谐波减速器研究现状及问题研究

Study on Status and Problem Research of Harmonic Gear Drive

简要回顾了近年谐波减速器的发展与应用现状。着重阐述轮齿齿形的发展及当前主流厂商应用的齿形以及影响减速器寿命的主要因素。在传统齿形方面,齿形经历了从直线齿形到圆弧齿形,再到双圆弧齿形的发展阶段,分析了各阶段齿形的啮合特性及疲劳寿命,当前产品化的代表齿形有"S"齿形、"P"齿形、"δ"齿形等。近年来柔轮筒体的薄壁和长寿命是研究的重点,大量研究集中在筒体、轮齿、波发生器等应力研究。在此基础上,对谐波减速器未来应关注的研究方向给出建议,包括齿形的研究、材料微观结构的分析、加工工艺的研究、理论体系的建立、固有频率波动大的问题、齿间啮合力的精确分析和计算、传动精度的影响因素等。

The development and application of harmonic gear drive in recent years are briefly reviewed,the development of gear tooth profile and the main factors affecting the life of reducer are mainly expounded.In the traditional tooth profile,the tooth profile has undergone the development stage from the linear tooth profile to the arc tooth profile,and then to the double arc tooth profile,the meshing characteristic and fatigue life at each stage are analyzed.The representative teeth of the current products are"S"tooth profile,"P"tooth profile,"δ"tooth profile and so on.In recent years,thin wall and long life are the focus of research,and a large number of researches focus on stress research of cylinder,gear tooth and wave generator.On this basis,suggestions are given on the research direction of harmonic reducer that should be paid attention to in the future,that is,the research of tooth profile,the analysis of material microstructure,the research of processing technology,the establishment of theoretical system,the problem of large natural frequency fluctuation,the accurate analysis and calculation of tooth meshing force,the influencing factors of transmission accuracy,etc.