本文選題：RV減速器 + 傳動誤差�。� 參考：《北方工業(yè)大學》2017年碩士論文

【摘要】：隨著工業(yè)4.0的轉(zhuǎn)型加速,"機器換人"的自動化改造過程逐步實施,大批量的機器人被組裝代替人工勞動,而機器人最核心的關鍵就是機器人關節(jié),特別是機器人關節(jié)的RV減速器。由于RV減速器有更高的剛度和更高的回轉(zhuǎn)精度,一般在重負載部位放置RV減速器,而其他輕載部位,例如小臂、腕部和手臂等一般放諧波減速器,以達到合理的經(jīng)濟效益,但國內(nèi)RV減速器主要是受傳動精度的影響導致其發(fā)展緩慢,中國的RV減速器存在制造成本高,壽命低,在機器人上有明顯振動,不能大批量生產(chǎn)的缺點,且國內(nèi)RV減速器目前的生產(chǎn)功率一般都在10kw以內(nèi),最大能達到75kw,但是日本可以達到132kw,最大可以達到220kw,因此和國外的產(chǎn)品相比還有很大的差距,這就要求能快速的解決這些影響因素迫在眉睫。本文以RV-40E為研究對象,根據(jù)RV減速器傳動原理,基于虛擬樣機技術建立了 RV減速器傳動誤差虛擬樣機模型,基于正交試驗法分析了 RV減速器關鍵零件對傳動誤差的影響,推導出RV減速器傳動誤差的計算模型,編制傳動誤差計算軟件,并開發(fā)出了傳動誤差測試平臺,其主要內(nèi)容如下:1.基于RV減速器的三種不同的使用方式,利用Pro/E建立三維裝配模型,然后將模型導入ADAMS中,基于IMPACT沖擊函數(shù)法進行接觸仿真,得到不同使用方式下加載轉(zhuǎn)矩與輸出轉(zhuǎn)角關系曲線,加載轉(zhuǎn)矩與輸出轉(zhuǎn)角誤差曲線,并對轉(zhuǎn)角曲線和轉(zhuǎn)角誤差曲線進行二次插值擬合,得到轉(zhuǎn)角曲線和轉(zhuǎn)角誤差曲線的趨勢,根據(jù)曲線趨勢分析不同使用方式下RV減速器的工作性能。結(jié)果表明:空載時外殼固定,輸出盤輸出,輸入軸加載驅(qū)動時,針齒平均嚙合力最小;支撐盤固定,外殼輸出,輸入軸加載驅(qū)動時,針齒平均嚙合力最大;逐漸加載至額定轉(zhuǎn)矩時,外殼固定,輸出盤輸出,輸入軸加載驅(qū)動的使用方式轉(zhuǎn)角誤差最小,支撐盤固定,外殼輸出,輸入軸加載驅(qū)動的使用方式轉(zhuǎn)角誤差最大,輸入軸固定,輸出盤輸出,外殼加載驅(qū)動的使用方式輸出轉(zhuǎn)角波動幅度最大。研究結(jié)果為RV減速器不同的使用方式提供了理論的指導。2.利用Pro/E進行參數(shù)化快速三維模型的建立并裝配,建立了 RV-40E減速器剛體模型,然后導入到ADAMS中根據(jù)RV減速器的工作傳動原理利用宏命令的方法進行虛擬樣機約束,宏命令進行約束的方法改變了傳統(tǒng)手動進行模型約束的弊端,減小了重復修改模型參數(shù)對樣機進行重新約束的復雜度,研究結(jié)果為RV減速器傳動誤差虛擬樣機的快速建立提供了一種有效可行的方法。3.基于正交試驗法采用直觀分析法和方差分析法比較針齒中心圓半徑誤差、擺線輪移距和等距修形量、偏心距誤差和針齒半徑誤差對RV減速器傳動誤差的影響,建立了 RV減速器傳動誤差計算模型。研究結(jié)果表明針齒中心圓半徑誤差對RV減速器傳動誤差影響最大,偏心距誤差對RV減速器傳動誤差影響最小,傳動誤差模型的建立為RV加速器合理分配關鍵零件的制造誤差提供了理論的指導。4.根據(jù)RV減速器傳動原理,進行傳動誤差的測試平臺的設計,測試系統(tǒng)主要包括驅(qū)動系統(tǒng)、測試系統(tǒng)與負載系統(tǒng)等部件,根據(jù)國際通用測試RV減速器傳動誤差的標準,模擬RV減速器的工作工況。其中中央測控系統(tǒng)實時對RV減速器的傳動誤差進行測量,其結(jié)構(gòu)主要有磁粉制動器、編碼器、伺服電機、被測工件以及安裝平臺等組成,其中伺服電機提供驅(qū)動由伺服控制卡完成,兩個編碼器測試數(shù)據(jù)傳送到主控機進行數(shù)據(jù)處理,繪制出實時測出的傳動誤差曲線。研究結(jié)果為RV減速器傳動誤差的理論研究提供了實際的驗證,為RV減速器的檢測提供了一種合理可靠的方法。5.基于QT開發(fā)RV減速器傳動誤差的計算界面,基本功能實現(xiàn)根據(jù)關鍵零件的制造誤差實現(xiàn)RV減速器傳動誤差的快速計算,并能展示基于正交試驗法所做的27次傳動誤差曲線,改變了傳統(tǒng)對RV減速器傳動誤差理論計算繁瑣的問題,能清晰展示RV減速器傳動誤差曲線,使其結(jié)果更加直觀易懂,研究結(jié)果為RV減速器傳動誤差的快速計算提供了一種便捷的工具。
[Abstract]:With the acceleration of industrial 4 transformation, the automatic transformation process of "machine replacement" is gradually implemented, and large quantities of robots are assembled instead of manual labor. The key key of the robot is the robot joint, especially the RV reducer of the robot joint. Because the RV reducer has higher rigidity and higher rotary precision, it is generally in the heavy burden. The RV reducer is placed in the load part, and other light load parts, such as the small arm, wrist and arm, are generally placed in the harmonic reducer to achieve reasonable economic benefits. But the domestic RV reducer is mainly affected by the transmission precision, which leads to its slow development. The RV reducer in China has a high manufacturing cost, low life and obvious vibration on the robot. The shortcomings of mass production, and the current production power of the domestic RV reducer is generally within 10kW, the maximum can reach 75kW, but Japan can reach 132kw, the maximum can reach 220kw, so there is a big gap compared with the foreign products, which requires the rapid solution of these factors is imminent. This paper is based on RV-40E According to the transmission principle of the RV reducer, the virtual prototype model of the transmission error of the RV reducer is set up based on the virtual prototyping technology. Based on the orthogonal test method, the influence of the key parts of the RV reducer on the transmission error is analyzed, the calculation model of the transmission error of the RV reducer is derived, the calculation software of the transmission error is compiled and the transmission is developed. The main contents of the error testing platform are as follows: 1. based on three different ways of using the RV reducer, the 3D assembly model is established by Pro/E, then the model is introduced into ADAMS, and the contact simulation is carried out based on the IMPACT impact function method, and the relationship between the load torque and the output angle under different use modes is obtained, and the torque and the output angle are loaded. The error curve is two times interpolated to the angle curve and the angle error curve, and the trend of the angle curve and the angle error curve is obtained. According to the curve trend, the working performance of the RV reducer under different use modes is analyzed. The results show that the average rodent force of the needle tooth is the best when the outer shell is fixed, the output disk is lost, and the input shaft is loaded. Small; when the support plate is fixed, the outer shell is output and the input shaft is loaded and driven, the average meshing force of the needle tooth is maximum; when the load is gradually loaded to the rated torque, the shell is fixed, the output disk is output, the input shaft is driven by the input shaft, and the angle error is the smallest, the support disk is fixed, the outer shell is output, and the input axis is driven by the loading shaft, and the input axis is the largest, the input axis is fixed. The output disc output and the use mode of the shell loading drive the maximum fluctuation amplitude of the output angle. The research results provide the theoretical guidance for the different use mode of the RV reducer..2. uses Pro/E to establish and assemble the parameterized and fast three-dimensional model, establishes the RV-40E reducer rigid model, and then imports it into the ADAMS according to the RV reducer. The working transmission principle uses the macro command method to restrict the virtual prototype. The method of macro command constraint changes the disadvantages of the traditional manual model constraint, and reduces the complexity of the repeated modification model parameters to reconstrain the prototype. The research results provide a rapid establishment of the virtual prototype of the transmission error of the RV reducer. The effective and feasible method.3. is based on the orthogonal test method using the direct analysis method and the variance analysis method to compare the center circle radius error of the needle tooth, the cycloid wheel shift distance and the equidistance repair quantity, the eccentricity error and the needle tooth radius error on the transmission error of the RV reducer, and the calculation model of the transmission error of the RV reducer is established. The results show the needle tooth. The center circle radius error has the greatest influence on the transmission error of the RV reducer, the eccentricity error has the least influence on the transmission error of the RV reducer. The establishment of the transmission error model provides the theoretical guidance for the manufacturing error of the RV accelerator in the rational distribution of the key parts, and the design of the testing platform for the transmission error based on the transmission principle of the RV reducer is designed and measured. The system mainly includes the driving system, the test system and the load system and so on. According to the standard of the transmission error of the RV reducer, the working condition of the RV reducer is simulated. The central measurement and control system can measure the transmission error of the RV reducer in real time. The main structure is the magnetic powder brake, the encoder, the servo motor and the measured work. The servomotor is composed of the installation platform, in which the servo motor is driven by the servo control card, and the two encoder test data are transmitted to the main control machine for data processing, and the transmission error curve of the real time measurement is drawn. The research results provide the actual verification for the theoretical study of the transmission error of the RV reducer and the detection of the RV reducer. A reasonable and reliable method.5. is developed to develop the calculation interface of the transmission error of the RV reducer based on QT. The basic function realizes the rapid calculation of the transmission error of the RV reducer according to the manufacturing error of the key parts, and can display the 27 transmission error curves based on the orthogonal test method, which changes the traditional theory of the transmission error of the RV reducer. The calculation of the complicated problem can clearly show the transmission error curve of the RV reducer, which makes the result more intuitive and easy to understand. The research results provide a convenient tool for the fast calculation of the transmission error of the RV reducer.
【學位授予單位】：北方工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242;TH132.46

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