工业机器人RV减速器传动机构误差分析  

Transmission Mechanism Error Analysis for Industrial Robot RV Reducer

作　　者：张跃明[1] 朱桂龙 纪姝婷 ZHANG Yue-ming;ZHU Gui-long;JI Shu-ting(College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100124

出　　处：《机械设计与制造》2022年第5期261-265,269,共6页Machinery Design & Manufacture

基　　金：北京市自然科学基金青年项目(3194043)基于柔性组合曲线及机构受载分析的RV减速器摆线轮齿廓修形研究。

摘　　要：以工业机器人用RV减速器为研究对象,结合其一级渐开线齿轮减速和二级摆线针轮减速的啮合特性,逐个分析了机构中各主要构件的原始误差对系统输出转角的影响,以此为基础建立了该机构的误差传递分析模型,该模型详细解释了机构的各种原始误差与机构输出误差的对应关系,并以RV40E型减速器为例,进行数值演算和实验分析。结果表明,输出盘轴孔偏心误差对机构输出转角影响最大,摆线轮齿形误差和曲柄轴偏心误差次之,渐开线齿轮机构的误差影响最小,同时输出盘和行星架固连引起的反馈误差在精密的RV传动中也是不容忽视的。Taking RV reducer for industrial robots as the research object,combined with the meshing characteristics of the firstorder involute gear deceleration and the second-order cycloid pinwheel deceleration,the influence of the original errors of the main components of the mechanism on the output angle of the system is analyzed one by one. Based on this,the error transfer analysis model of the mechanism is established. The model is solved in detail. The corresponding relationship between the various original errors and the output errors of the mechanism is explained. The numerical calculation and experimental analysis are carried out for the RV40E reducer as an example. The results show that the eccentricity error of the shaft hole of the output disc has the greatest influence on the output angle of the mechanism,followed by the cycloid gear tooth profile error and crankshaft eccentricity error,and the involute gear mechanism error. At the same time,the feedback error caused by the fixed connection of the output disc and the planetary frame can not be ignored in the precise RV transmission.

关 键 词：RV减速器 摆线针轮传动 传动误差 误差传递 

分 类 号：TH16[机械工程—机械制造及自动化]