机器人谐波减速器润滑脂的组成与性能  

Ingredients and Performances of Grease for Robot Harmonic Reducer

作　　者：刘亚春[1] 高峰[1] 王兆坤[1] 张晓凯[1] Liu Yachun;Gao Feng;Wang Zhaokun;Zhang Xiaokai(Grease Research Institute of Sinopec Lubricant Co.,Ltd.,Tianjin 300480,China)

机构地区：[1]中国石化润滑油有限公司润滑脂研究院,天津300480

出　　处：《合成润滑材料》2021年第2期19-22,共4页Synthetic Lubricants

摘　　要：谐波减速器具有精度高,传动比大,质量轻,体积小及传动惯量较小等优点,在机器人姿态轴上的应用较多,是控制机器人手腕部姿态的核心部件。对机器人谐波减速器的工作原理及对润滑脂性能的要求进行了介绍。机器人谐波减速器润滑脂由12-羟基硬脂酸锂皂稠化剂,合成基础油(80%PAO+20%三羟甲基丙烷酯),3.0%的复合抗磨极压剂(0.5%硫型抗磨极压剂+0.5%磷型抗磨极压剂+2.0%钼盐抗磨极压剂)及0.30%的磺酸盐防锈抗腐蚀剂组成,具有良好的摩擦学性能。经过3年多的实际使用证明,研制的机器人谐波减速器润滑脂能满足机器人谐波减速器的润滑要求,可以替代进口机器人谐波减速器润滑脂使用,提升了“中国智造”的技术水平,并具有广阔的市场前景。(图4表2参考文献4)Harmonic reducer had the advantages of high precision,large transmission ratio,light weight,small volume and small transmission inertia.It was widely used in the robot attitude axis,and it was the core component to control the robot wrist attitude.The working principle of robot harmonic reducer and the requirements of grease performance were introduced in this paper.The lubricating grease for robot harmonic reducer was composed of 12-hydroxy lithium stearate soap thickener,synthetic Stocks(80%PAO+20%trimethylolpropane ester),3.0%complex anti-wear and extreme pressure additive(0.5%sulfur AW/EP additive+0.5%phosphorus AW/EP additive+2.0%molybdate AW/EP additive)and 0.30%sulfonate anti rust and anti-corrosion additive.It had good tribological performances.After more than three years of field use,it was proved that the developed lubricating grease for robot harmonic reducer could meet the lubrication requirements of robot harmonic reducer,and could replace the imported lubricating grease for robot harmonic reducer,which improved the technical level of“intelligent manufacturing in China”and had broad market prospects.(Charts4 Tables2 References4)

关 键 词：合成基础油 低温流动压力 摩擦学性能 

分 类 号：TE626.4[石油与天然气工程—油气加工工程]