Research On Vibration And Noise Of Pin-pendulum Reducer Based On Cycloidal Disk Profile Modification

Based on one-stage pin-pendulum reducer,a variety of transmission structures of reducer have been derived.Because of its compact structure,smooth transmission and multi-teeth meshing,it has been widely used in precise transmission fields such as industrial robots.With the continuous progress of industrial technology,the requirement of vibration and noise characteristics of pin-pendulum reducer is also increasing.In this paper,theoretical calculation and simulation technology are combined to study the vibration and noise reduction of a type of one-stage pin-pendulum reducer.Firstly,the traditional modification methods of cycloidal disk profile are summarized and the piecewise modification theory of cubic polynomial fitting is putted forward.The force analysis and meshing frequency calculation of cycloidal disk with clearance meshing are carried out,and the tooth profile curve after modification is generated by Matlab.Secondly,the simplified mechanical model and dynamic equation are established and the numerical response is solved to compare with the simulation results.Next,builting three-dimensional model of the prototype in Solidworks and importing into Adams for rigid body dynamics analysis to obtain the rotation angular velocity of each component and the meshing force between cycloidal disk and pin teeth.The simulation results are very close to the theoretical values,which verifies the validity of the Adams model.Finally,the transient analysis of the pinion case is carried out in Nastran under the excitation of the simulated meshing force.The radiated sound field is simulated in Virtual.Lab Acoustics with the acoustic boundary condition of the outermost velocity of the pinion case.The results show that the displacement and velocity response are reduced in varying degrees and the acceleration is basically unchanged after piecewise modification compared with the traditionally combined modification.At the same time,when the frequency is more than 700 Hz,the sound pressure drop increases with the increase of frequency,and the equivalently continuous sound pressure level in time domain decreases by 4~6dB.