CN112507488A - Robot joint assembly and method for determining interference of robot joint assembly - Google Patents
Robot joint assembly and method for determining interference of robot joint assembly Download PDFInfo
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- CN112507488A CN112507488A CN202011381112.8A CN202011381112A CN112507488A CN 112507488 A CN112507488 A CN 112507488A CN 202011381112 A CN202011381112 A CN 202011381112A CN 112507488 A CN112507488 A CN 112507488A
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- interference
- joint assembly
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- robot joint
- oil seal
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000004458 analytical method Methods 0.000 claims abstract description 11
- 239000000463 material Substances 0.000 claims abstract description 11
- 210000004907 gland Anatomy 0.000 claims description 24
- 210000003857 wrist joint Anatomy 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000004088 simulation Methods 0.000 abstract description 5
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
Abstract
The invention provides a robot joint assembly and a method for determining interference of the robot joint assembly. The method comprises the following steps: determining a component needing to set interference; dividing the component into hexahedral meshes; giving material properties to the component, determining the elastic modulus and poisson's ratio of the component; adjusting and analyzing interference fit strain; defining a component contact relationship; determining boundary load; when the interference magnitude is set to be the first preset value, the axial force is increased by the second preset value, and when all parts in the robot joint assembly do not displace, the first preset value is the interference magnitude of the robot joint assembly. The interference magnitude of each part in the robot joint assembly is determined through a finite element simulation analysis method, so that the interference magnitude between the parts is more reasonable, the parts are easier to disassemble and assemble, and the interference magnitude between the parts determined by the method can effectively improve the stability and reliability of the robot assembly.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a robot joint assembly and a method for determining interference of the robot joint assembly.
Background
A six-joint structure part of a small six-axis industrial robot generally uses a spiral bevel gear structure form to transmit in order to increase the joint speed of six axes, a pair of spiral bevel gears are meshed to generate axial force from one end of a single bevel gear to the other end of the single bevel gear, so that the spiral bevel gears are well fixed at one position by using an end cover to support the bevel gears and simultaneously fixed on a joint to prevent the bevel gears from axially moving. In the prior art, interference is determined to be not a set standard when joint components of a robot are assembled and installed, so that the interference between some joint components is too large and too small, and the problem that the mounting box between the components is difficult to disassemble is caused.
Disclosure of Invention
The invention mainly aims to provide a robot joint component and a method for determining interference magnitude of the robot joint component, so as to solve the problem that assembly and disassembly of the components are difficult due to unreasonable interference magnitude arrangement in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided a method of determining interference of a robot joint assembly, the method including the steps of: determining a component needing to set interference; dividing the component into hexahedral meshes; giving material properties to the component, determining the elastic modulus and poisson's ratio of the component; adjusting and analyzing interference fit strain; defining a component contact relationship; determining boundary load; when the interference magnitude is set to be the first preset value, the axial force is increased by the second preset value, and when all parts in the robot joint assembly do not displace, the first preset value is the interference magnitude of the robot joint assembly.
Furthermore, the parts needing to be set with the interference magnitude comprise an oil seal seat, a central shaft and a joint gland, hexahedral meshes are divided for the oil seal seat, the central shaft and the joint gland, and the material properties of the oil seal seat, the central shaft and the joint gland are set as steel materials.
Further, the interference fit strain adjustment analysis comprises a step of simulating the interference fit belt strain adjustment and a step of simulating the axial force load application, and the geometric nonlinearity is an opening mode.
Further, in the defining of the component contact relationship step, surface-to-surface contact is set between the oil seal holder, the center shaft, and the joint gland, and a gap between the contact surfaces is set to 0.01.
Further, the method further comprises defining a contact property, setting the friction coefficient to 0.1, determining an amplitude curve of the hard contact, setting a first preset value of the interference amount to 0.004, and setting the axial force to 100N.
Further, the method further comprises the step of increasing the axial force of a third preset value after the first preset value is set, and when the components in the robot joint assembly do not generate axial displacement, the first preset value is the interference of the robot joint assembly.
Further, the third preset value is 100N.
According to another aspect of the present invention, there is provided a robot joint assembly, which is the above robot joint assembly.
Further, the robot joint assembly includes: the spiral bevel gear is fixedly connected with the central shaft through a first connecting piece; the first bearing is in interference fit with the joint gland and the oil seal seat respectively, and the first bearing, the joint gland and the oil seal seat are connected with the wrist joint through the second connecting piece.
Further, a second bearing is arranged between the oil seal seat and the central shaft, and the oil seal seat is used for limiting the second bearing to move along the axial direction.
By applying the technical scheme of the invention, the interference magnitude of each part in the robot joint assembly is determined by a finite element simulation analysis method, so that the interference magnitude between the parts is more reasonable, the parts are easier to disassemble and assemble, and the interference magnitude between the parts determined by the method can effectively improve the stability and reliability of the robot assembly.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a block flow diagram of an embodiment of an interference determination method according to the invention;
fig. 2 shows a schematic structural view of an embodiment of a robot joint assembly according to the invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art, in the drawings, it is possible to enlarge the thicknesses of layers and regions for clarity, and the same devices are denoted by the same reference numerals, and thus the description thereof will be omitted.
Referring to fig. 1 and 2, according to an embodiment of the present application, there is provided a method for determining interference of a robot joint assembly, the method including the steps of: determining a component needing to set interference; dividing the component into hexahedral meshes; giving material properties to the component, determining the elastic modulus and poisson's ratio of the component; adjusting and analyzing interference fit strain; defining a component contact relationship; determining boundary load; when the interference magnitude is set to be the first preset value, the axial force is increased by the second preset value, and when all parts in the robot joint assembly do not displace, the first preset value is the interference magnitude of the robot joint assembly.
In the embodiment, the interference magnitude of each part in the robot joint assembly is determined through a finite element simulation analysis method, so that the interference magnitude between the parts is more reasonable, the parts are easier to disassemble and assemble, and the interference magnitude between the parts determined by the method can effectively improve the stability and the reliability of the robot assembly.
Specifically, the components needing to be set with the interference include an oil seal seat, a central shaft and a joint gland, hexahedral meshes are divided for the oil seal seat, the central shaft and the joint gland, and the material properties of the oil seal seat, the central shaft and the joint gland are set as steel materials. The interference fit strain adjustment analysis comprises a step of simulating interference fit belt strain adjustment and a step of simulating axial force load application, and the geometric nonlinearity is an opening mode. In the step of defining the contact relation of the components, the oil seal seat, the central shaft and the joint gland are arranged to be in surface-to-surface contact, and the gap between the contact surfaces is set to be 0.01.
Further, the method further comprises defining a contact property, setting the friction coefficient to 0.1, determining an amplitude curve of the hard contact, setting a first preset value of the interference amount to 0.004, and setting the axial force to 100N. After the first preset value is set, the axial force of the third preset value is increased, and when the parts in the robot joint assembly do not axially displace, the first preset value is the interference of the robot joint assembly. For example, the third preset value may be set to 100N.
As shown in fig. 2, the robot joint assembly includes a small arm side cover 1, a small arm joint 2, a support flange 3, an oil seal seat 4, a central shaft 5, an oil seal 6, a second bearing 7, a first bearing 8, an oil seal 9, a joint gland 10, an O-ring 11, a spiral bevel gear 12, a bearing 13, and a wrist joint 14. The spiral bevel gear 12 is fixedly connected with the central shaft 5 through a first connecting piece, the first bearing 8 is in interference fit with the joint gland 10 and the oil seal seat 4 respectively, and the first bearing 8, the joint gland 10 and the oil seal seat 4 are connected with the wrist joint 14 through a second connecting piece. Wherein the first and second connectors may be screws. Because spiral bevel gear 12 can receive certain vertical direction axial force, drives center pin 5 and can upwards move, and power transmits bearing 7, and then transmits to oil seal seat 4 above, for preventing that center pin 5 upwards moves, oil seal seat 4 will block second bearing 7, and oil seal seat 4 receives ascending power and will firmly links together through interference fit with joint gland 10 and oil seal seat 4 respectively through first bearing 8 and lock wrist joint 14 and just can balance. The interference is too large to assemble, the interference is too small to ensure the center shaft 5 to be pulled out, and the following simulation operation is provided for simulating the process.
In combination with the structure of the robot joint assembly, as shown in fig. 1, the main components of the oil seal seat 4, the central shaft 5 and the joint gland 10 are established. The hexahedral mesh C3D10M is divided for three components. The three parts 45 are given steel material properties, modulus of elasticity and poisson's ratio. Two analysis steps are set, wherein the first step simulates interference fit with strain adjustment, type Static, General, and the second step simulates application of axial force load, type Static, General, and geometric non-linear Nlgeom opening. The first bearing 8 is respectively contacted with the oil seal seat 4 and the joint gland 10 to define surface-to-surface contact, and the clearance between the contact surfaces is adjusted by clicking the slave adjustment and setting the specific tolerance for the adjustment zone to be 0.01. Next, a contact attribute, vertical coulomb Friction, is defined and the coefficient of Friction coefficient frictioncoeff is set to 0.1. An amplitude curve of the interference contact is defined, the type is Tabular, and input values 0, 0, 1 and 1 are provided. When defining contact, a non-initial analysis step, simulating interference fit by using interference fit, clicking the interference fit, selecting gradient movable slope node overlap failure, then selecting a Uniform allowable interference, selecting the just established Amplitude curve by the Amplitude, and setting an interference Magnitude of a step: 0.004. determining boundary conditions and loads, wherein one end of a joint gland 10 under the boundary conditions is fixed, the loads are determined by the axial direction of the motion of a spiral bevel gear 12, and the model sets the axial force load to be 100N. And (3) submitting analysis and solving in ABAQUS and Job, checking results, respectively carrying out interference fit on the first bearing 8, the joint gland 10 and the oil seal seat 4, wherein the interference magnitude is 0.004, and then applying 100N axial force to prevent the model from moving. Therefore, the obtained analysis conclusion shows that the interference magnitude is 0.004, the spiral bevel gear 12 can be prevented from axially moving, and the structure of the robot joint assembly obtained by the method is more reasonable.
In this embodiment, the axial force of the spiral bevel gear is balanced by using the friction force generated by the interference between the bearing and the shaft and blocking the bearing by the bearing seat, thereby preventing the axial play of the spiral bevel gear. The interference fit between the bearing and the shaft is large, the installation and the disassembly are not good, the friction force generated by the too small interference amount is not enough to balance the axial force between the bevel gears, and the axial movement of the gears cannot be prevented, so that the interference fit between the bearing and the shaft is simulated by using a finite element simulation analysis method, whether the shaft is separated from the bearing caused by the axial force generated by the gears is determined, and the reasonability of the structure of the robot assembly is ensured.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition to the foregoing, it should be noted that reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described generally throughout this application. The appearances of the same phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the scope of the invention to effect such feature, structure, or characteristic in connection with other embodiments.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of interference determination for a robot joint assembly, the method comprising the steps of:
determining a component needing to set interference;
dividing the component into hexahedral meshes;
giving material properties to the component, determining the elastic modulus and poisson's ratio of the component;
adjusting and analyzing interference fit strain;
defining a component contact relationship;
determining boundary load;
and when the interference magnitude is set to be a first preset value, increasing the axial force by a second preset value, and when all parts in the robot joint assembly do not displace, the first preset value is the interference magnitude of the robot joint assembly.
2. The method according to claim 1, wherein the components requiring the setting of the interference include an oil seal seat, a center shaft, and a joint gland, a hexahedral mesh is divided for the oil seal seat, the center shaft, and the joint gland, and material properties of the oil seal seat, the center shaft, and the joint gland are set as a steel material.
3. The method of claim 2, wherein the interference fit strain adjustment analysis includes a simulated interference fit band strain adjustment step and a simulated applied axial force loading step, and the geometric nonlinearity is an open mode.
4. The method according to claim 3, wherein in the defining the component contact relationship step, surface-to-surface contact is provided between the oil seal holder, the center shaft, and the joint gland, and a gap between the contact surfaces is set to 0.01.
5. The method of claim 4, further comprising defining a contact property, setting a coefficient of friction to 0.1, determining an amplitude curve for the hard contact, setting a first preset value for the amount of interference to 0.004, and setting the axial force to 100N.
6. The method of claim 1, further comprising increasing the axial force by a third predetermined value after setting the first predetermined value, wherein the first predetermined value is an interference of the robotic joint assembly when no component of the robotic joint assembly is axially displaced.
7. The method of claim 6, wherein the third preset value is 100N.
8. A robot joint assembly, characterized in that it is a robot joint assembly according to any one of claims 1 to 7.
9. The robotic joint assembly of claim 8, wherein the robotic joint assembly comprises:
the spiral bevel gear (12), the spiral bevel gear (12) is fixedly connected with the central shaft (5) through a first connecting piece;
first bearing (8), first bearing (8) pass through interference fit with joint gland (10) and oil seal seat (4) respectively, first bearing (8) joint gland (10) with oil seal seat (4) are connected with wrist joint (14) through the second connecting piece.
10. The robot joint assembly according to claim 9, characterized in that a second bearing (7) is arranged between the oil seal receptacle (4) and the central shaft (5), the oil seal receptacle (4) being adapted to limit the axial movement of the second bearing (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011381112.8A CN112507488A (en) | 2020-11-30 | 2020-11-30 | Robot joint assembly and method for determining interference of robot joint assembly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011381112.8A CN112507488A (en) | 2020-11-30 | 2020-11-30 | Robot joint assembly and method for determining interference of robot joint assembly |
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| CN112507488A true CN112507488A (en) | 2021-03-16 |
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| CN202011381112.8A Pending CN112507488A (en) | 2020-11-30 | 2020-11-30 | Robot joint assembly and method for determining interference of robot joint assembly |
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| CN103605840A (en) * | 2013-11-04 | 2014-02-26 | 河海大学 | Three-dimensional finite element modeling method for soil arch effect in pile type embankment |
| CN106354920A (en) * | 2016-08-26 | 2017-01-25 | 中车株洲电力机车研究所有限公司 | Strength analysis method and magnitude of interference analysis method of main bearing and shaft sleeve in wind turbine generator |
| CN110147586A (en) * | 2019-04-28 | 2019-08-20 | 江铃汽车股份有限公司 | A kind of link assembly linebore analysis method |
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2020
- 2020-11-30 CN CN202011381112.8A patent/CN112507488A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009259043A (en) * | 2008-04-17 | 2009-11-05 | Sumitomo Rubber Ind Ltd | Simulation method for rubber material |
| CN102279124A (en) * | 2011-05-23 | 2011-12-14 | 湖州师范学院 | Six degree of freedom boundary load simulation experiment system |
| CN103279663A (en) * | 2013-05-27 | 2013-09-04 | 太原科技大学 | Method for calculating interference magnitude of double-cone locking disc |
| CN103366084A (en) * | 2013-06-05 | 2013-10-23 | 太原科技大学 | Method for calculating interference magnitude of locking tray under condition of considering temperature influence |
| CN103605840A (en) * | 2013-11-04 | 2014-02-26 | 河海大学 | Three-dimensional finite element modeling method for soil arch effect in pile type embankment |
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