CN112195057B - 一种机器人谐波减速器润滑脂 - Google Patents

一种机器人谐波减速器润滑脂 Download PDF

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CN112195057B
CN112195057B CN202010736329.XA CN202010736329A CN112195057B CN 112195057 B CN112195057 B CN 112195057B CN 202010736329 A CN202010736329 A CN 202010736329A CN 112195057 B CN112195057 B CN 112195057B
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王晓杰
汪小龙
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Amer Technology Co Ltd
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Abstract

本发明属于新材料领域，具体涉及一种机器人谐波减速器润滑脂，所述机器人谐波减速器润滑脂的原料按重量份由以下组份组成：20‑40份150N(三类油)，20‑40份PAO6，10‑15份双季戊四醇酯，1‑3份单水氢氧化锂，1‑5份硬脂酸，6‑12份十二羟基硬脂酸，1‑3份气相二氧化硅，1‑4份二烷基二硫代氨基甲酸钼，0.8‑1.5份硫代磷酸三苯酯，0.5‑1份硼酸酯，0.5‑1份辛丁基二苯胺，酚酯类抗氧剂。

Description

一种机器人谐波减速器润滑脂
技术领域
本发明涉及一种新材料领域，具体涉及一种机器人谐波减速器润滑脂。
背景技术
机器人谐波减速器润滑脂是专门用于机器人手臂关闭上的谐波减速器，起到润滑、防锈、降温及减磨作用的一款高端润滑脂。
机器人代替人工是未来的发展方向，在“机器人换人”大潮下，中国已经连续两年坐上世界机器人做大消费国的宝座。
目前市场上谐波减速器用的绝大部多数润滑脂都被国外垄断，国产润滑脂在寿命上还是远不如进口润滑脂。关键原因是国产润滑脂在减磨性能上跟进口润滑脂存在差距，减磨性能的不足致使谐波减速器磨损大，温升高，降低谐波减速器的使用寿命。而坚决这一关键问题的方法就是基础油和添加剂的完美配伍，配伍不合理会造成谐波减速器磨损大、抗氧化性能差、长期使用出现油泥等情况，严重影响谐波减速器的使用寿命，这正是制备机器人谐波减速器的最大难点。
发明内容
本发明提供一种长寿命机器人谐波减速器润滑脂以解决上述缺陷。
本发明采用的技术方案如下：
一种机器人谐波减速器润滑脂，所述机器人谐波减速器润滑脂的原料按重量份由以下组份组成：
Figure RE-GDA0002785243880000011
Figure RE-GDA0002785243880000021
在一个具体的实施方式中，所述150N(三类油)为20份、PAO6为20份、双季戊四醇酯为10份、单水氢氧化锂为1.2份、硬脂酸为1.6份、十二羟基硬脂酸为6.4份、气相二氧化硅为1份、二烷基二硫代氨基甲酸钼为1份、硫代磷酸三苯酯为0.8份、硼酸酯为0.5份、辛丁基二苯胺为0.5份、酚酯类抗氧剂为0.5份。
在另一个具体的实施方式中，所述150N(三类油)为30份、PAO6为30份、双季戊四醇酯为12.5份、单水氢氧化锂为1.2份、硬脂酸为1.6份、十二羟基硬脂酸为6.4份、气相二氧化硅为1.5份、二烷基二硫代氨基甲酸钼为2份、硫代磷酸三苯酯为1.25份、硼酸酯为1.15份、辛丁基二苯胺为0.75份、酚酯类抗氧剂为0.75份。
在另一个具体的实施方式中，所述150N(三类油)为40份、PAO6为40份、双季戊四醇酯为12.5份、单水氢氧化锂为1.2份、硬脂酸为1.6份、十二羟基硬脂酸为6.4份、气相二氧化硅为1.8份、二烷基二硫代氨基甲酸钼为3.5份、硫代磷酸三苯酯为1.1份、硼酸酯为0.75份、辛丁基二苯胺为0.75份、酚酯类抗氧剂为0.75份。
在另一个具体的实施方式中，所述150N(三类油)为35份、PAO6为32份、双季戊四醇酯为11份、单水氢氧化锂为1.2份、硬脂酸为1.6份、十二羟基硬脂酸为6.4份、气相二氧化硅为1.5份、二烷基二硫代氨基甲酸钼为2份、硫代磷酸三苯酯为1.25份、硼酸酯为0.75份、辛丁基二苯胺为0.85份、酚酯类抗氧剂为0.95份。
本发明中，150N(三类油)为矿物油，跟添加剂有较好的相容性，有利于添加剂更好的发挥作用；PAO6为合成基础油，低温性、抗氧化性比矿物油更好，但是跟添加剂相容性较差，与矿物油一起使用可弥补其缺点；双季戊四醇酯有非常好的润滑性能和添加剂相容性，可有效降低谐波减速器运转产生的温度；单水氢氧化锂、硬脂酸和十二羟基硬脂酸均为制备锂基润滑脂的稠化剂，锂基润滑脂具有抗剪切性能、耐高温性能好、制备工艺稳定的特点；气相二氧化硅可提高润滑脂的高温性能，并减少润滑油从润滑脂中分离；二烷基二硫代氨基甲酸钼、硫代磷酸三苯酯、硼酸酯均为减磨剂，三者的协同作用使润滑脂具有非常好的减磨性能；辛丁基二苯胺和酚酯类抗氧剂都是抗氧剂，两者的协同作用对润滑脂的使用寿命亦有很大帮助；通过矿物油、合成基础油、酯类油三者优缺点互补，同时通过三款减磨剂(二烷基二硫代氨基甲酸钼、硫代磷酸三苯酯、硼酸酯)及两款抗氧剂(辛丁基二苯胺、酚酯类抗氧剂)的协同作用，从减磨、抗氧两方面提高机器人谐波减速器寿命。
具体实施方式
实施方式一：
一种机器人谐波减速器润滑脂，所述机器人谐波减速器润滑脂的原料按重量份由以下组份组成：150N(三类油)为20份、PAO6为20份、双季戊四醇酯为 10份、单水氢氧化锂为1.2份、硬脂酸为1.6份、十二羟基硬脂酸为6.4份、气相二氧化硅为1份、二烷基二硫代氨基甲酸钼为1份、硫代磷酸三苯酯为0.8 份、硼酸酯为0.5份、辛丁基二苯胺为0.5份、酚酯类抗氧剂为0.5份。
实施方式二：
一种机器人谐波减速器润滑脂，所述机器人谐波减速器润滑脂的原料按重量份由以下组份组成：150N(三类油)为30份、PAO6为30份、双季戊四醇酯为 12.5份、单水氢氧化锂为1.2份、硬脂酸为1.6份、十二羟基硬脂酸为6.4份、气相二氧化硅为1.5份、二烷基二硫代氨基甲酸钼为2份、硫代磷酸三苯酯为 1.25份、硼酸酯为1.15份、辛丁基二苯胺为0.75份、酚酯类抗氧剂为0.75份。
实施方式三：
一种机器人谐波减速器润滑脂，所述机器人谐波减速器润滑脂的原料按重量份由以下组份组成：150N(三类油)为40份、PAO6为40份、双季戊四醇酯为 12.5份、单水氢氧化锂为1.2份、硬脂酸为1.6份、十二羟基硬脂酸为6.4份、气相二氧化硅为1.8份、二烷基二硫代氨基甲酸钼为3.5份、硫代磷酸三苯酯为1.1份、硼酸酯为0.75份、辛丁基二苯胺为0.75份、酚酯类抗氧剂为0.75 份。
实施方式四：
一种机器人谐波减速器润滑脂，所述机器人谐波减速器润滑脂的原料按重量份由以下组份组成：150N(三类油)为35份、PAO6为32份、双季戊四醇酯为 11份、单水氢氧化锂为1.2份、硬脂酸为1.6份、十二羟基硬脂酸为6.4份、气相二氧化硅为1.5份、二烷基二硫代氨基甲酸钼为2份、硫代磷酸三苯酯为 1.25份、硼酸酯为0.75份、辛丁基二苯胺为0.85份、酚酯类抗氧剂为0.95份。
对照例一：
将实施方式二中的20份150N(三类油)用20份PAO4替代，其余组分不变。
对照例二：
将实施方式二中的12.5份双季戊四醇酯用12.5份PAO4替代，其余组分不变。
对照例三：
在实施方式二基础上，加入1％的磷酸三甲酚酯。
对照例四：
在实施方式二基础上，加入1％巯基噻二唑。
对照例四：
在实施方式二基础上，加入1％伯烷基二硫代磷酸锌。
对上述实施方式以及对照例进行测试(具体测试方法如下表所示)，测试结果如下：
表1
Figure RE-GDA0002785243880000051
Figure RE-GDA0002785243880000061
从表1可以看出，实验方式二滴点(高温性能)、PB(油膜强度)、PD(极压性能)、磨斑直径(减磨性能)及氧化安定性(抗氧化性能)都处于一个较均衡的水平。替换其中的基础油或者增加其他添加剂都会破坏最重要的两个性能：磨斑直径(减磨性能)和PB(油膜强度)。实验方式二中基础油和添加剂的协同作用可避免谐波减速器在长期高温高速的运转情况下较早出现磨损造成寿命降低。
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。

Claims (5)

1.一种机器人谐波减速器润滑脂，所述机器人谐波减速器润滑脂的原料按重量份由以下组份组成：
三类油150N 20-40份
PAO6 20-40份
双季戊四醇酯 10-15份
单水氢氧化锂 1-3份
硬脂酸 1-5份
十二羟基硬脂酸 6-12份
气相二氧化硅 1-3份
二烷基二硫代氨基甲酸钼 1-4份
硫代磷酸三苯酯 0.8-1.5份
硼酸酯 0.5-1份
辛丁基二苯胺 0.5-1份
酚酯类抗氧剂 0.5-1份；
其中所述三类油150N用于提高PAO6与添加剂的相容性。
2.如权利要求1所述的机器人谐波减速器润滑脂，其特征在于：所述三类油150N为20份、PAO6为20份、双季戊四醇酯为10份、单水氢氧化锂为1份、硬脂酸为1份、十二羟基硬脂酸为6份、气相二氧化硅为1份、二烷基二硫代氨基甲酸钼为1份、硫代磷酸三苯酯为0.8份、硼酸酯为0.5份、辛丁基二苯胺为0.5份、酚酯类抗氧剂为0.5份。
3.如权利要求1所述的机器人谐波减速器润滑脂，其特征在于：所述三类油150N为30份、PAO6为30份、双季戊四醇酯为12.5份、单水氢氧化锂为2份、硬脂酸为2.5份、十二羟基硬脂酸为9份、气相二氧化硅为1.5份、二烷基二硫代氨基甲酸钼为2份、硫代磷酸三苯酯为1.25份、硼酸酯为1.15份、辛丁基二苯胺为0.75份、酚酯类抗氧剂为0.75份。
4.如权利要求1所述的机器人谐波减速器润滑脂，其特征在于：所述150N三类油150N为40份、PAO6为40份、双季戊四醇酯为12.5份、单水氢氧化锂为2.5份、硬脂酸为4份、十二羟基硬脂酸为12份、气相二氧化硅为1.8份、二烷基二硫代氨基甲酸钼为3.5份、硫代磷酸三苯酯为1.1份、硼酸酯为0.75份、辛丁基二苯胺为0.75份、酚酯类抗氧剂为0.75份。
5.如权利要求1所述的机器人谐波减速器润滑脂，其特征在于：所述三类油150N为35份、PAO6为32份、双季戊四醇酯为11份、单水氢氧化锂为2份、硬脂酸为2.5份、十二羟基硬脂酸为9份、气相二氧化硅为1.5份、二烷基二硫代氨基甲酸钼为2份、硫代磷酸三苯酯为1.25份、硼酸酯为0.75份、辛丁基二苯胺为0.85份、酚酯类抗氧剂为0.95份。
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