lecture 4(machinery technology 1).pptVIP

The harmonic gear drive has simple structure, the large transmission ratio (from tens ~ hundreds), high transmission accuracy, the small return travel error, the low noise, and the stead transmission, the strong loading ability, the high efficiency, and other advantages, etc.. So get extensive application (广泛的应用) day by day in mechatronic system, such as industrial robot, aviation, rocket etc.. 1 The running principle of harmonic gear drive 2 Calculating the transmission ratio of harmonic gear drive 、 、 Respectively is the angular velocity (角速度) of the rigid, soft wheel and the wave generator; 、 Respectively is the teeth of the rigid and soft wheel。 (1) When the soft wheel is fixed, ，so (2) When the rigid wheel is fixed， For example, if When the soft wheel is fixed, is positive, the rigid wheel rotating direction is same as the generator. When the rigid wheel is fixed time solid, is negative, the soft wheel rotating direction is same as the generator. 3. the product of the harmonic gear and choose. Familiar harmonic gear reducer notation code as follows chart The usual harmonic gear’s number is in following figure The choice instruction of the Harmonic gear decelerating machine(减速机) is: (1). Three factors： ? （a）Transmission ratio, output revolving speed（r/min) ? （b）Decelerating machine input power（kw) （c）The nominal(额定) input revolving speed（r/min) (2). If the deceleration machine input revolving speed is adjustable: 1) the operate condition is “constant power(恒功率)”, the machine is chosen by the lowest revolving speed. 2) the operate condition is “constant torque; the machine is chosen by the highest revolving speed. (3). Calculating the input power and torque of the deceleration machine P —the nominal power of the deceleration machine （KW) T —the nominal torque of the deceleration machine （Nm) KA —Work circumstance coefficie