考虑齿轮形变的谐波减速器齿廓优化方法

Optimization Method for Double-Arc Tooth Profile of Harmonic Reducer

为解决谐波减速器传动过程中刚轮以及柔轮出现的过啮合和欠啮合的问题,对谐波减速器装配过程中柔轮形变进行分析,发现柔轮在装配后的实际齿廓线空间位置与理论位置存在差异。为避免由于该形变不足所导致的啮合干涉和啮合不充分问题,提出了一种轮齿齿廓线的修正方法来对柔轮齿廓进行设计优化。在此基础上,以某型号谐波减速器为例,建立谐波减速器装配有限元模型,对谐波减速器装配过程进行有限元量化分析;采用所提方法对齿廓线进行优化修正并进行有限元分析;通过对优化前后的啮合初始侧隙、啮合区间以及预计寿命进行仿真分析以及数值对比,证明优化后的谐波减速器预计寿命提升超过20%,验证了该方法的正确性,从而可为谐波减速器柔轮以及齿形设计优化制造提供一种有效的设计思路与方法。

The deformation of the flexspline in the assembly process of the harmonic reducer is analyzed to solve the problem of over-engagement and under-engagement of the rigid wheel and the flexible wheel in the transmission process of the harmonic reducer.It is found that there is a difference between the actual tooth profile spatial position of the flexible wheel after assembly and its theoretical position.A correction method of the tooth profile is proposed to optimize the design of the tooth profile and to avoid the problem of meshing interference and insufficient meshing due to poor deformation.On this basis,a finite element model of harmonic reducer assembly is established by taking a certain type of harmonic reducer as the example,and a finite element quantitative analysis is carried out for the harmonic reducer assembly process.The proposed method is used to optimize the tooth profile and to carry out the finite element analysis.The estimated life of the optimized harmonic reducer increases by more than 20%in the simulation analysis and numerical comparison of the initial meshing backlash,meshing interval and life expectancy before and after optimization.The result verifies the correctness of the proposed method.This study may provide an effective design idea and a method for design optimization of the harmonic reducer and the tooth profile.