RV减速器回差分析及其参数优化设计

Analysis of Backlash and Parameter Optimization Design for RV Reducer

RV减速器是工业机器人的关键部件,回差是其传动精度的重要指标。通过分析RV减速器回差的影响因素,建立数学模型;采用负等距与负移距的修形方法对摆线轮修形;以RV-40E-121型减速器为实例,对其摆线针轮啮合副中参数的公差带进行优化,合理确定其各个关键构件尺寸的公差;提出了错位装配两个摆线轮的消隙方法来减小RV减速器回差。基于MATIAB对其回差进行了蒙特卡洛仿真计算分析,仿真计算回差值在1’以内,满足机器人用高精度RV减速器的回差要求,结果表明通过对摆线轮参数优化、合理分配尺寸公差和调整摆线轮装配结构来控制RV减速器回差的正确性。

RV reducer is a key component of industrial robot,and the backlash is an important index of its transmission precision.The mathematical model is established by analyzing the influence factors of RV reducer’s backlash.The cycloidal wheel was modified by means of negative equidistance and negative shifting distance.Taking the RV-40E-121 reducer as an example,the tolerance zone of parameters in the meshing pair of cycloidal needle wheel is optimized,and the tolerance of each key component is reasonably determined.In order to reduce the backlash of RV reducer,we proposed a new method by assembling two cycloidal wheels with staggered angles.Based on MATLAB that Monte-Carlo simulation is carried out to calculate and analyze its backlash,the value is within 1’,which is satisfy the requirement of RV reducer with high precision that used in robots.The results show that by adjusting the cycloid gear assembly structure,and parameters optimization design for cycloid gear and the Reasonable distribution for size tolerance to control backlash of RV Reducer is correct.