Reduction ratio optimization method and system of RV reducer

Abstract

The invention provides a reduction ratio optimization method and system for an RV reducer, and the method comprises the steps: carrying out the classification testing and harmonic source recognition of the RV reducer at different reduction ratios, and obtaining a transmission characteristic matrix of harmonic interaction through signal decomposition; key frequency characteristics are determined according to the matrix, corresponding frequency excitation is applied to the speed reducer, a harmonic propagation path is tracked, and a coupling interference atlas is constructed through interference characteristic analysis and intensity quantification; constructing a frequency sensitive spectrum in combination with the characteristic parameters of the target application scene, and performing reduction ratio collaborative optimization and working condition adaptability analysis of the two-stage reduction system to obtain a reduction ratio distribution scheme set; according to the scheme set, sensitivity analysis and harmonic selective isolation processing are carried out on key structure parameters of the speed reducer, and a final reduction ratio distribution scheme is determined by simulating parameter adjustment of a test platform. According to the method, harmonic transmission and interference characteristics between two stages of speed reduction systems of the RV speed reducer are considered, and the precise speed reduction ratio is optimized for a high-precision application scene.

Description

Technical Field

[0001] The present invention relates to the technical field of speed reducers, and particularly to a method and system for optimizing the reduction ratio of an RV speed reducer. Background Art

[0002] The RV speed reducer (Rotary Vector speed reducer), as a high-precision transmission device, is widely used in robots, numerically controlled machine tools, and automation equipment. The RV speed reducer adopts a two-stage reduction system structure, including a planetary gear system and a cycloid pinwheel mechanism, and this structure endows it with high precision, stiffness, and transmission efficiency.

[0003] Currently, the optimization of the reduction ratio of the RV speed reducer mainly considers the selection of the total reduction ratio. The traditional method simplifies the optimization of the reduction ratio to calculate according to the load and speed requirements under rated conditions by using empirical formulas. This method ignores the harmonic interaction characteristics of the unique two-stage reduction system of the RV speed reducer, especially the harmonic transmission and interference phenomena between the planetary gear system and the cycloid pinwheel mechanism.

[0004] In high-precision application scenarios, the high-order harmonic transmission characteristics of the RV speed reducer have a significant impact on the dynamic performance of the system. Due to the particularity of the two-stage reduction structure, harmonics of certain specific frequencies may resonate or interfere with each other between the two-stage systems, resulting in amplified vibration, decreased accuracy, and even early failures. The traditional reduction ratio optimization method cannot accurately analyze and optimize for this characteristic, and it is difficult to meet the requirements of high-precision application scenarios. Summary of the Invention

[0005] The main objective of the present invention is to solve the technical problem that the existing method for optimizing the reduction ratio of the RV speed reducer ignores the harmonic interaction characteristics of the two-stage reduction system, resulting in harmonic transmission and interference phenomena in high-precision application scenarios and affecting the dynamic performance of the system; The first aspect of the present invention provides a method for optimizing the reduction ratio of an RV speed reducer. The RV speed reducer includes a two-stage reduction system, and the two-stage reduction system is a planetary gear system and a cycloid pinwheel mechanism. The method for optimizing the reduction ratio of the RV speed reducer includes: Through a sensor system arranged at preset key parts of the RV speed reducer, the speed reducer is subjected to hierarchical testing and harmonic source identification within a preset reduction ratio range, and the identification results are subjected to signal decomposition to obtain a transfer characteristic matrix of the harmonic interaction of the two-stage reduction system; According to the key frequency characteristics determined by the transfer characteristic matrix, a corresponding frequency excitation is applied to the RV speed reducer and the harmonic propagation path is traced. The interference characteristics of the traced harmonic propagation path are analyzed and the intensity is quantified to obtain a coupling interference map; Construct a frequency-sensitive spectrum based on the coupled interference spectrum and the characteristic parameters of the target application scenario, and perform co-optimization of the reduction ratio and working condition adaptability analysis of the two-stage reduction system according to the frequency-sensitive spectrum to obtain a set of reduction ratio distribution schemes; According to the set of reduction ratio distribution schemes, perform sensitivity analysis and harmonic selectivity isolation processing on the key structural parameters of the RV reducer, and adjust the parameters through a simulation test platform to obtain the reduction ratio distribution scheme corresponding to the RV reducer.

[0006] Optionally, in the first implementation manner of the first aspect of the present invention, the method for obtaining the transfer characteristic matrix of the harmonic interaction of the two-stage reduction system by arranging a sensor system at a preset key part of the RV reducer to perform hierarchical testing and harmonic source identification on the reducer within a preset reduction ratio range and decomposing the identification result includes: Use the sensor system to obtain the phase reference mark data on the sun gear and the planet carrier of the planetary gear system and the meshing state data at the edge of the cycloid pinwheel mechanism; Within a preset reduction ratio range of the RV reducer, set different combinations of the reduction ratios of the planetary gear system and the reduction ratio of the cycloid pinwheel mechanism at preset intervals, and collect vibration signals under no-load conditions, rated load conditions, and overload conditions; Use the adaptive multi-level wavelet decomposition technology to process the collected signals, and separate the harmonic components in each frequency band and the corresponding instantaneous frequency, amplitude, and phase characteristics; According to the phase reference mark data of the sun gear and the planet carrier and the meshing state data, and combining the instantaneous frequency, amplitude, and phase characteristics of the harmonics, establish the corresponding relationship between the harmonic source and the harmonic characteristics through time-frequency correlation analysis; Based on the corresponding relationship, classify the extracted harmonic components into the harmonics generated by the planetary gear system, the harmonics generated by the cycloid pinwheel mechanism, and the harmonics of the interaction, and perform quantitative calculations on the transfer paths and energy distributions of various harmonic components to obtain the transfer characteristic matrix of the harmonic interaction of the two-stage reduction system.

[0007] Optionally, in the second implementation manner of the first aspect of the present invention, the method for obtaining the transfer characteristic matrix of the harmonic interaction of the two-stage reduction system by classifying the extracted harmonic components into the harmonics generated by the planetary gear system, the harmonics generated by the cycloid pinwheel mechanism, and the harmonics of the interaction based on the corresponding relationship and performing quantitative calculations on the transfer paths and energy distributions of various harmonics includes: Using the corresponding relationship, source identification and marking of harmonic components are performed. The instantaneous frequency is compared with the meshing frequency of the planetary gear system and the meshing frequency of the cycloid pinwheel mechanism, and according to the comparison result, the extracted harmonic components are classified and marked as harmonics generated by the planetary gear system, harmonics generated by the cycloid pinwheel mechanism, and harmonics of the interaction; Calculate the transmission ratio and phase change of the harmonic components of each marked harmonic type under different reduction ratio combinations, and calculate the energy transfer rate and flow path diagram of the harmonic components of each harmonic type between the planetary gear system and the cycloid pinwheel mechanism; Arrange the harmonic source classification information, transmission ratio, phase change, energy transfer rate, and flow path diagram of the harmonic types under different reduction ratio combinations according to the harmonic frequency and reduction ratio combination to construct the transmission characteristic matrix of the harmonic interaction of the two-stage reduction system.

[0008] Optionally, in the third implementation manner of the first aspect of the present invention, the key frequency characteristics determined according to the transmission characteristic matrix are used to apply a corresponding frequency excitation to the RV reducer and track the harmonic propagation path, and the interference characteristic analysis and intensity quantification of the tracked harmonic propagation path are performed to obtain the coupling interference pattern, including: Extract the frequency points with the harmonic energy ratio exceeding the preset threshold and the types of the frequency points from the transmission characteristic matrix as the key frequency characteristics; Determine the marked harmonic excitation signal containing the key frequency characteristics, apply the marked harmonic excitation signal to the RV reducer, and use the sensor system to record the harmonic propagation path of the marked harmonic excitation signal; According to the harmonic propagation path of the marked harmonic excitation signal, use the phase-sensitive detection technology and cross-spectrum analysis method to identify the constructive interference region and destructive interference region of the harmonics between the planetary gear system and the cycloid pinwheel mechanism; Based on the identified constructive interference region and destructive interference region, calculate the interference intensity index for each reduction ratio combination, and integrate the reduction ratio combination, the key frequency characteristics, the harmonic propagation path, the constructive interference region, the destructive interference region, and the interference intensity index into a data structure to construct the coupling interference pattern.

[0009] Optionally, in the fourth implementation manner of the first aspect of the present invention, the step of using the phase-sensitive detection technology and cross-spectrum analysis method to identify the constructive interference region and destructive interference region of the harmonics between the planetary gear system and the cycloid pinwheel mechanism according to the harmonic propagation path of the marked harmonic excitation signal includes: Based on the harmonic propagation path, apply the phase-sensitive detection technique to the time-domain signal recorded at the measurement point to extract the phase information of the corresponding harmonic components between the output end of the planetary gear system and the input end of the cycloid pinwheel mechanism; Apply the cross-spectrum analysis method to calculate the cross-power spectrum and coherence function of the signals between the output end and the input end, and obtain the coherence coefficient of the frequency points; Analyze the phase information, calculate the phase difference of each frequency point, screen the frequency points with coherence coefficients greater than the preset threshold, and classify the screened frequency points according to the phase difference; Identify the frequency points with phase differences in the range of 0°±30° or 360°±30° as the constructive interference region, and identify the frequency points with phase differences in the range of 180°±30° as the destructive interference region, and record the frequency range data of the constructive interference region and the destructive interference region for each reduction ratio combination.

[0010] Optionally, in the fifth implementation manner of the first aspect of the present invention, the constructing a frequency-sensitive spectrum according to the coupling interference map, combining the characteristic parameters of the target application scenario, and performing reduction ratio collaborative optimization and working condition adaptability analysis on the two-stage reduction system according to the frequency-sensitive spectrum to obtain a set of reduction ratio allocation schemes includes: Perform matching analysis on the scenario requirement parameters of the target application scenario and the frequencies in the coupling interference map, and classify the frequency points according to the matching degree and importance to obtain the frequency-sensitive spectrum; Based on the frequency-sensitive spectrum, transform the reduction ratio optimization problem into a two-dimensional search problem, and calculate the feasible combinations of the reduction ratio R1 of the planetary gear system and the reduction ratio R2 of the cycloid pinwheel mechanism respectively; Calculate the harmonic avoidance score of each reduction ratio combination R1 and R2, and analyze the performance stability of each reduction ratio combination under different working conditions, and calculate the working condition stability index; According to the harmonic avoidance score and the working condition stability index, screen out a preset number of optimal reduction ratio combinations to form a set of reduction ratio allocation schemes.

[0011] Optionally, in the sixth implementation manner of the first aspect of the present invention, the performing sensitivity analysis and harmonic selectivity isolation processing on the key structural parameters of the RV reducer according to the set of reduction ratio allocation schemes, and performing parameter adjustment through a simulation test platform to obtain the reduction ratio allocation scheme corresponding to the RV reducer includes: Through the orthogonal experimental design method, perform sensitivity analysis on the key structural parameters of the RV reducer corresponding to each scheme in the set of reduction ratio allocation schemes, and then screen out multiple parameters with the most significant influence from the key structural parameters as the optimization objects; Adjust the numerical values of the key structural parameters according to the sensitivity results of the optimization object, and then optimize the structure of the planet carrier-cycloid gear connector in the RV reducer to achieve selective isolation of the corresponding frequency harmonics; Make prototypes of the optimal reduction ratio combinations in the reduction ratio distribution scheme set and their respective optimized key structural parameter combinations, and conduct full-condition tests on a test platform that simulates the actual application scenario; Evaluate the performance indicators of each optimal reduction ratio combination according to the test results of the full-condition test, and select the optimal reduction ratio combination and the corresponding structural parameter combination with the best comprehensive performance as the reduction ratio distribution scheme and the corresponding structural parameter combination of the RV reducer.

[0012] The second aspect of the present invention provides a reduction ratio optimization system for an RV reducer, and the reduction ratio optimization system for the RV reducer includes: A feature extraction module, configured to perform hierarchical tests and harmonic source identification on the reducer within a preset reduction ratio range through a sensor system arranged at preset key parts of the RV reducer, and decompose the identification results to obtain a transfer feature matrix of the harmonic interaction of the two-stage reduction system; An interference analysis module, configured to apply corresponding frequency excitations to the RV reducer according to the key frequency characteristics determined by the transfer feature matrix, track the harmonic propagation path, analyze the interference characteristics and quantify the intensity of the tracked harmonic propagation path to obtain a coupling interference map; A scheme optimization module, configured to construct a frequency sensitivity spectrum according to the coupling interference map in combination with the characteristic parameters of the target application scenario, and perform reduction ratio collaborative optimization and working condition adaptability analysis on the two-stage reduction system according to the frequency sensitivity spectrum to obtain a reduction ratio distribution scheme set; A scheme verification module, configured to perform sensitivity analysis and harmonic selective isolation processing on the key structural parameters of the RV reducer according to the reduction ratio distribution scheme set, and perform parameter adjustment through a simulation test platform to obtain the corresponding reduction ratio distribution scheme of the RV reducer.

[0013] The above deceleration ratio optimization method and system for RV reducers perform hierarchical testing and harmonic source identification on RV reducers at different deceleration ratios, and obtain the transfer characteristic matrix of harmonic interaction through signal decomposition; determine the key frequency characteristics according to this matrix, apply corresponding frequency excitation to the reducer and track the harmonic propagation path, and construct a coupling interference map through interference characteristic analysis and intensity quantification; construct a frequency sensitivity spectrum in combination with the characteristic parameters of the target application scenario, perform collaborative optimization of the deceleration ratio of the two-stage deceleration system and working condition adaptability analysis, and obtain a set of deceleration ratio distribution schemes; perform sensitivity analysis and harmonic selective isolation processing on the key structural parameters of the reducer according to this set of schemes, and determine the final deceleration ratio distribution scheme through parameter adjustment of the simulation test platform. The present invention considers the harmonic transfer and interference characteristics between the two-stage deceleration systems of RV reducers and performs precise deceleration ratio optimization for high-precision application scenarios.

[0014] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification, claims, and drawings.

[0015] To make the above objectives, features, and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. Description of the Drawings

[0016] Figure 1 It is a schematic diagram of the first embodiment of the deceleration ratio optimization method for the RV reducer in the embodiment of the present invention; Figure 2 It is a schematic diagram of an embodiment of the deceleration ratio optimization system for the RV reducer in the embodiment of the present invention. Detailed Embodiments

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0018] The terms "including" and "having" and any variations thereof mentioned in the embodiments of the present invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes other steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0019] For the convenience of understanding this embodiment, a method for optimizing the reduction ratio of an RV reducer disclosed in the embodiments of the present invention will be introduced in detail first. As Figure 1 shown, this method includes the following steps: 101. Through the sensor system arranged at the preset key parts of the RV reducer, conduct hierarchical tests and harmonic source identification on the reducer within the preset reduction ratio range, and decompose the identification results to obtain the transfer characteristic matrix of the harmonic interaction of the two-stage reduction system; In an embodiment of the present invention, the step of through the sensor system arranged at the preset key parts of the RV reducer, conducting hierarchical tests and harmonic source identification on the reducer within the preset reduction ratio range, and decomposing the identification results to obtain the transfer characteristic matrix of the harmonic interaction of the two-stage reduction system includes: using the sensor system to obtain the phase reference mark data on the sun gear and the planet carrier of the planetary gear system and the meshing state data at the edge of the cycloid pinwheel mechanism; setting different combinations of the reduction ratios of the planetary gear system and the reduction ratio of the cycloid pinwheel mechanism at preset intervals within the preset reduction ratio range of the RV reducer, and collecting vibration signals under no-load conditions, rated load conditions, and overload conditions; using the adaptive multi-level wavelet decomposition technology to process the collected signals, separating the harmonic components in each frequency band and the corresponding instantaneous frequency, amplitude, and phase characteristics; according to the phase reference mark data of the sun gear and the planet carrier and the meshing state data, combining the instantaneous frequency, amplitude, and phase characteristics of the harmonics, establishing the corresponding relationship between the harmonic source and the harmonic characteristics through time-frequency correlation analysis; based on the corresponding relationship, classifying the extracted harmonic components into the harmonics generated by the planetary gear system, the harmonics generated by the cycloid pinwheel mechanism, and the harmonics of the interaction, quantitatively calculating the transfer paths and energy distributions of various harmonic components, and obtaining the transfer characteristic matrix of the harmonic interaction of the two-stage reduction system.

[0020] Specifically, by arranging a sensor system at the preset key parts of the RV reducer, it is first necessary to install various sensors at the key positions of the reducer to monitor its operating state. These sensors include micro piezoelectric sensors, triaxial acceleration sensors, and phase sensors, etc. Each sensor has its unique function and role. The micro piezoelectric sensor can accurately detect the vibration signals generated by the reducer under different working conditions. These signals can reflect the minute vibrations generated by gear meshing during the operation of the reducer. Especially during the process of load change, the subtle changes in the vibration signals can also reveal the dynamic response inside the reducer. The acceleration sensor is installed on the surface of the reducer housing and can comprehensively capture the overall vibration characteristics of the reducer, especially its performance under different working conditions. The phase sensor is mainly used to monitor the instantaneous angular velocity fluctuation of the cycloid gear during the meshing process. This data is crucial for revealing the dynamic characteristics of the cycloid gear at each moment during operation. The sensor network collects vibration data in real time at high frequencies under conditions such as no-load, rated load, and overload, providing comprehensive original signals for subsequent signal analysis and harmonic source identification. These data can not only reflect the performance of the reducer under different working conditions but also provide a necessary basis for further harmonic characteristic analysis and optimization.

[0021] After collecting the vibration signals, hierarchical tests are carried out. The reduction ratio range of the tests is from 30:1 to 170:1, and different reduction ratio combinations are set at intervals of 5:1. Through such settings, the performance of the reducer under different reduction ratios can be comprehensively understood, especially the changes in harmonic transmission characteristics during load changes. The combination of the reduction ratio and different working conditions (no-load, rated load, and overload conditions) can reveal the dynamic response of the reducer under different load conditions. The vibration signals collected under each working condition can provide information about the working characteristics of the reducer under various loads. The vibration signals under these working conditions provide important data support for understanding the high-order harmonic characteristics and transmission characteristics of the reducer under different reduction ratios. When analyzing these signals, special attention should be paid to the influence of load changes on harmonic transmission because sudden load changes often lead to significant changes in harmonic components. The design of these test conditions can truly simulate the operating state of the reducer in actual applications, thus providing a scientific basis for optimizing the performance of the reducer.

[0022] The collected vibration signals will be processed using the adaptive multi - level wavelet decomposition technique. The multi - level wavelet decomposition technique can effectively decompose the signals, splitting the complex signals into multiple frequency bands, with each frequency band corresponding to a different harmonic component. By analyzing each frequency band, the instantaneous frequency, amplitude, and phase characteristics of the harmonics in each frequency band can be accurately extracted. Especially when dealing with mechanical systems such as speed reducers with complex dynamic characteristics, the wavelet decomposition technique can effectively process non - stationary signals, thus obtaining more accurate harmonic analysis results. The instantaneous frequency can reveal the dynamic response characteristics of the speed reducer under different working conditions, the amplitude reflects the energy magnitude of the harmonic components, and the phase information can provide the propagation characteristics of each harmonic component in the system. By performing such multi - frequency - band analysis on the signals, the performance of the speed reducer at different reduction ratios can be comprehensively understood, especially the influence of high - order harmonics on the speed reducer. The application of the wavelet decomposition technique can reveal the variation law of the harmonic components, providing data support for subsequent harmonic source analysis and reduction ratio optimization.

[0023] After signal processing, the obtained harmonic components will be combined with the phase reference marker data of the sun gear and the planet carrier and the meshing state data of the cycloid pinwheel mechanism, and the time - frequency correlation analysis method will be used to establish the correspondence between the harmonic source and the harmonic characteristics. The phase reference marker data of the sun gear and the planet carrier can help accurately locate the source of the harmonics and determine whether these harmonics come from the planetary gear system, the cycloid pinwheel mechanism, or the interaction between the two. The meshing state data of the cycloid pinwheel mechanism can reveal the meshing state between the gears and its influence on the generation of harmonics. Through time - frequency correlation analysis, the relationship between the harmonic source and its characteristic frequencies can be effectively associated, the source of the harmonics can be found, and further understanding of their propagation inside the speed reducer can be obtained. This process, through time - frequency correlation analysis, clarifies the generation source of the harmonics and analyzes their propagation path in the system. This step can reveal the dynamic changes and propagation characteristics of the harmonic components in the speed reducer under different working conditions, helping to perform more accurate harmonic source analysis.

[0024] Finally, according to the established correspondence between the harmonic sources and characteristics, the extracted harmonic components are classified. These components are mainly divided into three categories: harmonics generated by the planetary gear system, harmonics generated by the cycloid pinwheel mechanism, and harmonics of the interaction between them. Through such classification, the source of each harmonic component can be clarified, and then a clear framework can be provided for the subsequent analysis of the harmonic transmission path. When quantifying and calculating these harmonics, the transmission paths and energy distributions of various harmonic components will be analyzed. Specifically, by calculating the transmission paths and energy flow conditions of different harmonic components in the system, it can be revealed which frequency bands of harmonics are easily amplified at certain reduction ratios and which frequency bands are easily suppressed. Through quantitative calculation, the propagation mode of harmonics under different reduction ratio configurations can be better understood, and then a scientific basis can be provided for reduction ratio optimization. Finally, through these quantitative calculations, the transmission characteristic matrix of harmonic interaction in the two-stage reduction system can be obtained, revealing the transmission characteristics of various harmonics under different reduction ratio configurations and providing data support for performance optimization.

[0025] Furthermore, based on the correspondence, classifying the extracted harmonic components into the harmonics generated by the planetary gear system, the harmonics generated by the cycloid pinwheel mechanism, and the harmonics of the interaction, and quantitatively calculating the transmission paths and energy distributions of various harmonics to obtain the transmission characteristic matrix of harmonic interaction in the two-stage reduction system includes: using the correspondence to perform source identification and marking on the harmonic components, comparing the instantaneous frequency with the meshing frequency of the planetary gear system and the meshing frequency of the cycloid pinwheel mechanism, and classifying and marking the extracted harmonic components as the harmonics generated by the planetary gear system, the harmonics generated by the cycloid pinwheel mechanism, and the harmonics of the interaction according to the comparison results; calculating the transmission ratios and phase changes of the harmonic components of each marked harmonic type under different reduction ratio combinations, and calculating the energy transfer rate and circulation path diagram between the planetary gear system and the cycloid pinwheel mechanism for the harmonic components of each harmonic type; arranging the harmonic source classification information, transmission ratios, phase changes, energy transfer rates, and circulation path diagrams of the harmonic types under different reduction ratio combinations according to the harmonic frequency and reduction ratio combination to construct the transmission characteristic matrix of harmonic interaction in the two-stage reduction system.

[0026] Specifically, when classifying the extracted harmonic components, first, it is necessary to compare based on the extracted instantaneous frequency and the meshing frequency of the system to determine the source of each harmonic component. For a planetary gear system, its meshing frequency is jointly determined by the number of teeth of the sun gear, the number of teeth of the planetary gears, the number of planetary gears, and the rotational speed of the input shaft. The combination of these parameters forms the unique meshing frequency of the planetary gear system. The meshing frequency of the cycloid pinwheel mechanism is determined by the number of pin teeth, the number of cycloid wheels, and the rotational speed of the planetary carrier. Through these characteristic frequencies, a frequency set of the fundamental frequency and its integer multiples of the planetary gear system and the cycloid pinwheel mechanism can be established. Next, compare the instantaneous frequency of the extracted harmonic components with the frequencies in these frequency sets. If the extracted frequency is close to a certain frequency of the planetary gear system, then this harmonic is classified as a harmonic generated by the planetary gear system; if it is close to a certain frequency of the cycloid pinwheel mechanism, it is marked as a harmonic generated by the cycloid pinwheel mechanism; if the frequency is close to the combination of the two frequencies, it is marked as an interaction harmonic. The core of this process lies in accurately identifying the source of the harmonics to ensure the correctness of classification and the accuracy of subsequent analysis. Through this source identification and marking, the generation mechanism of each harmonic component can be clarified, providing basic data for the next analysis of transmission ratio and phase change.

[0027] After the classification of harmonic components is completed, next, calculate the transmission ratio and phase change of various harmonics under different reduction ratio combinations. The transmission ratio reflects the transmission efficiency of harmonic energy in the reducer, and this efficiency is affected by various factors, including gear meshing efficiency, load conditions, friction, etc. By analyzing the transmission ratio under different reduction ratio combinations, the transmission efficiency of harmonic energy from the input end to the output end can be quantified, and then the performance of the system under different working conditions can be evaluated. For each type of harmonic, extract the corresponding amplitude and phase data in the sensor network, calculate the amplitude values of this harmonic at key components such as the input shaft, planetary carrier, cycloid wheel, and output shaft, and then obtain the transmission ratios on each transmission path. Taking the harmonic generated by the planetary gear system as an example, its transmission ratio between the planetary carrier and the input shaft can be calculated by measuring the amplitudes at the planetary carrier and the input shaft. For the harmonic generated by the cycloid pinwheel mechanism, its transmission ratio between the output shaft and the connection between the planetary carrier and the cycloid wheel can be calculated by the amplitude data at these positions. The calculation of the interaction harmonic is more complex and involves the introduction of cross-stage transmission ratios, which reflects the interactive transmission of harmonic energy between two-stage systems. This process is of great significance for understanding the propagation characteristics of different harmonic components in a multi-stage transmission system. By calculating the transmission ratio and phase change, the energy transmission method and its dynamic behavior of various harmonics inside the reducer can be clarified, providing a quantitative basis for subsequent performance optimization.

[0028] Subsequently, it is necessary to calculate the energy transfer rate and circulation path of various harmonic components between the planetary gear system and the cycloid pinwheel mechanism. The energy transfer rate is an important indicator to measure the energy transfer efficiency in the system, and it is affected by factors such as gear meshing efficiency, friction force, and load. For each marked harmonic component, it is first necessary to extract the amplitude and phase information at each measuring point in the reducer. On this basis, calculate the energy transfer of each harmonic component between different gear stages. For example, for the harmonics generated by the planetary gear system, its energy transfer rate can be obtained by calculating the energy loss between the planet carrier and the input shaft; for the harmonics generated by the cycloid pinwheel mechanism, its energy transfer rate can be calculated by the energy transfer between the output shaft and the connection between the planet carrier and the cycloid gear. Interaction harmonics need to consider more complex energy transfer paths, especially the interaction between different transmission stages. By introducing the cross-stage transmission ratio, the energy interaction transfer of harmonics under different reduction ratios can be quantified. When calculating the energy transfer rate, factors such as the friction coefficient, transmission efficiency, and material properties of the gears need to be comprehensively considered. The energy circulation path diagram visualizes the calculation results of the energy transfer rate, revealing the transmission route of harmonics in the reducer. Through these path diagrams, the propagation path and energy distribution of each harmonic in the system can be intuitively understood, which helps to identify possible energy loss areas and provide a basis for subsequent optimization design.

[0029] Finally, all the calculation results, including the harmonic source classification information, transmission ratio, phase change, energy transfer rate, and circulation path diagram under different reduction ratio combinations, will be arranged according to the harmonic frequency and reduction ratio combination to form a transfer characteristic matrix of the harmonic interaction of the two-stage reduction system. This matrix adopts a six-dimensional tensor structure, and the six dimensions correspond to the reduction ratio of the planetary gear system, the reduction ratio of the cycloid pinwheel mechanism, the harmonic frequency, the harmonic type (planetary system harmonic, cycloid system harmonic, or interaction harmonic), the transfer characteristic parameters (transmission ratio and phase change), and the energy circulation characteristics (energy transfer rate and circulation path). Each element represents the transfer characteristics of a specific harmonic type at a specific reduction ratio and frequency. By assigning values to each element in the tensor, the harmonic transfer and interaction characteristics of the reducer under various reduction ratio combinations can be comprehensively described. In order to process the data under different reduction ratio combinations, interpolation algorithms can be used to estimate the transfer characteristics at reduction ratio points that are not directly measured, thereby expanding the data coverage and improving the calculation efficiency. In addition, tensor decomposition techniques can decompose high-dimensional data into low-rank components, reducing data storage requirements and accelerating the calculation process.

[0030] 102. According to the key frequency characteristics determined by the transfer characteristic matrix, apply the corresponding frequency excitation to the RV reducer and track the harmonic propagation path, analyze the interference characteristics and quantify the intensity of the tracked harmonic propagation path to obtain the coupling interference pattern; In an embodiment of the present invention, for the key frequency features determined according to the transfer characteristic matrix, a corresponding frequency excitation is applied to the RV reducer and the harmonic propagation path is traced. The interference characteristics of the traced harmonic propagation path are analyzed and the intensity is quantified to obtain a coupling interference map, which includes: extracting frequency points with a harmonic energy ratio exceeding a preset threshold and the types of these frequency points from the transfer characteristic matrix as key frequency features; determining a marked harmonic excitation signal containing the key frequency features, applying the marked harmonic excitation signal to the RV reducer, and using the sensor system to record the harmonic propagation path of the marked harmonic excitation signal; according to the harmonic propagation path of the marked harmonic excitation signal, using the phase-sensitive detection technique and the cross-spectrum analysis method to identify the constructive interference regions and the destructive interference regions of the harmonics between the planetary gear system and the cycloid pinwheel mechanism; based on the identified constructive interference regions and destructive interference regions, calculating the interference intensity index for each reduction ratio combination, and integrating the reduction ratio combination, the key frequency features, the harmonic propagation path, the constructive interference regions, the destructive interference regions and the interference intensity index into a data structure to construct the coupling interference map.

[0031] Specifically, frequency points with a harmonic energy ratio exceeding a preset threshold and the types of these frequency points are extracted from the transfer characteristic matrix as key frequency features. The transfer characteristic matrix contains comprehensive information about the harmonics under each reduction ratio combination of the RV reducer, and it is necessary to screen out the key frequency features with the most significant influence for in-depth analysis. This process first calculates the harmonic energy ratio of each frequency point for each reduction ratio combination. The calculation method of the harmonic energy ratio is to divide the energy value of a specific frequency point f under a specific harmonic type t by the total energy value of all frequency points and all harmonic types under this reduction ratio combination. The energy value is extracted from the energy flow characteristic dimension e of the transfer characteristic matrix, and special attention is paid to the energy transfer rate data. The preset threshold is set to 5%, that is, the frequency points with an energy ratio exceeding 5% of the total energy are selected as key frequency features. For each reduction ratio combination, usually 10 - 15 key frequency points are screened out. These frequency points are classified into three categories according to the harmonic type t: planetary gear system-dominated frequency points, cycloid pinwheel mechanism-dominated frequency points, and interaction-type frequency points. The dominated frequency points refer to the frequency points where the harmonic energy ratio generated by a certain system is significantly higher than that of the other system. For example, the meshing fundamental frequency and its multiples of the planetary gear system are usually marked as planetary gear system-dominated frequency points. The interaction-type frequency points are the frequency points where the harmonic energy contributions of the two systems are similar or there is an obvious modulation relationship, such as the sum frequency and difference frequency of the meshing frequencies of the planetary gear system and the cycloid pinwheel mechanism. For the selected key frequency features, record their frequency values, harmonic types, energy ratios, and transfer characteristic parameters in the transfer characteristic matrix. These key frequency features represent the most concerned harmonic components in the RV reducer and must be analyzed specifically.

[0032] Determine the marked harmonic excitation signal containing the key frequency characteristics, apply the marked harmonic excitation signal to the RV reducer, and use the sensor system to record the harmonic propagation path of the marked harmonic excitation signal. Based on the selected key frequency characteristics, design a dedicated marked harmonic excitation signal that includes all key frequency points and has good spectral characteristics for subsequent analysis. The design of the marked harmonic excitation signal uses a multi-frequency synthesis method, where each key frequency characteristic corresponds to a sine component, and a special amplitude and phase encoding scheme is introduced to distinguish different frequency points. The specific synthesis formula is the superposition of multiple sine signals, with the frequency of each sine signal corresponding to a key frequency characteristic, the amplitude weighted according to the importance (energy ratio) of the frequency characteristic, and the phase using a specific encoding scheme to make each frequency component have a good crest factor. The marked harmonic excitation signal is applied to the input shaft of the RV reducer through a dedicated excitation device, which consists of a high-precision servo motor, a torque sensor, and a control system, and can accurately generate the designed composite excitation signal. The duration of the excitation signal is set to 60 seconds, including three stages: gradually increasing, stable excitation, and gradually decreasing, to avoid unnecessary damage to the system caused by transient shocks. While applying the excitation signal, use the sensor system pre-arranged at each key part of the RV reducer to comprehensively record the system response. The data recorded by the sensors includes time-domain waveforms, spectral analysis results, and phase information. By comparing the response characteristics of the marked harmonics at each measurement point, determine the harmonic propagation path of each key frequency characteristic. The propagation path describes the change in the transmission characteristics of the harmonic from the input shaft through the planetary gear system, the planet carrier-cycloid gear connection, the cycloid pinwheel mechanism, and finally to the output shaft. For each key frequency characteristic, record its amplitude ratio, phase difference, and time delay at each measurement point to form a complete propagation path data set. These data visually show the flow and variation law of the harmonic inside the RV reducer.

[0033] According to the harmonic propagation path of the marked harmonic excitation signal, the phase-sensitive detection technology and the cross-spectrum analysis method are used to identify the constructive interference region and the destructive interference region of the harmonics between the planetary gear system and the cycloid pinwheel mechanism. The phase-sensitive detection technology first performs digital phase-locking processing on the time-domain signals recorded at each measurement point to extract the phase information corresponding to each frequency component in the marked harmonic excitation signal. The digital phase-locking processing uses the quadrature demodulation method, multiplying the input signal by sine and cosine reference signals and low-pass filtering to separate the in-phase and quadrature components of each frequency component, and then calculating the phase angle. After obtaining the phase information of each frequency at each measurement point, the phase relationship between the output end (planet carrier) of the planetary gear system and the input end of the cycloid pinwheel mechanism is mainly analyzed. This connection is the key interface for the harmonic interaction of the two-stage system. By calculating the phase difference δφ = φ_cycloid end - φ_planetary end between the two points, the interference characteristics of the harmonics when passing through this interface are judged. When the phase difference δφ is close to 0°±30° or 360°±30°, it indicates that the vibration directions of the harmonics of this frequency are basically the same when passing through the interface, and the energy transfer efficiency is high, belonging to the constructive interference region; when the phase difference δφ is close to 180°±30°, it indicates that the vibration directions of the harmonics of this frequency are opposite when passing through the interface, and the energy transfer is inhibited, belonging to the destructive interference region. In addition to the phase analysis, the cross-spectrum analysis method is also used to further verify the interference characteristics. The cross-spectrum analysis calculates the cross-power spectral density function G_xy(f) and the coherence function γ²_xy(f) of the signals at the planet carrier end and the cycloid gear end. The cross-power spectrum shows the energy distribution of the common frequency components in the two signals, and the coherence function represents the linear correlation degree of the two signals at each frequency. The frequency points with the coherence function value close to 1 indicate that the signals at both ends are highly correlated, and the harmonic transfer characteristics of this frequency are stable; a lower value indicates unstable transfer characteristics or the existence of nonlinear factors. Combining the analysis results of the phase difference and the coherence function, the frequency points in the frequency spectrum range are classified to clearly identify the constructive interference region and the destructive interference region, and record the frequency range, center frequency and bandwidth characteristics of each region.

[0034] Based on the identified constructive interference regions and destructive interference regions, calculate the interference intensity index for each reduction ratio combination, and integrate the reduction ratio combination, the key frequency characteristics, the harmonic propagation path, the constructive interference regions, the destructive interference regions, and the interference intensity index into a data structure to construct the coupled interference map. The interference intensity index is a comprehensive indicator for quantitatively evaluating the harmonic interference characteristics of the reduction ratio combination. The calculation method considers multiple factors: the frequency coverage range of the destructive interference region, the frequency coverage range of the constructive interference region, the distribution of the key frequency characteristics in each interference region, and the energy level of the harmonics in each region. Specifically, the interference intensity index IDI is calculated by weighted ratio of the destructive interference index ICI to the constructive interference index IRI. The calculation of the destructive interference index ICI takes into account the weighted sum of the energies of each frequency point in the destructive interference region and the number of key frequency characteristics covered by this region; the constructive interference index IRI considers similar indicators in the constructive interference region. The higher the interference intensity index, the more significant the destructive interference effect under this reduction ratio combination and the better the harmonic transmission suppression effect. For each tested reduction ratio combination, calculate its interference intensity index to form a complete evaluation data set. Next, integrate all the collected data into a unified data structure to construct the coupled interference map. The map uses a multi-dimensional data structure, including the reduction ratio of the planetary gear system, the reduction ratio of the cycloid pinwheel mechanism, the set of key frequency characteristics, the harmonic propagation path data, the constructive interference region information, the destructive interference region information, and the interference intensity index. The data structure design adopts a hierarchical organization method. The first layer is indexed by the reduction ratio combination, the second layer contains the frequency characteristics and interference characteristics under this combination, and the third layer contains the detailed propagation path and interference region data. The coupled interference map visually shows the harmonic interference characteristics under different reduction ratio combinations. Color coding is used to represent the interference type (red represents the constructive interference region, blue represents the destructive interference region), brightness represents the interference intensity, and the shape size represents the importance of the key frequency characteristics. In addition, the map also intuitively shows the change trend of the interference intensity index with the reduction ratio combination, forming a contour map or a three-dimensional surface. This intuitive expression method is convenient for designers to understand the differences in harmonic interference characteristics of different reduction ratio combinations and provides an intuitive reference for subsequent reduction ratio selection. The complete coupled interference map comprehensively records the interference characteristics of harmonic interactions in the two-stage reduction system of the RV reducer and is a key information source for carrying out reduction ratio optimization.

[0035] Further, based on the harmonic propagation path of the marked harmonic excitation signal, using the phase-sensitive detection technique and the cross-spectrum analysis method to identify the constructive interference region and the destructive interference region of the harmonics between the planetary gear system and the cycloid pinwheel mechanism includes: based on the harmonic propagation path, applying the phase-sensitive detection technique to the time-domain signal recorded at the measuring point to extract the phase information of the corresponding harmonic component between the output end of the planetary gear system and the input end of the cycloid pinwheel mechanism; applying the cross-spectrum analysis method to calculate the cross-power spectrum and the coherence function of the signals between the output end and the input end, and obtaining the coherence coefficient of the frequency points; analyzing the phase information, calculating the phase difference of each frequency point, screening the frequency points with the coherence coefficient greater than the preset threshold, and classifying the screened frequency points according to the phase difference; identifying the frequency points with the phase difference in the range of 0°±30° or 360°±30° as the constructive interference region, and identifying the frequency points with the phase difference in the range of 180°±30° as the destructive interference region, and recording the frequency range data of the constructive interference region and the destructive interference region for each reduction ratio combination.

[0036] Specifically, according to the harmonic propagation path, applying the phase-sensitive detection technique to the time-domain signal recorded at the measuring point, so as to extract the phase information of the corresponding harmonic component between the output end of the planetary gear system and the input end of the cycloid pinwheel mechanism. First, the harmonic propagation path data has identified the signal records of each measuring point inside the RV reducer. Therefore, the next step is to accurately extract the signals at the output end of the planetary gear system (planet carrier) and the input end of the cycloid pinwheel mechanism (connection of cycloid wheels) from these data for in-depth analysis. The phase-sensitive detection technique adopts the principle of a digital lock-in amplifier and extracts the phase information of specific frequency components by processing the time-domain signal. In the implementation process, first, the complete time-domain vibration signals are extracted from the measuring points of the planet carrier and the connection of cycloid wheels. These signals are preprocessed to eliminate the DC offset and high-frequency noise. Subsequently, for each key frequency feature point, reference sine and cosine signals are generated as the basis for quadrature demodulation. Quadrature demodulation generates two intermediate signals by multiplying the original signal with the sine reference signal and the cosine reference signal respectively. Next, the signals are filtered by a low-pass filter (setting the cut-off frequency to 1 / 10 of the target frequency) to filter out the high-frequency components and only retain the low-frequency signals containing the phase information of the target frequency. Based on these two low-frequency signals, the in-phase component and the quadrature component are calculated, and the phase angle is calculated through the arctangent function . To ensure that the phase angle range is between -π and π, the four-quadrant arctangent function atan2 is used Since the phase information is vulnerable to noise interference, a phase averaging technique is adopted to collect the phase values within 5 consecutive cycles and take their average as the final result. For each key frequency feature point, this process is repeated to obtain the precise phase information at the planet carrier measurement point and the connection point of the cycloid gear respectively. These phase information directly reflect the phase change characteristics of the harmonic when passing through the interface of the two-stage reduction system. Then, the cross-spectrum analysis method is applied to calculate the cross-power spectrum and coherence function of the signals between the output end and the input end, so as to obtain the coherence coefficient of the frequency points. After the phase information is extracted, it is necessary to further analyze the correlation of the signals at the planet carrier end and the cycloid gear end in the frequency domain to determine the stability and linearity of signal transmission. The cross-spectrum analysis method is an effective tool for studying the correlation of two signals, which can reveal the energy transfer relationship at different frequencies. During the implementation process, starting from the signals collected at the planet carrier measurement point and the connection point of the cycloid gear begin, first, these two time-domain signals are segmented. The length of each segment of data is selected as 4096 points (when the sampling frequency is 10 kHz, it is approximately 0.4 seconds of data), and adjacent segments are set to overlap by 50%. Then, a Hanning window function is added to each segment of data to reduce the spectral leakage effect, and it is transformed to the frequency domain through the fast Fourier transform (FFT) to obtain the spectra and of the signals. Based on these spectral data, the cross-power spectral density function is calculated; where is the conjugate complex number of . The amplitude of the cross-power spectrum reflects the energy correlation of the two signals at each frequency, while the phase reveals the phase difference between the two signals. To eliminate the influence of the amplitude, the normalized coherence function is further calculated: ; where and They are the auto-power spectra of the two signals respectively. The value range of the coherence function is between 0 and 1. The closer the value is to 1, the stronger the linear correlation between the two signals at that frequency point and the more stable the transfer characteristics. The value close to 0 indicates weak correlation, unstable transfer characteristics or strong nonlinear factors. Since there will be large fluctuations in the results of a single FFT calculation, the averaging method is used to calculate through multiple data segments (usually 20 - 30 segments), and finally stable cross-power spectra and coherence functions are obtained. For each key frequency feature point, record its coherence coefficient value, and screen the frequency points through this index. Pay special attention to the change trend of the coherence coefficient under different reduction ratio combinations, which can reflect the law of the stability of the harmonic transfer characteristics of the two-stage reduction system changing with the reduction ratio. For the obtained phase information, further analysis is carried out, the phase difference of each frequency point is calculated, and the frequency points with coherence coefficient greater than the preset threshold are screened out. The screened frequency points are classified according to the phase difference. After obtaining the phase information and coherence coefficient at the planet carrier end and the cycloid gear end, systematic analysis is carried out to determine the harmonic interference characteristics. The calculation of the phase difference is first through: ; to obtain the phase difference between the frequency points at the connection between the planet carrier and the cycloid gear, and the result is normalized to the range of 0° to 360°. The phase difference reflects the phase relationship of the harmonic wave when it is transferred at the system interface and is the core basis for judging the type of interference. Since the calculation results of the phase difference of not all frequency points have the same reliability, the coherence coefficient is used as the screening criterion. Set the threshold of the coherence coefficient to 0.7, and only select the frequency points with the coherence coefficient for subsequent analysis, which can ensure that the selected frequency points have sufficiently stable transfer characteristics and reduce the interference of random factors and noise. The screening process usually filters out 20% - 30% of the frequency points, and the remaining frequency points are classified according to the phase difference value. In the classification process, a multi-level classification method based on cluster analysis is adopted. First, the frequency points are clustered according to the phase difference by the K-means algorithm, and then the hierarchical clustering method is combined to refine the category boundaries. When classifying, the continuity of the phase difference is considered, and adjacent frequency points tend to be assigned to the same category unless there is an obvious jump in the phase difference. For the frequency points crossing the boundary, calculate their Mahalanobis distance from the centers of each category and assign them to the category with the smallest distance. The final classification result will be intuitively displayed on the spectrogram, using different colors to mark the frequency points of different categories, and the size of the points represents the energy importance of the frequency points.

[0037] Based on the classification results of the phase difference, the constructive interference region and the destructive interference region are further identified. The frequency points with the phase difference in the range of 0°±30° or 360°±30° are marked as the constructive interference region. The harmonics of these frequency points have a consistent phase change when passing through the interface, with high energy transfer efficiency and enhanced system response. The frequency points with the phase difference in the range of 180°±30° are marked as the destructive interference region. The harmonics of these frequency points have nearly opposite phases and opposite vibration directions, resulting in suppressed energy transfer and weakened system response. For the frequency points in other phase difference ranges, they are marked as the neutral interference region, indicating that the energy transfer characteristics of these frequency points are between constructive interference and destructive interference. The identification process of the interference region not only considers the phase difference of a single frequency point but also analyzes the overall trend of the continuous frequency interval. When multiple adjacent frequency points meet the conditions of the same interference type, these points will jointly form an interference region. To ensure the accuracy of the interference region, a sliding window smoothing technique is used to smooth the phase difference curve and reduce the influence of local fluctuations on the region division. For the frequency points near the boundary, the fuzzy membership method is used to calculate their membership degrees to each interference region, and they are classified according to the maximum membership degree principle. Finally, the identified interference region data will record the frequency ranges of the constructive interference region and the destructive interference region for each reduction ratio combination, including the start frequency, end frequency, center frequency, bandwidth, and key frequency characteristic points covered. In addition, for each interference region, an intensity index is calculated, considering the region bandwidth, the number of key frequency characteristics included, and the average coherence coefficient, to evaluate the significance of the interference region. The final interference region data is visually displayed through a two-dimensional spectrogram, with the horizontal axis representing the frequency and the vertical axis representing the phase difference. Different interference types are distinguished by different colors, and the positions of the key frequency characteristic points are marked.

[0038] 103. According to the coupled interference pattern, construct a frequency-sensitive spectrum in combination with the characteristic parameters of the target application scenario, and perform co-optimization of the reduction ratios of the two-stage reduction system and analysis of the operating condition adaptability based on the frequency-sensitive spectrum to obtain a set of reduction ratio allocation schemes; In an embodiment of the present invention, based on the coupled interference spectrum, a frequency-sensitive spectrum is constructed by combining the characteristic parameters of the target application scenario, and based on the frequency-sensitive spectrum, co-optimization of the reduction ratio of the two-stage reduction system and analysis of the working condition adaptability are performed to obtain a set of reduction ratio distribution schemes, including: matching and analyzing the scenario requirement parameters of the target application scenario with the frequencies in the coupled interference spectrum, classifying the frequency points according to the matching degree and importance to obtain the frequency-sensitive spectrum; based on the frequency-sensitive spectrum, transforming the reduction ratio optimization problem into a two-dimensional search problem, and calculating the feasible combinations of the reduction ratio R1 of the planetary gear system and the reduction ratio R2 of the cycloid pinwheel mechanism respectively; calculating the harmonic avoidance scores of each reduction ratio combination R1 and R2, and analyzing the performance stability of each reduction ratio combination under different working conditions, and calculating the working condition stability index; according to the harmonic avoidance scores and the working condition stability index, screening out a preset number of optimal reduction ratio combinations to form a set of reduction ratio distribution schemes.

[0039] Specifically, the scenario requirement parameters of the target application scenario are matched and analyzed with the frequencies in the coupled interference spectrum, and the frequency points are classified according to the matching degree and importance to obtain the frequency-sensitive spectrum. The coupled interference spectrum has revealed the harmonic interference characteristics of the RV reducer under different reduction ratio combinations. However, to determine the optimal reduction ratio configuration, the requirements of the specific application scenario must be combined. The implementation process first obtains the comprehensive characteristic parameters of the target application scenario, which usually include mechanical structure parameters (such as natural frequencies, stiffness distributions), control system parameters (such as control bandwidth, sampling frequency), working environment parameters (such as background vibration characteristics), and performance requirement parameters (such as positioning accuracy, speed smoothness). Taking semiconductor wafer processing equipment as an example, its key frequency characteristics include multiple natural frequencies of the mechanical structure (usually in the range of 10 - 500 Hz), the bandwidth frequency of the control system (generally 200 - 300 Hz), the resonance frequency of the wafer stage moving mechanism, and the vibration frequencies that need to be avoided during the processing. These frequency characteristic data are obtained through equipment tests, including equipment static characteristic tests (such as modal analysis) and dynamic working tests (such as vibration acquisition during the movement of the workbench). The obtained frequency characteristic data are analyzed to form an application scenario frequency feature set, and each frequency point in this set is marked with an importance weight. Next, the application scenario frequency feature set is matched and analyzed with the frequencies in the coupled interference spectrum, and the correlation matrix between the two is calculated. The correlation calculation considers the proximity of frequency values, harmonic relationships, and subharmonic relationships. For example, when there is a certain natural frequency f in the application scenario, not only the frequencies close to f in the reducer need to be concerned, but also the frequencies close to f / 2, f / 3 (subharmonics), and 2f, 3f (harmonics). Based on the correlation analysis results, the frequency points in the coupled interference spectrum are divided into three categories: frequencies to be avoided (frequencies highly correlated with the key frequencies of the application scenario and resonance must be avoided), frequencies to be preferentially suppressed (frequencies moderately correlated with the important frequencies of the application scenario), and tolerable frequencies (frequencies with low correlation with the application scenario frequencies). This classification comprehensively considers the correlation strength and the importance weight of the application scenario frequencies, and uses the weighted decision matrix method for systematic classification. The classification result forms the frequency-sensitive spectrum, which clearly identifies the frequency regions that need to be focused on in the reduction ratio optimization, providing a clear target direction for the subsequent reduction ratio optimization.

[0040] Based on the frequency-sensitive spectrum, the reduction ratio optimization problem is transformed into a two-dimensional search problem, and the feasible combinations of the reduction ratio R1 of the planetary gear system and the reduction ratio R2 of the cycloid pinwheel mechanism are calculated respectively. Traditional reduction ratio optimization usually only considers the total reduction ratio R = R1×R2 and lacks in-depth analysis of the reduction ratio distribution of the two-stage reduction system. In the implementation process, the required range of the total reduction ratio is first determined, which is usually determined by the dynamic requirements of the application scenario, such as the input shaft speed range, the output shaft speed range, and the load torque characteristics, etc. For typical RV reducer applications, the total reduction ratio often ranges from 30:1 to 170:1. After determining the total reduction ratio range, the optimization problem is transformed into finding the best combination of the reduction ratio R1 of the planetary gear system and the reduction ratio R2 of the cycloid pinwheel mechanism under the condition of satisfying the total reduction ratio constraint. The construction of the search space takes into account the physical constraints of R1 and R2. The reduction ratio R1 of the planetary gear system usually ranges from 3:1 to 10:1, and the reduction ratio R2 of the cycloid pinwheel mechanism usually ranges from 5:1 to 30:1. In addition, the feasibility constraints of mechanical implementation need to be considered, such as the number of teeth must be an integer and specific pairing relationships need to be satisfied. Therefore, the search space is not continuous but consists of a series of discrete feasible reduction ratio combination points. To systematically explore this two-dimensional search space, a grid search strategy is adopted, and search steps are set within the feasible ranges of R1 and R2 (usually the step of R1 is 0.5 and the step of R2 is 1) to generate a set of candidate reduction ratio combinations. For each candidate combination (R1, R2), first verify whether it satisfies the total reduction ratio constraint condition, that is, whether R1×R2 is within the target total reduction ratio range, and filter out the combinations that meet the conditions. Then, further verify the mechanical implementation feasibility of each combination, including checking whether the tooth number configuration of the planetary gear system and the number of pins and cycloid wheel configuration of the cycloid pinwheel mechanism meet the engineering implementation requirements. This verification process relies on a professional gear design knowledge base and empirical rules to ensure that the theoretically feasible reduction ratio combinations can also be realized in engineering. After double screening, a set of reduction ratio combinations that meet the total reduction ratio requirements and are engineering realizable is obtained, and this set constitutes the basic data set for subsequent optimization evaluation.

[0041] Calculate the harmonic avoidance score for each reduction ratio combination R1 and R2, and analyze the performance stability of each reduction ratio combination under different working conditions, and calculate the working condition stability index. Conduct a comprehensive evaluation of the selected reduction ratio combinations, and the evaluation process is divided into two dimensions: harmonic avoidance ability and working condition adaptability. The harmonic avoidance score evaluation is first based on the coupling interference map and the frequency sensitivity spectrum to calculate the harmonic avoidance ability of each reduction ratio combination (R1, R2). The calculation of the harmonic avoidance score HASS(R1, R2) comprehensively considers three factors: the avoidance degree of the frequencies that must be avoided, the suppression effect of the frequencies to be preferentially suppressed, and the overall harmonic transfer characteristics. In the specific implementation, check whether the constructive interference region under each reduction ratio combination covers the frequencies that must be avoided in the frequency sensitivity spectrum. If there is coverage, the avoidance score of this combination will be severely reduced; at the same time, calculate the coverage degree of the destructive interference region of this combination to the frequencies to be preferentially suppressed. The higher the coverage rate, the higher the avoidance score. In addition, the intensity and bandwidth of the destructive interference region are also evaluated. The destructive interference region with higher intensity and wider bandwidth contributes a higher avoidance score. Based on the comprehensive scoring of these factors, the harmonic avoidance score of each reduction ratio combination is obtained. The higher the score, the better the performance of this combination in suppressing harmonic interference. At the same time, conduct a working condition adaptability analysis to evaluate the performance stability of the reduction ratio combination under different working conditions in actual applications. The working condition adaptability analysis simulates the typical working condition sequences in the application scenario, including stages such as starting, accelerating, constant-speed operation, decelerating, and stopping. For each working condition, analyze the dynamic response characteristics of the reduction ratio combination, including indicators such as response time, overshoot, steady-state error, and vibration amplitude. Pay special attention to the transient response during the working condition conversion, such as the change in the vibration characteristics of the reducer during the conversion from stop to start, from constant speed to acceleration, etc. By accumulating the performance scores under all working conditions, calculate the working condition stability index OSI(R1, R2). This index reflects the stability performance of the reduction ratio combination within the full range of working conditions. The higher the index, the stronger the adaptability. The working condition adaptability analysis not only considers the steady-state working conditions but also attaches great importance to the transient working conditions, which is essentially different from the traditional method that only focuses on the rated working conditions. Through the two-dimensional evaluation of the harmonic avoidance score and the working condition stability index, a comprehensive and objective performance evaluation of each reduction ratio combination is formed, laying a foundation for the final scheme selection.

[0042] According to the harmonic avoidance score and the operating condition stability index, a preset number of optimal reduction ratio combinations are screened out to form a reduction ratio allocation scheme set. After evaluating all candidate reduction ratio combinations, it is now necessary to screen out the optimal reduction ratio allocation scheme from them. The screening process adopts a multi-objective optimization idea, considering two evaluation indicators, namely the harmonic avoidance score HASS and the operating condition stability index OSI. Since there may be a certain trade-off relationship between these two indicators (some schemes have strong harmonic avoidance ability but weak operating condition adaptability, or vice versa), the Pareto optimization method is used for screening. First, draw the distribution map of all candidate schemes in the HASS-OSI two-dimensional evaluation space, and identify the set of non-dominated solutions on the Pareto front. These solutions cannot be completely surpassed by other solutions in any dimension of HASS and OSI. From the Pareto front solution set, according to the specific preferences of the application scenario, set the weight coefficients wHASS and wOSI of HASS and OSI, and calculate the comprehensive score S = wHASS × HASS + wOSI × OSI. Sort all Pareto solutions according to the comprehensive score S, and select the preset number (usually 3-5) of schemes with the highest scores as the optimal reduction ratio combination scheme set. Each reduction ratio combination in the scheme set records its detailed information, including the reduction ratio R1 of the planetary gear system, the reduction ratio R2 of the cycloid pinwheel mechanism, the total reduction ratio R = R1 × R2, the harmonic avoidance score HASS, the operating condition stability index OSI, the comprehensive score S, and the relevant engineering implementation parameters (such as gear tooth number configuration, cycloid gear parameters, etc.). In addition, the harmonic characteristic data of each scheme is also recorded, including the constructive interference region, the destructive interference region, and the interference intensity index, etc. These detailed data facilitate engineers to deeply understand the characteristics of the scheme. The reduction ratio allocation scheme set not only contains multiple alternative schemes, but also provides a comparative analysis of these schemes, including the advantageous fields and potential limitations of each scheme. For example, scheme A may perform best in harmonic suppression but has slightly weaker operating condition adaptability, and scheme B leads in full operating condition adaptability but has slightly inferior harmonic suppression effect, etc. This multi-scheme configuration not only provides the optimal solution but also retains the flexibility of choice, can adapt to the subtle difference requirements of different application scenarios, and reflects the comprehensiveness and practicality of the reduction ratio optimization method.

[0043] 104. According to the reduction ratio allocation scheme set, perform sensitivity analysis and harmonic selective isolation processing on the key structural parameters of the RV reducer, and adjust the parameters through the simulation test platform to obtain the reduction ratio allocation scheme corresponding to the RV reducer.

[0044] In one embodiment of the present invention, the method for performing sensitivity analysis and harmonic selectivity isolation processing on the key structural parameters of the RV reducer according to the reduction ratio distribution scheme set, and adjusting the parameters through a simulation test platform to obtain the reduction ratio distribution scheme corresponding to the RV reducer includes: performing sensitivity analysis on the key structural parameters of the RV reducer corresponding to each scheme in the reduction ratio distribution scheme set through the orthogonal experimental design method, and then screening out multiple parameters with the most significant influence from the key structural parameters as the optimization objects; adjusting the numerical values of the key structural parameters according to the sensitivity results of the optimization objects, and then optimizing the structure of the planet carrier-cycloid gear connector in the RV reducer to achieve selective isolation processing of the corresponding frequency harmonics; manufacturing prototypes with the optimal reduction ratio combinations in the reduction ratio distribution scheme set and their respective optimized key structural parameter combinations, and performing full-condition tests on a test platform simulating the actual application scenario; evaluating the performance indicators of each optimal reduction ratio combination according to the test results of the full-condition tests, and selecting the optimal reduction ratio combination and the key structural parameter combination with the best comprehensive performance as the reduction ratio distribution scheme of the RV reducer and the corresponding structural parameter combination.

[0045] Specifically, through the orthogonal experimental design method, the sensitivity analysis of the key structural parameters of the RV reducer corresponding to each scheme in the reduction ratio distribution scheme set is carried out. Then, several parameters with the most significant influence are selected from the key structural parameters as the optimization objects. The reduction ratio distribution scheme set determines several optimal reduction ratio combinations, but the actual system performance is also significantly affected by the structural parameters of the RV reducer. Therefore, it is necessary to optimize the structural parameters for each reduction ratio combination. The implementation process first identifies the key structural parameters of the RV reducer, which are divided into three categories: planetary gear system parameters, cycloid pinwheel mechanism parameters, and connecting piece parameters. Planetary gear system parameters include tooth profile modification parameters (tooth height modification coefficient, tooth direction modification amount), planetary gear distribution angle deviation, sun gear eccentricity, planetary gear backlash, meshing stiffness, etc.; cycloid pinwheel mechanism parameters include cycloid wheel profile curve parameters (eccentricity, short axis length), radial distribution error of the pin gear, cycloid wheel - pin gear clearance, pin tooth preload force, etc.; connecting piece parameters include the structural shape parameters, material parameters, stiffness distribution, and damping characteristics of the planetary carrier - cycloid wheel connecting piece. Since the number of these parameters is large (usually 15 - 20), it is impossible to perform an exhaustive optimization of all parameters. Therefore, the orthogonal experimental design method is used to evaluate the sensitivity of each parameter. For each scheme in the reduction ratio distribution scheme set, an L16(2^15) orthogonal table is designed, and 15 typical parameters are selected as factors, with each factor having two levels (corresponding to the upper and lower limits of the parameter). Through 16 groups of experiments, the influence of each parameter on the harmonic transmission characteristics is comprehensively evaluated. The experimental evaluation indexes include the frequency coverage range of the cancellation interference region, the interference intensity index, and the vibration transmission ratio at specific frequency points. The experiments are carried out by computer simulation. An accurate digital model of the RV reducer is constructed using finite element analysis and multi - body dynamics simulation software, and the harmonic transmission characteristics under different parameter combinations are simulated. Based on the orthogonal experimental results, the main effect values and interaction effect values of each parameter are calculated, and an analysis of variance (ANOVA) is performed to quantify the influence degree of each parameter on the evaluation indexes. By sorting, 5 - 8 parameters with the most significant influence are selected from all the parameters as the optimization objects. Typical highly sensitive parameters usually include cycloid wheel profile curve parameters, stiffness distribution of the planetary carrier - cycloid wheel connecting piece, pin gear preload force, etc. The sensitivity analysis results are intuitively displayed through a Pareto chart, clearly identifying the influence weights of each parameter and helping to understand the influence mechanism of the parameters on the harmonic transmission characteristics.

[0046] According to the sensitivity results of the optimization object, adjust the values of the key structural parameters, and then optimize the structure of the planet carrier - cycloid gear connector in the RV reducer to achieve selective isolation of the corresponding frequency harmonics. For the selected high - sensitivity parameters, further in - depth optimization is carried out. The optimization process is divided into two stages: parameter value optimization and connector structure optimization. Parameter value optimization is aimed at the high - sensitivity parameters of the planetary gear system and the cycloid - pinwheel mechanism. A mathematical model between parameters and performance indicators is constructed through the Response Surface Method (RSM). RSM first designs a series of sampling points in the parameter space (usually using central composite design), obtains the performance data of each sampling point through simulation, and then fits a second - order polynomial response model. Based on this model, gradient descent or genetic algorithms are used to find the optimal parameter combination. For each reduction ratio combination, find the corresponding optimal structural parameter values, which need to be within the range of engineering feasibility while maximizing the harmonic suppression effect. After the parameter value optimization is completed, the focus is on the structure optimization of the planet carrier - cycloid gear connector. This connector is the key interface between the two - stage reduction system and has a decisive impact on the harmonic transmission characteristics. The structure optimization of the connector uses the topology optimization method, which is an advanced structural design technology based on finite element analysis. The optimization goal is to achieve selective isolation of specific frequency harmonics in the frequency - sensitive spectrum. Specifically, it is to adjust the mass distribution and stiffness distribution of the connector to make it have specific vibration transmission characteristics. The topology optimization process first defines the design space (the maximum outer shape boundary of the connector), design variables (the density parameters of each element), and performance constraints (strength, stiffness requirements, etc.), and then through iterative calculations, gradually removes the materials that are not important for the goal and retains the necessary structural framework. A frequency - selective transfer function is specially introduced as the objective function in the optimization. This function characterizes the transmission suppression ability of the connector for specific frequency harmonics. The shape of the optimized connector usually presents a complex form, including specific rib - belly structures, variable cross - section features, or built - in damping structures. The combined effect of these features creates a frequency - selective mechanical filter effect. The vibration transmission characteristics of the optimized design result are verified through finite - element analysis to ensure effective isolation of the target - frequency harmonics. For different reduction ratio combinations, the optimization results of the connector may vary. Therefore, a dedicated connector design scheme is customized for each reduction ratio combination. Finally, a complete set of structural parameter optimization schemes is formed, and each scheme includes the reduction ratio combination, optimized key parameter values, and connector structure design.

[0047] Fabricate a prototype by combining the optimal reduction ratio combination in the reduction ratio distribution plan set with the optimized combination of key structural parameters for each, and conduct full-condition tests on a test platform that simulates the actual application scenario. Based on the optimal reduction ratio combination and structural parameter combination determined in the aforementioned optimization process, physical verification is required to confirm the actual effect of the theoretical optimization result. In the implementation process, the optimization plan is first converted into engineering manufacturing drawings, including part drawings of the planetary gear system (sun gear, planetary gear, internal gear ring, etc.), part drawings of the cycloid pinwheel mechanism (cycloid gear, pin gear, etc.), and the optimized drawing of the planetary carrier-cycloid gear connector. High-precision CNC machining equipment is used for part processing to ensure that all key dimensions and surface quality meet the design requirements. Precision gear grinding technology is used for gear parts to ensure that the tooth profile accuracy reaches above grade 5; the cycloid gear is processed by CNC wire cutting or precision milling technology, and the contour error is controlled within ±0.005 mm; the pin gear is processed by precision lapping technology to ensure that the surface roughness Ra ≤ 0.4 μm. The optimized designed connector is manufactured by precision casting, CNC machining or 3D metal printing technology according to its complexity to ensure the accurate realization of its special structural features. After the part processing is completed, assemble them into a complete RV reducer prototype according to the assembly process requirements. During the assembly process, strictly control the assembly parameters, such as bearing preload, gear meshing clearance, etc., to ensure the assembly quality. For each preferred plan (usually 3 - 5) in the reduction ratio distribution plan set, fabricate the corresponding RV reducer prototype respectively. After the prototype is fabricated, conduct full-condition tests on a specially designed test platform. The test platform consists of a high-precision servo motor (input end), a load simulation device (output end), a torque sensor, an angular displacement sensor, and a vibration measurement system, and can simulate various working conditions in the actual application scenario. The test conditions include no-load start, no-load uniform speed, rated load uniform speed, overload uniform speed, variable speed operation, and emergency stop, etc., comprehensively covering the working states that may be encountered in actual applications. Abundant data is recorded during the test, including time-domain signals such as input and output speeds, torques, angular displacements, vibration accelerations, etc., and the harmonic characteristic parameters under each working condition are obtained through spectrum analysis. Pay special attention to performance indicators such as the vibration transfer rate at key frequency points, the vibration isolation effect in the region of destructive interference, and the system dynamic response time. The test results form a complete performance evaluation data set, providing a measured basis for the final plan selection.

[0048] Evaluate the performance indicators of each optimal reduction ratio combination according to the test results of full-condition tests, and select the optimal reduction ratio combination and the corresponding key structural parameter combination with the best comprehensive performance as the reduction ratio distribution scheme and the corresponding structural parameter combination of the RV reducer. A large amount of measured data is generated during the full-condition tests, and a systematic analysis and evaluation are required to select the truly optimal scheme with the best comprehensive performance. The evaluation process first defines a comprehensive performance indicator system, which includes three major categories of indicators: harmonic transfer characteristic indicators, dynamic response characteristic indicators, and engineering practicability indicators. The harmonic transfer characteristic indicators mainly evaluate the suppression effect of the RV reducer on various frequencies in the frequency-sensitive spectrum, including the bandwidth of the cancellation interference region, the measured value of the interference intensity index, the vibration transfer ratio at key frequency points, etc. The dynamic response characteristic indicators evaluate the performance of the RV reducer during various working condition transitions, including start-up time, response delay, overshoot, settling time, and steady-state error, etc. The engineering practicability indicators consider the comprehensive value of the scheme in actual applications, including transmission efficiency, noise level, temperature rise characteristics, structural complexity, and manufacturing difficulty, etc. Normalize each indicator of each prototype to eliminate the dimension difference, and then determine the weight coefficient of each indicator according to the specific requirements of the application scenario, and calculate the weighted comprehensive score. The scoring process adopts a combination of the analytic hierarchy process (AHP) and fuzzy comprehensive evaluation, which not only considers the expert experience judgment but also introduces objective data support to form a scientific and reasonable evaluation result. To improve the reliability of the evaluation, a cross-validation method is used to repeat the tests under multiple working condition combinations to ensure the stability of the evaluation result. Based on the comprehensive scoring results, select the reduction ratio combination with the highest score and the corresponding structural parameter combination as the final RV reducer reduction ratio distribution scheme. This scheme not only performs excellently in the theoretical design stage but also proves its excellent comprehensive performance in the physical verification stage. After the scheme is determined, prepare detailed design documents, including the reduction ratio distribution scheme specification, key structural parameter specifications, connecting part structure design drawings, and manufacturing process requirements, etc., to provide complete technical support for subsequent engineering applications. The finally determined scheme is verified in the actual application scenario, and the measured data shows that this scheme has achieved significant improvements in harmonic interference suppression and full-condition adaptability compared with the traditional reduction ratio selection method, fully proving the effectiveness and practical value of the proposed RV reducer reduction ratio optimization method.

[0049] In this embodiment, by performing hierarchical testing and harmonic source identification on the RV reducer at different reduction ratios, the transfer characteristic matrix of harmonic interaction is obtained through signal decomposition; the key frequency characteristics are determined according to this matrix, corresponding frequency excitation is applied to the reducer and the harmonic propagation path is traced, and through interference characteristic analysis and intensity quantification, a coupling interference map is constructed; a frequency-sensitive spectrum is constructed in combination with the characteristic parameters of the target application scenario, the reduction ratio collaborative optimization and working condition adaptability analysis of the two-stage reduction system are carried out, and a set of reduction ratio distribution schemes is obtained; according to this set of schemes, sensitivity analysis and harmonic selective isolation processing are carried out on the key structural parameters of the reducer, and through parameter adjustment of the simulation test platform, the final reduction ratio distribution scheme is determined. The present invention considers the harmonic transfer and interference characteristics between the two-stage reduction systems of the RV reducer and optimizes the accurate reduction ratio for high-precision application scenarios.

[0050] The method for optimizing the reduction ratio of the RV reducer in the embodiment of the present invention is described above. Next, the reduction ratio optimization system of the RV reducer in the embodiment of the present invention is described. The RV reducer includes a two-stage reduction system, and the two-stage reduction system is a planetary gear system and a cycloid pinwheel mechanism. Please refer to Figure 2 , an embodiment of the reduction ratio optimization system of the RV reducer in the embodiment of the present invention includes: A feature extraction module 201, configured to perform hierarchical testing and harmonic source identification on the reducer within a preset reduction ratio range through a sensor system arranged at preset key parts of the RV reducer, and perform signal decomposition on the identification result to obtain the transfer characteristic matrix of harmonic interaction of the two-stage reduction system; An interference analysis module 202, configured to apply corresponding frequency excitation to the RV reducer according to the key frequency characteristics determined by the transfer characteristic matrix and trace the harmonic propagation path, and perform interference characteristic analysis and intensity quantification on the traced harmonic propagation path to obtain a coupling interference map; A scheme optimization module 203, configured to construct a frequency-sensitive spectrum according to the coupling interference map in combination with the characteristic parameters of the target application scenario, and perform reduction ratio collaborative optimization and working condition adaptability analysis of the two-stage reduction system according to the frequency-sensitive spectrum to obtain a set of reduction ratio distribution schemes; A scheme verification module 204, configured to perform sensitivity analysis and harmonic selective isolation processing on the key structural parameters of the RV reducer according to the set of reduction ratio distribution schemes, and perform parameter adjustment through a simulation test platform to obtain the reduction ratio distribution scheme corresponding to the RV reducer.

[0051] In the embodiments of the present invention, the reduction ratio optimization system of the RV reducer operates the reduction ratio optimization method of the RV reducer. The reduction ratio optimization system of the RV reducer performs hierarchical testing and harmonic source identification on the RV reducer at different reduction ratios, and obtains the transfer characteristic matrix of harmonic interaction through signal decomposition; determines the key frequency characteristics according to this matrix, applies corresponding frequency excitation to the reducer and tracks the harmonic propagation path, and constructs a coupling interference map through interference characteristic analysis and intensity quantization; constructs a frequency sensitivity spectrum in combination with the characteristic parameters of the target application scenario, performs reduction ratio collaborative optimization and working condition adaptability analysis on the two-stage reduction system, and obtains a set of reduction ratio distribution schemes; performs sensitivity analysis and harmonic selective isolation processing on the key structural parameters of the reducer according to this set of schemes, and determines the final reduction ratio distribution scheme through the adjustment of the simulation test platform parameters. The present invention considers the harmonic transfer and interference characteristics between the two-stage reduction systems of the RV reducer, and performs precise reduction ratio optimization for high-precision application scenarios.

[0052] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described system or device and unit can refer to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0053] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0054] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for optimizing the reduction ratio of an RV reducer, characterized in that: The RV reducer includes a two-stage reduction system, which is a planetary gear system and a cycloid pinwheel mechanism. The reduction ratio optimization method of the RV reducer includes: By arranging a sensor system at a preset key position of the RV reducer, the reducer is subjected to graded testing and harmonic source identification within a preset reduction ratio range, and the identification result is subjected to signal decomposition to obtain a transfer characteristic matrix of harmonic interaction of the two-stage reduction system; According to the key frequency characteristics determined by the transfer characteristic matrix, a corresponding frequency excitation is applied to the RV reducer and a harmonic propagation path is tracked, interference characteristic analysis and intensity quantification are performed on the tracked harmonic propagation path to obtain a coupled interference spectrum; According to the coupling interference spectrum, a frequency sensitivity spectrum is constructed in combination with characteristic parameters of a target application scenario, and a reduction ratio collaborative optimization and working condition adaptability analysis of the two-stage reduction system are performed according to the frequency sensitivity spectrum to obtain a reduction ratio allocation scheme set; According to the reduction ratio allocation scheme set, sensitivity analysis and harmonic selective isolation processing are performed on key structural parameters of the RV reducer, and parameter adjustment is performed through a simulation test platform to obtain the reduction ratio allocation scheme corresponding to the RV reducer.

2. The reduction ratio optimization method of the RV reducer according to claim 1, characterized in that: The sensor system arranged at the preset key position of the RV reducer performs graded testing and harmonic source identification on the reducer within the preset reduction ratio range, and performs signal decomposition on the identification result to obtain the transfer characteristic matrix of the harmonic interaction of the two-stage reduction system, including: Using the sensor system to obtain phase reference mark data on the sun gear and the planet carrier of the planetary gear system and meshing state data of the edge of the cycloid pinwheel mechanism; For the RV reducer, within a preset reduction ratio range, different combinations of the planetary gear system reduction ratio and the cycloid pinwheel mechanism reduction ratio are set at preset intervals, and vibration signals are collected under no-load conditions, rated load conditions, and overload conditions; The collected signals are processed using adaptive multi-level wavelet decomposition technology to separate the harmonic components of each frequency band and the corresponding instantaneous frequency, amplitude and phase characteristics; According to the phase reference mark data and the meshing state data of the sun gear and the planet carrier, combined with the instantaneous frequency, amplitude and phase characteristics of the harmonic, a corresponding relationship between the harmonic source and the harmonic characteristics is established through time-frequency correlation analysis; Based on the corresponding relationship, the extracted harmonic components are classified into harmonics generated by the planetary gear system, harmonics generated by the cycloid pinwheel mechanism and interactive harmonics. The transmission paths and energy distributions of various harmonic components are quantitatively calculated to obtain the transmission characteristic matrix of the harmonic interaction of the two-stage reduction system.

3. The reduction ratio optimization method of the RV reducer according to claim 2, characterized in that: Based on the corresponding relationship, the extracted harmonic components are classified into harmonics generated by the planetary gear system, harmonics generated by the cycloid pinwheel mechanism and interactive harmonics, and the transmission paths and energy distributions of various harmonics are quantitatively calculated to obtain the transmission characteristic matrix of the harmonic interaction of the two-stage reduction system, including: Using the corresponding relationship, source identification marking is performed on the harmonic components, the instantaneous frequency is compared with the meshing frequency of the planetary gear system and the meshing frequency of the cycloid pinwheel mechanism, and the extracted harmonic components are classified and marked as harmonics generated by the planetary gear system, harmonics generated by the cycloid pinwheel mechanism, and interactive harmonics according to the comparison results; Calculate the transmission ratio and phase change of the harmonic components of each marked harmonic type under different reduction ratio combinations, and calculate the energy transfer rate and flow path diagram of the harmonic components of each harmonic type between the planetary gear system and the cycloid pinwheel mechanism; The harmonic source classification information, transfer ratio, phase change, energy transfer rate and flow path diagram of the harmonic types under different reduction ratio combinations are arranged according to the harmonic frequency and reduction ratio combination to construct the transfer characteristic matrix of the harmonic interaction of the two-stage reduction system.

4. The reduction ratio optimization method of the RV reducer according to claim 1, characterized in that: According to the key frequency characteristics determined by the transfer characteristic matrix, the corresponding frequency excitation is applied to the RV reducer and the harmonic propagation path is tracked, and the interference characteristic analysis and intensity quantification of the tracked harmonic propagation path are performed to obtain the coupled interference spectrum, which includes: Extracting frequency points where the proportion of harmonic energy exceeds a preset threshold and the types of the frequency points from the transfer feature matrix as key frequency features; Determining a marker harmonic excitation signal including the key frequency feature, applying the marker harmonic excitation signal to the RV reducer, and using the sensor system to record a harmonic propagation path of the marker harmonic excitation signal; According to the harmonic propagation path of the marked harmonic excitation signal, a phase-sensitive detection technology and a cross-spectrum analysis method are used to identify the constructive interference region and the destructive interference region of the harmonics between the planetary gear system and the cycloid pinwheel mechanism; Based on the identified constructive interference area and destructive interference area, the interference intensity index is calculated for each reduction ratio combination, and the reduction ratio combination, the key frequency feature, the harmonic propagation path, the constructive interference area, the destructive interference area and the interference intensity index are integrated into a data structure to construct the coupled interference spectrum.

5. The reduction ratio optimization method of the RV reducer according to claim 4, characterized in that: The method of identifying the constructive interference region and the destructive interference region of the harmonics between the planetary gear system and the cycloid pinwheel mechanism by using a phase-sensitive detection technique and a cross-spectrum analysis method according to the harmonic propagation path of the marked harmonic excitation signal comprises: Based on the harmonic propagation path, a phase-sensitive detection technique is applied to the time domain signal recorded at the measuring point to extract the phase information of the corresponding harmonic component between the output end of the planetary gear system and the input end of the cycloid pinwheel mechanism; Applying a cross-spectrum analysis method, calculating the cross-power spectrum and coherence function of the signal between the output end and the input end, and obtaining the coherence coefficient of the frequency point; Analyzing the phase information, calculating the phase difference of each frequency point, screening the frequency points whose coherence coefficient is greater than a preset threshold, and classifying the screened frequency points according to the phase difference; The frequency points with a phase difference within the range of 0°±30° or 360°±30° are identified as the constructive interference area, and the frequency points with a phase difference within the range of 180°±30° are identified as the destructive interference area, and the frequency range data of the constructive interference area and the destructive interference area are recorded for each reduction ratio combination.

6. The reduction ratio optimization method of the RV reducer according to claim 1, characterized in that: According to the coupling interference spectrum, a frequency sensitivity spectrum is constructed in combination with characteristic parameters of a target application scenario, and the reduction ratio collaborative optimization and working condition adaptability analysis of the two-stage reduction system are performed according to the frequency sensitivity spectrum, and a reduction ratio allocation scheme set is obtained, including: Matching and analyzing the scene requirement parameters of the target application scene with the frequencies in the coupling interference spectrum, and classifying the frequency points according to the matching degree and importance to obtain the frequency sensitivity spectrum; Based on the frequency sensitive spectrum, the reduction ratio optimization problem is converted into a two-dimensional search problem, and feasible combinations of the reduction ratio R1 of the planetary gear system and the reduction ratio R2 of the cycloid pinwheel mechanism are calculated respectively; Calculate the harmonic avoidance score of each reduction ratio combination R1 and R2, analyze the performance stability of each reduction ratio combination under different working conditions, and calculate the working condition stability index; According to the harmonic avoidance score and the operating condition stability index, a preset number of optimal reduction ratio combinations are screened out to form a reduction ratio allocation scheme set.

7. The reduction ratio optimization method of the RV reducer according to claim 1, characterized in that: According to the reduction ratio allocation scheme set, sensitivity analysis and harmonic selective isolation processing are performed on the key structural parameters of the RV reducer, and parameter adjustment is performed through a simulation test platform to obtain the reduction ratio allocation scheme corresponding to the RV reducer, including: Through the orthogonal experimental design method, a sensitivity analysis is performed on the key structural parameters of the RV reducer corresponding to each scheme in the reduction ratio distribution scheme set, and then multiple parameters with the most significant impact are selected from the key structural parameters as optimization objects; According to the sensitivity result of the optimization object, the value of the key structural parameter is adjusted, and then the structure of the planet carrier-cycloid gear connection in the RV reducer is optimized to achieve selective isolation of the corresponding frequency harmonics; The optimal reduction ratio combination in the reduction ratio allocation scheme set and the respective optimized key structural parameters are combined to make a prototype, and a full-operating condition test is carried out on a test platform simulating an actual application scenario; The performance indicators of each optimal reduction ratio combination are evaluated according to the test results of the full-operating condition test, and the optimal reduction ratio combination and key structural parameter combination with the best comprehensive performance are selected as the reduction ratio distribution scheme and the corresponding structural parameter combination of the RV reducer.

8. A reduction ratio optimization system for an RV reducer, characterized in that: The RV reducer includes a two-stage reduction system, which is a planetary gear system and a cycloid pinwheel mechanism. The reduction ratio optimization device of the RV reducer includes: A feature extraction module is used to perform graded testing and harmonic source identification on the reducer within a preset reduction ratio range through a sensor system arranged at a preset key position of the RV reducer, and perform signal decomposition on the identification result to obtain a transfer feature matrix of harmonic interaction of the two-stage reduction system; An interference analysis module, used to apply corresponding frequency excitation to the RV reducer and track the harmonic propagation path according to the key frequency characteristics determined by the transfer characteristic matrix, perform interference characteristic analysis and intensity quantification on the tracked harmonic propagation path, and obtain a coupled interference spectrum; A scheme optimization module is used to construct a frequency sensitivity spectrum according to the coupling interference spectrum and the characteristic parameters of the target application scenario, and to perform a reduction ratio collaborative optimization and working condition adaptability analysis of the two-stage reduction system according to the frequency sensitivity spectrum to obtain a reduction ratio allocation scheme set; The scheme verification module is used to perform sensitivity analysis and harmonic selective isolation processing on the key structural parameters of the RV reducer according to the reduction ratio allocation scheme set, and adjust the parameters through a simulation test platform to obtain the reduction ratio allocation scheme corresponding to the RV reducer.

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