A tooth profile optimization method for a harmonic reducer rigid wheel

Abstract

The invention discloses a method for optimizing the tooth shape of a rigid wheel of a harmonic reducer. The real parameters of the flexible wheel of the harmonic reducer under the meshing motion state are obtained by using a measuring device for the radial deformation of the tooth of the flexible wheel of the harmonic reducer. , through MATLAB simulation to obtain the motion trajectory that highly fits the real flexspline motion, take the envelope of the flexspline trajectory, and use multiple arcs to fit the envelope based on the envelope to obtain the tooth profile of the optimized rigid spline. The present invention can effectively optimize the tooth profile of the rigid wheel of the harmonic reducer. The side clearance between the rigid wheel and the flexible wheel optimized by the present invention is smaller, the meshing transmission efficiency is higher, the force on the tooth surface is more uniform, and the service life is longer. The flex spline and the rigid spline have better meshing performance, better tooth surface contact stress conditions, and prevent interference with the flex spline due to unreasonable tooth shape design of the rigid spline.

Description

technical field [0001] The invention relates to the technical field of the tooth profile design of the harmonic reducer, in particular to a method for optimizing the tooth profile of the harmonic reducer, which is suitable for optimizing the tooth profile of the harmonic reducer and reducing the backlash of the reducer. Improve the meshing performance of the harmonic reducer, so that the force is more uniform when the flexible wheel meshes with the steel wheel. Background technique [0002] The wave reducer has the characteristics of large transmission ratio, high transmission accuracy, compact structure and strong bearing capacity, so it is suitable for high-precision, high-load, small installation space application scenarios, and is currently widely used in aerospace, industrial robots and other fields. The harmonic reducer is mainly composed of wave generator, rigid wheel and flexible wheel. The wave generator is installed inside the flexible wheel, and the flexible whee...

AI Technical Summary

Problems solved by technology

The biggest problem with this method is that the substituted flexspline parameters mostly use empirical values ​​or are obtained through static measurement methods, and the flexspline parameters obtained by the above two methods are not accurate, so it is difficult to simulate the flexspline motion track close to the real situation. The transmission effect of the rigid wheel tooth shape and the flexible wheel tooth shape obtained by the envelope is poor in the actual meshing process, and even the phenomenon of interference between the flexible wheel and the rigid wheel may occur

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