Assembly method of standard planetary roller screw pair
By quickly assembling the roller and nut into an integrated module using a radial retainer and a circumferential retainer, and then assembling it with a lead screw, the problem of low assembly efficiency in the prior art is solved, and an efficient and precise assembly process is achieved.
Patent Information
- Application Number
- CN202510097467.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-22
- Publication Date
- 2025-04-15
AI Technical Summary
The existing standard planetary roller screw pair assembly method cannot achieve efficient assembly while ensuring transmission accuracy and performance, resulting in low assembly efficiency.
Using radial retainers and circumferential retainers, these devices quickly assemble rollers and nuts into integrated modules, and then quickly assemble with lead screws to simplify assembly processes and improve efficiency.
It realizes efficient assembly of standard planetary roller screw pairs, ensuring transmission accuracy and performance, while simplifying the assembly process and easy to automate assembly.
Smart Images
Figure CN119825885A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of planetary roller screw assembly methods, and in particular to an assembly method of a standard planetary roller screw pair. Background Art
[0002] The planetary roller screw pair is a rolling screw transmission mechanism that converts linear motion into rotational motion. Its basic principle is to transmit power through multi-point threaded contact between multiple rollers and the screw and nut raceway. It has the characteristics of large number of contact points, large bearing capacity and long service life. As the actuator of the electromechanical actuator in the power transmission system, the planetary roller screw pair is gradually used in aerospace, shipbuilding, intelligent manufacturing and weapon equipment.
[0003] Among them, standard planetary roller screws are widely used in various precision machinery due to their excellent transmission performance and high load capacity. Fig.11 As shown in the figure, a standard planetary roller screw generally includes a screw, a roller and a nut. An inner gear ring is provided at both ends of the nut. The two ends of the threaded section on the roller are provided with end gear sections composed of gears and threads. The inner gear ring and the end gear section are meshed, which can limit the roller and prevent the roller from tilting. The threaded section of the roller, the screw and the nut form a threaded match at the same time. Compared with traditional screws, standard planetary roller screws have higher transmission efficiency and lower friction, which can reduce energy loss and improve the overall performance of the system. Its planetary roller design allows the load to be evenly distributed, effectively reducing single-point pressure, thereby improving durability and stability.
[0004] However, the problem of automated assembly in industrial sites is one of the reasons that hinder the further mass production of standard planetary roller screw pairs. The existing assembly methods and operations cannot ensure the transmission accuracy and performance of the planetary roller screw pairs while achieving high assembly efficiency. Summary of the invention
[0005] In view of the technical problem that the existing assembly method of the standard planetary roller screw pair has defects, the present invention provides an assembly method of a standard planetary roller screw pair, which can efficiently and conveniently realize the assembly of rollers and nuts by using radial retainers and circumferential retainers, while ensuring the transmission accuracy and performance of the standard planetary roller screw pair, and improving the overall assembly efficiency of the standard planetary roller screw pair.
[0006] The technical solution provided by the present invention is: a method for assembling a standard planetary roller screw pair, characterized in that it includes: S1, assembling two inner gear rings in a nut; S2, preparing a radial retainer and a circumferential retainer: the radial retainer is in a cylindrical shape, and a through notch is arranged on the radial retainer; the circumferential retainer includes a barrel, an end block is fixedly arranged at one end of the barrel, a through opening is arranged at the center of the end block, and the end block is uniformly provided with open limiting grooves along the circumferential direction near the through opening, and the number of the limiting grooves is consistent with the number of rollers; S3, inserting the radial retainer into the center of the nut, and arranging the two circumferential retainers on both sides of the radial retainer respectively: initially, ensure that the center plane P1 of the limiting groove corresponding to the notch on any circumferential retainer coincides with the center plane P2 of the notch; S4, installing a roller into the radial retainer and the circumferential retainer. In the retainer: initially ensure that the roller, the radial retainer and the circumferential retainer are coaxially matched, then push the roller through the gap until the optical axis segments at both ends of the roller are stuck in the limit groove, and ensure that the roller is meshed with the nut and the inner ring gear; S5, the two circumferential retainers rotate synchronously at a fixed angle, and at the same time drive the roller to rotate, vacate the limit groove, and ensure that the center plane P1 of the next limit groove corresponding to the gap coincides with the center plane P2 of the gap; S6, repeat S4 and S5 until all rollers are assembled; S7, remove the circumferential retainer on one side, and install the retainer and elastic retainer on this side in turn, remove the radial retainer, and then remove the circumferential retainer on the other side, and install the retainer and elastic retainer on this side in turn, so that the nut, inner ring gear, roller, retainer and elastic retainer constitute an integrated module; S8, screw the screw into the integrated module, and the standard planetary roller screw pair is assembled.
[0007] Optionally, for step S1, the outer ring surface of the inner gear ring is interference fit with the inner ring surfaces at both ends of the nut, and the inner gear ring and the nut are fixed relative to each other using positioning pins.
[0008] Optionally, for step S3, while ensuring that the center plane P1 and the center plane P2 coincide with each other, ensure that the thread starting point M of the nut coincides with the center plane P1 and the center plane P2.
[0009] Optionally, for step S4, when the roller is installed in the radial retainer and the circumferential retainer, it is necessary to ensure that the thread starting point R of the roller and the thread starting point M of the nut are in the same plane.
[0010] Optionally, for step S5, a single rotation angle of the two circumferential retainers is θ=360° / N, wherein N is the number of rollers.
[0011] Optionally, an elastic card is provided at the opening of the limiting groove, and the distance between two elastic cards located in the same limiting groove is smaller than the diameter of the optical axis segment of the roller.
[0012] Optionally, a mounting groove is provided on the limiting groove, and the elastic card is fixedly disposed in the mounting groove.
[0013] Optionally, the outer diameter of the radial retainer is smaller than the inner diameter of the circumferential retainer.
[0014] Optionally, the diameter of the notch is larger than the outer diameter of the roller.
[0015] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: In view of the technical problem that the existing assembly method of the planetary roller screw pair has defects, the present invention simplifies the assembly process of the standard planetary roller screw pair by using radial retainers and circumferential retainers: quickly assemble the roller and the nut containing the inner gear ring into an integrated module, and then quickly assemble the integrated module with the screw. This form can efficiently and conveniently realize the assembly between the roller, nut and screw, while ensuring the transmission accuracy and performance of the standard planetary roller screw pair, and improving the overall assembly efficiency of the standard planetary roller screw pair. In addition, the radial retainer and the circumferential retainer have a simple structure, a simple assembly process, and are easy to match with intelligent equipment such as a robotic arm, thereby realizing industrial automated assembly. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 This is a schematic diagram of the assembly of the inner gear ring and the nut proposed in an embodiment of the present invention.
[0017] Figure 2 This is one of the structural schematic diagrams of the circumferential retainer proposed in an embodiment of the present invention.
[0018] Figure 3 This is the second structural schematic diagram of the circumferential retainer proposed in an embodiment of the present invention.
[0019] Figure 4 This is one of the structural schematic diagrams of the radial retainer proposed in the embodiment of the present invention.
[0020] Figure 5 This is the second structural schematic diagram of the radial retainer proposed in the embodiment of the present invention.
[0021] Figure 6 This is one of the schematic layout diagrams of the radial retainer and the circumferential retainer proposed in the embodiment of the present invention.
[0022] Figure 7 This is the second schematic diagram of the layout of the radial retainer and the circumferential retainer proposed in the embodiment of the present invention.
[0023] Figure 8 This is one of the schematic diagrams of the assembly process of the roller proposed in the embodiment of the present invention.
[0024] Fig. 9 This is the second schematic diagram of the assembly process of the roller proposed in the embodiment of the present invention.
[0025] Fig.10 It is a schematic diagram of the assembly relationship between the roller and the nut proposed in an embodiment of the present invention.
[0026] Fig.11 It is a schematic diagram of the structure explosion of the standard planetary roller screw pair proposed in an embodiment of the present invention. DETAILED DESCRIPTION
[0027] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
[0028] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the invention are shown in the accompanying drawings. The words "first", "second", etc. described in the present invention are set for the convenience of describing the technical solution of the present invention, and have no specific limiting effect. They are all general references and do not constitute a limiting effect on the technical solution of the present invention. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection between the insides of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Multiple technical solutions in the same embodiment, and multiple technical solutions in different embodiments, can be arranged and combined to form new technical solutions without contradictions or conflicts, all of which are within the scope of protection required by the present invention.
[0029] Combined with Figure 1 To Attachment Fig.11 This embodiment provides a method for assembling a standard planetary roller screw pair, including: S1, as shown in the attached Figure 1As shown, two inner gear rings 31 are assembled in the nut 30. Preferably, the outer ring surface of the inner gear ring 31 and the inner ring surfaces at both ends of the nut 30 are ensured to be interference fit, and the inner gear ring 31 and the nut 30 are relatively fixed by positioning pins.
[0030] S2, as attached Figure 2 To Attachment Figure 5 As shown, a radial retainer 1 and a circumferential retainer 2 are prepared: the radial retainer 1 is cylindrical, and a through notch 10 is arranged on the radial retainer 1; the circumferential retainer 2 includes a barrel 20, and an end block 21 is fixedly arranged at one end of the barrel 20, a through opening 22 is arranged at the center of the end block 21, and open limiting grooves 23 are evenly arranged along the circumferential direction near the through opening 22 of the end block 21, and the number of the limiting grooves 23 is consistent with the number of the rollers 32.
[0031] Among them, the function of the circumferential retainer 2 is to drive the roller 32 to make circumferential motion around the screw 35, and the function of the radial retainer 1 is to ensure that the roller 32 does not disengage from the screw 35 when making circumferential motion around the nut 30. The sizes of the radial retainer 1 and the circumferential retainer 2 mentioned in this embodiment can be replaced with corresponding sizes according to the inner diameter of the nut 30 (or according to the standard planetary roller screw pair of different specifications), and the appearance of the radial retainer 1 and the circumferential retainer 2 can be adjusted according to the actual assembly production line clamping device.
[0032] S3, as attached Figure 6 To Attachment Fig.10 As shown, the radial retainer 1 is inserted into the center of the nut 30 by a robotic arm or other intelligent manufacturing equipment, and the two circumferential retainers 2 are arranged on both sides of the radial retainer 1: initially, ensure that the center plane P1 of the limiting groove 23 corresponding to the notch 10 on any circumferential retainer 2 coincides with the center plane P2 of the notch 10, so that the subsequent roller 32 can enter the limiting groove 23 through the notch 10.
[0033] In this step, while ensuring that the center plane P1 and the center plane P2 coincide with each other, Figure 7 and attached Figure 8 As shown, it can further ensure that the thread starting point M of the nut 30 coincides with the center plane P1 and the center plane P2, so as to ensure that during subsequent assembly, the end tooth segment of the roller 32 is meshed with the inner gear ring 31, and the thread segment of the roller 32 is threadedly matched with the internal thread of the nut 30.
[0034] Generally, when the center plane P1 is designed to coincide with the center plane P2 of the notch 10, the outer diameter of the radial retainer 1 is preferably smaller than the inner diameter of the circumferential retainer 2, so that the radial retainer 1 and the circumferential retainer 2 do not require high positioning accuracy during the initial arrangement, and there can be a slight deviation in the coaxiality of the two. The mutual positioning of the notch 10 and the limit groove 23 can also ensure the subsequent assembly of the roller 32.
[0035] S4. Install a roller 32 into the radial retainer 1 and the circumferential retainer 2 through a robotic arm or other intelligent manufacturing equipment: initially ensure that the roller 32, the radial retainer 1 and the circumferential retainer 2 are coaxially matched, then push the roller 32 through the notch 10 until the optical axis sections at both ends of the roller 32 are inserted into the limiting grooves 23, and ensure that the roller 32 is meshed with the nut 30 and the inner gear ring 31.
[0036] And, see Attachment Fig. 9 In step S4, when the roller 32 is installed in the radial retainer 1 and the circumferential retainer 2, it is necessary to ensure that the thread starting point R of the roller 32 and the thread starting point M of the nut 30 are in the same plane. This can further ensure that the gear meshing of the roller 32 and the inner gear ring 31 and the thread matching of the roller 32 and the nut 30 are completed at the same time.
[0037] In one embodiment, an elastic card 4 is provided at the opening of the limiting groove 23, and the distance between two elastic cards 4 located in the same limiting groove 23 is smaller than the diameter of the optical axis section of the roller 32. Therefore, when the roller 32 enters the limiting groove 23, the optical axis sections at both ends of the roller 32 can be inserted between the elastic cards 4, thereby further achieving stable clamping of the roller 32.
[0038] The assembly of the elastic card 4 can be achieved through the installation groove 5, that is, the limiting groove 23 is provided with the installation groove 5, and the elastic card 4 can be fixedly arranged in the installation groove 5 by bonding, clamping or welding.
[0039] S5. When the optical axis segment of a roller 32 is assembled with the limit groove 23, the two circumferential retainers 2 are synchronously rotated at a fixed angle by controlling intelligent equipment such as a robotic arm. At the same time, the roller 32 will be driven to rotate accordingly, thereby vacating the limit groove 23. During rotation, it is necessary to ensure that the center plane P1 of the next limit groove 23 corresponding to the notch 10 coincides with the center plane P2 of the notch 10.
[0040] In this step, the single rotation angle of the two circumferential retainers 2 is θ=360° / N, where N is the number of rollers 32. For example, when the number of rollers 32 is ten, N=10, and the single rotation angle θ is 36°.
[0041] S6. Repeat S4 and S5 until all rollers 32 are assembled.
[0042] For steps S4 to S6 , the rollers 32 need to pass through the notches 10 one by one, and then ensure that the optical axis segments at both ends of the rollers 32 are inserted into the limiting grooves 23 , so the size of the notches 10 needs to be larger than the outer diameter of the rollers 32 .
[0043] S7. After all rollers 32 are assembled, remove the circumferential retainer 2 on one side by manipulating intelligent equipment such as a robotic arm, and install the retainer 33 and the elastic retainer 34 on this side in sequence, remove the radial retainer 1, and then remove the circumferential retainer 2 on the other side, and install the retainer 33 and the elastic retainer 34 on this side in sequence, so that the nut 30, the inner ring 31, the roller 32, the retainer 33 and the elastic retainer 34 form an integrated module.
[0044] S8. Finally, screw the lead screw 35 into the integrated module, and the assembly of the standard planetary roller screw pair is completed.
[0045] In view of the technical problem that the existing assembly method of the planetary roller screw pair has defects, this embodiment simplifies the assembly process of the standard planetary roller screw pair by using the radial retainer 1 and the circumferential retainer 2: quickly assemble the roller 32 and the nut 30 including the inner gear ring 31 into an integrated module, and then quickly assemble the integrated module with the screw 35. This form can efficiently and conveniently realize the assembly between the roller 32, the nut 30 and the screw 35, while ensuring the transmission accuracy and performance of the standard planetary roller screw pair, and improving the overall assembly efficiency of the standard planetary roller screw pair. In addition, the radial retainer 1 and the circumferential retainer 2 have a simple structure, a simple assembly process, and are easy to match with intelligent equipment such as a robotic arm, thereby realizing industrial automated assembly.
[0046] The present invention and its embodiments are described schematically above, and the description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and designs a structural method and an embodiment similar to the technical solution without creativity without departing from the purpose of the invention, they shall all fall within the protection scope of the present invention.
Claims
1. A method for assembling a standard planetary roller screw pair, characterized in that: include: S1. Assemble the two inner gear rings (31) into the nuts (30); S2. Prepare a radial retainer (1) and a circumferential retainer (2): the radial retainer (1) is cylindrical, and is provided with a through notch (10); the circumferential retainer (2) comprises a barrel (20), one end of which is fixedly provided with an end block (21), a through opening (22) is provided at the center of the end block (21), and the end block (21) is provided with open limiting grooves (23) uniformly arranged along the circumferential direction near the through opening (22), and the number of the limiting grooves (23) is consistent with the number of the rollers (32); S3, inserting the radial retainer (1) into the center of the nut (30), and arranging the two circumferential retainers (2) on both sides of the radial retainer (1) respectively: initially, ensuring that the center plane P1 of the limiting groove (23) corresponding to the notch (10) on any of the circumferential retainers (2) coincides with the center plane P2 of the notch (10); S4, install a roller (32) into the radial retainer (1) and the circumferential retainer (2): initially ensure that the roller (32), the radial retainer (1) and the circumferential retainer (2) are coaxially matched, then push the roller (32) through the notch (10) until the optical axis sections at both ends of the roller (32) are inserted into the limiting grooves (23), and ensure that the roller (32) is meshed with the nut (30) and the inner gear ring (31); S5, the two circumferential retainers (2) rotate synchronously at a fixed angle, and at the same time drive the roller (32) to rotate, so as to vacate the limiting groove (23), and ensure that the center plane P1 of the next limiting groove (23) corresponding to the notch (10) coincides with the center plane P2 of the notch (10); S6, repeat S4 and S5 until all rollers (32) are assembled; S7, remove the circumferential retainer (2) on one side, and sequentially install the retainer (33) and the elastic retainer (34) on the side, remove the radial retainer (1), and then remove the circumferential retainer (2) on the other side, and sequentially install the retainer (33) and the elastic retainer (34) on the side, so that the nut (30), the inner gear ring (31), the roller (32), the retainer (33) and the elastic retainer (34) form an integrated module; S8. Screw the lead screw (35) into the integrated module, and the assembly of the standard planetary roller screw pair is completed.
2. The method for assembling a standard planetary roller screw pair according to claim 1, characterized in that: In step S1, the outer ring surface of the inner gear ring (31) is interference-fitted with the inner ring surfaces at both ends of the nut (30), and the inner gear ring (31) and the nut (30) are relatively fixed by positioning pins.
3. The assembly method of a standard planetary roller screw pair according to claim 1, characterized in that: For step S3, while ensuring that the center plane P1 and the center plane P2 coincide with each other, ensure that the thread starting point M of the nut (30) coincides with the center plane P1 and the center plane P2.
4. The method for assembling a standard planetary roller screw pair according to claim 3, characterized in that: For step S4, when the roller (32) is installed into the radial retainer (1) and the circumferential retainer (2), it is necessary to ensure that the thread starting point R of the roller (32) and the thread starting point M of the nut (30) are in the same plane.
5. The method for assembling a standard planetary roller screw pair according to claim 1, characterized in that: For step S5, the single rotation angle of the two circumferential retainers (2) is θ=360° / N, where N is the number of rollers (32).
6. The method for assembling a standard planetary roller screw pair according to claim 1, characterized in that: An elastic card (4) is arranged at the opening of the limiting groove (23), and the distance between two elastic cards (4) located in the same limiting groove (23) is smaller than the diameter of the optical axis section of the roller (32).
7. The method for assembling a standard planetary roller screw pair according to claim 6, characterized in that: The limiting groove (23) is provided with a mounting groove (5), and the elastic card (4) is fixedly arranged in the mounting groove (5).
8. The method for assembling a standard planetary roller screw pair according to claim 1, characterized in that: The outer diameter of the radial retainer (1) is smaller than the inner diameter of the circumferential retainer (2).
9. The method for assembling a standard planetary roller screw pair according to claim 1, characterized in that: The diameter of the notch (10) is greater than the outer diameter of the roller (32).