负载条件下RV减速器动态传动误差分析与试验

doi:10.3969/j.issn.1004-132X.2023.18.001

摘要/Abstract

摘要： 目前RV减速器传动精度出厂标定值是在空载条件下检测的，难以反映扭矩加载条件下的真实精度性能，为有效揭示负载作用下RV减速器动态传动误差特性，考虑关键传动件几何形状与位置度多源误差因素影响，提出了两曲柄轴标准型RV减速器接触多体系统动力学理论模型。在建模中，针对RV减速器传动结构特点，首先完成整机动力学参数化建模架构设计，然后针对第一级渐开线齿轮传动、第二级摆线针轮传动以及多组转臂轴承和支承轴承部分，提出详细的动态接触分析方法；在此基础上，以RV20E减速器为对象，探讨扭矩负载作用下减速器动态传动误差特性。研究结果表明，随着负载扭矩的增大，减速器传动误差幅值不断增大，但幅值增长率逐渐减小；相比于空载情况，额定扭矩下的减速器传动误差计算增幅为73.1%，试验测试增幅为58.9%。

关键词: RV减速器, 摆线传动, 接触分析, 动态传动误差, 轴承

Abstract: For the current RV reducer transmission accuracy factory calibration value was detected under no-load conditions, it was difficult to reflect the real accuracy performance under torque loading conditions, in order to effectively reveal the dynamic transmission error characteristics of the RV reducers under the action of the load, a theoretical dynamic model of contact multi-body system of standard RV reducer with two crankshafts was proposed, which took the multi-error factors of geometry and position of key transmission parts into consideration. In order to effectively reveal the dynamic transmission error characteristics of RV reducers under load, during modeling, firstly, the parametric model of the whole reducer was designed and completed for the RV reducer transmission structure characteristics. Secondly, a detailed dynamic contact analysis method was proposed considering involute gear drive of the first stage, cycloidal-pin drive of the second stage, and multiple sets of turning-arm bearings and support bearings. Thus, the dynamic transmission error characteristics of reducer under torque load were discussed taking RV20E as the object. The results show that with the increase of load torque, the transmission error amplitudes of reducer are increasing, but the amplitude growth rate is decreasing. Compared with no-load conditions, the increase of theoretical transmission errors of the reducers under rated torque is as 73.1%, and the increase of experimental transmission errors under rated torque is as 58.9%.

Key words: , RV reducer, cycloidal transmission, contact analysis, dynamic transmission error, bearing

中图分类号:

TH113
O313

许立新, 夏晨, 杨博. 负载条件下RV减速器动态传动误差分析与试验[J]. 中国机械工程, 2023, 34(18): 2143-2152.

XU Lixin, XIA Chen, YANG Bo. Analysis and Test on Dynamic Transmission Errors of RV Reducers under Load Conditions[J]. China Mechanical Engineering, 2023, 34(18): 2143-2152.

参考文献

［1］YANG Y H，ZHOU G C，CHANG L，et al. A Modelling Approach for Kinematic Equivalent Mechanism and Rotational Transmission Error of RV Reducer［J］. Mechanism and Machine Theory，2021，163(4)：104384.
［2］LI X，LI C，WANG Y，et al. Analysis of a Cycloid Speed Reducer Considering Tooth Profile Modification and Clearance-fit Output Mechanism［J］. Journal of Mechanical Design，2017，139(3)：033303.
［3］SHIH Y P，SHEEN B T，WU K Y，et al. Transmission Errors and Backlash Analysis of a Single-stage Cycloidal Drive Using Tooth Contact Analysis［C］∥ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.Quebec City，2018:126259890.
［4］LIN K S，CHAN K Y，LEE J J. Kinematic Error Analysis and Tolerance Allocation of Cycloidal Gear Reducers［J］. Mechanism and Machine Theory，2018，124(6)：73-91.
［5］SUN X X，HAN L，WANG J. Design and Transmission Error Analysis of CBR Reducer［J］. ASME Journal of Mechanical Design，2019，141(8)：082301.
［6］LI T X，TIAN M，XU H，et al. Meshing Contact Analysis of Cycloidal-pin Gear in RV Reducer Considering the Influence of Manufacturing Error［J］. Journal of the Brazilian Society of Mechanical Sciences and Engineering，2020，42(3)：133.
［7］CHUX Y，XU H H，WU X M，et al. The Method of Selective Assembly for the RV Reducer Based on Genetic Algorithm［J］. Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science，2017，232(6)：921-929.
［8］李兵，杜俊伟，陈磊，等. 工业机器人RV减速器传动误差分析［J］.西安交通大学学报，2017，51(10)：1-6.
LI Bing，DU Junwei，CHEN Lei，et al. Transmission Error Analysis for Industrial Robot RV Reducer［J］. Journal of Xian Jiaotong University，2017，51(10)：1-6.
［9］韩林山，沈允文，董海军，等. 2K-V型传动装置动态传动精度理论研究［J］. 机械工程学报，2007，43(6)：81-86.
HAN Linshan，SHEN Yunwen，DONG Haijun，et al. Theoretical Research on Dynamic Transmission Accuracy for 2K-V Type Drive［J］. Journal of Mechanical Engineering，2007，43(6)：81-86.
［10］HAN L，GUO F. Global Sensitivity Analysis of Transmission Accuracy for RV-type Cycloid-pin Drive［J］. Journal of Mechanical Science and Technology，2016，30(3)：1225-1231.
［11］郑钰馨，奚鹰，卜王辉，等. RV减速器5自由度纯扭转模型非线性特性分析［J］.浙江大学学报(工学版)，2018，52(11)：2098-2109.
ZHENG Yuxin，XI Ying，BU Wanghui，et al. Nonlinear Characteristic Analysis of 5-degree-of-freedom Pure Torsional Model of RV Reducer［J］. Journal of Zhejiang University(Engineering Science)，2018，52(11)：2098-2109.
［12］REN Z Y，MAO S M，GUO W C，et al. Tooth Modification and Dynamic Performance of the Cycloidal Drive［J］. Mechanical Systems and Signal Processing，2017，85(1)：857-866.
［13］CAO D J，ZHU C C，GUO P L，et al. Dynamic Transmission Accuracy Analysis of an RV Reducer Rigid-flexible Coupled Effect［C］∥ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Cleveland, 2017:DETC2017-67063.
［14］XU L X，CHEN B K，LI C Y. Dynamic Modelling and Contact Analysis of Bearing-cycloid-pinwheel Transmission Mechanisms Used in Joint Rotate Vector Reducers［J］. Mechanism and Machine Theory，2019，137(7)： 432-458.
［15］张慧博，田键，周峻，等. 多间隙耦合齿轮转子系统动力学与试验研究［J］. 机械工程学报，2017，53(11)：29-37.
ZHANG Huibo，TIAN Jian，ZHOU Jun，et al. Dynamic and Experimental Investigation of Gear-rotor System with Multiple Clearances Coupled［J］. Journal of Mechanical Engineering，2017，53(11)：29-37.

[1]	胡超, 刘佐民. 基于材料匹配性的球轴承Heathcote黏-滑模型研究 [J]. J4, 201016, 21(16): 1969-1973.
[2]	秦国浩, 张楷, 丁昆, 黄锋飞, 郑庆, 丁国富, . 动态宽卷积残差网络的轴承故障诊断方法[J]. 中国机械工程, 2023, 34(18): 2212-2221.
[3]	钱门贵, 陈涛, 于耀翔, 郭亮, 高宏力, 李威霖, . 一种改进基尼指数加权的轴承健康指标构建方法[J]. 中国机械工程, 2023, 34(15): 1813-1819，1855.
[4]	董绍江, 周存芳, 陈里里, 徐向阳. 基于判别性特征提取和双重域对齐的轴承跨域故障诊断[J]. 中国机械工程, 2023, 34(15): 1856-1863.
[5]	魏冰阳, 古德万, 王永强, 杨建军, . 高减比准双曲面齿轮摩擦功耗分析与效率试验[J]. 中国机械工程, 2023, 34(13): 1525-1532.
[6]	魏冰阳, 古德万, 曹雪梅, 杨建军, . 采用曲面综合法的复杂齿面微分修形与拓扑结构设计[J]. 中国机械工程, 2023, 34(11): 1261-1267，1279.
[7]	雷新沛, 冯利博, 张航, 冯凯. 磁气负载比对箔片磁力混合轴承支承特性及转子动力学特性的影响[J]. 中国机械工程, 2023, 34(11): 1287-1295,1305.
[8]	郑近德, 陈焱, 童靳于, 潘海洋. 精细广义复合多元多尺度反向散布熵及其在滚动轴承故障诊断中的应用[J]. 中国机械工程, 2023, 34(11): 1315-1325.
[9]	王永强, 魏冰阳, 徐家科, 杨建军. 摆线针轮多齿啮合特性与承载接触分析方法[J]. 中国机械工程, 2023, 34(10): 1151-1158.
[10]	李子麟, 时振刚, 铁晓艳, 杨国军, 任文亮, 姚佳康, 王玉明, 王子羲. 重型磁悬浮转子跌落保护轴承失效机理[J]. 中国机械工程, 2023, 34(09): 1009-1018.
[11]	张龙, 张号, 王朝兵, 王晓博, 文培田, 赵丽娟. 显式动力学驱动的轴承变工况故障诊断方法[J]. 中国机械工程, 2023, 34(08): 982-992.
[12]	李朕均, 赵春雨. 进给系统角接触球轴承的热力耦合分析[J]. 中国机械工程, 2023, 34(07): 821-829.
[13]	周如传, 吴文敏, 冯曼曼, 郭辉, 蔺彦虎. 小轴交角面齿轮副齿面展成与啮合特性分析[J]. 中国机械工程, 2023, 34(06): 631-640.
[14]	董绍江, 朱朋, 朱孙科, 刘兰徽, 邢镔, 胡小林. 基于仿真数据驱动和领域自适应的滚动轴承故障诊断方法[J]. 中国机械工程, 2023, 34(06): 694-702.
[15]	赵靖, 杨绍普, 李强, 刘永强, . 一种残差注意力迁移学习方法及其在滚动轴承故障诊断中的应用[J]. 中国机械工程, 2023, 34(03): 332-343.