Three-dimensional tooth profile design method for harmonic reducer flexible gear

Abstract

The invention discloses a three-dimensional tooth profile design method for a harmonic reducer flexible gear. The method comprises the steps of building a flexible gear and rigid gear tooth profile parameter equation; calculating the minimum meshing backlash CX of the flexible gear tooth profile and the rigid gear tooth profile under different polar angles; calculating the circumferential displacement v delta of the flexible gear generated by the fit clearance between the wave generator parts and the fit clearance between the wave generator and the inner wall of the flexible gear; calculating flexible gear circumferential displacement generated by elastic contact deformation of a flexible bearing roller and inner and outer ring channels, and calculating circumferential displacement vp caused by the stretching effect of a flexible gear neutral layer curve; calculating the circumferential displacement variation vKP of each section of the flexible gear ring relative to the main section; calculating the minimum meshing backlash amount vTi of different sections of the flexible gear ring at different conjugate angles; calculating the minimum meshing backlash CX of the section by adopting a numerical iteration method, and solving the displacement h of different section tooth profiles of the flexible gear ring; and obtaining a flexible gear three-dimensional tooth deformation displacement curve; according to the design method, the circumferential stretching displacement of the flexible gear ring under the load working condition is fully considered, and meshing interference of the harmonic reducer is avoided.

Description

technical field [0001] The invention relates to the technical field of harmonic reducers, and specifically discloses a three-dimensional tooth profile design method for a flexspline of a harmonic reducer, in particular to a three-dimensional tooth shape of a flexspline of a harmonic reducer that changes the thickness of the rim of the flexspline ring gear shape design method. Background technique [0002] The harmonic reducer is mainly composed of a flexible spline, a rigid spline and a wave generator. It relies on the flexible spline to produce periodic controllable elastic deformation under the action of the wave generator to realize the meshing motion of the gear teeth and complete the motion and power transmission. The reduction device has a series of advantages such as large transmission ratio, wide range of transmission ratio and high precision. Whether it is used as a precision transmission of a high-sensitivity follow-up system or as a power transmission that transm...

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Problems solved by technology

[0004] In view of this, in order to solve the design method of backlash-free contact between the tooth profile of the soft wheel and the tooth profile of the rigid wheel in the assembly state of the existing harmonic reducer, there is When the flexible spline and the rigid spline are meshed under load, it is very easy to cause mesh-in and mesh-out interference, which affects the operating reliability and service life of the harmonic reducer. A three-dimensional tooth shape design method for the harmonic reducer flexible spline is provided, which fully considers The circumferential tensile displacement of the flexspline ring gear under the load condition, the displacement h is applied to the tooth profile of the flexspline ring gear in different sections, that is, the thickness of the flexspline ring gear rim is changed to avoid the meshing of the harmonic reducer interference problem

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