Cycloid tooth profile matching modification method of precision speed reducer for robot

Abstract

The invention relates to the technical field of cycloid tooth profile design and mechanical transmission of speed reducers, in particular to a cycloid tooth profile matching modification method of a precision speed reducer for a robot, which has the advantages of adapting to the requirement of the robot on the transmission performance of the precision speed reducer under a large-load working condition, and meeting the mutual matching of a cycloid modification tooth profile and meshing contact force; the cycloid tooth profile modification gap is uniform, and the transmission error mean value caused by tooth profile modification is reduced; the normal force at the meshing point of the meshing tooth surface is reduced, and the speed reducer obtains better transmission performance; the methodcomprises the following steps: S1, calculating according to a classical cycloid tooth profile contact force formula to obtain a normal contact force curve; s2, taking the normal contact force curve asa modification parameter to calculate the modification amount of the tooth profile of the cycloid gear in the rectangular coordinate system; s3, on the basis, removing the modification amount coordinate values from the theoretical cycloid tooth profile to obtain a modified cycloid tooth profile; and S4, further calculating the normal backlash generated after cycloid gear tooth profile modification through the modification amount coordinates.

Description

technical field [0001] The invention relates to the technical field of cycloid tooth profile design and mechanical transmission of a reducer, in particular to a method for matching and modifying a cycloid tooth profile of a precision reducer for a robot. Background technique [0002] Precision reducer is one of the three core components of industrial robots, accounting for about 36% of the total cost of robots, and its performance such as transmission accuracy and torsional stiffness is a key factor in determining the motion accuracy and reliability of industrial robots. The types of precision reducers commonly used in industrial robots include RV reducers, FA reducers, Seijin reducers, Dojen reducers, Twinspin reducers, and harmonic reducers. Because the harmonic reducer contains flexible gears inside, it will produce large elastic deformation when loaded, so it is generally used for the deceleration of the end joints of industrial robots. Other types of reducers contain c...

AI Technical Summary

Problems solved by technology

Although the modification of the cycloidal tooth profile in the reducer is a necessary technological means, the commonly used modification method will also bring some negative effects on the transmission performance of the reducer, such as reducing the number of cycloidal gear teeth meshing at the same time, increasing the The meshing gap reduces the overall torsional stiffness and transmission accuracy of the reducer, etc.

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