Consistency Analysis On The Transmission Precision And Parts Tolerance In RV Reducer

The RV reducer is composed of the first stage involute gear planetary transmission and the two stage cycloid needle wheel planetary transmission.It has the characteristics of large deceleration ratio,small volume and high transmission precision,and it is used in the transmission system of industrial robots.The precision of the transmission system of the RV reducer is the key index to measure its performance,in order to strengthen the control ability of the transmission system error.Based on the dynamics theory,the equivalent mechanical model of the transmission system is established and the error simulation analysis,the feasibility of the model,deduces the consistency theory of transmission system and associated parts tolerance,as in the processing of the design stage,through the size limit of parts,and then control the tolerance range of the transmission system,thus producing high precision RV provides the theoretical guidance of reducer.The error equivalent model of the transmission system of RV reducer is established by using the centralized mass method and the equivalent model method.First of all,the transmission parts is equivalent to a lumped mass,with the original spring mass is connected,then the parts of the error into the equivalent error of the contact parts,the application of Newton's law to carry out stress analysis,establish the equivalent mechanical equation of RV reducer transmission error.The analysis and calculation of the equivalent model of the transmission error of the 2.RV reducer.The mechanical formula is used to calculate the meshing stiffness of the transmission gear model,and the equivalent stiffness of the bearing is calculated by using the method of bearing stiffness.The equivalent mechanical equation of transmission error of RV reducer is calculated by Runge Kutta method,and the transmission error variation curve of RV reducer is obtained.The feasibility of the model is verified by simulation.The tolerance consistency has been analyzed between the transmission system and the spare tolerance in the RV reducer.The simulation diagram of the transmission error of the same part with different error values is compared and analyzed,and the effect of the part error on the transmission error of the RV reducer is analyzed.The error factor of the parts with high error associated with the transmission system is chosen,and the range of tolerance is expressed by one dimensional mathematical interval.It is assumed that the tolerance interval between parts is linearly proportional to the tolerance interval of transmission system.On this basis,the consistency theory of Taylor's first order expansion theory of interval mathematics is applied to deduce the consistency theory between transmission system tolerance and crankshaft,cycloid wheel and output disk eccentric tolerance.By using the consistency analysis method,the tolerance interval of parts corresponding to the tolerance of transmission system is calculated,and the correctness of the theory of consistency analysis between RV transmission system and part tolerance is verified.