CN109902436A - A kind of RV retarder forward design method - Google Patents
A kind of RV retarder forward design method Download PDFInfo
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- CN109902436A CN109902436A CN201910213904.5A CN201910213904A CN109902436A CN 109902436 A CN109902436 A CN 109902436A CN 201910213904 A CN201910213904 A CN 201910213904A CN 109902436 A CN109902436 A CN 109902436A
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Abstract
The present invention relates to a kind of RV retarder forward design methods, belong to retarder Top-Down Design field.This method comprises: S1: establishing RV Gear Reducer Optimal module, structural parameters are just calculated according to the fundamental performance parameter of RV retarder, the excellent model of correspondingization structure is established with constraint condition by objective function, one group of pareto optimal solution is sought using differential evolution algorithm, is solved using multi-goal evaluation method from pareto and concentrates selection optimal solution；S2: establishing RV retarder parametric modeling system, generates the threedimensional model of each component of RV retarder；S3: establishing RV retarder finite element analysis module, carries out contact strength analysis using the threedimensional model of RV retarder and torsion stiffness is analyzed, and determine RV Design of Speed Reducer scheme.This invention simplifies RV Design of Speed Reducer process, improve modeling efficiency, reduction experimental cost.
Description
Technical field
The invention belongs to retarder Top-Down Design fields, are related to a kind of RV retarder digitlization forward design method.
Background technique
RV retarder is one of core technology of robot, with the development of manufacturing technology, due to its light weight, volume
Small, the advantages that transmission ratio is big, precision is high, high-efficient, rigidity is high, RV retarder are gradually applied to lathe, medical instrument, aviation boat
The fields such as it.The design parameter of RV retarder is complicated, and constraint condition is numerous, is difficult to protect using the accuracy that conventional method designs
Card, and the experimental period of RV retarder is long, difficulty is big, it is difficult to realize quickly steady design.Evolution algorithm is as a kind of robust
Property strong, convergence is good, concurrency is high optimization method, be suitable for solving RV retarder key parameter design this kind of solution parameter it is more,
The big multi-objective optimization question of the variable space.It is asked based on what the optimal solution set that evolution algorithm solves needed further to screen
Topic has carried out disaggregation using this Multi-target evaluation of entropy assessment to assign power.
Digitlization Top-Down Design technology is to be digitized as core and complete work in every (such as structural member in product design process
Parametric designing, key parameter optimization design, Element Design modeling, strength check, finite element analysis etc.) new design
Technology is always the popular research content of Design of Mechanical Product manufacturing field.With design theory gradually mature and computer
The high speed development of technology, digitalized design method are increasingly taken seriously.Existing mainstay mode be still based on two dimension or
The manual drawing of three-dimensional drawing software, the model for lacking automation generate means, lead to that the market demand cannot be quickly responded.
The performance indicators such as contact stress, the torsion stiffness of RV retarder determine the superiority and inferiority of retarder performance, traditional experiment
Method is at high cost, the period is long, does not adapt to fast-changing market.Therefore, a kind of new RV Design of Speed Reducer method is needed, is led to
It crosses and constructs a kind of RV retarder 3 d modeling system, realize the Parametric designing of series of products, meet and quickly design
It is required that.Also by establishment Finite Element Simulation Analysis module, threedimensional model import modul is solved, three dimension of retarder is utilized
Word PM prototype model carries out performance simulating, verifying, and the design scheme of RV retarder is selected according to simulation result, improves product development
Efficiency reduces experimental cost.
Summary of the invention
In view of this, solving RV retarder the purpose of the present invention is to provide a kind of RV retarder forward design method
Key parameter designs this kind of solution multi-objective optimization question that parameter is more, the variable space is big.Realize the parametrization of series of products
Design, meets the requirement quickly designed.It improves modeling efficiency, reduce experimental cost, finally obtain maximized enterprise
Benefit
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of RV retarder forward design method, specifically includes the following steps:
S1: establishing RV Gear Reducer Optimal module, just calculates structural parameters according to the fundamental performance parameter of RV retarder, passes through mesh
Scalar functions establish the excellent model of correspondingization structure with constraint condition, seek one group of pareto optimal solution using differential evolution algorithm,
It is solved using multi-goal evaluation method from pareto and concentrates selection optimal solution；
S2: establishing RV retarder parametric modeling system, generates the threedimensional model of each component of RV retarder；
S3: establishing RV retarder finite element analysis module, carries out contact strength analysis using the threedimensional model of RV retarder
And torsion stiffness analysis, and determine RV Design of Speed Reducer scheme.
Further, in the step S1, structural parameters is just calculated according to the fundamental performance parameter of RV retarder, pass through target letter
Number establishes corresponding model of structural optimization with constraint condition, specifically includes: according to the fundamental performance parameter of RV retarder, that is, inputting
Power P, input speed n, planetary gear number npWith output torque T2, primary election center tooth number, primary transmission ratio, the pinwheel number of teeth and
Center is away from basic parameters such as ranges；Establish structural parameters and efficiency, volume, quality, torsion stiffness, driving error and machine life
Etc. performance parameters functional relation, and according to the pact of involute planetary transmission mechanism, rotary arm bearing and Cycloidal pin-wheel drive mechanism
Beam condition obtains RV reducer structure Optimized model.
Further, in step S1, the differential evolution algorithm uses real coding population, first according to independent variable range moment
Battle array generates real number value population R and generates two child chromosomes using SBX；Child chromosome uses differential variation operator, expression
Formula are as follows:
Wherein, F is the scale factor for controlling difference vector, and t is evolutionary generation,For individual vectorI-th dimension variable；
xjIt (t) is individual vectorJth tie up variable, wherein random number j ∈ { r1,r2,r3, r1、r2、r3∈ N and random；
Using the corresponding target function value of feasible solution column vector under Kriging agent model calculation constraint condition, and according to
Crowding distance selects one group of pareto optimal solution.
Further, in step S1, the Kriging agent model, expression formula is as follows:
Y (x)=F (β, x)+z (x)=fT(x)β+z(x)
Wherein, F (β, x) is the world model in independent variable space, and z (x) is the partial deviations of random distribution, fT(x) be by
The vector of polynomial basis function synthesis, β are regression parameter vector；It designs Latin Hypercube Sampling table and obtains one group of structural parameters sample
This point, and corresponding performance parameter is obtained by FEM calculation, for being fitted Kriging agent model.
Further, in step S1, the multi-goal evaluation method uses entropy assessment, and entropy assessment is a kind of Objective Weighting,
Entropy weight is calculated using the entropy of decision index system, in i performance indicator X1,X2,···,Xi, the optimal result appraisal of j pareto
In problem, m-th of performance indicator Xm={ x1,x2,···,xj, XmEntropy HmIs defined as:
Wherein rmnFor standardization after index,The entropy of index is bigger, and entropy weight is smaller,
The entropy weight w of m-th of performance indicatormIs defined as:
Each performance indicator is weighted using entropy weight, more objective pareto optimal solution can be obtained.
Further, the step S2 is specifically included: establishing RV retarder parametric modeling system, which includes user circle
The RV retarder model in face, database and Dimension Drive；The pareto optimal solution input obtained using multi-goal evaluation method is used
Family interface, and the other structures parameter in combined data library generates the threedimensional model of the parts such as Cycloidal Wheel and pin wheel housing；
The user interface is realized using the Block UI Styler of 3 d modeling software UG, complete by C++ programming language
At the definition of user interface editor and dimensional parameters, finally program is compiled and is linked using Visual Studio；
The database uses odbc database, passes through the intercommunication of ADO realization inside and outside data and user interface and mould
Parameter transmitting between type.
The RV retarder model of the Dimension Drive will create the procedure decomposition of threedimensional model, respectively to for feature, right
User interface is passed through using the size of two-dimensional engineering graphic Dimension Drive threedimensional model as the operation of, entity carries out function processing
Input key parameter can be driven RV retarder parametric modeling system and generate 3 d part figure.
Further, the step S3 is specifically included: establishing RV retarder finite element analysis module, which includes figure circle
Face, python pre-treatment program and post-processing module；The threedimensional model that parametric modeling system is generated imports finite element analysis
Module calls pre-treatment program calculate and return the result by post-processing module by operation graphical interfaces, and foundation has
It limits first simulation result and determines RV Design of Speed Reducer scheme；
The graphical interfaces is created using Abaqus GUI, and the editor of graphical interfaces is completed by Python, and
The definition of control, generates menu plug-in unit using RSG Builder, realizes graphical interfaces and pre-treatment program by script interface
Communication；The python pre-treatment program establish comprising the importing of RV retarder entity, stress loading, grid dividing finite element
Parameter in modeling is replaced with the characteristic parameter taken out with Fortran, constructs the finite element fraction of Parameter adjustable by analysis process
Analyse module；It is characterized parameter assignment according to actual condition, and finite element analysis is carried out to indexs such as contact stress, torsion stiffness and is asked
Solution；
Solving result is returned to post-processing interface by the post-processing module, Fortran subroutine, obtains phase by this interface
Close calculated result, such as stress, the strain cloud atlas of pin wheel housing, Cycloidal Wheel.
The beneficial effects of the present invention are:
(1) evolution algorithm that uses of the present invention is as a kind of strong robustness, the optimization method that convergence is good, concurrency is high,
This kind of solution multi-objective optimization question that parameter is more, the variable space is big is designed suitable for solving RV retarder key parameter.Based on into
Change the problem of optimal solution set that solves of algorithm needs further screening, using this Multi-target evaluation of entropy assessment to disaggregation into
Tax of having gone is weighed and screening.
(2) present invention constructs a kind of RV retarder 3 d modeling system, realizes the Parametric designing of series of products, full
The foot requirement of quick design.
(3) present invention is solved threedimensional model import modul by establishment Finite Element Simulation Analysis module, according to imitative
True result selectes the design scheme of RV retarder, improves modeling efficiency, reduces experimental cost.
Other advantages, target and feature of the invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target of the invention and other advantages can be realized by following specification and
It obtains.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing excellent
The detailed description of choosing, in which:
Fig. 1 is the functional module structure figure of RV retarder forward design method of the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that diagram provided in following embodiment is only to show
Meaning mode illustrates basic conception of the invention, and in the absence of conflict, the feature in following embodiment and embodiment can phase
Mutually combination.
Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, should not be understood as to this
The limitation of invention；Embodiment in order to better illustrate the present invention, the certain components of attached drawing have omission, zoom in or out, not
Represent the size of actual product；It will be understood by those skilled in the art that certain known features and its explanation may be omitted and be in attached drawing
It is understood that.
Referring to Fig. 1, being a kind of RV retarder forward design method, it is divided into RV Gear Reducer Optimal module, RV retarder ginseng
Numberization modeling and RV retarder finite element analysis module, the RV Gear Reducer Optimal module is according to the basic nature of RV retarder
Structural parameters can be calculated at the beginning of parameter, corresponding model of structural optimization is established with constraint condition by objective function, utilizes differential evolution
Algorithm seeks one group of pareto optimal solution, is solved using multi-goal evaluation method from pareto and concentrates selection optimal solution.The RV slows down
Device parametric modeling system generates the threedimensional model of each component of RV retarder.The RV retarder finite element analysis module utilizes
The threedimensional model of RV retarder carries out contact strength analysis and torsion stiffness analysis, and determines RV Design of Speed Reducer scheme.
Specific step is as follows:
Step 1: RV Gear Reducer Optimal module of the establishment based on pyside2, according to the fundamental performance parameter of RV retarder,
That is input power P, input speed n, planetary gear number np, output torque T2, primary election center tooth number, primary transmission ratio, pinwheel tooth
Number, center are away from basic parameters such as ranges.Establish structural parameters and efficiency, volume, quality, torsion stiffness, driving error, complete machine longevity
The functional relation of the performance parameters such as life, and according to involute planetary transmission mechanism, rotary arm bearing and Cycloidal pin-wheel drive mechanism
Constraint condition obtains RV retarder key parameter Optimized model.
The Optimized model uses Kriging agent model, and expression formula is as follows:
Y (x)=F (β, x)+z (x)=fT(x)β+z(x)
Wherein, F (β, x) is the world model in independent variable space, and z (x) is the partial deviations of random distribution, fT(x) be by
The vector of polynomial basis function synthesis, β are regression parameter vector.It designs Latin Hypercube Sampling table and obtains one group of structural parameters sample
This point, and corresponding performance parameter is obtained by FEM calculation, for being fitted Kriging agent model.
Differential evolution algorithm uses real coding population, generates real number value population R according to independent variable range matrix first, adopts
With SBX (simulation binary system single point crossing), two child chromosomes are generated.Child chromosome uses differential variation operator, expression
Formula are as follows:
Wherein, F is the scale factor for controlling difference vector, and t is evolutionary generation,For individual vectorI-th dimension variable；
xjIt (t) is individual vectorJth tie up variable, wherein random number j ∈ { r1,r2,r3, r1、r2、r3∈ N and random.It utilizes
The corresponding target function value of feasible solution column vector under Kriging agent model calculation constraint condition, and selected according to crowding distance
One group of pareto optimal solution.
Multi-objective assessment method uses entropy assessment, and entropy assessment is a kind of Objective Weighting, utilizes the entropy meter of decision index system
Entropy weight is calculated, in i performance indicator X1,X2,···,Xi, in the evaluation problem of j pareto optimal solution, m-th of performance refers to
Mark Xm={ x1,x2,···,xj, its entropy is defined as:
Wherein, rmnFor standardization after index,The entropy of index is bigger, and entropy weight is smaller,
The entropy weight of m-th of performance indicator is defined as:
Each performance indicator is weighted using entropy weight, more objective pareto optimal solution can be obtained.
Step 2: establishing RV retarder parametric modeling system, which includes user interface, database and Dimension Drive
RV retarder model.The pareto optimal solution input user interface that will be obtained using multi-goal evaluation method, and combined data library
In other structures parameter generate the threedimensional model of Cycloidal Wheel, the parts such as pin wheel housing.
Wherein, user interface is realized using the Block UI Styler of 3 d modeling software UG, passes through C++ programming language
The definition of user interface editor and dimensional parameters is completed, finally program is compiled and is linked using Visual Studio.
Database uses odbc database, between intercommunication and user interface and model that inside and outside data are realized by ADO
Parameter transmitting.
The RV retarder model of Dimension Drive will create the procedure decomposition of threedimensional model, respectively to for feature, object, reality
The operation of body is carried out function processing and is inputted using the size of two-dimensional engineering graphic Dimension Drive threedimensional model by user interface
Key parameter can be driven RV retarder parametric modeling system and generate 3 d part figure.
Step 3: establishing RV retarder finite element analysis module, which includes graphical interfaces, python pre-treatment program
And post-processing module.The threedimensional model that parametric modeling system is generated imports finite element analysis module, by operating figure circle
Face calls pre-treatment program calculate and return the result by post-processing module, and determines that RV subtracts according to FEM Numerical Simulation
Fast device design scheme.
Wherein, graphical interfaces is created using Abaqus GUI, and the editor of graphical interfaces is completed by Python, and
The definition of control, generates menu plug-in unit using RSG Builder, realizes graphical interfaces and pre-treatment program by script interface
Communication.
Python pre-treatment program establish comprising the importing of RV retarder entity, stress loading, grid dividing finite element
Parameter in modeling is replaced with the characteristic parameter taken out with Fortran, constructs the finite element fraction of Parameter adjustable by analysis process
Analyse module.It is characterized parameter assignment according to actual condition, and finite element analysis is carried out to indexs such as contact stress, torsion stiffness and is asked
Solution.
Solving result is returned to post-processing interface by post-processing module, Fortran subroutine, can be obtained by this interface related
Calculated result, such as stress, the strain cloud atlas of pin wheel housing, Cycloidal Wheel.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Scope of the claims in.
Claims (7)
1. a kind of RV retarder forward design method, which is characterized in that specifically includes the following steps:
S1: establishing RV Gear Reducer Optimal module, just calculates structural parameters according to the fundamental performance parameter of RV retarder, passes through target letter
It is several to establish the excellent model of correspondingization structure with constraint condition, one group of pareto optimal solution is sought using differential evolution algorithm, is used
Multi-goal evaluation method is solved from pareto concentrates selection optimal solution；
S2: establishing RV retarder parametric modeling system, generates the threedimensional model of each component of RV retarder；
S3: establishing RV retarder finite element analysis module, carries out contact strength analysis and torsion using the threedimensional model of RV retarder
Turn stiffness analysis, and determines RV Design of Speed Reducer scheme.
2. a kind of RV retarder forward design method according to claim 1, which is characterized in that in the step S1, root
Structural parameters just are calculated according to the fundamental performance parameter of RV retarder, corresponding structure optimization is established with constraint condition by objective function
Model specifically includes: according to the fundamental performance parameter of RV retarder, i.e. input power P, input speed n, planetary gear number npWith
Output torque T2, primary election center tooth number, primary transmission ratio, the pinwheel number of teeth and center are away from range；Establish structural parameters and efficiency,
Volume, quality, torsion stiffness, the functional relation of driving error and machine life, and according to involute planetary transmission mechanism, pivoted arm
The constraint condition of bearing and Cycloidal pin-wheel drive mechanism obtains RV reducer structure Optimized model.
3. a kind of RV retarder forward design method according to claim 2, which is characterized in that in step S1, the difference
Point evolution algorithm uses real coding population, generates real number value population R according to independent variable range matrix first, using simulation two into
Single point crossing (simulated binary crossover, SBX) processed, generates two child chromosomes；Child chromosome uses
Differential variation operator, expression formula are as follows:
Wherein, F is the scale factor for controlling difference vector, and t is evolutionary generation,For individual vectorI-th dimension variable；xj
It (t) is individual vectorJth tie up variable, wherein random number j ∈ { r1,r2,r3, r1、r2、r3∈ N and random；
Using the corresponding target function value of feasible solution column vector under Kriging agent model calculation constraint condition, and according to crowded
Distance one group of pareto optimal solution of selection.
4. a kind of RV retarder forward design method according to claim 3, which is characterized in that described in step S1
Kriging agent model, expression formula are as follows:
Y (x)=F (β, x)+z (x)=fT(x)β+z(x)
Wherein, F (β, x) is the world model in independent variable space, and z (x) is the partial deviations of random distribution, fTIt (x) is by multinomial
The vector of basic function synthesis, β are regression parameter vector；It designs Latin Hypercube Sampling table and obtains one group of structural parameters sample point,
And corresponding performance parameter is obtained by FEM calculation, for being fitted Kriging agent model.
5. a kind of RV retarder forward design method according to claim 4, which is characterized in that described more in step S1
Objective evaluation uses entropy assessment, entropy weight is calculated using the entropy of decision index system, in i performance indicator X1,X2,···,Xi, j
In the evaluation problem of a pareto optimal solution, m-th of performance indicator Xm={ x1,x2,···,xj, XmEntropy HmIs defined as:
Wherein, rmnFor the index after standardization；The entropy of index is bigger, and entropy weight is smaller, the entropy weight w of m-th of performance indicatormIt is fixed
Justice are as follows:
Each performance indicator is weighted using entropy weight, more objective pareto optimal solution can be obtained.
6. a kind of RV retarder forward design method according to claim 1, which is characterized in that the step S2 is specifically wrapped
It includes: establishing RV retarder parametric modeling system, which includes the RV retarder mould of user interface, database and Dimension Drive
Type；The pareto optimal solution input user interface that will be obtained using multi-goal evaluation method, and the other structures in combined data library
The threedimensional model of parameter generation Cycloidal Wheel and pin wheel housing；
The RV retarder model of the Dimension Drive will create the procedure decomposition of threedimensional model, respectively to for feature, object, reality
The operation of body is carried out function processing and is inputted using the size of two-dimensional engineering graphic Dimension Drive threedimensional model by user interface
Key parameter can be driven RV retarder parametric modeling system and generate 3 d part figure.
7. a kind of RV retarder forward design method according to claim 6, which is characterized in that the step S3 is specifically wrapped
It includes: establishing RV retarder finite element analysis module, which includes graphical interfaces, python pre-treatment program and post-processing mould
Block；The threedimensional model that parametric modeling system is generated imports finite element analysis module, place before being called by operation graphical interfaces
Reason program calculate and returned the result by post-processing module, and determines the Design of Speed Reducer side RV according to FEM Numerical Simulation
Case；
The graphical interfaces realizes the communication of graphical interfaces and pre-treatment program by script interface；
The python pre-treatment program establish comprising the importing of RV retarder entity, stress loading, grid dividing finite element
Parameter in modeling is replaced with the characteristic parameter taken out with Fortran, constructs the finite element fraction of Parameter adjustable by analysis process
Analyse module；It is characterized parameter assignment according to actual condition, and finite element analysis is carried out to indexs such as contact stress, torsion stiffness and is asked
Solution；
Solving result is returned to post-processing interface by the post-processing module, Fortran subroutine, obtains correlometer by this interface
Calculate result.
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| CN112464486B (en) * | 2020-12-02 | 2024-03-19 | 华北水利水电大学 | Transmission error numerical simulation method of cycloidal pin gear speed reducer for robot |
| WO2023020628A1 (en) * | 2022-06-10 | 2023-02-23 | 山东科技大学 | Speed-reducer operating condition and structure parameter optimization method based on transmission efficiency |
| CN116611190A (en) * | 2023-07-20 | 2023-08-18 | 宁波东力传动设备有限公司 | Design method of lightweight multi-stage speed reducer |
| CN116611190B (en) * | 2023-07-20 | 2023-10-03 | 宁波东力传动设备有限公司 | Design method of lightweight multi-stage speed reducer |
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