机器人关节用RV减速器优化设计的研究  

Research on Optimization Design of RV Reducer for Industrial Robots

作　　者：张景钰 Zhang Jing-yu(School of Mechanical Engineering,Shaanxi Polytechnic Institute,Shaanxi Xianyang 712000;Engineering Research Center of Composite Movable Robot,Universities of Shaanxi Province,Shaanxi Xianyang 712000)

机构地区：[1]陕西工业职业技术学院机械工程学院,陕西咸阳712000 [2]复合型移动机器人陕西省高校工程研究中心,陕西咸阳712000

出　　处：《内燃机与配件》2025年第2期115-117,共3页Internal Combustion Engine & Parts

基　　金：陕西工业职业技术学院院级课题“机器人关节RV减速器优化设计的研究”(2023YKYB-015)。

摘　　要：本文针对汽车生产线常见的工业机器人RV减速器的摆线针轮减速机构可能会出现的、在实际的机械产品运行过程中常会发生振动、异常噪音、共振等问题进行了深入的研究,运用有限元仿真进行了大负载RV减速器的模态分析,得到了约束状态下的RV减速器摆线针轮低阶前10阶的正常工况下的运行频率、振幅幅值、振型,与RV减速器整体的固有频率进行对比,找到可能发生共振的频率,并对其提出修改建议,同时还对其不同阶数的激励频率进行计算,指出其发生共振的频率,提出了修改的方法,可供参考。This article conducts in-depth research on the vibration,abnormal noise,resonance and other problems that may occur in the cycloidal pinwheel reduction mechanism of the commonly used industrial robot RV reducer in the automotive production line during the actual operation of mechanical products.Finite element simulation is used to analyze the modal analysis of the high load RV reducer,and the operating frequency,amplitude and mode shape of the cycloidal pinwheel of the RV reducer under the constraint state are obtained for the first 10 orders of the low order under normal working conditions.And compare it with the natural frequency of the RV reducer as a whole,find the frequency that may cause resonance,and propose modification suggestions.At the same time,calculate the excitation frequency of different orders,point out the frequency at which resonance occurs,and propose modification methods for reference.

关 键 词：RV减速器 摆线轮 模态分析 共振问题 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]