Research On Transmission Error Of 2K-V Reducer And Its Cycloid Wheel Life

2K-V type reducer(referred to as Rotary Vector in Japan,referred to as RV for short)adopts involute gear transmission and cycloid pin gear transmission,which has the advantages of large transmission ratio,compact structure,stable transmission,high transmission accuracy,long service life,Widely used in industrial robots.Combining with the domestic problems that are being solved for the transmission accuracy,bearing capacity and fatigue life of the 2K-V reducer,the product performance of the RV110 E reducer is studied in depth,mainly from the transmission error,geometric backlash and cycloid fatigue life Carry out simulation technology research in three aspects.The specific research content and results of this article are as follows:(1)First,the key parts of the RV110 E reducer are measured by high-precision measuring instruments,and the virtual prototype of the reducer is established by comprehensively considering the surveying and mapping data,and then the MBD(Multi Body Dynamics)model of the RV110 E reducer is established by RecurDyn to simulate its kinematics The speed and transmission ratio are obtained.The simulation results are basically consistent with the theoretical calculation results,indicating that the model is established reasonably.Finally,the transmission error simulation of the RV110 E reducer model is compared with the measured results.The results of the two methods are basically consistent,which proves the RecurDyn transmission error Feasibility of simulation technology research.(2)Comprehensively consider the various error factors that affect the geometric backlash,through RecurDyn multi-body dynamics simulation technology,the geometric backlash simulation calculation is performed on the MBD model of the RV110 E reducer,and the geometric backlash simulation calculation result is compared with the theoretical numerical calculation,The simulation calculation is verified to be reasonable,which shows that the RV110 E reducer geometric backlash simulation technology research is correct and feasible.(3)Based on the MFBD(Multi Flexible Body Dynamics)technology in RecurDyn,an MFBD model with a cycloid flexible body was established.Through the rigid-flexible multibody dynamics simulation,the contact stress of the cycloid flexible body was solved to verify the simulation The results are basically consistent with the theoretical calculation results,indicating that the model is established reasonably and achieves a high simulation accuracy.Finally,the Manson-Coffin fatigue algorithm in the Stress-Based life method is used to calculate the fatigue life of the cycloid,A method for predicting contact fatigue life of cycloid wheel is proposed.The research results of this paper provide theoretical support for the research on the transmission error,geometric backlash and fatigue life of cycloidal gears of 2K-V reducer.At the same time,the transmission error,geometric backlash and cycloid of RV110 E reducer are studied based on RecurDyn simulation technology.Fatigue life of the wheels helps to improve product quality,save design costs and shorten the development cycle.