摘要
针对RV减速器回差的优化问题,基于RV减速器的二级结构和扭矩传递路径,从零件误差角度对回差影响因素进行分类.以工业机器人用RV-40E型减速器为实例,计算了各回差因素的敏感度和权重.其中,摆线轮齿廓修形具有较大的敏感度.为减小摆线轮修形引起的齿侧间隙,提出了基于形变量补偿的摆线轮齿廓修形方法,该方法在等距-移距组合修形基础上,将针齿在额定负载下的接触形变量补偿回摆线轮的齿廓中,在不改变摆线针轮径向间隙的基础上实现RV减速器回差的优化.对RV减速器样机进行虚拟样机仿真和试验验证.结果表明:回差优化RV的回差值为0. 66',传统修形RV的回差值为1. 3',与虚拟样机仿真结果基本一致,该基于回差优化的摆线轮修形方法可显著降低RV减速器回差.
In order to optimize the backlash of the RV reducer,the factors affecting the backlash are classified from the angle of the part error based on the two stage structure and the torque transmission path of the RV reducer.The sensitivity and weight of the backlash are calculated by taking the RV-40E reducer used in industrial robot as an example.Among them,the cycloidal gear profile modification has been proven to be stronger in sensitivity.In order to reduce the gear side clearance caused by the cycloid gear modification,a modification method of the cycloidal gear tooth profile based on the compensation of deformation is proposed.On the basis of equidistant&radial-moving modification,the deformation of the pin gear at rated load is compensated for the cycloidal gear tooth profile.The backlash optimization of the RV reducer is realized without changing the radial clearance of cycloidal drive.The simulation and test verification show that the backlash of the optimal RV is 0.66′,the backlash of the traditional modified RV is 1.3′,which is basically consistent with the simulation results of the RV prototype.The cycloidal gear tooth profile modification method based on the compensation of deformation can significantly reduce the backlash of the RV reducer.
作者
陆龙生
张飞翔
万珍平
汤勇
LU Longsheng;ZHANG Feixiang;WAN Zhenping;TANG Yong(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China)
出处
《华南理工大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2018年第9期1-8,共8页
Journal of South China University of Technology(Natural Science Edition)
基金
广东省科技计划项目(2015B090922005
2016B090927001)
NSFC-广东联合基金资助项目(U1601203)~~
关键词
RV减速器
回差
摆线轮
齿廓修形
回差仿真
RV reducer
backlash
cycloidal gear
tooth profile modification
backlash simulation
