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摘 要
諧波齒輪傳動(dòng)是20世紀(jì)50年代發(fā)展起來(lái)的一種靠柔性齒輪原理來(lái)傳動(dòng)的新的傳動(dòng)型式。我國(guó)從60年代初開(kāi)始研制，主要是在科研機(jī)構(gòu)與高校進(jìn)行，多年來(lái)得到了很大的發(fā)展。它具有體積小、重量輕、傳動(dòng)比大、精度高等特點(diǎn)，目前被廣泛應(yīng)用在航空航天、儀器儀表、機(jī)器人、雷達(dá)等需要精密定位的領(lǐng)域。不同于一般的齒輪傳動(dòng)，諧波齒輪傳動(dòng)的扭轉(zhuǎn)剛度具有明顯的非線(xiàn)性特性。目前，我們需要研發(fā)一種小體積、長(zhǎng)壽命、高承載能力諧波齒輪減速器，對(duì)傳動(dòng)裝置的可靠性、重量、體積、回差、扭轉(zhuǎn)剛度及動(dòng)態(tài)性能等均提出了很高要求。我國(guó)現(xiàn)有的杯形柔輪諧波齒輪傳動(dòng)裝置，軸向尺寸大，不能滿(mǎn)足安裝空間的要求；現(xiàn)有的短筒杯形柔輪諧波齒輪傳動(dòng)裝置，雖然軸向尺寸較小，但不可避免地帶來(lái)了應(yīng)力急劇增加的問(wèn)題，導(dǎo)致其承載能力不高；因有柔性軸承的存在，導(dǎo)致其成本高和壽命短。
本設(shè)計(jì)根據(jù)諧波齒輪傳動(dòng)的基本理論，建立諧波齒輪減速器虛擬樣機(jī)模型；對(duì)諧波齒輪關(guān)鍵零部件進(jìn)行強(qiáng)度校核。通過(guò)本課題可以了解諧波齒輪傳動(dòng)的更多特點(diǎn)，更多地去研究和創(chuàng)新。
關(guān)鍵詞：諧波齒輪減速器，雙波發(fā)生器，柔輪，鋼輪，傳動(dòng)裝置
Abstract
Harmonic drive is developed in the 20th century, a 50's by the principle of flexible gear transmission to drive the new type. China started to develop from the early 60s, mainly in the conduct of scientific research institutions and universities, For many years obtained the very big development. It has the volume to be young, the weight is light, the velocity ratio is big, the precision higher characteristic, widely is applied at present the domain which in the aerospace, the instruments and meters, the robot, the radar and so on needs to locate precisely. Unlike most of the gear transmission, the overtone gear drive torsional rigidity has the obvious nonlinear response. At present, we need to research and develop one kind of small volume, the long life, the high bearing capacity overtone speed reducer gear, to transmission device's reliability, the weight, the volume, returned to the difference, the torsional rigidity and the dynamic property and so on proposed requested very high. Our country existing cup-shaped hexible gear overtone tooth gear, the axial size is big, cannot satisfy the installment space the request; Existing short tube cup-shaped hexible gear overtone tooth gear, although the axial size is small, but has brought the stress sharp growth question inevitably, causes its bearing capacity not to be high; Because has the flexible bearing's existence, causes its cost to be high and the life is short.
The design according to the basic theory of the harmonic gear drive, the establishment of the harmonic gear reducer virtual prototype model; strength check of the key components of the harmonic gear. By the subject can learn about the characteristics of the harmonic gear more and more research and innovation,
【Key word】Harmonic gear reducer, double-wave generator, soft wheels, steel wheels, gearing
目 錄
摘 要 I
Abstract II
目 錄 III
第1章 前言 1
1.1 諧波傳動(dòng)的應(yīng)用 1
1.2 諧波傳動(dòng)的國(guó)內(nèi)發(fā)展現(xiàn)狀及趨勢(shì) 2
1.3 諧波傳動(dòng)的國(guó)外發(fā)展現(xiàn)狀及趨勢(shì) 2
第2章 諧波齒輪傳動(dòng)概述 5
2.1 諧波齒輪的傳動(dòng)原理 5
2.2 諧波齒輪的傳動(dòng)特點(diǎn) 6
2.3 諧波齒輪傳動(dòng)的應(yīng)用 9
2.4 諧波齒輪傳動(dòng)的分類(lèi)及結(jié)構(gòu)形式 12
第3章 諧波齒輪傳動(dòng)的設(shè)計(jì)計(jì)算 13
3.1 傳動(dòng)結(jié)構(gòu)形式的選擇 13
3.2 幾何參數(shù)的計(jì)算 13
3.3 嚙合參數(shù)的計(jì)算 14
3.4 凸輪波發(fā)生器及薄壁軸承的計(jì)算 16
3.5 材料的選擇及柔輪的加工工藝 17
3.6 承載能力的計(jì)算 18
3.6.1 柔輪齒面的接觸強(qiáng)度計(jì)算 18
3.6.2 柔輪疲勞強(qiáng)度的計(jì)算 19
3.7 傳動(dòng)效率的計(jì)算 20
第4章 諧波齒輪減速器的結(jié)構(gòu)設(shè)計(jì) 22
4.1 諧波減速器的結(jié)構(gòu)尺寸 22
4.2 軸承的選用 23
4.3 諧波減速器的潤(rùn)滑與密封 23
總 結(jié) 24
致 謝 25
參考文獻(xiàn) 26
III