【摘要】 【目的】RV减速器因具有减速比大、传动误差低、结构紧凑等优点被广泛应用于工业机器人关节当中。由于其主轴承为薄壁轴承，工作时套圈易发生较大形变，柔性支撑变形引起的传动误差不可忽略。为此，有必要研究主轴承柔性及润滑特性对减速器传动误差的影响。【方法】以角接触球轴承为研究对象，分别建立主轴承和减速器参数化三维模型，构建主轴承刚柔耦合多体动力学模型、考虑套圈柔性变形的主轴承弹流润滑模型与RV减速器动力学模型；在研究减速器关键零部件动态响应、主轴承接触特性的基础上，进一步探究了主轴承柔性特性对RV减速器传动误差的影响。【结果】结果表明，不考虑主轴承柔性特性时，传动误差范围为-25.2″～21.6″，考虑主轴承柔性特性后，传动误差范围增大至-43.2″～45″；随着套圈变形量的不断增加，减速器传动误差不断增大；随着油膜厚度的不断增加，减速器传动误差先减小后增大；随着油膜压力的不断增加，减速器传动误差也是先减小后增大；主轴承柔性特性对减速器传动误差的影响不可忽略；适当提高主轴承的支承刚度，对减小RV减速器传动误差具有重要意义。所提方法对RV减速器及主轴承精密设计具有一定借鉴意义。更多还原

【Abstract】 [Objective] The RV reducer is extensively utilized in the joints of industrial robots due to its advantages such as the high reduction ratio, the low transmission error, and the compact structure. However, the main bearing, being a thin-walled bearing, is prone to significant deformation of the ring during the operation. The transmission error induced by the deformation of the flexible support cannot be neglected. Consequently, it is imperative to investigate the impact of the flexibility and lubrication characteristics of the main bearing on the transmission error of the reducer. [Methods] Taking angular contact ball bearings as the research object, the parametric three-dimensional models of main bearings and reducers were established, and the multibody dynamic model of the rigid-flex coupling of main bearings, the elastic lubrication model of main bearings considering the flexible deformation of rings and the dynamic model of RV reducers were constructed. On the basis of studying the dynamic response of key parts of the reducer and the contact characteristics of the main bearing, the influence of the flexible characteristics of the main bearing on the transmission error of the RV reducer was further explored. [Results] The results show that the transmission error range is-25.2″ to 21.6″ when the flexible characteristics of the main bearing are not considered, and the transmission error range increases to-43.2″ to 45″ after considering the flexible characteristics of the main bearing. With the increasing deformation of the ring, the transmission error of the reducer continues to increase; with the continuous increase of oil film thickness, the transmission error of the reducer first decreases and increases; with the continuous increase of oil film pressure, the transmission error of the reducer is also decreasing first and increases; the influence of the flexible characteristics of the main bearing on the transmission error of the reducer cannot be ignored, and it is of great significance to appropriately improve the supporting stiffness of the main bearing to reduce the transmission error of the RV reducer. The proposed method has certain reference significance for the precision design of RV reducers and main bearings.更多还原