Research On The Structure And Ttansmission Accuracy Of Dojen Cycloid Reducer

The cycloid pin wheel planetary transmission is widely used in modern mechanical transmission. Compared with the involute gear, its number of teeth is few when it is not undercut and its sliding rate is small and uniform, and it’s more suitable for micro gear reducer design. Dojen cycloid reducer is widely used in rotating arm driving device of robot due to its unique structure and eliminating gap machine.The transmission accuracy of the reducer is measured by the backlash, which means that when reverse the input shaft, the output shaft is lagging behind the input axis angle. At present, the accuracy of each manufacturing installation error is analyzed, and establish the model of the accuracy calculation model. But the existing research remain in of cycloid pin gear deceleration device forward slip angle of the research, and not in the true sense of rotation error. This paper will deducte the formula of back difference is derived by using the geometrical method,based on the existing forward lateral backlash calculation formula.In many influencing factors, the cycloidal gear modification takes a large proportion.Cycloidal gear modification will lead cycloid gear and pin gear meshing backlash, when the reducer reversal, each meshing teeth will idle at a certain angle, called null angular. The position of the smallest null angle will contact at the first, thus driving the output shaft to reverse, and the smallest null is the backlash of the whole reducer. This paper will establish the model of backlash by the geometric analysis method, and then research the relationship between the backlash and the number of the teeth.In addition to the cycloidal gear modification, the manufacturing tolerances and the installation errors of the key parts can also cause the backlash.Through the sensitivity analysis of these actors is necessary, by doing that can find the factors which are very sensitive factors to the backlash of the reducer, so as to select the value of the the manufacturing tolerances.Finally, the comparison of the backlash of the reducer with different input way.The transmission form of Dojen Cycloid reducer is 2K-H type, when designing the structure, determine design parameters reference RV320 reducer,and then check the strength of the gear by Hertz formula and finite element method. After the strength of key parts is met, design the 3D model of the reducer with PRO/E, and taking the special backlash mechanism into consideration.And select the proper manufacturing tolerances referring to the technical requirements of the gear mesh.After the design of the reducer, calculating the backlash of the Dojen Cycloid reducer.The main source of the backlash includes two parts, the cycloidal gear modification and the manufacturing tolerances. This two part backlash has different calculation methods,it should be calculated separately. The backlash caused by the modification is the calculated using the backlash calculation model, and another part should be analyzed by the probability analysis method. Then, the total backlash of the reducer can be calculated by considering the two part of the backlash.