WO2017215621A1 - Procédé de conception de profil de dent destiné à un réducteur de vitesse harmonique de grande rigidité tridimensionnel - Google Patents

Procédé de conception de profil de dent destiné à un réducteur de vitesse harmonique de grande rigidité tridimensionnel Download PDF

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Publication number
WO2017215621A1
WO2017215621A1 PCT/CN2017/088374 CN2017088374W WO2017215621A1 WO 2017215621 A1 WO2017215621 A1 WO 2017215621A1 CN 2017088374 W CN2017088374 W CN 2017088374W WO 2017215621 A1 WO2017215621 A1 WO 2017215621A1
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Prior art keywords
tooth
wheel
rigid
coefficient
rigid wheel
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PCT/CN2017/088374
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English (en)
Chinese (zh)
Inventor
吴文
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南通慧幸智能科技有限公司
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Publication of WO2017215621A1 publication Critical patent/WO2017215621A1/fr

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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
    • F16H55/08—Profiling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F21/00—Tools specially adapted for use in machines for manufacturing gear teeth
    • B23F21/04—Planing or slotting tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F21/00—Tools specially adapted for use in machines for manufacturing gear teeth
    • B23F21/12—Milling tools
    • B23F21/16—Hobs
    • 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
    • F16H55/088—Profiling with corrections on tip or foot of the teeth, e.g. addendum relief for better approach contact
    • 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
    • F16H57/00—General details of gearing
    • F16H2057/0087—Computer aided design [CAD] specially adapted for gearing features ; Analysis of gear systems

Definitions

  • the present application generally relates to the technical field of harmonic reducers, and more particularly to a tooth design method for a three-dimensional high-rigidity harmonic reducer.
  • Rigidity is an important indicator for evaluating the performance of harmonic gear reducers.
  • the good rigidity indicates that the harmonic gear reducer has good resistance to torsional deformation, large bearing capacity and long service life.
  • the Chinese patent document CN201180014539.7 discloses a technical solution for heat-treating the flex wheel of the harmonic gear reduction device to change the crystal phase structure of the metal to improve the strength of the gear.
  • the Chinese patent document CN201410372571.8 discloses that a gear material with high fatigue strength can be obtained by changing the composition and proportion of the metal material of the gear, and the above two methods increase the manufacturing cost although feasible;
  • the tooth profile of the harmonic gear reduction device mainly has a circular arc tooth shape, an involute tooth shape, and a bevel tooth shape, and each of these tooth shapes has its own advantages and disadvantages.
  • the different sections of the flexible wheel are differently displaced to obtain a similar curve tooth shape as the tooth shape of the rigid-flex wheel, and according to the deviation coefficient of the flexible wheel
  • the shape of the tooth surface of the soft tooth has been repaired in three directions. Although there is a certain theoretical basis, the actual production cannot be processed.
  • the Chinese patent document CN201410309903.8 discloses that the enveloping and fitting calculation is carried out on the tooth root arc portion of the rigid wheel using the tooth tooth motion trajectory of the front section of the flexible wheel; the flexible wheel rear cross section is used in the arc portion of the tooth top of the rigid wheel.
  • the present application provides a tooth type design method for a three-dimensional high-rigidity harmonic reducer including a wave generator, a rigid wheel and a flexible wheel, the rigid wheel meshes with the flexible wheel, and the inner wall of the wave generator and the flexible wheel
  • the rigid wheel and the flexible wheel are both involute gears
  • the number of teeth of the rigid wheel is Z 1
  • the number of teeth of the flexible wheel is Z 2
  • Z 1 -Z 2 2
  • the displacement coefficient of the wheel is x 1
  • the displacement coefficient x 2 of the flex wheel x 1 ⁇ x 2
  • the displacement difference ⁇ x x 1 -x 2 ;
  • a material removal treatment is performed on both sides or the top of the toothed circle of the rigid wheel and/or the flexible wheel.
  • both the rigid wheel and the flexible wheel are involute gears, and can be processed by conventional gear shaping and hobbing, without any processing difficulties, and is easy to implement and the processing cost is also low.
  • the rigid wheel and the soft wheel form a negative displacement difference, achieving the purpose of large-area meshing, and improving the anti-torsion deformation capability, bearing capacity and service life of the harmonic reducer.
  • the material removal processing is performed on both sides or the top of the tooth tip circle of the rigid wheel and/or the flexible wheel, that is, in the tooth. The certain material is removed from the web, so that there is no interference between the gears of the rigid wheel and the flexible wheel, which not only meets the requirements of high load capacity, but also prolongs the service life of the rigid wheel and the flexible wheel.
  • FIG. 1 is a schematic structural diagram of a harmonic reducer obtained by implementing a tooth type design method for a three-dimensional high-rigidity harmonic reducer according to an embodiment of the present invention
  • FIG. 2 is a schematic view showing a movement trajectory of a positive displacement differential flex wheel relative to a rigid wheel
  • Figure 3 is a schematic view showing the movement trajectory of the zero-variable difference soft wheel relative to the rigid wheel
  • FIG. 4 is a schematic view showing a movement trajectory of a negative displacement differential wheel relative to a rigid wheel
  • Figure 5 is a schematic view of the negative displacement difference meshing area
  • Figure 6 is a schematic view of the positive displacement difference meshing area
  • Figure 7 is a schematic view showing the tooth profile of the rigid wheel and the shape of the gear shaping cutter
  • Figure 8 is a schematic view of a tooth profile of a flex wheel and a tooth profile of a hobbing cutter
  • FIG. 9 is a schematic diagram of interference judgment between a rigid wheel and a flexible wheel
  • Figure 10 is a schematic view of three repairing shapes of the round top chamfer of the soft tooth
  • Figure 11 is a cross-sectional view of the tooth surface of the flex spline after the chamfer is rounded;
  • Figure 12 is a schematic view showing the movement of the top of the soft tooth after round chamfering
  • Figure 13 is a schematic view showing three maintenance shapes after the dome portion of the soft tooth tip is removed;
  • Figure 14 is a cross-sectional view showing the dome portion of the tooth surface in the direction of the tooth surface of the flex spun;
  • Figure 15 is a schematic view showing the movement of the dome portion of the flexible gear tooth tip after removal
  • Figure 16 is a schematic view showing three maintenance shapes after the dome portion of the rigid tooth tip is removed;
  • Figure 17 is a cross-sectional view showing the dome portion of the tooth-toothed surface in the direction of the tooth surface;
  • Figure 18 is a schematic view showing the movement of the dome of the rigid tooth tip after removal
  • Figure 19 is a schematic view showing the movement path of the flexible wheel opening
  • Figure 20 is a schematic view showing the movement path of the middle of the fla
  • a harmonic reducer obtained by implementing a tooth type design method for a three-dimensional high-rigidity harmonic reducer according to an embodiment of the present invention, wherein the harmonic reducer includes a wave generator 4 and a rigid wheel 2
  • the elliptical cam is inserted in the inner ring of the flexible bearing, and the outer ring of the flexible bearing is in contact with the inner wall of the flexible wheel 3, and the flexible wheel 3 is also deformed into an elliptical shape and meshes with the rigid wheel at the long axis, and the flexible wheel 3
  • the short shaft is completely disengaged from the rigid wheel 2.
  • the number of teeth of the rigid wheel 2 is Z 1
  • the number of teeth of the flex wheel 3 is Z 2
  • Z 1 -Z 2 2
  • the coefficient of displacement of the rigid wheel 2 is x 1
  • the material removal treatment is performed on both sides or the top of the addendum 2 and/or the addendum circle of the flex wheel 3. According to the actual situation, the parts on both sides of the tooth top circle of the flexible wheel 3 can be removed by cutting off the material to prevent the interference, and the top of the tooth top circle of the rigid wheel 2 can be cut off.
  • the method is removed to achieve the purpose of shape modification to prevent interference, and of course, the portion on both sides of the tooth top circle of the flexible wheel 3 and the top material of the addendum circle of the rigid wheel 2 can be removed at the same time, of course, the rigid wheel 2
  • the material removal of the flexible wheel 3 can be modified not only in the manner described above.
  • both the rigid wheel and the flexible wheel are involute gears, and can be processed by conventional gear shaping and hobbing, without any processing difficulties, and is easy to implement and the processing cost is also low.
  • the rigid wheel and the soft wheel form a negative displacement difference, achieving the purpose of large-area meshing, and improving the anti-torsion deformation capability, bearing capacity and service life of the harmonic reducer.
  • the material removal processing is performed on both sides or the top of the tooth tip circle of the rigid wheel and/or the flexible wheel, that is, in the tooth.
  • a certain amount of material is removed from the web so that there is no gap between the ring of the rigid wheel and the flexible wheel. Interference is currently occurring, which not only satisfies the demand for high load capacity, but also prolongs the service life of the rigid wheel and the flexible wheel.
  • the top circle of the soft tooth is tangent to the involute flank on both sides of the flex wheel, so it is very suitable to use the trajectory of the trajectory to explain the condition of meshing with the rigid wheel.
  • the technical solution of the present invention will be described in detail below with reference to three comparative examples.
  • the negative displacement difference is used to realize the large-area meshing between the rigid wheel and the flexible wheel, and the ability to resist torsional deformation is strong, the bearing capacity is large, and the service life is long.
  • the meshing condition of the soft teeth at the opening does not reproduce other cross sections, and the axial length of the ellipse along the axis of the flex wheel becomes smaller with the axial length of the ellipse, and the trajectory of each cross section also changes.
  • the crossover phenomenon of the positive displacement gradually disappears, and the bottom of the soft tooth becomes a trajectory similar to the negative displacement, and the negative displacement is closer to the tooth profile of the rigid wheel under the trajectory, which means the rigid and flexible wheels. Interference begins to occur between the two, and the positive displacement and zero displacement do not have this phenomenon.
  • the vertical axis is the position of the tooth width from the front to the front, wherein the opening is the front section, that is, the position of the longitudinal axis 10.
  • the position indicating X in the figure is the interference position, and the position indicating O is the meshing position.
  • the amount of meshing is 17.5%, and the amount of meshing of the positive displacement is only 2%.
  • the meshing area of the negative displacement difference of this patent is much higher than the positive displacement difference, but the interference area from the middle to the bottom is also large, so the tooth shape of the negative wheel and/or the rigid wheel of the negative displacement must be repaired. Shape, after the middle to bottom interference portion is removed, the negative displacement difference meshing area is still much higher than the positive displacement difference, and therefore, from the middle of the rigid wheel and/or the flexible wheel tooth to the bottom.
  • the material removal treatment is described.
  • the distribution of the meshing is not concentrated on the middle long axis (the 31st to 49th tooth positions), and the bottom direction is diffused to both sides (19-33, 47-61), which forms a dispersion effect on the load-bearing stress of the flexible wheel. Helps to greatly increase the life of the reducer. It can be seen that the harmonic gear reducer with negative displacement has higher bearing capacity and longer life than the positive-variable harmonic gear reducer.
  • the method is adopted when the reduction ratio of the harmonic reducer is less than or equal to 60.
  • the headgear coefficient of the soft tooth is the ratio of the gap between the bottom of the rigid tooth to the top of the soft tooth and the modulus.
  • the coefficient of the root of the soft tooth is the ratio of the gap between the tooth tip of the rigid wheel to the root of the soft tooth and the modulus.
  • the high coefficient is the ratio of the distance between the tooth tip of the engagement position and the tip of the adjacent rigid wheel to the modulus.
  • the method is adopted when the reduction ratio of the harmonic reducer is greater than 60, the rigid wheel is processed by the gear shaping, and the rigid wheel is formed.
  • the interference starting position of the rigid wheel and the flexible wheel is obtained according to the following relationship, and the material removal processing is performed on the bottom of the rigid wheel and/or the flexible wheel at least from the interference starting position. ;
  • d w1 is the rigid wheel meshing pitch diameter
  • ⁇ ' is the meshing pressure angle
  • ⁇ is the tool pressure angle
  • T is the reduction ratio
  • r b1 is the rigid wheel base circle radius
  • ⁇ is the rigid wheel tooth profile declination, that is, just The angle between the gear tooth profile and the center line of the rigid gear tooth
  • d a1 is the outer diameter of the rigid wheel
  • j 2 is the soft tooth root clearance
  • r a1 is the radius of the rigid tooth tip circle
  • r b1 is the radius of the rigid wheel base circle
  • l For the distance from the center of the round tooth to the center of the outer diameter of the rigid wheel, r a1 is the radius of the tooth tip circle
  • ⁇ ' is the meshing pressure angle
  • ⁇ is the pinion angle of the rigid wheel
  • ⁇ is the rim of the rigid wheel conjugate
  • l is the distance from
  • the radius of the tooth tip circle, (X 4 , Y 4 ) is the center coordinate of the top circle of the rigid tooth
  • r a2 is the radius of the top circle of the soft tooth
  • r a1 is the radius of the top circle of the rigid tooth.
  • the three sides of the round top of the sprocket wheel are chamfered in the form of a material removal process, and the portion of the sprocket toothed groove at the opening is not modified, only for the tooth width.
  • the portion extending from the middle to the bottom is shaped, and the amount of modification near the opening (ie, the amount of material removed and/or the depth of the shape) is small, and the amount of deformation extends to the bottom along the axis of the flex wheel. And gradually increase, after reaching the specified amount, the amount of modification remains stable. That is, as shown in Fig.
  • the right side is the direction of the opening of the flexible wheel
  • the left side is the bottom direction of the flexible wheel
  • the amount of modification is gradually increased from right to left (from the right to the right in the upper right corner of Fig. 11)
  • the diagonal line inclined to the left is stable after reaching a certain level (shown by the horizontal line connected to the lower end of the oblique line in Fig. 11).
  • the rigid wheel and the flexible wheel do not interfere during the movement.
  • the top portion of the top circle of the flex spun is subjected to a material removal treatment, and the portion of the flex spun tooth at the opening is not modified, and only extends from the middle to the bottom of the rack.
  • the portion is subjected to the shaping treatment, and the amount of the trimming near the opening (that is, the amount of the removed material and/or the depth of the trimming) is small, and the amount of the trimming increases toward the bottom along the axis of the flex wheel, and gradually increases.
  • the amount of modification remains stable. That is, as shown in Fig.
  • the right side is the direction of the opening of the flexible wheel
  • the left side is the bottom direction of the flexible wheel
  • the amount of modification is gradually increased from right to left (from the right to the right in the upper right corner of Fig. 14)
  • the diagonal line inclined to the left is stable after reaching a certain level (shown by the horizontal line connected to the lower end of the oblique line in Fig. 14).
  • the rigid wheel and the flexible wheel do not interfere during the movement.
  • the top portion of the rigid tooth tip circle is subjected to the material removal maintenance treatment, and the portion of the rigid wheel tooth groove located at the opening is not modified, and only the middle portion of the rigid wheel extends to the bottom.
  • the portion is subjected to the shaping treatment, and the amount of the trimming near the opening (that is, the amount of material removed and/or the depth of the trimming) is small, and the amount of the trimming is gradually increased toward the bottom along the axis of the rigid wheel, After the specified amount is reached, the amount of modification remains stable. That is, as shown in FIG.
  • the right side is the direction in which the rigid wheel is located at the opening
  • the left side is the direction in which the rigid wheel is located at the bottom
  • the amount of modification is gradually increased from right to left (from the upper right corner in FIG. 17
  • the diagonal line inclined from right to left) remains stable after reaching a certain level (shown by the horizontal line connected to the high end of the oblique line in Fig. 17).
  • the rigid wheel and the flexible wheel do not interfere during the movement.
  • there is a simple way to avoid interference and the individual (or simultaneous) tooth width of the rigid and flexible wheels is shortened.
  • the use of the opening to the middle section length avoids the area of the second half of the interference, which is also in accordance with the requirements of this patent.
  • the negative displacement difference can provide a larger meshing range, and the meshing of the negative displacement difference at the opening is concentrated on the root of the rigid wheel.
  • the meshing zone is turned to the top of the rigid tooth due to the smaller aspect ratio of the moving track, and the interference between the top of the rigid rigid tooth is larger. If only the meshing area is considered from the opening to the center line of the flexible bearing, the tooth profile of the rigid wheel can be approximated to the trajectory of the flexible wheel on different sections by selecting the appropriate meshing pressure angle, which can form a large-area meshing result. .
  • the meshing pressure angle is not the tool pressure angle, but the actual pressure angle of the tooth profile after machining.
  • the same tool pressure angle will change the tooth profile due to the displacement, and the positive displacement will cause the meshing pressure angle to be larger.
  • the negative displacement difference causes the meshing pressure angle to become small.
  • the important influence of the meshing pressure angle on the meshing of the rigid wheel and the flexible wheel, as shown in Figs. 19 and 20, respectively, is the motion trajectory of the harmonic gear reducer with a reduction ratio of 120 at the soft wheel opening and the middle of the tooth surface. It is not difficult to see that at the opening of the flexible wheel, the top circle of the soft wheel tooth mainly meshes with the upper part of the involute tooth profile of the rigid wheel.
  • the top circle of the soft tooth tooth and the involute of the rigid wheel are mainly and a lower tooth profile engaging an addendum circle, soft tooth top circle curve trajectory height shorter, wider width, trajectory angle from the point of view, is ⁇ 1 ⁇ ' ⁇ 2 , so the closer the soft tooth surface At the bottom, the more likely it is to interfere.
  • the harmonic gear reducer achieves the purpose of zero backlash by the preload between the rigid wheel and the flexible wheel, and the pre-pressure is derived from the wave generator, so that the flexible bearing center line to the flexible wheel opening is an effective action area.
  • the center line of the flexible bearing is close to the middle of the tooth surface of the flexure, so the meshing range must also be considered in this area.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Gears, Cams (AREA)
  • Retarders (AREA)

Abstract

L'invention concerne un procédé de conception de profil de dent destiné à un réducteur de vitesse harmonique de grande rigidité tridimensionnel. Le réducteur de vitesse harmonique comprend un générateur d'ondes (4), un engrenage rigide (2) et un engrenage flexible (3). L'engrenage rigide (2) est en prise avec l'engrenage flexible (3). Le générateur d'ondes (4) est en contact avec une paroi interne de l'engrenage flexible (3). L'engrenage rigide (2) et l'engrenage flexible (3) sont tous deux des dentures à développante. Le nombre de dents de l'engrenage rigide (2) est Z1 et le nombre de dents de l'engrenage flexible (3) est Z2, Z1 - Z2 = 2. Le coefficient de modification de l'engrenage rigide (2) est x1, le coefficient de modification de l'engrenage flexible (3) est x2, x1 < x2 et la différence de modification étant Δx = x1 - x2. Le retrait du matériau et la modification du profil sont effectués sur deux côtés ou sur le dessus du cercle de tête de l'engrenage rigide (2) et/ou de l'engrenage flexible (3). La mise en œuvre du procédé de conception de profil de dent est pratique, le coût d'usinage est inférieur, le but d'obtenir un engrènement de grande surface est atteint, la résistance à la déformation en torsion et la capacité portante du réducteur de vitesse harmonique sont améliorées et la durée de vie du réducteur de vitesse harmonique est prolongée.
PCT/CN2017/088374 2016-06-16 2017-06-15 Procédé de conception de profil de dent destiné à un réducteur de vitesse harmonique de grande rigidité tridimensionnel WO2017215621A1 (fr)

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CN201610430574.1 2016-06-16
CN201610430574.1A CN106090185B (zh) 2016-06-16 2016-06-16 三维高刚性谐波减速器的齿型设计方法

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CN110245417A (zh) * 2019-06-12 2019-09-17 北京工业大学 一种谐波减速器双圆弧齿形啮合点法线斜率计算方法
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CN112483625A (zh) * 2020-12-09 2021-03-12 广州市昊志机电股份有限公司 一种谐波齿轮的修形方法和谐波减速器
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JP6830736B2 (ja) * 2017-06-05 2021-02-17 株式会社ハーモニック・ドライブ・システムズ ２応力純分離の波動歯車装置
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CN110725919A (zh) * 2019-11-18 2020-01-24 广州市新豪精密科技有限公司 一种柔轮及刚轮及谐波减速器
CN110909430B (zh) * 2019-11-26 2024-03-08 北京工业大学 一种谐波减速器柔轮摆线齿形设计方法
CN111347107A (zh) * 2020-04-03 2020-06-30 中国北方车辆研究所 一种能够提高渐开线圆柱齿轮弯曲强度的新型滚刀
JP2022065726A (ja) * 2020-10-16 2022-04-28 霊智信息服務（深▲セン▼）有限公司 波動歯車装置及びアクチュエータ
CN112664638B (zh) * 2020-11-28 2022-09-30 宁波中大力德智能传动股份有限公司 一种谐波减速器柔轮三维齿形修型方法

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CN113483074B (zh) * 2020-10-27 2024-01-02 鸣志电器(常州)有限公司 一种谐波减速器
CN112483625B (zh) * 2020-12-09 2022-07-26 广州市昊志机电股份有限公司 一种谐波齿轮的修形方法和谐波减速器
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CN113513573B (zh) * 2021-05-17 2022-07-01 西安长剑飞控机电有限责任公司 正弦曲线齿形应用于谐波齿轮的修型方法
CN113513573A (zh) * 2021-05-17 2021-10-19 西安长剑飞控机电有限责任公司 正弦曲线齿形应用于谐波齿轮的修型方法
CN117707225A (zh) * 2024-02-06 2024-03-15 中国科学院长春光学精密机械与物理研究所 一种便携式两轴电动指向机构
CN117707225B (zh) * 2024-02-06 2024-04-09 中国科学院长春光学精密机械与物理研究所 一种便携式两轴电动指向机构

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