Theoretical Research And Simulation Analysis Of The Transmission Of The Reducer For Robot

With the prosperity of modern industry,the field of industrial robots has developed rapidly and has been widely used all over the world.In the structure of industrial robot,its joint drive device is an important link to ensure the working performance of industrial robot.As a new type of deceleration device,RV reducer is widely used in the joint drive device of industrial robot.Therefore,the research and analysis of the reducer has a great role in promoting the development of industrial robots.This paper focuses on the verification method of RV reducer for robot,which combines finite element simulation and theoretical calculation.From the perspective of theoretical design,the construction of mathematical model of cycloid tooth profile and the analysis of main influencing factors,as well as the comprehensive research on the dynamics,statics of key components and the performance of the whole machine are carried out.(1)based on the meshing principle of gears,the cycloid gear tooth profile equation is derived by means of coordinate transformation.On this basis,the tooth profile is drawn in Matlab according to the geometric parameters of the actual product model rv-20e,and the influence of geometric parameters on the shape of tooth profile is explored;At the same time,the curvature radius of cycloid tooth profile is solved,and the influence of geometric parameters on curvature is analyzed.The root cutting condition is determined and the maximum radius of curvature is calculated.The pressure Angle of cycloid wheel and needle wheel was studied,the expression of pressure Angle was derived,and the influence law of geometric parameters on the pressure Angle was analyzed.(2)using Solidworks China program combining has been deduced cycloid tooth profile of the parametric equation of 3 d parametric modeling of cycloid gear at the same time,on the E series RV reducer structure analysis,described the main bearing internal structure,the overall rolling contact mechanism,double column support mechanism,needle gear mechanism,main structure characteristics of double reduction mechanism of RV reducer,and the corresponding mechanism of three-dimensional entity modeling,at last for the whole machine assembly,testing,for after dynamics,statics and comprehensive performance analysis lay the foundation.(3)clarify the RV reducer transmission principle,combining with equidistant modification,shift modification and the modification of equidistant+shift mix three methods,set up corresponding to three kinds of RV reducer cycloid gear model,through the comparison analysis of Solidworks after three modification of tooth profile model and standard tooth profile,and the three kinds of cycloid gear assembly,import ADAMS dynamics analysis and comparison of three methods of modification corresponding assembly dynamics,combining the transient dynamic module in the Ansys Workbench,the details of the contact stress analysis.The influence of the three modification methods on the force of the cycloid system is compared.According to the results of simulation of Adams and Ansys Workbench,interval can be obtained after the modification,cycloidal needle wheel and gear meshing force more smoothly,little vibration,high driving accuracy,but at this stage of the test is mainly geared to the needs of the RV reducer machine,very few of cycloidal pinwheel transmission system oriented single test,therefore,in order to verify the accuracy of the above conclusion,theoretically based on MATLAB for cycloid gear and pin gear meshing force is calculated,the dynamics simulation accuracy.(4)on the basis of dynamic analysis,through the Ansys Workbench to further verify the structural strength,and the isometric after modification of cycloid gear and pin gear meshing statics analysis,comparative analysis,in order to clear the processing method of the strength of the key components of the RV reducer,optimize the structure,the modal analysis was carried out on the whole,the first six order modal vibration mode as a result,the needle tooth surface shell structure stiffness to improve the stress,deformation,has important influence to avoid resonance.This paper can provide a reference for the theoretical design and finite element analysis of RV reducer.