CN109281932A - 高旋转定位工业机器人rv减速机配套轻量化、异型轴承 - Google Patents

高旋转定位工业机器人rv减速机配套轻量化、异型轴承 Download PDF

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Publication number
CN109281932A
CN109281932A CN201811427735.7A CN201811427735A CN109281932A CN 109281932 A CN109281932 A CN 109281932A CN 201811427735 A CN201811427735 A CN 201811427735A CN 109281932 A CN109281932 A CN 109281932A
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China
Prior art keywords
bearing
speed reducer
industrial robot
retainer
mating
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CN201811427735.7A
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English (en)
Inventor
冯世昱
林秀清
李鑫辉
王宇
辛忠伟
孙洪斌
王蕾
姚成良
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Wafangdian Bearing Group National Bearing Engineering Technology Research Center Co Ltd
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Wafangdian Bearing Group National Bearing Engineering Technology Research Center Co Ltd
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Priority to CN201811427735.7A priority Critical patent/CN109281932A/zh
Publication of CN109281932A publication Critical patent/CN109281932A/zh
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/52—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions
    • F16C19/525—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions related to temperature and heat, e.g. insulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/108—Bearings specially adapted therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
    • F16C19/18—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls
    • F16C19/181—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls with angular contact
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/38—Ball cages
    • F16C33/40—Ball cages for multiple rows of balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/64—Special methods of manufacture
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Rolling Contact Bearings (AREA)
  • Retarders (AREA)

Abstract

本发明涉及轴承机械技术领域，具体一种高旋转定位工业机器人RV减速机配套轻量化、异型轴承，应用于高精密工业机器人RV减速机。所述轴承包括外圈、滚动体、保持架，所述外圈直径为145mm、宽度为10mm、有效厚度为3mm，轴承滚道嵌在RV减速机的支撑盘与输出盘上，保持架为Z型保持架，轴承接触角为50度，轴承负游隙数值为0.02‑0.04。本发明轴承的结构设计，解决了RV减速机内部空间有限的问题，有利于轴承装配和热胀冷缩的要求，本发明承受可承受较高轴向载荷和径向载荷以及轴径向联合载荷，轴承在工作时能满足精度、刚性需求，并确保轴承不发热。

Description

高旋转定位工业机器人RV减速机配套轻量化、异型轴承
技术领域
本发明涉及轴承机械技术领域，具体一种高旋转定位工业机器人RV减速机配套轻量化、异型轴承，应用于高精密工业机器人RV减速机。
背景技术
工业机器人是一种模拟人手臂、手腕和手功能的机电一体化装置，技术附加值很高，应用范围很广，作为先进制造业的支撑技术和信息化社会的新兴产业，将对未来生产和社会发展起着越来越重要的作用。我国已将工业机器人产业列入了十三五规划中，发展工业机器人具有重大的的战略意义 ，它是衡量一个国家制造业水平和科技水平的重要标志，也是重塑我国制造业竞争优势的重要工具和手段 ，更是加快我国工业转型升级的务实之选。
但目前我国工业机器人的关键部件仍依赖于进口，尤其是机器人手臂用RV减速机配套轴承,此部位的轴承对定位精度、反向定位精度及定位差值要求非常高。因此，研发高旋转定位工业机器人RV减速机配套轴承，对促进机器人产业的长远发展具有重要意义。
发明内容
为解决上述技术问题，本发明提供一种高旋转定位工业机器人RV减速机配套轻量化、异型轴承。
为实现上述发明目的，本发明采用以下技术方案：
一种高旋转定位工业机器人RV减速机配套轻量化、异型轴承，包括外圈、滚动体、保持架，所述外圈直径为145mm、宽度为10mm、有效厚度为3mm，轴承滚道嵌在RV减速机的支撑盘与输出盘上，保持架为Z型保持架，轴承接触角为50度，轴承负游隙数值为0.02-0.04。
上述一种高旋转定位工业机器人RV减速机配套轻量化、异型轴承，所述外圈加工时采用模压淬火工艺，将一个模具压在轴承外圈端面上，一起进入热处理的炉子中进行热处理加工。
与现有技术相比，本发明的有益效果为：本发明轴承的结构设计，解决了RV减速机内部空间有限的问题，有利于轴承装配和热胀冷缩的要求，本发明承受可承受较高轴向载荷和径向载荷以及轴径向联合载荷，轴承在工作时能满足精度、刚性需求，并确保轴承不发热。
附图说明
图1 本发明轴承结构示意图；
图中，1.外圈、2.滚动体、3.保持架、4.支撑盘、5.输出盘。
具体实施方式
以下结合具体实施方式对本发明做进一步说明。
一种高旋转定位工业机器人RV减速机配套轻量化、异型轴承，包括外圈1、滚动体2、保持架3，所述外圈直径为145mm、宽度为10mm、有效厚度为3mm，轴承滚道嵌在RV减速机的支撑盘4与输出盘5上，解决了RV减速机内部空间有限的问题，保持架为Z型保持架，有利于轴承装配和热胀冷缩的要求，轴承接触角为50度，以使轴承承受较高轴向载荷和径向载荷以及轴径向联合载荷，轴承负游隙数值为0.02-0.04，保证轴承在工作时既能满足精度、刚性需求，又能确保轴承不发热。
本发明轴承加工时外圈采用模压淬火工艺，将一个模具压在轴承外圈端面上，一起进入热处理的炉子中进行热处理加工，有效控制外圈的变形。

Claims (2)

1.高旋转定位工业机器人RV减速机配套轻量化、异型轴承，包括外圈、滚动体、保持架，其特征在于，所述外圈直径为145mm、宽度为10mm、有效厚度为3mm，轴承滚道嵌在RV减速机的支撑盘与输出盘上，保持架为Z型保持架，轴承接触角为50度，轴承负游隙数值为0.02-0.04mm。
2.如权利要求1所述的高旋转定位工业机器人RV减速机配套轻量化、异型轴承，其特征在于，所述外圈加工时采用模压淬火工艺，将一个模具压在轴承外圈端面上，一起进入热处理的炉子中进行热处理加工。
CN201811427735.7A 2018-11-27 2018-11-27 高旋转定位工业机器人rv减速机配套轻量化、异型轴承 Pending CN109281932A (zh)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110725901A (zh) * 2019-09-12 2020-01-24 珠海格力电器股份有限公司 一种展示摆线齿和针齿啮合对数的rv减速器及展示方法

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110725901A (zh) * 2019-09-12 2020-01-24 珠海格力电器股份有限公司 一种展示摆线齿和针齿啮合对数的rv减速器及展示方法
CN110725901B (zh) * 2019-09-12 2020-11-17 珠海格力电器股份有限公司 一种展示摆线齿和针齿啮合对数的rv减速器及展示方法

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