CN110259912B - Wave generator, harmonic reducer and transmission system - Google Patents
Wave generator, harmonic reducer and transmission system Download PDFInfo
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- CN110259912B CN110259912B CN201910554283.7A CN201910554283A CN110259912B CN 110259912 B CN110259912 B CN 110259912B CN 201910554283 A CN201910554283 A CN 201910554283A CN 110259912 B CN110259912 B CN 110259912B
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- cam
- molded line
- meshing
- wave generator
- flexible
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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
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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
- F16H53/00—Cams ; Non-rotary cams; or cam-followers, e.g. rollers for gearing mechanisms
- F16H53/02—Single-track cams for single-revolution cycles; Camshafts with such cams
- F16H53/025—Single-track cams for single-revolution cycles; Camshafts with such cams characterised by their construction, e.g. assembling or manufacturing features
Abstract
The invention relates to the technical field of speed reducers, and particularly provides a wave generator, a harmonic speed reducer and a transmission system. The wave generator comprises a cam and a flexible neutral layer, the outer edge profile molded line of the cam comprises a first molded line located in a meshing area and a second molded line located in a non-meshing area, the second molded line is a cosine cam molded line, the first molded line has radial increment compared with the second molded line, so that the polar diameter of the cam located in the meshing area is increased, and the first molded line and the second molded line are in transition connection in a continuous and conductive mode. According to the invention, by increasing the pole diameter of the meshing area of the cam, the radial deformation of the flexible gear at the meshing position is increased, the meshing of the flexible gear teeth and the rigid gear teeth in a semi-meshing state is more sufficient, and the number of meshing teeth in the meshing area is correspondingly increased, so that the meshing stress of the flexible gear teeth is reduced, and the bearing capacity of the speed reducer is improved.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to a wave generator, a harmonic speed reducer and a transmission system.
Background
The harmonic reducer mainly comprises a wave generator, a flexible gear and a rigid gear, wherein the wave generator enables the flexible gear to generate controllable elastic deformation waves, and the transmission of motion and power is realized through interaction with the rigid gear. The deformation process of the flexible gear is symmetrical and harmonic, different flexible gear deformation shapes have different working capacities, and the deformation shapes of the flexible gears depend on the outer edge shape of the wave generator. According to different structures, the wave generator can be divided into different types of wave generators such as a cam type wave generator, a roller type wave generator and a disc type wave generator, the cam type wave generator can enable the meshing of a flexible wheel and a rigid wheel to reach an ideal state, the operation is stable, the precision is high, and the efficiency is high, so that the cam type wave generator is mainly adopted in the conventional harmonic reducer.
The cam type wave generator comprises a cam and a flexible bearing, wherein the flexible bearing can reduce the friction of the relative motion of the cam and the flexible gear, so that the sliding friction is changed into rolling friction, and the operation curve of the wave generator depends on the outer edge profile of the cam. At present, the cam with the cosine cam contour line is most widely applied, and the cosine cam is characterized in that after the flexible gear is assembled with the wave generator, the increment of the flexible gear in the long axis direction is equal to the reduction of the flexible gear in the short axis direction, and the running of the speed reducer is more stable. However, in the cosine cam reducer, the number of meshing teeth in a meshing area of the flexible gear and the rigid gear is small, and the meshing stress of the flexible gear is large, so that the bearing capacity of the reducer is poor, and the service life of the reducer is short.
Disclosure of Invention
The invention provides a wave generator, a harmonic speed reducer and a transmission system, and aims to solve the technical problem that the bearing capacity of the speed reducer is poor due to the fact that the number of meshing teeth of a flexible gear and a rigid gear of an existing cosine cam type speed reducer is small.
In a first aspect, the present invention provides a wave generator comprising a cam and a compliant bearing,
the outer edge profile molded line of the cam comprises a first molded line located in an engaging area and a second molded line located in a non-engaging area, the second molded line is a cosine cam molded line, the first molded line has radial increment compared with the second molded line so as to increase the pole diameter of the cam located in the engaging area, and the first molded line and the second molded line are in continuous and conductive transitional connection.
In some embodiments, the engagement region of the cam is symmetrical about the short axis of the cam.
In some embodiments, the first profile is symmetrical about a long axis of the cam at the engagement region.
In some embodiments, the equation for the second profile is expressed as:
the equation for the first profile is expressed as:
wherein ρ is the polar diameter of the cam, d is the inner diameter of the flexible bearing, ω0In order to be the coefficient of the amount of deformation,
is the polar angle and the increment of the radial direction of the polar diameter.
In some embodiments, the equation for the cam's outer edge profile is expressed as:
wherein v is in the range of [0.001, 0.125 ].
In some embodiments, v has a value of 0.125.
In some embodiments, the flexible neutral layer is a compliant bearing.
In a second aspect, the present invention provides a harmonic reducer comprising:
the wave generator described above;
the flexible gear is provided with the wave generator in an inner cavity; and
the flexible gear is arranged in the inner cavity of the rigid gear, the meshing area is formed at the position, corresponding to the meshing position of the flexible gear and the rigid gear, on the cam, and the non-meshing area is formed at the position, corresponding to the meshing position of the flexible gear and the rigid gear, of the cam.
In some embodiments, the harmonic reducer is a dual harmonic reducer.
In a third aspect, the present invention provides a transmission system comprising the harmonic reducer described above.
The technical scheme of the invention has the following beneficial effects:
1) the wave generator provided by the invention comprises a cam and a flexible neutral layer, wherein the outer edge profile molded line of the cam comprises a first molded line positioned in an engaging area and a second molded line positioned in a non-engaging area, and the second molded line is a cosine cam molded line. According to the invention, the outer edge of the outline is divided into a first molded line and a second molded line on the basis of the cosine cam, and the first molded line has radial increment compared with the second molded line so as to increase the pole diameter of the cam positioned in the meshing area, so that the radial deformation of the flexible gear at the meshing position is increased, the meshing of the flexible gear teeth and the rigid gear teeth in a semi-meshing state is more sufficient, the number of meshing teeth in the meshing area is correspondingly increased, the meshing stress of the flexible gear teeth is reduced, and the bearing capacity of the speed reducer is improved. The first molded line and the second molded line on the outer edge of the cam are in continuous and conductive transitional connection, so that the molded line on the outer edge of the cam is smooth, no sharp point is generated, and the stable operation of the cam is ensured.
2) The wave generator provided by the invention has the following outline profile of the cam:
wherein v is in the range of [0.001, 0.125]]. The cam outer edge profile of the invention is continuously conductive, sharp point damage motion cannot be generated on the cam profile, the long axis and the short axis of the cam are kept unchanged, and the engagement depth cannot be reduced compared with a cosine camAnd the length of the pole diameter of the meshing area is increased, and the molded line is fuller.
3) The harmonic reducer and the transmission system provided by the invention comprise the wave generator, so that the beneficial effects are achieved, and the details are not repeated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a harmonic reducer according to some embodiments of the present invention.
FIG. 2 is a schematic of an outer edge profile of a cam according to some embodiments of the present invention.
Fig. 3 is a schematic diagram of a cam profile obtained from an engagement zone according to some embodiments of the present invention in comparison to a prior art cosine cam profile.
FIG. 4 is a graphical representation of a comparison of the amount of flexspline radial deformation for a harmonic reducer and a prior art cosine cam reducer according to some embodiments of the present invention.
FIG. 5 is a schematic diagram comparing the meshing state of the flexspline and the rigid spline of a harmonic reducer and a prior art cosine cam reducer according to some embodiments of the present invention.
Description of reference numerals:
10-a cam; 20-a compliant bearing; 30-a flexible gear; 40-rigid wheel.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some examples of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The wave generator provided by the invention can be used for a harmonic reducer, and provides a cam structure which enables the bearing capacity of the reducer to be higher by optimally designing a cosine cam in the prior art.
It should be noted that most of the existing harmonic reducers adopt a cosine cam type structure, and a cosine cam refers to a cam whose deformation satisfies the following equation:
where ω denotes the amount of deformation, ω0The coefficient of the amount of deformation is expressed,
the polar angle is indicated. The cam profile line can thus be expressed as:
where ρ represents the pole diameter of the cam and d represents the inner diameter of the flexible neutral layer, i.e., the cam profile line satisfies the cosine change form. For a cam type double harmonic speed reducer, the radius of the long axis of the cam can be expressed as rho1＝0.5d+ω0The minor axis radius can be expressed as ρ2＝0.5d-ω0. When the wave generator is matched with the flexible gear, the deformation shape of the flexible gear is an equidistant curve of the cam profile molded line, and the increment of the flexible gear in the long axis direction is equal to the decrement of the flexible gear in the short axis direction, so that the cam rotates more stably.
In the harmonic reducer, a flexible gear is meshed with a rigid gear in a region with increased radial deformation, motion and power are transmitted through meshing of partial teeth, the number of meshing teeth of the flexible gear and the rigid gear is determined by the deformation shape of the flexible gear, the deformation shape of the flexible gear is determined by the shape of a wave generator, the wave generator comprises a cam and a flexible bearing, and the flexible bearing only plays a role in reducing friction of relative motion of the cam and the flexible gear, changes sliding friction into rolling friction, and finally determines the deformation shape of the flexible gear to be the cam shape. The invention is based on the fact that the outer edge profile line of the existing cosine cam is optimally designed, and for example, harmonic reducers in some embodiments of the invention are shown in fig. 1 to 5.
As shown in fig. 1, the harmonic reducer provided by the present invention is a double wave harmonic reducer, which includes a wave generator, a flexible gear 30 and a rigid gear 40, the wave generator includes a cam 10 and a flexible neutral layer, which is a flexible bearing 20 in this embodiment. The assembly mode and the working principle of the harmonic reducer are the same as those of the prior art, and the harmonic reducer can be understood by those skilled in the art and is not described in detail herein. A position of the cam 10 corresponding to a position where the flexible gear 30 and the rigid gear 40 are engaged is defined as an engagement region, and a position corresponding to a position where the flexible gear 30 and the rigid gear 40 are engaged is defined as a non-engagement region, that is, in the embodiment, both ends corresponding to the major axis of the cam 10 are defined as engagement regions, and both ends corresponding to the minor axis of the cam 10 are defined as non-engagement regions.
As shown in fig. 2, a polar coordinate is established by the contour of the outer edge of the cam 10, a coordinate system is established by taking the axis of the cam 10 as the origin O of coordinates, Ox as the polar axis and the counterclockwise direction as the positive direction. In this embodiment, the outer edge profile of the cam 10 includes a first profile and a second profile, referring to fig. 2, the dotted line represents the first profile located in the meshing area, the solid line represents the second profile located in the non-meshing area, the second profile is the same as the above cosine cam profile, and the first profile has a radial increment compared with the second profile, so that the radial diameter of the cam 10 located in the meshing area is increased, and thus the radial deformation of the flexible gear 30 at the meshing position is increased, the meshing between the flexible gear teeth and the rigid gear teeth in the half-meshing state is more sufficient, and the number of meshing teeth in the meshing area is correspondingly increased, so that the meshing stress of the flexible gear teeth is reduced, and the bearing capacity of the reducer is improved.
Specifically, in the present embodiment, the outer edge profile equation of the cam 10 is expressed as:
wherein v is in the range of [0.001, 0.125 ]. In a preferred embodiment, v has a value of 0.125.
In the present embodiment, the profile profiles of the cam 10 are symmetrical with respect to the major axis and the minor axis, respectively, and the definition areas of the first profile and the second profile are uniformly distributed at 90 °, the second profile is identical to the existing cosine cam profile, and the first profile at the meshing position is increased
And thereby increasing the number of meshing teeth. The profile line equation function of the outer edge of the cam 10 in the embodiment is continuous in a defined domain and is conductive everywhere, so that the profile line of the cam 10 is smooth, and no sharp point is generated. Amount of deformation
And
the harmonic transmission is still the double wave transmission and does not destroy the movement.
In the present embodiment, the radius of the major axis of the cam 10 can be expressedIs rho3＝0.5d+ω0The minor axis radius may be expressed as ρ4＝0.5d-ω0See ρ3＝ρ1，ρ4＝ρ2Therefore, compared with the traditional cosine cam, the long diameter and the short diameter of the cam 10 are not changed, so that the maximum deformation of the flexible wheel 30 is kept unchanged, the meshing depth of the flexible wheel teeth is not reduced, and the meshing strength is ensured. Meanwhile, the length of the pole diameter of the meshing area is increased, the molded line is fuller, the meshing tooth number of the flexible gear 30 at the position meshed with the rigid gear 40 is increased, the meshing stress of the flexible gear 30 is reduced, and the bearing capacity of the speed reducer is improved.
Next, the profile effect of the cam 10 in the present embodiment will be described with reference to fig. 3 to 5.
As shown in fig. 3, a solid line in the figure represents a profile of a meshing area of a conventional cosine cam, and a dotted line represents a profile of a meshing area of the cam 10 according to the present embodiment, so that it can be seen that the profile of the cam 10 according to the present embodiment is fuller.
As shown in fig. 4, the solid line in the figure represents a plane coordinate diagram of a conventional cosine cam, and the dotted line represents a plane coordinate diagram of the cam 10 according to the present embodiment, and it can be seen from the figure that the maximum deformation amount of the cam 10 according to the present embodiment is not changed, but the deformation amount in the meshing region is larger, so that the number of meshing teeth in the meshing region is larger, and the bearing capacity is better.
As shown in fig. 5, solid line teeth in the figure represent the meshing state of the harmonic reducer of the conventional cosine cam, and dotted lines represent the meshing state of the harmonic reducer of the cam according to the present embodiment, as can be seen from the figure, since the radial deformation of the flexspline 30 in the meshing region is increased by the cam 10 according to the present embodiment, the deformation position of the flexspline teeth can be more sufficiently meshed with the rigid spline teeth, so that the number of meshing teeth of the flexspline 30 and the rigid spline 40 is more, and the bearing capacity of the flexspline 30 is improved.
While the structure and principle of the cam, the wave generator and the harmonic reducer in the present embodiment have been described above, the present invention may have other alternative embodiments in addition to the above embodiments.
In an alternative embodiment, the equation expression of the first profile is not limited to the expression in the above embodiment, and the general equation of the first profile may be expressed as:
in the formula, the radial increment of the pole diameter is expressed, the first molded line and the second molded line on the outer edge profile of the cam 10 are in continuous and conductive transition connection, and the first molded line can be modified by a person skilled in the art according to specific design, for example, the first molded line is taken
Etc., as the present invention is not limited in this regard.
In a second aspect, the invention further provides a transmission system including the harmonic reducer, and the beneficial effects are the same as those described above, and are not described herein again.
It should be understood that the above embodiments are only examples for clearly illustrating the present invention, and are not intended to limit the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (8)
1. Wave generator comprising a cam (10) and a flexible neutral layer, characterized in that,
the outer edge profile molded line of the cam (10) comprises a first molded line positioned in an engaging area and a second molded line positioned in a non-engaging area, the second molded line is a cosine cam molded line, the first molded line has radial increment compared with the second molded line so as to increase the pole diameter of the cam (10) positioned in the engaging area, and the first molded line and the second molded line are in continuous and conductive transitional connection;
the equation for the second profile is expressed as:
the equation for the first profile is expressed as:
where ρ is the pole diameter of the cam (10), d is the inner diameter of the flexible neutral layer, ω is0In order to be the coefficient of the amount of deformation,
the polar angle is the increment of the radial direction of the polar diameter;
the equation of the outer edge profile line of the cam (10) is expressed as follows:
wherein v is in the range of [0.001, 0.125 ].
2. Wave generator according to claim 1,
the engagement area of the cam (10) is symmetrical about the short axis of the cam (10).
3. Wave generator according to claim 2,
the first profile is symmetrical about the long axis of the cam (10) in the engagement region.
4. Wave generator according to claim 1,
v has a value of 0.125.
5. Wave generator according to any one of claims 1 to 4,
the flexible neutral layer is a flexible bearing (20).
6. A harmonic reducer, comprising:
the wave generator of any one of claims 1 to 5;
the flexible gear (30), the said wave generator is mounted to the lumen of the said flexible gear (30); and
and the rigid wheel (40), the flexible wheel (30) is arranged in the inner cavity of the rigid wheel (40), the meshing area is formed at the position, corresponding to the meshing position of the flexible wheel (30) and the rigid wheel (40), on the cam (10), and the non-meshing area is formed at the position, corresponding to the meshing position of the flexible wheel (30) and the rigid wheel (40).
7. The harmonic reducer of claim 6 wherein the harmonic reducer is a double wave harmonic reducer.
8. A transmission system comprising a harmonic reducer according to claim 6 or 7.
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| CN201910554283.7A CN110259912B (en) | 2019-06-25 | 2019-06-25 | Wave generator, harmonic reducer and transmission system |
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| CN112610674A (en) * | 2020-12-01 | 2021-04-06 | 广州市昊志机电股份有限公司 | Cam type wave generator and harmonic reducer |
| CN113931990B (en) * | 2021-08-31 | 2023-04-14 | 北京精密机电控制设备研究所 | Harmonic drive cam |
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| CN101029681A (en) * | 2006-02-28 | 2007-09-05 | 杨光笋 | Dual-wave reducer of cosine tooth outline linear wheel |
| CN104565219A (en) * | 2013-10-29 | 2015-04-29 | 上银科技股份有限公司 | Harmonic type reducing mechanism |
| TWI513925B (en) * | 2014-06-16 | 2015-12-21 | Hiwin Tech Corp | Can improve the bite rate of the harmonic reducer |
| JP5976854B2 (en) * | 2015-01-21 | 2016-08-24 | 上銀科技股▲分▼有限公司 | Wave gear device that improves transmission accuracy |
| CN108427779B (en) * | 2017-02-15 | 2019-07-09 | 湖北科峰传动设备有限公司 | The optimum design method of cam and its curve, wave producer and harmonic wave speed reducing machine |
| JP2019056454A (en) * | 2017-09-22 | 2019-04-11 | 日立オートモティブシステムズ株式会社 | Wave-motion gear device and actuator for variable compression ratio mechanism of internal combustion engine |
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Effective date of registration: 20230913 Address after: 230088 208, Ming Chuan Road, Anhui science and Technology Park, Hefei high tech Zone Patentee after: HEFEI KAIBANG MOTOR Co.,Ltd. Patentee after: ZHUHAI KAIBANG MOTOR MANUFACTURE Co.,Ltd. Patentee after: HENAN KAIBANG MOTOR Co.,Ltd. Address before: 519070, Jinji Hill Road, front hill, Zhuhai, Guangdong Patentee before: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI |
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