Research On The Meshing Characteristics Of Cycloidal Pin Wheel Transmission Part Of RV Reducer

RV reducer is widely used in precision transmission fields such as industrial robots due to its compact structure,large transmission ratio,high motion accuracy,stable transmission and other advantages.At present,there is no industrialized mass production of domestic reducer and the key problem that constrains its development is the low accuracy of the transmission of the needle wheel drive part of the balance line,short life and other factors.Cycloid pinwheel transmission is a kind of multi tooth meshing transmission,the actual work situation is complicated and the real stress situation can't be reflected by simply theoretical calculations.This paper uses virtual prototype simulation to visually analyze its transmission meshing characteristics.The paper analyzes the basic structure,transmission principle,and cycloidal gear tooth profile equation of RV reducer.Using MATLAB to draw the swing wheel profile,the difference of cycloid tooth profile under different modification methods is discussed.Using UG parametric modeling to create a three-dimensional model of RV reducer.Based on multibody dynamics,a virtual prototype is created,and its constraint addition requirements and parameter settings are determined.Comparative simulations were carried out under different working environments,and the differences between the return error,the meshing site and the meshing force were analyzed under two different typical environments,and the requirements for reducer performance under each working environment were summarized.The simulation is carried out under the rated operating conditions,the speed,force,meshing frequency and the number of pendulum needles are simultaneously meshed,and the rationality of the virtual prototype and the accuracy of the simulation are verified.Based on HyperMesh,the cycloid wheel mesh is manually divided,and a reasonable external connection mode is created for its analysis.Based on the rigid-flexible coupling technology,a dynamic simulation study was carried out,and the calculated stress cloud diagram intuitively showed the stress change process during the meshing process,and extracted the stress change curves of each node.A prototype of the reducer was processed,an experimental platform was created,and the prototype was tested for performance.Comparison and analysis of the return error curve and engagement force curve under different working environment can be found: when the RV reducer is assembled horizontally,the bi-directional rotation will cause the return error of the balance wheel drive part and the load shock,when choosing the reducer,priority should be given to the influence of accuracy.In vertical assembly,two-way rotation will not cause return errors and large load shocks,and priority should be given to load capacity and service life when selecting.The continuous node stress variation curves were extracted and analyzed to determine the position and magnitude of the maximum contact force during meshing,which provided a theoretical basis for subsequent research and improvement of the modifying method.