| RV reducer has the characteristics of small volume,large transmission ratio,light weight,large bearing capacity,large rigidity,high transmission accuracy and high transmission efficiency.It is widely used in industrial machinery,CNC machine tools,radar and other precision mechanical transmission field.This article selects the RV reducer as the industrial robot joint reducer,which is to ensure that the robot joints can achieve the key components of speed,but also robot technology which restricts the development of China's robot one of the three technologies.Most common RV applications in the robot joints are foreign products,with the major producing countries being Japan.Domestic RV reducer research is in the experimental phase,and did not meet the requirements of industrialization,its performance also failed to meet the requirements.Therefore,the study of the dynamic characteristics of RV reducer is very necessary.In this article,according to robot RV joint reducer in kind for each part of the mapping and related technical manuals view,get the basic dimensions and technical requirements,and then three-dimensional modeling.Then according to RV reducer components in the constraints and cooperation between the assembly.Combined with the transmission principle of RV reducer and the theoretical analysis of the forming method of the cycloid profile of the main components.After the model is reasonably simplified,the dynamic model of RV reducer is established by using the DAMS software and configuring the constraint conditions among the components.The influence of main design parameters on the dynamic performance of RV reducer was investigated using a single parametric analysis.Namely the influence of the key design parameters such as the number of teeth on the cycloid,the short coefficient,the center circle of the needle center,the radius of the cycloid wheel distribution,the radius of the needle,the eccentricity of eccentric shaft(eccentricity)and eccentric shaft diameter.Single factor analysis was used to investigate the effect of major design parameters on RV retarders.The purpose of this study was toanalyze the effect of these changes on the meshing force between the pin teeth and the cycloidal gear.Using MATLAB to process the data obtained,analyze its influence law.The vibration directly affects the transmission accuracy,RV reducer analysis,consider using single factor method,the center of mass obtained two speed reducer in various parts of the X,the Y displacement response,according to the displacement fluctuation map obtained by intuitive analysis of vibration.The influence of single parameter on the vibration of RV reducer is studied.The main factors are the radius of the center of the needle tooth,the radius of the needle tooth and the number of cycloid gear.Then in order to further study the vibration of the RV reducer,the vibration model of the RV reducer is set up from the point of view of mathematical theory.The influence of the parameters on the dynamic characteristics of the RV reducer is investigated,and the virtual prototype is analyzed mainly from two aspects of dynamics and vibration.The effect of structural parameters on the dynamic characteristics is mainly considered as the meshing force of the cycloid wheel and the needle gear.The influence of the single structure parameters on the vibration of the RV reducer is analyzed.The related inquiry of vibration is carried out,and the method of reducing the vibration is found out.In this article,the use of Virtual Prototyping for vibration research is a supplement to the research of RV reducer vibration,and has a certain reference value for the subsequent virtual prototyping in the analysis of dynamic characteristics.This article also provides a relatively complex method for establishing the vibration equation of the mechanism model,and also has a certain reference value for the RV reducer in the theoretical research of mathematical models. |
PDF Full Text Request