六轴工业机器人用减速器的改进设计
|
摘要
目前,大多数六轴工业机器人的减速机构都采用摆线针轮减速器或差动齿轮减速器。摆线针轮减速器存在着结构复杂、制造成本高和传动效率低等不足。差动齿轮减速器也存在磨损较严重、使用寿命较短、运行噪音较大等缺陷。为了降低制造成本、提高传动效率和使用寿命,本设计对现行六轴工业机器人的减速机构进行了改进。设计了一种基于活齿少齿差行星齿轮传动(以下简称活齿传动)的减速器,简化了结构,降低了成本。经试验,样机能实现12～18的传动比,传动效率提高,达到了预期效果。
At present,most six-axis industrial robots use a cycloidal pinwheel reducer or a differential gear reducer for the reduction mechanism.The cycloidal pinwheel reducer has the problems of complicated structure,high manufacturing cost and low transmission efficiency;while the differential gear reducer suffers from serious wear,short service life and large running noise.In order to reduce manufacturing costs and improve the transmission efficiency and service life,the current retarding mechanism of the robot has been improved.A gear reducer based on a planetary gear transmission with a small tooth difference(hereinafter referred to as a movable tooth drive)is designed,which simplifies the structure and reduces the cost.Through the prototype test,the transmission ratio of 12～18 can be realized,the transmission efficiency is higher,and the expected effect is achieved.
At present,most six-axis industrial robots use a cycloidal pinwheel reducer or a differential gear reducer for the reduction mechanism.The cycloidal pinwheel reducer has the problems of complicated structure,high manufacturing cost and low transmission efficiency;while the differential gear reducer suffers from serious wear,short service life and large running noise.In order to reduce manufacturing costs and improve the transmission efficiency and service life,the current retarding mechanism of the robot has been improved.A gear reducer based on a planetary gear transmission with a small tooth difference(hereinafter referred to as a movable tooth drive)is designed,which simplifies the structure and reduces the cost.Through the prototype test,the transmission ratio of 12～18 can be realized,the transmission efficiency is higher,and the expected effect is achieved.
引文
[1]梁文莉.中国工业机器人统计数据[J].机器人技术与应用,2016(2).
[2]中国机器人产业联盟网.2016年中国工业机器人市场保持高速增长[EB/OL].(2017-07-13)[2018-04-06].http:∥cria.mei.net.cn/news.asp?vid=3662.
[3]中国机器人产业发展大会.2017年上半年中国工业机器人市场统计数据正式发布[EB/OL].(2017-12-14)[2018-04-06].http:∥www.sohu.com/a/210677929_99899237.
[4]王雷,刘志虎,李震.六自由度装配机械手设计及运动学求解[J].河北科技大学学报,2014(5).
[5]尹霞,李炼,陈土军.工业机器人吸盘式工具手定位装置优化设计与研制[J].制造技术与机床,2017(4).
[6]赵铮.工业机器人减速器RV320的修形参数优化与工艺性研究[D].天津:天津大学,2013.
[7]王杰.六自由度机器人本体设计及轨迹规划与虚拟仿真[D].合肥:合肥工业大学,2015.
[8]李晓.六自由度关节式机器人系统研制与轨迹规划方法研究[D].上海:华东理工大学,2017.
[9]曲继方.活齿传动原理[M].北京:机械工业出版社,1993.
[2]中国机器人产业联盟网.2016年中国工业机器人市场保持高速增长[EB/OL].(2017-07-13)[2018-04-06].http:∥cria.mei.net.cn/news.asp?vid=3662.
[3]中国机器人产业发展大会.2017年上半年中国工业机器人市场统计数据正式发布[EB/OL].(2017-12-14)[2018-04-06].http:∥www.sohu.com/a/210677929_99899237.
[4]王雷,刘志虎,李震.六自由度装配机械手设计及运动学求解[J].河北科技大学学报,2014(5).
[5]尹霞,李炼,陈土军.工业机器人吸盘式工具手定位装置优化设计与研制[J].制造技术与机床,2017(4).
[6]赵铮.工业机器人减速器RV320的修形参数优化与工艺性研究[D].天津:天津大学,2013.
[7]王杰.六自由度机器人本体设计及轨迹规划与虚拟仿真[D].合肥:合肥工业大学,2015.
[8]李晓.六自由度关节式机器人系统研制与轨迹规划方法研究[D].上海:华东理工大学,2017.
[9]曲继方.活齿传动原理[M].北京:机械工业出版社,1993.