Cycloidal gear curve modification method for micro cycloidal-pin gear speed reducer

Abstract

The invention relates to the technical field of design and manufacturing of cycloidal pin gear speed reducers, in particular to a cycloidal gear curve modification method of a micro cycloidal pin gear speed reducer. The method comprises the following steps: S1, acquiring basic parameters of the cycloidal gear by using a micrometer; s2, calculating a cycloid curve through a cycloid parameter equation; s3, the theoretical curve is corrected by defining a modification function; s4, inputting the modified curve into the model by using ANSYS numerical simulation software, and performing a simulation test for verifying the modification effect; and S5, finally, according to the modified design parameters, the cycloidal gear is manufactured through common numerical control milling. A systematic method is provided through a modification function to process the difference between the theory and the reality, and it is ensured that the design is more reasonable. Through simulation testing, potential problems can be found before actual manufacturing, and the cost and time of physical prototype manufacturing are saved. The machining precision is high through a common numerical control milling machine, and the cycloidal gear can be accurately manufactured according to design parameters.

Description

Technical Field

[0001] The invention relates to the technical field of design and manufacturing of cycloid pinwheel reducers, in particular to a cycloid wheel curve modification method of a miniature cycloid pinwheel reducer. Background Art

[0002] The micro-cycloid pinwheel reducer is mainly composed of four basic parts, namely the eccentric wheel, micro-cycloid wheel, pin gear ring, and output wheel. The motor drives the eccentric wheel to rotate, forcing the cycloid wheel and the pin gear ring to produce staggered tooth motion, thereby realizing the deceleration motion with small tooth difference and achieving the purpose of deceleration. The micro-cycloid pinwheel reducer has the characteristics of high precision, large transmission ratio, long life and high rigidity.

[0003] With the substantial improvement in the precision of domestic CNC machine tools in recent years, domestic manufacturers have been able to produce micro-cycloid pinwheel reducers that were originally impossible to manufacture in China. Due to the limitations of production equipment and tools, the cycloid wheel theoretical curve needs to be modified. Compared with the current mainstream micro-small tooth difference reducers, such as harmonic reducers and planetary reducers, this micro-cycloid pinwheel reducer has the advantages of large load-bearing capacity, high rigidity and long life. It is currently used in many robot joints. Due to the limitations of processing machine tools and tools, the product price is relatively high. After reasonable modification, the requirements for machine tools and tools can be appropriately reduced, making the product more price-competitive.

[0004] In the existing method for modifying the cycloidal wheel curve of a micro-cycloidal pinwheel reducer, the processing complexity and cost increase, which may lead to higher manufacturing difficulty and cost; the design limitations may affect the interchangeability of components and the overall performance of the reducer, and may lead to reduced efficiency, shortened life and increased noise during operation. Therefore, a method for modifying the cycloidal wheel curve of a micro-cycloidal pinwheel reducer is provided. Summary of the invention

[0005] The purpose of the present invention is to provide a cycloidal wheel curve shaping method for a miniature cycloidal pinwheel reducer, so as to solve the problems raised in the above background technology that in the existing cycloidal wheel curve shaping method for a miniature cycloidal pinwheel reducer, the processing complexity and cost are increased, which may lead to higher manufacturing difficulty and cost; the design limitations may affect the interchangeability of parts and the overall performance of the reducer, and may lead to reduced efficiency, shortened life and increased noise during operation.

[0006] To achieve the above object, the present invention provides a method for modifying the cycloid curve of a micro-cycloid pinwheel reducer, comprising the following steps:

[0007] S1. Use a micrometer to obtain the basic parameters of the cycloid wheel;

[0008] S2, calculate the cycloid curve through the cycloid parameter equation;

[0009] S3, defining a modification function to modify the theoretical curve;

[0010] S4. Using ANSYS numerical simulation software, input the modified curve into the model and conduct simulation test to verify the modification effect;

[0011] S5. Finally, according to the modified design parameters, the cycloid wheel is manufactured using ordinary CNC milling.

[0012] As a further improvement of the present technical solution, in S1, the basic parameters of the cycloid wheel specifically include: a base circle radius R, a rolling circle radius r, and the number of teeth N.

[0013] As a further improvement of the technical solution, in S2, the specific expression of the cycloid parameter equation is:

[0014] Calculate intermediate variables:

[0015]

[0016] Among them, K 1 It is represented by the pitch radius a of the cycloid wheel and the outer radius r of the needle sleeve p The coefficient of determination; s represents the intermediate variable; a represents the pitch radius; r p Indicates the outer radius of the needle sleeve; Indicates the rotation angle of the rotating arm relative to the central axis of a certain needle tooth;

[0017] Calculate the horizontal coordinate of the cycloid wheel center trajectory:

[0018]

[0019] Calculate the ordinate of the cycloid wheel center trajectory:

[0020]

[0021] Among them, x c The horizontal coordinate of the cycloid wheel center trajectory; y c The ordinate of the cycloid wheel center trajectory; r rp Indicates the outer ring radius of the needle gear sleeve; i H Indicates the relative transmission ratio of the cycloid wheel and the pin wheel.

[0022] As a further improvement of the technical solution, in S3, the specific steps of the shaping function are:

[0023] S2.1. Define a modification function f(x c ,y c ) describes the amount of material that needs to be added or subtracted relative to the theoretical curve;

[0024] S2.2, apply the shaping function to the theoretical curve to obtain the corrected coordinates (x′ c ,y c ′);

[0025] S2.3. Confirm whether the corrected curve meets the design requirements;

[0026] S2.4. Make revisions repeatedly until you are satisfied.

[0027] As a further improvement of the technical solution, in S2.1, the modification function f(x c ,y c ) The specific expression is:

[0028] f(x c ,y c ) = A·(Δx, Δy);

[0029] x′ c =x c +Δx;

[0030] y′ c =y c +Δy;

[0031] Among them, A represents the proportionality coefficient; Δx represents the c ,y c ) needs to adjust the horizontal axis displacement; Δy represents the horizontal axis displacement at point (x c ,y c ) is the vertical displacement that needs to be adjusted.

[0032] As a further improvement of the technical solution, in S2.3, the specific requirements for meeting the design requirements are:

[0033] S2.31. Ensure that the basic parameters of the cycloid wheel are within the tolerance range allowed by the design;

[0034] S2.32, the actual tooth thickness of the cycloid wheel is t, and the design allowable tooth thickness tolerance is ±Δt, then: t min =t-Δt; t max =t+Δt;

[0035] S2.33, calculate the fatigue life of the cycloid wheel under cyclic load by finite element analysis and compare it with N f Life expectancy N expect Make a comparison.

[0036] As a further improvement of the technical solution, in S4, the modified curve is input into the model using ANSYS numerical simulation software, and the specific steps of the simulation test are as follows:

[0037] S3.1. Create a three-dimensional model of the cycloid wheel in ANSYS numerical simulation software;

[0038] S3.2, input the corrected cycloid wheel center trajectory coordinates (x′ c ,y c ′);

[0039] S3.3. Input the physical properties of the cycloid wheel material;

[0040] Among them, the physical properties of the cycloid wheel material include elastic modulus E, Poisson's ratio v, yield strength σ y ;

[0041] S3.4, set fixed points and constraints to simulate the installation state of the cycloid wheel in actual work;

[0042] S3.5. Perform static analysis and calculate the maximum stress σ of the cycloid wheel under static load max and deformation δ;

[0043] Perform dynamic analysis to evaluate the response of the cycloid under dynamic loads, including the natural frequency f n and mode shapes.

[0044] As a further improvement of the technical solution, in S3.4, the specific steps of setting the fixed points and constraint conditions are as follows:

[0045] S3.41. Determine the fixed point position of the cycloid wheel in actual work as the center hole of the cycloid wheel;

[0046] S3.42. Define the constraints according to the actual installation method of the cycloid wheel:

[0047] When the cycloid wheel is mounted on a fixed support, full constraints need to be defined;

[0048] When the cycloid wheel moves and rotates in a certain direction, some constraints need to be defined.

[0049] As a further improvement of the technical solution, in S3.5, the specific steps of performing static analysis and dynamic analysis are as follows:

[0050] Static analysis:

[0051] Use the static analysis function of ANSYS numerical simulation software to calculate and solve the stress distribution and deformation under a given load;

[0052]

[0053] Among them, u x represents the displacement in the x-axis direction; u y Indicates the displacement in the y-axis direction; uz Represents the displacement in the z-axis direction;

[0054] Check the maximum stress σ max Is it less than the allowable stress σ of the material? allow ;

[0055] σ max <σ allow ;

[0056] Check whether the deformation δ is less than the maximum allowable deformation δ max ;

[0057] δ<δ max ;

[0058] Dynamic Analysis:

[0059] Confirm the natural frequency f n Is it far away from the working frequency f w , used to avoid resonance;

[0060]

[0061] |f n -f w |>Δf;

[0062] Among them, ω n represents the natural angular frequency; Δf represents the minimum frequency interval;

[0063] Check the mode shapes to ensure that the cycloid gear does not vibrate excessively under the expected operating conditions.

[0064] As a further improvement of the technical solution, in S5, the specific steps of manufacturing the cycloid wheel by ordinary CNC milling are as follows:

[0065] S4.1. Output detailed machining drawings based on simulation results, including all corrected dimensions and tolerance requirements;

[0066] S4.2. Conduct quality inspection on the manufactured cycloid wheels, including dimensional tolerance, surface roughness and hardness testing;

[0067] S4.3. Use ordinary CNC milling to make the prototype, and assemble the prototype after polishing the curved surface.

[0068] Compared with the prior art, the present invention has the following beneficial effects:

[0069] 1. In the cycloidal wheel curve modification method of the micro-cycloidal pinwheel reducer, the outer diameter, inner diameter, tooth thickness and other key dimensions of the cycloidal wheel can be measured by a micrometer to ensure complete data support during design. The calculated cycloidal curve can intuitively display the geometric shape of the cycloidal wheel, which is convenient for subsequent modification and optimization.

[0070] 2. In the cycloid wheel curve modification method of the micro-cycloid pinwheel reducer, the modification function provides a systematic method to deal with the difference between theory and practice, ensuring a more reasonable design. Through simulation testing, potential problems can be found before actual manufacturing, saving the cost and time of physical prototyping. The ordinary CNC milling machine has high processing accuracy and can accurately manufacture the cycloid wheel according to the design parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 is a flow chart of the overall method of the present invention;

[0072] Figure 2 This is a simulation diagram of a single disk with a designed needle sleeve diameter of 29.24;

[0073] Figure 3 This is the simulation diagram of the double disc with the designed needle tooth sleeve diameter of 29.24;

[0074] Figure 4 The cycloid wheel curve diagram for the design;

[0075] Figure 5 Draw a CAD drawing of the new coordinate points obtained;

[0076] Figure 6 This is a simulation diagram of a micro cycloid pinwheel reducer. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] Example:

[0079] See also Figure 1 As shown, this embodiment provides a method for modifying the cycloid curve of a micro-cycloid pinwheel reducer, comprising the following steps:

[0080] S1. Use a micrometer to obtain the basic parameters of the cycloid wheel;

[0081] In this example, the basic parameters of the cycloid wheel specifically include: base circle radius R, rolling circle radius r, and number of teeth N (such as Figure 4 shown).

[0082] S2, calculate the cycloid curve through the cycloid parameter equation;

[0083] In this example, the specific expression of the cycloid parameter equation is:

[0084] Calculate intermediate variables:

[0085]

[0086] Among them, K 1 It is represented by the pitch radius a of the cycloid wheel and the outer radius r of the needle sleeve p The coefficient of determination; s represents the intermediate variable; a represents the pitch radius; r p Indicates the outer radius of the needle sleeve; Indicates the rotation angle of the rotating arm relative to the central axis of a certain needle tooth;

[0087] Calculate the horizontal coordinate of the cycloid wheel center trajectory:

[0088]

[0089] Calculate the ordinate of the cycloid wheel center trajectory:

[0090]

[0091] Among them, x c The horizontal coordinate of the cycloid wheel center trajectory; y c The ordinate of the cycloid wheel center trajectory; r rp Indicates the outer ring radius of the needle gear sleeve; i H Indicates the relative transmission ratio of the cycloid wheel and the pin wheel.

[0092] Specifically, the specific expression of the cycloid wheel center trajectory is calculated using the cycloid parameter equation, and the theoretical curve is corrected in combination with the shaping function. The advantage of this method is that it can accurately describe and optimize the geometric shape of the cycloid wheel, thereby significantly improving the performance and reliability of the cycloid wheel in practical applications. By combining mathematical modeling and numerical simulation, not only can the high accuracy of the design parameters be ensured, but the shaping effect can also be verified through simulation testing before actual manufacturing, thereby optimizing the design, reducing the number of physical prototype trials, and ultimately achieving high-precision and high-efficiency cycloid wheel manufacturing.

[0093] S3, defining a modification function to modify the theoretical curve;

[0094] In this example, the specific steps of the modification function are:

[0095] S2.1. Define a modification function f(x c ,y c ) describes the amount of material that needs to be added or subtracted relative to the theoretical curve;

[0096] In this example, the shaping function f(x c ,y c ) The specific expression is:

[0097] f(x c ,y c ) = A·(Δx, Δy);

[0098] x′ c =x c +Δx;

[0099] y′ c =y c +Δy;

[0100] Among them, A represents the proportionality coefficient; Δx represents the c ,y c ) needs to adjust the horizontal axis displacement; Δy represents the horizontal axis displacement at point (x c ,y c ) is the vertical displacement that needs to be adjusted.

[0101] S2.2, apply the shaping function to the theoretical curve to obtain the corrected coordinates (x′ c ,y′ c );

[0102] S2.3. Confirm whether the corrected curve meets the design requirements;

[0103] In this example, the specific requirements for meeting the design requirements are:

[0104] S2.31. Ensure that the basic parameters of the cycloid wheel are within the tolerance range allowed by the design;

[0105] S2.32, the actual tooth thickness of the cycloid wheel is t, and the design allowable tooth thickness tolerance is ±Δt, then: t min =t-Δt; t max =t+Δt;

[0106] S2.33, calculate the fatigue life of the cycloid wheel under cyclic load by finite element analysis and compare it with N f Life expectancy N expect Make a comparison.

[0107] S2.4. Make revisions repeatedly until you are satisfied.

[0108] S4. Using ANSYS numerical simulation software, input the modified curve into the model and conduct simulation test to verify the modification effect;

[0109] In this example, ANSYS numerical simulation software is used to input the modified curve into the model, and the specific steps for simulation testing are as follows:

[0110] S3.1. Create a three-dimensional model of the cycloid wheel in ANSYS numerical simulation software;

[0111] S3.2, input the corrected cycloid wheel center trajectory coordinates (x′ c ,y′ c );

[0112] S3.3. Input the physical properties of the cycloid wheel material;

[0113] Among them, the physical properties of the cycloid wheel material include elastic modulus E, Poisson's ratio v, yield strength σ y ;

[0114] S3.4, set fixed points and constraints to simulate the installation state of the cycloid wheel in actual work;

[0115] In this example, the specific steps for setting fixed points and constraints are:

[0116] S3.41. Determine the fixed point position of the cycloid wheel in actual work as the center hole of the cycloid wheel;

[0117] S3.42. Define the constraints according to the actual installation method of the cycloid wheel:

[0118] When the cycloid wheel is mounted on a fixed support, full constraints need to be defined;

[0119] When the cycloid wheel moves and rotates in a certain direction, some constraints need to be defined.

[0120] Specifically, by determining the fixed point position of the cycloid wheel in actual work and defining constraints according to the actual installation method, the stress state and movement of the cycloid wheel in the actual working environment can be simulated more realistically. Setting reasonable fixed points and constraints makes the results of the simulation analysis more accurate and reliable, which helps to identify potential design defects and optimization space. By simulating the actual installation state, it can be ensured that all actual constraints of the cycloid wheel are taken into account in the design stage, thereby improving the reliability and durability of the cycloid wheel in actual applications. Reasonable setting of fixed points and constraints can help designers better understand the behavior of the cycloid wheel under different working conditions, thereby optimizing the design and reducing unnecessary stress concentration and deformation.

[0121] S3.5. Perform static analysis and calculate the maximum stress σ of the cycloid wheel under static load max and deformation δ;

[0122] Perform dynamic analysis to evaluate the response of the cycloid under dynamic loads, including the natural frequency f n and mode shapes.

[0123] In this example, the specific steps for static analysis and dynamic analysis are as follows:

[0124] Static analysis:

[0125] Use the static analysis function of ANSYS numerical simulation software to calculate and solve the stress distribution and deformation under a given load;

[0126]

[0127] Among them, u x represents the displacement in the x-axis direction; u y Indicates the displacement in the y-axis direction; u z Represents the displacement in the z-axis direction;

[0128] Check the maximum stress σ max Is it less than the allowable stress σ of the material? allow ;

[0129] σ max <σ allow ;

[0130] Check whether the deformation δ is less than the maximum allowable deformation δ max ;

[0131] δ<δ max ;

[0132] Dynamic Analysis:

[0133] Confirm the natural frequency f n Is it far away from the working frequency f w , used to avoid resonance;

[0134]

[0135] |f n -f w |>Δf;

[0136] Among them, ω n represents the natural angular frequency; Δf represents the minimum frequency interval;

[0137] Check the mode shapes to ensure that the cycloid gear does not vibrate excessively under the expected operating conditions.

[0138] Specifically, the maximum stress σ of the cycloid wheel under static load is calculated by static analysis. max and deformation δ, as well as dynamic analysis to evaluate the natural frequency f of the cycloid wheel under dynamic load n The performance of the cycloid wheel under different working conditions can be fully evaluated by using the powerful calculation function of ANSYS software. The maximum stress and deformation can be accurately calculated to ensure that the cycloid wheel does not exceed the allowable stress of the material under static load and the deformation is within the allowable range. The difference between the natural frequency and the operating frequency can be confirmed by dynamic analysis. n -f w |>Δf, ensuring that the cycloid wheel will not resonate at the actual operating frequency, thereby improving the stability and reliability of the cycloid wheel. By checking the modal shape, it is ensured that the cycloid wheel will not produce excessive vibration under the expected working conditions, thereby optimizing the design and improving the service life and working efficiency of the cycloid wheel.

[0139] S5. Finally, according to the modified design parameters, the cycloid wheel is manufactured using ordinary CNC milling.

[0140] In this example, according to the modified design parameters, the specific steps of using ordinary CNC milling to manufacture the cycloid wheel are as follows:

[0141] S4.1. Output detailed machining drawings based on simulation results, including all corrected dimensions and tolerance requirements;

[0142] S4.2. Conduct quality inspection on the manufactured cycloid wheels, including dimensional tolerance, surface roughness and hardness testing;

[0143] S4.3. Use ordinary CNC milling to make the prototype, and assemble the prototype after polishing the curved surface.

[0144] Specifically, detailed processing drawings are used to ensure that all corrected dimensions and tolerance requirements are accurately achieved, thereby improving the processing accuracy of the cycloidal wheel. A comprehensive quality inspection of the manufactured cycloidal wheel, including dimensional tolerance, surface roughness and hardness testing, is performed to ensure that all indicators of the cycloidal wheel meet the design requirements. The use of ordinary CNC milling machines for processing can not only achieve high-precision manufacturing, but also improve production efficiency and reduce human errors through automated operations. Prototypes are made and the curved surfaces are polished to ensure that the actual performance of the cycloidal wheel after assembly meets the expected design goals, thereby verifying the effectiveness of the modification effect.

[0145] Specifically, the present invention uses a cycloid pinwheel reducer with a 41-tooth needle diameter φ2 and a pinwheel center circle of 29.2 for research;

[0146] Use MATLAB to calculate the curve according to the above cycloid wheel center trajectory coordinate calculation formula to obtain the phase angle between -180° and +180°, and the cycloid curve coordinate points every 1 degree are drawn in CAD, as shown in Figure 5 Shown in the black line part.

[0147] The phase angle is modified from -180° to -45°, and the X value is reduced at every 1 degree coordinate point. The reduction amount T is calculated according to the following formula:

[0148] T=COS(0.25*i)-COS(0.25*135);

[0149] Where i represents the phase angle;

[0150] Use CAD drawing for the new coordinate points, such as Figure 5 Shown in the red line.

[0151] According to the modified Figure 5 From the dimensional analysis, it can be seen that the curve has a 0.01mm modification when the roller meshes, and the interpolation error between the X-axis and Y-axis of the ordinary CNC milling machine is about 0.01mm, which effectively compensates for the poor meshing in the initial meshing state caused by the interpolation error of the machine tool. In addition, this curve segment accounts for about 1 / 5 of the entire segment, does not affect the transmission torque of the system, and is also beneficial to reducing the noise of the meshing.

[0152] The micro cycloid pinwheel reducer is designed according to the modification curve. The simulation diagram is as follows Figure 6 As shown;

[0153] The prototype is made using ordinary CNC milling, and the prototype is assembled after the curved surface is polished.

[0154] After the prototype is assembled and driven by the motor, it rotates smoothly, has a correct speed ratio, reduces noise, and measures movement accuracy to meet the accuracy requirements. It no longer relies on high-precision cam grinders for surface precision machining, reducing production costs.

[0155] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only preferred examples of the present invention, and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A method for modifying the cycloid curve of a micro-cycloid pinwheel reducer, characterized in that: The following steps are involved: S1. Use a micrometer to obtain the basic parameters of the cycloid wheel; S2, calculate the cycloid curve through the cycloid parameter equation; S3, defining a modification function to modify the theoretical curve; S4. Using ANSYS numerical simulation software, input the modified curve into the model and conduct simulation test to verify the modification effect; S5. Finally, according to the modified design parameters, the cycloid wheel is manufactured using ordinary CNC milling.

2. The cycloid curve modification method of a micro-cycloid pinwheel reducer according to claim 1 is characterized in that: In S1, the basic parameters of the cycloid wheel specifically include: base circle radius R, rolling circle radius r, and number of teeth N.

3. The cycloid curve modification method of a micro-cycloid pinwheel reducer according to claim 1, characterized in that: In S2, the specific expression of the cycloid parameter equation is: Calculate intermediate variables: Among them, K1 represents the radius of the pitch circle of the cycloid wheel a and the outer radius of the needle sleeve r p The coefficient of determination; s represents the intermediate variable; a represents the pitch radius; r p Indicates the outer radius of the needle sleeve; Indicates the rotation angle of the rotating arm relative to the central axis of a certain needle tooth; Calculate the horizontal coordinate of the cycloid wheel center trajectory: Calculate the ordinate of the cycloid wheel center trajectory: Among them, x c The horizontal coordinate of the cycloid wheel center trajectory; y c The ordinate of the cycloid wheel center trajectory; r rp Indicates the outer ring radius of the needle gear sleeve; i H Indicates the relative transmission ratio of the cycloid wheel and the pin wheel.

4. The cycloid curve modification method of a micro-cycloid pinwheel reducer according to claim 1 is characterized in that: In S3, the specific steps of the modification function are: S2.

1. Define a modification function f(x c ,y c ) describes the amount of material that needs to be added or subtracted relative to the theoretical curve; S2.2, apply the correction function to the theoretical curve to obtain the corrected coordinates (x ′ c ,y c ′ ); S2.

3. Confirm whether the corrected curve meets the design requirements; S2.

4. Make revisions repeatedly until you are satisfied.

5. The cycloid curve modification method of a micro-cycloid pinwheel reducer according to claim 4 is characterized in that: In S2.1, the modified function f(x c ,y c ) The specific expression is: f(x c ,y c )=A·(Δx,Δy); x′ c =x c +Δx; y' c =y c +Δy; Among them, A represents the proportionality coefficient; Δx represents the c ,y c ) needs to adjust the horizontal axis displacement; Δy represents the horizontal axis displacement at point (x c ,y c ) is the vertical displacement that needs to be adjusted.

6. The cycloid curve modification method of a micro-cycloid pinwheel reducer according to claim 4, characterized in that: In S2.3, the specific requirements for meeting the design requirements are: S2.

31. Ensure that the basic parameters of the cycloid wheel are within the tolerance range allowed by the design; S2.32, the actual tooth thickness of the cycloid wheel is t, and the design allowable tooth thickness tolerance is ±Δt, then: t min =t-Δt; t max =t+Δt; S2.33, calculate the fatigue life of the cycloid wheel under cyclic load by finite element analysis and compare it with N f Life expectancy N expect Make a comparison.

7. The cycloid curve modification method of a micro-cycloid pinwheel reducer according to claim 1, characterized in that: In S4, the modified curve is input into the model using ANSYS numerical simulation software, and the specific steps of the simulation test are as follows: S3.

1. Create a three-dimensional model of the cycloid wheel in ANSYS numerical simulation software; S3.2, input the corrected cycloid wheel center trajectory coordinates (x ′ c ,y c ′ ); S3.

3. Input the physical properties of the cycloid wheel material; Among them, the physical properties of the cycloid wheel material include elastic modulus E, Poisson's ratio v, yield strength σ y ; S3.4, set fixed points and constraints to simulate the installation state of the cycloid wheel in actual work; S3.

5. Perform static analysis and calculate the maximum stress σ of the cycloid wheel under static load max and deformation δ; Perform dynamic analysis to evaluate the response of the cycloid under dynamic loads, including the natural frequency f n and mode shapes.

8. The cycloid curve modification method of a micro-cycloid pinwheel reducer according to claim 7, characterized in that: In S3.4, the specific steps for setting fixed points and constraints are as follows: S3.

41. Determine the fixed point position of the cycloid wheel in actual work as the center hole of the cycloid wheel; S3.

42. Define the constraints according to the actual installation method of the cycloid wheel: When the cycloid wheel is mounted on a fixed support, full constraints need to be defined; When the cycloid wheel moves and rotates in a certain direction, some constraints need to be defined.

9. The cycloid curve modification method of a micro-cycloid pinwheel reducer according to claim 7, characterized in that: In S3.5, the specific steps of performing static analysis and dynamic analysis are as follows: Static analysis: Use the static analysis function of ANSYS numerical simulation software to calculate and solve the stress distribution and deformation under a given load; Among them, u x represents the displacement in the x-axis direction; u y Indicates the displacement in the y-axis direction; u z Represents the displacement in the z-axis direction; Check the maximum stress σ max Is it less than the allowable stress σ of the material? allow ; s max <s allow ; Check whether the deformation δ is less than the maximum allowable deformation δ max ; d<d max ; Dynamic Analysis: Confirm the natural frequency f n Is it far away from the working frequency f w , used to avoid resonance; |f n -f w |>Δf; Among them, ω n represents the natural angular frequency; Δf represents the minimum frequency interval; Check the mode shapes to ensure that the cycloid gear does not vibrate excessively under the expected operating conditions.

10. The cycloid curve modification method of a micro-cycloid pinwheel reducer according to claim 1, characterized in that: In S5, the specific steps of manufacturing the cycloid wheel by using ordinary CNC milling are as follows: S4.

1. Output detailed machining drawings based on simulation results, including all corrected dimensions and tolerance requirements; S4.

2. Conduct quality inspection on the manufactured cycloid wheels, including dimensional tolerance, surface roughness and hardness testing; S4.

3. Use ordinary CNC milling to make the prototype, and assemble the prototype after polishing the curved surface.

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