谐波减速器中双圆弧柔轮的齿形修形及试验研究

Tooth Profile Modification and Experimental Study of Double Circular Arc Flexsplines in Harmonic Reducers

针对实际工况中,谐波减速器双圆弧柔轮在啮合传动过程中存在齿轮干涉问题,基于柔轮与刚轮齿面接触分析的有限元法,对柔轮轮齿采用两段螺旋线修形方法进行修形,然后对样机进行了综合性能测试。结果表明,修形后的柔轮对刚轮齿面接触应力最大为72 MPa,相比修形前减小了368 MPa,且修形后的柔轮其他位置的齿面接触应力略高于修形前,不仅有效避免了齿轮干涉问题,还提高了谐波减速器的啮合传动性能;样机的对比测试也验证了柔轮修形后的谐波减速器各项传动性能均优于修形前。该项研究为谐波减速器系统的动态特性和啮合特性分析提供了有益参考。

Aiming at the problem of gear interference in the meshing transmission process of the double circular arc flexspline of the harmonic reducer in the actual working condition,based on the finite element method of tooth surface contact analysis between the flexspline and the circular spline,the flexspline tooth is modified by a two-stage helix modification method,and then the comprehensive performance of the prototype is tested.The results show that the maximum contact stress of the modified flexspline to the tooth surface of the circular spline is 72 MPa,which is 368 MPa less than that before the modification,and the contact stress of the other positions of the modified flexspline is slightly higher than that before the modification,which not only effectively avoids the problem of gear interference,but also improves the meshing transmission performance of the harmonic reducer.The comparative test of the prototype also verifies that the transmission performance of the harmonic reducer after the modification of the flexspline is better than that before the modification.This work is useful for the analysis on the dynamic transmission characteristics of the harmonic reducer.