CN112762157A - Cup-shaped flexible gear and harmonic gear transmission device with gradually-changed cylinder wall thickness - Google Patents
Cup-shaped flexible gear and harmonic gear transmission device with gradually-changed cylinder wall thickness Download PDFInfo
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- CN112762157A CN112762157A CN202011274247.4A CN202011274247A CN112762157A CN 112762157 A CN112762157 A CN 112762157A CN 202011274247 A CN202011274247 A CN 202011274247A CN 112762157 A CN112762157 A CN 112762157A
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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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
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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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Abstract
The invention discloses a cup-shaped flexible gear with a gradually-changing cylinder wall thickness and a harmonic gear transmission device, relates to the technical field of transmission devices, and can prolong the service life of the flexible gear and further prolong the service life of the harmonic gear transmission device. The cup-shaped flexible gear with the gradually-changed cylinder wall thickness comprises a gear ring, a cylinder body, a cylinder bottom and a flange; the cylinder comprises a linear cylinder section, a thin-wall cylinder section and an arc transition section which are sequentially connected, the outer wall side shapes of the thin-wall cylinder section and the arc transition section are composed of a first thickening curve section and a second thickening curve section which are tangent to each other, a gear ring, the linear cylinder section, the thin-wall cylinder section, the arc transition section and a cylinder bottom are sequentially connected, and a flange is arranged on the surface of the cylinder bottom far away from the arc transition section; the shape of the outer wall side of the first thickening curve section is composed of a first curve arc and a second curve arc which are mutually tangent, the outer wall side of the straight line cylinder section is tangent with the first curve arc, and the second curve arc is tangent with the outer wall side of the second thickening curve section.
Description
Technical Field
The invention relates to the technical field of transmission devices, in particular to a cup-shaped flexible gear and harmonic gear transmission device with gradually-changed cylinder wall thickness.
Background
The harmonic gear transmission technology is a novel transmission technology generated along with the development of aerospace technology in the later 50 s of the 20 th century. The transmission mechanism has the characteristics of simple structure, small volume, light weight, low noise, high bearing capacity, high transmission precision and transmission efficiency, and particularly can transmit motion and power to a sealed space, and the like, so the transmission mechanism is widely applied to various industrial fields of space technology, energy sources, robots, machine tools, instruments, medical instruments and the like.
The harmonic gear drive device is essentially different from the common gear drive, and mainly comprises 3 components, namely a wave generator, a rigid gear and a flexible gear, wherein when the rigid gear is fixed, the wave generator drives, and the flexible gear drives, the speed reduction motion can be realized. The cup-shaped flexible gear is a deformable thin-wall part, always bears the effect of alternating stress in the running and transmission process, and is easy to have fatigue fracture in a fillet transition area, so the service life of the cup-shaped flexible gear determines the service life of the whole harmonic transmission device.
Because the flexible gear bears the alternating stress of the wave generator and the meshing moment of the rigid gear when the harmonic gear transmission device operates, the cylinder body and the cylinder bottom are easy to damage after long-term operation, and the service life of the harmonic gear transmission device is shortened.
Disclosure of Invention
The invention aims to provide a cup-shaped flexible gear with a gradually-changing cylinder wall thickness and a harmonic gear transmission device, which can prolong the service life of the flexible gear and further prolong the service life of the harmonic gear transmission device.
In order to achieve the above object, a first aspect of the present invention provides a cup-shaped flexible gear with a gradually changing wall thickness, comprising a gear ring, a cylinder bottom and a flange; wherein the content of the first and second substances,
the cylinder comprises a linear cylinder section, a thin-wall cylinder section and an arc transition section which are sequentially connected, the outer wall side shapes of the thin-wall cylinder section and the arc transition section are composed of a first thickening curve section and a second thickening curve section which are tangent to each other, the gear ring, the linear cylinder section, the thin-wall cylinder section, the arc transition section and the cylinder bottom are sequentially connected, and the flange is arranged on the surface of the cylinder bottom far away from the arc transition section;
the shape of the outer wall side of the first thickening curve section is composed of a first curve arc and a second curve arc which are mutually tangent, the outer wall side of the straight line cylinder section is tangent with the first curve arc, and the second curve arc is tangent with the outer wall side of the second thickening curve section.
Preferably, the inner walls of the linear cylinder section, the thin-wall cylinder section and the arc transition section are connected in a seamless and horizontal straight line.
Preferably, the outer wall side of the second thickened curved section is shaped like a third curved arc, the inner wall side of the second thickened curved section is shaped like a fourth curved arc, and the arc radius of the third curved arc is 0.6 to 1.1 times the arc radius of the fourth curved arc.
Furthermore, one end of the third curve arc is connected with the second curve arc in a tangent mode, and the other end of the third curve arc is connected with the bottom surface of the cylinder bottom in a tangent mode.
Preferably, the thinnest point of the wall thickness formed by the second curved circular arc and the inner wall of the first thickened curved section is 0.8 to 0.9 times of the wall thickness of the linear cylinder section.
Preferably, a polar coordinate system is constructed with a central point of an end surface of the gear ring far from the linear cylinder section as an origin, a central point of a tangent line of the first curved circular arc and a central point of a tangent line of the second curved circular arc define a point a, and a central point of a tangent line of the first curved circular arc and a central point of a tangent line of the second curved circular arc define a point B, and curves of the first and second variable-thickness curved sections satisfy the following conditions:
the coordinates of point A in the polar coordinate system are represented as (x)A，yA) The coordinate of point B in the polar coordinate system is represented as (x)B，yB)；
l1Is a coordinate representation of the axial length of the gear ring on the x axis;
l represents the depth of the inner hole of the cup-shaped flexible gear with gradually changed cylinder wall thickness;
k is a constant and takes the value of 0.7-0.85;
theta represents an included angle between the point A and the original point connecting line of the polar coordinate system and the x axis;
R0representing the inner radius of the cross-section of the straight barrel section.
In specific implementation, θ is an independent variable parameter, and the curvature radius of the first curved arc and the curvature radius of the second curved arc can be changed by changing the parameter θ and the coefficients.
Preferably, the arc centers of the first curved arc and the second curved arc are distributed on the inner side and the outer side of the wall body of the first thickened curved section.
Preferably, the arc center of the first curved arc is distributed on the outer side of the wall body of the first variable-thickness curved section, and the arc center of the second curved arc is distributed on the inner side of the wall body of the first variable-thickness curved section.
Preferably, the gear ring, the linear cylinder section, the thin-wall cylinder section and the arc transition section are sequentially connected in an axial direction and adopt an integrally formed structure.
Compared with the prior art, the cup-shaped flexible gear with the gradually-changed cylinder wall thickness has the following beneficial effects:
the invention provides a cylinder wall thickness gradually-changing type cup-shaped flexible gear, which consists of a gear ring, a cylinder body, a cylinder bottom and a flange, wherein the cylinder body comprises a linear cylinder body section, a thin-wall cylinder body section and an arc transition section which are sequentially connected; the shape of the outer wall side of the first thickening curve section is composed of a first curve arc and a second curve arc which are mutually tangent, the outer wall side of the straight line cylinder section is tangent with the first curve arc, and the second curve arc is tangent with the outer wall side of the second thickening curve section.
In consideration of the fact that a flexible gear in the harmonic reducer in the existing structure bears alternating stress of a wave generator and meshing torque of a rigid gear, the arc transition section is easily damaged, and therefore the service life of the harmonic reducer is shortened. According to the design scheme of the variable-thickness curved-section cylinder, the strength of the flexible gear can be increased, the fatigue stress of the cup-shaped flexible gear during operation can be reduced, the failure risk of the arc transition section of the flexible gear can be reduced, the service life of the flexible gear can be prolonged, and the reliability of the speed reducer can be improved.
The invention provides a harmonic gear transmission device, which is applied with the cup-shaped flexible gear with gradually-changed cylinder wall thickness.
Compared with the prior art, the beneficial effects of the harmonic gear transmission device provided by the invention are the same as those of the cup-shaped flexible gear with the gradually-changed cylinder wall thickness provided by the technical scheme, and the details are not repeated herein.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a three-dimensional schematic view of a cup-shaped flexible gear with gradually changing wall thickness according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of a cup-shaped flexible gear with a gradually changing wall thickness along a central axis according to an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion A of FIG. 2;
FIG. 4 is a partial enlarged view of portion B of FIG. 2;
FIG. 5 shows the structural statics analysis of a conventional iso-thick cup-shaped flexspline;
FIG. 6 shows the structural statics analysis of a thin-walled cylinder segment according to an embodiment of the present invention;
fig. 7 is a structural statics analysis result of the thin-walled cylinder section and the circular arc transition section in the embodiment of the present invention.
Reference numerals:
1-gear ring, 2-cylinder;
3-arc transition section, 4-cylinder bottom;
5-flange, 20-linear cylinder section;
21-a first thickened curve segment, 211-a first curve arc;
212-second curved arc, 24-straight line;
31-the second thickened curve segment, 311-the third curved arc,
312-fourth curve arc.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1-4, the present embodiment provides a cup-shaped flexible gear with gradually changing wall thickness, which includes a gear ring 1, a cylinder 2, a cylinder bottom 4 and a flange 5; the cylinder 2 comprises a linear cylinder section 20, a thin-wall cylinder section and an arc transition section 3 which are sequentially connected, the outer wall side shapes of the thin-wall cylinder section and the arc transition section 3 are composed of a first thickening curve section 21 and a second thickening curve section 31 which are mutually tangent, a gear ring 1, the linear cylinder section 20, the thin-wall cylinder section, the arc transition section 3 and a cylinder bottom 4 are sequentially connected, and a flange 5 is arranged on the surface of the cylinder bottom 4 far away from the arc transition section 3; the outer wall side shape of the first thickened curved section 21 is composed of a first curved arc 211 and a second curved arc 212 which are tangent to each other, the outer wall side of the linear cylinder section 20 is tangent to the first curved arc 211, and the second curved arc 212 is tangent to the outer wall side of the second thickened curved section 3122. As shown in fig. 3, the first curved arc 211 is an AB segment, and the second curved arc 212 is a BC segment.
The cylinder wall thickness gradually-changing cup-shaped flexible gear provided by the embodiment is composed of a gear ring 1, a cylinder body 2, a cylinder bottom 4 and a flange 5, wherein the cylinder body 2 comprises a linear cylinder body section 20, a thin-wall cylinder body section and an arc transition section 3 which are sequentially connected, the outer wall side shapes of the thin-wall cylinder body section and the arc transition section 3 are composed of a first variable-thickness curve section 21 and a second variable-thickness curve section 31 which are mutually tangent, the gear ring 1, the linear cylinder body section 20, the thin-wall cylinder body section, the arc transition section 3 and the cylinder bottom 4 are sequentially connected, and the flange 5 is arranged on the surface, far away from the arc transition section 3, of the cylinder bottom 4; the outer wall side shape of the first thickened curved section 21 is composed of a first curved arc 211 and a second curved arc 212 which are tangent to each other, the outer wall side of the linear cylinder section 20 is tangent to the first curved arc 211, and the second curved arc 212 is tangent to the outer wall side of the second thickened curved section 31.
In consideration of the fact that a flexible gear in the harmonic reducer in the existing structure bears alternating stress of a wave generator and meshing torque of a rigid gear, the arc transition section 3 is easily damaged, and therefore the service life of the harmonic reducer is shortened. This embodiment can increase flexbile gear intensity and reduce the fatigue stress of cup type flexbile gear when the operation through the design of thickening curve section barrel, reduces flexbile gear circular arc changeover portion 3's inefficacy risk, does benefit to the life who improves the flexbile gear, improves the reliability of reduction gear.
In the above embodiment, the inner walls of the linear cylinder section 20, the thin-walled cylinder section and the arc transition section 3 are connected in a horizontal straight line 24 without seams.
In specific implementation, the gear ring 1, the linear cylinder section 20, the thin-wall cylinder section and the arc transition section 3 are sequentially connected in the axial direction and adopt an integrally formed structure. The linear cylinder section 20, the thin-wall cylinder section and the arc transition section 3 have the same caliber, and the inner wall is smooth and linear.
In the above embodiment, the outer wall side shape of the second thick-variable curved section 31 is the third curved arc 311, the inner wall side shape of the second thick-variable curved section 31 is the fourth curved arc 312, and the arc radius of the third curved arc 311 is 0.6 to 1.1 times the arc radius of the fourth curved arc 312.
In specific implementation, as shown in fig. 2 to 4, the outer wall side of the second thickened curved section 31 is in the shape of a third curved arc 311, the inner wall side of the second thickened curved section 31 is in the shape of a fourth curved arc 312, the outer wall side and the inner wall side of the second thickened curved section 31 together form an arc transition section 3 (i.e. a CD section in the drawing), the center thickness of the arc transition section 3 is greater than the thicknesses of the two side edges, and the center thickness gradually thins from the center thickness to the side edges.
In the above embodiment, one end of the third curved arc 311 is tangent to the second curved arc 212, and the other end of the third curved arc 311 is tangent to the bottom surface of the cylinder bottom 4. As shown in fig. 3, a point at which one end of the third curved arc 311 is tangent to the second curved arc 212 is a point C, and a point at which the other end of the third curved arc 311 is tangent to the bottom surface of the cylinder bottom 4 is a point D, and it should be noted that an actual contact surface between the third curved arc 311 and the second curved arc 212 is a line, an actual contact surface between the third curved arc 311 and the bottom surface of the cylinder bottom 4 is a line, and the points C and D only indicate intersection points with the two lines on the axial section of the cup-shaped flexspline.
In the above embodiment, the thinnest point of the second curved arc 212 and the inner wall of the first thickened curved section 21 is 0.8 to 0.9 times of the wall thickness of the section of the linear cylinder 2.
In the above embodiment, a polar coordinate system is constructed with the central point of the end surface of the gear ring 1 away from the linear cylinder 2 as the origin, the central point of the tangent line between the outer wall side of the linear cylinder 2 and the first curved arc 211 is defined as point a, the central point of the tangent line between the first curved arc 211 and the second curved arc 212 is defined as point B, and the curves of the first variable-thickness curved section 21 and the second variable-thickness curved section satisfy the following conditions:
the coordinates of point A in the polar coordinate system are represented as (x)A，yA) The coordinate of point B in the polar coordinate system is represented as (x)B，yB)；
l1Is a coordinate representation of the axial length of the gear ring 1 on the x axis;
l represents the depth of the inner hole of the cup-shaped flexible gear with gradually changed cylinder wall thickness;
k is a constant and takes the value of 0.7-0.85;
theta represents an included angle between the point A and the original point connecting line of the polar coordinate system and the x axis;
R0representing the inner radius of the cross-section of the straight barrel section 20.
In the above embodiment, the arc centers of the first curved arc 211 and the second curved arc 212 are distributed on the inner and outer sides of the wall body of the first thickened curved section 21. For example, the arc center of the first curved arc 211 is distributed outside the wall of the first thickened curved section 21, and the arc center of the second curved arc 212 is distributed inside the wall of the first thickened curved section 21. Therefore, the rigidity and the strength of the cup-shaped flexible gear are improved, and the service life of the cup-shaped flexible gear with the gradually-changed cylinder wall thickness is prolonged.
Fig. 5 shows the result of structural statics analysis, which is commonly used at present, and there is a significant stress concentration phenomenon at the arc transition section, and here, the common fracture point which causes failure. In this embodiment, after the structure of the arc transition section is modified, under the same analysis condition, the stress concentration portion of the arc transition section almost disappears, the stress distribution of the whole arc transition section and the cylinder bottom is more uniform, and the stress value is significantly reduced, as shown in fig. 6 and 7. After the structural parameter size of the arc transition section is controlled and optimized, the stress concentration phenomenon of the cylinder wall is also obviously improved, as shown in fig. 7. The disappearance of the stress concentration phenomenon can reduce the possibility that the cup-shaped flexible gear with gradually changed thickness of the cylinder wall is broken at the fillet transition section, and prolong the service life of the whole.
Example two
The present embodiment provides a harmonic gear transmission device, which includes the cup-shaped flexible gear with gradually changing wall thickness in the above embodiments.
Compared with the prior art, the beneficial effects of the harmonic gear transmission device provided by the embodiment of the invention are the same as those of the cup-shaped flexible gear with gradually-changed cylinder wall thickness provided by the first embodiment, and are not repeated herein.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the invention may be implemented by hardware instructions related to a program, the program may be stored in a computer-readable storage medium, and when executed, the program includes the steps of the method of the embodiment, and the storage medium may be: ROM/RAM, magnetic disks, optical disks, memory cards, and the like.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A cup-shaped flexible gear with a gradually-changed cylinder wall thickness is characterized by comprising a gear ring, a cylinder body, a cylinder bottom and a flange; wherein the content of the first and second substances,
the cylinder comprises a linear cylinder section, a thin-wall cylinder section and an arc transition section which are sequentially connected, the outer wall side shapes of the thin-wall cylinder section and the arc transition section are composed of a first thickening curve section and a second thickening curve section which are tangent to each other, the gear ring, the linear cylinder section, the thin-wall cylinder section, the arc transition section and the cylinder bottom are sequentially connected, and the flange is arranged on the surface of the cylinder bottom far away from the arc transition section;
the shape of the outer wall side of the first thickening curve section is composed of a first curve arc and a second curve arc which are mutually tangent, the outer wall side of the straight line cylinder section is tangent with the first curve arc, and the second curve arc is tangent with the outer wall side of the second thickening curve section.
2. The cup-shaped flexible gear with gradually changing wall thickness as claimed in claim 1, wherein the inner walls of the straight cylinder section, the thin-wall cylinder section and the arc transition section are connected seamlessly and in a horizontal straight line.
3. The flexible cup wheel according to claim 2, wherein the second thickened curved section has an outer wall side in the shape of a third curved arc, the second thickened curved section has an inner wall side in the shape of a fourth curved arc, and the third curved arc has an arc radius 0.6 to 1.1 times as large as the arc radius of the fourth curved arc.
4. The cup-shaped flexible gear with gradually changing wall thickness as claimed in claim 3, wherein one end of the third curved arc is tangentially connected to the second curved arc, and the other end of the third curved arc is tangentially connected to the bottom surface of the cylinder bottom.
5. The cup-type flexible gear with gradually changing wall thickness as claimed in claim 4, wherein the thinnest point of the wall thickness formed by the second curved arc and the inner wall of the first thickened curved section is 0.8 to 0.9 times of the wall thickness of the straight-line cylinder section.
6. The cylinder wall thickness gradually changing cup-type flexible gear according to claim 4, wherein a polar coordinate system is constructed with a central point of an end surface of the gear ring away from the linear cylinder section as an origin, a central point of a tangent line of the outer wall side of the linear cylinder section and a first curved arc is defined as a point A, a central point of a tangent line of the first curved arc and a second curved arc is defined as a point B, and curves of the first and second variable-thickness curved sections satisfy the following conditions:
the coordinates of point A in the polar coordinate system are represented as (x)A，yA) The coordinate of point B in the polar coordinate system is represented as (x)B，yB)；
l1Is a coordinate representation of the axial length of the gear ring on the x axis;
l represents the depth of the inner hole of the cup-shaped flexible gear with gradually changed cylinder wall thickness;
k is a constant and takes the value of 0.7-0.85;
theta represents an included angle between the point A and the original point connecting line of the polar coordinate system and the x axis;
R0representing the inner radius of the cross-section of the straight barrel section.
7. The cup-shaped flexible gear with gradually-changing wall thickness according to claim 1, wherein the arc centers of the first curved arc and the second curved arc are distributed on the inner side and the outer side of the wall body of the first variable-thickness curved section.
8. The cylinder wall thickness gradually changing cup-type flexible gear according to claim 7, wherein the arc center of the first curved arc is distributed on the outer side of the wall body of the first variable-thickness curved section, and the arc center of the second curved arc is distributed on the inner side of the wall body of the first variable-thickness curved section.
9. The cylinder wall thickness gradually changing cup-type flexible gear according to claim 7, wherein the gear ring, the linear cylinder section, the thin-wall cylinder section and the arc transition section are sequentially connected in an axial direction and adopt an integrally formed structure.
10. A harmonic gear drive comprising a cup-type flexspline of graded wall thickness as claimed in any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011274247.4A CN112762157A (en) | 2020-11-15 | 2020-11-15 | Cup-shaped flexible gear and harmonic gear transmission device with gradually-changed cylinder wall thickness |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011274247.4A CN112762157A (en) | 2020-11-15 | 2020-11-15 | Cup-shaped flexible gear and harmonic gear transmission device with gradually-changed cylinder wall thickness |
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| CN112762157A true CN112762157A (en) | 2021-05-07 |
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| CN202011274247.4A Pending CN112762157A (en) | 2020-11-15 | 2020-11-15 | Cup-shaped flexible gear and harmonic gear transmission device with gradually-changed cylinder wall thickness |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230160462A1 (en) * | 2021-11-22 | 2023-05-25 | Nidec-Shimpo Corporation | Flexible external gear, wave reducer, and robot |
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2020
- 2020-11-15 CN CN202011274247.4A patent/CN112762157A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230160462A1 (en) * | 2021-11-22 | 2023-05-25 | Nidec-Shimpo Corporation | Flexible external gear, wave reducer, and robot |
| US11879534B2 (en) * | 2021-11-22 | 2024-01-23 | Nidec-Shimpo Corporation | Flexible external gear, wave reducer, and robot |
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