摘要
RV减速器作为工业机器人关节核心部件正日趋发展成熟,但与其寿命相关的研究相对较少,RV减速器寿命是影响其可靠性的关键因素,目前却没有行之有效的计算和检测方法。针对此问题,以S-N疲劳理论、Miner理论为基础,结合对影响RV减速器寿命的关键零件—滚针轴承的寿命分析,推导了RV减速器的寿命计算公式。并以一款RV-40E-121型减速器为例,计算了其在额定负载、转速下的寿命,结果与Nabtesco公司标定的额定寿命相差14%。为了验证这里RV减速器寿命公式的正确性,搭建了一种加速寿命试验平台,并进行了近700小时的加速试验得出了一台RV减速器的寿命,其与理论计算结果相差8%。结果表明:所提出的RV减速器寿命计算公式符合实际,并进一步验证了所设计的RV减速器加速寿命实验平台能够较为准确、快速的检测RV减速器寿命。
RV reducer as industrial robot joint core components are increasingly mature,but its life-related research is relatively small. RV reducer’s life is a key factor affecting its reliability,and there is no effective calculation and detection methods. Based on the theory of S-N fatigue and Miner theory,and the life formula of RV reducer is deduced based on the analysis of the life span of key parts-needle roller bearing which affects the life of RV reducer. An RV-40 E-121 type gear,for example,calculated its life at rated load and speed,and the result is 14% of the rated life of Nabtesco’s calibration. In order to verify the correctness of the RV reducer life formula in this paper,an accelerated life test platform was built and a nearly 700 hours’ acceleration test was carried out to obtain the life of a RV reducer,which was 8%. The results show that the life formula of RV reducer proposed in this paper is realistic,and furtherore,the design of the RV reducer accelerated life experiment platform can be accurate and rapid detection of RV reducer life.
作者
张跃明
冀永虎
纪姝婷
赵飞
ZHANG Yue-ming;JI Yong-hu;JI Shu-ting;ZHAO Fei(The College of Mechanical Engineering&Applied Electronics Technology,Beijing University of Technology,Beijing 100124,China)
出处
《机械设计与制造》
北大核心
2020年第8期270-274,共5页
Machinery Design & Manufacture
基金
中国博士后科学基金资助-基于非线性多齿啮合刚度的RV减速器摆线齿修形机理研究(2017M620552)。
