CN113586687A - Flexible gear and harmonic speed reducer suitable for high-speed working condition - Google Patents
Flexible gear and harmonic speed reducer suitable for high-speed working condition Download PDFInfo
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- CN113586687A CN113586687A CN202110857514.9A CN202110857514A CN113586687A CN 113586687 A CN113586687 A CN 113586687A CN 202110857514 A CN202110857514 A CN 202110857514A CN 113586687 A CN113586687 A CN 113586687A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 16
- 230000004048 modification Effects 0.000 claims abstract description 36
- 238000012986 modification Methods 0.000 claims abstract description 36
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000007423 decrease Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 3
- 238000009966 trimming Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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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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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gears, Cams (AREA)
- Retarders (AREA)
Abstract
The invention provides a flexible gear and harmonic reducer suitable for high-speed working conditions, wherein the flexible gear comprises a cylinder body, the inner hole of the cylinder body is used for installing a wave generator, a plurality of flexible gear teeth are arranged on the outer circumferential wall of the cylinder body, the plurality of flexible gear teeth are arranged along the circumferential direction of the cylinder body at even intervals and extend along the axial direction of the cylinder body, the flexible gear teeth are symmetrical about a first plane, the first plane is a plane passing through an addendum axial extension line of the flexible gear teeth and a central axis of the cylinder body, on the first plane, along the direction from the opening of the inner hole to the bottom of the inner hole, the tooth direction modification curve of the flexible gear teeth is a smooth curve, and the distance between the tooth profile curve and the central axis is increased and then reduced, and the maximum distance between the smooth curve and the central axis is equal to the radius of the addendum circle of the flexible gear teeth. According to the invention, the phenomenon of interference between teeth in the process of meshing the flexible gear teeth and the rigid gear teeth can be avoided.
Description
Technical Field
The invention belongs to the technical field of harmonic reducers, and particularly relates to a flexible gear and a harmonic reducer suitable for high-speed working conditions.
Background
The harmonic reducer is mainly composed of a rigid gear, a flexible gear and a wave generator. The flexible gear generates elastic deformation under the action of the wave generator and interacts with the rigid gear, thereby achieving the effect of speed reduction and transmission.
When the harmonic reducer is applied to a high-speed working condition (the instantaneous maximum rotating speed condition of the reducer can be exceeded), under the condition that normal transmission is carried out in a torque bearing range by the flexible gear structure, interference is easily generated between the teeth of the flexible gear, and the friction and abrasion are caused. Therefore, the flexible gear applied under high speed condition needs to strictly control the meshing interval.
High speed conditions (i.e., conditions that exceed the allowable maximum input speed condition of the retarder) are generally accompanied by a brief increase or decrease in speed, i.e., greater acceleration. The meshing depth of the flexible gear under the deformation of the wave generator can generate interference in the instantaneous states of meshing in and meshing out. Therefore, the flexible structure wheel applied under the high-speed condition needs to avoid an excessively large interference interval of the tooth top part of the flexible wheel along the tooth width direction, and avoid the frictional wear caused by the intersection point of line segments existing in the tooth direction of the flexible wheel to the trimming line.
Disclosure of Invention
Therefore, the invention provides a flexible gear and harmonic reducer suitable for high-speed working conditions, which can avoid the occurrence of the inter-tooth interference phenomenon in the meshing process of flexible gear teeth and rigid gear teeth.
In order to solve the above problems, the present invention provides a flexible gear suitable for a high-speed working condition, including a cylinder, wherein an inner hole of the cylinder is used for mounting a wave generator, a plurality of flexible gear teeth are arranged on an outer circumferential wall of the cylinder, the plurality of flexible gear teeth are uniformly arranged along a circumferential direction of the cylinder at intervals, the flexible gear teeth extend along an axial direction of the cylinder, the flexible gear teeth are symmetrical with respect to a first plane, the first plane is a plane passing through an addendum axial extension line of the flexible gear teeth and a central axis of the cylinder, on the first plane, a tooth direction modification curve of the flexible gear teeth is a smooth curve along a direction from an orifice to a hole bottom of the inner hole, a distance from the tooth direction modification curve to the central axis increases first and then decreases, and a maximum distance from the smooth curve to the central axis is equal to a radius of an addendum circle of the flexible gear teeth.
Preferably, on the first plane, the central axis of the cylinder is taken as an x-axis, the orifice end face of the inner hole is taken as a y-axis, an xOy coordinate system is established by taking the intersection point of the central axis and the orifice end face as a coordinate origin O, and in the xOy coordinate system, the molded line of the tooth profile modification curve is represented by an equation
And defining, wherein a is a model initial constant term, b is a curve amplitude, omega is an angular velocity, and phi is an initial phase.
Preferably, 99.7% ra≤a≤99.99％raWherein r isaThe radius of the addendum circle of the flexible gear teeth.
Preferably, b-ra-a。
Preferably, -L ≦ x ≦ 0, where L is the face relief length of the flexible gear teeth, 30% hf≤L≤40％hfWherein h isfThe axial distance from the cylinder opening to the cylinder bottom close to one side of the cylinder opening is adopted as the cylinder body.
Preferably, the point of the maximum distance from the circular curve to the central axis is a point D, and the coordinate of the point D is (-l)d，ra)，35％L＜ldLess than 45 percent L, and a point C is also arranged on the smooth curve, and the coordinate of the point C is (-L)cA), point C is on the side of point D away from the orifice, 75% L < Lc< 80% L, said ω and φ are obtained analytically by limiting said points C and D.
The invention also provides a harmonic reducer, which comprises the flexible gear.
The flexible gear and the harmonic reducer applicable to the high-speed working condition have the advantages that the distance between the tooth direction modification curve and the central axis along the direction from the hole opening of the inner hole to the hole bottom is increased and then reduced, so that the tooth direction modification curve is of a structure which is approximately arched outwards, and the flexible gear tooth sequentially comprises a meshing arc section, a tooth top circle attaching arc section and a meshing arc section along the direction from the hole opening of the inner hole to the hole bottom in the tooth width direction, so that the flexible gear can be ensured to be capable of smoothly realizing meshing of teeth without generating tooth-to-tooth interference in the meshing arc section under the high-speed working condition, and the meshing of the teeth without generating tooth-to-tooth interference in the meshing arc section; meanwhile, the tooth profile modification curve is a cross point of a smooth curve without line segment contact, so that the condition that the cross point of the flexible gear is obviously abraded after reaching a running-in stage is avoided, and abnormal meshing noise after abrasion is avoided.
Drawings
FIG. 1 is a schematic axial sectional view (on a first plane) of a flexspline suitable for high-speed operation according to an embodiment of the present invention;
fig. 2 is an enlarged schematic view of a partial position in fig. 1.
The reference numerals are represented as:
1. a barrel; 11. an inner bore; 111. an orifice end face; 12. flexible gear teeth; 121. a profile modification curve in the tooth direction; 21. a addendum circle profile; 22. a transition line.
Detailed Description
Referring to fig. 1 to 2 in combination, according to an embodiment of the present invention, there is provided a flexspline suitable for a high-speed working condition, including a cylinder 1, an inner hole 11 of the cylinder 1 is used for installing a wave generator, an outer circumferential wall of the cylinder 1 is provided with a plurality of flexible spline teeth 12, the plurality of flexible spline teeth 12 are uniformly spaced along a circumferential direction of the cylinder 1, and the flexible spline teeth 12 extend along an axial direction of the cylinder 1, the flexible spline teeth 12 are symmetrical with respect to a first plane, the first plane is a plane passing through an axial tooth crest extension line of the flexible spline teeth 12 and a central axis of the cylinder 1, on the first plane, along a direction from an orifice of the inner hole 11 to a hole bottom, a tooth profile modification curve 121 of the flexible spline teeth 12 is a smooth curve, and a distance from the tooth profile modification curve 121 to the central axis (a radial distance along the inner hole 11) increases and then decreases, the maximum distance between the smooth curve and the central axis is equal to the radius of the addendum circle of the flexible gear teeth 12.
In this technical solution, the distance from the hole opening of the inner hole 11 to the central axis of the tooth modifying curve 121 increases and then decreases, so that the tooth modifying curve 121 has a structure that the tooth modifying curve is approximately arched outward, and the flexible gear tooth 12 sequentially has a meshing arc section, a tooth top circle close-to arc section having a unique point (specifically, for example, point D in fig. 2) that is close to the tooth top circle, and a meshing arc section along the direction from the hole opening of the inner hole 11 to the hole bottom in the tooth width direction, which can ensure that the flexible gear can smoothly realize meshing of teeth without generating tooth-to-tooth interference in the meshing arc section and smoothly realize meshing of teeth without generating tooth-to-tooth interference in the meshing arc section under a high-speed working condition; meanwhile, the tooth profile modification curve 121 is a cross point of a smooth curve in wireless section contact, so that the condition that the cross point of the flexspline is obviously abraded after reaching a running-in stage is avoided, and abnormal meshing noise after abrasion is avoided.
In some embodiments, on the first plane, an xOy coordinate system is established with the central axis of the cylinder 1 as an x-axis, the port end surface 111 of the inner hole 11 as a y-axis, and an intersection point of the central axis and the port end surface 111 as a coordinate origin O, and in the xOy coordinate system, a profile of the axial modification curve 121 is represented by an equation
Defining, wherein a is an absolute value (geometric meaning) of an intersection point of the profile curve and the y coordinate, namely, an intersection point distance (physical meaning) of the profile curve and the flexible wheel cup mouth (namely, the orifice end surface 111, the same below); b is the amplitude of the profile curve (geometric meaning, specially, the value of B is the distance between the B point and the intersection point of the addendum circle in the Y-axis direction in fig. 2), that is, the highest point of the profile curve (the only intersection point with the addendum circle) and the intersection point of the profile curve and the cup mouth (physical meaning); ω is the period (geometric sense) that affects the trigonometric function, i.e. the period that limits the modification curve, where half the period of the modification curve corresponds to lc: 75% L < lc < 80% L, half-cycle is the distance value (physical meaning) of the BC abscissa (shown in FIG. 2), so the value of ω can be determined; Φ is the phase change (geometric sense) of the abscissa, i.e., the abscissa bounding the D point (shown in FIG. 2), and the phase Φ is determined by the abscissa bounding the D point (35% L < ld < 45% L). It will be appreciated that the argument x is nonetheless the profile curve 12The axial distance from any point on 1 to the port end face 111 will be expressed in terms of radian in practical application. According to the technical scheme, an optimized limiting project of the tooth profile modification curve 121 is provided, a fuller curve profile modification equation can be obtained through selection of corresponding coefficients, according to a harmonic meshing theory, the tooth profile modification equation can effectively control the meshing depth and the meshing interval between the flexible gear teeth 12 and the rigid gear teeth, and continuous meshing of the flexible gear under a high-speed condition can be met. It should be noted that, in the open interval of a single half cycle, the sine function has only one extreme point (i.e. a point corresponding to the curve having the same radius as the addendum circle of the flexible gear tooth 12), and this extreme point ensures the only contact with the addendum circle, and through the interval limitation of the special point, the tooth-shaped meshing interval is effectively controlled, so as to satisfy the fast engaging and disengaging between the teeth and the actual meshing bearing interval under the high-speed working condition.
In some embodiments, 99.7% ra≤a≤99.99％raWherein r isaThe radius of the addendum circle of the flexible gear teeth 12. B is a compensation amount of the addendum circle and a radial intersection point of the flexible gear axial modification (i.e. an intersection point B of the axial modification curve 121 and the orifice end surface 111 in fig. 2), and preferably, B is equal to raA, the compensation quantity ensures that the tooth profile curve and the addendum circle have the only displacement intersection point (namely, the point D in the figure 2), so that the occurrence of the excessive interference condition in the meshing is avoided, and the noise level in the tooth meshing process is further reduced.
In some embodiments, -L ≦ x ≦ 0, where L is the face relief length of the flexible gear teeth 12, 30% hf≤L≤40％hfWherein h isfThe axial distance from the cylinder opening to the cylinder bottom of the cylinder body 1 close to one side of the cylinder opening, the tooth width modification length is a structure which actually participates in inter-tooth meshing in the flexible gear, the matched depth size of the outer contour of the wave generator and the inner hole of the flexible gear is in the tooth width modification length range, so the periodic deformation of the flexible gear is caused by the inter-tooth meshing in the tooth width modification length range and the matching influence of the wave generator, in the design of the flexible gear structure, the tooth width modification length is controlled in a reasonable range, and the tooth width modification length can be improvedThe high flexspline structure has the capability of resisting fatigue deformation.
Referring to the foregoing and shown in FIG. 2, the point of the maximum distance from the central axis of the rounded curve is the point D, and the coordinate of the point D is (-l)d，ra)，35％L＜ldLess than 45 percent L, and a point C is also arranged on the smooth curve, and the coordinate of the point C is (-L)cA), point C is on the side of point D away from the orifice, 75% L < Lc< 80% L, said ω and φ are obtained analytically by limiting said points C and D. That is, the parameter ω and Φ in the foregoing profile defining equation are obtained by an analytic method, specifically, the extreme point coordinate of the constrained modification (i.e., the coordinate of the point D) is defined, and the axial distance from the orifice end surface 111 (also referred to as the cup mouth) to the addendum circle modification size (i.e., the point l corresponding to the point C) is limitedc). The extreme point is the only intersection point of the profile modification curve and the addendum circle, and the absolute value of the abscissa is the value ldThe absolute value of the ordinate is the radius r of the addendum circleaTherefore, the working meshing interval of the meshing curve under the high-speed working condition is guaranteed to be met through the limitation on the point C and the point D, the proper omega and phi are obtained, and the sine function modification curve (namely the molded line limiting equation) under the interval condition is obtained, so that the fast meshing of the flexible gear towards the cup mouth and the fast meshing of the flexible gear far away from the cup mouth are facilitated.
Y, a, b, r in the foregoings、hf、rh、rl、raAnd L is in mm.
As shown in fig. 2, the peripheral wall of the cylinder 1 and one end of the flexible gear 12 facing the hole bottom of the inner hole 11 are connected by a transition line 22, and the tooth profile modification curve 121 and the transition line 22 intersect at a point a shown in fig. 2, so that in order to avoid a fracture phenomenon caused by stress concentration, in an actual machining process, the peripheral wall of the cylinder 1 and one end of the flexible gear 12 facing the hole bottom of the inner hole 11 are smoothly connected (e.g., rounded) by the transition line 22. Similarly, the axial modified curve 121 intersects the orifice end surface 111 at a point B, and in an actual machining process, a chamfer is performed at the point B, and the intersection position of the chamfer, the axial modified curve 121 and the orifice end surface 111 is rounded (for example, rounded).
It should be noted that, in the above technical solution for modifying the tooth profile of the flexbile gear, for the harmonic gear with a spatial tooth profile, the spatial tooth profile is a tooth profile structure that is perpendicular to any section of the tooth profile and has a modification shape, that is, different sections of the spatial tooth profile perpendicular to the tooth width direction have different differences. The shaping curve (namely the tooth profile shaping curve 121) in the foregoing is only represented by the tooth crest of the flexible gear, parameters of the shaping curve are determined, the space tooth profile can increase the meshing interval and the tooth profile contact area, and more meshing teeth ensure that the space tooth profile harmonic gear has higher bearing capacity and longer fatigue life.
Through verification, the harmonic reducer adopting the trimming curve of the invention is compared with the harmonic reducer without the trimming curve: allowing the maximum input speed to increase by 10%; under the same high-speed working condition, the running-in service life of the speed reducer is prolonged by 30 percent.
According to an embodiment of the invention, there is also provided a harmonic reducer including the flexspline described above.
It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.
Claims (7)
1. The utility model provides a flexbile gear suitable for high-speed operating mode, a serial communication port, including barrel (1), hole (11) of barrel (1) are used for installing wave generator, be equipped with a plurality of gentle teeth of a cogwheel (12) on the outer circumferential wall of barrel (1), and are a plurality of gentle teeth of a cogwheel (12) are followed the even interval in circumference of barrel (1) sets up just gentle teeth of a cogwheel (12) are followed the axial extension of barrel (1), gentle teeth of a cogwheel (12) are symmetrical about the first plane, the first plane is for passing through the addendum axial extension line of gentle teeth of a cogwheel (12) with the plane of the axis of barrel (1) on the first plane, along the direction of the drill way to the hole bottom of hole (11), the tooth of gentle teeth of a cogwheel (12) is smooth and smooth curve to profile modification curve (121), just tooth is to profile modification curve (121) apart from the distance of axis increases the back earlier reduces, the maximum distance between the smooth curve and the central axis is equal to the addendum circle radius of the flexible gear teeth (12).
2. The flexspline of claim 1, characterized in that in the first plane, an xOy coordinate system is established with the central axis of the cylinder (1) as an x-axis, the orifice end face (111) of the inner bore (11) as a y-axis, and the intersection point of the central axis and the orifice end face (111) as an origin of coordinates O, and in the xOy coordinate system, the profile of the axial modification curve (121) is defined by the equation
And (4) limiting.
3. The flexspline of claim 2, wherein 99.7% ra≤a≤99.99％raWherein r isaIs the addendum circle radius of the flexible gear teeth (12).
4. The flexspline of claim 3, wherein b-ra-a。
5. Flexible gear according to any of claims 2 to 4, characterized in that-L ≦ x ≦ 0, wherein L is the face relief length of the flexible gear teeth (12), 30% hf≤L≤40％hfWherein h isfThe axial distance from the cylinder opening to the cylinder bottom of the cylinder body (1) close to one side of the cylinder opening is disclosed.
6. The flexspline of claim 5, wherein the flexspline is characterized byThe point of the maximum distance between the smooth curve and the central axis is a point D, and the coordinate of the point D is (-l)d，ra)，35％L＜ldLess than 45 percent L, and a point C is also arranged on the smooth curve, and the coordinate of the point C is (-L)cA), point C is on the side of point D away from the orifice, 75% L < Lc< 80% L, said ω and φ are obtained analytically by limiting said points C and D.
7. A harmonic reducer comprising a flexspline according to any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110857514.9A CN113586687A (en) | 2021-07-28 | 2021-07-28 | Flexible gear and harmonic speed reducer suitable for high-speed working condition |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110857514.9A CN113586687A (en) | 2021-07-28 | 2021-07-28 | Flexible gear and harmonic speed reducer suitable for high-speed working condition |
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| CN113586687A true CN113586687A (en) | 2021-11-02 |
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| CN202110857514.9A Pending CN113586687A (en) | 2021-07-28 | 2021-07-28 | Flexible gear and harmonic speed reducer suitable for high-speed working condition |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05209655A (en) * | 1991-11-07 | 1993-08-20 | Harmonic Drive Syst Ind Co Ltd | Deflection engagement type gear device |
| CN2481905Y (en) * | 2001-02-16 | 2002-03-13 | 北京中技克美谐波传动有限责任公司 | Harmonic drive unit with cup flexible wheel |
| CN1924397A (en) * | 2006-04-12 | 2007-03-07 | 北京市克美谐波传动精密机械公司 | Three-dimensional harmonic wave gear with involute tooth outline |
| US20070266819A1 (en) * | 2004-06-21 | 2007-11-22 | Harmonic Drive Systems Inc. | Wave Gear Drive Having Negative Deflection Meshing Tooth Profile |
| DE102012109774A1 (en) * | 2012-10-15 | 2014-05-15 | Ovalo Gmbh | Gear construction structure installed in e.g. steering element of e.g. agricultural vehicle, has outer toothing that is provided with several teeth whose height is increased and decreased along tooth width |
| CN109723802A (en) * | 2018-12-10 | 2019-05-07 | 广州市昊志机电股份有限公司 | A kind of flexbile gear and harmonic speed reducer |
-
2021
- 2021-07-28 CN CN202110857514.9A patent/CN113586687A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05209655A (en) * | 1991-11-07 | 1993-08-20 | Harmonic Drive Syst Ind Co Ltd | Deflection engagement type gear device |
| CN2481905Y (en) * | 2001-02-16 | 2002-03-13 | 北京中技克美谐波传动有限责任公司 | Harmonic drive unit with cup flexible wheel |
| US20070266819A1 (en) * | 2004-06-21 | 2007-11-22 | Harmonic Drive Systems Inc. | Wave Gear Drive Having Negative Deflection Meshing Tooth Profile |
| CN1924397A (en) * | 2006-04-12 | 2007-03-07 | 北京市克美谐波传动精密机械公司 | Three-dimensional harmonic wave gear with involute tooth outline |
| DE102012109774A1 (en) * | 2012-10-15 | 2014-05-15 | Ovalo Gmbh | Gear construction structure installed in e.g. steering element of e.g. agricultural vehicle, has outer toothing that is provided with several teeth whose height is increased and decreased along tooth width |
| CN109723802A (en) * | 2018-12-10 | 2019-05-07 | 广州市昊志机电股份有限公司 | A kind of flexbile gear and harmonic speed reducer |
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Application publication date: 20211102 |