| Chinese manufacturing industry is gradually developing towards automation and intelligence.Traditional equipment and facilities are gradually being replaced by advanced automated production lines,and industrial robots are an indispensable part of it.Reducers are important for industrial robots.However,most of chinese reducers rely on imports,and the relevant core technologies are technically blocked,which hinders the research and development of my country’s own reducers,limits the pace of popularization of industrial robots in my country,and slows down the process of manufacturing intelligence and automation.In response to the national demand traction and the call to break through the bottleneck,this paper developed a precision reducer for industrial robot joints.In order to make the design of the reducer small and compact,with high transmission efficiency and high transmission precision,this paper refers to the transmission principle of worm gear reducer and screw nut pair,designs and selects the principle of multi-head helix as the transmission principle of helical rolling reducer,and relies on the transmission principle of worm gear reducer and screw nut pair.This principle is used to design the structure of the reducer.The main design structure includes: power volute,base and input shaft assembly.The innovation of the design is that the balls are installed on the input shaft assembly and can rotate freely on the input shaft assembly.When the balls engage with the helical track of the power volute for transmission,rolling friction can be used instead of conventional sliding friction to reduce friction loss.Improve transmission efficiency.After the structure design of the helical rolling reducer is completed,the feasibility analysis of the designed structure needs to be carried out.Firstly,the material selection,size determination and mechanical strength check of the input shaft and power volute are carried out,and the check results are all qualified.Then use ADAMS software to carry out kinematics simulation,the simulation results show that the designed helical rolling reducer structure model has accurate transmission ratio and relatively stable movement.Finally,the ABAQUS software is used to carry out the static simulation analysis of the key bearing parts of the helical rolling reducer.By analyzing the displacement and stress deformation cloud map,the reducer’s key bearing parts meet the design requirements.After verifying that the structural design is feasible,a prototype of the helical rolling reducer is prepared.In order to measure the actual performance parameters of the reducer prototype,it is necessary to build a corresponding reducer test bench.Firstly,the structural scheme of the test bench is proposed and the three-dimensional structural model is designed.Secondly,the electronic devices required by the test bench are selected,and the three-dimensional structure of the test bench is simulated and analyzed according to the selected parameters:the static analysis of the main bearing parts of the test bench is carried out and the analysis results show that the main bearing parts are the structure meets strength and stiffness requirements.The modal analysis of the main frame of the test bench is carried out by using Ansys Workbench software,and it can be known from the sixth-order mode shape of the main frame that resonance does not occur.Finally,the selected electronic devices and standard parts are purchased,the non-standard parts are drawn and processed,the test bench is built and the debugging is completed to ensure its normal operation.In this paper,the transmission accuracy,hysteresis and transmission efficiency of the helical rolling reducer prototype were measured,and the reducer prototype was installed in the palletizing robot to measure the repeatability of the robot.The transmission accuracy measurement adopts the direct measurement method,and the measurement result is 101 ",and the measurement result is less than 120" within the qualified range.Hysteresis curve method is used for hysteresis measurement,and the measurement result is 92 ",which is within the qualified range if it is less than 120".In this paper,the load transmission efficiency of the helical rolling reducer is mainly measured.The measurement results are generally greater than 80%,and the highest can reach 91.25%.Greater than 65% is within the qualified range.The repeatability of the palletizing robot is obtained by measuring the position deviation of its palletized goods,and the measurement result is ±0.4mm. |
