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Harmonic drive cam

A technology of harmonic drive and cam, applied in the direction of transmission, belt/chain/gear, mechanical equipment, etc., can solve the problems such as limited variation range of cam wrap angle, poor load capacity of harmonic drive, and severe stress change of flexible wheel, etc. Achieve the effect of high transmission efficiency, curve speed mutation point, and easy production and processing

Pending Publication Date: 2022-01-14
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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Problems solved by technology

[0003] The existing characteristic curves basically have a limited variation range of the cam wrap angle, and it is difficult to realize free adjustment, resulting in

Method used

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[0019] The present invention will be described with reference to the accompanying drawings.

[0020] like figure 1 , the harmonic gear transmission pair includes a flexible wheel 1, a rigid wheel 2, and a cam 3, wherein the cam 3 is a shock source that generates harmonic drive fluctuations.

[0021] Based on the original cosine cam characteristic curve, the present invention adds low angular frequency and high angular frequency cosine waves to adjust the cam wrap angle range, so that the characteristic curve changes slowly near the long axis of the cam, and the closer it is to the short axis of the cam, the greater the change Violently, the bearing capacity of the harmonic drive is enhanced, the equivalent ball load is reduced, and the service life of the flexible bearing is improved. figure 2 It is a comparison chart of the cam characteristic curve.

[0022] The cam characteristic curve equation is:

[0023] ρ=R+A×cos(θ)+B×cos(2θ)+C×cos(4θ);

[0024] Among them: where, θ...

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Abstract

The invention discloses a harmonic drive cam. According to the characteristic curve of the cam, low-angular-frequency and high-angular-frequency cosine waves are added on the basis of a cosine function, a low-angular-frequency cosine term is used for reducing the trend that a radius vector of the long axis of the cam becomes smaller, a high-angular-frequency cosine term is used for changing the deformation amount of the short axis of the cam, and the deformation amount of the long axis of the cam is smaller than that of the short axis of the cam. According to the harmonic drive cam, the comprehensive performance of harmonic drive is improved, the harmonic drive wrap angle can be increased through the characteristic curve of the harmonic drive cam, and the harmonic drive bearing capacity is improved.

Description

technical field [0001] The invention relates to a harmonic transmission cam, which belongs to the research field of harmonic gear transmission. Background technique [0002] The cam is an important part of the harmonic gear drive, and its profile (characteristic curve) has a decisive influence on the performance of the harmonic. Currently commonly used cam characteristic curves include cosine, ellipse, Resal curve, four-roller, eccentric disc and other profiles. [0003] The existing characteristic curves basically have a limited variation range of the cam wrap angle, and it is difficult to realize free adjustment, resulting in drastic changes in the stress of the flexwheel within the wrap angle range of the harmonic gear drive, and the relatively poor carrying capacity of the harmonic drive. Contents of the invention [0004] The technical problem to be solved by the present invention is: to propose a new type of harmonic transmission cam, to realize the modification of ...

Claims

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Application Information

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IPC IPC(8): F16H49/00F16H53/00
CPCF16H49/001F16H53/00
Inventor 侍威郑继贵张兆晶黄玉平赵守军杨斌张茸
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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