Simulation And Analysis Of Experimental Load Based On Virtual Prototype Of RV Reducer

RV(Rotary-Vector)reducer is widely used by robot suppliers such as KUKA,ABB,FANUC,etc.because of its large transmission ratio range,high motion accuracy,small backlash,large rigidity,small size,and high transmission efficiency.In order to study the fatigue reliability life of RV reducer,RV reducer manufacturers represented by Nabtesco have carried out a series of accelerated life tests of reducer prototypes,but because they did not generate widely recognized experimental standards,load application schemes It has become a key research content for the smooth implementation of reliability tests.In order to reduce the cost of the experiment and speed up the progress of the experiment,based on the virtual prototype simulation technology,this paper takes the RV-80E-121 reducer as an example to study the simulation experiment load distribution law of the RV reducer under different installation methods and different rated load torques.The research content and process are briefly described as follows:(1)Establish the three-dimensional geometric model of the RV-80 E reducer,adopt the hybrid contact inspection algorithm of the relative coordinate system shape and position method and the bounding box method,and simulate the bearing as a spring force to define the cycloid in the RV reducer There is a contact pair between the pin wheel and the involute gear.A virtual prototype model of RV-80 E is established in the Recurdyn multi-body dynamics simulation software,and the kinematic data such as angular velocity and angular acceleration of each component are obtained through analysis and simulation.Verify the kinematics rationality of the established model.(2)Combining the actual robot swing arm and load status,perform finite element flexible processing on the output flange,establish a rigid-flexible coupling virtual prototype model of the swing arm,and adopt the loading method of simulating the swing arm with heavy objects to simulate the actual The experimental conditions of the reliability load test bench and the data comparison.(3)Combining the installation position of the 80 E reducer in the industrial robot,simplify the complex operating conditions of the manipulator.According to the load and placement angle of the RV reducer itself,set the rotation axis of the reducer and The horizontal ground is at various angles such as 0°,30°,45°,60° and 90°,and the working conditions of different multiples of rated torque such as 1,1.5,2 and 2.5 times are applied to the output flange of the reducer Conditions,20 kinds of simulation load conditions are defined in the form of orthogonal table,and the rigid performance of the load virtual prototype is analyzed from the inclination angle of the output shaft.(4)Dynamic simulation of the defined virtual prototype model was performed,and dynamic data such as angular velocity,stress and torque of the output flange of the reducer under different working conditions were obtained;the load was analyzed and explored according to the fatigue damage mechanism The compilation method of its load spectrum.(5)Carry out the reliability load experiment of the RV reducer in the horizontal loading mode(that is,the horizontal position of the axis of the reducer),and analyze the measured torque,acceleration and deceleration curve data.