A Method and Device for Determining Bearing Engagement Marks of Cycloidal Pin Wheels of RV Reducer

Abstract

The invention relates to a method and device for determining the bearing engagement mark of an RV reducer cycloidal-pin wheel, and belong to the technical field of cycloidal-pin wheel bearing transmission. The method comprises the steps of firstly, acquiring the position parameters and the initial engagement interval of the wheel tooth engagement point of the cycloidal-pin wheel without load; then, confirming the tooth numbers of the wheel teeth which may make contact with the cycloidal-pin wheel in bearing according to the initial engagement interval, and thus confirming the contact force, the deformation quantity and the contact deformation total energy of the engagement position of each wheel tooth; and at last confirming the actual number of the teeth in engagement and the contact range of engagement, calculating the deformation quantity of the wheel teeth in engagement according to the actual load distribution of the tooth pair in engagement, and finally obtaining the bearing engagement mark of the RV reducer cycloidal-pin wheel. According to the method and device for determining the bearing engagement mark of the RV reducer cycloidal-pin wheel, the phase difference and the modification design of the cycloidal-pin wheel, and the comprehensive influence caused by the error uniformization of simultaneous multi-tooth engagement on RV transmission are taken into account, the true working condition of engagement mark load can be known, and therefore, the system has important significance in the improvement, the preset control and the application of the bearing engagement characteristics, the transmission accuracy and the accuracy retaining ability of an RV reducer.

Description

technical field [0001] The invention relates to a method and a device for determining a bearing meshing mark of a cycloidal pin wheel of an RV reducer, and belongs to the technical field of cycloidal pin wheel bearing transmission technology. Background technique [0002] Among the four core components of the robot, the RV (Rotary Vector) reducer is the most critical. The RV reducer is a two-stage reduction transmission device developed on the basis of the cycloidal pinwheel drive. It uses a common crankshaft and a central disc. The supporting structure forms a closed planetary transmission, which has the advantages of large transmission ratio, small size, light weight, strong bearing capacity, and high rigidity. In practical engineering applications, the high-precision transmission of the RV reducer under load-bearing conditions is the basic requirement for accurate movement and repeated positioning of the robot. However, compared with foreign countries, my country's RV re...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a method for determining the meshing marks of the cycloidal pinwheel of the RV reducer, so as to solve the problem that the meshing marks of the cycloidal pinwheel of the RV reducer obtained by finite element analysis are inconsistent with the actual meshing marks; The invention also provides a device for determining the bearing meshing marks of the cycloidal pin wheel of the RV reducer

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