China Mechanical Engineering ›› 2023, Vol. 34 ›› Issue (18): 2143-2152.DOI: 10.3969/j.issn.1004-132X.2023.18.001

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Analysis and Test on Dynamic Transmission Errors of RV Reducers under Load Conditions

XU Lixin1,2;XIA Chen2;YANG Bo2   

  1. 1.State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing,400044
    2.College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing,400044
  • Online:2023-09-25 Published:2023-10-18

负载条件下RV减速器动态传动误差分析与试验

许立新1,2夏晨2;杨博2   

  1. 1.重庆大学高端装备机械传动全国重点实验室,重庆,400044
    2.重庆大学机械与运载工程学院,重庆,400044
  • 作者简介:许立新,男,1982年生,博士、副教授、博士研究生导师。研究方向为机械传动和接触多体动力学。E-mail:xulixin@cqu.edu.cn。
  • 基金资助:
    国家自然科学基金(52075052);广东省重点领域研发计划(2020B090926003)

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

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

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