Harmonic reducer torsional stiffness analysis method

Abstract

The application discloses a kind of harmonic reducer torsional stiffness analysis method, computer readable storage medium and electronic equipment, it is related to harmonic reducer technical field, the harmonic reducer torsional stiffness analysis method provided by the present application includes establishing multiple finite element grid models;Reference point is respectively set on each finite element grid model;The contact relationship between each finite element grid model is established;The boundary condition of each finite element grid model is defined;The load condition of each finite element grid model is defined, and the analysis result of simulation is read.The technical scheme of the present application is established by the way of finite element grid model, the calculation of torsional stiffness can be quickly completed by simulation, and the influence of each link of harmonic reducer on torsional stiffness can be analyzed, product structure is optimized, to shorten product development cycle, save cost.

Description

Technical Field

[0001] This invention relates to the field of vehicle harmonic reducer technology, and particularly to a method for analyzing the torsional stiffness of harmonic reducers, a computer-readable storage medium, and an electronic device. Background Technology

[0002] Harmonic reducers are core components of robot joints, and their torsional stiffness has a significant impact on the dynamic performance and positioning accuracy of robot joints. Therefore, it is necessary to study the stiffness during the design and selection phases.

[0003] Generally speaking, when the input side of a harmonic reducer is fixed and a torque is applied to the output side, the output shaft will produce a torsional angle that is almost proportional to the torque. The ratio of torque to torsional angle is defined as the torsional stiffness of the harmonic reducer.

[0004] Currently, the torsional stiffness of harmonic reducers is generally obtained through experimental testing. This testing can usually only be carried out after the product is manufactured, and it requires a lot of experimental tooling as an aid, which prolongs the product development cycle and increases costs. In addition, if the torsional stiffness of the harmonic reducer fails to meet the design requirements, it is difficult to quickly identify the weak links affecting the torsional stiffness. Summary of the Invention

[0005] The main objective of this invention is to propose a method for analyzing the torsional stiffness of harmonic reducers, aiming to solve the technical problems in the prior art where stiffness tests can only be conducted after the product is manufactured, which lengthens the development cycle and makes it difficult to quickly troubleshoot problems when the stiffness does not meet the design requirements.

[0006] To achieve the above objectives, this invention proposes a method for analyzing the torsional stiffness of a harmonic reducer, the method comprising:

[0007] Multiple finite element mesh models are established and assembled into a finite element analysis model suitable for torsional stiffness calculation based on their geometric positional relationships. The finite element mesh model includes a rigid wheel, a flexible wheel, a cam, a flexible bearing, an input shaft, and an output shaft.

[0008] Set corresponding reference points for the finite element mesh model, and couple the finite element mesh model with the corresponding reference points;

[0009] Establish the contact relationships between each of the finite element mesh models;

[0010] Define the boundary conditions of the finite element mesh model;

[0011] Define the applied load conditions for the finite element mesh model and read the analysis results of the simulation.

[0012] In one embodiment, setting corresponding reference points for the finite element mesh model and coupling the finite element mesh model with the corresponding reference points includes:

[0013] A first reference point corresponding to the input shaft, a second reference point corresponding to the rigid wheel, a third reference point corresponding to the output shaft, and a fourth reference point corresponding to the flexible bearing are selected respectively.

[0014] The first coupling node on the input shaft, the second coupling node of the rigid wheel, the third coupling node of the output shaft, and the fourth coupling node of the cage of the flexible bearing are respectively obtained;

[0015] Based on the motion coupling rule, the first coupling node is sequentially coupled to the first reference point, the second coupling node is coupled to the second reference point, the third coupling node is coupled to the third reference point, and the third coupling node is coupled to the fourth reference point.

[0016] In one embodiment, establishing the contact relationship between each of the finite element mesh models includes:

[0017] Obtain the position information of each of the reference points;

[0018] The initial position of the corresponding finite element mesh model is determined based on each of the aforementioned position information.

[0019] Move each of the finite element mesh models to its corresponding initial position.

[0020] In one embodiment, after the step of moving each of the finite element mesh models to its corresponding initial position, the method further includes the following steps:

[0021] A first coefficient of friction is established between the cam and the inner ring of the flexible bearing, between the outer ring of the flexible bearing and the flexure wheel, and between the flexure wheel and the rigid wheel.

[0022] A second coefficient of friction is established between the inner ring and the rollers of the flexible bearing, between the outer ring and the rollers, and between the cage of the flexible bearing and the rollers.

[0023] In one embodiment, the boundary conditions for defining the finite element mesh model include:

[0024] Six-degree-of-freedom fully fixed constraints are applied to the input shaft and the rigid wheel;

[0025] The output shaft and the cage of the flexible bearing retain rotational degrees of freedom along the central axis, while the remaining degrees of freedom are fixed and constrained.

[0026] In one embodiment, defining the applied load conditions for the finite element mesh model and reading the simulation results includes:

[0027] The analysis steps of the finite element mesh model are established based on implicit dynamic rules;

[0028] Define the torque ratio curve based on the analysis steps described above;

[0029] Apply the corresponding torque to the output shaft according to the torque ratio curve, and read the simulation analysis results.

[0030] In one embodiment, applying a corresponding torque to the output shaft according to the torque ratio curve includes:

[0031] Obtain the rated torque;

[0032] The applied torque is determined based on the torque ratio curve and the rated torque.

[0033] Apply the corresponding torque to the output shaft according to the applied torque, and read the analysis results of the simulation.

[0034] In one embodiment, establishing multiple finite element mesh models includes:

[0035] A basic model is established, and the basic model is subjected to structured mesh generation to obtain a finite element mesh model;

[0036] Define the material properties and section properties of the finite element mesh model.

[0037] In addition, to solve the above problems, the present invention also proposes a computer-readable storage medium storing a harmonic reducer torsional stiffness analysis program, wherein when the harmonic reducer torsional stiffness analysis program is executed by a processor, the steps of the harmonic reducer torsional stiffness analysis method described above are implemented.

[0038] Furthermore, to address the aforementioned problems, the present invention also proposes an electronic device comprising one or more processors and a memory, wherein the memory stores a torsional stiffness analysis program for a harmonic reducer, and when the processor executes the torsional stiffness analysis program for the harmonic reducer, it implements the steps of the torsional stiffness analysis method for the harmonic reducer as described above.

[0039] The torsional stiffness analysis method for harmonic reducers provided by this invention can quickly calculate the torsional stiffness through simulation by establishing a finite element mesh model. It can also analyze the influence of each component of the harmonic reducer on the torsional stiffness, optimize the product structure, thereby shortening the product development cycle and saving costs. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0041] Figure 1 This is a flowchart illustrating a method for analyzing the torsional stiffness of a harmonic reducer according to an embodiment of the present invention.

[0042] Figure 2 A flowchart illustrating a method for analyzing the torsional stiffness of a harmonic reducer, provided in another embodiment of the present invention.

[0043] Figure 3 A flowchart illustrating a method for analyzing the torsional stiffness of a harmonic reducer, provided in another embodiment of the present invention.

[0044] Figure 4 A flowchart illustrating a method for analyzing the torsional stiffness of a harmonic reducer, provided in another embodiment of the present invention.

[0045] Figure 5 A flowchart illustrating a method for analyzing the torsional stiffness of a harmonic reducer, provided in another embodiment of the present invention.

[0046] Figure 6 A flowchart illustrating a method for analyzing the torsional stiffness of a harmonic reducer, provided in another embodiment of the present invention.

[0047] Figure 7 A flowchart illustrating a method for analyzing the torsional stiffness of a harmonic reducer, provided in another embodiment of the present invention.

[0048] Figure 8 This is a torque ratio curve defined in the torsional stiffness analysis method for harmonic reducers of this invention.

[0049] Figure 9 This is the output shaft torsion-angle curve in the torsional stiffness analysis method of the harmonic reducer of the present invention.

[0050] Figure 10 The diagram shown is a structural block diagram of an electronic device provided in an embodiment of this application.

[0051] Explanation of icon numbers:

[0052] 10. Electronic device; 101. Processor; 102. Memory; 103. Input device; 104. Output device.

[0053] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0055] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0056] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0057] This invention proposes a method for analyzing the torsional stiffness of a harmonic reducer.

[0058] Please see Figure 1 The method for analyzing the torsional stiffness of a harmonic reducer includes the following steps:

[0059] Step S10: Establish multiple finite element mesh models and assemble them into a finite element analysis model suitable for torsional stiffness calculation based on their geometric positional relationships;

[0060] A three-dimensional design model of a harmonic reducer was established based on simulation software. The three-dimensional design model includes a rigid wheel, a flexible wheel, a wave generator, an input shaft, and an output shaft. The wave generator consists of a cam and a flexible bearing.

[0061] Using geometric editing mode, each 3D design model is segmented to create a model suitable for structured meshing. Reduced integration elements are selected to perform structured meshing on all 3D design models, with particular emphasis on refining the mesh in the load-bearing contact areas of each model to form the corresponding finite element mesh model.

[0062] The geometric position is determined by referencing the actual product structure and using the coordinate system and auxiliary lines in the simulation software to confirm its initial position. The assembly of the finite element analysis model is completed by moving the rigid wheel, flexible wheel, cam, flexible bearing, input shaft, and output shaft to their corresponding initial positions.

[0063] Step S20: Set corresponding reference points for the finite element mesh model and couple the finite element mesh model with the corresponding reference points;

[0064] To facilitate the subsequent assembly of various finite element mesh models, and also to allow for the definition of certain finite element mesh models—such as the definition of boundary conditions and load conditions for the input shaft, output shaft, rigid wheel, and flexible bearing cage—reference points are set on the finite element mesh models. These reference points serve as a common reference point, which can be referenced and measured by other finite element mesh models.

[0065] Considering the unique structure of the harmonic reducer, its rigid wheel, flexible wheel, cam, flexible bearing, input shaft, and output shaft all share the same central axis and rotate around this axis. Therefore, preferably, the reference points on each finite element mesh model can be set on this central axis. Optionally, in addition to setting them on the central axis, the reference points can also be set at any other location on the corresponding finite element mesh model according to specific requirements to meet different simulation needs.

[0066] Based on the stress characteristics of the harmonic reducer, the interaction relationships between the various components are established. On the finite element mesh model, an end face is selected and coupled with a corresponding reference point, or an outer surface is selected and coupled with a corresponding reference point. The reference point is located at the center or center of the selected end face. Coupling the end face with the reference point facilitates the application of boundary conditions to the finite element mesh model during subsequent simulations, simplifying the process.

[0067] Step S30: Establish the contact relationship between each of the finite element mesh models;

[0068] Contact relationships mainly involve the assembly and contact of various finite element mesh models.

[0069] Regarding assembly, each finite element mesh model is moved to its initial position according to the set reference points. For example, when all selected reference points are on the central axis, the finite element mesh model is moved so that all its reference points are on the same straight line, and the spacing between adjacent reference points is controlled to determine the initial assembly position of each finite element model. As another example, for a finite element mesh model with six degrees of freedom and fully fixed constraints, the reference points can be set at any position. For other finite element mesh models, the rotational degrees of freedom around the output axis can be released, and their initial assembly position can be determined by establishing a coordinate system.

[0070] Regarding contact, in this embodiment, based on the structure of the harmonic reducer, frictional connections mainly exist between the cam and the inner ring of the flexible bearing, between the outer ring of the flexible bearing and the flexure, and between the outer teeth of the flexure and the inner teeth of the rigid wheel. Therefore, a certain coefficient of friction can be defined at each frictional connection location. This allows the simulation results to more closely approximate the actual usage of the harmonic reducer during the simulation process.

[0071] The coefficient of friction can be obtained by measuring actual harmonic reducers or by calculating material properties.

[0072] Step S40: Define the boundary conditions of the finite element mesh model;

[0073] Referring to the stiffness testing process of a real harmonic reducer, one side of the input shaft remains fixed, while torque is applied to the output shaft. Therefore, when defining boundary conditions, it is necessary to restrict the movement and rotation of the input shaft. The output shaft retains the same degree of freedom in the direction of rotation as the applied torque, while other movements and rotations are restricted.

[0074] Furthermore, during the test, the rotation of the output shaft causes the cage of the flexible bearing to rotate as well, thus retaining the same degree of freedom in the direction of rotation as the applied torque. Other movements and rotations are restricted. The remaining rigid wheels, flexible wheels, cams, etc., which do not rotate or move during the test, are also subject to movement and rotation restrictions.

[0075] Step S50: Define the applied load conditions for the finite element mesh model and read the analysis results of the simulation.

[0076] Because conventional static analysis can cause difficulties in contact convergence of flexible bearings, explicit dynamic analysis is insufficient to simulate the initial interference fit process of a harmonic reducer. Therefore, this embodiment employs implicit dynamic rules, selects a quasi-static analysis module to define the torque ratio curve, and applies it to the output shaft according to the magnitude of the torque ratio curve. Simultaneously, it reads the torque and angle change curves of the output shaft from historical output data, and extracts the analysis results based on the read torque and angle change curves. The implicit dynamic rules and static analysis module are standard debugging modules included in the simulation software, and will not be described in detail in this embodiment.

[0077] The torsional stiffness analysis method for harmonic reducers provided by this invention can quickly calculate the torsional stiffness through simulation by establishing a finite element mesh model. It can also analyze the influence of each component of the harmonic reducer on the torsional stiffness, optimize the product structure, thereby shortening the product development cycle and saving costs.

[0078] Please see Figure 2 Step S20 includes:

[0079] Step S21: Select a first reference point corresponding to the input shaft, a second reference point corresponding to the rigid wheel, a third reference point corresponding to the output shaft, and a fourth reference point corresponding to the flexible bearing, respectively;

[0080] Referring to the torsional stiffness verification process of an actual harmonic reducer, the most suitable reference points were selected on the input shaft, rigid wheel, output shaft, and flexible bearing through equivalent processing. The input shaft, rigid wheel, output shaft, and flexible bearing are all located on the same central axis.

[0081] The first reference point is located on the central axis of the input shaft end, which is the end of the input shaft away from the output shaft. The second reference point is located at the center of gravity of the rigid wheel. The third reference point is located on the central axis of the output shaft end, which is the end of the output shaft away from the input shaft. The fourth reference point is located on the cage of the flexible bearing, and the fourth reference point is also located on the central axis. Thus, each reference point is located on the central axis.

[0082] Step S22: Obtain the first coupling node on the input shaft, the second coupling node on the rigid wheel, the third coupling node on the output shaft, and the fourth coupling node on the cage of the flexible bearing, respectively;

[0083] Referring to the actual harmonic reducer, during the verification of torsional stiffness, through equivalent treatment, the end face of the input shaft is taken as the first coupling node, the outer surface of the rigid wheel is taken as the second coupling node, the end face of the output shaft is taken as the third coupling node, and the outer surface of the cage is taken as the fourth coupling node.

[0084] Step S23: Based on the motion coupling rule, the first coupling node is coupled to the first reference point in sequence, the second coupling node is coupled to the second reference point, the third coupling node is coupled to the third reference point, and the third coupling node is coupled to the fourth reference point.

[0085] By utilizing the motion coupling mode in simulation software, each coupling node is coupled to its corresponding reference point under motion coupling rules. Through motion coupling, the entire finite element mesh model can strictly follow the movement of the corresponding reference point. This makes it easier to perform operations such as translation, rotation, defining boundary conditions, and defining applied load conditions on the finite element mesh model within the simulation software.

[0086] Please see Figure 3 Step S30 includes:

[0087] Step S31: Obtain the position information of each of the reference points;

[0088] When each reference point is selected on the same central axis, the position of one of the finite element mesh models can be determined first. For example, the position of the first reference point on the input shaft can be determined. According to the design requirements of the harmonic reducer, the distance between the second reference point and the first reference point on the central axis can be adjusted to determine the position of the rigid wheel. The positions of the flexible bearing and the output shaft can be determined in this manner. It should be noted that the cam and the flexible bearing, as two parts of the wave generator, can be treated as a whole when establishing the finite element mesh model. Determining the position of the flexible bearing is equivalent to determining the position of the wave generator, which indirectly determines the position of the cam. Similarly, the flexible wheel and the wave generator are connected by an interference fit; when establishing the finite element mesh model, they can be treated as a whole, thus indirectly determining the position of the flexible wheel.

[0089] Alternatively, a coordinate system can be established to obtain the specific coordinates of each reference point in the coordinate system, and these specific coordinates can be used as location information.

[0090] Step S32: Determine the initial position of the corresponding finite element mesh model based on each of the position information;

[0091] Establish a central axis. Based on the spacing between each reference point, sequentially determine the position of each reference point along the central axis, and use this position as the initial position. Alternatively, refer to specific coordinates to determine the position of each reference point in the coordinate system, and use this position as the initial position.

[0092] Step S33: Move each finite element mesh model to its corresponding initial position. After determining the initial position of each finite element mesh model, move the reference point to its corresponding initial position. Since the finite element mesh models are kinematically coupled to the reference point through coupling nodes, the entire harmonic reducer assembly can be completed by simultaneously moving each finite element mesh model to its corresponding initial position while moving the reference point.

[0093] Please see Figure 4 After step S33, the following steps are also included:

[0094] Step S34: Establish a first coefficient of friction between the cam and the inner ring of the flexible bearing, between the outer ring of the flexible bearing and the flexure wheel, and between the flexure wheel and the rigid wheel;

[0095] Step S35: Establish a second coefficient of friction between the inner ring and the roller of the flexible bearing, between the outer ring and the roller, and between the cage of the flexible bearing and the roller.

[0096] To reflect the actual load transfer relationship between each finite element mesh model, a first friction coefficient is established between the cam and the inner ring of the flexible bearing, the outer ring of the flexible bearing and the flexure, and the outer teeth of the flexure and the inner teeth of the rigid wheel. Specifically, the friction coefficient is preferably set to 0.15. Furthermore, the flexible bearing specifically includes an inner ring, an outer ring, a cage, and rollers. During the use or testing of the harmonic reducer, the rotation of the flexible bearing also experiences frictional resistance. Therefore, a second friction coefficient is also established between the inner ring and the rollers, the outer ring and the rollers, and the cage and the rollers, with the friction coefficient set to 0.001.

[0097] Please see Figure 5 Step S40 includes:

[0098] Step S41: Apply six-degree-of-freedom fully fixed constraints to the input shaft and the rigid wheel;

[0099] Step S42: The output shaft and the cage of the flexible bearing retain the rotational degree of freedom along the central axis, while the remaining degrees of freedom are fixed and constrained.

[0100] Throughout the simulation, only the output shaft needs to be subjected to torque, while the input shaft remains fixed. As mentioned above, each finite element mesh model is kinematically coupled to its corresponding reference point. Therefore, when defining boundary conditions, a six-DOF fully fixed constraint can be directly applied to the first reference point to achieve the same result for the input shaft. During testing, the rigid wheel also needs to be kept fixed; similarly, a six-DOF fully fixed constraint is applied to the second reference point.

[0101] The output shaft only requires rotational movement along the central axis. Therefore, for the third reference point, only the rotational degree of freedom along the central axis is retained, while all other degrees of freedom are fixedly constrained. Similarly, when the output shaft rotates, it drives the flexible bearing to rotate, and the rotational degree of freedom along the central axis is also retained for the fourth reference point, while all other degrees of freedom are fixedly constrained. This ensures that the assembled harmonic reducer meets the experimental requirements.

[0102] Please see Figure 6 Step S50 includes:

[0103] Step S51: Based on implicit dynamic rules, establish the analysis step of the finite element mesh model;

[0104] Because conventional static analysis can cause difficulties in contact convergence of flexible bearings, explicit dynamic analysis is insufficient to simulate the initial interference fit process of a harmonic reducer. Therefore, this embodiment employs implicit dynamic rules and selects a quasi-static analysis module. The implicit dynamic rules and the static analysis module are standard debugging modules included in the simulation software, and will not be elaborated upon in this embodiment.

[0105] The entire analysis is divided into three steps. The first step simulates the process of the wave generator being loaded into the flexible wheel, which is achieved through the interference contact analysis between the cam and the flexible bearing. The second step simulates the process of the flexible wheel being loaded into the rigid wheel, which is also achieved through the interference contact analysis between the rigid wheel and the flexible wheel. The third step is used to simulate the torsional stiffness test process.

[0106] Step S52: Define the torque ratio curve based on the analysis step;

[0107] Based on the simulation software, the torque ratio curve is defined in the third analysis step. Please refer to [link / reference]. Figure 8 The torque is applied to the output shaft in a cyclic manner according to the curves OA-AB-BA'-A'B'-B'A.

[0108] To avoid excessive impact loads at the inflection point, the rated torque of the harmonic reducer is obtained according to design requirements. Torque is applied at the third reference point, and the torque ratio curve is used to determine if it exceeds the rated torque. When the applied torque on the torque ratio curve exceeds the rated torque, the torque ratio curve is redefined based on a smoothing function, using the rated torque position as the inflection point.

[0109] Step S53: Apply the corresponding torque to the output shaft according to the torque ratio curve, and read the simulation analysis results.

[0110] Based on the simulation software, when torque is applied to the third reference point, the simulation results are output to the historical output data. By reading the torque and angle change curves of the output shaft from the historical output data and synthesizing them into a torsion-angle curve, please refer to [link to relevant documentation]. Figure 9 Due to the nonlinearity of the contact, the relationship between torque and angle is a curve. The torque-angle curve is divided into different intervals, and the torsional stiffness of each interval is represented as K1, K2, K3, etc. In this embodiment, actual experiments are conducted sequentially, and the detailed data are shown in the table below:

[0111] Table 1

[0112]

[0113] Please see Figure 7 Step S10 includes:

[0114] Step S11: Establish a basic model and perform structured mesh generation on the basic model to obtain the finite element mesh model;

[0115] First, a basic model is established using simulation software. Unimportant chamfers and small holes are simplified, and unnecessary parts such as bolts and gaskets are removed. Using geometric editing mode, each 3D design model is segmented to create a model suitable for structured meshing. Reduced integration elements are selected to perform structured meshing on all 3D design models, with particular emphasis on refining the mesh in the load-bearing contact areas of each 3D design model, thus forming the corresponding finite element mesh model.

[0116] Step S12: Define the material properties and section properties of the finite element mesh model.

[0117] Based on the design requirements of the harmonic reducer, the material properties of the rigid wheel, flexural wheel, cam, flexible bearing, input shaft, and output shaft are defined, including elastic modulus and Poisson's ratio. Additionally, the cross-sectional properties of the solid elements are defined and assigned to the rigid wheel, flexural wheel, cam, flexible bearing, input shaft, and output shaft. These cross-sectional properties include thickness and density.

[0118] In addition, to solve the above problems, the present invention also proposes a computer-readable storage medium storing a harmonic reducer torsional stiffness analysis program, wherein when the harmonic reducer torsional stiffness analysis program is executed by a processor, the steps of the harmonic reducer torsional stiffness analysis method described above are implemented.

[0119] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0120] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program information. When the computer program information is run by a processor, it causes the processor to execute the steps in a harmonic reducer torsional stiffness analysis method according to various embodiments of this application.

[0121] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0122] Furthermore, to address the aforementioned problems, the present invention also proposes an electronic device comprising one or more processors and a memory, wherein the memory stores a torsional stiffness analysis program for a harmonic reducer, and when the processor executes the torsional stiffness analysis program for the harmonic reducer, it implements the steps of the torsional stiffness analysis method for the harmonic reducer as described above.

[0123] like Figure 10 As shown, the electronic device 10 includes one or more processors 101 and memory 102.

[0124] The processor 101 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0125] The memory 102 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 101 may execute the program instructions to implement a harmonic reducer torsional stiffness analysis method and / or other desired functions according to the various embodiments of this application described above.

[0126] In one example, the electronic device 10 may also include an input device 103 and an output device 104, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0127] When the electronic device is a standalone device, the input device 103 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0128] In addition, the input device 103 may also include, for example, a keyboard, a mouse, etc.

[0129] The output device 104 can output various information to the outside, including determined distance information, direction information, etc. The output device 104 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0130] Of course, for the sake of simplicity, Figure 5 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0131] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for analyzing the torsional stiffness of a harmonic reducer, characterized in that, The method for analyzing the torsional stiffness of the harmonic reducer includes: Multiple finite element mesh models are established and assembled into a finite element analysis model suitable for torsional stiffness calculation based on their geometric positional relationships. The finite element mesh model includes a rigid wheel, a flexible wheel, a cam, a flexible bearing, an input shaft, and an output shaft. Set corresponding reference points for the finite element mesh model, and couple the finite element mesh model with the corresponding reference points; Establish the contact relationships between each of the finite element mesh models; Define the boundary conditions of the finite element mesh model; Define the applied load conditions for the finite element mesh model and read the analysis results of the simulation. Setting corresponding reference points for the finite element mesh model and coupling the finite element mesh model with the corresponding reference points includes: A first reference point corresponding to the input shaft, a second reference point corresponding to the rigid wheel, a third reference point corresponding to the output shaft, and a fourth reference point corresponding to the flexible bearing are selected respectively. The first coupling node on the input shaft, the second coupling node of the rigid wheel, the third coupling node of the output shaft, and the fourth coupling node of the cage of the flexible bearing are respectively obtained; Based on the motion coupling rule, the first coupling node is coupled to the first reference point, the second coupling node is coupled to the second reference point, the third coupling node is coupled to the third reference point, and the fourth coupling node is coupled to the fourth reference point in sequence.

2. The method for analyzing the torsional stiffness of a harmonic reducer as described in claim 1, characterized in that, Establishing the contact relationships between each of the finite element mesh models includes: Obtain the location information of each reference point; The initial position of the corresponding finite element mesh model is determined based on each of the aforementioned position information. Move each of the finite element mesh models to its corresponding initial position.

3. The method for analyzing the torsional stiffness of a harmonic reducer as described in claim 2, characterized in that, After the step of moving each of the finite element mesh models to its corresponding initial position, the following steps are also included: A first coefficient of friction is established between the cam and the inner ring of the flexible bearing, between the outer ring of the flexible bearing and the flexure wheel, and between the flexure wheel and the rigid wheel. A second coefficient of friction is established between the inner ring and the rollers of the flexible bearing, between the outer ring and the rollers, and between the cage of the flexible bearing and the rollers.

4. The method for analyzing the torsional stiffness of a harmonic reducer as described in claim 1, characterized in that, The boundary conditions for the finite element mesh model are defined as follows: Six-degree-of-freedom fully fixed constraints are applied to the input shaft and the rigid wheel; The output shaft and the cage of the flexible bearing retain rotational degrees of freedom along the central axis, while the remaining degrees of freedom are fixed and constrained.

5. The method for analyzing the torsional stiffness of a harmonic reducer as described in claim 1, characterized in that, Define the applied load conditions for the finite element mesh model and read the simulation results, including: The analysis steps of the finite element mesh model are established based on implicit dynamic rules; Define the torque ratio curve based on the analysis steps described above; Apply the corresponding torque to the output shaft according to the torque ratio curve, and read the simulation analysis results.

6. The method for analyzing the torsional stiffness of a harmonic reducer as described in claim 5, characterized in that, Applying a corresponding torque to the output shaft according to the torque ratio curve includes: Obtain the rated torque; The applied torque is determined based on the torque ratio curve and the rated torque. Apply the corresponding torque to the output shaft according to the applied torque, and read the analysis results of the simulation.

7. The method for analyzing the torsional stiffness of a harmonic reducer as described in claim 1, characterized in that, Establishing multiple finite element mesh models includes: A basic model is established, and the basic model is subjected to structured mesh generation to obtain a finite element mesh model; Define the material properties and section properties of the finite element mesh model.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a harmonic reducer torsional stiffness analysis program, which, when executed by a processor, implements the steps of the harmonic reducer torsional stiffness analysis method as described in any one of claims 1 to 7.

9. An electronic device, characterized in that, The electronic device includes one or more processors and a memory, the memory storing a harmonic reducer torsional stiffness analysis program, which, when executed by the processor, implements the steps of the harmonic reducer torsional stiffness analysis method as described in any one of claims 1 to 7.

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