谐波齿轮谁发明的

机器人核心零部件斜拨减速器浅谈斜拨传动是由美国发明家七 walt master 马色于上世纪五十年代中期发明创造。 斜拨传动特点有，一、精度高，多尺在两个一百八十度对称位置同时捏合，因此齿轮尺距误差和累计尺距误差对旋转精度的影响较为平均，可得到极高的位置精度和旋转精度。二、传动笔大单及斜拨齿轮传动的传动笔可达三十到五百， 且结构简单。三、承载能力强。斜波传动中池鱼尺的镊和市面接触，加上同时镊和尺数比较多，因而单位面积再和小， 承载能力较其他传动形式高。四、体积小，重量轻。相比普通的齿轮装置，体积和重量可以大幅降低，实现小 造型化、轻量化。五、传动效率高，寿命长。六、传动平稳，无冲击、噪音小。斜拨减速器在国外是一个成熟的技术，技术基础是斜拨传动。它是由波发声器、柔性轮、刚性轮三个结构组成的传动波发声器会使柔性轮产生弹性形变， 与刚性轮共同传递运动，实现大传动笔。与通用减速器相比，用于机器人关节的斜拨减速器要求具有传动链短、体积小、功率大、质量轻和易于控制等特点，因此对精度的要求更。

哈喽，小伙伴大家好，今天给大家分享一个视频，斜坡减速机在机器人生中非常常用， 也是机器人工程师必须要了解的一个机构。下面请看视频。 twenty five centimeter explains has a form of celigical car f kilograms made out of flexible， that's a dark torser round tree follows ears materials at least ten times the great size of the car this is very simple， which is very flexible i hope you enjoyed this video in line something you actually don't forget to sign right and remove your seat projects visit how to make a tournament when we insert the wave generator into the flex plan， the flex plan takes the shape of the wave generator as the wave generator rotates it radially deforms the open end of the flex line， the wave generator and the flex plant are then placed inside the circular spline mishing the teeth together because of the elliptical shape of the flex blind that it mesh only in two regions on the opposite sides of the high precisions， harmonic drive components consist of only three precision components lady generator flex blind and generators between the flying capable of reliably transmitting height to a clerk the circular spline is original rings with internal deer types and the circular spline has two more tater than the flex line will change position when inserting the weight generator into the flex line， the flex line conforms to the elliptical shape of the weight generator rachel the weight generator creates an advancing waveform on the flex one an assembled with the circular spline two engagement occurs at each end of the major and up to thirty percent of the total number of your teacher simultaneously the rotation of the wage generated causes the flighter， wine and circuit so here are all of the trade printed parts as well as them bolts the nuts and bearings for a simpling the harmony drive you can find a complete list of all these parts on the website article hysterically assembly by inserting the two output bearings into the housing bearings have forty seven millimeters out of diameter and thirty five millimeters in a diameter like i said i used minus zero point fifteen millimeters who is onto expansion compensation when slicing the parts so the bearings fitted white tight in the housing in between the two bearings placed one point five limiters for securing the bearings to the housing we need six here we also use informal shirts just enough dish outer ring both bearing and so they will keep the bearing secure to the housing 非常脆弱的物体。 那么上节课呢？ it's less flexible than seriously， but the close dent is now quite rigid next we need to insert the flex climb to the bearing the outer flange goes half way to the first bearing on the other side we will insert the other part of the。 其实也跟咱们刚刚所说的这个 these nuts will serve for a touching or anything things could go to thirty or seven asking you get out of the shaft and on top of this i face another part i will cover the nuts and i'm using four in four bolts forty mounted i can finally secure the two out book parts together now the flex plant and the output shaft can freely move while being secured to the housing okay， so next， we have the circular spline which will be secured to the housing together with the gear set lid and the motor。 欢迎来到小丸子网络教育。 but before we do that we need to assemble the generation here first， we need to serve through and train up this next， we will serve for securing the wave generator to the motor shaft using two grab screws next， we can start instructing the ten bearings in place。 好，那么如果说 another part of the wave generator also has such ages so the bearings won't touch the wall we are going to secure the bearings and actually the whole wave change slowly inch bolts and some nuts next we need to secure the wave generator to the motor before we do that we need to attach the motor to the motor mount and the lead of the gear set the way generator should be two millimeters apart from the motor lips so i use two washers as guide when inserting the way generator in place then we just have to tighten the grapes truce featured position in a way that they can be reached in between the bearings finally， we can insert the wave generator into the flex plant and connect everything together to be honest it can be a bit difficult to make this fit because we don't have control over the flex plant because of the motor mount， 对吧？所以说呢，他的 what's left now with twin third info nuts in this housing socket and secure both the circular spline and the way turn the river to the housing and that's it our string with gear or hard morning drive is now done， but as i finished i thought that here that i added some nuts between the acrylic and the housing in order to get the proper distance as the lid had previously now this year set looks much cooler。 首先，它有三部分组成，对吧？ i connect the steeper motor to an arduino， so i can control the motor speed and direction better examine and see how the system works you can find more details about this and the arduino code on the etc so here it is now we can see how the harmonic drive works in real life in this case output chef is thirty five times forward than the input chef here i mark one two of the flex plain with red color so we can better track and get sense of the movement of the flex plan to be honest it's quite fun looking how this thing works。 来看一下。 however， we can notice that flex planes sometimes jitters or the motion is not that smooth there are several reasons for that in this particular configuration the problem is that i made the acrylic motor mount by hand so the motor is not mounted perfectly in the as well nevertheless i also tried lifting some weights at a distance of twenty five centimeters was able to leave one twenty five kilograms that's a torque of around three newton leaders which is at least ten times greater of what this emacy and steeper motor is rated？ 他的一个特点啊，就是说运动。

机器人核心零部件斜波减速器浅谈斜波传动是由美国发明家 c watsmaster 马色于上世纪五十年代中期发明创造。 斜波传动特点有，一、精度高，多尺在两个一百八十度对称位置同时聂合，因此齿轮齿距误差和累计齿距误差对旋转精度的影响较为平均，可得到极高的位置精度和旋转精度。二、传动比大。单及斜波齿轮传动的传动比可达三十到五百， 且结构简单。三、承载能力强。斜波传动中持鱼尺的镊和市面接触，加上同时聂合尺数比较多，因而单位面积在和小， 承载能力较其他传动形式高。四、体积小，重量轻。相比普通的齿轮装置，体积和重量可以大幅降低，实现小型 话轻量化。五、传动效率高，寿命长。六、传动平稳，无冲击，噪音小。斜波减速器在国外是一个成熟的技术，技术基础是斜波传动。他是由波发生气、柔性轮、钢性轮三个结构组成的传动。波发生气会使柔性轮产生弹性形变， 与刚性轮共同传递运动，实现大传动比。与通用减速器相比，用于机器人关节的斜波减速器要求具有传动链段体积小、功率大、质量轻和易于控制等特点，因此对精度的要求更。

虽然斜拨减速器长期被日本企业哈姆耐克把持，但这并不意味着日系企业在这个领域没有挑战者。苏州率低，斜拨器出现就撬开了哈姆耐克在国内显斜拨减速器的绝对地位。 二零一八年国内斜坡减速器出货量哈姆耐克占比百分之五十一，绿地斜坡占比百分之二十一，绿地在自主品牌机器人的斜坡减速器市场占有率有百分之六十二点五五。 绿地斜坡器减速器在二零一九年成为国家工信部首批专机特行小聚林企业， 我们从评价专金特型企业的维度去分析。首先从产业导向上看，绿地的产品是用于工业机器人的精密斜坡减速器属于工业四机中的核心基础零部件，是符合 领选专金特星的行业要求的。同时，绿地的精密斜坡减速器是工业机器人的重要构成，处于产业链的关键领域。虽然与哈姆耐克相比，在技术、工艺、材料和产品的性能参数上还有一定的差距， 但是经过多年的积累，绿地斜坡减速器产品系列已经逐渐的丰富，已经基本可以实现对哈姆耐克的国产替代，属于补短板和填补关键空白。 在技术实力上，绿地在斜坡减速器的齿轮设计、核心零部件加工制造等重要环节上具备完全的自主能力， 已经实现了斜坡减速器的核心部件柔性轴承和交叉轴承的自制。值得一提的是，绿地跳出传统上以 vars 定理为基础的健开线齿 人设计理论，自行研究出新的齿形设计理论，并发明了全新的斜拨裂合齿形梯形齿，拥有具完整的自主研发知识产权。 p 型尺可以在大幅提高斜坡减速器使用寿命的前提下，提高输出效率和扭矩承受力。

斜拨齿轮减速机是齿轮减速机中的一种新型传动结构，由固定的内齿钢轮、柔轮和使柔轮发生镜像变形的播发声器组成。他是利用柔性齿轮产生可控制的弹性变形波，引起钢轮与柔轮的齿间相对错齿来传递动力和运动， 最大的特点是精度高、体积小，目前应该是输出精度最高的减速机。但是它结构上的特点也决定了它的致命弱点，负荷稍大，柔轮便损坏，且柔轮一旦损坏， 减速机将无法再修复。与企业而言，不仅增加制造成本，还增加了设备的维修成本，得不偿失。而百线真轮减速机的出现在很大程度上弥补了这一缺陷。他与斜波一样具有小型、超薄、轻量化、高精度等特点，但刚 性和寿命是斜拨的三倍，输出扭矩是斜拨的两倍，因此他更耐用，负载能力更强，更适合应用于对精度、刚性、使用寿命等要求较高的应用领域。