CN116956497A - Speed reducer transmission error analysis method considering main bearing flexibility factor - Google Patents
Speed reducer transmission error analysis method considering main bearing flexibility factor Download PDFInfo
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Abstract
The invention discloses a speed reducer transmission error analysis method considering main bearing flexibility factors, which comprises the following steps: establishing a main bearing rigid-flexible coupling model considering the main bearing flexibility factor; establishing a model of a speed reducer prototype; assembling the main bearing rigid-flexible coupling model and the speed reducer prototype model to obtain a speed reducer complete machine model; setting material characteristics and constraint relations of all parts of a complete machine model of the speed reducer, and simulating the complete machine model of the speed reducer to obtain an input shaft rotation angle and an output shaft rotation angle; and calculating the rotation error of the speed reducer based on the rotation angle of the input shaft and the rotation angle of the output shaft. According to the invention, the main bearing rigid-flexible coupling model considering the main bearing flexibility factor is established, and is assembled with the speed reducer model to obtain the speed reducer model, and on the basis, the transmission performance simulation is carried out, so that the influence of the main bearing flexibility factor on the transmission error of the speed reducer is determined.
Description
Technical Field
The invention relates to the technical field of dynamics simulation, in particular to a transmission error analysis method of a speed reducer considering a main bearing flexibility factor.
Background
Due to RV reducer part manufacturing error assembly error and temperature deformation and elastic deformation in the transmission process, input and output corner errors are unavoidable. The rotation angle error is a deviation value between an actual rotation angle and a theoretical rotation angle of the output shaft and is an important index for evaluating the transmission precision of the RV reducer. The application field of RV reducers is mostly precision transmission devices with high transmission precision requirements, such as robots, radars, precision machine tools, etc., and in order to ensure the accuracy between the positions of the transmission devices when the transmission devices complete the motion of the same period for many times, the RV reducers must have high transmission precision.
At present, most of transmission error related researches of RV speed reducers are focused on the influence of tooth shape, manufacturing and assembling errors on transmission precision and the influence of finite element analysis of the strength and rigidity of parts of cycloid transmission parts on transmission errors, and the main bearing of the RV speed reducer supports the output end of the speed reducer to output motion and power, so that all loads from the outside are born, a ferrule and a retainer of the RV speed reducer have larger flexibility and are easier to generate supporting deformation, the flexible supporting deformation of key parts of the bearing tends to have great influence on the transmission characteristics of the speed reducer, and the influence of the flexible factors of the main bearing on the transmission errors of the speed reducer is determined to have important significance on the optimization design of the speed reducer.
Disclosure of Invention
The invention aims to provide a speed reducer transmission error analysis method considering main bearing flexibility factors so as to determine the influence of the main bearing flexibility factors on the speed reducer transmission error.
In order to achieve the above object, the present invention provides the following solutions:
a speed reducer transmission error analysis method considering main bearing flexibility factors includes the following steps:
establishing a main bearing rigid-flexible coupling model considering the main bearing flexibility factor;
establishing a model of a speed reducer prototype;
assembling the main bearing rigid-flexible coupling model and the speed reducer prototype model to obtain a speed reducer complete machine model;
setting material characteristics and constraint relations of all parts of a complete machine model of the speed reducer, and simulating the complete machine model of the speed reducer to obtain an input shaft rotation angle and an output shaft rotation angle;
and calculating the rotation error of the speed reducer based on the rotation angle of the input shaft and the rotation angle of the output shaft.
Optionally, the establishing a main bearing rigid-flexible coupling model considering the main bearing flexibility factor specifically includes:
establishing a three-dimensional model of each part of the main bearing according to the structural parameters of the main bearing; the parts of the main bearing comprise an inner ring, an outer ring, rolling bodies and a retainer;
assembling the three-dimensional model of each part of the main bearing to obtain a parameterized three-dimensional solid model of the main bearing;
performing grid division on the parameterized three-dimensional solid model of the main bearing to obtain a three-dimensional grid model of the main bearing;
and carrying out flexible treatment on the flexible material parts in the three-dimensional network model of the main bearing to obtain the rigid-flexible coupling model of the main bearing.
Optionally, the material properties include: modulus of elasticity, density, and poisson's ratio.
Optionally, the constraint relation of each part of the complete machine model of the speed reducer is set as follows:
the input shaft and the ground are set as revolute pair constraint;
the planet carrier and the output disc are arranged to fix the auxiliary constraint;
the planet carrier and the ground are arranged to be constrained by a revolute pair;
the pin and the ground are arranged as a fixed pair constraint;
the planet wheel and the crank shaft are arranged to be fixed auxiliary constraint;
the crank shaft and the planet carrier are arranged to be constrained by a revolute pair;
the cycloidal gear and the pin gear shell are arranged to be restrained by a plane pair;
the needle gear shell and the ground are arranged as fixed pair constraints;
the outer ring of the main bearing and the ground are arranged to be fixed with auxiliary constraint;
the inner ring of the main bearing and the planet carrier are arranged to be restrained by a fixed pair;
the rolling bodies of the main bearing and the inner ring and the outer ring of the main bearing are in body-to-body contact constraint.
Optionally, based on the input shaft rotation angle and the output shaft rotation angle, calculating a rotation error of the speed reducer is:
wherein delta E is the rotation error of the speed reducer, theta out Is the rotation angle of the output shaft, theta in And i is the reduction ratio of the speed reducer for the rotation angle of the input shaft.
A reducer transmission error analysis system taking into account main bearing compliance factors, the system being applied to the method described above, the system comprising:
the main bearing rigid-flexible coupling model building module is used for building a main bearing rigid-flexible coupling model considering the main bearing flexibility factor;
the speed reducer prototype model building module is used for building a speed reducer prototype model;
the assembly module is used for assembling the main bearing rigid-flexible coupling model and the speed reducer prototype model to obtain a speed reducer complete machine model;
the simulation module is used for setting material characteristics and constraint relations of all parts of the whole speed reducer model, and simulating the whole speed reducer model to obtain an input shaft rotation angle and an output shaft rotation angle;
and the rotation error calculation module is used for calculating the rotation error of the speed reducer based on the rotation angle of the input shaft and the rotation angle of the output shaft.
An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method described above when executing the computer program.
A computer readable storage medium, characterized in that a computer program is stored thereon, which computer program, when executed, implements the method described above.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a speed reducer transmission error analysis method considering main bearing flexibility factors, which comprises the following steps: establishing a main bearing rigid-flexible coupling model considering the main bearing flexibility factor; establishing a model of a speed reducer prototype; assembling the main bearing rigid-flexible coupling model and the speed reducer prototype model to obtain a speed reducer complete machine model; setting material characteristics and constraint relations of all parts of a complete machine model of the speed reducer, and simulating the complete machine model of the speed reducer to obtain an input shaft rotation angle and an output shaft rotation angle; and calculating the rotation error of the speed reducer based on the rotation angle of the input shaft and the rotation angle of the output shaft. According to the invention, the main bearing rigid-flexible coupling model considering the main bearing flexibility factor is established, and is assembled with the speed reducer model to obtain the speed reducer model, and on the basis, the transmission performance simulation is carried out, so that the influence of the main bearing flexibility factor on the transmission error of the speed reducer is determined.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for analyzing transmission errors of a speed reducer in consideration of flexibility factors of a main bearing according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a parameterized three-dimensional solid model of a main bearing built in SolidWorks provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a rigid-flexible coupling model of a main bearing established in ADAMS according to an embodiment of the present invention;
FIG. 4 is an exploded view of an RV reducer assembly model built in SolidWorks provided by an embodiment of the invention;
fig. 5 is a schematic diagram of a complete machine model of a speed reducer established in ADAMS according to an embodiment of the present invention;
FIG. 6 is a graph of input shaft rotational speed provided by an embodiment of the present invention;
FIG. 7 is a graph of output shaft rotational speed without consideration of flexible support deformation of the main bearing provided by an embodiment of the present invention;
FIG. 8 is a graph of output shaft rotational speed accounting for compliant support deformation of the main bearing provided by an embodiment of the present invention;
FIG. 9 is a graph of input shaft angle versus which an embodiment of the present invention provides;
FIG. 10 is a graph of output shaft rotation angle without considering flexible support deformation of a main bearing provided by an embodiment of the present invention;
FIG. 11 is a graph of output shaft rotational angle accounting for compliant support deformation of the main bearing provided by an embodiment of the present invention;
FIG. 12 is a graph of simulation results of transmission errors without consideration of deformation of a flexible support of a main bearing according to an embodiment of the present invention;
fig. 13 is a graph of simulation results of transmission errors considering the deformation of the flexible support of the main bearing according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a speed reducer transmission error analysis method considering main bearing flexibility factors so as to determine the influence of the main bearing flexibility factors on the speed reducer transmission error.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
The embodiment 1 of the invention provides a speed reducer transmission error analysis method considering a main bearing flexibility factor, as shown in fig. 1, the method comprises the following steps:
s1, establishing a main bearing rigid-flexible coupling model considering main bearing flexibility factors, and in the embodiment of the invention, combining three-dimensional modeling software SolidWorks and simulation software Adams/Flex to construct a main bearing rigid-flexible coupling dynamics model, wherein the main bearing rigid-flexible coupling dynamics model specifically comprises the following steps:
s11, establishing a three-dimensional model of the inner and outer rings of the bearing and the rolling body retainer in three-dimensional modeling software SolidWorks according to parameters of the main bearing structure, wherein basic parameters of the main bearing are shown in table 1.
Table 1 main bearing basic parameter table
| Parameter name | Numerical value |
| Diameter of inner circle/mm | 260 |
| Diameter/mm of outer ring | 360 |
| Ball diameter/mm | 30 |
| Pitch diameter/mm | 310 |
| Number of balls | 26 |
| Contact angle alpha (°) | 40 |
Taking an outer ring as an example to describe the flow of creating a three-dimensional model by a bearing parameterized design method:
and (3) naming the newly built part in SolidWorks as an outer ring, clicking the upper view reference surface sketch for drawing, and drawing the outer ring section sketch according to the basic parameters of the main bearing.
And then creating an auxiliary line by dot creation in a coordinate system, clicking a rotating boss/matrix command under an assembly column, selecting a rotating center as the auxiliary line, selecting a boss surface as an outer ring section sketch, and establishing an outer ring parameterized three-dimensional model by single click determination.
Similar to the method, three-dimensional models of parts such as an inner ring, a rolling body, a retainer and the like of the main bearing are respectively built; and then assembling the three-dimensional models of all the parts, and then performing non-interference inspection on the assembled body to obtain a parameterized three-dimensional solid model of the main bearing, as shown in fig. 2.
S12, performing grid division on the parameterized three-dimensional solid model of the main bearing in Adams/Flex, and performing flexible treatment on key parts (flexible material parts, particularly an inner ring and an outer ring) of the main bearing to obtain a rigid-flexible coupling model of the main bearing, as shown in FIG. 3.
And (3) saving the established parameterized three-dimensional model of the main bearing as a pamasolid (x_t) format, opening an Adams interface, clicking a File/report command, importing the parameterized three-dimensional model into Adams, defining the material of a part in the bearing, and defining the material of the part as a steel.
Adding a constraint relation to the main bearing, wherein the outer ring and the ground are arranged as a fixed pair, and 0 degree of freedom is provided; the inner ring and the ground are arranged as a rotary pair, so that 5 degrees of freedom are provided; the rolling bodies and the retainer keep 6 degrees of freedom; the rolling bodies are in body-to-body contact with the inner ring, the outer ring and the retainer.
In the RV reducer, the main bearings are arranged between the planet carrier and the outer shell in a back-to-back mode and are subjected to axial load and radial load, and therefore axial load and radial load are respectively added to the inner ring.
And carrying out grid division on the parameterized three-dimensional solid model of the main bearing, wherein the inner ring is selected to be subjected to flexible treatment, and the flexible treatment process is introduced by taking the inner ring as an example.
Selecting the right key of the inner ring for flexibilization, selecting to create new hook stress analysis and advanced setting, setting the unit size to be 5mm, setting the minimum size to be 2mm, and clicking to determine that the inner ring flexibilization is finished, wherein the inner ring finite element model has 6338 nodes and 24408 units.
Similar to the method, the outer ring is subjected to flexible treatment, and the outer ring finite element model has 7936 nodes and 30682 units.
And finally obtaining the rigid-flexible coupling model of the main bearing.
S2, a speed reducer prototype model is built, namely the speed reducer prototype model is built based on three-dimensional modeling software SolidWorks, and the method specifically comprises the following steps:
s21, establishing a virtual prototype of the RV reducer by adopting three-dimensional modeling software SolidWorks, and simplifying part parts in the modeling process, wherein the method comprises the following steps of: ignoring the fine structures such as chamfer bolts and the like, and replacing pins, keys and bolt connections by consolidation; parts such as a sealing ring and a gasket which have no influence on research are removed.
Taking cycloidal gears as an example, describing the process of creating a three-dimensional model by parameterized design of a speed reducer: clicking the equation under the tool option in SolidWorks, and establishing a cycloid equation to obtain a cycloid gear tooth profile curve, wherein the cycloid equation is as follows:
wherein za is cycloidal gear number, e is eccentricity, drz is distance-shifting repair quantity, drzz is equidistant repair quantity, rz is needle tooth center radius, zb is needle tooth number, rzz is needle tooth radius, t is system variable (0 < t < 1) in the relation, k is short-amplitude coefficient, and x and y are coordinate axis x direction and y direction respectively.
And drawing half tooth profile of the complete cycloidal gear through an equation, and obtaining a cycloidal gear three-dimensional model through mirroring, array and stretching commands.
Similar to the method for establishing the solid models of other parts, the solid models of all parts are established and assembled according to the relevant structural parameters of the speed reducer, such as table 2, then the assembly is subjected to non-interference test, and the accurate assembly is determined to be free of part interference, so that the three-dimensional model of the speed reducer is obtained.
Table 2 structural parameter table of each part of the decelerator
And S3, assembling the main bearing rigid-flexible coupling model and the speed reducer prototype model to obtain a speed reducer complete machine model, as shown in fig. 5.
S4, setting material characteristics and constraint relations of all parts of the whole speed reducer model, and simulating the whole speed reducer model to obtain an input shaft rotation angle and an output shaft rotation angle.
Firstly, constructing a rotation error test scheme by combining the dynamics characteristics of a main bearing, wherein the rotation error test scheme specifically comprises the following steps:
the main bearing supports the output end of the speed reducer to output motion and power, and bears all loads from the outside, so that the ferrule and the retainer of the main bearing have greater flexibility.
Four main bearing flexible deformation schemes are discussed in the embodiment of the invention: 1. when the planet carrier is used as output, the inner ring is flexibly deformed; 2. when the shell is used as output, the outer ring is flexibly deformed; 3. the inner ferrule and the outer ferrule are simultaneously supported and deformed; 4. the retainer is flexibly deformed.
And then, constructing a complete machine model of the speed reducer based on the rigid-flexible coupling main bearing characteristics in the multi-body dynamics simulation software ADAMS.
S41, assembling the built main bearing rigid-flexible coupling model and the model of the speed reducer prototype in modeling software to obtain the model of the whole speed reducer (shown in fig. 5), and storing the assembly as a SolidWorks and ADAMS intermediate file format pamasolid (x_t).
S42, importing a complete speed reducer model into multi-body dynamics simulation software to define material characteristics, importing a complete speed reducer model File in a middle format into ADAMS software through a File/report command, defining part materials, and based on an ADAMS contact collision theory, elastic deformation generated during contact collision of parts also affects rotation errors of the RV speed reducer, so that material characteristics such as elastic modulus, density, poisson ratio and the like of each part of the added model are shown in Table 3.
Table 3 parameter characteristic parameter table of each component of the decelerator
S43, adding a constraint relation to the complete machine model of the speed reducer in the ADAMS, and determining constraint and contact relations of all parts according to motion and contact analysis of RV speed reducer parts by providing constraint and contact relations according to motion tracks of the parts in order to ensure accuracy of relative motion of all parts in the complete machine model of the speed reducer.
TABLE 4 constraint relationship table for each part of complete machine model of speed reducer
In addition, an contact between the cycloid wheel and the needle roller is established, and the sun wheel and the planet wheel are set as contact pair constraints.
In the complete machine model of the speed reducer, the preset setting mode of a pair of main bearings which are installed back to back is consistent with the setting mode in the step S12.
142 parts, 91 kinematic pairs and 345 contacts are counted in the whole speed reducer model.
Determining a driving rotation speed; the input rotational speed is defined using a step function (step), the rotational speed being in a varying phase between 0 and 1s, reaching 9000 DEG/s after 1s, and in a steady phase. The step function of the input rotation speed is expressed as "9000d time step (time, 0, 1)", i.e. the input rotation speed reaches 9000 °/s after 1s and remains unchanged, and the rotation speed varies from 0 to 9000 °/s between 0 and 1 s.
Determining a load torque; the load torque applied by the output carrier is set to 20n·m, and after the carrier is set to have a steady rotation speed ls, the load is smoothly applied for 1.0 to 1.5s, that is, STEP (time, 1.0,0,1.5, 20000).
Finally, using the simulation, establishing simulation of 0-5S and 5000 steps.
S44, simulating a complete machine model of the speed reducer, and verifying whether the constructed model is correct; the input shaft, carrier rotational speed, is measured as shown in fig. 6 and 7. After 1s, the model stably moves, the rotating speed of the input shaft is 9000 degrees/s, the average rotating speed of the output planet carrier is 40.7225 degrees/s, the ratio of the input shaft to the output planet carrier is 221.008, the input shaft to the output planet carrier is very consistent with the theoretical transmission ratio, and the accuracy and the reliability of the model are verified.
S5, calculating the rotation error of the speed reducer based on the rotation angle of the input shaft and the rotation angle of the output shaft, namely measuring the transmission error of each virtual prototype experiment group in simulation software Adams, wherein the method specifically comprises the following steps:
selecting a rotation error as an evaluation index of transmission precision, selecting a transmission ratio of a RV reducer test model as 221, and calculating a formula according to the rotation error
Wherein ΔE is a rotation error, θ out 、θ in The rotation angle of the output shaft (namely the planet carrier) and the rotation angle of the input shaft (namely the sun gear) are respectively, and the reduction ratio of the speed reducer is i.
In ADAMS, the rotation angles of the input shaft and the output shaft are measured in real time, and the rotation angle curves of the input shaft and the output shaft are shown in fig. 9 and 10. Establishing a measurement function:
FUNCTION＝.JOINT_1_MEA_1/221-.JOINT_16_MEA_1
wherein, the FUNCTION is the difference between the actual output rotation angle and the theoretical output rotation angle, namely the rotation error; join_1_mea_1 is the input shaft rotation angle; JOINT_16_MEA_1 is the output shaft rotational angle, i.e., the planet carrier revolute pair rotational angle.
In the embodiment of the invention, a complete machine dynamics model of the speed reducer without considering flexible supporting deformation of the bearing is established as a reference group.
Performing a flexible treatment on a pair of main bearings installed back to back by referring to the step S12; corresponding to four test schemes, four different speed reducer overall dynamics models considering the main bearing flexibility factors are obtained; the following discussion will take the case where the inner and outer ferrules are simultaneously deformed by the flexible support.
Exemplary embodiments of the present invention further include: s6, analyzing the simulation result to reveal the influence of the main bearing flexibility factor on the transmission error;
with reference to fig. 7 and 8, an output planet carrier curve is analyzed without taking into account the main bearing ring compliant deformation and with taking into account the main bearing ring compliant deformation, under otherwise unchanged conditions; as can be seen in fig. 8, the deformation of the flexible support of the bearing ring may lead to an uneven output speed. Fig. 10 and 11 also make it possible to analyze that the bearing ring after the flexible deformation has a great influence on the output rotation angle.
FIG. 12 is a graph of the transmission error range from 0.48 "-0.8" obtained by the reference group simulation, irrespective of the effect of the compliant deformation of the main bearing; FIG. 13 is a graph showing the transmission error range of 12 "-42" after considering the compliant deformation of the main bearing; by comparing the transmission error result analysis diagrams of fig. 12 and fig. 13, it can be obtained that the flexible deformation of the main bearing is also one of the important factors causing the increase of the transmission error, so as to illustrate the effectiveness of the method provided by the invention.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the embodiment of the invention provides a speed reducer transmission error analysis method considering main bearing flexibility factors, which comprises the following steps: establishing a main bearing rigid-flexible coupling model considering the main bearing flexibility factor; establishing a model of a speed reducer prototype; assembling the main bearing rigid-flexible coupling model and the speed reducer prototype model to obtain a speed reducer complete machine model; setting material characteristics and constraint relations of all parts of a complete machine model of the speed reducer, and simulating the complete machine model of the speed reducer to obtain an input shaft rotation angle and an output shaft rotation angle; and calculating the rotation error of the speed reducer based on the rotation angle of the input shaft and the rotation angle of the output shaft. According to the invention, the main bearing rigid-flexible coupling model considering the main bearing flexibility factor is established, and is assembled with the speed reducer model to obtain the speed reducer model, and on the basis, the transmission performance simulation is carried out, so that the influence of the main bearing flexibility factor on the transmission error of the speed reducer is determined.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. The speed reducer transmission error analysis method considering the main bearing flexibility factor is characterized by comprising the following steps:
establishing a main bearing rigid-flexible coupling model considering the main bearing flexibility factor;
establishing a model of a speed reducer prototype;
assembling the main bearing rigid-flexible coupling model and the speed reducer prototype model to obtain a speed reducer complete machine model;
setting material characteristics and constraint relations of all parts of a complete machine model of the speed reducer, and simulating the complete machine model of the speed reducer to obtain an input shaft rotation angle and an output shaft rotation angle;
and calculating the rotation error of the speed reducer based on the rotation angle of the input shaft and the rotation angle of the output shaft.
2. The method for analyzing transmission errors of a speed reducer considering main bearing flexibility factors according to claim 1, wherein the establishing a main bearing rigid-flexible coupling model considering main bearing flexibility factors specifically comprises:
establishing a three-dimensional model of each part of the main bearing according to the structural parameters of the main bearing; the parts of the main bearing comprise an inner ring, an outer ring, rolling bodies and a retainer;
assembling the three-dimensional model of each part of the main bearing to obtain a parameterized three-dimensional solid model of the main bearing;
performing grid division on the parameterized three-dimensional solid model of the main bearing to obtain a three-dimensional grid model of the main bearing;
and carrying out flexible treatment on the flexible material parts in the three-dimensional network model of the main bearing to obtain the rigid-flexible coupling model of the main bearing.
3. A reducer transmission error analysis method taking into account the flexibility factor of the main bearing according to claim 1, wherein said material characteristics comprise: modulus of elasticity, density, and poisson's ratio.
4. The method for analyzing transmission errors of a speed reducer taking main bearing flexibility factors into consideration as claimed in claim 1, wherein the constraint relation of each part of the whole speed reducer model is set as follows:
the input shaft and the ground are set as revolute pair constraint;
the planet carrier and the output disc are arranged to fix the auxiliary constraint;
the planet carrier and the ground are arranged to be constrained by a revolute pair;
the pin and the ground are arranged as a fixed pair constraint;
the planet wheel and the crank shaft are arranged to be fixed auxiliary constraint;
the crank shaft and the planet carrier are arranged to be constrained by a revolute pair;
the cycloidal gear and the pin gear shell are arranged to be restrained by a plane pair;
the needle gear shell and the ground are arranged as fixed pair constraints;
the outer ring of the main bearing and the ground are arranged to be fixed with auxiliary constraint;
the inner ring of the main bearing and the planet carrier are arranged to be restrained by a fixed pair;
the rolling bodies of the main bearing and the inner ring and the outer ring of the main bearing are in body-to-body contact constraint.
5. The method for analyzing transmission errors of a speed reducer taking into consideration flexibility factors of main bearings according to claim 1, wherein the calculation of the revolution errors of the speed reducer based on the input shaft rotation angle and the output shaft rotation angle is:
wherein delta E is the rotation error of the speed reducer, theta out Is the rotation angle of the output shaft, theta in And i is the reduction ratio of the speed reducer for the rotation angle of the input shaft.
6. A reducer transmission error analysis system taking into account the flexibility factor of the main bearing, characterized in that it is applied to the method according to any one of claims 1-5, said system comprising:
the main bearing rigid-flexible coupling model building module is used for building a main bearing rigid-flexible coupling model considering the main bearing flexibility factor;
the speed reducer prototype model building module is used for building a speed reducer prototype model;
the assembly module is used for assembling the main bearing rigid-flexible coupling model and the speed reducer prototype model to obtain a speed reducer complete machine model;
the simulation module is used for setting material characteristics and constraint relations of all parts of the whole speed reducer model, and simulating the whole speed reducer model to obtain an input shaft rotation angle and an output shaft rotation angle;
and the rotation error calculation module is used for calculating the rotation error of the speed reducer based on the rotation angle of the input shaft and the rotation angle of the output shaft.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 5 when executing the computer program.
8. A computer readable storage medium, characterized in that a computer program is stored thereon, which computer program, when executed, implements the method according to any of claims 1 to 5.
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