A1-装配图
摘要
谐波齿轮传动是20世纪50年代发展起来的一种靠柔性齿轮原理来传动的新的传动型式。我国从60年代初开始研制，主要是在科研机构与高校进行，多年来得到了很大的发展。它具有体积小、重量轻、传动比大、精度高等特点，目前被广泛应用在航空航天、仪器仪表、机器人、雷达等需要精密定位的领域。不同于一般的齿轮传动，谐波齿轮传动的扭转刚度具有明显的非线性特性。目前，我们需要研发一种小体积、长寿命、高承载能力谐波齿轮减速器，对传动装置的可靠性、重量、体积、回差、扭转刚度及动态性能等均提出了很高要求。我国现有的杯形柔轮谐波齿轮传动装置，轴向尺寸大，不能满足安装空间的要求；现有的短筒杯形柔轮谐波齿轮传动装置，虽然轴向尺寸较小，但不可避免地带来了应力急剧增加的问题，导致其承载能力不高；因有柔性轴承的存在，导致其成本高和寿命短。
本设计根据谐波齿轮传动的基本理论，建立谐波齿轮减速器虚拟样机模型；对谐波齿轮关键零部件进行强度校核。通过本课题可以了解谐波齿轮传动的更多特点，更多地去研究和创新。
关键词：谐波齿轮减速器，双波发生器，柔轮，钢轮，传动装置
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
目录
摘要I
Abstract II
目录III
第1章前言1
1.1谐波传动的应用1
1.2谐波传动的国内发展现状及趋势2
1.3谐波传动的国外发展现状及趋势2
第2章谐波齿轮传动概述5
2.1谐波齿轮的传动原理5
2.2谐波齿轮的传动特点6
2.3谐波齿轮传动的应用9
2.4谐波齿轮传动的分类及结构形式12
第3章谐波齿轮传动的设计计算13
3.1传动结构形式的选择13
3.2几何参数的计算13
3.3啮合参数的计算14
3.4凸轮波发生器及薄壁轴承的计算16
3.5材料的选择及柔轮的加工工艺17
3.6承载能力的计算18
3.6.1柔轮齿面的接触强度计算18
3.6.2柔轮疲劳强度的计算19
3.7传动效率的计算20
第4章谐波齿轮减速器的结构设计22
4.1谐波减速器的结构尺寸22
4.2轴承的选用23
4.3谐波减速器的润滑与密封23
总结24
致谢25
参考文献26
A2-柔轮
A2-刚轮
A3-波发生器
