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在同型号的谐波齿轮传动减速器和相同的试验条件下，考察了不同固体润滑薄膜体系的润滑性能和磨损特性；结合试验后柔轮和刚轮的工作表面形貌和磨粒的分析，初步探讨了固体薄膜润滑下谐波减速器的磨损机理及其润滑失效机理．结果表明，谐波减速器齿轮摩擦副的润滑薄膜配伍是影响谐波减速器润滑状态和运行寿命的重要因素．在分析研究的基础上，提出了改进谐波减速器齿轮副固体润滑的设想，并且研制出在给定条件下适用的固体润滑薄漠体系．
In the same type of harmonic gear drive reducer and under the same test conditions, the lubricating properties and wear characteristics of different solid lubricating film systems were investigated. Combining the working surface morphology and abrasive grain analysis of the flexible wheel and the rigid wheel after the test, The wear mechanism and lubrication failure mechanism of harmonic reducer under the lubrication of solid film are discussed preliminarily. The results show that the lubricating film compatibility of gear reducer gear friction pair is an important factor that affects the lubrication state and service life of the harmonic reducer. Based on the analysis and research, the idea of improving the gear pair solid lubrication of the harmonic reducer is put forward, and a solid lubrication system for the desert under the given conditions is developed.