CN111120622A - Modified wave cam and design method thereof, wave generator and wave reducer - Google Patents
Modified wave cam and design method thereof, wave generator and wave reducer Download PDFInfo
- Publication number
- CN111120622A CN111120622A CN202010036941.6A CN202010036941A CN111120622A CN 111120622 A CN111120622 A CN 111120622A CN 202010036941 A CN202010036941 A CN 202010036941A CN 111120622 A CN111120622 A CN 111120622A
- Authority
- CN
- China
- Prior art keywords
- curve
- gear
- wave cam
- cam
- modified wave
- 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
Images
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
- 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
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0826—Novikov-Wildhaber profile
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0833—Flexible toothed member, e.g. harmonic drive
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention provides a design method of a modified wave cam, which comprises the following steps: initially determining 1/4 elliptic curves; determining 1/4 the horizontal coordinate position of the circle center of the arc; determining 1/4 the position of the longitudinal coordinate of the center of the arc; initially determining an outer contour 1/4 curve of the modified wave cam; determining a modified wave cam outer contour 1/4 curve; an inward bias curve; and determining the outline curve of the complete modified wave cam. A modified wave cam designed according to the design method. A wave generator comprises the modified wave cam and a flexible bearing arranged on the outer edge of the modified wave cam. A harmonic reducer comprising at least a wave generator, a flexspline, a rigid spline and a crossed roller bearing as described above. The modified wave cam harmonic reducer designed by the design method avoids gear tooth interference, reduces the maximum stress and stress concentration of the flexible gear in the alternating stress change, increases the tooth meshing area between the flexible gear and the rigid gear, and improves the bearing capacity, the precision and the service life of the harmonic reducer.
Description
Technical Field
The invention relates to a modified wave cam and a design method thereof, a wave generator and a harmonic reducer, and belongs to the technical field of machining and harmonic reducers.
Background
The harmonic reducer was produced in the last 50 th century, is considered as a major breakthrough in the field of mechanical transmission, and is widely applied to the fields of spaceflight, robots, radars, precise machine tools, instruments and meters and the like. The harmonic reducer is mainly composed of three parts, namely a flexible gear, a rigid gear and a wave generator, and is a transmission mode which transmits force and motion by means of elastic deformation of the flexible gear. The transmission mechanism has the advantages of simple structure, large transmission ratio, high transmission precision, high transmission efficiency and the like.
The wave generator is a member for deforming the flexible gear to generate deformation wave, is one of important elements for harmonic reducer transmission, and determines the characteristic curve of flexible gear meshing. The structural form of the flexible gear determines the stress state of the flexible gear component and also determines the meshing characteristic of the flexible gear.
The peripheral curve of the wave generator cam is the root of the deformation of the flexible gear of the harmonic reducer, and the peripheral curves of different wave generator cams can influence the working capacity of the harmonic reducer. For example, in the most commonly used elliptical cam wave generator at present, the elliptical cam is more convenient for deformation control of a cam of the wave generator, the design of an external curve is simpler, but the stress on a flexible gear at the long axis part of the cam is larger, and the number of pairs of meshing teeth is less, so that the service life, the bearing capacity and the transmission precision of the harmonic reducer cannot meet the requirements of industrial development on the harmonic reducer.
At present, some research results have been made on the design of the wave generator cam on the outer peripheral curve, but the following problems generally exist: the common standard elliptical wave generator cam has a small meshing tooth area at the long shaft part, and the flexible gear is subjected to overlarge stress at the position, so that the damage of the harmonic reducer can be accelerated. The cam curve expression of the improved non-standard elliptical wave generator is not detailed enough, the matching method is not perfect, and the problems of interference, interference and stress concentration exist, so that the harmonic reducer is not precise enough.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the modified wave cam and the design method thereof, the wave generator and the harmonic reducer.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a design method of a modified wave cam comprises the following steps:
s1, preliminary 1/4 elliptic curve: in order to find the position of the connecting arc, a quarter elliptic curve needs to be initially determined, and an arc curve tangent to the elliptic curve is designed on the basis of the elliptic curve. Further, the final curve shape is obtained by symmetrically designing the curve. The value of the major semiaxis a of the elliptic curve is the curve radius r of the neutral layer of the flexible gear before deformationpSubtracting 3.5 to 4 times of gear tooth modulus m, i.e. a is less than or equal to rp- (3.5-4) m, the minor axis b is a variable value, and the value range is 0.5a<b<a; establishing a coordinate system, wherein the major semi-axis of the elliptic curve is taken as an x axis, the minor semi-axis is taken as a y axis, and the center of the ellipse is O1; the intersection point of the elliptic curve and the y axis is F, and the intersection point of the elliptic curve and the x axis is N;
s2, determining the abscissa position of the circle center of 1/4 circular arcs: the circle center of the circular arc is positioned on a straight line with the right offset distance of the y axis as d, and the value of d is the difference between the curve radiuses of the rigid wheel and the neutral layer of the flexible wheel before deformation; the straight line with the y-axis offset is named as y1The abscissa corresponding to y1 is the abscissa of the center of the arc;
s3, determining the longitudinal coordinate position of the circle center of 1/4 circular arc: line connecting one point D on the ellipse with the curvature center and the straight line y1The intersection point is the position O2 where the center of the circle is located; horizontal line x1 through O2, with x1 intersecting the y-axis at point O; taking O2D as a radius to form an arc, intersecting with y1 at a point Q and intersecting with x1 at a point P; the length of the line segment O2D and the radius r of the neutral layer curve of the flexspline before deformationpEqual; an included angle between the line segment O2D and the line segment O2P is an arc segment wrap angle theta;
countless points can be obtained on the ellipse, and each point corresponds to a curvature circle center. Can form numerous straight lines, the formed straight lines and y1Point of intersection to ellipseThere are numerous distances between the upper corresponding points. And a distance in the distance is certainly extremely close to the curve radius of the neutral layer of the flexible wheel before deformation, and the more the division points are, the smaller the distance error is.
S4, initially determining the modified wave cam outer contour 1/4 curve: the elliptic arc FD and the circular arc DP which are connected in a smooth transition mode are the 1/4 curve to be solved;
s5, determining the modified wave cam outer contour 1/4 curve: judging whether the curve length obtained in the step S4 is equal to the circumference of the neutral layer curve 1/4 of the flexible gear, if so, judging that the obtained curve is correct; if not, adjusting the value of the minor semi-axis b of the elliptic curve within the range defined by the step S1, and repeating the steps S2-S5 until a correct curve is obtained;
s6, inward bias curve: inwardly biasing the curve obtained in step S5 by a distance equal to 1/2 flexspline thickness plus 1/2 compliant bearing width;
s7, determining the outline curve of the complete modified wave cam: and (5) establishing a new coordinate system x1-O-y for the 1/4 curve obtained in the step (S6) according to a symmetry principle, and filling up 3/4 curves of the remaining three quadrants to obtain a complete modified wave cam outer contour curve.
The technical scheme is further improved as follows:
after the design curve is obtained, the conditions that the modified wave cam is used for stably meshing the rigid wheel and the flexible wheel and avoiding interference are required to be verified, and if the gear teeth interfere or cannot be meshed, meshing parameters or key design parameters of the modified wave cam need to be adjusted.
The design method of the modified wave cam is completed with the assistance of computer software.
The computer software is MATLAB.
The wrap angle theta of the circular arc section is preferably 20-40 degrees.
The technical scheme of the invention also comprises the following contents: the modified wave cam is designed according to the design method of the modified wave cam.
A wave generator comprises the modified wave cam and a flexible bearing arranged on the outer edge of the modified wave cam.
The utility model provides a harmonic speed reducer ware includes as above at least wave generator, flexbile gear, rigid gear and cross roller bearing, wave generator arranges in the flexbile gear, the flexbile gear with the rigid gear is coaxial to be set up, the rigid gear is fixed, wave generator rotates and drives the flexbile gear external tooth with the meshing of the internal tooth of rigid gear and throw off, thereby drive the flexbile gear rotates, the flexbile gear is connected with cross roller bearing.
Furthermore, the tooth forms of the rigid wheel and the flexible wheel are short-tooth double-arc tooth forms.
According to the technical scheme, the outer contour curve of the modified wave cam is formed by combining two sections of circular arcs and two sections of elliptical arcs, the circular arcs are opposite to each other at 180 degrees, the two sections of circular arcs are connected through the two sections of elliptical arcs and are smoothly connected at the joint of the elliptical curve and the circular arc, the slope of the circular arcs and the slope of the circular arc are same at the joint, the circumference of the cam curve is equal to that of a neutral layer curve of a flexible wheel, the constraint that the neutral layer curve of the flexible wheel is not elongated is met, the cam curve meets the two constraint conditions at the same time, the precision of the cam is improved, and the long axis area of the modified wave cam is an eccentric circular arc curve, so that the meshing area of the flexible wheel and a rigid wheel is enlarged, more teeth are meshed, the bearing capacity of the modified wave cam is improved. After the cam curve is designed, the designed cam curve is verified, so that interference is avoided, and the rigid wheel and the flexible wheel can be stably meshed. The design method of the cam is optimized in a computer-aided calculation mode, so that the design of the cam curve is more accurate, and the calculation speed is higher. When the wrap angle theta of the circular arc section ranges from 20 degrees to 40 degrees, the stress of the flexible gear and the distribution thereof are optimal. The flexible gear and the rigid gear of the harmonic reducer are double-arc short teeth, so that the stress distribution is more uniform and the meshing quality is better in the transmission process, the bearing capacity is better, and the transmission is more stable.
Drawings
FIG. 1 is a flow chart of a modified wave cam design method according to an embodiment of the present invention.
FIG. 2 is a graph of the modified wave cam outer profile 1/4 according to an embodiment of the present invention.
FIG. 3 is a complete curve of the outer contour of the modified wave cam according to the embodiment of the present invention.
Fig. 4 is a running diagram of double-arc tooth-shaped gear teeth of the rigid gear and the flexible gear.
Fig. 5 is a schematic structural diagram of a modified wave cam harmonic reducer according to an embodiment of the present invention.
In the figure: 1. the method comprises the steps of modifying a wave cam, 2, a flexible bearing, 3, a rigid gear, 4, a flexible gear, 5, a crossed roller bearing, 11, a modified wave cam arc section curve, 12, a modified wave cam arc section curve, theta, an arc section wrap angle, 31, a rigid gear single tooth profile and 41, a flexible gear single tooth envelope line.
Detailed Description
The invention is further illustrated by the following figures and examples.
The modified wave cam outer periphery curve of the embodiment of the invention is a combination of two circular curves and two elliptical curves, the circular arc curves are at 180-degree opposite positions, the two circular arcs are connected by the two elliptical arcs, and the connection part of the elliptical curve and the circular arc curves is smoothly connected, so that the slopes of the two curves at the transition point are required to be the same.
Furthermore, the curve is designed with two large constraint conditions, in order to ensure good meshing of the tooth forms of the deformed flexible gear and the rigid gear, the diameter of a circular arc which is subjected to certain bias is required to be the same as that of the non-deformed flexible gear in the process of rotating the peripheral curve of the modified wave cam, and the perimeter of the peripheral curve of the cam is designed to be the same as that of the curve of the neutral layer of the deformed flexible gear according to the assumption that the curve of the neutral layer of the flexible gear is not elongated.
In the presence of the two constraints, the corresponding curve design needs a stricter design method, otherwise, the curve under the two constraints is difficult to find.
As shown in fig. 5, the harmonic reducer according to the embodiment of the present invention includes wave generator, flexible gear 4, rigid gear 3, and cross roller bearing 5. The wave generator comprises a modified wave cam 1 and a flexible bearing 2 arranged on the outer edge of the modified wave cam, the wave generator is arranged in a flexible gear 4, and the flexible gear 2 generates flexible deformation due to the structural characteristics of the modified wave cam 1. The modified wave cam 1 is connected with an input shaft, the input shaft drives the modified wave cam 1 to rotate, and the flexible gear 4 generates periodic deformation along with the rotation of the wave generator with the modified wave cam 1. The tooth forms of the rigid wheel 3 and the flexible wheel 4 are short-tooth double-arc tooth forms. Fig. 4 is a single-tooth operation diagram of a double-arc tooth profile, wherein 31 is a rigid wheel single-tooth profile, and 41 is a flexible wheel single-tooth envelope curve. The gear teeth of the flexible gear 4 are gradually meshed to gradually separated in the running process, the running state is good, interference is avoided, and the backlash is small.
The flexible gear 4 and the rigid gear 3 of the embodiment are coaxially arranged, the rigid gear 3 is fixed, the wave generator rotates to drive the external teeth of the flexible gear 4 to be meshed with and separated from the internal teeth of the rigid gear 3, so that the flexible gear 4 is driven to rotate, and the flexible gear 4 is connected with the crossed roller bearing 5.
As shown in fig. 3, the outer peripheral curve of the modified wave cam 1 of the harmonic reducer of the present embodiment is formed by two arc curves 11 and two elliptical curves 12, which are respectively connected symmetrically and smoothly, wherein the arc curve 11 is symmetrical about the long axis of the outer peripheral curve, and the elliptical curve 12 is symmetrical about the short axis of the outer peripheral curve, that is, the long axis area of the modified wave cam 1 is the eccentric arc curve 11, and the short axis area is the eccentric elliptical curve 12.
The modified wave cam 1 is designed by the following design method, and specifically comprises the following steps:
as shown in fig. 2, step one, initially determining 1/4 elliptic curve: establishing a coordinate system x-o1Y, drawing an elliptical arc FN, the major semiaxis a of which is the radius r of the neutral layer curve of the flexible gear before deformationpLess than 3.5 to 4 times of the gear tooth modulus, i.e. a is less than or equal to rp- (3.5-4) m, the value of the minor semi-axis b being 0.5a<b<a。
Step two, determining 1/4 circular arc center abscissa position: establishing a straight line y1Y1 is offset to the right by a distance d with respect to the y axis. And d is the difference between the radii of the curves of the rigid wheel and the neutral layer of the flexible wheel before deformation, namely the modulus of the wheel teeth, and the abscissa corresponding to y1 is the abscissa of the circle center of the circular arc.
Step three, determining 1/4 circular arc center ordinate position: in order to ensure that the circular arc is smoothly connected with the elliptical arc, the curvature radius of the intersection point D of the two curves is on a straight line. Intersection D and its corresponding curveLine connecting the center of rate and line y1The intersection point of the arc is the arc center position O2. Horizontal line x1 through O2, with x1 intersecting the y-axis at point O; taking O2D as a radius to form an arc, intersecting with y1 at a point Q and intersecting with x1 at a point P; the included angle between the line segment O2D and the line segment O2P is an arc segment wrap angle theta, and the point D is positioned at the center of the circle2The linear distance l is approximately equal to rp。
Step four, initially determining an outer contour 1/4 curve of the modified wave cam: the elliptic arc FD and the circular arc DP which are connected in a smooth transition mode are the 1/4 curve to be solved;
step five, determining an outer contour 1/4 curve of the modified wave cam: due to the fact that in y1The point on the infinite elliptic arc curve can be found on the axis, and the connecting line of the curvature centers of the point and the y1The point formed by intersection needs to change the value of b in a limited range to obtain the optimal O on the basis of the initial value of the elliptical arc minor semi-axis b in order to ensure the stable meshing of the rigid gear and the flexible gear and the condition of no mutual interference and ensure that the perimeter of the outer curve of the modified wave cam is equal to the perimeter of the neutral layer curve of the flexible gear before deformation2And (4) point. The specific method comprises the following steps:
judging whether the length of the curve obtained in the step four is equal to the circumference of the neutral layer curve 1/4 of the flexible gear, if so, judging that the obtained curve is correct; if not, adjusting the value of the minor semi-axis b of the elliptic curve within the range defined in the step one, and repeating the steps two to five until a correct curve is obtained; it should be noted that the equality is approximately equal, and the closer the length values of the two are, the more accurate the result is, and the smaller the error is, the higher the precision of the cam is.
Step six, inward bias curve: inwards offsetting the curve obtained in the step five by a certain distance, wherein the certain distance is the sum of the thickness of the 1/2 flexible gear and the width of the 1/2 flexible bearing;
step seven, determining an outline curve of the complete modified wave cam: and (5) establishing a new coordinate system x1-O-y by using the 1/4 curve obtained in the step six according to a symmetry principle, and filling 3/4 curves of the remaining three quadrants to obtain a complete modified wave cam outer contour curve.
It should be noted that, through calculation, when the wrap angle θ of the arc segment is in the range of 20 ° to 40 °, the flexspline stress and the distribution thereof are optimal, and finally, the constraint conditions of non-overlapping tooth profiles and stable transmission need to be verified.
It should be noted that the position O of the center of the optimal circular arc segment is obtained2In the process, in order to simplify the calculation process, the invention utilizes MATLAB calculation function and graphic display function, and designs and programs the wave generator cam, thereby being convenient for practical application. In practical applications, other computer software may be used to perform the auxiliary calculation.
The long shaft area of the modified wave cam of the harmonic reducer is an eccentric circular curve, and the modified wave cam is different from the traditional cam, so that the meshing area of the flexible gear and the rigid gear is enlarged, more meshed teeth are arranged, the meshing quality is improved, the bearing capacity is improved, and the service life is prolonged. The flexible gear and the rigid gear of the harmonic reducer both adopt short-tooth double-circular-arc tooth profiles, so that the stress distribution is more uniform and the meshing quality is better in the transmission process, the contact of tooth tips is avoided, the bearing capacity is better, and the transmission is more stable. The design method of the modified wave cam has important theoretical guiding significance on the design of the harmonic reducer cam with long service life and high bearing capacity, the modified wave cam designed by the design method is high in precision, small in error and free of gear tooth interference and stress concentration, the meshing quality of the harmonic reducer is improved, the stress characteristic of a flexible gear is improved, and the method is suitable for application places with heavy load, long service life and the like.
Claims (9)
1. A design method of a modified wave cam is characterized by comprising the following steps:
s1, preliminary 1/4 elliptic curve: the value of the major semiaxis a of the elliptic curve is the curve radius r of the neutral layer of the flexible gear before deformationpSubtracting 3.5 to 4 times of gear tooth modulus m, i.e. a is less than or equal to rp- (3.5-4) m, the minor axis b is a variable value, and the value range is 0.5a<b<a; establishing a coordinate system, wherein the major semi-axis of the elliptic curve is taken as an x axis, the minor semi-axis is taken as a y axis, and the center of the ellipse is O1; the intersection point of the elliptic curve and the y axis is F, and the intersection point of the elliptic curve and the x axis is N;
s2, determining the abscissa position of the circle center of 1/4 circular arcs: the circle center position of the circular arc is on a straight line with the right offset distance of the y axis as d, and the value of dThe difference between the radius of the curve of the neutral layer of the rigid wheel and the radius of the curve of the neutral layer of the flexible wheel before deformation; the straight line with the y-axis offset is named as y1The abscissa corresponding to y1 is the abscissa of the center of the arc;
s3, determining the longitudinal coordinate position of the circle center of 1/4 circular arc: line connecting one point D on the ellipse with the curvature center and the straight line y1The intersection point is the position O2 where the center of the circle is located; horizontal line x1 through O2, with x1 intersecting the y-axis at point O; taking O2D as a radius to form an arc, intersecting with y1 at a point Q and intersecting with x1 at a point P; the length of the line segment O2D and the radius r of the neutral layer curve of the flexspline before deformationpEqual; an included angle between the line segment O2D and the line segment O2P is an arc segment wrap angle theta;
s4, initially determining the modified wave cam outer contour 1/4 curve: the elliptic arc FD and the circular arc DP which are connected in a smooth transition mode are the 1/4 curve to be solved;
s5, determining the modified wave cam outer contour 1/4 curve: judging whether the curve length obtained in the step S4 is equal to the circumference of the neutral layer curve 1/4 of the flexible gear, if so, judging that the obtained curve is correct; if not, adjusting the value of the minor semi-axis b of the elliptic curve within the range defined by the step S1, and repeating the steps S2-S5 until a correct curve is obtained;
s6, inward bias curve: inwardly biasing the curve obtained in step S5 by a distance equal to 1/2 flexspline thickness plus 1/2 compliant bearing width;
s7, determining the outline curve of the complete modified wave cam: and (5) establishing a new coordinate system x1-O-y for the 1/4 curve obtained in the step (S6) according to a symmetry principle, and filling up 3/4 curves of the remaining three quadrants to obtain a complete modified wave cam outer contour curve.
2. The method of designing a modified wave cam according to claim 1, wherein: after the design curve is obtained, the conditions that the modified wave cam is used for stably meshing the rigid wheel and the flexible wheel and avoiding interference are required to be verified, and if the gear teeth interfere or cannot be meshed, meshing parameters or key design parameters of the modified wave cam need to be adjusted.
3. The method of designing a modified wave cam according to claim 1, wherein: the design method of the modified wave cam is completed with the assistance of computer software.
4. The method of claim 3, wherein: the computer software is MATLAB.
5. The method of designing a modified wave cam according to claim 1, wherein: the wrap angle theta of the circular arc section is preferably 20-40 degrees.
6. A modified wave cam designed by the method according to any one of claims 1 to 5.
7. A wave generator, characterized by: the wave cam comprises the wave cam according to claim 6, and a flexible bearing arranged on the outer edge of the wave cam.
8. A harmonic reducer, characterized in that: at least, include wave generator, flexbile gear, rigid gear and cross roller bearing of claim 7, wave generator arranges in the flexbile gear, the flexbile gear with the rigid gear coaxial arrangement, the rigid gear is fixed, wave generator rotates and drives the flexbile gear external tooth with the internal tooth meshing of rigid gear and throw off, thereby drive the flexbile gear rotates, the flexbile gear is connected with cross roller bearing.
9. The harmonic reducer of claim 8, wherein: the tooth forms of the rigid wheel and the flexible wheel are short-tooth double-arc tooth forms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010036941.6A CN111120622B (en) | 2020-01-14 | 2020-01-14 | Modified wave cam and design method thereof, wave generator and wave reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010036941.6A CN111120622B (en) | 2020-01-14 | 2020-01-14 | Modified wave cam and design method thereof, wave generator and wave reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111120622A true CN111120622A (en) | 2020-05-08 |
| CN111120622B CN111120622B (en) | 2022-02-11 |
Family
ID=70489307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010036941.6A Active CN111120622B (en) | 2020-01-14 | 2020-01-14 | Modified wave cam and design method thereof, wave generator and wave reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111120622B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112392935A (en) * | 2020-10-27 | 2021-02-23 | 李国斌 | Harmonic speed reducer |
| CN112507481A (en) * | 2020-11-26 | 2021-03-16 | 北京工业大学 | Profile design method of harmonic reducer cam three-wave and four-wave generator |
| 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 |
| CN113483074A (en) * | 2020-10-27 | 2021-10-08 | 李国斌 | Harmonic speed reducer |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005036937A (en) * | 2003-07-18 | 2005-02-10 | Harmonic Drive Syst Ind Co Ltd | Harmonic drive gearing |
| CN103453078A (en) * | 2013-09-06 | 2013-12-18 | 上海鑫君传动科技有限公司 | Novel harmonic speed reducer of wave generator |
| US20150107387A1 (en) * | 2013-10-21 | 2015-04-23 | Hiwin Technologies Corp. | Harmonic Drive Gear Reduction Mechanism |
| CN206522422U (en) * | 2017-01-25 | 2017-09-26 | 湖北科峰传动设备有限公司 | A kind of flexbile gear tooth form, firm gear tooth form and harmonic wave speed reducing machine |
| CN108386513A (en) * | 2018-03-22 | 2018-08-10 | 上海理工大学 | A kind of design method of harmonic gear drive |
| CN108427779A (en) * | 2017-02-15 | 2018-08-21 | 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 |
| CN109707821A (en) * | 2019-01-30 | 2019-05-03 | 成都瑞迪机械科技有限公司 | Wave producer and harmonic wave speed reducing machine with the wave producer |
| CN110222354A (en) * | 2019-03-29 | 2019-09-10 | 深圳市同川科技有限公司 | A kind of design method, wave producer and the harmonic speed reducer of wave producer cam |
| CN209800675U (en) * | 2019-01-30 | 2019-12-17 | 成都瑞迪机械科技有限公司 | Wave generator and harmonic speed reducer with same |
-
2020
- 2020-01-14 CN CN202010036941.6A patent/CN111120622B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005036937A (en) * | 2003-07-18 | 2005-02-10 | Harmonic Drive Syst Ind Co Ltd | Harmonic drive gearing |
| CN103453078A (en) * | 2013-09-06 | 2013-12-18 | 上海鑫君传动科技有限公司 | Novel harmonic speed reducer of wave generator |
| US20150107387A1 (en) * | 2013-10-21 | 2015-04-23 | Hiwin Technologies Corp. | Harmonic Drive Gear Reduction Mechanism |
| CN206522422U (en) * | 2017-01-25 | 2017-09-26 | 湖北科峰传动设备有限公司 | A kind of flexbile gear tooth form, firm gear tooth form and harmonic wave speed reducing machine |
| CN108427779A (en) * | 2017-02-15 | 2018-08-21 | 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 |
| CN108386513A (en) * | 2018-03-22 | 2018-08-10 | 上海理工大学 | A kind of design method of harmonic gear drive |
| CN109707821A (en) * | 2019-01-30 | 2019-05-03 | 成都瑞迪机械科技有限公司 | Wave producer and harmonic wave speed reducing machine with the wave producer |
| CN209800675U (en) * | 2019-01-30 | 2019-12-17 | 成都瑞迪机械科技有限公司 | Wave generator and harmonic speed reducer with same |
| CN110222354A (en) * | 2019-03-29 | 2019-09-10 | 深圳市同川科技有限公司 | A kind of design method, wave producer and the harmonic speed reducer of wave producer cam |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112392935A (en) * | 2020-10-27 | 2021-02-23 | 李国斌 | Harmonic speed reducer |
| CN113483074A (en) * | 2020-10-27 | 2021-10-08 | 李国斌 | Harmonic speed reducer |
| CN112392935B (en) * | 2020-10-27 | 2021-10-15 | 李国斌 | Harmonic speed reducer |
| CN113483074B (en) * | 2020-10-27 | 2024-01-02 | 鸣志电器(常州)有限公司 | Harmonic reducer |
| CN112507481A (en) * | 2020-11-26 | 2021-03-16 | 北京工业大学 | Profile design method of harmonic reducer cam three-wave and four-wave generator |
| CN112507481B (en) * | 2020-11-26 | 2024-04-12 | 北京工业大学 | Profile design method of three-wave and four-wave generator of cam of harmonic reducer |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111120622B (en) | 2022-02-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111120622B (en) | Modified wave cam and design method thereof, wave generator and wave reducer | |
| US11002353B2 (en) | Cycloidal pin wheel harmonic transmission device | |
| CN108533715B (en) | Bidirectional conjugate tooth profile design method for harmonic gear transmission | |
| CN112392935B (en) | Harmonic speed reducer | |
| CN109707822B (en) | Design method of small-modulus harmonic transmission meshing tooth form applied to robot and detector | |
| CN108427779B (en) | The optimum design method of cam and its curve, wave producer and harmonic wave speed reducing machine | |
| CN108730480B (en) | Cycloidal gear of RV reducer and tooth profile reverse active modification method thereof | |
| CN113032923B (en) | Flexible gear, tooth shape design method thereof and harmonic reducer | |
| TWI690665B (en) | Strain wave gearing with multiple meshing accompanied by coincidence of tooth surfaces | |
| WO2010026643A1 (en) | Gear device | |
| CN104819267B (en) | Harmonic gear device adopting non-interference and wide range meshing tooth profile | |
| CN105042002A (en) | Variable-transmission-ratio line gear mechanism | |
| CN1932707A (en) | Involute straight-teeth conical gear shaping method | |
| CN110909430A (en) | Harmonic reducer flexible gear cycloid tooth form design method | |
| WO2023015948A1 (en) | Harmonic speed reducer having conjugate cycloidal tooth profile | |
| CN110008610A (en) | Cycloid tooth profile subsection optimization design method | |
| CN112507481B (en) | Profile design method of three-wave and four-wave generator of cam of harmonic reducer | |
| CN204985583U (en) | Variable ratio line gear | |
| CN111400835B (en) | Method for designing harmonic wave S-shaped tooth form based on conjugation principle | |
| CN111810608A (en) | Harmonic gear with continuous meshing tooth profile and tooth profile design method thereof | |
| CN112065950A (en) | High-contact-ratio internal gear and RV speed reducer taking same as transmission core | |
| CN114673764A (en) | Non-orthogonal oval ring surface worm gear pair | |
| CN112182795B (en) | Different tooth form comparison modeling method for harmonic speed reducer | |
| WO2023097802A1 (en) | Design method for inner tooth profile of complex-wave oscillating-tooth speed reducer, and two-stage speed reducer | |
| CN114505543A (en) | Involute surface enveloping ring surface worm tooth surface hobbing cutter confirming method based on medium gear |
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 | ||
| CB02 | Change of applicant information |
Address after: 438000 No.9, Zhongliang Avenue, Huangzhou District, Huanggang City, Hubei Province Applicant after: Hubei Kefeng intelligent transmission Co., Ltd Address before: 438000 No.9, Zhongliang Avenue, Huangzhou District, Huanggang City, Hubei Province Applicant before: HUBEI KOFON TRANSMISSION EQUIPMENT Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |