Mechanism Characteristic Analysis Of RV Reducer Cycloid Pinwheel Meshing Pair

RV reducer is one of the core parts of industrial robots.Because it is very difficult to manufacture and process,China still mainly depends on imports.Although there are many RV reducer manufacturers in China,the performance of RV reducers produced by most companies is still different from that of foreign countries.In order to break the monopoly of foreign technology and improve the product quality of domestic RV reducers,it is necessary to conduct a more in-depth study of the theoretical design of RV reducers.However,at present,the theoretical stiffness model and the theoretical multi-tooth meshing model of the cycloidal pinwheel meshing pair in the RV reducer still differences from the actual model.In view of the problems mentioned above,the following researches have been carried out in this paper:Firstly,the structure and transmission principle of the planetary deceleration mechanism of the cycloid pinwheel are analyzed,and the standard tooth profile equation and the motion tooth profile curve equation of the cycloid gear are derived according to the gear meshing principle,vector method and coordinate transformation.Then based on this equation,the effects of the tooth profile curvature and tooth profile pressure angle on the transmission performance of the cycloid pinwheel planetary reduction mechanism during the movement of the cycloid gear were studied.Secondly,by considering the influence of the structure stiffness of the cycloid pinwheel,contact stiffness model of the cycloid pinwheel was established,and the formulas for structure stiffness and contact stiffness of the cycloid pinwheel were derived based on the energy method and Hertz theory.Then based on the relationship between torsional stiffness and normal stiffness,torsional stiffness formula for multi-tooth meshing of the cycloid pinwheel is derived.Finally,the influence of the structural parameters of the cycloid pin wheel on the comprehensive normal stiffness and torsional stiffness of the single tooth meshing of the cycloid pin wheel was analyzed by VC ++ programming.Then by considering the initial meshing position,elastic deformation of the cycloidal pinwheel meshing pair,and the time-varying stiffness during meshing transmission,tooth-side clearance model of the cycloidal pinwheel meshing pair is established.Based on the principle of gear meshing and VC ++,an analysis program for multi-tooth meshing of the cycloidal pinwheel was developed.The initial meshing position,initial meshing clearance,meshing teeth,meshing force,pressure angle,meshing stiffness and Changes in torsional stiffness between the meshing pair of modified cycloidal pinwheel and standard cycloidal pinwheel meshing pair were analyzed during the meshing transmission.Finally,a three-dimensional model was established by using the APDL language in ANSYS.The VSWEEP command was used to generate a finite element model.Then according to the actual working conditions of the cycloid pinwheel,the contact pairs and boundary conditions of the cycloid pinwheel are established.Finally,the contact stress and contact deformation of the cycloid wheel and the needle teeth at different input angles were analyzed.