Research On Profile Modification Technology Of Cycloidal Wheel And Structural Optimization Design Of RV-550E Reducer

RV reducer has the advantages of small size,light weight,high precision,large transmission ratio,high efficiency and stable transmission.It is a kind of precision reducer widely used in industrial robots.In recent years,the industrial robot industry has flourished and promoted the development of RV reducer research.The RV reducer has complex geometry constraints,and it is difficult to take advantage of the RV reducer with traditional empirical design methods.The cycloidal wheel is the core component of the RV reducer,and its tooth profile directly affects the transmission characteristics and load carrying capacity of the RV reducer.Therefore,it is of great significance to study the profile modification technology of cycloidal gear and the structural optimization design method of RV reducer.The main work and research results of the paper are as follows:(1)Based on the principle of profile forming and shape modification of cycloidal gear,the relative rotation angle and initial meshing gap generated by profile modification were calculated.Based on the Hertz contact theory,the theoretical calculation of the meshing force of the cycloidal wheel and the needle teeth was carried out.The relationship between the method and the amount of modification and the contact stress of the cycloidal wheel was analyzed,which provides a direction for the optimization of the profile of the cycloidal gear.(2)Aiming at the problem that the single target optimization modification method can not guarantee the high load capacity and good transmission characteristics at the same time,a multi-objective optimization design method for the cycloidal profile modification was proposed.Considering the carrying capacity and transmission characteristics of the cycloidal wheel,the multi-objective optimization mathematical model of the cycloid profile modification was established based on the deviation from the corner profile and the contact force of the cycloidal wheel.The modification amount of the cycloidal profile of the RV-550 E reducer was optimized.The result of the multi-objective optimization were compared with the result of the single-objective optimization modification method,which verifies the superiority of the tooth profile modification method presented in this paper.(3)Using Python to complete the parametric design of the cycloidal pin finite element analysis model in ABAQUS,the stress and strain distribution of the cycloidal wheel and the pin wheel were obtained.By comparing and analyzing the contact stress of the cycloidal wheel calculated by finite element simulation and Hertz theory,the correctness of the finite element model of cycloidal pin wheel and the multi-objective optimization method of cycloidal profile modification is verified.(4)Based on the structure and transmission principle of RV reducer,the geometric parameters affecting the volume and efficiency of RV reducer and the contact stress of cycloidal wheel were analyzed.With the RV-550 E reducer as the optimization object,a mathematical optimization model with small volume,high efficiency and low contact stress of cycloidal wheel was established.According to the optimization results,the virtual prototype model of RV reducer was established in soliderworks,which verifies the feasibility of structural optimization of RV reducer.