Research On Transmission Efficiency And Structural Improvement Of Cycloidal Pinwheel System Of RV

RV reducer is widely used in joint decelerator of industrial robot due to its advantages.Such as large reduction ratio,small volume,strong load carrying capacity and high transmission accuracy.Transmission efficiency is one of the main performances of the reducer.With the development of industrialization of industrial robots and the requirements of green manufacturing,there is an urgent need to conduct more accurate theoretical studies of efficiency and structural improvements to improve efficiency.As the main deceleration component of RV reducer,the cycloidal pinwheel transmission system,during the work process,the tolerance will cause the gap between cycloid gear and pin gear,which will affect the contact and elastic deformation of the mating tooth surface,thus resulting in transmission efficiency.At the same time,the lubrication will affect the friction coefficient of the tooth surface,and the friction of the tooth surface will reduce the transmission efficiency and accelerate the wear of the tooth surface.The existing efficiency studies often ignore the effects of tolerances and tooth surface lubrication conditions.Therefore,it is of great significance to carry out more accurate transmission efficiency analysis considering the effects of tolerances and lubrication conditions.In this study,the cycloidal pinwheel mechanism of the RV reducer is taken as the research object,a solution model that considers the transmission efficiency of the tolerance and the lubrication state of the tooth surface is proposed,and the structure of the cycloidal pinwheel mechanism with the pin gear sleeve is proposed.Significantly improve transmission efficiency and reduce costs.The main work contents are as follows:Based on the analysis of the structural characteristics of the cycloidal pinwheel reducer,the structure improvement of adding pin gear sleeve to RV Reducer is put forward,and check the yield strength of the components through finite element analysis.In terms of dynamic modeling,the tolerance analysis of the cycloid pinwheel system with and without pin gear sleeve was performed to obtain the clearance distribution.The friction lubrication model of the tooth surface of the cycloid pinwheel system was established,and the friction coefficient of the tooth engagement under the mixed lubrication state was discussed.Based on the above research,the dynamic model of cycloid pinwheel system considering tolerance and friction is established to solve the contact force and speed during transmission.Through dynamics simulation,it is verified that the model can accurately reflect the dynamic characteristics of the cycloid pinwheel system.Based on the dynamic model,the friction force distribution of the cycloidal pinwheel system with and without the pin gear sleeve is analyzed,and a solution model for the transmission efficiency of the cycloid pinwheel system with tolerances and tooth surface lubrication is proposed.Compare efficiency changes of cycloidal pinwheel system with and without pin gear sleeve,and analyze the factors that affect the efficiency.The transmission efficiency simulation considering friction is used to verify the correctness of the established transmission efficiency theoretical solution model.At the same time,the theoretical calculation and simulation results show that the improvement of the structure of the added pin gear sleeve can reduce the friction loss of the cycloid pin wheel system,and significantly improve the transmission efficiency.