Study On Transmission Characteristics Of RV Reducer

Nowadays,the application range of industrial robots in the manufacturing industry is more and more extensive,and there are more and more types.Its motion accuracy and service life and other performances are greatly limited by the transmission characteristics of one of the core components of RV reducer.Compared with foreign high-precision RV reducers,domestic RV reducers still have a significant gap in performance and other aspects.Therefore,it is of great value and significance to study the transmission characteristics of RV reducers.This article focuses on the following aspects of the transmission characteristics of one type of RV reducer:(1)The composition of the two-stage transmission mechanism of the RV reducer,the transmission principle and the calculation of the theoretical transmission ratio are analyzed.The standard and modified parameter equations of the cycloidal gear tooth profile and the curvature radius formula in the second-stage transmission of the RV reducer are derived.Under the premise of considering the method of profile modification of the cycloid gear and the geometrical parameter error of the pin gear,the calculation formulas of the resulting hysteresis and initial normal clearance are derived,and on this basis,the calculation method of the meshing force in the pin-cycloid planetary gearing considering the elastic deformation of the pin gear is analyzed.(2)Three-dimensional software(SolidWorks)is used to establish the three-dimensional assembly model of the RV reducer,and the corresponding motion relationship and parameters are set based on ADAMS to complete the establishment of the virtual prototype model of the RV reducer.Comparing and analyzing the motion parameters of each component obtained by simulation with the theoretical calculation results,the results are consistent.Four factors including equidistant modification,displacement modification,the error of the distribution circle radius of the pin gear and the error of the radius of the pin gear are selected,and an orthogonal test including interaction is designed to study the influence of each factor on the transmission error of RV reducer.Orthogonal test results show that the primary and secondary order of the factors and interactions should be the interaction of modification of equidistance and moved distance,modification of equidistance,the interaction of the error of the distribution circle radius of the pin gear and the error of the radius of the pin gear,and modification of moved distance,the error of the distribution circle radius of the pin gear,the error of the radius of the pin gear.Based on orthogonal experiment results,a mathematical model of transmission error was established and the correctness of the model was verified.(3)Using three-dimensional software(SolidWorks),the simplified three-dimensional assembly models of planetary gear drive and pin-cycloid planetary drive of RV reducer were established.Based on ABAQUS,the dynamic contact finite element models of planetary gear drive and pin-cycloid planetary drive were established.Through simulation analysis,the Mises stress field distribution of each gear and the change law of maximum contact stress and maximum strain with time in the two-stage transmission were revealed.The influence of the method of profile modification of the cycloid gear and the geometrical parameter error of the pin gear on the maximum contact stress and strain in the pin-cycloid planetary gearing is analyzed and studied.(4)In order to test the working performance of the RV reducer,the RV reducer performance test bench was designed and built,and the vibration signals of the RV reducer in three directions of x,y,and z at different speeds were tested and collected.Through the time-frequency analysis method,the frequency characteristics of the RV reducer at various speeds are obtained by studying its spectral characteristics.A method for identifying and diagnosing the fault type and location of a certain reducer based on the theory of side frequency analysis is established,which provides an effective means for the fault diagnosis of RV reducers.