推杆活齿减速器虚拟样机试制
闫剑,张勇,刘雪垠,费宇
(1.四川省机械研究设计院,四川 成都 610063;2.中国航天科技集团 烽火机械厂,四川 成都 611130)
摘要:关节减速器是机器人最关键的核心零部件之一,其中RV减速器具有精度高、回差小及传动比大等优点,然而由于基本结构造成的缺陷限制了其性能和生产制造。针对以上问题进行创新性研究,设计了一款用于机器人关节的新型减速器,采用推杆活齿传动与行星齿轮传动相结合的结构,重点对其结构原理进行了研究分析,对理论模型进行了分析计算,对重要参数进行了设计验证,最后采用CAD软件建立零部件三维模型,完成推杆活齿减速器虚拟样机装配、试制,并进行静态干涉检查。
关键词:机器人;关节减速器;推杆活齿
中图分类号:TH132.46 文献标志码:A doi:10.3969/j.issn.1006-0316.2018.07.011
文章编号:1006-0316 (2018) 07-0044-04
Trial-Manufacture for Virtual Prototype of the Push-Rod Movable Tooth Reducer
YAN Jian,ZHANG Yong,LIU Xueyin,FEI Yu
( 1.Sichuan Provincial Machinery Research & Design Institute, Chengdu 610063, China; 2.Fenghuo Machinery Factory, China Aerospace Science and Technology Corporation, Chengdu 611130, China )
Abstract:The joint reducer is one of the key components of the robot. RV reducer has many advantages including high accuracy, small backlash, and large transmission ratio. However, defects of the basic structure limit its performance and manufacturing. Aiming at solving the problems, the researchers independently research and design a type of reducer for robot joints. It innovatively adopts the structure of push rod movable tooth transmission and planetary gear transmission. Based on the analysis of the structure and principle of the reducer, this paper calculates the theoretical models and designs and verifies the important parameters. 3D model of parts is built by using CAD software. Finally, the virtual prototype of the push-rod movable tooth reducer is assembled and trial produced and static interference checking is also carried out.
Key words:robot;joint-reducer;push-rod movable tooth
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收稿日期:2017-09-05
作者简介:闫剑(1988-),男,山西原平人,硕士,主要研究方向为机械结构设计;费宇(1972-),男,四川南充人,硕士,教授级高级工程师,主要从事机械传动设计开发工作。
 

 

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