Research On Tooth Profile Parameters And Processing Technology Of Harmonic Reducer With Short Flexspline

With the acceleration of the transformation of domestic manufacturing industry,domestic robots have developed rapidly,but as a key component of robots,domestic harmonic reducers can not meet domestic demand,especially high-performance harmonic reducers have long been restricted by foreign countries.In the research process of the project "Research on Theory and Technology of Precision Reducer",through the research methods of theoretical analysis,experimental processing and performance testing,the dissertation focuses on the basic tooth profile parameters of flexspline harmonic reducer,the processing technology of flexspline blank and tooth profile,the shot peening technology of flexspline tooth root and fatigue life of shot peening flexspline.The purpose is to solve the technical shortcomings of the design and processing of high-performance harmonic reducer in China.And it provides some reference value for the mass production of high-performance harmonic reducer.The main research work of this dissertation is as follows:Firstly,by analyzing the double circular arc profile of the harmonic reducer,the basic tooth profile parameters affecting the shape of the double circular arc profile are obtained,and the mathematical model of the double circular arc profile is established.Based on the improved kinematics conjugate tooth profile solving theory and considering the interaction of tooth profile parameters,the influence of tooth profile parameters on the meshing range of harmonic reducer is studied by BBD experiment method,and the regression equations between the meshing range of each curve segment and tooth profile parameters are established.Considering the effect of stress concentration and load distribution,the influence of tooth profile parameters on the root stress of flexspline in the rated load is analyzed with finite element software ANASY Workbench.The optimum range of double circular arc tooth profile parameters is proposed.The prototype test of tooth profile model is carried out to verify the rationality of theoretical design.Secondly,the current flexspline processing scheme is optimized,and a new processing scheme with higher production efficiency and better mechanical performance is put forward;the flexspline blank processing technology combining cross forging and power spinning is put forward,which uses deformation strengthening instead of phase transformation strengthening,and heat treatment process after spinning is omitted;Abandoning the tooth profile processing method by wire-electrode cutting,the processing scheme of high-speed hobbing flexspline profile is put forward,and the feasibility of the process scheme is verified;Based on the principle of maximum benefit,the processing parameters of high-speed hobbing are analyzed and studied.Thirdly,based on the principle that the residual compressive stress produced by shot peening can prolong the fatigue life of the workpiece,the technological scheme of shot peening for flexspline root is put forward in this dissertation;Based on DEFROM software,the shot peening process is simulated,so as to obtain the influence on the residual stress of flexspline tooth root and the distribution of residual stress of flexspline tooth root in different shot peening parameters;Based on SWT method and fracture mechanics theory,the effect of shot peening on the fatigue life of flexspline tooth root is analyzed.Finally,according to the key performance indicators of the harmonic reducer,the test scheme is put forward,and the prototype of the harmonic reducer is tested,the performance of domestic and foreign products is compared,and the further research direction is put forward.