted
World coordinates of each tooth in each section obtained in previous step under different moments is imported into data operation and analysis
Program analyzes the interference situation of flexbile gear and firm gear and fits cam face and recalculate and check whether to meet engagement fortune
It is dynamic, cam curve is immediately arrived at if meeting；If do not met, calculating is re-started by step i.
Further, finite-element preprocessing device described in the step i is HYPERMESH.
Further, program of finite element described in the step ii and step iii is ABAQUS.
Further, data operation described in the step iv and analysis program are MATLAB.
Further, the step iii includes implicit analysis and two steps of Explicit Analysis, and implicit analysis is formerly step
Suddenly, wherein
Implicit analysis is after establishing the correlation of each component of harmonic speed reducer in step ii, to use ABAQUS/
Standard is analyzed, the stress condition of each component after being deformed；
Explicit Analysis is to be transmitted in implicit analysis after implicit analysis using the file that restarts of ABAQUS/Standard
The data of obtained each component stress condition into ABAQUS/Explicit, and to practical harmonic speed reducer movement perimeter strip
Part re-starts setting, and calculates the data of harmonic wave actual motion, obtains the track of each flank of tooth relative motion of harmonic speed reducer,
Then world coordinates of each node of each flank of tooth under different moments is extracted.
Further, the wave producer cam outer counter being fitted by step iv, meets following formula:
F (x)=3.6212*x^9-28.1508*x^8+91.5581*x^7-161.1011*x^6+165.3094 * x
^5-99.0079*x^4+32.7613*x^3-5.5219*x^2+0.0262*x+15.5062
Wherein f (x) indicates the arc length of one of four parts circular arcs, and x is angle radian.
In addition, the present invention also provides a kind of wave producer, cam and the flexible shaft on the outer ring of the cam
It holds, the outer counter of the cam of this wave producer meets formula as claimed in claim 6.
The present invention also provides a kind of harmonic speed reducer, this harmonic speed reducer include above-mentioned wave producer, flexbile gear and
Firm gear, as in the flexbile gear, the flexbile gear and the firm gear are coaxially disposed the flexible bearing of the wave producer, the wave hair
Raw device rotation drives the flexbile gear and firm gear to relatively rotate, and the internal tooth of the external tooth of the flexbile gear and the firm gear matches.
The invention has the beneficial effects that:
1. existing design is mechanical calculating and STATIC SIMULATION, stress backgear can be deformed more serious in practice,
And design method of the invention, it can sufficiently show situation of the gear after stress and obtain the motion conditions of flank of tooth each point；
To obtain the cam profile for being more suitable for actually using situation；
It is effectively to be mentioned in design process 2. can quickly obtain the motion profile of each tooth by simulating, verifying finite element early period
It corrects for suggestion for revision and in time, accelerates R&D process；
3. the wave producer cam designed by this method, can substantially reduce abrasion, verify harmonic speed reducer
One important indicator of the degree of wear is the iron powder concentration in lubricating oil, verified, the harmonic wave designed through method of the invention
Retarder is the order of magnitude to the reduction of lubricant iron concentration, dense using the new universe lubricating oil detector measurement iron powder of SDM72 Japan
Degree, the iron powder depth after improvement only have 0.006 or so.
Detailed description of the invention
Fig. 1 is design procedure of the invention；
Fig. 2 calculates the movement rail for using Explicit dynamic to calculate each tooth of flexbile gear after static strength situation using ABAQUS
Mark；
Fig. 3 calculates the movement rail for using Explicit dynamic to calculate each tooth of firm gear after static strength situation using ABAQUS
Mark；
Fig. 4 MATLAB extracts gear movement track；
The deviation for each engaging tooth that Fig. 5 MATLAB analysis meter calculates；
Fig. 6 MATLAB fits new cam profile again.
Specific embodiment
For a better understanding of the present invention, it is described further in the following with reference to the drawings and specific embodiments:
The design method of wave producer cam as shown in Figure 1, includes the following steps:
I. finite element model is established
By needing harmonic speed reducer structure to be applied in finite-element preprocessing device HYPERMESH according to wave producer cam
In establish finite element model, which includes the harmonic waves finite element model such as wave producer cam, flexbile gear and firm gear；
Ii. boundary condition is imported
It obtains that it is imported program of finite element by finite-element preprocessing device HYPERMESH after virtual finite meta-model
ABAQUS establishes relative harmonic simulation model in program of finite element ABAQUS, and establishes relatively right boundary condition；
Iii. it analyzes
Established model is analyzed and is calculated in program of finite element ABAQUS, is implicitly to analyze first,
It is analyzed using ABAQUS/Standard, the stress condition of each component after being deformed；Followed by Explicit Analysis, implicit
After analysis, the number for restarting file and transmitting each component stress condition obtained in implicit analysis of ABAQUS/Standard is utilized
According into ABAQUS/Explicit, the boundary condition of practical harmonic speed reducer movement is set, and calculates harmonic wave reality
The data of movement obtain the track (shown in as shown in Figures 2 and 3) of the relative motion of each tooth in each section of harmonic speed reducer, then
Extract world coordinates of each node of each flank of tooth under different moments；
Iv. it is fitted
World coordinates of each node of each flank of tooth obtained in previous step under different moments is imported into data operation and is divided
Program MATLAB is analysed, is extracted in MATLAB gear movement track (as shown in Figure 4), each interference tooth of flexbile gear and firm gear is analyzed
X and Y deviation (as shown in Figure 5), extract and fit cam again using the powerful matrix operation ability of MATLAB after each deviation
Shape (as shown in Figure 6) simultaneously recalculates and checks whether to meet gear motion, and cam curve is immediately arrived at if meeting；Such as
Fruit does not meet, then calculating is re-started by step i.
One of four parts of cam outer counter coincidence formulas in final wave producer:
F (x)=3.6212*x^9-28.1508*x^8+91.5581*x^7-161.1011*x^6+165.3094 * x
^5-99.0079*x^4+32.7613*x^3-5.5219*x^2+0.0262*x+15.5062
Wherein f (x) indicates the arc length of one of four parts circular arcs, and x is angle radian.
It is calculated through formula and passes through computer program and draw out cam outer profile curve, then relevant data are sent to number
Control lathe, which manufacture, can be obtained the wave starter cams of needs, by this cam and flexible bearing, flexbile gear and firm gear into
Luggage is matched, it can obtains harmonic speed reducer of the present invention.
Claims (8)
1. a kind of design method of wave producer cam, it is characterised in that: the design method of the cam curve includes following step
It is rapid:
I. finite element model is established
By needing harmonic speed reducer structure to be applied to establish finite element in finite-element preprocessing device according to wave producer cam
Model, the harmonic speed reducer include wave producer cam, flexbile gear and firm gear；
Ii. boundary condition is imported
It obtains that it is imported program of finite element by finite-element preprocessing device after virtual finite meta-model, in finite element analysis journey
Relative harmonic simulation model is established in sequence, and establishes relatively right boundary condition, establishes the mutual of each component of harmonic speed reducer
Relationship；
Iii. it analyzes
Established model is analyzed and calculated in program of finite element, obtains each node in the overall situation of different moments
The motion conditions of the practical flank of tooth under coordinate, and extract world coordinates of each node of each flank of tooth under different moments；
Iv. it is fitted
World coordinates of each node of each flank of tooth obtained in previous step under different moments is imported into data operation and analysis journey
Sequence analyzes the interference situation of flexbile gear and firm gear and fits cam face, and checks whether to meet gear motion, if meeting
Immediately arrive at cam curve；If do not met, calculating is re-started by step i until obtaining suitable cam curve.
2. wave producer Method of Designing Cam according to claim 1, it is characterised in that: have described in the step i
Limiting first front processor is HYPERMESH.
3. wave producer Method of Designing Cam according to claim 1, it is characterised in that: the step ii and step iii
Described in program of finite element be ABAQUS.
4. wave producer Method of Designing Cam according to claim 1, it is characterised in that: number described in the step iv
It is MATLAB according to operation and analysis program.
5. wave producer Method of Designing Cam according to claim 3, it is characterised in that: the step iii includes implicit
Analysis and two steps of Explicit Analysis, implicit analysis are first step, wherein
Implicit analysis is after establishing the correlation of each component of harmonic speed reducer in step ii, to use ABAQUS/Standard
It is analyzed, the stress condition of each component after being deformed；
Explicit Analysis is to be obtained after implicit analysis using restarting in the implicit analysis of file transmitting for ABAQUS/Standard
Each component stress condition data into ABAQUS/Explicit, to practical harmonic speed reducer movement boundary condition carry out
Setting, and the data of harmonic wave actual motion are calculated, the track of each flank of tooth relative motion of harmonic speed reducer is obtained, is then extracted
World coordinates of each each node of the flank of tooth under different moments.
6. Method of Designing Cam occurs for wave according to any one of claims 1 to 5, it is characterised in that: be fitted by step iv
Wave producer cam outer counter, meet following formula:
F (x)=3.6212*x^9-28.1508*x^8+91.5581*x^7-161.1011*x^6+165.3094 * x^5-
99.0079*x^4+32.7613*x^3-5.5219*x^2+0.0262*x+15.5062
Wherein f (x) indicates the arc length of one of four parts circular arcs, and x is angle radian.
7. a kind of wave producer, the flexible bearing including cam and on the outer ring of the cam, it is characterised in that: described convex
The outer counter of wheel meets formula as claimed in claim 6.
8. a kind of harmonic speed reducer, it is characterised in that: the harmonic speed reducer includes wave producer as claimed in claim 7, soft
Wheel and firm gear, the flexible bearing of the wave producer is as in the flexbile gear, and the flexbile gear and the firm gear are coaxially disposed, institute
Stating wave producer rotation drives the flexbile gear and firm gear to relatively rotate, and the internal tooth of the external tooth of the flexbile gear and the firm gear matches
It closes.
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| CN201910247641.XA CN110222354B (en) | 2019-03-29 | 2019-03-29 | Wave generator cam design method, wave generator and harmonic reducer |
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| CN201910247641.XA CN110222354B (en) | 2019-03-29 | 2019-03-29 | Wave generator cam design method, wave generator and harmonic reducer |
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Cited By (3)
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| CN111120622A (en) * | 2020-01-14 | 2020-05-08 | 湖北科峰传动设备有限公司 | Modified wave cam and design method thereof, wave generator and wave reducer |
| CN113268831A (en) * | 2021-06-03 | 2021-08-17 | 重庆大学 | Analysis method for obtaining transmission stress of harmonic gear |
| CN113297771A (en) * | 2021-06-07 | 2021-08-24 | 四川大学 | Method for shaping outer contour of wave generator of harmonic reducer |
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| CN113268831B (en) * | 2021-06-03 | 2023-05-16 | 重庆大学 | Analysis method for obtaining harmonic gear transmission stress |
| CN113297771A (en) * | 2021-06-07 | 2021-08-24 | 四川大学 | Method for shaping outer contour of wave generator of harmonic reducer |
| CN113297771B (en) * | 2021-06-07 | 2023-05-16 | 四川大学 | Method for modifying outer contour of harmonic reducer wave generator |
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