机器人RV减速器摆线针轮传动轮齿接触分析

Tooth Contact Analysis of Cycloidal Pinwheel Drive in RV Reducer of Robot

以机器人RV减速器中第二级摆线针轮传动为研究对象,通过分析摆线针轮传动的运动关系,构建了摆线针轮传动的轮齿接触分析模型,基于齿轮啮合原理和轮齿连续接触条件,建立轮齿接触分析方程组,阐述了轮齿接触分析计算过程中初始参考点求解的难点问题,求解出传统修形方式下摆线针轮传动的瞬时啮合状态、啮合区域,并得到了传动误差曲线和回程误差曲线,为承载下摆线针轮传动的轮齿啮合特性分析提供了理论基础。

The second-stage drive of the RV reducer,cycloidal pinwheel drive is taken as the research object. By analyzing the motion relationship of the cycloidal pinwheel drive,the tooth contact analysis（TCA）model is established. Based on the gear meshing principle and the condition for the continuous contact of the gear,the TCA equations are established. The difficulty of solving the initial reference points in the TCA calculation is described. The instantaneous meshing state,the meshing area and the transmission error of the cycloidal pinwheel drive with the traditional modification are solved. And then the return error is also solved. This method will provide a theoretical basis for the loaded tooth contact analysis of the cycloidal pinwheel drive.