关键词: RV减速器, 摆线针轮, 滚针轴承, 混合润滑, 磨损模型

Abstract:

RV reducers have higher power density compared to traditional planetary and harmonic reducers, and are widely used in equipment operating in special and extreme working conditions and industrial robots. However in special and extreme environments, especially in high and low temperature alternating service environments, the components in RV reducers are supposed to have extremely high machining accuracy because of micrometer level errors can cause multi tooth meshing become multi tooth interference under loading conditions, which affects the lubrication of various components and ultimately leads to wear failure. However, there is currently a lack of systematic research on the wear behavior of RV reducers under special and extreme working conditions. According to the tribology and meshing theory, the motion and force analysis of each key component are first carried out. Then, a mixed lubrication model of the RV reducer components is established, and the cycloidal-pin wheel and needle bearing are confirmed as the insufficient lubrication parts in the RV reducer. Based on lubrication analysis, a wear model of the RV reducer is established, and finally, the wear model is calibrated based on equivalent experimental data. This model can predict the wear of RV reducers under special and extreme working conditions and provide theoretical support for improving their service performance.

Key words: RV reducer, cloidal-pin wheel, needle bearing, mixed lubrication, wear model