Dynamic Analysis And Research Of RV-550E Heavy Load Reducer

RV reducer is the core component of machine joint transmission,and its good performance is the guarantee of joint movement of industrial robots.In recent years,due to the development requirements of the country in special fields such as heavy-load robots,tank armor,aerospace precision transmission,and ship propulsion systems,The development of high-precision heavy-load RV reducers is urgent.Taking the RV-550 E reducer as an example,this paper studies the dynamic performance of the reducer,and provides some theoretical guidance for the optimization design of the reducer and the subsequent vibration reduction and noise reduction.Based on the analysis of the transmission principle of RV reducer,the mass-spring model of the reducer is established.The motion relationship between the components is analyzed,and the vibration differential equation of the system is established by Lagrange equation.In order to analyze the inherent characteristics of the RV-550 E reducer,the mass and moment of inertia of each component in the system are calculated separately;The ISO formula is used to calculate the meshing stiffness of the involute gear in the reducer;The Hertz formula is used to establish the meshing stiffness model of the cycloidal pinwheel in the reducer,and the variation law of the meshing stiffness of the cycloidal wheel and the pin teeth under different output torque conditions is analyzed.Combined with the calculated inertia parameters and stiffness parameters in the reducer,the vibration differential equation of the system is solved,and the natural frequency and mode shape of the whole machine are obtained.Through the sensitivity analysis of the structural features,the factors that have a great influence on the natural frequency are obtained,and suggestions for the structure of the reducer and the optimization of the inherent characteristics are provided.Research shows that the carrier inertia and support bearing stiffness are the parameters that have the greatest influence on the first-order natural frequency of the system.Finally,the virtual prototype of RV-550 E reducer is established by using finite element software.Firstly,the simulation modal analysis under the constraint condition of the core components is carried out,The research results show that under the rated working conditions,the components of the system will not resonate.Further modal analysis of the whole machine is carried out,and the obtained results are compared with the natural frequencies calculated by the previous mathematical model,and the causes of the errors are analyzed,Deviation may be due to simplification of the model,meshing density,and processing of boundary conditions.