The Modification Techniques And CNC Form Grinding Machine Design Of Cycloidal Gear Used In RV Reducer

The Industrial robots industry has great competitive advantages and a promising prospect.The cost of RV reducer reached the proportion of one-third in the Industrial robots and this kind of reducers are mainly dependent on imports.Reaching the localization of the RV reducer is a problem which must be solved to reduce the cost. RV reducer has a high demand of the manufacturing precision on the cycloidal gear and the quality of tooth profile modification directly determines the performance and the reliability of the products. Therefore,the research on the modification theory of cycloidal gear and relevant forming grinding equipment is particular important. This is the background of the thesis.This is a new attempt on the tooth profile modification of the cycloidal gear. The relevant machining equipment in developed in Luoyang Keda Yuege CNC Machine Tool Co.Ltd. The main contents of this thesis are as follows:1 Analyzed the three basic and combined modification methods of the cycloidal gear, including equidistant modification, moved distance modification and whirl angle modification. By comparing the modification effects of them, the resulted best method is negative equidistant combining with positive moved distance modification.2 Made a new attempt of the cycloidal tooth profile modification on the basis of traditional correcting methods: single gears contact without load,and multiple gears contact after load.Aiming at approaching the normal cycloidal profile in the main working segment as far as possible, a new theory of single tooth mismatch with no backlash was proposed. The modification amount was set to be a parabolic relationship on the distance between meshing point of the cycloidal gear and the pinwheel, and the pitch point. The parabolic modification amount on its theoretical tooth profile in normal direction was superimposed. The tooth surface equation of this modification method was deduced and the comparison of this method and the traditional method was made, verifying the feasibility of the parabolic modification method.3 Programming the TCA procedure of the cycloidal gear which is meshing with the pinwheel that is on the second stage of the RV reducer by Matlab. It formed a parabolic and flat parabolic curve of transmission error,which can absorb the errors caused by manufacture and installation effectively. Providing a new idea on modifying the cycloidal gear of the RV reducer.4 Researched the RV500 CNC forming grinding machine on machining Cycloidal gear in cooperation with Luoyang Keda Yuge CNC Machine Co.Ltd. Performed the modeling on every component of the machine and finished the assembly, providing the high-precision equipment on machining the cycloidal gear.