6SC6120-0FE01 控制模块

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2.3.1谐波齿轮传动

谐波齿轮传动是由美国学者麦塞尔发明的一种具有重大突破的传动技术，其原理是依靠柔性齿轮所产生的可控制弹性变形波，引起齿间的相对位移来传递动力和运动的。国内1978年研究成功了谐波传动减速器，并成功地应用在发射机调谐机构件中。1980年该项成果荣获了电子工业部优秀科技成果奖。

  1．谐波齿轮传动的工作原理

如图2-30所示，谐波齿轮传动主要由波形发生器H、柔轮1和刚轮2组成。柔轮具有外齿，刚轮具有内齿，它们的齿形为三角形或渐开线型。其齿距P相等，但齿数不同。刚轮的齿数 比柔轮齿数 多。柔轮的轮缘极薄，刚度很小，在未装配前，柔轮是圆形的。由于波形发生器的直径比柔轮内圆的直径略大，所以当波形发生器装入柔轮的内圆时，就迫使柔轮变形，呈椭圆形。在椭圆长轴的两端（图中A点、B点），刚轮与柔轮的轮齿完全啮合；而在椭圆短轴的两端（图中C点、D点），两轮的轮齿完全分离；长短轴之间的齿则处于半啮合状态，即一部分正在啮入，一部分正在脱出。

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