基于优化承载能力的RV减速器摆线齿轮齿廓的等距-移距修形

摘要/Abstract

摘要： 结合传统等距修形方法和移距修形方法，提出了一种基于优化承载能力的摆线轮齿廓的新型等距-移距组合修形方法。以工业机器人RV-40E减速器的摆线针轮为例，对其传动进行了力学分析，以最优承载能力为目标建立了摆线轮修形量搜寻数学模型，并采用格点法进行了优化，最终通过数值求解获得了等距-移距修形的摆线轮齿廓曲线。设计了摆线轮加工工艺，分别加工制造了等距-移距修形的摆线轮和作为对比验证的传统拟合转角修形摆线轮，并分别组装出RV减速器样机进行性能测试。试验结果表明:装有该等距-移距修形摆线轮的RV减速器的传动效率高达85%，相比于装有传统拟合转角修形摆线轮的RV减速器，该新型RV减速器在重载情况下的噪声和温升均显著降低，承载能力得到了明显提高。

关键词: RV减速器, 摆线齿轮, 承载能力, 组合修形

Abstract: Combined the traditional equidistant modification method and radial-moving modification method, a new composite modification method of equidistant & radial-moving（ERM） for cycloidal teeth was proposed based on optimized carrying capacity. Taking the cycloidal pin of a RV-40E reducer in industrial robots as an example, the mechanics analysis of the transmission was carried out, aiming at optimal carrying capacity, the mathematical model of the cycloidal profile modifications was established as well as optimized by the grid method. Finally, the ERM modification tooth profiles of cycloidal gears were obtained by using numerical solution. The processing technology of cycloidal gears was designed. A cycloidal gear optimized by ERM modifications and a cycloidal gear designed by traditional fitting angle(TFA) modifications used as a comparison were manufactured respectively, and their corresponding RV reducers were assembled to conduct performance tests respectively. The testing results show that the transmission efficiency of the new RV reducer made from the cycloidal gears modified by ERM method is as high as 85%. Compared with the RV reducer made from the cycloidal gears modified by TFA method, the noise and temperature rise of the new RV reducers are evidently reduced under the heavy load conditions. Overall, the carrying capacity of the new RV reducers is improved significantly.

Key words: RV reducer, cycloidal gear, carrying capacity, composite modification

中图分类号:

TH132

陆龙生;张飞翔;唐恒;万珍平;汤勇. 基于优化承载能力的RV减速器摆线齿轮齿廓的等距-移距修形[J]. 中国机械工程.

LU Longsheng;ZHANG Feixiang;TANG Heng;WAN Zhenping;TANG Yong. Equidistant & Radial-moving Modifications of Cycloidal Gear Tooth Profiles Used in RV Reducer Based on Optimized Carrying Capacity[J]. China Mechanical Engineering.

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