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

Cui Jiajun; Zhang Yinghui; He Weidong

doi:10.16578/j.issn.1004.2539.2024.06.001

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

Theory·Research | 更新时间：2024-06-19

- Research on Influence of Main Bearing Preload of Precision Planetary Cycloidal Reducers for Robots on Tipping Stiffness
- Journal of Mechanical Transmission Vol. 48, Issue 6, Pages: 1-6(2024)
- 作者机构：
  
  大连交通大学机械工程学院，辽宁大连 116028
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.06.001
  CLC：
- Published：15 June 2024，
  
  Received：14 March 2023，
  
  Revised：23 October 2023，
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崔佳隽,张迎辉,何卫东.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[J].机械传动,2024,48(06):1-6.

Cui Jiajun,Zhang Yinghui,He Weidong.Research on Influence of Main Bearing Preload of Precision Planetary Cycloidal Reducers for Robots on Tipping Stiffness[J].Journal of Mechanical Transmission,2024,48(06):1-6.
崔佳隽,张迎辉,何卫东.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[J].机械传动,2024,48(06):1-6. DOI： 10.16578/j.issn.1004.2539.2024.06.001.

Cui Jiajun,Zhang Yinghui,He Weidong.Research on Influence of Main Bearing Preload of Precision Planetary Cycloidal Reducers for Robots on Tipping Stiffness[J].Journal of Mechanical Transmission,2024,48(06):1-6. DOI： 10.16578/j.issn.1004.2539.2024.06.001.

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5~20 μm。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。

Abstract

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 5 μm to 20 μm. 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

Keywords

Precision planetary cycloidal reducer for robotsMain bearingTipping stiffnessPreload

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