CN116146686A - End-engaged harmonic reducer with adjustable backlash and rigidity, test bed and application thereof - Google Patents
End-engaged harmonic reducer with adjustable backlash and rigidity, test bed and application thereof Download PDFInfo
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- CN116146686A CN116146686A CN202211555948.4A CN202211555948A CN116146686A CN 116146686 A CN116146686 A CN 116146686A CN 202211555948 A CN202211555948 A CN 202211555948A CN 116146686 A CN116146686 A CN 116146686A
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Abstract
The invention relates to the technical field of automatic equipment manufacturing, in particular to an end-engaged harmonic reducer with adjustable side clearance and rigidity, a test bed and application thereof, and the end-engaged harmonic reducer is characterized by comprising an input end base, an input shaft, a bearing seat, a shaft end retainer ring, a single-wave end cam, a universal ball bearing, a sleeve, a spring, a slide rail, a grooved pulley, a slide block, a movable tooth, a rigid wheel, an output end base, an output shaft, a clamp spring, a gasket and a shell; the movable teeth and the rigid wheels can be pushed to realize staggered tooth meshing through the end cam, so that the grooved wheels are driven to transmit power, meshing side gaps, rigidity and center distance adjustment of transmission links can be realized through adjustment of gaskets and bolts, input and output angles and input and output moments can be perceived through the encoder and the moment sensor respectively, a computer is utilized for analysis, an angular velocity curve and a moment curve are generated, and finally, the influence rule of meshing parameters on transmission performance is verified through motion rule change trend analysis.
Description
Technical field:
the invention relates to the technical field of automatic equipment manufacturing, in particular to an end-meshing harmonic reducer and a test bench with adjustable side clearance and rigidity, which can overcome the defects of easy fatigue damage, weak bearing capacity and the like of a traditional harmonic gear flexible gear, and can be suitable for an expected adjusting function so as to explore the influence rule of a multi-parameter coupling effect on the transmission performance of an end-meshing gear system, and the application of the end-meshing harmonic reducer and the test bench.
The background technology is as follows:
with the continuous expansion of the ground work and the external detection work of the aircraft, the task property gradually tends to complexity, long-term property and task unknown property, and the important joint transmission systems such as the mechanical arm, the expansion release mechanism, the servo driving mechanism and the like all adopt self-developed compact harmonic reducers.
The traditional harmonic gear transmission device forces the thin-wall flexible gear to generate periodic deformation through the rotation of a wave generator with a certain geometric shape, and the thin-wall flexible gear is continuously meshed with the rigid gear to generate relative motion. However, the thin-wall flexible gear has low rigidity, small gear tooth modulus and low bearing capacity, additional stress is easy to generate in the process of loading driving and variable-load meshing to cause deformation of the flexible gear, and the periodic deformation and vibration of the flexible gear can cause fatigue damage to influence the running state of a transmission system.
The invention comprises the following steps:
aiming at the defects and shortcomings in the prior art, the invention provides the end meshing harmonic reducer with good function and the end meshing harmonic reducer test bed capable of realizing backlash and rigidity adjustment, and based on the end meshing harmonic reducer test bed, a standardized comprehensive test platform is built, and the expected adjustment function can be realized, so as to explore the influence rule of the multi-parameter coupling effect on the transmission performance of the end meshing gear system.
The invention is achieved by the following measures:
the end-engaged harmonic reducer with adjustable side clearance and rigidity is characterized by comprising an input end base (18), an input shaft (19), a bearing (20), a bearing seat (21), a shaft end retainer ring (22), a single-wave end face cam (23), a universal ball bearing (24), a sleeve (25), a spring (26), a sliding rail (27), a grooved pulley (28), a sliding block (29), a movable tooth (30), a rigid wheel (31), an output end base (32), an output shaft (33), a clamp spring (34), a gasket (35) and a shell (36); the input end base (18) is fixedly connected with the bearing seat (21) through bolts; the input shaft (19) is connected with the bearing seat (21) and the input end base (18) through the bearing (20), and axial positioning is completed through a shaft shoulder and a hole of the bearing seat (21) by using a clamp spring; the single-wave end face cam (23) and the input shaft (19) are connected through a flat key to complete shaft-hub connection; the shaft end check ring (22) is fixedly connected with the end face of the input shaft (19) through a conical bolt, so that the axial positioning of the single-wave end face cam (23) is completed; the output shaft (33) is connected with the output end base (32) through a bearing, and axial positioning is completed through a shaft clamp spring (34); the rigid wheel (31) is fixedly connected with the output end base (32) on the end face through bolts, and the protrusions of the output end base (32) are aligned with the rigid wheel grooves, so that the rigid wheel (31) is circumferentially positioned; the grooved pulley (28) is connected with the output shaft (33) through a flat key to complete shaft-hub connection, the sliding rail (27) is embedded in the groove of the grooved pulley (28), and the grooved pulley and the output shaft are fixedly connected through bolts; the shaft end retainer ring (22) is fixedly connected with the end face of the output shaft (33) through a conical bolt, so that the grooved wheel (28) is axially positioned; the movable teeth (30) are fixedly connected with the sleeve (25) through sleeve surface threads, the universal ball bearings (24) are embedded in the sleeve (25), the sliding blocks (29) are fixedly connected with the movable teeth (30) through bolts, the movable teeth (30), the sleeve (31), the universal ball bearings (24) and the sliding blocks (29) form a movable tooth assembly together, rolling friction between the movable tooth assembly and the single-wave end face cam is realized through the universal ball bearings (24), sliding of the movable tooth assembly is realized through the sliding blocks (29) arranged in the sliding rail (27), the sliding blocks (29) and the sliding rail (27) are made of antifriction materials to reduce friction and noise, the springs (26) are arranged around the movable teeth (30) and axially positioned by the end faces of the sleeve (25), and therefore the movable tooth assembly is in contact with the single-wave end face cam (23) at any time and axially moves along with rotation of the single-wave end face cam; the tooth profiles of the movable teeth (30) and the rigid wheels (31) are positive spiral surfaces, the tops of the teeth of the movable teeth are trimmed to improve engagement characteristics, the input end machine base (18), the output end machine base (32) and the shell (36) are fixedly connected through long bolts, the center distances of the input end machine base (18), the output end machine base (32) and the shell (36) are adjusted by changing the number of gaskets (35), so that the engagement coincidence degree of the teeth is changed, and the engagement side gap and the comprehensive rigidity of the movable teeth (30) are changed.
In the invention, because the number of movable teeth (30) is large, the grooved wheels (28) are required to be grooved more, meanwhile, the adjacent movable teeth (30) are easy to interfere, and the vibration of movement is inevitably aggravated, so that the movable teeth (30) are in a tooth drawing mode, and meanwhile, in order to avoid the phenomenon of insufficient bearing capacity caused by the reduction of the number of simultaneously meshed teeth, three gear teeth are arranged on each group of movable teeth (30).
In the invention, the number of teeth of the rigid gear (31) is 50, the theoretical total number of teeth of the movable gear (30) is 49, so the transmission ratio is 50, namely the ratio of the number of teeth of the rigid gear to the difference between the number of teeth of the rigid gear (31) and the theoretical total number of teeth of the movable gear (30), and the theoretical total number of teeth of the movable gear (30) is slightly smaller than the number of teeth of the rigid gear (31), so that the teeth of the movable gear (30) always enter the tooth grooves of the next rigid gear (31) every time one cycle moves, and the staggered tooth meshing and power transmission functions are realized.
The working principle of the middle end meshing harmonic reducer is as follows: when the single-wave end face cam (23) rotates clockwise, the movable tooth (30) component is pushed to axially move, the movable tooth (30) moving rightwards along the outline of the single-wave end face cam (23) gradually enters into engagement with the gear teeth of the rigid wheel (31), and the movable tooth component is forced to be in surface contact with the outline of the cam end face under the action of a spring, so that the movable tooth (30) moving leftwards along the outline of the single-wave end face cam (23) gradually disengages from the gear teeth of the rigid wheel (31), and as the rigid wheel (31) is fixedly connected to the engine base, the movable tooth (30) is forced to perform composite movement of axial movement and circumferential rotation by the reaction force of the rigid wheel (31) upwards or downwards along the inclined plane of the gear teeth of the rigid wheel (31), so that power is transmitted to the grooved wheel (28) to finally drive an output shaft connected with the grooved wheel to output power.
The invention also provides a side-gap and rigidity-adjustable end-meshing harmonic reducer test bed which is characterized by comprising a cast iron perforated plate workbench (1), an aluminum profile (2), a motor bottom plate (3), a stepping motor (4), angle irons (5), angle codes (6), a coupler (7), a transmission shaft (8), a flange connecting plate (9), an encoder flange (10), an angle encoder (11), the side-gap and rigidity-adjustable end-meshing harmonic reducer (12), a reducer bottom plate (13), a moment sensor connecting flange (14), a moment sensor (15), a magnetic powder brake (16) and a brake connecting flange (17);
the cast iron perforated plate workbench (1) is fixedly connected with the aluminum profile (2) through bolts and gaskets, the length of the aluminum profile (2) can be selected according to specific experimental conditions, the relative position of the aluminum profile is determined through a workbench through hole, the aluminum profile (2) is provided with scales, and specific center distance adjustment can be realized through the alignment of a bottom plate of experimental equipment and the scales; the motor bottom plate (3) and the speed reducer bottom plate (13) are fixedly connected with the aluminum profile (2) through T-shaped bolts and nuts, and the relative positions of the motor bottom plate (3) and the speed reducer bottom plate (13) can be determined through the sliding of the T-shaped nuts in the sliding grooves of the aluminum profile (2) and aligned with the required scales; the stepping motor (4) is fixedly connected with the motor bottom plate (3) through an angle iron (5), and the vertical height is determined in the long hole of the angle iron (5) through a bolt so as to adjust the coaxiality of the system; the flange connecting plate (9), the torque sensor connecting flange (14) and the brake connecting flange (17) are fixedly connected with the aluminum profile (2) through T-shaped bolts by angle brackets, and the relative positions of the flange connecting plate (9), the torque sensor connecting flange (14) and the brake connecting flange (17) can be determined by sliding the T-shaped nuts in the sliding grooves of the aluminum profile (2) and aligned with the required scales; the flange connecting plate (9) is fixedly connected with the encoder flange (10) through bolts; the angle encoder (11) consists of a fixed end and a movable end, and the fixed end is fixedly connected with the encoder flange (10) through bolts; the end-engaged harmonic speed reducer (12) with adjustable side clearance and rigidity is fixedly connected with the speed reducer bottom plate (13) through an angle iron (5), and the vertical height is determined by positioning a bolt in a hole of the angle iron (5) so as to adjust the coaxiality of the system; the brake connecting flange (17) is fixedly connected with the aluminum profile (2) through the corner brace (6) and fixedly connected with the magnetic powder brake (16) through a bolt; the transmission shaft (8) is fixedly connected with the stepping motor (4), the end meshing harmonic reducer (12) with adjustable backlash and rigidity, the magnetic powder brake (16) and the torque sensor (15) through the coupler (7) to transmit power.
In the invention, the stepping motor (4), the magnetic powder brake (16), the angle encoder (11) and the torque sensor (15) are all powered by the storage battery, the storage battery is arranged at the upper part of the cast iron porous plate and can be charged through interface current, the rotating speed and the torque characteristic of the stepping motor (4) are regulated by the controller and the pulse generator, and the controller and the pulse generator are arranged at the upper part of the cast iron porous plate.
The experimental process of the experimental bench provided by the invention is as follows: the storage battery provides electric energy for the stepping motor, the magnetic powder brake, the angle encoder, the torque sensor and the control and debugging elements thereof, the fine fraction and the torque characteristic of the stepping motor are regulated through the stepping motor controller, pulse signals are sent to the stepping motor through the pulse generator, the duty ratio is regulated, the stepping motor inputs power according to a certain rotating speed and is transmitted to the end meshing harmonic speed reducer device through intermediate links such as a transmission shaft, a coupling and the like, the end meshing harmonic speed reducer device immediately realizes the staggered tooth meshing function to amplify the torque, the power is transmitted to the torque sensor, and finally the magnetic powder brake provides a variable output end load. The input end transmission shaft and the output end transmission shaft are both provided with absolute value type angle encoders, real-time angle information of the input end and the output end can be measured continuously for a plurality of circles, signals are transmitted to an upper computer, an angle curve is generated, an angular velocity and angular acceleration curve is obtained through data processing and is used as a basis for analyzing the dynamics performance of the end meshing harmonic speed reducer, an encoder interface is connected with a debugger, and an initial state can be determined and corrected; the torque sensor is arranged between the output end encoder and the magnetic powder brake, can measure the torque information of the output end in real time and transmits signals to the upper computer; the magnetic powder brake interface is connected with the controller, and the load torque value can be adjusted to realize the data acquisition function under the variable working condition. The number of gaskets of the end-engaged harmonic speed reducer is regulated, the center distances of a rigid wheel, a movable tooth assembly and a single-wave end face cam can be regulated to regulate the gear tooth engagement coincidence degree, the movable tooth engagement side gap and the comprehensive rigidity are changed along with the same, the relative positions of a bottom plate, a flange and an aluminum profile are regulated to change the center distance of an experimental device, the comprehensive rigidity of an experimental platform is changed along with the same, and data under the working condition of a plurality of groups of structural parameters are measured and signals are collected to an upper computer. And obtaining transmission errors, vibration characteristics and moment characteristics of the lower end meshing harmonic speed reducer with variable parameters such as gear meshing backlash, comprehensive rigidity and center distance of an experimental platform through data processing, thereby obtaining an influence mechanism of structural parameters on performance parameters of the lower end meshing harmonic speed reducer.
The experimental platform provided by the invention has adjustability, each experimental device has interchangeability by adopting a serial layout, sensors of the type required by experiments can be installed or replaced in any intermediate link, and motors, reducers and brakes of different types can meet certain coaxiality and center distance by adjusting and have enough comprehensive rigidity.
Description of the drawings:
FIG. 1 is a schematic diagram of the experimental bench of the end-engaged harmonic reducer of the present invention.
Fig. 2 is a schematic structural view of an end-engaged harmonic speed reducer according to the present invention.
FIG. 3 shows the structure of the input housing and the bearing housing of the present invention.
FIG. 4 is a schematic diagram of the structure of the input shaft and the single-wave end cam in the present invention.
FIG. 5 is a schematic diagram of the structure of the rigid wheel and the output end frame of the present invention.
FIG. 6 is a schematic view of the sheave, rail and output shaft of the present invention.
Fig. 7 is a schematic view of a movable tooth assembly according to the present invention.
Fig. 8 is a transmission schematic of the present invention.
FIG. 9 is a schematic diagram of the experiment table in the present invention.
Reference numerals: cast iron perforated plate workstation (1), aluminium alloy (2), motor bottom plate (3), step motor (4), angle bar (5), angle sign indicating number (6), shaft coupling (7), transmission shaft (8), flange connecting plate (9), encoder flange (10), angle encoder (11), end engagement harmonic reduction gear (12), reduction gear bottom plate (13), moment sensor flange (14), moment sensor (15), magnetic powder brake (16), stopper flange (17), input frame (18), input shaft (19), bearing (20), bearing frame (21), axle end retaining ring (22), single wave end face cam (23), universal ball bearing (24), sleeve (25), spring (26), slide rail (27), sheave (28), slider (29), movable tooth (30), rigid wheel (31), output frame (32), output shaft (33), jump ring (34), gasket (35), casing (36).
The specific embodiment is as follows:
the invention will be further described with reference to the drawings and examples.
The invention provides an end meshing harmonic reducer capable of realizing backlash and rigidity adjustment and an experiment table, wherein movable teeth and rigid wheels can be pushed by an end cam to realize staggered tooth meshing, so that a sheave is driven to transmit power, the adjustment of the backlash, rigidity and center distance of a transmission link can be realized by adjusting gaskets and bolts, input and output angles and input and output moments can be sensed by an encoder and a moment sensor respectively, and are analyzed by a computer to generate an angular velocity curve and a moment curve, and finally, the influence rule of meshing parameters on transmission performance is verified by analyzing the change trend of a motion rule:
the device comprises a cast iron perforated plate workbench (1), an aluminum profile (2), angle irons (5), a stepping motor (4), a motor bottom plate (3), a controller, a transmission shaft (8), a coupler (7), a moment sensor connecting flange (14), angle codes (6), an end-engaged harmonic reducer (12), a reducer bottom plate (13), a magnetic powder brake (16), a brake connecting flange (17), an angle encoder (11), an encoder flange (10), a flange connecting plate (9) and a moment sensor (15);
the cast iron perforated plate workbench (1) is fixedly connected with the aluminum profile (2), and the two can only be fixed through holes to determine the relative position; the aluminum profile (2) is provided with scales, so that the center distance adjustment of experimental equipment can be realized; the torque sensor connecting flange (14), the flange connecting plate (9) and the brake connecting flange (17) are fixedly connected with the aluminum profile (2) and are connected through T-shaped bolts through angle brackets (6), and the relative positions are determined through the positions of the bolts; the motor bottom plate (3) and the speed reducer bottom plate (13) are fixedly connected with the aluminum profile (2) through T-shaped bolts and nuts, and the relative positions are determined through the positions of the bolts;
the encoder flange (10) is fixedly connected with the flange connecting plate (9) through bolts and is used for connecting the fixed end of the angle encoder (11); the stepping motor (4) is fixedly connected with the motor bottom plate (3) through angle irons (5), and the vertical height is determined by the position of bolts in angle iron holes so as to adjust the coaxiality of the system; the end-engaged harmonic reducer (12) is fixedly connected with the reducer bottom plate (13) through angle irons (5), and the vertical height is determined by the position of bolts in angle iron holes so as to adjust the coaxiality of the system; the brake connecting flange (17) is fixedly connected with the aluminum profile (2) through the corner brace (6) and fixedly connected with the magnetic powder brake (16) through a bolt; the transmission shaft (8) is connected with the stepping motor (4), the end-meshing harmonic reducer (12), the magnetic powder brake (16) and the torque sensor (15) through the coupler (7) to transmit power;
the storage battery is arranged at the upper part of the cast iron porous plate, provides electric energy for the stepping motor (4), the controller, the magnetic powder brake (16), the angle encoder (11) and the torque sensor (15), and charges through a preset interface; the controller is arranged at the upper part of the cast iron porous plate, and the rotating speed and the moment characteristic of the stepping motor (4) are adjusted through the pulse generator;
the end-engaged harmonic reducer (12) comprises an input end base (18), an output end base (32), a shell (36), a rigid wheel (31), a sheave (28), a single-wave end cam (23), a movable tooth (30), a sliding rail (27), a sliding block (29), a sleeve (25), a universal ball bearing (24), a spring (26), a bearing (20), an input shaft (19), an output shaft (33), a clamp spring (34), a bearing seat (21), a gasket (35) and a shaft end retainer ring (22);
the bearing seat (21) is fixedly connected with the input end base (18); the input shaft (19) is connected with the bearing seat (21) and the input end base (18) through bearings, and axial positioning is completed through shaft shoulders and snap springs; the single-wave end face cam (23) and the input shaft (19) are connected through a flat key to complete shaft-hub connection;
the shaft end check ring (22) is fixedly connected with the end face of the input shaft through a conical bolt, so that the axial positioning of the single-wave end cam (23) is completed; the output shaft (33) is connected with the output end base (32) through a bearing, and axial positioning is completed through a clamp spring (34); the rigid wheel (31) is fixedly connected with the output end base (32) on the end face, and the rigid wheel (31) is circumferentially positioned through the bulge of the output end base (32) and the rigid wheel groove;
the grooved wheel (28) and the output shaft are connected through a flat key to complete shaft-hub connection; the shaft end check ring (22) is fixedly connected with the end face of the output shaft through a conical bolt, so that the axial positioning of the grooved pulley is realized; the movable teeth are fixedly connected with the sliding blocks, and the whole movable teeth are arranged in the sliding rails so as to enable the movable teeth to slide; the movable teeth, the sleeve and the universal ball bearing are fixedly connected, the springs are arranged around the movable teeth, and the end faces of the sleeve are axially positioned. The input end machine seat, the output end machine seat and the shell are fixedly connected through long bolts, and the wheelbase of the input end machine seat, the output end machine seat and the shell is adjusted through gaskets so as to realize the adjustment of the backlash and the rigidity of the movable teeth.
The invention adopts an end engagement configuration, takes a single-wave end face cam as an input element and a grooved pulley as an output element, adopts a rigid element to improve the bearing capacity and overcome the inherent defect of fatigue damage, realizes the movable tooth staggered tooth engagement and completes the power transmission function; the sliding block and the sliding rail are both made of antifriction materials, and the movable tooth assembly is contacted with the single-wave end face cam through the universal ball bearing, so that the transmission friction resistance is greatly reduced, and the service life is prolonged; the gear teeth of the rigid gear and the movable gear teeth are subjected to tooth profile modification, so that the transmission smoothness is improved and the meshing interference is prevented; the spring is arranged around the movable teeth to ensure the contact between the movable teeth component and the cam; the structural parameters are variable, the wheelbase among the rigid wheel, the movable tooth assembly and the single-wave end face cam is adjusted through the number of the gaskets to realize the adjustment of the movable tooth meshing side gap and the rigidity, and the input shaft and the output shaft adopt a double-bearing supporting mode to improve the transmission rigidity and the stability of the end meshing harmonic speed reducer; the wave number of the end cam is 1, so that the movable tooth assembly completes one reciprocating motion every time the end cam rotates for one circle, the difference between the number of the rigid gear teeth and the theoretical total number of the movable teeth is equal to the wave number of the end cam, and the transmission ratio is equal to the number of the rigid gear teeth; the end surface profile of the end surface cam, the tooth profile of the oscillating gear tooth and the tooth profile of the gear tooth of the rigid gear are positive spiral surfaces; the performance parameters under multiple working conditions and multiple coupling factors can be measured, and when the structural parameters are changed, the running state of the end meshing harmonic speed reducer can be uniquely determined, so that the real-time performance and the synchronism of multiple groups of sensing signals under the same working condition are met.
Example 1:
the end-engaged harmonic reducer experiment table capable of realizing the adjustment of the backlash and the rigidity comprises a cast iron perforated plate workbench (1), an aluminum profile (2), a motor bottom plate (3), a stepping motor (4), angle irons (5), angle codes (6), a coupler (7), a transmission shaft (8), a flange connecting plate (9), an encoder flange (10), an angle encoder (11), an end-engaged harmonic reducer (12), a reducer bottom plate (13), a torque sensor connecting flange (14), a torque sensor (15), a magnetic powder brake (16) and a brake connecting flange (17), wherein the end-engaged harmonic reducer experiment table is shown in fig. 1.
The cast iron perforated plate workbench (1) is fixedly connected with the aluminum profile (2) through bolts, the length of the aluminum profile (2) can be selected according to specific experimental conditions, the relative position of the aluminum profile is determined through a workbench through hole, the aluminum profile (2) is provided with scales, and specific center distance adjustment can be realized through the alignment of an experimental equipment bottom plate and the scales; the motor bottom plate (3) and the speed reducer bottom plate (13) are fixedly connected with the aluminum profile (2) through T-shaped bolts and nuts, and the relative positions of the motor bottom plate (3) and the speed reducer bottom plate (13) can be determined through the sliding of the T-shaped nuts in the sliding grooves of the aluminum profile (2) and aligned with the required scales; the stepping motor (4) is fixedly connected with the motor bottom plate (3) through an angle iron (5), and the vertical height is determined in the long hole of the angle iron (5) through a bolt so as to adjust the coaxiality of the system; the flange connecting plate (9), the torque sensor connecting flange (14) and the brake connecting flange (17) are fixedly connected with the aluminum profile (2) through T-shaped bolts by angle brackets, and the relative positions of the flange connecting plate (9), the torque sensor connecting flange (14) and the brake connecting flange (17) can be determined by sliding the T-shaped nuts in the sliding grooves of the aluminum profile (2) and aligned with the required scales; the flange connecting plate (9) is fixedly connected with the encoder flange (10) through bolts; the angle encoder (11) consists of a fixed end and a movable end, and the fixed end is fixedly connected with the encoder flange (10) through bolts; the end-meshing harmonic speed reducer (12) is fixedly connected with the speed reducer bottom plate (13) through an angle iron (5), and the vertical height is determined by the position of a bolt in a hole of the angle iron (5) so as to adjust the coaxiality of the system; the brake connecting flange (17) is fixedly connected with the aluminum profile (2) through the corner brace (6) and fixedly connected with the magnetic powder brake (16) through a bolt; the transmission shaft (8) is fixedly connected with the stepping motor (4), the end meshing harmonic speed reducer (12), the magnetic powder brake (16) and the torque sensor (15) through the coupler (7) to transmit power.
The structure of the end-engaged harmonic reducer (12) is shown in fig. 2, and the parts of the end-engaged harmonic reducer comprise an input end base (18), an input shaft (19), a bearing (20), a bearing seat (21), a shaft end retainer ring (22), a single-wave end cam (23), a universal ball bearing (24), a sleeve (25), a spring (26), a sliding rail (27), a grooved pulley (28), a sliding block (29), a movable tooth (30), a rigid wheel (31), an output end base (32), an output shaft (33), a clamp spring (34), a gasket (35) and a shell (36); the input end base (18) is fixedly connected with the bearing seat (21) through bolts, and the structures of the input end base and the bearing seat are shown in figure 3; the input shaft (19) is connected with the bearing seat (21) and the input end base (18) through the bearing (20), and axial positioning is completed through a shaft shoulder and a hole of the bearing seat (21) by using a clamp spring;
the single-wave end face cam (23) and the input shaft (19) are connected through a flat key to complete shaft-hub connection, and the structure of the single-wave end face cam and the structure of the input shaft are shown in figure 4; the shaft end check ring (22) is fixedly connected with the end face of the input shaft (19) through a conical bolt, so that the axial positioning of the single-wave end face cam (23) is completed; the output shaft (33) is connected with the output end base (32) through a bearing, and axial positioning is completed through a shaft clamp spring (34); the rigid wheel (31) is fixedly connected with the output end base (32) on the end face through bolts, and the rigid wheel (31) can be circumferentially positioned by aligning the bulge of the output end base (32) with the rigid wheel groove, and the structure of the rigid wheel (31) and the structure of the rigid wheel are shown in figure 5; the grooved pulley (28) is connected with the output shaft (33) through a flat key to complete shaft-hub connection, the sliding rail (27) is embedded in the groove of the grooved pulley (28), the grooved pulley (28) and the output shaft are fixedly connected through bolts, and the structure of the grooved pulley is shown in figure 6; the shaft end retainer ring (22) is fixedly connected with the end face of the output shaft (33) through a conical bolt, so that the grooved wheel (28) is axially positioned;
the movable teeth (30) are fixedly connected with the sleeve (25) through sleeve surface threads, the universal ball bearings (24) are embedded in the sleeve (25), the sliding blocks (29) are fixedly connected with the movable teeth (30) through bolts, the movable teeth (30), the sleeve (31), the universal ball bearings (24) and the sliding blocks (29) form a movable tooth assembly together, the structures of the parts are shown in fig. 7, rolling friction between the movable tooth assembly and a single-wave end face cam can be achieved through the universal ball bearings (24), sliding of the movable tooth assembly can be achieved through the sliding blocks (29) arranged in the sliding rail (27), the sliding blocks (29) and the sliding rail (27) are made of antifriction materials so as to reduce friction and noise, the springs (26) are arranged around the movable teeth (30) and axially positioned on the end face of the sleeve (25), and therefore the movable tooth assembly is in contact with the single-wave end face cam (23) at any time and axially moves along with rotation of the single-wave end face cam;
the tooth profiles of the movable teeth (30) and the rigid wheels (31) are positive spiral surfaces, and the tops of the teeth are trimmed to improve the meshing characteristics, because the movable teeth (30) are more in number, the grooved wheels (28) are more in needed grooving number, interference is easy to occur between adjacent movable teeth (30), and movement tremble is inevitably aggravated, so that the movable teeth (30) are in a tooth drawing mode, and meanwhile, in order to avoid the phenomenon that the bearing capacity is insufficient due to the reduction of the number of the meshing teeth, three teeth are arranged on each movable tooth (30) in the embodiment; the input end machine seat (18), the output end machine seat (32) and the shell (36) are fixedly connected through long bolts, the center distance of the input end machine seat, the output end machine seat and the shell can be adjusted by changing the number of gaskets (35), so that the meshing coincidence degree of gear teeth is changed, and the meshing side gap and the comprehensive rigidity of the movable gear teeth (30) are changed.
The working principle of the end-meshing harmonic reducer (12) is shown in fig. 8, when the single-wave end face cam (23) moves in the direction shown in the figure, namely rotates clockwise in the left view, the movable tooth (30) component is pushed to axially move, the movable tooth (30) moving rightwards along the outline of the single-wave end face cam (23) gradually enters into meshing with the gear teeth of the rigid wheel (31), the movable tooth component is forced to be in surface contact with the outline of the cam under the action of a spring, so that the movable tooth (30) moving leftwards along the outline of the single-wave end face cam (23) gradually disengages from the gear teeth of the rigid wheel (31), and as the rigid wheel (31) is fixedly connected to the base, the movable tooth (30) is subjected to the reaction force of the rigid wheel (31) to upwards or downwards along the inclined plane of the gear teeth of the rigid wheel (31), the compound motion of axial movement and circumferential rotation is forced to be completed, so that power is transmitted to a sheave (28), and an output shaft connected with the sheave is finally driven to output power, in the embodiment, the number of teeth of a rigid gear (31) is 50, the theoretical total number of teeth of a movable gear (30) is 49, so that the transmission ratio is 50, namely the ratio of the number of teeth of the rigid gear to the difference between the number of teeth of the rigid gear (31) and the theoretical total number of teeth of the movable gear (30), and the teeth of the movable gear (30) always enter the tooth groove of the next rigid gear (31) every cycle of the tooth movement, and the staggered tooth meshing and power transmission functions are realized;
the stepping motor (4), the magnetic powder brake (16), the angle encoder (11) and the moment sensor (15) are all powered by a storage battery, and the storage battery is arranged on the upper part of the cast iron perforated plate and can be charged through interface current. The rotating speed and moment characteristics of the stepping motor (4) are regulated by a controller and a pulse generator, and the controller and the pulse generator are arranged at the upper part of the cast iron porous plate;
the experimental process is shown in fig. 9, the storage battery provides electric energy for the stepping motor, the magnetic powder brake, the angle encoder, the torque sensor and the control and debugging elements thereof, the fine fraction and the torque characteristic of the stepping motor are regulated through the stepping motor controller, pulse signals are sent to the stepping motor through the pulse generator, the duty ratio is regulated, the stepping motor inputs power according to a certain rotating speed, the power is transmitted to the end meshing harmonic speed reducer through intermediate links such as a transmission shaft, a coupling and the like, the end meshing harmonic speed reducer immediately realizes the staggered tooth meshing function to amplify the torque, the power is transmitted to the torque sensor, and finally the magnetic powder brake provides a variable output end load. The input end transmission shaft and the output end transmission shaft are both provided with absolute value type angle encoders, real-time angle information of the input end and the output end can be measured continuously for a plurality of circles, signals are transmitted to an upper computer, an angle curve is generated, an angular velocity and angular acceleration curve is obtained through data processing and is used as a basis for analyzing the dynamics performance of the end meshing harmonic speed reducer, an encoder interface is connected with a debugger, and an initial state can be determined and corrected; the torque sensor is arranged between the output end encoder and the magnetic powder brake, can measure the torque information of the output end in real time and transmits signals to the upper computer; the magnetic powder brake interface is connected with the controller, and the load torque value can be adjusted to realize the data acquisition function under the variable working condition. The number of gaskets of the end-engaged harmonic speed reducer is regulated, the center distances of a rigid wheel, a movable tooth assembly and a single-wave end face cam can be regulated to regulate the gear tooth engagement coincidence degree, the movable tooth engagement side gap and the comprehensive rigidity are changed along with the same, the relative positions of a bottom plate, a flange and an aluminum profile are regulated to change the center distance of an experimental device, the comprehensive rigidity of an experimental platform is changed along with the same, and data under the working condition of a plurality of groups of structural parameters are measured and signals are collected to an upper computer. And obtaining transmission errors, vibration characteristics and moment characteristics of the lower end meshing harmonic speed reducer with variable parameters such as gear meshing backlash, comprehensive rigidity and center distance of an experimental platform through data processing, thereby obtaining an influence mechanism of structural parameters on performance parameters of the lower end meshing harmonic speed reducer. The experimental platform has adjustability, serial layout is adopted, each experimental device has interchangeability, sensors of the type required by experiments can be installed or replaced in any intermediate links, motors, reducers and brakes of different types can meet certain coaxiality and center distance through adjustment, and the experimental platform has enough comprehensive rigidity.
The invention can replace the flexible gear in the traditional harmonic reducer with a rigid element through an end engagement configuration, improves the bearing capacity, overcomes the inherent defect of fatigue failure, realizes the movable tooth staggered tooth engagement and completes the power transmission function. The experimental platform can complete the functions of angle information collection, torque sensing, variable rigidity and adjustable side gap, and can realize the functions of center distance and coaxiality adjustment. The method has the advantages of adjustability, interchangeability, high expansibility, functional diversity, high rigidity, economy and the like, can be fully suitable for the complexity and the long-term performance of future tasks, and reduces the working cost.
Claims (6)
1. The end-engaged harmonic reducer with adjustable side clearance and rigidity is characterized by comprising an input end base (18), an input shaft (19), a bearing (20), a bearing seat (21), a shaft end retainer ring (22), a single-wave end face cam (23), a universal ball bearing (24), a sleeve (25), a spring (26), a sliding rail (27), a grooved pulley (28), a sliding block (29), a movable tooth (30), a rigid wheel (31), an output end base (32), an output shaft (33), a clamp spring (34), a gasket (35) and a shell (36); the input end base (18) is fixedly connected with the bearing seat (21) through bolts; the input shaft (19) is connected with the bearing seat (21) and the input end base (18) through the bearing (20), and axial positioning is completed through a shaft shoulder and a hole of the bearing seat (21) by using a clamp spring; the single-wave end face cam (23) and the input shaft (19) are connected through a flat key to complete shaft-hub connection; the shaft end check ring (22) is fixedly connected with the end face of the input shaft (19) through a conical bolt, so that the axial positioning of the single-wave end face cam (23) is completed; the output shaft (33) is connected with the output end base (32) through a bearing, and axial positioning is completed through a shaft clamp spring (34); the rigid wheel (31) is fixedly connected with the output end base (32) on the end face through bolts, and the protrusions of the output end base (32) are aligned with the rigid wheel grooves, so that the rigid wheel (31) is circumferentially positioned; the grooved pulley (28) is connected with the output shaft (33) through a flat key to complete shaft-hub connection, the sliding rail (27) is embedded in the groove of the grooved pulley (28), and the grooved pulley and the output shaft are fixedly connected through bolts; the shaft end retainer ring (22) is fixedly connected with the end face of the output shaft (33) through a conical bolt, so that the grooved wheel (28) is axially positioned; the movable teeth (30) are fixedly connected with the sleeve (25) through sleeve surface threads, the universal ball bearings (24) are embedded in the sleeve (25), the sliding blocks (29) are fixedly connected with the movable teeth (30) through bolts, the movable teeth (30), the sleeve (31), the universal ball bearings (24) and the sliding blocks (29) form a movable tooth assembly together, rolling friction between the movable tooth assembly and the single-wave end face cam is realized through the universal ball bearings (24), sliding of the movable tooth assembly is realized through the sliding blocks (29) arranged in the sliding rail (27), the sliding blocks (29) and the sliding rail (27) are made of antifriction materials to reduce friction and noise, the springs (26) are arranged around the movable teeth (30) and axially positioned by the end faces of the sleeve (25), and therefore the movable tooth assembly is in contact with the single-wave end face cam (23) at any time and axially moves along with rotation of the single-wave end face cam; the tooth profiles of the movable teeth (30) and the rigid wheels (31) are positive spiral surfaces, the tops of the teeth of the movable teeth are trimmed to improve engagement characteristics, the input end machine base (18), the output end machine base (32) and the shell (36) are fixedly connected through long bolts, the center distances of the input end machine base (18), the output end machine base (32) and the shell (36) are adjusted by changing the number of gaskets (35), so that the engagement coincidence degree of the teeth is changed, and the engagement side gap and the comprehensive rigidity of the movable teeth (30) are changed.
2. The end-engaged harmonic reducer with adjustable backlash and rigidity according to claim 1, characterized in that, because of the large number of movable teeth (30), the grooved wheels (28) need a large number of grooves, meanwhile, the adjacent movable teeth (30) are easy to interfere, and can inevitably aggravate motion tremble, so that the movable teeth (30) are subjected to tooth extraction mode, and meanwhile, in order to avoid the phenomenon of insufficient bearing capacity caused by the reduction of the number of the simultaneous engaged teeth, three teeth are arranged on each movable tooth (30).
3. The end-engaged harmonic reducer with adjustable backlash and rigidity according to claim 1, characterized in that the number of teeth of the rigid gear (31) is 50, the theoretical total number of teeth of the movable gear (30) is 49, so that the transmission ratio is 50, that is, the ratio of the number of teeth of the rigid gear and the difference between the number of teeth of the rigid gear (31) and the theoretical total number of teeth of the movable gear (30), and the movable gear (30) is slightly smaller than the number of teeth of the rigid gear (31), so that the teeth of the movable gear (30) always enter the tooth space of the next rigid gear (31) every one cycle of motion, and the staggered tooth engagement and power transmission functions are realized.
4. An end-engaged harmonic reducer test bed with adjustable backlash and rigidity is characterized by comprising a cast iron perforated plate workbench (1), an aluminum profile (2), a motor bottom plate (3), a stepping motor (4), angle irons (5), angle yards (6), a coupler (7), a transmission shaft (8), a flange connecting plate (9), an encoder flange (10), an angle encoder (11), the end-engaged harmonic reducer (12) with adjustable backlash and rigidity according to any one of claims 1-3, a reducer bottom plate (13), a torque sensor connecting flange (14), a torque sensor (15), a magnetic powder brake (16) and a brake connecting flange (17); the cast iron perforated plate workbench (1) is fixedly connected with the aluminum profile (2) through bolts and gaskets, the aluminum profile (2) is provided with scales, and specific center distance adjustment can be realized through alignment of a bottom plate of the experimental equipment and the scales; the motor bottom plate (3) and the speed reducer bottom plate (13) are fixedly connected with the aluminum profile (2) through T-shaped bolts and nuts, and the relative positions of the motor bottom plate (3) and the speed reducer bottom plate (13) can be determined through the sliding of the T-shaped nuts in the sliding grooves of the aluminum profile (2) and aligned with the required scales; the stepping motor (4) is fixedly connected with the motor bottom plate (3) through an angle iron (5), and the vertical height is determined in the long hole of the angle iron (5) through a bolt so as to adjust the coaxiality of the system; the flange connecting plate (9), the torque sensor connecting flange (14) and the brake connecting flange (17) are fixedly connected with the aluminum profile (2) through T-shaped bolts by angle brackets, and the relative positions of the flange connecting plate (9), the torque sensor connecting flange (14) and the brake connecting flange (17) can be determined by sliding the T-shaped nuts in the sliding grooves of the aluminum profile (2) and aligned with the required scales; the flange connecting plate (9) is fixedly connected with the encoder flange (10) through bolts; the angle encoder (11) consists of a fixed end and a movable end, and the fixed end is fixedly connected with the encoder flange (10) through bolts; the end-engaged harmonic speed reducer (12) with adjustable side clearance and rigidity is fixedly connected with the speed reducer bottom plate (13) through an angle iron (5), and the vertical height is determined by positioning a bolt in a hole of the angle iron (5) so as to adjust the coaxiality of the system; the brake connecting flange (17) is fixedly connected with the aluminum profile (2) through the corner brace (6) and fixedly connected with the magnetic powder brake (16) through a bolt; the transmission shaft (8) is fixedly connected with the stepping motor (4), the end meshing harmonic reducer (12) with adjustable backlash and rigidity, the magnetic powder brake (16) and the torque sensor (15) through the coupler (7) to transmit power.
5. The end-engaged harmonic reducer test bed with adjustable backlash and rigidity according to claim 4, wherein the stepper motor (4), the magnetic powder brake (16), the angle encoder (11) and the torque sensor (15) are all powered by a storage battery, the storage battery is arranged at the upper part of a cast iron porous plate and can be charged by interface current, the rotation speed and torque characteristics of the stepper motor (4) are adjusted by a controller and a pulse generator, and the controller and the pulse generator are arranged at the upper part of the cast iron porous plate.
6. The application of the end-meshing harmonic reducer test bed with adjustable backlash and rigidity is characterized in that a storage battery provides electric energy for a stepping motor, a magnetic powder brake, an angle encoder, a torque sensor and control and debugging elements thereof, the fine fraction and the torque characteristics of the stepping motor are adjusted through a stepping motor controller, pulse signals are sent to the stepping motor through a pulse generator, the duty ratio is adjusted, the stepping motor inputs power according to a certain rotating speed, the power is transmitted to an end-meshing harmonic reducer through intermediate links such as a transmission shaft, a coupling and the like, the end-meshing harmonic reducer device immediately realizes staggered tooth meshing function to amplify torque, the power is transmitted to the torque sensor, and finally the magnetic powder brake provides variable output end load. The input end transmission shaft and the output end transmission shaft are both provided with absolute value type angle encoders, real-time angle information of the input end and the output end can be measured continuously for a plurality of circles, signals are transmitted to an upper computer, an angle curve is generated, an angular velocity and angular acceleration curve is obtained through data processing and is used as a basis for analyzing the dynamics performance of the end meshing harmonic speed reducer, an encoder interface is connected with a debugger, and an initial state can be determined and corrected; the torque sensor is arranged between the output end encoder and the magnetic powder brake, can measure the torque information of the output end in real time and transmits signals to the upper computer; the magnetic powder brake interface is connected with the controller, and can adjust the load torque value so as to realize the data acquisition function under the variable working condition; the number of the end-meshed harmonic reducer gaskets is regulated, the center distances of a rigid wheel, a movable tooth assembly and a single-wave end face cam can be regulated to regulate the meshing coincidence degree of gear teeth, the meshing side gap of the movable tooth and the comprehensive rigidity are changed along with the central distance, the relative positions of a bottom plate, a flange and an aluminum profile are regulated to change the center distance of experimental equipment, the comprehensive rigidity of an experimental platform is changed along with the central distance, and data under the working condition of multiple groups of structural parameters are measured and signals are collected to an upper computer. And obtaining transmission errors, vibration characteristics and moment characteristics of the lower end meshing harmonic speed reducer with variable parameters such as gear meshing backlash, comprehensive rigidity and center distance of an experimental platform through data processing, thereby obtaining an influence mechanism of structural parameters on performance parameters of the lower end meshing harmonic speed reducer.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116784982A (en) * | 2023-08-28 | 2023-09-22 | 长沙英迈医工研究院有限公司 | Surgical mechanical arm and surgical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116784982A (en) * | 2023-08-28 | 2023-09-22 | 长沙英迈医工研究院有限公司 | Surgical mechanical arm and surgical robot |
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