机器人用精密行星摆线减速器主轴承预紧量对倾覆刚度影响研究  

Research on Influence of Main Bearing Preload of Precision Planetary Cycloidal Reducers for Robots on Tipping Stiffness

作　　者：崔佳隽 张迎辉[1] 何卫东[1] Cui Jiajun;Zhang Yinghui;He Weidong(School of Mechanical Engineering,Dalian Jiaotong University,Dalian 116028,China)

机构地区：[1]大连交通大学机械工程学院,辽宁大连116028

出　　处：《机械传动》2024年第6期1-6,共6页Journal of Mechanical Transmission

基　　金：国家重点研发计划项目(2017YFB1300700)。

摘　　要：为掌握机器人用精密行星摆线减速器主轴承的受力状态,结合减速器的结构特点,建立了同时考虑外部负载与摆线齿轮啮合力的静力学模型,对额定工况下110E型减速器主轴承受力和内部接触状态进行分析,得到符合实际的受力结果;在此基础上,针对精密减速器的高倾覆刚度要求,基于Romax Designer仿真分析软件建立减速器等效模型,分析了主轴承预紧量对倾覆刚度的影响规律。结果表明,主轴承的倾覆刚度随预紧量的增大而增大,同时满足倾覆刚度和疲劳寿命要求的最佳预紧量范围为5~20μm。研究结果对主轴承安装预紧量的选择具有一定的参考意义。To grasp the force status of the main bearing preload of precision planetary cycloidal reducers for robots,combined with structural characteristics of the reducer,the static model that considers the external load and the meshing force of cycloidal gears is established to analyze the force and internal contact state of 110E reducer main bearings under the rated working condition,and actual force results are obtained.Under this condition,aiming at the high tipping stiffness requirement of precision reducers,based on the Romax Designer simulation analysis software,the equivalent model of the reducer is established.The influence of the main bearing preload on the tipping stiffness is analyzed.The results show that the tipping stiffness increases with the increase of the preload,and the optimal preload range that satisfies the tipping stiffness and fatigue life is 5μm to 20μm.It has certain reference significance for the selection of the main bearing installation preload.

关 键 词：机器人用精密行星摆线减速器 主轴承 倾覆刚度 预紧量 

分 类 号：TH132.46[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]