Basic Theory And System Development Of RV Reducer Torsional Stiffness And Backlash Online Test

Torsion stiffness and backlash are the key performance indicators of RV reducers,and are listed as one of the main inspection items in the national standard for robot precision reducers.Existing RV reducer torsion stiffness and backlash test methods are complex and low detection efficiency,which is an important factor restricting the mass production of RV reducers.In the existing RV reducer torsional stiffness and backlash test,the installation of the test device is complicated and the detection efficiency is low,which is an important factor restricting the mass production of RV reducers.In this paper,the key factors affecting the torsional rigidity of the RV reducer are analyzed,and the torsional rigidity analysis model of the RV reducer is established.Based on the influence of load torque on the torsional stiffness of RV reducers,an online approximation test method for torsional stiffness performance was proposed,and an online test system for torsional stiffness and backlash of RV reducers was developed.The main contents are as follows:(1)According to the meshing characteristics and motion relationship of the modified cycloid drive,a calculation model considering the radius of curvature of the actual meshing point and the torsional stiffness of the arm is established,and the effect of load torque and design parameters on the torsional stiffness of the cycloid-pin pair was analyzed.(2)According to the motion relationship of each part,the calculation model of the torsional stiffness of the RV reducer is established,and the influence law of the load torque on the torsional stiffness of the RV reducer is analyzed.Using the method of finite element analysis and prototype test,the torsional stiffness value and variation of the RV reducer in different torque ranges are calculated.According to the theoretical analysis results,an approximate evaluation method of torsional stiffness suitable for batch testing of RV reducers is proposed.(3)An online test system for torsional stiffness and backlash of RV reducers is proposed.This test system uses a vertical structure and a modular system design scheme,which can realize semi-automatic testing of torsional stiffness and backlash of RV reducers.The structure of the system and the installation method of the reducer are introduced in detail,and the key structures such as the output shaft system and the base are analyzed.(4)The measurement and control part of the online test system for torsional stiffness and backlash of the RV reducer has been developed,and the selection of servo drives and sensors are completed.The control software of the system was developed using Labview graphical language,including human-computer interaction interface,motor control module,signal acquisition module and data storage module.