| Due to the advancement of science and technology and the rapid development of modern intelligence,industrial robots have become more and more important in many industries;RV reducers have become important transmission parts in industrial robots and other industries due to their small size and high transmission accuracy.The core transmission part of RV transmission is the cycloidal gear,and its tooth profile shape is very important to the transmission performance of the RV reducer;the pressure angle is an important reference object for evaluating the performance of the RV transmission,so it is based on the cycloidal gear tooth profile.Studying the changing law of pressure angle has very important value for improving the transmission performance of RV reducer.This article derives the calculation method of pressure angle based on the forming principle of the cycloidal gear tooth profile and the principle of meshing,and on this basis,studies the cycloidal curve The influence law of each design parameter of the wheel on the pressure angle and the influence law of each modification parameter on the pressure angle,and optimize the analysis of each parameter with the pressure angle as the target.The main research content and research results are as follows:1.Based on the tooth profile forming principle of the cycloidal gear,the mathematical formula of the standard tooth profile of the cycloidal gear is established according to the principle of meshing and the principle of coordinate transformation;based on the kinematics relationship between the cycloidal gear and the pin wheel,each unit is established.The mathematical model of the transmission pressure angle of the tooth;and according to the movement phase difference of each pin tooth,the mathematical model of the average transmission pressure angle under the multi-tooth meshing of the RV transmission is derived and established,which provides an easy-to-understand and intuitive calculation for the calculation of the RV transmission pressure angle.Simple calculation method.2.According to the established single-tooth transmission pressure angle mathematical model,use MATLAB programming to simulate and analyze the change law of single-tooth transmission pressure angle,and the pin tooth radius r_z,eccentricity e,and pin tooth distribution circle radius R_z respectively affect the single-tooth transmission The influence law of pressure angle;research shows that during RV transmission,the pressure angle of single-tooth transmission changes according to a certain cycle,which becomes larger as the eccentricity e decreases,and as the pin tooth distribution circle radius R_z decreases.The smaller,the pin tooth radius r_z has very little influence on the single-tooth transmission pressure angle.3.According to the established mathematical model of the average pressure angle under multi-tooth meshing in the RV transmission process,use MATLAB programming to simulate and analyze the change law of the average pressure angle under multi-tooth meshing.Each pin tooth participates in the rotation mode when meshing at the same time.And the law of the pin tooth radius r_z,eccentricity e,and pin tooth distribution circle radius R_z on the average transmission pressure angle.The study found that during the RV transmission process,the average transmission pressure angle under multi-tooth meshing changes periodically;at the same time,each pin tooth participating in the meshing is periodically and sequentially rotated,and the average transmission pressure angle under multi-tooth meshing at the same time varies with the eccentricity e The increase and decrease of the pin tooth distribution circle radius R_z increase,and the pin tooth radius r_z has a relatively small effect on the average transmission pressure angle.4.Based on the established cycloidal gear tooth profile equation and the mathematical model of the RV transmission pressure angle,the modification parameters are introduced,and the cycloidal gear tooth profile equation with the modified parameters and the RV transmission with the modified parameters are established.Mathematical model of pressure angle.Use MATLAB programming to simulate and analyze the influence law of each modification parameter on the pressure angle of RV transmission.Research shows that the amount of isometric modification and shift modification have little effect on the pressure angle of RV transmission,and the amount of corner modification has no effect on the pressure angle.5.Take the average value of the average pressure angle when the multiple teeth of the RV drive participate in the drive at the same time as the objective function of the optimization search,and at the same time complete the determination of the mathematical model and constraint conditions required for optimization,and use MATLAB programming to do it through genetic algorithm Optimal design analysis.The research shows that the optimized result is reduced by 2.78%compared with the pre-optimized result,which shows the feasibility of this optimization scheme. |
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