CN103886154A - Method for optimizing cycloid gear tooth outline modification amount based on matlab - Google Patents

Method for optimizing cycloid gear tooth outline modification amount based on matlab Download PDF

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CN103886154A
CN103886154A CN201410120389.3A CN201410120389A CN103886154A CN 103886154 A CN103886154 A CN 103886154A CN 201410120389 A CN201410120389 A CN 201410120389A CN 103886154 A CN103886154 A CN 103886154A
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curve
modification
matlab
cycloidal wheel
rrp
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CN201410120389.3A
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CN103886154B (en
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谢久明
单宏伟
唐慧颖
赵凤娇
王德智
曹建波
丁善忠
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天津百利机电控股集团有限公司研究院
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Abstract

The invention discloses a method for optimizing the cycloid gear tooth outline modification amount based on a matlab. The method comprises the first step of calculating the inflection point position of the cycloidal gear tooth outline according to basic parameters of a cycloidal gear, the second step of calculating the optimal modification angle according to the oil film thickness and the inflection point position, the third step of calculating the optimal isometry and the shifting modification amount according to the optimizing function of the matlab, and the fourth step of acquiring testing parameters tested conveniently. Compared with the prior art, the method has the advantages that the analyzing method for improving and optimizing the cycloid gear tooth outline through a MATLAB optimization toolbox by analyzing a mathematical model of cycloidal gear modification is put forward, the optimal modification angle is obtained according to the oil film thickness, the range of the optimal modification amount is found out according to the inflection point position in a meshing area, and the optimal isometry and shifting modification tooth outline is obtained; the calculation period of the tooth outline modification amount is greatly shortened, the number of teeth meshed at the same time is guaranteed, the stability of transmission is guaranteed, and the transmission efficiency is improved.

Description

A kind of Cycloid tooth profile profiling quantity optimization method based on matlab
Technical field
The present invention relates to the design and manufacture art field of Cycloidal Wheel, particularly relate to a kind of Cycloid tooth profile profiling quantity optimization method based on matlab.
Background technology
Planet cycloid speed reducer is a kind of application Gear Planet Transmission principle, adopts the reducing gear of cycloidal pin teeth engagement.Due to the distinct advantages of its advanced design, novel structure, obtain increasingly extensive application at aspects such as military project, space flight, metallurgy and lifting transportations.
Cycloidal pinion engaged pair is the core parts of planet cycloid speed reducer.Cycloid pair belongs to the poor internal gear group of a tooth, and the theoretic flank profil of gripping does not altogether have radial play, and the number of its meshing point equals the pinwheel number of teeth all the time, and its action line is a symmetrical closed curve.When practical application cycloid pinwheel planetary gear transmission system, in order to compensate foozle, be convenient to mounting or dismounting and guarantee lubricate, between cycloidal gear teeth and pinwheel tooth, must have back lash.Therefore, actual Cycloidal Wheel must be carried out correction of the flank shape, and rationally, correction of the flank shape is accurately to realize the important guarantee that cycloidal gear teeth transmission capacity is strong, operate steadily.
In current production practices, the correction of the flank shape of Cycloid tooth profile generally adopts and equidistantly adds the correction method that moves distance, and for equidistant, modification of moved distance amount, depends on workman's experience, needs validation trial.In theory, determining while equidistantly adding modification of moved distance amount, due to the method difference adopting, obtain a result also very not identical.Document [1] proposes by approaching modification of rotated angle cycloidal profile, obtains equidistantly adding modification of moved distance amount, and this kind of method just makes two kinds of profiles of tooth similar, and the normal direction gap of real decisions meshing quality is not etc., does not reach the requirement that improves meshing performance.Document [2] proposes transverse tooth thickness profiling quantity, and owing to not adopting optimum theory, result precision is low, does not reach request for utilization.Document [3] document [4] has provided application MATLAB Optimization Toolbox and has found the correction method equidistantly moving apart from best profiling quantity, but do not consider the position of engagement of Cycloidal Wheel, therefore, the profiling quantity of calculating can not be applied to actual production run, also can not think the best.
For the gear after processing, its general length that adopts common normal of testing is verified, in production engineering, conventionally need to draw cad figure, adopt the mode of approaching gradually to provide base tangent length.Document [5] proposes employing and asks transcendental equation to carry out, and easily occurs empty solution, loses solution phenomenon while still solving transcendental equation, and the length of common normal is also an approximate numerical value.
Above-mentioned document [1] to [5] is specially:
[1] Wang Qiucheng. the optimization [J] of the form of cycloidal gear tooth finishing. Zhejiang Polytechnic College journal, 1989,42 (1): 7-15.
[2] Zhang Lanyi, Qin Weiqian. the Primary Study [J] of cycloidal pinion engaged pair profile of tooth correction. Jilin Industry University journal, 1982, (4): 94-106.
[3] Jiao Wenrui, Kong Qinghua, Song Dechao etc., the optimal design [J] of Cycloid tooth profile correction of the flank shape. mechanical drive, 2009,33 (1): 41-43
[4] Jiao Wenrui, Kong Qinghua, Song Dechao etc., without the design [J] of tie-rod cycloidal pinion engaged pair profile modification. Tongji University's journal (natural science edition), 2010,38 (1): 108-112
[5] Xu Anping, wears a day tail, Qu Yuxia etc., and Cycloid tooth profile correction of the flank shape detection and base tangent length are calculated [J]. Hebei University of Technology's journal, 1997,26 (4): 56-59
Summary of the invention
Goal of the invention of the present invention is: for improving Cycloidal Wheel meshing quality, by analyzing the mathematical model of Cycloidal Wheel correction of the flank shape, propose a kind of MATLAB of application Optimization Toolbox the analytical approach that improves and optimizates Cycloid tooth profile.Try to achieve best correction of the flank shape angle by oil film thickness, and find the scope of optimum profiling quantity according to corner position in region of engagement, thereby draw best equidistant modification of moved distance flank profil; And then provide the Cycloid tooth profile profiling quantity optimization method based on matlab that a kind of computation period is short, transmission efficiency is high.
The technical scheme that the present invention takes for the technical matters existing in solution known technology is:
A Cycloid tooth profile profiling quantity optimization method based on matlab, comprises the steps:
Step 1, according to the corner position of the Parameter Calculation Cycloid tooth profile of Cycloidal Wheel;
Step 2, according to oil film thickness, calculate best correction of the flank shape angle in conjunction with corner position;
Step 3,, modification of moved distance amount optimum equidistantly according to the optimizational function calculating of matlab;
Step 4, obtain the inspection parameter of convenient check.
As preferred version, the present invention has also adopted following technical scheme:
Described step 1 is specially:
First select the basic parameter of Cycloidal Wheel, described basic parameter comprises: Cycloidal Wheel number of teeth zc, pinwheel number of teeth zp, eccentric throw a, garden, Zhen Chi center radius of curvature rp, pin gear sleeve exradius rrp;
Then calculate the position of Cycloidal Wheel flex point; Described flex point is the concave, convex separation of curve; The detailed process of described calculating Cycloidal Wheel flex point is: establish f (x) in (a, b) continuously, curve is to any two points x1 in (a, b), x2, perseverance has f ( x 1 + x 2 2 ) &le; f ( x 1 ) + f ( x 2 ) 2 , this curve is concave curve; If perseverance has f ( x 1 + x 2 2 ) &GreaterEqual; f ( x 1 ) + f ( x 2 ) 2 , This curve is convex curve; For this Cycloid tooth profile curve, curvilinear equation is f (x), if there is 1 x n, make f ( x n - 1 ) < f ( x n ) + f ( x n - 2 ) 2 And f ( x n + 1 ) > f ( x n ) + f ( x n + 2 ) 2 , X npoint is Cycloid tooth profile point of inflexion on a curve.
Described step 2 is specially:
Calculate best correction of the flank shape angle: Cycloidal Wheel is in the time of modification of rotated angle, and the corner Δ δ of flank profil each several part is identical, and the variation L of normal orientation is directly proportional to arm of force size, wherein, for pivoted arm is with respect to the corner of a certain Zhen Chi center radius vector, i.e. writing a Chinese character in simplified form of phase angle of meshing, k 1for curtate ratio, k 1=az p/ r p; according to given oil film thickness L, i.e. normal direction variation, calculates best correction of the flank shape angle Δ δ thus, thereby determines modification of rotated angle tooth curve.
Described step 3 is specially:
First determine the objective function that contains modification of equidistance amount Δ rrp and modification of moved distance amount Δ rp: according to tooth curve L1 after equidistant, modification of moved distance (x, iy i) with modification of rotated angle after tooth curve L2 (x, i, y, i) the most identical principle, y is worked as in order i=y, i(i=1,2,3 ... m) time, x iwith x, i(i=1,2,3 ... m), all have gap, the divergence indicator of curve L1 and curve L2 can be weighed with the mean value of m some absolute value of the bias, when F (Δ rrp, Δ rp) value hour, two curves are the most identical, its objective function is for asking the minimum value of F (Δ rrp, Δ rp);
Then determine constraint condition: according to the meaning of parameters and relation, determine the constraint condition of optimized variable;
Δ rrp<0, Δ rp<0, Δ rrp-Δ rp >=Δ j, wherein Δ j be the minimum tooth root distance that prevents tooth face agglutination from.
Described step 4 is specially:
Adopt the majorized function Fmincon statement in matlab Optimization Toolbox, variable numerical value is optimized;
Normal distance when common normal refers to stride across n tooth between flank profil; The solution procedure of base tangent length, according to Cycloidal Wheel curvilinear equation based on the axisymmetric feature of x, based on actual measurement inspection method, if be even number across number of teeth n, in axisymmetric n/2 the Cycloidal Wheel of get-x direction of principal axis and x, peaked two times of Y coordinate is base tangent length; If peaked two times of Y coordinate is base tangent length in the Cycloidal Wheel of axisymmetric (n-1)/2 of while being odd number across number of teeth n, get+x direction of principal axis and x; When there is no common normal or when too large across the number of teeth, system reports an error.
Advantage and good effect that the present invention has are:
The present invention is by analyzing the mathematical model of Cycloidal Wheel correction of the flank shape, propose a kind of MATLAB of application Optimization Toolbox the analytical approach that improves and optimizates Cycloid tooth profile; Try to achieve best correction of the flank shape angle by oil film thickness, and find the scope of optimum profiling quantity according to corner position in region of engagement, thereby draw best equidistant modification of moved distance flank profil; Therefore greatly shortened the computation period of profile modification amount, guaranteed total number of teeth in engagement simultaneously simultaneously, thereby guaranteed the stability of transmission, transmission efficiency improves.
The present invention adopts and in matlab, optimizes statement objective function is optimized, and has overcome the defect by experience validation trial in traditional Cycloidal Wheel design process.
Accompanying drawing explanation
Fig. 1 is process flow diagram of the present invention.
Embodiment
For further understanding summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1, a kind of Cycloid tooth profile profiling quantity optimization method based on matlab, comprises the steps:
Step 1, according to the corner position of the Parameter Calculation Cycloid tooth profile of Cycloidal Wheel; Detailed process is:
First select the basic parameter of Cycloidal Wheel, described basic parameter comprises: Cycloidal Wheel number of teeth zc, pinwheel number of teeth zp, eccentric throw a, garden, Zhen Chi center radius of curvature rp, pin gear sleeve exradius rrp;
Then calculate the position of Cycloidal Wheel flex point; Described flex point is the concave, convex separation of curve; The detailed process of described calculating Cycloidal Wheel flex point is: establish f (x) in (a, b) continuously, curve is to any two points x1 in (a, b), x2, perseverance has f ( x 1 + x 2 2 ) &le; f ( x 1 ) + f ( x 2 ) 2 , this curve is concave curve; If perseverance has f ( x 1 + x 2 2 ) &GreaterEqual; f ( x 1 ) + f ( x 2 ) 2 , This curve is convex curve; For this Cycloid tooth profile curve, curvilinear equation is f (x), if there is 1 xn, makes f ( x n - 1 ) < f ( x n ) + f ( x n - 2 ) 2 And f ( x n + 1 ) > f ( x n ) + f ( x n + 2 ) 2 , xn point is Cycloid tooth profile point of inflexion on a curve.
Step 2, according to oil film thickness, calculate best correction of the flank shape angle in conjunction with corner position; Detailed process is:
Calculate best correction of the flank shape angle: Cycloidal Wheel is in the time of modification of rotated angle, and the corner Δ δ of flank profil each several part is identical, and the variation L of normal orientation is directly proportional to arm of force size, wherein, for pivoted arm is with respect to the corner of a certain Zhen Chi center radius vector, i.e. writing a Chinese character in simplified form of phase angle of meshing, k 1for curtate ratio, k 1=az p/ r p; according to given oil film thickness L, i.e. normal direction variation, calculates best correction of the flank shape angle Δ δ thus, thereby determines modification of rotated angle tooth curve.
Step 3,, modification of moved distance amount optimum equidistantly according to the optimizational function calculating of matlab; Detailed process is:
First determine the objective function that contains modification of equidistance amount Δ rrp and modification of moved distance amount Δ rp: according to tooth curve L1 after equidistant, modification of moved distance (x, iy i) with modification of rotated angle after tooth curve L2 (x, i, y, i) the most identical principle, y is worked as in order i=y, i(i=1,2,3 ... m) time, x iwith x, i(i=1,2,3 ... m), all have gap, the divergence indicator of curve L1 and curve L2 can be weighed with the mean value of m some absolute value of the bias, when F (Δ rrp, Δ rp) value hour, two curves are the most identical, its objective function is for asking the minimum value of F (Δ rrp, Δ rp);
Then determine constraint condition: according to the meaning of parameters and relation, determine the constraint condition of optimized variable;
Δ rrp<0, Δ rp<0, Δ rrp-Δ rp >=Δ j, wherein Δ j be the minimum tooth root distance that prevents tooth face agglutination from.
Step 4, obtain the inspection parameter of convenient check.Detailed process is:
Adopt the majorized function Fmincon statement in matlab Optimization Toolbox, variable numerical value is optimized;
Normal distance when common normal refers to stride across n tooth between flank profil; The solution procedure of base tangent length, according to Cycloidal Wheel curvilinear equation based on the axisymmetric feature of x, based on actual measurement inspection method, if be even number across number of teeth n, in axisymmetric n/2 the Cycloidal Wheel of get-x direction of principal axis and x, peaked two times of Y coordinate is base tangent length; If peaked two times of Y coordinate is base tangent length in the Cycloidal Wheel of axisymmetric (n-1)/2 of while being odd number across number of teeth n, get+x direction of principal axis and x; When there is no common normal or when too large across the number of teeth, system reports an error.
Below in conjunction with concrete parameter, take Bai Li TianXing, the Tianjin 320s of transmission company limited be series products as example,
S1, input basic parameter: rp=114.5, rrp=5, Zp=40, a=2.2;
S2, the position of calculating Cycloid tooth profile knee point, for the calculating of objective function;
S3, rule of thumb give fixed oil film thickness, i.e. the normal direction variation L=0.015mm of Cycloidal Wheel, obtains best correction of the flank shape angle Δ δ,
For the calculating of objective function;
S4, determine objective function: before and after flex point in the scope of each 10 °, modification of rotated angle curve with equidistant, modification of moved distance curve is the most approaching, objective function is get its minimum value, being minF (Δ rrp, Δ rp) is objective function.
S5, determine constraint condition, i.e. Δ rrp<0, Δ rp<0, Δ rrp-Δ rp >=Δ j, wherein Δ j be the minimum tooth root distance that prevents tooth face agglutination from, in this example, rule of thumb determine Δ j=0.025mm.
S6, utilize the majorized function Fmincon statement in matlab, final optimization pass result, Δ rrp=-0.037, Δ rp=-0.062;
S7, inspection parameter: in the time being 15 teeth across the number of teeth, base tangent length is 202.975.Can also input other across the number of teeth, calculate the length of common normal.
Above-described embodiment interpretation of result:
Analyze through cad, while adopting this equidistant profiling quantity and modification of moved distance amount to carry out tooth curve correction of the flank shape to Cycloidal Wheel, the number of teeth that simultaneously participates in engagement is 10, reaches 1/4 of the whole Cycloidal Wheel number of teeth.
Traditional empirical value is Δ rrp=-0.02, Δ rp=-0.07; Now the number of teeth of engagement is 6 simultaneously.
Computation period is short, and whole optimizing process completes within the very short time; Can directly calculate inspection parameter.
Above embodiments of the invention are had been described in detail, but described content is only preferred embodiment of the present invention, can not be considered to for limiting practical range of the present invention.All equalizations of doing according to the present patent application scope change and improve, within all should still belonging to patent covering scope of the present invention.

Claims (5)

1. the Cycloid tooth profile profiling quantity optimization method based on matlab, comprises the steps:
Step 1, according to the corner position of the Parameter Calculation Cycloid tooth profile of Cycloidal Wheel;
Step 2, according to oil film thickness, calculate best correction of the flank shape angle in conjunction with corner position;
Step 3,, modification of moved distance amount optimum equidistantly according to the optimizational function calculating of matlab;
Step 4, obtain the inspection parameter of convenient check.
2. the Cycloid tooth profile profiling quantity optimization method based on matlab according to claim 1, is characterized in that: described step 1 is specially:
First select the basic parameter of Cycloidal Wheel, described basic parameter comprises: Cycloidal Wheel number of teeth zc, pinwheel number of teeth zp, eccentric throw a, garden, Zhen Chi center radius of curvature rp, pin gear sleeve exradius rrp;
Then calculate the position of Cycloidal Wheel flex point; Described flex point is the concave, convex separation of curve; The detailed process of described calculating Cycloidal Wheel flex point is: establish f (x) continuous in (a, b), curve is to any two points x in (a, b) 1, x 2, perseverance has f ( x 1 + x 2 2 ) &le; f ( x 1 ) + f ( x 2 ) 2 , This curve is concave curve; If perseverance has f ( x 1 + x 2 2 ) &GreaterEqual; f ( x 1 ) + f ( x 2 ) 2 , This curve is convex curve; For this Cycloid tooth profile curve, curvilinear equation is f (x), if there is 1 x n, make f ( x n - 1 ) < f ( x n ) + f ( x n - 2 ) 2 And f ( x n + 1 ) > f ( x n ) + f ( x n + 2 ) 2 , X npoint is Cycloid tooth profile point of inflexion on a curve.
3. the Cycloid tooth profile profiling quantity optimization method based on matlab according to claim 2, is characterized in that: described step 2 is specially:
Calculate best correction of the flank shape angle: Cycloidal Wheel is in the time of modification of rotated angle, and the corner Δ δ of flank profil each several part is identical, and the variation L of normal orientation is directly proportional to arm of force size, wherein, for pivoted arm is with respect to the corner of a certain Zhen Chi center radius vector, i.e. writing a Chinese character in simplified form of phase angle of meshing, k 1for curtate ratio, k 1=az p/ r p; according to given oil film thickness L, i.e. normal direction variation, calculates best correction of the flank shape angle Δ δ thus, thereby determines modification of rotated angle tooth curve.
4. the Cycloid tooth profile profiling quantity optimization method based on matlab according to claim 3, is characterized in that: described step 3 is specially:
First determine the objective function that contains modification of equidistance amount Δ rrp and modification of moved distance amount Δ rp: according to tooth curve L1 after equidistant, modification of moved distance (x, iy i) with modification of rotated angle after tooth curve L2 (x, i, y, i) the most identical principle, y is worked as in order i=y, i(i=1,2,3 ... m) time, x iwith x, i(i=1,2,3 ... m), all have gap, the divergence indicator of curve L1 and curve L2 can be weighed with the mean value of m some absolute value of the bias, when F (Δ rrp, Δ rp) value hour, two curves are the most identical, its objective function is for asking the minimum value of F (Δ rrp, Δ rp);
Then determine constraint condition: according to the meaning of parameters and relation, determine the constraint condition of optimized variable;
Δ rrp<0, Δ rp<0, Δ rrp-Δ rp >=Δ j, wherein Δ j be the minimum tooth root distance that prevents tooth face agglutination from.
5. the Cycloid tooth profile profiling quantity optimization method based on matlab according to claim 4, is characterized in that: described step 4 is specially:
Adopt the majorized function Fmincon statement in matlab Optimization Toolbox, variable numerical value is optimized;
Normal distance when common normal refers to stride across n tooth between flank profil; The solution procedure of base tangent length, according to Cycloidal Wheel curvilinear equation based on the axisymmetric feature of x, based on actual measurement inspection method, if be even number across number of teeth n, in axisymmetric n/2 the Cycloidal Wheel of get-x direction of principal axis and x, peaked two times of Y coordinate is base tangent length; If peaked two times of Y coordinate is base tangent length in the Cycloidal Wheel of axisymmetric (n-1)/2 of while being odd number across number of teeth n, get+x direction of principal axis and x; When there is no common normal or when too large across the number of teeth, system reports an error.
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CN107229836A (en) * 2017-07-04 2017-10-03 河南科技大学 Cycloid tooth profile correction method and Cycloidal Wheel, RV decelerators
CN107387722A (en) * 2017-08-17 2017-11-24 燕山大学 A kind of design method of fan-shaped non-circular gear
CN107992679A (en) * 2017-11-30 2018-05-04 江苏国茂减速机股份有限公司 A kind of two teeth difference the form of cycloidal gear tooth optimization method based on Matlab
CN108052763A (en) * 2017-12-26 2018-05-18 哈工大机器人(合肥)国际创新研究院 A kind of Cycloid tooth profile profiling quantity optimization method based on genetic algorithm
CN108331899A (en) * 2017-12-29 2018-07-27 河南科技大学 A kind of RV retarders cycloid gear profile modification design method and system
WO2019136857A1 (en) * 2018-01-12 2019-07-18 大连民族大学 Cycloid tooth profile general equation design method based on tooth profile normal method
CN108460186A (en) * 2018-02-05 2018-08-28 哈工大机器人(合肥)国际创新研究院 A kind of Cycloid tooth profile profiling quantity optimization method based on ant group algorithm
CN108620691A (en) * 2018-03-21 2018-10-09 湖北工业大学 A kind of Cycloid tooth profile correction method and Cycloidal Wheel, RV retarders
CN109396567A (en) * 2018-11-06 2019-03-01 重庆大学 The digital envelope method of worm abrasion wheel profile is determined in correction of the flank shape cycloid gear generating grinding
CN109396567B (en) * 2018-11-06 2020-04-28 重庆大学 Digital envelope method for determining profile of worm grinding wheel in generating grinding of shape-modified cycloid gear

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