Flexible wheel axial correction method for inhibiting eccentric wear of harmonic reducer
By constructing a parameterized three-dimensional model of the harmonic reducer and performing simulation, the problem of poor axial correction effect of the soft wheel is solved, and the contact line uniformity and wear of the soft wheel after assembly deformation is achieved, which improves the transmission accuracy and life.
Patent Information
- Application Number
- CN202510474985.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-16
- Publication Date
- 2025-07-18
AI Technical Summary
In the prior art, the soft wheel correction method of harmonic reducer has poor effect. Especially under high-speed heavy-load conditions, the asymmetric wear problem caused by uneven axial load distribution has not been effectively solved. The existing methods lack systematic mathematical modeling and parameter optimization, and do not fully combine the meshing process of the soft wheel and the steel wheel.
By constructing a parameterized three-dimensional model of the harmonic reducer, the gap parameters are introduced and the assembly static simulation is performed, the radial deformation of the flexible wheel is extracted, the shape modification angle is calculated, the shape modification is deduced in reverse, and the multi-condition simulation verification is carried out to compensate for the contact offset caused by the axial deformation of the flexible wheel, and the shape modification plan is optimized based on the actual meshing process.
It significantly improves the axial correction effect of the soft wheel, evens the contact line, reduces contact stress and wear, and improves the transmission accuracy and life.
Smart Images
Figure CN120337660A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of harmonic reducers, and more specifically, it refers to a method for axial correction of a flexspline to suppress eccentric wear of a harmonic reducer. Background Art
[0002] In the field of harmonic reducers, the flexspline, as a core transmission component, has long faced the technical bottleneck of eccentric wear. Existing technologies generally focus on improving material processes (such as multi-stage heat treatment, shot peening) and optimizing tooth profile structures to enhance fatigue resistance, but have not effectively solved the problem of asymmetric wear caused by uneven axial load distribution. Although traditional flexspline manufacturing processes ensure radial accuracy through grinding processes, they ignore the impact of axial geometric correction on dynamic meshing characteristics. Especially under high-speed and heavy-load conditions, the periodic elastic deformation of the flexspline easily leads to an axial gradient distribution of tooth surface contact stress, accelerating local eccentric wear and inducing a decline in transmission accuracy.
[0003] The methods for suppressing eccentric wear of the flexspline in the existing technologies generally have the following problems: 1. Insufficient model accuracy: Traditional two-dimensional models usually ignore the coupling effect of axial deformation and circumferential deformation, resulting in the deviation of the contact area from the actual situation in the simulation (failure of eccentric wear prediction).
[0004] 2. Single modification strategy: Existing modification methods mostly focus on optimizing the circumferential tooth profile (such as involute correction), and do not specifically compensate for the contact offset caused by axial deformation.
[0005] 3. Design method relying on experience: Axial modification parameters (such as tooth root thinning amount, tooth tip transition curve) are mostly based on the trial-and-error method or empirical formulas, lacking systematic mathematical modeling and parameter optimization.
[0006] 4. Lack of dynamic meshing analysis: Existing methods do not fully consider the meshing process of the flexspline and the steel wheel (such as dynamic contact stress, load transfer path), resulting in poor adaptability of the modification scheme to the actual working conditions. Summary of the Invention
[0007] Aiming at the deficiencies of the existing technologies, the purpose of the present invention is to provide a method for axial correction of a flexspline to suppress eccentric wear of a harmonic reducer, so as to solve the technical problem that the effect of the flexspline correction method for suppressing eccentric wear of a harmonic reducer in the existing technologies is poor.
[0008] To solve the above technical problems, the present invention provides a method for axial correction of a flexspline to suppress eccentric wear of a harmonic reducer, including the following steps: S1. Establish a parametric three-dimensional model of the harmonic reducer, and the parametric three-dimensional model includes a steel wheel, a flexspline, a flexible bearing, and a cam; S2. Establish a three-dimensional finite element model of the harmonic reducer with clearance parameters, and the clearance parameters are the clearances between the inner and outer raceways of the flexible bearing and the rollers; S3. Perform the assembly static simulation to simulate the actual deformation state of the flexspline after assembly; S4. Extract the radial deformation of the flexspline and calculate the modification angle; S5. Reverse-derive the modification amount of the flexspline and update the parametric 3D model; S6. Perform simulation verification on multiple working conditions of the modified parametric 3D model and judge the verification results; if the verification results fail, return to step S5 to adjust the modification amount.
[0009] After adopting the above method, a flexspline axial correction method for suppressing eccentric wear of a harmonic reducer of the present invention has the following advantages: By constructing a parametric 3D model of the harmonic reducer and introducing clearance parameters into the 3D finite element model, the contact area of the flexspline in the simulation is more in line with the actual working conditions. By performing the assembly static simulation to simulate the actual deformation state of the flexspline, extracting the radial deformation of the flexspline and calculating the modification angle, and then reverse-deriving the modification amount of the flexspline, the contact offset caused by the axial deformation of the flexspline is compensated specifically, so that the contact line of the flexspline is uniform after assembly deformation. And after modification, perform simulation verification on multiple working conditions, fully combine the actual meshing process of the flexspline and the steel wheel, analyze the changes in dynamic contact stress and load transfer path, and make the modification scheme adapt to the actual working conditions, thereby improving the effect of flexspline axial correction.
[0010] As an improvement, the parametric 3D model in step S1 includes: Tooth profile parameters and initial meshing clearance of the steel wheel; Original tooth profile and cylinder structure of the flexspline without modification; Outer ring, inner ring, rollers, cage of the flexure bearing, and the clearance between the raceways of the inner and outer rings of the flexure bearing and the rollers; Profile shape and assembly relationship of the cam; By adopting this method, by refining the 3D model parameters of each component of the harmonic reducer and introducing the clearance between the raceways of the inner and outer rings of the flexure bearing and the rollers, the parametric 3D model is more in line with the actual working conditions and the effect of flexspline axial correction is improved.
[0011] As an improvement, the following settings are made in the 3D finite element model in step S2: Define the material properties of the harmonic reducer; Locally refine the mesh of the tooth part, cylinder of the flexspline and the contact area between the flexspline and the flexure bearing; Define the interaction relationship of the harmonic reducer; Fix the outer ring of the steel wheel and constrain the bottom flange of the flexspline, and apply a radial pre-tightening force of the cam to the inner ring of the flexure bearing; By adopting this method, by refining the 3D finite element model parameters of the harmonic reducer, the 3D finite element model is more in line with the actual working conditions and the effect of flexspline axial correction is improved.
[0012] As an improvement, step S4 includes the following steps: S4.1. Locate the long-axis region of the flexspline in the simulation results; S4.2. Select several cross-sections along the axial direction of the flexspline in the long-axis region of the flexspline, and extract the radial displacement difference Δh between adjacent cross-sections; S4.3. Based on the radial displacement distribution, calculate the axial deformation angle θ of the flexspline through the formula θ = arctan(Δh / L), where L is the axial distance between adjacent cross-sections: S4.4. Generate the axial deformation curve of the flexspline; In this way, under actual working conditions, the meshing region during the meshing process of the steel gear and the flexspline changes constantly, and each tooth of the flexspline will experience the alternation of the long axis and the short axis. Only the teeth at the long axis are involved in meshing. Therefore, the long-axis region of the flexspline is determined through the simulation results, and the modification amount is determined according to the deformation at the long axis of the flexspline, making the modification more accurate. The generated axial deformation curve of the flexspline can be used as the input basis for reverse modification.
[0013] As an improvement, step S5 includes the following steps: S5.1. According to the axial deformation angle θ of the flexspline, inversely deduce the reverse compensation modification amount δ required for each axial position of the flexspline, δ = tanθ ∙ Lx, where Lx is the axial position dimension of any cross-section of the flexspline; S5.2. In the parametric three-dimensional model, inversely correct the axial profile of the teeth of the flexspline; In this way, according to the calculation formula, the axial profile of the teeth of the flexspline is inversely corrected specifically, improving the correction effect.
[0014] As an improvement, step S6 includes the following steps: S6.1. Reconstruct a three-dimensional finite element model based on the modified parametric three-dimensional model, set the non-linear contact algorithm, and simulate the following working conditions: Static meshing: Verify the area and pressure distribution of the tooth surface contact region between the flexspline and the steel gear; Dynamic load: Apply variable speed and variable load input, and analyze the trend of uneven wear on the tooth surface of the flexspline; S6.2. Compare the contact patch area and stress concentration coefficient of the flexspline before and after modification; S6.3. Judge the verification results. If the verification results fail, return to step S5 to adjust the modification amount; In this way, fully combining the actual meshing process of the flexspline and the steel gear, analyzing the changes in dynamic contact stress and load transfer path, making the modification scheme match the actual working conditions. For those modification schemes that do not match the actual working conditions, return to step S5 to re-modify, thereby improving the modification effect.
[0015] As an improvement, if the verification results pass in step S6, then enter step S7; S7. Physical machine sample test and effect confirmation: In this way, for the modification scheme that is compatible with the actual working conditions, an actual prototype test is carried out to confirm the effect of partial wear suppression.
[0016] As an improvement, step S7 includes the following steps: S7.1. Machine a flexspline prototype according to the final modification parameters and assemble it into a harmonic reducer; S7.2. Conduct a load endurance test and record the transmission error and wear amount under the rated torque; S7.3. Compare the data of the unmodified prototype to confirm the effect of partial wear suppression. Description of the Drawings
[0017] Figure 1 It is a schematic diagram of the flexspline structure after modification using the present invention.
[0018] Figure 2 It is an enlarged view of the deformation of the flexspline at the long axis.
[0019] Figure 3 It is an enlarged view of the deformation of the flexspline at the short axis.
[0020] Figure 4 It is a schematic diagram of the flexspline warping before modification.
[0021] Figure 5 It is a schematic diagram of the flexspline warping after modification using the present invention.
[0022] Figure 6 It is a diagram of the meshing area between the rigid spline and the flexspline before modification.
[0023] Figure 7 It is a schematic diagram of the meshing area between the rigid spline and the flexspline after modification using the present invention.
[0024] Figure 8 It is a diagram of the contact area between the flexspline and the rigid spline under multi-condition dynamic loads before modification.
[0025] Figure 9 It is a diagram of the contact area between the flexspline and the rigid spline under multi-condition dynamic loads after modification using the present invention.
[0026] Figure 10 It is a schematic diagram of the contact stress of the flexspline under multi-condition dynamic loads before modification.
[0027] Figure 11 It is a schematic diagram of the contact stress of the flexspline under multi-condition dynamic loads after modification using the present invention.
[0028] Figure 12 It is a diagram of the wear mark of the flexspline before modification.
[0029] Figure 13 It is a diagram of the wear mark of the flexspline after modification using the present invention.
[0030] Figure 14 It is the transmission error diagram of the flexspline before modification. Figure 15 It is the transmission error diagram of the flexspline after modification using the present invention.
[0031] Figure 16 It is the assembly schematic diagram of the flexspline and the flexible bearing.
[0032] Figure 17 It is the schematic diagram of the deformation amount under each cross-section of the flexspline.
[0033] Figure 18 It is the schematic diagram of the modification amount at each position of the flexspline.
[0034] Reference numerals: 1, flexspline; 2, flexible bearing. Detailed implementation manners
[0035] The following combines the accompanying drawings to make a detailed description of a method for axially correcting a flexspline to suppress eccentric wear of a harmonic reducer according to the present invention.
[0036] A method for axially correcting a flexspline to suppress eccentric wear of a harmonic reducer includes the following steps: S1. Establish a parametric three-dimensional model of the harmonic reducer, and the parametric three-dimensional model includes a steel gear, a flexspline 1, a flexible bearing 2, and a cam; S2. Establish a three-dimensional finite element model of the harmonic reducer with clearance parameters, and the clearance parameters are the clearances between the inner and outer raceways of the flexible bearing 2 and the rollers; S3. Perform an assembly static simulation to simulate the actual deformation state of the flexspline 1 after assembly; S4. Extract the radial deformation amount of the flexspline 1 and calculate the modification angle; S5. Reverse-derive the modification amount of the flexspline 1 and update the parametric three-dimensional model; S6. Perform simulation verification on multiple working conditions of the modified parametric three-dimensional model and judge the verification result; if the verification result fails, return to step S5 to adjust the modification amount.
[0037] The parametric three-dimensional model in step S1 includes: the tooth profile parameters and initial meshing clearance of the steel gear, the original tooth profile and cylinder structure of the flexspline 1 without modification, the bearing outer ring, bearing inner ring, bearing rollers, and bearing cage of the flexible bearing 2, as well as the clearances between the inner and outer raceways of the flexible bearing 2 and the rollers, and the contour shape and assembly relationship of the cam; establish a parametric three-dimensional model including the above components in a three-dimensional modeling software, wherein the steel gear is sleeved on the outer ring of the flexspline 1, the flexible bearing 2 is connected to the inner ring of the flexspline 1, and the cam is connected to the inner ring of the flexible bearing 2. In addition, it is necessary to ensure that the model parameters of the parametric three-dimensional model can be dynamically adjusted (such as the tooth profile curve of the flexspline 1, the axial modification position, the axial modification amount, etc.) to support subsequent modification iterations.
[0038] In the three-dimensional finite element model in step S2, the following settings are required: define the material properties of the harmonic reducer, locally refine the mesh for the tooth part of the flexspline 1, the cylinder body, and the contact area between the flexspline 1 and the flexure bearing 2, define the interaction relationships of the harmonic reducer, fix the outer ring of the circular spline and constrain the bottom flange of the flexspline 1, and apply a radial preload force of the cam to the inner ring of the flexure bearing 2. Among them, the definition of the material properties of the harmonic reducer includes material density, elastic modulus, and Poisson's ratio. That is, for the circular spline, flexspline 1, flexure bearing 2, and cam in the harmonic reducer, the above material properties are defined respectively. The interaction relationships of the harmonic reducer also refer to the interaction relationships among these four components.
[0039] The above steps S1 and S2 are both to make the contact area of the flexspline 1 in the simulation more conform to the actual working conditions, thereby improving the correction effect. Among them, the actual clearance between the inner and outer raceways of the flexure bearing 2 and the rollers is generally 0.016 - 0.019 mm, and 0.018 mm is selected in this embodiment.
[0040] Under actual working conditions, since the cam is elliptical, the flexspline 1 will be deformed into an elliptical shape, so it has a major axis and a minor axis. The meshing area during the meshing process between the circular spline and the flexspline 1 changes constantly. Each tooth of the flexspline 1 will experience the alternation of the major axis and the minor axis, and only the teeth at the major axis are involved in meshing. As Figure 2 and Figure 3 shown, the enlarged deformation diagrams of the flexspline 1 at the major axis and the minor axis are respectively. The deformation amount is enlarged ten times in both figures.
[0041] Step S4 includes the following steps: S4.1. Locate the major axis region of the flexspline 1 in the simulation results; determine the modification amount according to the deformation at the major axis of the flexspline 1 to make the modification more accurate; S4.2. Select several cross-sections along the axial direction of the flexspline 1 in the major axis region of the flexspline 1, and extract the radial displacement difference Δh between adjacent cross-sections; S4.3. Based on the radial displacement distribution, calculate the axial deformation angle θ of the flexspline 1 through the formula θ = arctan(Δh / L), where L is the axial distance between adjacent cross-sections. For specific reference, see Figure 17 ; S4.4. Generate the axial deformation curve of the flexspline 1, which can be used as the input basis for reverse modification.
[0042] As Figure 16 shown, the left-right direction in the figure is the axial direction of the flexspline 1, and the up-down direction is the radial direction of the flexspline 1. Due to the effect of the outer ring of the flexure bearing 2, there is a boundary in the axial deformation of the flexspline 1, and the warping angles of the flexspline 1 on both sides of the deformation boundary are different. Different modification strategies are adopted according to different warping angles; as Figure 16As shown, the demarcation point is the left end of the flexible bearing 2. For the part of the flexspline 1 that does not contact the flexible bearing 2 (the left side of the left end of the flexible bearing 2) and the part of the flexspline 1 that contacts the flexible bearing 2 (the right side of the left end of the flexible bearing 2), the warping angles of the two parts are different. When calculating the warping deformation angle θ of each part, refer to Figure 17 , Figure 17 , the left - right direction in
[0043] is the axial direction, and the up - down direction is the radial direction. The deformation angle θ in the same part is basically the same. Therefore, a unified deformation angle θ can be obtained, and the deformation angles of the two parts of the flexspline 1 are calculated respectively in the same way. Step S5 includes the following steps: S5.1. According to the axial deformation angle θ of the flexspline 1 and combined with the tooth profile meshing theory of the flexspline 1, inversely deduce the reverse compensation modification amount δ required for each axial position of the flexspline 1, δ = tanθ ∙ Lx, where Lx is the axial position dimension of any cross - section of the flexspline 1;
[0044] Specifically, refer to Figure 18 , Lx is specifically the axial distance between any cross - section position of the flexspline 1 and the demarcation point of deformation. In this way, the reverse compensation modification amount δ at any position of the flexspline 1 is calculated, and the reverse compensation modification amounts δ at each position of the two parts of the flexspline 1 can be calculated in this way.
[0045] Step S6 includes the following steps: S6.1. Re - construct a three - dimensional finite - element model based on the modified parametric three - dimensional model, set the non - linear contact algorithm (augmented Lagrangian method), and simulate the following working conditions: Static meshing: Verify the area and pressure distribution of the contact region between the tooth surfaces of the flexspline 1 and the steel gear; Dynamic load: Apply variable - speed and variable - load input to analyze the trend of uneven wear of the tooth surface of the flexspline 1; S6.2. Compare the contact patch area (an increase of ≥ 15% is considered effective) and the stress concentration coefficient of the flexspline 1 before and after modification; S6.3. Judge the verification result, that is, whether the contact area is uniform and whether the coverage area meets the standard. If the verification result fails, return to step S5 to adjust the modification amount. That is to say, if there is local non - contact or overload of the flexspline 1, return to step S5 to adjust the modification amount and re - iterate, and specifically adjust the modification amount at the non - contact or overload position.
[0046] If the verification result passes in step S6, that is, the contact area is uniform and the coverage area meets the standard, then enter step S7; S7. Physical machine sample test and effect confirmation.
[0047] Step S7 includes the following steps: S7.1. Machine the prototype of the flexspline 1 according to the final modification parameters and assemble it into the harmonic reducer; S7.2. Conduct a load endurance test and record the transmission error and wear amount under the rated torque; S7.3. Compare with the data of the unmodified prototype to confirm the effect of suppressing eccentric wear.
[0048] Through constructing a parametric three-dimensional model of the harmonic reducer and introducing clearance parameters into the three-dimensional finite element model, the contact area of the flexspline 1 in the simulation is more in line with the actual working conditions. By simulating the static assembly to simulate the actual deformation state of the flexspline 1, extracting the radial deformation amount of the flexspline 1 and calculating the modification angle, and then inversely deducing the modification amount of the flexspline 1, the contact offset caused by the axial deformation of the flexspline 1 is compensated specifically, so that the contact line of the flexspline 1 is uniform after assembly deformation. And after modification, multi-condition simulations are carried out to fully combine the actual meshing process of the flexspline 1 and the steel gear, analyze the changes in dynamic contact stress and load transfer path, and make the modification scheme adapt to the actual working conditions, thereby improving the axial correction effect of the flexspline 1.
[0049] Based on the axial deformation amount of the flexspline 1 (obtained through pre-simulation), this invention designs an inverse correction function to make the contact line of the flexspline 1 uniform after assembly deformation; by iteratively calculating the tooth surface contact trajectory of the deformed flexspline 1, the contact pressure distribution is corrected, the high-risk areas of eccentric wear are identified, and the global wear uniformity is balanced; fully combining the actual meshing process (high rotational speed, large load) of the flexspline 1 and the steel gear, analyze the changes in dynamic contact stress and load transfer path, and make the modification scheme adapt to the actual working conditions; use a white light interferometer to measure the wear depth distribution of the tooth surface of the flexspline 1 and compare it with the predicted wear area in the simulation to verify the model accuracy.
[0050] Reference Figure 4 With Figure 5 And Figure 6 And Figure 7 , after being modified by this invention, the contact area between the flexspline 1 and the steel gear is significantly improved, and the meshing area between the flexspline 1 and the steel gear is also significantly improved. Among them, the axial deformation angle of the flexspline 1 drops from 0.556° to 0.02°. In addition, Figure 8 And Figure 9 , the abscissa is the load torque, the unit is N·mm, the ordinate is the contact area, the unit is mm^2, while in Figure 10 And Figure 11 , the abscissa is the load torque, the unit is N·mm, the ordinate is the contact stress, the unit is MPa. It can be clearly seen from this that the contact area of the modified flexspline 1 is significantly improved and the contact stress is significantly reduced.
[0051] Reference Figure 12 And Figure 13, under 500 hours of wear, the wear degree of the modified flexspline 1 decreases significantly; Figure 14 and Figure 15 , the abscissa is the rotation angle of the output end of the harmonic reducer, and the ordinate is the transmission error value of the harmonic reducer, with the unit of Arc sec. The transmission error of the modified flexspline 1 also decreases significantly.
[0052] After being modified by the present invention, under the rated torque, the warping angle at the long axis of the flexspline 1 decreases from 0.556° to 0.02°. More than 80% of the tooth surface in the tooth width direction bears the load, and the transmission error is 15 arc seconds. The tooth surface contact area, the maximum contact pressure, and the transmission error of the modified flexspline 1 are 236%, 38.13%, and 71.43% of those of the straight-tooth flexspline 1 (unmodified), respectively. The phenomenon of eccentric wear is improved, and the load-bearing capacity, service life, and accuracy retention of the flexspline 1 are improved, and it has good transmission performance.
[0053] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above-mentioned one embodiment. All other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present invention.
Claims
1. A flexible gear axial correction method for suppressing eccentric wear of a harmonic reducer, characterized in that It includes the following steps: S1. Establish a parametric 3D model of the harmonic reducer, where the parametric 3D model includes a steel gear, a flexspline (1), a flexible bearing (2), and a cam; S2. Establish a 3D finite element model of the harmonic reducer with clearance parameters, where the clearance parameters are the clearances between the inner and outer raceways of the flexible bearing (2) and the rollers; S3. Perform an assembly static simulation to simulate the actual deformation state of the flexspline (1) after assembly; S4. Extract the radial deformation of the flexspline (1) and calculate the modification angle; S5. Reverse-derive the modification amount of the flexspline (1) and update the parametric 3D model; S6. Perform simulation verification on multiple working conditions of the modified parametric 3D model and judge the verification results; If the verification result fails, return to step S5 to adjust the modification amount.
2. The flexible gear axial correction method for suppressing eccentric wear of a harmonic reducer according to claim 1, characterized in that The parametric 3D model in step S1 includes: The tooth profile parameters and initial meshing clearance of the steel gear; The original tooth profile and cylinder structure of the unmodified flexspline (1); The bearing outer ring, bearing inner ring, bearing rollers, bearing cage of the flexible bearing (2), and the clearances between the inner and outer raceways of the flexible bearing (2) and the rollers; The contour shape and assembly relationship of the cam.
3. The flexible gear axial correction method for suppressing eccentric wear of a harmonic reducer according to claim 1, characterized in that, In the 3D finite element model in step S2, the following settings are made: Define the material properties of the harmonic reducer; Perform local mesh encryption on the tooth part, cylinder of the flexspline (1), and the contact area between the flexspline (1) and the flexible bearing (2); Define the interaction relationship of the harmonic reducer; Fix the outer ring of the steel gear and constrain the bottom flange of the flexspline (1), and apply the radial pre-tightening force of the cam to the inner ring of the flexible bearing (2).
4. The flexible gear axial correction method for suppressing eccentric wear of a harmonic reducer according to claim 1, characterized in that Step S4 includes the following steps: S4.
1. Locate the long-axis area of the flexspline (1) in the simulation results; S4.
2. Select several cross-sections along the axial direction of the flexspline (1) in the long-axis area of the flexspline (1), and extract the radial displacement difference Δh between adjacent cross-sections; S4.
3. Based on the radial displacement distribution, calculate the axial deformation angle θ of the flexspline (1) through the formula θ = arctan(Δh / L), where L is the axial distance between adjacent cross-sections; S4.
4. Generate the axial deformation curve of the flexspline (1).
5. The flexible gear axial correction method for suppressing eccentric wear of the harmonic reducer according to claim 4, characterized in that Step S5 includes the following steps: S5.
1. According to the axial deformation angle θ of the flexspline (1), reverse-derive the reverse compensation modification amount δ required for each axial position of the flexspline (1), δ = tanθ∙Lx, where Lx is the axial position dimension of any cross-section of the flexspline (1); S5.
2. In the parametric 3D model, perform reverse correction on the axial profile of the tooth part of the flexspline (1).
6. The flexible gear axial correction method for suppressing eccentric wear of a harmonic reducer according to claim 1, wherein Step S6 includes the following steps: S6.
1. Reconstruct a 3D finite element model based on the modified parametric 3D model, set a non-linear contact algorithm, and simulate the following working conditions: Static meshing: Verify the area and pressure distribution of the contact area between the tooth surfaces of the flexspline (1) and the steel gear; Dynamic load: Apply variable speed and variable load input, and analyze the tooth surface uneven wear trend of the flexspline (1); S6.
2. Compare the contact patch area and stress concentration coefficient of the flexspline (1) before and after modification; S6.
3. Judge the verification result. If the verification result fails, return to step S5 to adjust the modification amount.
7. The flexible gear axial correction method for suppressing eccentric wear of a harmonic reducer according to claim 1, characterized in that, If the verification result passes in step S6, proceed to step S7; S7. Physical machine sample test and effect confirmation.
8. The flexible gear axial correction method for suppressing eccentric wear of a harmonic reducer according to claim 7, characterized in that Step S7 includes the following steps: S7.
1. Machine a prototype of the flexspline (1) according to the final modification parameters and assemble it to the harmonic reducer; S7.
2. Conduct a load endurance test and record the transmission error and wear amount under the rated torque; S7.
3. Compare the data of the unmodified prototype to confirm the effect of suppressing eccentric wear.