WO2023015948A1 - 共轭摆线齿廓谐波减速器 - Google Patents
共轭摆线齿廓谐波减速器 Download PDFInfo
- Publication number
- WO2023015948A1 WO2023015948A1 PCT/CN2022/089224 CN2022089224W WO2023015948A1 WO 2023015948 A1 WO2023015948 A1 WO 2023015948A1 CN 2022089224 W CN2022089224 W CN 2022089224W WO 2023015948 A1 WO2023015948 A1 WO 2023015948A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- spline
- flexible
- rigid
- tooth profile
- conjugate
- Prior art date
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 21
- 238000005096 rolling process Methods 0.000 claims abstract description 36
- 230000009471 action Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 10
- 238000013461 design Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000007123 defense Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Definitions
- the invention relates to the field of planetary transmission, in particular to the field of harmonic gear transmission, in particular to a harmonic reducer with a conjugate cycloidal tooth profile.
- harmonic gear transmission has outstanding advantages such as large speed ratio and compact structure, and has become the first choice for engineering applications.
- the flexspline produces complex elastic deformation with the shape of the wave generator, so the new tooth profile in the field of harmonic transmission has a larger design space, and has become a research hotspot in gear transmission.
- the involute tooth shape has the advantages of simple processing and is the most widely used in rigid transmission. But in the harmonic gear transmission, the deformation of the flex spline causes most of the teeth to be in a state of cusp meshing.
- the double-arc public tangent teeth are composed of two arcs and a straight line tangent to them, which improves the problem of too few meshing teeth under no-load conditions, and at the same time greatly increases the number of meshing teeth. It is widely used in harmonic gear transmission. application.
- the present invention provides a conjugate cycloidal tooth profile harmonic reducer with large load and good performance.
- the present invention proposes a conjugate cycloidal tooth profile harmonic reducer, which includes a rigid spline, a flex spline, a wave generator and a flexible bearing; the flexible bearing is installed between the wave generator and the between the flexible splines; the tooth profile of the rigid spline and the flexible spline in the meshing state are conjugate cycloidal tooth profiles, which are composed of two parts: the tooth top profile and the dedendum tooth profile; the The tooth top profile of the rigid wheel is a hypocycloid formed by the first rolling circle purely rolling around the pitch circle of the rigid wheel, and the tooth root profile of the rigid wheel is the second rolling circle purely rolling around the pitch circle of the rigid wheel.
- the epicycloid formed; the tooth root profile of the flexspline is a hypocycloid formed by the first roller purely rolling around the pitch circle of the flexspline in meshing state, and the tooth top profile of the flexspline is the first The epicycloid formed; the tooth
- the wave generator and the flexible bearing are installed in the flexspline, and the flexspline is deformed under the action of the arc curve of the wave generator; within the range of the long axis wrap angle, the flexspline
- the teeth are distributed on the pitch circle of the flexible spline in the meshing state, and mesh with the teeth of the rigid spline, and the normals at any meshing point within the angle range of the major axis intersect at the nodes.
- the trajectories of the nodes on the motion planes of the rigid spline and the flexible spline are respectively the pitch circle of the rigid spline and the pitch circle of the flexible spline in meshing state.
- the conjugate cycloidal tooth profile harmonic reducer of the present invention uses the conjugate cycloidal tooth profile as the tooth profile in the meshing state of the rigid spline and the flexible spline, so it has constant instantaneous speed ratio, large overlap, large load and high precision , It is not easy to produce interference, the relative sliding rate is low and constant, and there is no undercut.
- the tooth profile parameters are less, and parametric design can be realized, which has a theoretical design basis.
- Fig. 1 is a schematic structural diagram of a conjugate cycloidal tooth profile harmonic reducer of the present invention
- Fig. 2 is a schematic diagram of the structure of the wave generator shown in Fig. 1;
- Fig. 3 is a schematic diagram of generation of the conjugate cycloid tooth profile of the reducer shown in Fig. 1;
- Fig. 4 is a schematic diagram of the relationship between the tooth tops of the conjugate cycloidal profile shown in Fig. 3;
- the design concept of the present invention is that the tooth profile of the rigid wheel and the flexible wheel in the harmonic drive reducer is a conjugate cycloidal tooth profile in the meshing state.
- the tooth profile of the rigid spline and the flexible spline in the meshing state is composed of a hypocycloid and an epicycloid formed by two rolling circles respectively around the pitch circle of the rigid spline and the flexible spline in the meshing state, and The sum of the radii of the two rolling circles is equal to the difference between the pitch circle of the rigid spline and the pitch circle of the flexible spline in meshing state;
- the wave generator adopts a double-arc cam wave generator, and the cam curve is long
- the range of the shaft wrap angle is a circular arc
- the tooth profile of the rigid spline and the flexible spline within the wrap angle is in conjugate mesh, and the number of tooth pairs in conjugate mesh can be determined by designing the arc wrap angle.
- the conjugate cycloid profile harmonic reducer designed in the present invention between the tooth top of the rigid wheel and the tooth top of the flexible wheel, between the tooth top of the rigid wheel and the tooth root of the flexible wheel, the Three conjugate intervals are formed between the dedendum of the rigid spline and the addendum of the flexible spline.
- the invention uses the conjugate cycloidal tooth profile as the rigid wheel tooth profile and the flexible wheel tooth profile of the harmonic drive reducer, so it has constant instantaneous speed ratio, wide range of meshing tooth logarithms, non-interference, large load, high precision, relatively
- the sliding rate is low and constant, and the parameters are few and easy to process.
- a harmonic reducer with a conjugate cycloid profile proposed by the present invention includes a rigid spline 1 , a flexible spline 2 , a wave generator 3 and a flexible bearing 4 .
- the wave generator 3 is a double-arc cam wave generator, and the cam curve of the double-arc cam wave generator is within the range of the major axis 4 ⁇ wrapping angle, and is respectively represented by O 2 , O 2 ′ is the center of the circle, and R m is the two arcs of the radius.
- the flexible bearing 4 is installed between the wave generator 3 and the flexible spline 2 .
- the flexible bearing 4 and the flexspline 2 have a certain degree of flexibility, and are deformed under the action of the wave generator 3 , showing an arc shape within the angle range of the long axis 4 ⁇ .
- the tooth profile of the rigid spline 1 and the flexible spline 2 in the meshing state is a conjugate cycloidal profile, which includes the tooth top profile and the dedendum
- the two parts of the tooth profile are composed of two rolling circles respectively around the pitch circle of the rigid spline 1 and the pitch circle of the flexible spline 2 in meshing state to form a hypocycloid and an epicycloid, wherein the rigid spline 1
- the tooth top tooth profile of the rigid wheel is a hypocycloid formed by pure rolling around the pitch circle O 1 of the rigid wheel 1 .
- the root tooth profile is an epicycloid formed by pure rolling around the pitch circle O1 of the rigid wheel 1 and the second rolling circle o2 circumscribed at point P with the pitch circle O1 of the rigid wheel 1; the tooth of the flexible wheel 2
- the root tooth profile is the hypocycloid formed by the pure rolling of the first rolling circle o1 around the pitch circle O2 of the flexspline 2 in the meshing state
- the addendum tooth profile of the flexspline 2 is the second rolling circle o 2 is an epicycloid formed by pure rolling around the pitch circle O 2 of the flexible spline 2 in the meshing state.
- the sum of the radii of the first rolling circle o1 and the second rolling circle o2 is equal to the pitch circle O1 of the rigid wheel 1 and the pitch circle O2 of the flexible wheel 2 in the meshing state
- r 1 is the radius of the first rolling circle o 1
- r 2 is the radius of the second rolling circle o 2
- R 1 is the pitch circle radius of the rigid spline
- R 2 is the pitch circle radius of the flexible spline in the meshing state
- the tooth top profile of the rigid wheel and the tooth top profile of the flexible wheel are also conjugate to each other, realizing the complete conjugate of the tooth profile of the rigid wheel 1 and the tooth profile of the flexible wheel 2, and increasing the efficiency of conjugate meshing
- the number of tooth pairs increases the load-carrying capacity.
- the rolling radius R satisfies:
- the parameter t is the tooth profile parameter, which corresponds to the angle that the rolling circle turns around the pitch circle.
- the conjugate cycloid tooth profile is between the tooth top of the rigid wheel 1 and the tooth top of the flexible wheel 2, between the tooth top of the rigid wheel 1 and the tooth root of the flexible wheel 2, the Three conjugate intervals are formed between the dedendum of the rigid spline 1 and the addendum of the flexible spline 2 .
- the addendum of the rigid spline 1 and the addendum of the flexible spline 2 and the addendum of the rigid spline 1 and the dedendum of the flexible spline 2 are meshed at the same time, and there is an overlapping interval, that is, the conjugate pendulum
- the wave generator 3 and the flexible bearing 4 are loaded into the flexspline 2, and the flexspline 2 is deformed under the action of the arc curve of the wave generator.
- the teeth of the flexible spline 2 are distributed on the pitch circle of the flexible spline 2 in the meshing state, and mesh with the teeth of the rigid spline 1.
- the normal line at any meshing point within the range of the long axis 4 ⁇ wrapping angle, are all intersected at node P, that is, the instantaneous speed ratio of the conjugate cycloid tooth profile is constant.
- the trajectory of the node P on the motion plane of the rigid spline 1 and the flexible spline 2 is respectively the pitch circle O 1 of the rigid spline 1 and the pitch circle O 2 of the flexible spline 2 in meshing state, that is, the The conjugate cycloid tooth profile is in the meshing state within the 4 ⁇ wrap angle range of the major axis, and is in the disengaged state outside the 4 ⁇ wrap angle range of the major axis, as shown in Figure 1. Therefore, by increasing ⁇ , the number of meshing teeth of the conjugate cycloidal profile harmonic reducer can be increased, and the coincidence degree and carrying capacity can be improved.
- the conjugated cycloidal tooth profile designed in the present invention has the characteristics that the cycloids are not easy to interfere, the relative sliding rate is low and constant, and there is no undercut.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
一种共轭摆线齿廓谐波减速器,包括刚轮(1),柔轮(2),波发生器(3)及柔性轴承(4),刚轮(1)齿廓与柔轮(2)齿廓为共轭摆线齿廓,刚轮(1)齿廓与柔轮(2)齿廓由两个滚圆分别绕刚轮(1)节圆与柔轮(2)在啮合状态下的节圆形成的内摆线和外摆线构成,第一滚圆和第二滚圆的半径之和等于刚轮(1)节圆和柔轮(2)在啮合状态下的节圆的半径之差,波发生器(3)采用双圆弧式凸轮波发生器,凸轮曲线在长轴包角范围内为一段圆弧,在包角内刚轮(1)与柔轮(2)齿廓为共轭啮合,通过设计圆弧包角可确定共轭啮合的齿对数。具有瞬时速比恒定,啮合齿对数范围广,不干涉,承载大,精度高,相对滑动率低且恒定,参数少易于加工等优点。
Description
本发明涉及行星传动领域,具体涉及谐波齿轮传动领域,尤其涉及一种共轭摆线齿廓谐波减速器。
近年来,随着生产的发展与科技的进步,航空航天、国防、医疗、机器人、精密数控机床等领域,对减速器提出了更高的要求。尤其在国防与武器装备等特种领域应用的精密减速器,往往具有高承载、高精度、高效率等更为苛刻的性能要求。
目前,行星齿轮传动在工程中得到广泛的应用。其中,谐波齿轮传动具有速比大、结构紧凑等突出优点,成为了工程应用的首选。在谐波齿轮传动中,柔轮随着波发生器的形状产生复杂的弹性变形,因而谐波传动领域的新型齿廓具有更大的设计空间,成为了齿轮传动的研究热点。渐开线齿形具有加工简单等优势,在刚性传动中应用最为广泛。但在谐波齿轮传动中,柔轮的变形导致多数齿处于尖点啮合的状态。双圆弧公切线齿是由两段圆弧及一段与之相切的直线组成,改善了空载状态下啮合齿数过少的问题,同时参与啮合齿数大大提高,在谐波齿轮传动中广为应用。
然而,这些齿形的研究,都是对柔轮变形前的齿形进行设计,利用啮合方程求出复杂的刚轮齿形,进而用简单曲线进行逼近拟合,以满足加工的需要。这种方法会导致实际加工出的齿廓啮合状态与理论分析结果存在偏差,降低齿廓性能;且难以根据性能对齿廓参数进行调整。
发明内容
鉴于现有技术中的上述缺陷或不足,本发明提供一种承载大,性能好的共轭摆线齿廓谐波减速器。
为了解决上述技术问题,本发明提出的一种共轭摆线齿廓谐波减速器,包括刚轮、柔轮、波发生器和柔性轴承;所述柔性轴承安装在所述波发生器与所述柔轮之间;所述刚轮的齿廓与所述柔轮在啮合状态下的齿廓为共轭摆线齿廓,分别由齿顶齿廓和齿根齿廓两部分构成;所述刚轮的齿顶齿廓为第一滚圆绕所述刚轮的节圆纯滚动形成的内摆线,所述刚 轮的齿根齿廓为第二滚圆绕所述刚轮的节圆纯滚动形成的外摆线;所述柔轮的齿根齿廓为第一滚圆绕所述柔轮在啮合状态下的节圆纯滚动形成的内摆线,所述柔轮的齿顶齿廓为第二滚圆绕所述柔轮在啮合状态下的节圆纯滚动形成的外摆线;所述第一滚圆和第二滚圆的半径之和等于所述刚轮节圆和所述柔轮在啮合状态下节圆的半径之差,以实现所述刚轮齿廓与所述柔轮齿廓的完全共轭,增大共轭啮合的齿对数,提高承载能力;所述波发生器为双圆弧式凸轮波发生器,所述的双圆弧式凸轮波发生器的凸轮曲线在长轴包角范围内为圆弧。
进一步讲,本发明所述的共轭摆线齿廓谐波减速器,其中:
所述波发生器和所述柔性轴承装入所述柔轮中,所述柔轮在所述波发生器圆弧曲线的作用下产生变形;在长轴包角范围内,所述柔轮的齿分布在所述柔轮在啮合状态下的节圆上,并与所述刚轮的齿相互啮合,在长轴包角范围内任意啮合点处的法线,均交于节点。
所述节点在所述刚轮与柔轮运动平面上的轨迹分别为所述刚轮的节圆和所述柔轮在啮合状态下的节圆。
所述刚轮的齿顶与所述柔轮的齿顶之间、所述刚轮的齿顶与柔轮齿根之间、所述刚轮的齿根与所述柔轮的齿顶之间形成三个共轭区间;其中,所述刚轮的齿顶与所述柔轮的齿顶、所述刚轮的齿顶与所述柔轮的齿根同时啮合。
与现有技术相比,本发明的有益效果是:
本发明的共轭摆线齿廓谐波减速器,以共轭摆线齿廓作为刚轮与柔轮啮合状态下的齿廓,因此具有瞬时速比恒定,重合度大,承载大,精度高,不易产生干涉,相对滑动率低且恒定,无根切等优点。与目前的,设计柔轮未变形齿廓,进而包络拟合出刚轮齿廓的谐波减速器相比,齿廓参数少,可实现参数化设计,具有理论设计基础。
图1是本发明共轭摆线齿廓谐波减速器的结构示意简图;
图2是图1中所示的波发生器的结构示意简图;
图3是图1所示减速器的共轭摆线齿廓的生成示意图;
图4是图3中所示共轭摆线齿廓齿顶关系的示意图;
图中:1-刚轮,2-柔轮,3-波发生器,4-柔性轴承。
本发明的设计构思是,该谐波传动减速器中的刚轮齿廓与柔轮在啮合状态下的齿廓为共轭摆线齿廓。所述刚轮齿廓与柔轮在啮合状态下的齿廓由两个滚圆分别绕所述刚轮与所述柔轮在啮合状态下的节圆形成的内摆线和外摆线构成,且两个滚圆的半径之和等于所述刚轮节圆和所述柔轮在啮合状态下的节圆的半径之差;其中的波发生器采用双圆弧式凸轮波发生器,凸轮曲线在长轴包角范围内为一段圆弧,在所述包角内刚轮与柔轮齿廓为共轭啮合,通过设计圆弧包角可确定共轭啮合的齿对数。本发明设计的共轭摆线齿廓谐波减速器,所述刚轮的齿顶与所述柔轮的齿顶之间、所述刚轮的齿顶与柔轮齿根之间、所述刚轮的齿根与所述柔轮的齿顶之间形成三个共轭区间。本发明以共轭摆线齿廓作为谐波传动减速器的刚轮齿廓与柔轮齿廓,因此具有瞬时速比恒定,啮合齿对数范围广,不干涉,承载大,精度高,相对滑动率低且恒定,参数少易于加工等优点。
下面结合附图和实施例对本申请作进一步的详细说明,本发明的特征、目的将会变得更明显,可以理解的是,此处所描述的具体实施例仅仅用于解释相关发明,而非对该发明的限定。需要说明的是,为了便于描述,附图中仅示出了与发明相关的部分。另外,需要强调的是:不冲突的情况下,本申请中的实施例及实施例中的特征可以相互组合。
如图1所示,本发明提出的一种共轭摆线齿廓谐波减速器,包括刚轮1、柔轮2、波发生器3和柔性轴承4。
如图2所示,所述波发生器3为双圆弧式凸轮波发生器,所述的双圆弧式凸轮波发生器的凸轮曲线在长轴4γ包角范围内,是分别以O
2、O
2′为圆心,R
m为半径的两段圆弧。
如图1所示,所述柔性轴承4安装在所述波发生器3与所述柔轮2之间。所述柔性轴承4与所述柔轮2具有一定柔性,在所述波发生器3的作用下产生变形,在长轴4γ包角范围内呈现圆弧形状。
如图3所示,所述刚轮1的齿廓与所述柔轮2在啮合状态下的齿廓为共轭摆线齿廓,该共轭摆线齿廓包括齿顶齿廓和齿根齿廓两部分,是由两个滚圆分别绕所述刚轮1节圆与所述柔轮2在啮合状态下的节圆形成的内摆线和外摆线构成,其中,所述刚轮1的齿顶齿廓为与刚轮节圆O
1内切于P点的第一滚圆o
1绕所述刚轮1的节圆O
1纯滚动形成的内摆线,所述刚轮1的齿根齿廓为与刚轮1的节圆O
1外切于P点的第二滚圆o
2绕所述刚轮1的节圆O
1纯滚动形成的外摆线;所述柔轮2的齿根齿廓为所述第一滚圆o
1绕所述柔轮2在啮合状态下的节圆O
2纯滚动形成的内摆线,所述柔轮2的齿顶齿廓为所述第二滚圆o
2 绕所述柔轮2在啮合状态下的节圆O
2纯滚动形成的外摆线。
如图1至图4所示,所述第一滚圆o
1和第二滚圆o
2的半径之和等于所述刚轮1节圆O
1和所述柔轮2在啮合状态下节圆O
2的半径之差,即
r
1+r
2=R
1-R
2
式中,r
1为第一滚圆o
1的半径,r
2为第二滚圆o
2的半径,R
1为刚轮节圆半径,R
2为柔轮在啮合状态下的节圆半径;根据摆线生成等效法,所述刚轮齿顶齿廓与柔轮齿顶齿廓,可由半径为R的滚圆,分别绕刚轮节圆O
1与柔轮在啮合状态下的节圆O
2纯滚动生成。因此,所述刚轮齿顶齿廓与柔轮齿顶齿廓也互相共轭,实现所述刚轮1齿廓与所述柔轮2齿廓的完全共轭,增大了共轭啮合的齿对数,提高了承载能力。其中,滚圆半径R满足:
R=R
1-r
1=R
2+r
2
例如,分别以O
1、O
2为坐标原点,O
1、O
2与P点连线为y
1轴和y
2轴,建立刚轮的坐标系O
1-x
1y
1与柔轮的坐标系O
2-x
2y
2。则所述共轭摆线齿廓在各自坐标系下的方程为
式中,参数t为齿廓参数,对应滚圆绕节圆转过的角度。
所述的共轭摆线齿廓,在所述刚轮1的齿顶与所述柔轮2的齿顶之间、所述刚轮1的 齿顶与柔轮2齿根之间、所述刚轮1的齿根与所述柔轮2的齿顶之间形成三个共轭区间。其中,所述刚轮1的齿顶与所述柔轮2的齿顶、所述刚轮1的齿顶与所述柔轮2的齿根同时啮合,存在区间重合,即所述共轭摆线齿廓存在两点共轭现象,提高了承载能力。
所述波发生器3和所述柔性轴承4装入所述柔轮2中,所述柔轮2在所述波发生器圆弧曲线的作用下产生变形,在长轴包角范围内,所述柔轮2的齿分布在所述柔轮2在啮合状态下的节圆上,并与所述刚轮1的齿相互啮合,在长轴4γ包角范围内任意啮合点处的法线,均交于节点P,即所述共轭摆线齿廓瞬时速比恒定。所述节点P在所述刚轮1与柔轮2运动平面上的轨迹分别为所述刚轮1的节圆O
1和所述柔轮2在啮合状态下的节圆O
2,即所述共轭摆线齿廓在长轴4γ角包角范围内处于啮合状态,在长轴4γ包角范围外处于脱开状态,如图1所示。因此可通过增大γ,增加所述共轭摆线齿廓谐波减速器的啮合齿数,提高重合度及承载能力。
本发明设计的所述共轭摆线齿廓具有摆线不易产生干涉,相对滑动率低且恒定,无根切的特点。
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解,本申请中所涉及的发明范围,并不限于上述技术特征的特定组合而成的技术方案,同时也应涵盖在不脱离本发明构思的情况下,由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。
Claims (4)
- 一种共轭摆线齿廓谐波减速器,包括刚轮(1)、柔轮(2)、波发生器(3)和柔性轴承(4);所述柔性轴承(4)安装在所述波发生器(3)与所述柔轮(2)之间;其特征在于,所述刚轮(1)的齿廓与所述柔轮(2)在啮合状态下的齿廓为共轭摆线齿廓,分别由齿顶齿廓和齿根齿廓两部分构成;所述刚轮(1)的齿顶齿廓为第一滚圆绕所述刚轮(1)的节圆纯滚动形成的内摆线,所述刚轮(1)的齿根齿廓为第二滚圆绕所述刚轮(1)的节圆纯滚动形成的外摆线;所述柔轮(2)的齿根齿廓为第一滚圆绕所述柔轮(2)在啮合状态下的节圆纯滚动形成的内摆线,所述柔轮(2)的齿顶齿廓为第二滚圆绕所述柔轮(2)在啮合状态下的节圆纯滚动形成的外摆线;所述第一滚圆和第二滚圆的半径之和等于所述刚轮(1)节圆和所述柔轮(2)在啮合状态下节圆的半径之差,以实现所述刚轮(1)齿廓与所述柔轮(2)齿廓的完全共轭,增大共轭啮合的齿对数,提高承载能力;所述波发生器(3)为双圆弧式凸轮波发生器,所述的双圆弧式凸轮波发生器的凸轮曲线在长轴包角范围内为圆弧。
- 根据权利要求1所述的共轭摆线齿廓谐波减速器,其特征在于,所述波发生器(3)和所述柔性轴承(4)装入所述柔轮(2)中,所述柔轮(2)在所述波发生器圆弧曲线的作用下产生变形;在长轴包角范围内,所述柔轮(2)的齿分布在所述柔轮(2)在啮合状态下的节圆上,并与所述刚轮(1)的齿相互啮合,在长轴包角范围内任意啮合点处的法线,均交于节点。
- 根据权利要求2所述的共轭摆线齿廓谐波减速器,其特征在于,所述节点在所述刚轮(1)与柔轮(2)运动平面上的轨迹分别为所述刚轮(1)的节圆和所述柔轮(2)在啮合状态下的节圆。
- 根据权利要求1所述的共轭摆线齿廓谐波减速器,其特征在于,所述刚轮(1)的齿顶与所述柔轮(2)的齿顶之间、所述刚轮(1)的齿顶与柔轮(2)齿根之间、所述刚轮(1)的齿根与所述柔轮(2)的齿顶之间形成三个共轭区间;其中,所述刚轮(1)的齿顶与所述柔轮(2)的齿顶、所述刚轮(1)的齿顶与所述柔轮(2)的齿根同时啮合。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110929247.1A CN113446377B (zh) | 2021-08-13 | 2021-08-13 | 共轭摆线齿廓谐波减速器 |
CN202110929247.1 | 2021-08-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023015948A1 true WO2023015948A1 (zh) | 2023-02-16 |
Family
ID=77818727
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2022/089224 WO2023015948A1 (zh) | 2021-08-13 | 2022-04-26 | 共轭摆线齿廓谐波减速器 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN113446377B (zh) |
WO (1) | WO2023015948A1 (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113446377B (zh) * | 2021-08-13 | 2023-03-10 | 天津大学 | 共轭摆线齿廓谐波减速器 |
CN113898712A (zh) * | 2021-10-08 | 2022-01-07 | 吴松涛 | 一种谐波减速机 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101135357A (zh) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | 具有双圆弧齿廓的谐波齿轮传动 |
CN104074948A (zh) * | 2014-07-02 | 2014-10-01 | 天津工业大学 | 具有公切线型双圆弧齿廓的杯形谐波齿轮及其齿廓设计方法 |
CN110020509A (zh) * | 2019-04-17 | 2019-07-16 | 天津工业大学 | 一种具有变系数摆线齿廓的谐波齿轮 |
CN112664638A (zh) * | 2020-11-28 | 2021-04-16 | 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 |
CN113446377A (zh) * | 2021-08-13 | 2021-09-28 | 天津大学 | 共轭摆线齿廓谐波减速器 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60211146A (ja) * | 1984-04-04 | 1985-10-23 | Ebara Corp | 歯車減速装置 |
CN1007545B (zh) * | 1985-08-24 | 1990-04-11 | 沈培基 | 摆线等距线齿轮传动副及其装置 |
JP5970650B2 (ja) * | 2012-08-08 | 2016-08-17 | 株式会社サイベックコーポレーション | サイクロイド歯車および歯車機構 |
CN109707822B (zh) * | 2019-01-18 | 2021-08-31 | 陕西渭河工模具有限公司 | 一种应用于机器人、探测器的小模数谐波传动啮合齿形的设计方法 |
CN112283317B (zh) * | 2020-11-09 | 2022-06-07 | 武汉理工大学 | 一种圆弧摆线谐波齿型及其生成方法、装置及存储介质 |
-
2021
- 2021-08-13 CN CN202110929247.1A patent/CN113446377B/zh active Active
-
2022
- 2022-04-26 WO PCT/CN2022/089224 patent/WO2023015948A1/zh unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101135357A (zh) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | 具有双圆弧齿廓的谐波齿轮传动 |
CN104074948A (zh) * | 2014-07-02 | 2014-10-01 | 天津工业大学 | 具有公切线型双圆弧齿廓的杯形谐波齿轮及其齿廓设计方法 |
CN110020509A (zh) * | 2019-04-17 | 2019-07-16 | 天津工业大学 | 一种具有变系数摆线齿廓的谐波齿轮 |
CN112664638A (zh) * | 2020-11-28 | 2021-04-16 | 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 |
CN113446377A (zh) * | 2021-08-13 | 2021-09-28 | 天津大学 | 共轭摆线齿廓谐波减速器 |
Also Published As
Publication number | Publication date |
---|---|
CN113446377B (zh) | 2023-03-10 |
CN113446377A (zh) | 2021-09-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2023015948A1 (zh) | 共轭摆线齿廓谐波减速器 | |
US11002353B2 (en) | Cycloidal pin wheel harmonic transmission device | |
JP3481335B2 (ja) | 内接噛合型遊星歯車装置 | |
CN107191570B (zh) | 连续共轭杯形或礼帽形谐波齿轮的三圆弧齿廓设计 | |
Chen et al. | Gear geometry of cycloid drives | |
CN104074948A (zh) | 具有公切线型双圆弧齿廓的杯形谐波齿轮及其齿廓设计方法 | |
CN107387721B (zh) | 宽齿双圆弧谐波齿轮 | |
CN111120622B (zh) | 一种改性波凸轮及其设计方法、波发生器和谐波减速器 | |
WO2024055933A1 (zh) | 一种少齿差行星减速机构及其齿形设计方法 | |
CN113032923B (zh) | 一种柔轮及其齿形设计方法和谐波减速器 | |
CN112392935B (zh) | 一种谐波减速装置 | |
CN110020509B (zh) | 一种具有变系数摆线齿廓的谐波齿轮 | |
Jang et al. | Geometry design and dynamic analysis of a modified cycloid reducer with epitrochoid tooth profile | |
CN109084006B (zh) | 摆线齿轮的三角函数修形方法及摆线针轮减速器 | |
CN109307054A (zh) | 一种rv减速器摆线轮及其齿廓的分段修形方法 | |
CN104819267B (zh) | 一种采用非干涉且大范围啮合齿廓的谐波齿轮装置 | |
CN111637200B (zh) | 一种斜齿轮行星传动机构 | |
CN116484531A (zh) | 一种内啮合齿轮齿廓设计修形方法 | |
CN111637193A (zh) | 一种内啮合斜齿轮传动机构 | |
WO2023184652A1 (zh) | 一种非正交椭圆环面蜗杆齿轮副 | |
CN112377595B (zh) | 一种基于空间共轭曲线的内啮合斜齿轮副 | |
EP0161072B1 (en) | Mechanical reduction gear system | |
WO2013004029A1 (zh) | 基于线面共轭的摆线行星传动齿轮 | |
CN112182795A (zh) | 一种谐波减速器不同齿形对比建模方法 | |
Yu et al. | Introducing kinematic fundamentals of strain wave gear for robotic arm joint |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22854950 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |