Lubricating grease for robot RV speed reducer and preparation method thereof
By using components such as quaternary ammonium groups with graphene oxide and silane coupling agent in grease, forming a protective film and reducing graphene stacking, the friction of industrial robot RV reducers under high temperature and heavy load is solved. The wear problem achieves long life and low cost lubrication effect.
Patent Information
- Application Number
- CN202411291940.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-14
- Publication Date
- 2024-12-17
AI Technical Summary
Industrial robot RV reducers are prone to friction and wear under high temperature, heavy load and frequent movement conditions, and existing lubricants are difficult to meet the dual needs of sliding friction and rolling friction, resulting in short service life and high cost.
Using a grease including polyalpha olefin base oil, composite lubricant, antioxidant, extreme pressure antiwear additive, composite barium-based thickener and metal deactivator, the mutual interaction between the quaternary ammonium salt group and graphene oxide It works to form a protective film, reduce metal corrosion, and reduce graphene stacking through silane coupling agent and tannin acid, improving wear resistance.
This grease is suitable within the temperature range of -20℃~120℃, which significantly reduces wear on the frictional parts of the equipment, extends service life, improves anti-wear performance, meets the requirements of heavy load conditions, and reduces costs.
Smart Images
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Figure BDA0005044866480000081
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of lubricating oils, and in particular relates to a lubricating grease for a robot RV reducer and a preparation method thereof. Background Art
[0002] Industrial robot reducer is one of the core components of industrial robots, also known as "robot joints", accounting for one-third of the overall cost of the robot. It controls the power output and operating accuracy of industrial robots, and serves the purpose of reducing the speed of high-speed running power of electric motors, internal combustion engines, etc. through gears and transmitting greater torque. The performance of the reducer directly affects the performance of industrial robots. It has the characteristics of large transmission ratio, high transmission efficiency, high motion accuracy, small backlash, low vibration, high rigidity and high reliability. Generally, a general robot requires 4-8 sets of reducers. There are currently two main types of reducers used in the field of industrial robots, one is the cycloidal pinwheel (RV) reducer, and the other is the harmonic reducer. Among them, the RV reducer has higher fatigue strength, stiffness and life than the harmonic reducer, and the backlash accuracy is stable. There is a trend of gradually replacing the harmonic reducer in advanced robot transmission.
[0003] The robot cycloidal pinwheel (RV) reducer is a high-precision reducer consisting of a planetary bracket and a cycloidal pinwheel. The operating mode of its internal mechanism not only includes the meshing mode of spur gears, but also the existence of sliding friction and rolling friction. Therefore, its performance requirements for oil products must not only meet the performance requirements of traditional industrial gear oils, but also must be suitable for the needs of equipment with sliding friction and rolling friction.
[0004] The working characteristics of industrial robots are wide geographical area and wide temperature range (used indoors and outdoors and in the north and south); long continuous working time, even 24 hours of continuous operation at full load, the joint reducer parts work continuously and generate heat, the operating temperature is about 70°C during normal use, and can reach 100°C under extreme conditions; the joints generally have moderate to heavy loads, with a load range of 196 to 4900N; the movement form is mostly reciprocating motion, with large acceleration during movement, and frequent starting, which is prone to micro-motion wear; different joint reducers maintain different positions in the working state and change at any time, requiring the reducer sealing material to have excellent sealing performance to ensure that the lubricating oil does not leak; the maintenance cycle is very long, requiring the lubricating material to have a long service life and the sealing material to have good compatibility to ensure that the equipment lubricating oil does not leak. Summary of the invention
[0005] In view of this, an object of the present invention is to provide a grease for a robot RV reducer. The grease provided by the present invention is suitable for RV reducers, can be used indoors and outdoors and in the north and south, meets the operating temperature range of -20°C to 120°C, and can reduce the wear of friction parts of the equipment, has a longer service life, and reduces costs.
[0006] In order to achieve the above object, the present invention provides the following technical solutions:
[0007] The invention provides a lubricating grease for a robot RV reducer, comprising the following components in parts by mass: 70-88 parts of a polyalphaolefin base oil, 8-18 parts of a composite lubricant, 0.5-3 parts of an antioxidant, 2-4 parts of an extreme pressure anti-wear additive, 5-15 parts of a composite barium-based thickener, 1-3 parts of a defoaming agent, and 0.1-2 parts of a metal deactivator.
[0008] Preferably, the preparation method of the composite lubricant is:
[0009] S1. Mix and disperse graphene oxide and thionyl chloride, then add triethylamine, react at 50-60°C for 5-8h, then add chlorobutane, react at 50-80°C for 4-6h, filter and wash to obtain product A;
[0010] S2. Mix product A, silane coupling agent and tannic acid in deionized water and react at 40-50° C. for 3-5 hours, then filter, wash and dry to obtain product B;
[0011] S3. product B, polyalphaolefin base oil, and tannic acid are mixed and dispersed uniformly to obtain a composite lubricant. By adopting the above technical scheme, the present invention forms a protective film on the metal surface by connecting quaternary ammonium salt groups to graphene oxide through the interaction between the cations in the quaternary ammonium salt molecules and the metal surface, effectively isolating the direct contact between the metal surface and the corrosive medium, thereby reducing the corrosion rate of the metal; at the same time, the introduction of quaternary ammonium salt groups can be inserted between the graphene oxide sheets through electrostatic action, which may cause the graphene oxide sheets to further peel off and increase the distance between the graphene oxide sheets, thereby reducing its stacking behavior to a certain extent; then, the stacking of graphene is further reduced by silane coupling agent and tannic acid, and the anti-fretting wear performance is improved, and the anti-wear performance and service life are improved.
[0012] Further preferably, the mass ratio of graphene oxide, thionyl chloride, triethylamine and butyl chloride in S1 is 5-10:15-30:3-6:3-8.
[0013] Further preferably, the mass ratio of product A, silane coupling agent, tannic acid and deionized water in S2 is 5-10:3-8:1-2:5-10.
[0014] Further preferably, the mass ratio of product B, polyalphaolefin base oil and tannic acid in S3 is 10-15:10-20:1-2.
[0015] Preferably, the antioxidant is one or more of 2,6-di-tert-butyl-p-cresol, N-phenyl-α-naphthylamine, dialkyl diphenylamine and dialkyl dithiocarbamate. The antioxidant is used to further cooperate with the composite lubricant to increase the service life.
[0016] Preferably, the extreme pressure and anti-wear additive is one or more of trialkyl phosphate, triaryl phosphate, triaryl thiophosphate, isomeric alkylphenyl phosphate, phosphate fatty amine salt and organic molybdate.
[0017] Preferably, the defoaming agent is one or more of siloxane, organic silicate, polyalkyl acrylate and polyethylene glycol stearyl ether.
[0018] Preferably, the metal deactivator is one or more of benzotriazole derivatives, thiadiazole derivatives, and heterocyclic compounds.
[0019] The present invention also provides a method for preparing the above-mentioned grease, comprising the following steps:
[0020] 1) Weigh the raw materials according to the weight parts:
[0021] 2) Mix the polyalphaolefin base oil, composite lubricant and antioxidant at 50-70°C evenly; then add extreme pressure anti-wear additives, defoaming agent and metal deactivator and mix at constant temperature for 1-2h, then add composite barium-based thickener and mix evenly.
[0022] Contains at least the following beneficial technical effects:
[0023] The grease provided by the present invention is suitable for RV reducers, can be used indoors and outdoors and in the north and south, and meets the operating temperature range of -20°C to 120°C; can work normally at 70°C to 100°C; has good anti-wear extreme pressure performance and can meet the requirements of heavy-load working conditions; has good anti-fretting wear performance and good friction performance, can reduce wear on friction parts of equipment, has a long service life, and reduces costs. DETAILED DESCRIPTION
[0024] The present invention will be described in detail below by specific examples. These examples are provided in order to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art. Unless otherwise specified, the technical means used in the examples are conventional means well known to those skilled in the art. The test methods in the following examples, unless otherwise specified, are conventional methods. Unless otherwise specified, the reagents and materials used can all be obtained through commercial channels.
[0025] Example 1
[0026] This embodiment provides a method for preparing grease for a robot RV reducer, comprising the following steps:
[0027] 1) Preparation of composite lubricant:
[0028] 5 parts of graphene oxide and 15 parts of thionyl chloride were mixed and dispersed, and then 3 parts of triethylamine were added to react at 50°C for 5 hours, and then 3 parts of chlorobutane were added to react at 50°C for 4 hours, and then filtered and washed to obtain product A;
[0029] Mix 5 parts of product A, 3 parts of silane coupling agent and 1 part of tannic acid in 5 parts of deionized water, react at 40°C for 3 hours, filter, wash and dry to obtain product B;
[0030] 10 parts of product B, 10 parts of polyalphaolefin base oil and 1 part of tannic acid were mixed and dispersed uniformly to obtain a composite lubricant.
[0031] 2) Preparation of grease:
[0032] 70 parts of polyalphaolefin base oil, 8 parts of composite lubricant, and 0.5 parts of dialkyl diphenylamine were mixed uniformly at 50°C; then 2 parts of triaryl thiophosphate, 1 part of siloxane, and 0.1 part of thiadiazole derivative were added and mixed at constant temperature for 1 hour, and then 5 parts of composite thickener were added and mixed uniformly.
[0033] Example 2
[0034] This embodiment provides a method for preparing grease for a robot RV reducer, comprising the following steps:
[0035] 1) Preparation of composite lubricant:
[0036] 10 parts of graphene oxide and 30 parts of thionyl chloride were mixed and dispersed, and then 6 parts of triethylamine were added to react at 60°C for 8 hours, and then 8 parts of chlorobutane were added to react at 80°C for 6 hours, and then filtered and washed to obtain product A;
[0037] 10 parts of product A, 8 parts of silane coupling agent and 2 parts of tannic acid were mixed evenly in 10 parts of deionized water and reacted at 50°C for 5 hours, and then filtered, washed and dried to obtain product B;
[0038] 15 parts of product B, 20 parts of polyalphaolefin base oil and 2 parts of tannic acid were mixed and dispersed uniformly to obtain a composite lubricant.
[0039] 2) Preparation of grease:
[0040] 88 parts of polyalphaolefin base oil, 18 parts of composite lubricant and 3 parts of N-phenyl-α-naphthylamine were mixed uniformly at 70°C; then 4 parts of triaryl thiophosphate, 3 parts of polyalkyl acrylate and 2 parts of thiadiazole derivative were added and mixed at constant temperature for 2 hours, and then 15 parts of composite thickener were added and mixed uniformly.
[0041] Example 3
[0042] This embodiment provides a method for preparing grease for a robot RV reducer, comprising the following steps:
[0043] 1) Preparation of composite lubricant:
[0044] 8 parts of graphene oxide and 20 parts of thionyl chloride were mixed and dispersed, and then 5 parts of triethylamine were added to react at 55°C for 6 hours, and then 6 parts of chlorobutane were added to react at 65°C for 5 hours, and then filtered and washed to obtain product A;
[0045] 8 parts of product A, 6 parts of silane coupling agent, and 1.5 parts of tannic acid were mixed evenly in 6 parts of deionized water, reacted at 45°C for 4 hours, and then filtered, washed, and dried to obtain product B;
[0046] 12 parts of product B, 15 parts of polyalphaolefin base oil and 1.5 parts of tannic acid were mixed and dispersed uniformly to obtain a composite lubricant.
[0047] 2) Preparation of grease:
[0048] Mix 78 parts of polyalphaolefin base oil, 14 parts of composite lubricant, 1 part of dialkyl dithiocarbamate and 1 part of triaryl phosphate at 60°C; then add 1.5 parts of triaryl phosphate, 1.5 parts of triaryl thiophosphate, 1 part of polyalkyl acrylate and 1 part of polyethylene glycol stearyl ether, 1.5 parts of thiadiazole derivative and mix at constant temperature for 1.5 hours, then add 8 parts of composite thickener and mix evenly.
[0049] Example 4
[0050] This embodiment provides a method for preparing grease for a robot RV reducer, comprising the following steps:
[0051] 1) Preparation of composite lubricant:
[0052] 8 parts of graphene oxide and 20 parts of thionyl chloride were mixed and dispersed, and then 5 parts of triethylamine were added to react at 55°C for 6 hours, and then 6 parts of chlorobutane were added to react at 65°C for 5 hours, and then filtered and washed to obtain product A;
[0053] 8 parts of product A, 6 parts of silane coupling agent, and 1.5 parts of tannic acid were mixed evenly in 6 parts of deionized water, reacted at 45°C for 4 hours, and then filtered, washed, and dried to obtain product B;
[0054] 12 parts of product B, 15 parts of polyalphaolefin base oil and 1.5 parts of tannic acid were mixed and dispersed uniformly to obtain a composite lubricant.
[0055] 2) Preparation of grease:
[0056] 70 parts of polyalphaolefin base oil, 8 parts of composite lubricant, and 0.5 parts of dialkyl diphenylamine were mixed uniformly at 50°C; then 2 parts of triaryl thiophosphate, 1 part of siloxane, and 0.1 part of thiadiazole derivative were added and mixed at constant temperature for 1 hour, and then 5 parts of composite thickener were added and mixed uniformly.
[0057] Example 5
[0058] This embodiment provides a method for preparing grease for a robot RV reducer, comprising the following steps:
[0059] 1) Preparation of composite lubricant:
[0060] 5-10 parts of graphene oxide and 15-30 parts of thionyl chloride are mixed and dispersed, and then 3-6 parts of triethylamine are added, reacted at 50-60° C. for 5-8 hours, and then 3-8 parts of chlorobutane are added, reacted at 50-80° C. for 4-6 hours, filtered and washed to obtain product A;
[0061] Mix 5-10 parts of product A, 3-8 parts of silane coupling agent, and 1-2 parts of tannic acid in 5-10 parts of deionized water, react at 40-50° C. for 3-5 hours, filter, wash, and dry to obtain product B;
[0062] 10-15 parts of product B, 10-20 parts of polyalphaolefin base oil and 1-2 parts of tannic acid are mixed and dispersed uniformly to obtain a composite lubricant.
[0063] 2) Preparation of grease:
[0064] 88 parts of polyalphaolefin base oil, 18 parts of composite lubricant and 3 parts of N-phenyl-α-naphthylamine were mixed uniformly at 70°C; then 4 parts of triaryl thiophosphate, 3 parts of polyalkyl acrylate and 2 parts of thiadiazole derivative were added and mixed at constant temperature for 2 hours, and then 15 parts of composite thickener were added and mixed uniformly.
[0065] Comparative Example 1
[0066] This comparative example provides a fully synthetic long-lasting lubricant for a wind turbine gearbox. The preparation method is the same as that of Example 3, except that no composite lubricant is added.
[0067] Comparative Example 2
[0068] This comparative example provides a fully synthetic long-lasting lubricant for a wind turbine gearbox. The preparation method is the same as that of Example 3, except that no composite lubricant is added and the composite lubricant is replaced with graphene.
[0069] Comparative Example 3
[0070] This comparative example provides a method for preparing a grease for a robot RV reducer, comprising the following steps:
[0071] 1) Preparation of composite lubricant:
[0072] 8 parts of graphene oxide and 20 parts of thionyl chloride were mixed and dispersed, and then 5 parts of triethylamine were added to react at 55°C for 6 hours, and then 6 parts of chlorobutane were added to react at 65°C for 5 hours, and then filtered and washed to obtain product A;
[0073] 12 parts of product A, 15 parts of polyalphaolefin base oil and 1.5 parts of tannic acid were mixed and dispersed uniformly to obtain a composite lubricant.
[0074] 2) Preparation of grease:
[0075] Mix 78 parts of polyalphaolefin base oil, 14 parts of composite lubricant, 1 part of dialkyl dithiocarbamate and 1 part of triaryl phosphate at 60°C; then add 1.5 parts of triaryl phosphate, 1.5 parts of triaryl thiophosphate, 1 part of polyalkyl acrylate and 1 part of polyethylene glycol stearyl ether, 1.5 parts of thiadiazole derivative and mix at constant temperature for 1.5 hours, then add 8 parts of composite thickener and mix evenly.
[0076] Experimental Example 1
[0077] The performance of Examples 1-5 and Comparative Examples 1-3 was tested, see Table 1.
[0078]
[0079]
[0080] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A grease for a robot RV reducer, characterized in that: The invention comprises the following components in parts by weight: 70-88 parts of polyalphaolefin base oil, 8-18 parts of composite lubricant, 0.5-3 parts of antioxidant, 2-4 parts of extreme pressure anti-wear additive, 5-15 parts of composite barium-based thickener, 1-3 parts of defoamer and 0.1-2 parts of metal deactivator.
2. The lubricating grease according to claim 1, characterized in that The preparation method of the composite lubricant is: S1. Mix and disperse graphene oxide and thionyl chloride, then add triethylamine, react at 50-60°C for 5-8h, then add chlorobutane, react at 50-80°C for 4-6h, filter and wash to obtain product A; S2. Mix product A, silane coupling agent and tannic acid in deionized water and react at 40-50° C. for 3-5 hours, then filter, wash and dry to obtain product B; S3. The product B, poly-alpha-olefin base oil and tannic acid are mixed and dispersed uniformly to obtain a composite lubricant.
3. The lubricating grease according to claim 2, characterized in that: The mass ratio of graphene oxide, thionyl chloride, triethylamine and butyl chloride in S1 is 5-10:15-30:3-6:3-8.
4. The lubricating grease according to claim 2, characterized in that: The mass ratio of product A, silane coupling agent, tannic acid and deionized water in S2 is 5-10:3-8:1-2:5-10.
5. The lubricating grease according to claim 2, characterized in that: The mass ratio of product B, polyalphaolefin base oil and tannic acid in S3 is 10-15:10-20:1-2.
6. The lubricating grease according to claim 1, characterized in that: The antioxidant is one or more of 2,6-di-tert-butyl-p-cresol, N-phenyl-α-naphthylamine, dialkyl diphenylamine and dialkyl dithiocarbamate.
7. The lubricating grease according to claim 1, characterized in that The extreme pressure and anti-wear additive is one or more of trialkyl phosphate, triaryl phosphate, triaryl thiophosphate, isomeric alkylphenyl phosphate, phosphate fatty amine salt and organic molybdate.
8. The lubricating grease according to claim 1, characterized in that The defoaming agent is one or more of siloxane, organic silicate, polyalkyl acrylate and polyethylene glycol stearyl ether.
9. The lubricating grease according to claim 1, characterized in that: The metal deactivator is one or more of benzotriazole derivatives, thiadiazole derivatives and heterocyclic compounds.
10. The method for preparing the lubricating grease according to claim 1, characterized in that: The following steps are involved: 1) Weigh the raw materials according to the weight parts: 2) Mix the polyalphaolefin base oil, composite lubricant and antioxidant at 50-70°C evenly; then add extreme pressure anti-wear additives, defoaming agent and metal deactivator and mix at constant temperature for 1-2h, then add composite barium-based thickener and mix evenly.