RV减速器摆线轮齿廓曲线的曲率影响因素研究  

Curvature of Cycloid Profile Curve of RV Reducer Influencing Factorson

作　　者：张跃明[1] 王巍[1] 纪姝婷 ZHANG Yue-ming;WANG Wei;JI Shu-ting(The College of Mechanical Engineering&Applied Electronics Technology,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100124

出　　处：《机械设计与制造》2021年第1期267-271,共5页Machinery Design & Manufacture

基　　金：中国博士后科学基金资助-基于非线性多齿啮合刚度的RV减速器摆线齿修形机理研究(2017M620552)。

摘　　要：以工业机器人为例,对RV减速器摆线轮齿廓曲线的曲率的影响因素进行了研究。根据微分几何理论,建立摆线轮齿廓的数学模型,采用坐标变换方法推导出摆线齿廓方程,分析了摆线轮齿廓曲线的凹凸特性,求出拐点的数学解析式。根据摆线齿廓方程计算出曲率和曲率半径的参数表达式,最后推导出可以概括摆线针轮传动的诱导法曲率公式。以RV-20E减速器为例,求解出凹凸区间曲率最大值和最小值,并利用Matlab编制程序进行仿真,详细分析了机构的偏心距、针齿半径、针齿分布圆半径、针齿数对拐点所在位置、曲率变化快慢的影响规律。通过对摆线齿廓的曲率的仿真分析,偏心距和针齿分布圆半径对摆线齿廓的曲率影响显著,同时也会影响拐点位置的变化,针齿半径对其有一定的影响,但影响较小,并且不会影响拐点所在的位置。研究结果为科学地选择摆线轮最佳参数和摆线针轮传动的设计提供了一种理论依据,具有一定的实用价值。This paper takes the industrial robot as an example to study the influencing factors of the curvature of the trochoidal tooth profile curve of the RV reducer.According to the theory of differential geometry,the mathematical model of the cycloidal gear tooth profile was established,and the cycloidal tooth profile equation was deduced using the coordinate transformation method.The irregularity characteristics of the cycloid tooth profile curve were analyzed,and the mathematical analysis formula of the inflection point was obtained.The expressions of curvature and radius of curvature are calculated according to the cycloidal tooth profile equation.Finally,the formula for the induced curvature of the cycloidal pin wheel drive can be summarized.Taking the RV-20E reducer as an example,the maximum and minimum values of the curvature of the concaveconvex interval were solved,and the program was programmed using Matlab.The eccentricity of the mechanism,the radius of the pin teeth,the radius of the distribution circle of the pin teeth,and the number of teeth on the inflection point were analyzed in detail,the influence of curvature.Through the simulation analysis of the curvature of the cycloid tooth profile,the eccentricity and the radius of the needle tooth distribution circle have a significant influence on the curvature of the cycloidal tooth profile,and at the same time it also affects the change of the inflection point position.The tooth radius has a certain influence on it,but The impact is small and does not affect the location of the inflection point.The research results provide a theoretical basis for the scientific selection of the best parameters of the cycloid wheel and the design of the cycloidal pin wheel drive,which has a certain practical value.

关 键 词：RV减速器 摆线齿廓 凹凸特性 曲率特性 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]