Rapid optimization method of cycloidal gear tooth profile modification coefficient

Abstract

The invention discloses a rapid optimization method of a cycloidal gear tooth profile modification coefficient. The method comprises the steps that firstly, by means of the characteristics that the initial meshing clearance of a cycloidal gear and a pin gear is a minimum value at the position and is a minimum value in the interval of [0, pi], derivation operation is conducted, the value range of tooth profile modification coefficients delta rp and delta rrp is narrowed, and the calculated amount for screening the optimal tooth profile modification coefficients delta rp and delta rrp is reduced; secondly, in the optimization process of the tooth profile modification coefficient, when the step of calculating the stress Fmax of the tooth with the maximum stress in the teeth transmitting the force at the same time is carried out, a warning parameter warn is introduced to represent the convergence state of the Fmax, according to the counting condition of the warning parameter warn, the non-solution condition that the Fmax cannot converge is rapidly eliminated in the optimization process, and the optimization speed is further increased.

Description

technical field [0001] The invention relates to the field of cycloidal gears, in particular to a method for quickly optimizing the modification coefficient of a cycloidal gear tooth profile. Background technique [0002] Due to the advantages of compact structure, low working noise, and wide range of reduction ratios, cycloidal pinwheel reducers have broad application prospects in the joint drive of robots. In the joint driving process of the robot, the output shaft end of the motor usually needs to be connected to a reducer. At present, harmonic reduction and gear transmission are mainly used. [0003] Generally, the reduction ratio of the harmonic reducer is generally above 50, and the reduction ratio of the single-stage gear transmission is less than 10. For the reduction ratio between 10 and 50, two-stage gear transmission is often used, resulting in a complicated transmission mechanism. The cycloidal pinwheel reducer can realize single-stage transmission with a reduct...

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Problems solved by technology

On the one hand this method does not give a Δr p and Δr rp range, resulting in a large search range and a long optimization time; on the other hand, solving F max , the part [Δr p ,Δr rp ] Combination corresponding F max There

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