吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (4): 1121-1129.doi: 10.13229/j.cnki.jdxbgxb201704016

• 论文 • 上一篇    下一篇

基于齿条近似法的谐波传动空间齿廓设计方法

王家序1, 袁攀1, 谭春林2, 何永强2, 李俊阳1, 肖科1   

  1. 1.重庆大学 机械传动国家重点实验室, 重庆 400044;
    2.北京空间飞行器总体设计部,北京 100094
  • 收稿日期:2016-03-10 出版日期:2017-07-20 发布日期:2017-07-20
  • 作者简介:王家序(1954-),男,教授,博士生导师.研究方向:机器人驱动机构.E-mail:jxwang@cqu.edu.cn
  • 基金资助:
    “973”国家重点基础研究发展计划项目(2013CB733000); “863”国家高技术研究发展计划项目(2015AA043001).

Spatial tooth profile design of harmonic drive by rack approximation method

WANG Jia-xu1, YUAN Pan1, TAN Chun-lin2, HE Yong-qiang2, LI Jun-yang1, XIAO Ke1   

  1. 1.State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, China;
    2.China Academy of Space Technology, Beijing 100094, China
  • Received:2016-03-10 Online:2017-07-20 Published:2017-07-20

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摘要： 针对渐开线谐波传动齿廓设计中啮合侧隙过大造成传动精度降低以及柔轮轴向偏斜产生齿廓干涉等问题,提出一种基于齿条近似法的谐波传动齿廓设计方法。该方法考虑了实际啮合情况,利用齿条近似法对柔轮齿相对于刚轮齿的实际运动轨迹进行近似齿廓设计与修形。并考虑了柔轮在装配变形下的偏斜,对柔轮齿在主截面以外的其他截面进行空间齿廓设计。结果表明:基于齿条近似法设计的谐波传动齿廓啮合侧隙很小并且啮合范围很广,按照线性关系改变柔轮齿根处壁厚可以实现柔轮齿在空载状态下任意截面的无干涉啮合。

关键词: 机械设计, 谐波传动, 齿条近似法, 啮合理论, 空间齿廓

Abstract: To solve the problems of transmission precision reduction caused by large meshing backslash and tooth profile interference caused by axial coning in the design of involute tooth profile of harmonic drive, a tooth profile new design method of harmonic drive based on rack approximation method was presented. The method considers the actual meshing situation and takes advantage of rack approximation design to design and correct the approximate tooth profile based on the actual movement route of flexspline relative to circular spline. The flexspline coning caused by assembly deformation is also considered to design the spatial tooth profile of flexspline at sections other than the main section. Results show that the tooth profile of harmonic drive designed by the proposed method has very small backslash and very wide-range meshing. Non-interfering engagement at arbitrary section can be achieved under no-load condition by changing the thickness of the tooth bottom rim of flexspline based on linear relationship.

Key words: mechanical design, harmonic drive, rack approximation method, engagement theory, spatial tooth profile

中图分类号: 

  • TH132.43
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