CN115013501A - Zero backlash harmonic reducer and calculation method - Google Patents

Zero backlash harmonic reducer and calculation method Download PDF

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Publication number
CN115013501A
CN115013501A CN202210748882.4A CN202210748882A CN115013501A CN 115013501 A CN115013501 A CN 115013501A CN 202210748882 A CN202210748882 A CN 202210748882A CN 115013501 A CN115013501 A CN 115013501A
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gear
flexible gear
teeth
double
flexible
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CN202210748882.4A
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李宗翰
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Dongguan Zhuolan Automation Equipment Co ltd
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Dongguan Zhuolan Automation Equipment Co ltd
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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
    • 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
    • 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
    • F16H2055/0866—Profiles for improving radial engagement of gears, e.g. chamfers on the tips of the teeth
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention provides a zero-backlash harmonic reducer, which comprises a rigid gear, a flexible gear arranged in the rigid gear and a double-half-circular-wave generator assembly arranged in the flexible gear, wherein the rigid gear is connected with the flexible gear through a connecting rod; the left end of the flexible gear is provided with external teeth; the rigid wheel is provided with internal teeth matched with the external teeth; the cross section of the outer teeth is in a semi-circular arc shape; the external tooth is gradually reduced from left to right in radius to form a conical external tooth, and the radius of the external tooth circle at the leftmost end is R 42 The radius of the external tooth circle at the rightmost end is R 41 (ii) a The double-semicircular wave generator assembly comprises a double-semicircular cam and a flexible bearing arranged between the double-semicircular cam and the flexible gear; the transmission precision of the invention is higher than that of the prior harmonic speed reducer.

Description

Zero backlash harmonic reducer and calculation method
Technical Field
The invention relates to the technical field of harmonic reducers, in particular to a zero-backlash harmonic reducer.
Background
The harmonic reducer is a gear transmission which is characterized in that the flexible bearing is assembled on the wave generator to enable the flexible gear to generate controllable elastic deformation and is meshed with the rigid gear to transmit motion and power. The application disciplines are as follows: mechanical engineering (first class disciplines); transmission (secondary discipline); a gear transmission (three-level subject) harmonic gear transmission reducer is a novel reducer developed by utilizing a planetary gear transmission principle. Harmonic gear drive (harmonic drive for short).
The existing harmonic speed reducer is driven by straight teeth, a plurality of straight teeth are distributed on the outer side circumference of a flexible gear, straight teeth matched with external teeth of the flexible gear are distributed on the inner side circumference of a rigid gear, and the straight teeth are adopted for transmission, so that the requirement on the processing precision of the teeth is high, otherwise, the transmission precision is easily influenced.
Disclosure of Invention
It is an object of the present invention to provide a zero backlash harmonic reducer that solves the problems mentioned in the background.
In order to achieve the above purpose, the invention provides the following technical scheme:
a zero back clearance harmonic reducer comprises a rigid gear, a flexible gear arranged in the rigid gear and a double-half circular-wave generator assembly arranged in the flexible gear; the left end of the flexible gear is provided with external teeth; the rigid wheel is provided with internal teeth matched with the external teeth; the cross section of the outer teeth is in a semi-circular arc shape; the external tooth is gradually reduced from left to right in radius to form a conical external tooth, and the radius of the external tooth circle at the leftmost end is R 42 The radius of the external tooth circle at the rightmost end is R 41 (ii) a The double-semicircle wave generator component comprises a double-semicircle cam and a flexible bearing arranged between the double-semicircle cam and the flexible gear.
For further description of the invention, the right ends of the flexible gear and the rigid gear are connected through a crossed roller bearing; the crossed roller bearing comprises a roller bearing inner ring, a roller bearing outer ring and a roller; the roller bearing inner ring is fixed at the left end of the flexible gear; the roller bearing outer ring is fixed at the left end of the rigid wheel; the rollers are arranged between the inner ring of the roller bearing and the outer ring of the roller bearing in a crossed manner; and a gasket is also arranged between the roller bearing inner ring and the flexible gear.
For further description of the invention, the number of the inner teeth of the rigid gear is two more than that of the outer teeth of the flexible gear.
For further description of the present invention, the taper angle a of the external teeth is greater than 0 ° and less than 3 °.
For further description of the present invention, the length of the external teeth of the flexible gear is 1 to 1.5 times the width of the flexible bearing.
A method for calculating the size and tooth type of a bevel gear harmonic reducer comprises the following steps:
1) firstly, the length R of the rear half shaft of the flexible gear after deformation is determined 7 (ii) a Wall thickness h1 of the flexspline; the difference h2 between the inner radius and the outer radius of the flexible bearing; width W of compliant bearing 1 (ii) a Number of flexspline teeth Z 2 N; the modulus at the outer tooth distribution circle of the flexible gear is m; radius R of outer tooth circle at leftmost end of outer tooth of flexible gear 42 Radius R of external tooth circle at rightmost end of external tooth of flexible gear 41 ；
2) Calculating the external tooth distribution circle radius R under the original state of the flexible gear according to a formula 6 ＝Z 2 M/2, pitch P of outer teeth of flexible gear is m pi, length L of outer teeth of flexible gear 1 1-1.5 times W 1 Obtaining the specification and the size of the flexible gear;
3) calculating the radius R of the external teeth on the two semicircles after the flexible gear is deformed by a formula 5 ＝(π R 6 -2R 7 ) /(pi-2), the eccentric amount R of the deformed double semi-circle of the flexible gear 1 ＝π(R 7 -R 6 )/(π-2)；
4) Calculate the double semicircle radius R of the double semicircle wave generator assembly 8 ＝R 5 -h 1 (ii) a Double-semicircle eccentricity R of double-semicircle wave generator assembly 2 ＝R 1 ；
5) Calculating the double semi-circle radius R of the double semi-circle cam 9 ＝R 8 -h 2 (ii) a Double-semicircle eccentricity R of double-semicircle cam 3 ＝R 2 (ii) a The specification and the size of the double semicircular generator component can be obtained;
6) determining the number Z of internal teeth of a rigid gear 1 ＝Z 2 +2；
7) Calculating the motion law of the flexible gear, and when the wave generator rotates clockwise by an angle omega, rotating counterclockwise by the angle omega 1 ＝ω(Z 1 -Z 2 )/Z 2 ＝2ω/Z 2 ；
8) And designing a rigid gear envelope curve tooth profile according to the motion rule of the flexible gear and the tooth profile of the flexible gear outer teeth by taking the circular arc shape of the tooth top of the rigid gear teeth as a reference, calculating a primary envelope track of the tooth profile of the flexible gear tooth top area in the tooth root area of the rigid gear, calculating a secondary envelope track of the tooth profile of the flexible gear tooth root area in the tooth top area of the rigid gear, and jointly forming a complete tooth profile of the rigid gear to form the conical inner teeth matched with the conical outer teeth of the flexible gear.
Further, the length L of the external teeth of the flexible gear in the step (3) 1 ＝1.2W 1 。
The invention has the beneficial effects that:
the external tooth through with the flexbile gear sets up to the tapered tooth in this design, and transversal semicircular structure of personally submitting, the internal tooth and the cooperation of flexbile gear external tooth of rigid gear, also be tapered structure, this setting can improve the degree of meshing with the rigid gear, and the smooth degree when the cross section is semicircular structure's setting can also improve external tooth and internal tooth relative motion, the latch phenomenon can not appear, because the design of tapered tooth, this design can adopt the mode adjustment flexbile gear of gasket about the position, in order to improve the degree of cooperation of flexbile gear and rigid gear, make the machining precision requirement of flexbile gear and rigid gear need not too high, also can reach the effect of high accuracy meshing, realize zero back clearance meshing transmission, therefore, the transmission precision of this scheme is higher than the transmission precision of harmonic speed reducer in the past, be applicable to the higher mechanical engineering of transmission precision requirement.
Drawings
FIG. 1 is an overall structural view of a half-section structure of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a block diagram of the dual half-circular wave generator assembly and the flex spline of FIG. 2;
FIG. 4 is a sectional view of the external teeth of the B-B flexible gear of FIG. 3
FIG. 5 is a block diagram of the dual half-wave generator assembly of FIG. 2;
FIG. 6 is a block diagram of the double semi-circular cam of FIG. 2;
FIG. 7 is a schematic diagram of the distribution of the outer teeth of the flexspline of the present invention;
FIG. 8 is a schematic diagram of the distribution locus of the distribution circle of the external teeth after the flexible gear is propped up;
fig. 9 is a structural view of the flexspline of fig. 1.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1-9, a zero backlash harmonic reducer comprises a rigid gear 1, a flexible gear 2 installed in the rigid gear 1, and a double-half-circular-wave generator assembly 3 arranged in the flexible gear 2; the left end of the flexible gear 2 is provided with external teeth 21; the rigid wheel 1 has internal teeth 11 which are matched with the external teeth 21; the cross section of the external teeth 21 is in a semi-circular arc shape; the external teeth 21 are gradually reduced in radius from left to right to form tapered external teeth 21, and the circle radius of the leftmost external teeth 21 is R 42 The radius of the rightmost external tooth 21 circle is R 41 (ii) a The double semi-circular wave generator component 3 comprises a double semi-circular cam 31 and a flexible bearing 32 arranged between the double semi-circular cam 31 and the flexible gear 2; in the design, the outer teeth 21 of the flexible gear 2 are set to be conical teeth, the cross section of the outer teeth 21 is of a semicircular structure, the inner teeth 11 of the rigid gear 1 are matched with the outer teeth 21 of the flexible gear 2 and are also of a conical structure, in the deformation process of the flexible gear 2 under the action of the wave generator component, the left end of the flexible gear 2 swings around the right end position, the deformation quantity of the left end of the flexible gear 2 is larger, therefore, the radius of the left end of the outer teeth 21 is set to be a large end, the right end is set to be a small end, in the long shaft position, the meshing degree with the rigid gear 1 can be improved, the outer teeth 21 can be completely separated from the inner teeth 11 at the peripheral positions of the short shaft and the short shaft, in addition, the smooth degree of relative movement between the outer teeth 21 and the inner teeth 11 can be improved due to the arrangement of the semicircular structure, the tooth clamping phenomenon can not occur, and therefore, the transmission precision of the scheme is higher than that of the conventional harmonic speed reducer, the method is suitable for mechanical engineering with higher requirement on transmission precision.
The flexible gear 2 is connected with the right end of the rigid gear 1 through a crossed roller bearing 4; the crossed roller bearing 4 comprises a roller bearing inner ring 41, a roller bearing outer ring 42 and rollers 43; the roller bearing inner ring 41 is fixed at the left end of the flexible gear 2; the roller bearing outer ring 42 is fixed at the left end of the rigid wheel 1; the rollers 43 are arranged between the roller bearing inner ring 41 and the roller bearing outer ring 42 in a crossed manner; still be equipped with gasket 5 between roller bearing inner race 41 and the flexbile gear 2, the left and right sides position of flexbile gear 2 relative rigid gear 1 is adjusted through gasket 5 to this design to can improve the degree of cooperation of flexbile gear 2 and rigid gear 1, make the machining precision requirement of flexbile gear 2 and rigid gear 1 need not too high, also can reach the effect of high accuracy meshing.
The number of the internal teeth 11 of the rigid gear 1 is two more than that of the external teeth 21 of the flexible gear 2, so that the transmission ratio is maximized.
The taper angle A of the outer teeth 21 is 1-3 degrees, and the taper angle A is preferably set to 2 degrees according to multiple tests.
The length of the outer teeth 21 of the flexible gear 2 is 1-1.5 times of the width of the flexible bearing 32.
A method for calculating the size and the tooth type of a bevel gear harmonic reducer comprises the following steps:
1) firstly, the length R of the semiaxis of the flexible gear 2 after deformation is determined 7 (ii) a Wall thickness h1 of flexspline 2; the difference h2 in the inner and outer radii of compliant bearing 32; width W of compliant bearing 32 1 (ii) a Flexspline 2 teeth number Z 2 N; the modulus at the outer teeth 21 distribution circle of the flexible gear 2 is m; circle radius R of outer tooth 21 at leftmost end of outer tooth 21 of flexible gear 2 42 Radius R of outer tooth 21 circle at rightmost end of outer tooth 21 of flexible gear 2 41 ；
2) Calculating the external tooth 21 distribution circle radius R under the original state of the flexible gear 2 according to a formula 6 ＝Z 2 M/2, pitch P of the circle where the outer teeth 21 of the flexible gear 2 are distributed is m pi, and the length L of the outer teeth 21 of the flexible gear 2 1 ＝1.2W 1 The specification and the size of the flexible gear 2 can be obtained; wherein the cone angle a of the outer teeth 21 of the flexspline 2 is arctan ((R) 41 -R 42 )/L 1 ) Preferably, the taper angle A is set to 2 degrees, so that the circular radius R of the outer teeth 21 at the leftmost end of the outer teeth 21 of the flexible gear 2 is determined in step (1) 42 Radius R of outer tooth 21 circle at leftmost end of outer tooth 21 of flexible gear 2 41 During the process, the taper is adjusted to be close to 2 degrees as much as possible so as to achieve the optimal scheme.
3) By the formula 2 π R 5 +4R 1 ＝2πR 6 And R 1 +R 5 ＝R 7 Calculating to obtain the radius R of the external teeth 21 on the two semicircles after the flexible gear 2 is deformed 5 ＝(πR 6 -2R 7 ) /(pi-2), the eccentric amount R of the deformed double semi-circle of the flexspline 2 1 ＝π(R 7 -R 6 )/(π-2)；
4) Calculate the double semicircle radius R of the double semicircle wave generator component 3 8 ＝R 5 -h 1 (ii) a Double-semicircle eccentricity R of double-semicircle wave generator component 3 2 ＝R 1 ；
5) The radius R of the double semi-circle cam 31 is calculated 9 ＝R 8 -h 2 (ii) a Double semi-circle eccentricity R of double semi-circle cam 31 3 ＝R 2 (ii) a The specification and the size of the double semicircular generator component can be obtained;
6) determining the number Z of internal teeth 11 of rigid gear 1 1 ＝Z 2 +2；
7) Calculating the motion law of the flexible gear 2, and when the wave generator rotates clockwise by an angle omega, rotating counterclockwise by the flexible gear 2 by the angle omega 1 ＝ω(Z 1 -Z 2 )/Z 2 ＝2ω/Z 2 ；
8) The method comprises the steps of designing an envelope curve tooth profile of a rigid gear 1 by taking the circular arc shape of the tooth top of the gear tooth of the rigid gear 1 as a reference according to the motion rule of a flexible gear 2 and the tooth profile of the external tooth 21 of the flexible gear 2, calculating a primary envelope track of the tooth profile of the tooth top area of the flexible gear 2 in the tooth root area of the rigid gear 1, calculating a secondary envelope track of the tooth profile of the tooth root area of the flexible gear 2 in the tooth top area of the rigid gear 1, jointly forming a complete tooth profile of the rigid gear 1, and forming a conical internal tooth 11 matched with the conical external tooth 21 of the flexible gear 2.
The above description is not intended to limit the technical scope of the present invention, and any modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention still fall within the technical scope of the present invention.

Claims (7)

1. A zero backlash harmonic reducer comprises a rigid gear, a flexible gear arranged in the rigid gear and a double-half-circle wave generator assembly arranged in the flexible gear; the left end of the flexible gear is provided with external teeth; the rigid wheel is provided with internal teeth matched with the external teeth; the method is characterized in that: the cross section of the outer teeth is in a semi-circular arc shape; the external tooth is gradually reduced from left to right in radius to form a conical external tooth, and the radius of the external tooth circle at the leftmost end is R 42 The radius of the external tooth circle at the rightmost end is R 41 (ii) a The double-semicircle wave generator component comprises a double-semicircle cam and a flexible bearing arranged between the double-semicircle cam and the flexible gear.
2. A zero backlash harmonic reducer according to claim 1 in which: the flexible gear is connected with the right end of the rigid gear through a crossed roller bearing; the crossed roller bearing comprises a roller bearing inner ring, a roller bearing outer ring and a roller; the roller bearing inner ring is fixed at the left end of the flexible gear; the roller bearing outer ring is fixed at the left end of the rigid wheel; the rollers are arranged between the inner ring of the roller bearing and the outer ring of the roller bearing in a crossed manner; and a gasket is arranged between the roller bearing inner ring and the flexible gear.
3. A zero backlash harmonic reducer according to claim 1 in which: the number of the inner teeth of the rigid wheel is two more than that of the outer teeth of the flexible wheel.
4. A zero backlash harmonic reducer according to claim 1 in which: the taper angle A of the external teeth is larger than 0 degrees and smaller than 3 degrees.
5. A zero backlash harmonic reducer according to claim 1 in which: the length of the outer teeth of the flexible gear is 1-1.5 times of the width of the flexible bearing.
6. A method for calculating the size and profile of a bevel gear harmonic reducer according to any one of claims 1 to 5, characterized by:
1) firstly, the length R of the rear half shaft of the flexible gear after deformation is determined 7 (ii) a Wall thickness h1 of the flexspline; the difference h2 between the inner radius and the outer radius of the flexible bearing; width W of compliant bearing 1 (ii) a Number of flexspline teeth Z 2 N; the modulus at the outer tooth distribution circle of the flexible gear is m; radius R of outer tooth circle at leftmost end of outer tooth of flexible gear 42 Radius R of external tooth circle at rightmost end of external tooth of flexible gear 41 ；
2) Calculating the external tooth distribution circle radius R under the original state of the flexible gear according to a formula 6 ＝Z 2 M/2, pitch P of outer teeth of flexible gear is m pi, length L of outer teeth of flexible gear 1 1-1.5 times W 1 Obtaining the specification and the size of the flexible gear;
3) by passingThe distributed circle radius R of the outer teeth on the double semicircles after the flexible gear is deformed is calculated by a formula 5 ＝(πR 6 -2R 7 ) /(pi-2), the eccentric amount R of the deformed double semi-circle of the flexible gear 1 ＝π(R 7 -R 6 )/(π-2)；
4) Calculate the double semicircle radius R of the double semicircle wave generator assembly 8 ＝R 5 -h 1 (ii) a Double-semicircle eccentricity R of double-semicircle wave generator assembly 2 ＝R 1 ；
5) Calculating the double semi-circle radius R of the double semi-circle cam 9 ＝R 8 -h 2 (ii) a Double-semicircle eccentricity R of double-semicircle cam 3 ＝R 2 (ii) a The specification and the size of the double semicircular generator component can be obtained;
6) determining the number Z of internal teeth of a rigid gear 1 ＝Z 2 +2；
7) Calculating the motion law of the flexible gear, and when the wave generator rotates clockwise by an angle omega, rotating counterclockwise by the angle omega 1 ＝ω(Z 1 -Z 2 )/Z 2 ＝2ω/Z 2
8) And designing a rigid gear envelope curve tooth profile according to the motion rule of the flexible gear and the tooth profile of the flexible gear outer teeth by taking the circular arc shape of the tooth top of the rigid gear teeth as a reference, calculating a primary envelope track of the tooth profile of the flexible gear tooth top area in the tooth root area of the rigid gear, calculating a secondary envelope track of the tooth profile of the flexible gear tooth root area in the tooth top area of the rigid gear, and jointly forming a complete tooth profile of the rigid gear to form the conical inner teeth matched with the conical outer teeth of the flexible gear.
7. The method of calculating the size and tooth profile of a zero backlash harmonic reducer of claim 6, wherein: length L of external teeth of flexible gear in step (3) 1 ＝1.2W 1 。
CN202210748882.4A 2022-06-29 2022-06-29 Zero backlash harmonic reducer and calculation method Pending CN115013501A (en)

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CN202210748882.4A CN115013501A (en) 2022-06-29 2022-06-29 Zero backlash harmonic reducer and calculation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210748882.4A CN115013501A (en) 2022-06-29 2022-06-29 Zero backlash harmonic reducer and calculation method

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CN115013501A true CN115013501A (en) 2022-09-06

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