CN112268100B - Grouping pairing method for assembling harmonic speed reducer - Google Patents
Grouping pairing method for assembling harmonic speed reducer Download PDFInfo
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- CN112268100B CN112268100B CN202011231501.2A CN202011231501A CN112268100B CN 112268100 B CN112268100 B CN 112268100B CN 202011231501 A CN202011231501 A CN 202011231501A CN 112268100 B CN112268100 B CN 112268100B
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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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- 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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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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
- F16H57/00—General details of gearing
- F16H2057/0087—Computer aided design [CAD] specially adapted for gearing features ; Analysis of gear systems
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- 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
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- 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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Abstract
The invention discloses a grouping and pairing method for assembling a harmonic speed reducer, which belongs to the field of harmonic speed reducers and comprises the following steps: firstly, determining standard parameters of three components of a harmonic reducer according to the model size of the harmonic reducer, namely the distance M1 between standard measuring rods of a rigid gear, the distance M2 between standard measuring rods of a flexible gear and the standard long shaft M3 of a cam of a wave generator; then determining actual parameters of three components obtained after actual processing, namely the actual measuring rod distance m1 of the rigid wheel, the actual measuring rod distance m2 of the flexible wheel and the actual long shaft m3 of the wave generator cam, and thus obtaining the measuring rod distance deviation a1 of the rigid wheel, the measuring rod distance deviation a2 of the flexible wheel and the long shaft deviation a3 of the wave generator cam; and finally, according to a standard value and two actual values with the same deviation as a pairing principle, firstly obtaining two values among the three values of m1, m2 and m3, and then determining the value of a third part, so as to find or produce a proper third part, thereby realizing effective assembly and achieving various indexes of the harmonic reducer.
Description
Technical Field
The invention relates to the field of harmonic speed reducers, in particular to a grouping and pairing method for assembling a harmonic speed reducer.
Background
The core parts of the harmonic speed reducer mainly comprise a flexible gear, a rigid gear and a wave generator, in order to enable the speed reducer to rotate uniformly without clamping stagnation, the common practice of many manufacturers is to determine the size by matching a machining method, the machining mode of the harmonic flexible gear is well known as gear hobbing, the machining method of the rigid gear is gear slotting, the machining precision of the gear hobbing is higher than that of the gear slotting by one precision level, all the flexible gear and the wave generator are used as dies to machine the tooth form of the rigid gear, and when the rigid gear is not taken down from the gear slotting machine, each machined rigid gear is assembled by the same flexible gear and the wave generator so as to achieve smooth rotation without clamping stagnation. The method has the defects that the specific sizes of the flexible gear and the rigid gear cannot be accurately confirmed to achieve the optimal matching parameters, the performance of the batch speed reducer cannot be effectively controlled, the batch products with good performance and bad performance are unstable, parts of the harmonic speed reducer cannot be interchanged, the parts are matched one to one, and the production efficiency is low. At present, a grouping and matching theory method aiming at the harmonic speed reducer is not available temporarily, the traditional gear transmission only involves the matching of inner teeth and outer teeth, and the harmonic speed reducer designs the matching of three parts, namely the inner teeth of a rigid gear, the outer teeth of a flexible gear and a long shaft of a wave generator cam, so that a new grouping and matching method capable of guiding the assembly of the harmonic speed reducer is urgently needed.
Disclosure of Invention
In order to overcome the defects of the conventional harmonic speed reducer in manufacturing and assembling, the invention aims to solve the technical problems that: the grouping and pairing method for assembling the harmonic speed reducer can improve the stability of product quality and can realize the interchange of batch product parts.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a grouping pairing method for assembling a harmonic reducer comprises the following steps:
the method comprises the following steps: determining standard parameters of three components of the harmonic reducer according to the model size of the harmonic reducer, wherein the standard parameters are a rigid wheel standard measuring rod distance M1, a flexible wheel standard measuring rod distance M2 and a wave generator cam standard long shaft M3;
step two: determining actual parameters of three components obtained after actual processing, wherein the actual measuring rod distance m1 of the rigid wheel, the actual measuring rod distance m2 of the flexible wheel and the actual long axis m3 of the wave generator cam are respectively;
step three: determining deviation values of actual parameters and standard parameters, namely a distance deviation a1 of a measuring rod of a rigid wheel, a distance deviation a2 of a measuring rod of a flexible wheel and a long shaft deviation a3 of a wave generator cam, and selecting parts with absolute values of a1, a2 and a3 smaller than 0.01mm to enter a fourth step;
step four: the three parts were mated according to the mating principles of the following table
| Measuring rod distance of rigid wheel | M1-a1 | M1-a1 | M1 | M1+a1 | M1+a1 |
| Flexible wheel measuring rod distance | M2-a2 | M2 | M2 | M2 | M2+a2 |
| Wave generator cam long shaft | M3 | M3-a3 | M3 | M3+a3 | M3 |
Wherein a1= a2= a3.
Furthermore, in the processing process of the parts, according to the pairing principle of the step four, the actual parameter values of any two of the rigid gear, the flexible gear and the wave generator cam are determined firstly, and then the processing size of the third part is determined.
Furthermore, in the processing process of the parts, the measuring rod distance of the flexible gear is determined, and then the processing value of the measuring rod distance of the subsequent rigid gear is determined according to the processing value of the long shaft of the wave generator.
Further, in step four, the difference between a1, a2 and a3 is less than 0.001.
The invention has the beneficial effects that:
1. a clear theoretical method is provided for grouping and pairing of the assembly of the harmonic speed reducer, the traditional gear transmission only relates to pairing of inner teeth and outer teeth, and the harmonic speed reducer relates to pairing of three parts, namely inner teeth of a rigid gear, outer teeth of a flexible gear and a long shaft of a cam of a wave generator;
2. the quality of the harmonic reducer product is stable, and the quality of the harmonic reducer product is stable, so that the qualification rate of one-time assembly can reach about 95% by practice;
3. according to the pairing principle, parts within a certain numerical range can be effectively interchanged.
4. The assembly is carried out according to the pairing principle, indexes such as precision, rigidity, service life and the like of the harmonic reducer are obviously improved, and the product quality is effectively controlled;
5. the production and processing efficiency is improved.
Drawings
Fig. 1 is a schematic view of an assembly of a harmonic reducer.
FIG. 2 is a diagram illustrating the pitch M2 of the outer spline of the flexible gear.
Fig. 3 is a diagram illustrating the value of the distance M1 between the inner gear and the measuring rod of the rigid wheel.
Fig. 4 is a diagram showing the value of the major axis M3 of the ellipse of the wave generator.
Labeled in the figure as: 1-rigid gear, 2-flexible gear, 3-wave generator component, 4-rigid gear internal tooth, 5-flexible gear external tooth, 6-wave generator cam and 7-flexible bearing.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention discloses a grouping pairing method for assembling a harmonic speed reducer, which comprises the following steps of:
the method comprises the following steps: determining standard parameters of three components of the harmonic reducer according to the model size of the harmonic reducer, wherein the standard parameters are a rigid wheel standard measuring rod distance M1, a flexible wheel standard measuring rod distance M2 and a wave generator cam standard long shaft M3;
step two: determining actual parameters of three components obtained after actual processing, wherein the actual measuring rod distance m1 of the rigid wheel, the actual measuring rod distance m2 of the flexible wheel and the actual long axis m3 of the wave generator cam are respectively;
step three: determining deviation values of actual parameters and standard parameters, namely a distance deviation a1 of a measuring rod of a rigid wheel, a distance deviation a2 of a measuring rod of a flexible wheel and a long shaft deviation a3 of a wave generator cam, and selecting parts with absolute values of a1, a2 and a3 smaller than 0.01mm to enter a fourth step;
step four: the three parts were mated according to the mating principles of the following table
| Measuring rod distance of rigid wheel | M1-a1 | M1-a1 | M1 | M1+a1 | M1+a1 |
| Flexible wheel measuring rod distance | M2-a2 | M2 | M2 | M2 | M2+a2 |
| Wave generator cam long shaft | M3 | M3-a3 | M3 | M3+a3 | M3 |
Wherein a1= a2= a3.
As shown in fig. 1, the rigid gear 1 and the flexible gear 2 are arranged together through the rigid gear internal teeth 4 and the flexible gear external teeth 5, the wave generator component 3 is composed of a wave generator cam 6 and a flexible bearing 7, the wave generator component 3 is arranged in the inner hole tooth part of the flexible gear 2, the rigid gear internal teeth number is N +2 because the flexible gear external teeth number is N, and the rigid gear 1 is meshed with the flexible gear external teeth 5 of the flexible gear 2 under the action of the long and short shafts of the wave generator component 3 through the rigid gear internal teeth 4, so that the gear difference transmission of the rigid gear 1 and the flexible gear 2 is realized.
As shown in fig. 2, according to the model size of the manufactured harmonic reducer, a standard measuring bar pitch value of the internal teeth 4 of the rigid wheel is M1 by a precise metering method, and the M1 value is a value which is qualified for a certain product.
As shown in fig. 3, according to the model size of the harmonic reducer, the standard gauge bar pitch value of the flexible gear outer teeth 5 obtained by a precise metering method is M2, and the M2 value is a value that a certain product is qualified.
As shown in fig. 4, according to the size of the harmonic reducer, the standard long axis value of the wave generator cam 6 is M3 by a precise metering method, and the M3 value is a value that is qualified for a certain product.
Due to the processing error of the processing equipment, the rigid gear 1, the flexible gear 2 and the wave generator cam 6 which are produced in batch have certain errors more or less with the standard values, so the deviation of the actual size and the standard size of each part needs to be counted in advance, and subsequent pairing assembly or pairing processing can be performed well. Because the harmonic transmission is ultra-high precision processing, the upper limit of the tolerance of all parts is plus or minus 0.01mm, the principle of grouping and pairing is adopted to realize higher abnormal installation yield.
The matching principle is obtained after research, each vertical column in the table represents a matching mode, specifically, two numerical values are firstly obtained among three numerical values, namely the distance m1 between the actual measuring rods of the rigid gear, the distance m2 between the actual measuring rods of the flexible gear and the actual long axis m3 of the cam of the wave generator, and finally, the numerical value of a third part is determined according to the two numerical values by referring to the table contents, so that the proper third part is searched or produced, effective assembly is realized, and various indexes of the harmonic speed reducer are achieved. That is to say, when one or two parts of the three parts are deviated in the machining process, the parameter value of the third part is changed to adapt. According to the pairing principle, the one-time assembly qualified rate of the speed reducer can reach more than 90%, generally is stabilized at about 95%, and the performance is excellent.
The above principle can be used for the production and machining process of parts, besides the matched assembly of machined parts. According to the pairing principle of the fourth step, the actual parameter values of any two of the rigid gear 1, the flexible gear 2 and the wave generator cam 6 are determined, and then the machining size of the third part is determined.
Furthermore, as the processing modes and the processing accuracies of the rigid gear 1, the flexible gear 2 and the wave generator cam 6 are different, the accuracy and the requirement of the flexible gear 2 are the highest, the wave generator cam is 6 times, and the steel gear 1 is the first time, the measuring rod distance of the flexible gear can be determined firstly in the processing process of parts, and then the subsequent processing value of the measuring rod distance of the rigid gear is determined according to the processing value of the long shaft of the wave generator cam.
Because the machining errors of the parts are different, it may not be easy to find the case where the deviations of the two parts are exactly equal in step four, and it may be considered that the errors are approximately equal at this time, that is, when the difference between two parameters a1, a2, and a3 is less than 0.001, the corresponding two parts may be paired. Determining the pairing error in this way also satisfies the accuracy requirements as a whole.
By adopting the pairing principle provided by the invention, the one-time assembly qualification rate of the speed reducer can reach more than 90 percent, and the problems that the one-time qualification rate is low, the product quality is unstable, the batch product parts do not have interchangeability, and the product is poor in comprehensive indexes such as precision, rigidity, service life and the like during the assembly of the conventional harmonic speed reducer are solved. The assembly qualification rate of the harmonic speed reducer can reach a new step, and the method has good practicability and application prospect.
Claims (4)
1. The grouping pairing method for assembling the harmonic speed reducer is characterized by comprising the following steps of:
the method comprises the following steps: determining standard parameters of three components of the harmonic reducer according to the model size of the harmonic reducer, wherein the standard parameters are a rigid wheel standard measuring rod distance M1, a flexible wheel standard measuring rod distance M2 and a wave generator cam standard long shaft M3;
step two: determining actual parameters of three components obtained after actual processing, wherein the actual measuring rod distance m1 of the rigid wheel, the actual measuring rod distance m2 of the flexible wheel and the actual long axis m3 of the wave generator cam are respectively;
step three: determining deviation values of actual parameters and standard parameters, namely a distance deviation a1 of a measuring rod of a rigid wheel, a distance deviation a2 of a measuring rod of a flexible wheel and a long shaft deviation a3 of a wave generator cam, and selecting parts with absolute values of a1, a2 and a3 smaller than 0.01mm to enter a fourth step;
step four: the three parts were mated according to the mating rules of the following table
Wherein a1= a2= a3.
2. The group pairing method for harmonic reducer assembly according to claim 1, wherein: in the machining process of the parts, according to the pairing principle of the step four, the actual parameter values of any two of the rigid gear, the flexible gear and the wave generator cam are determined firstly, and then the machining size of the third part is determined.
3. The group pairing method for the assembly of the harmonic reducer as set forth in claim 2, wherein: in the processing process of parts, the measuring rod distance of the flexible gear is determined, and then the processing value of the measuring rod distance of the subsequent rigid gear is determined according to the processing value of the long shaft of the wave generator.
4. The group pairing method for harmonic reducer assembly according to claim 1, wherein: in step four, the difference between a1, a2 and a3 is less than 0.001.
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| CN102022517A (en) * | 2010-11-29 | 2011-04-20 | 大连名阳实业有限公司 | Assemble structure for grouping gears matched shaft diameters by size |
| CN102678881B (en) * | 2012-05-31 | 2015-04-15 | 哈尔滨工业大学 | Rigid gear and flexible gear which are used for short-tube flexible-gear harmonic speed reducer and machining process thereof |
| US10151377B2 (en) * | 2015-03-05 | 2018-12-11 | California Institute Of Technology | Systems and methods for implementing tailored metallic glass-based strain wave gears and strain wave gear components |
| CN105805177B (en) * | 2016-06-07 | 2018-10-26 | 上海联合滚动轴承有限公司 | A kind of taper roll bearing assembles high limit for height matching method |
| CN107991082B (en) * | 2017-12-11 | 2021-02-09 | 中国航发南方工业有限公司 | Combined machining method for bearing mounting hole of aero-engine casing assembly |
| CN108491952B (en) * | 2018-01-31 | 2021-09-17 | 南京航空航天大学 | Part matching performance optimization method and system |
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Address after: No. 909, section 4, xihanggang Avenue, Shuangliu District, Chengdu, Sichuan 610207 Applicant after: Chengdu Ruidi Zhiqu Technology Co.,Ltd. Address before: No. 909, section 4, xihanggang Avenue, Shuangliu District, Chengdu, Sichuan 610207 Applicant before: CHENGDU REACH MACHINERY CO.,LTD. |
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Inventor after: Xiao Yunqiang Inventor before: Zhao Liang |
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