RV减速器服役工况加速载荷谱编制方法

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中图分类号：TH132.46DOI：10.3969/j.issn.1004-132X.2025.06.004 开放科学（资源服务）标识码（OSID）：

Accelerated Load Spectrum Preparation for RV Reducer Service Conditions

YANG Yu1，2 LI Xiaolei²TAO Yourui1，² GUO Qiyu1² YE Nan1，2 * 1.State Key Laboratory of Reliability and Inteligence of Electrical Equipment，Hebei University of Technology，Tianjin， 2.School of Mechanical Engineering，Hebei University of Technology，Tianjin，

Abstract： Aiming at the needs of reliability analysis and life prediction of RV reducers for industrial robot joints，a method of compiling accelerated load spectrum for RV reducers was proposed based on service conditions.On-site collection of industrial robot joint torque-time data and data preprocessing，the Markov chain Monte Carlo methods（MCMC） were applied for time-domain reconstruction and service conditions were synthesized as a typical RV reducer reconstruction of the load history. The rainfall counting methods were used for statistical counting，distribution fiting and parameter estimation，to obtain the statistical distribution laws of the mean-amplitude of the load. The mean-amplitude two-dimensional load spectrum obtained by frequency extrapolation were transformed into 8-level one-dimensional program loading spectrum，and accelerated based on the actual applications of RV reducers，which was compiled into a one-dimensional accelerated program loading spectrum of RV reducers，which greatly shortened the fatigue life test cycle.

Key words： industrial robot;RV reducer; load spectra;accelerated life test; fatigue life

0 引言

RV减速器具有结构紧凑、传动比大、承载能力强、传动平稳、传动效率高等优点，被广泛应用于工业机器人重载关节。（剩余12468字）