Special gear for industrial robot

Abstract

The special gear for the industrial robot relates to the technical field of gears and comprises a main body, an oil storage box is arranged in the main body, multiple sets of spiral oil spraying pipes are arranged on the outer side of the oil storage box, flow limiting blocks are arranged at openings of the spiral oil spraying pipes, and flow limiting rings are arranged in the flow limiting blocks. And a plurality of groups of teeth are arranged on the outer side of the main body. The device is fixed to a motor output shaft or an external transmission end through the mounting hole, slipping is prevented through the groove, lubricating oil is injected into the oil storage box through the oil injection port during use, centrifugal force enables the lubricating oil to flow to a tooth root along the spiral oil injection pipe when the main body rotates, and high temperature of the tooth root triggers thermal expansion of the memory metal flow limiting ring of the flow limiting block during high-speed rotation. According to the structure, the contact fatigue performance is improved through self-lubrication and asymmetric tooth surfaces, the bending strength is enhanced, the vibration noise is reduced, and collaborative optimization of lubrication and mechanical performance is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of gears, and specifically to a gear dedicated for industrial robots. Background Art

[0002] As a core component of a precision transmission system, the technology development of gears dedicated for industrial robots stems from the combination of the innovation of traditional gear manufacturing processes and the requirements of high-precision applications. In the early days, gears were mostly made of carbon steel or alloy steel and formed by cutting processes such as hobbing and shaping. Although they could meet the requirements of general mechanical transmissions, problems such as tooth surface wear and fatigue spalling were likely to occur under the working conditions of high speed, heavy load, and frequent start-stop of robot joints. With the development of the robot industry towards high precision and lightweight, gear materials have gradually shifted to high-performance materials such as carburized and quenched alloy steels and powder metallurgy, and profile modification designs have been introduced to compensate for elastic deformation. In terms of manufacturing processes, finishing technologies such as grinding and honing have replaced traditional cutting, and coordinate measuring machines are used to achieve micron-level precision control. In addition, in order to reduce transmission noise and vibration, new designs such as double circular arc tooth profiles and asymmetric tooth profiles have gradually replaced involute gears. Modern industrial robot gears are more integrated with sensor interfaces and lubrication structures to form mechatronic modules, and their technological evolution has directly promoted the improvement of the robot's repeat positioning accuracy and service life.

[0003] Most of the gears dedicated for industrial robots in the prior art have the following disadvantages in structural design: Traditional symmetric gears use a single pressure angle design, making it difficult to optimize the load-bearing capacity and friction performance synergistically. Increasing the pressure angle can improve strength, but it will exacerbate tooth surface slip and heat loss. At the same time, the tooth root transition curve of the standard tooth profile lacks stress dispersion design, and local stress concentration is likely to occur under alternating loads. In terms of the lubrication system, the fixed-structure spiral groove or straight groove design can neither ensure the oil film stability under high-speed conditions nor intelligently adjust the oil supply parameters according to the speed change, seriously affecting the transmission efficiency and reliability. These structural defects restrict the performance of industrial robots under high-precision and heavy-load working conditions. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide a gear dedicated for industrial robots to solve the technical problems that traditional gears are difficult to balance the load-bearing and friction performance due to the single pressure angle design, obvious tooth root stress concentration, and the fixed lubrication structure being unable to adapt to variable speed conditions, resulting in unstable oil film and affecting the performance of high-precision and heavy-load operations.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A gear dedicated for industrial robots, including a main body. Inside the main body, there is an oil storage box. Outside the oil storage box, there are multiple groups of spiral oil spray pipes. At the opening of the spiral oil spray pipes, there are flow limiting blocks. Inside the flow limiting blocks, there are flow limiting rings. Outside the main body, there are multiple groups of teeth.

[0006] By adopting the above technical solution, the staff installs the main body to the output shaft end or external transmission end of the motor through the mounting hole opened inside it, and fixes it through the groove opened inside the mounting port to prevent it from slipping in the subsequent rotation transmission, which causes transmission failure and affects subsequent use. When the installation is completed, the main body is divided into an active side and a passive side, and the tooth side surface of the active side is a helical tooth, because the helical teeth on the active side mesh with the external driven gear to transmit, and because of the helical teeth setting on the main side, the contact stress distribution is more uniform and the load per unit area is reduced by increasing the meshing line length. At the same time, the high overlap of the helical teeth can significantly reduce the meshing impact and inhibit the micro-pitting of the tooth surface; Furthermore, multiple groups of blocking blocks are arranged inside the flow limiting ring, an oil outlet is opened at one end of the spiral oil spray pipe, and the oil outlet is matched with the blocking block, multiple groups of through holes matching with the spiral oil spray pipe are opened inside the main body, and an oil filling port is arranged at one end of the oil storage box.

[0007] By adopting the above technical solution, the tooth side surface of the driven side on the other side of the main body is provided with straight teeth, thereby achieving a low tooth surface slip rate and reducing the friction coefficient. Combined with lubrication optimization, the temperature rise effect can be reduced, and the difference in stiffness between the helical teeth and the straight teeth is combined to suppress the resonance frequency offset and reduce the vibration amplitude. Then, when the main body needs to be used for rotation, it is first necessary to use external tools to fill the lubricating oil into the oil storage box provided inside the main body through the oil filling port provided at one end of the main body, and ensure that the amount of lubricating oil is sufficient. Then, when the main body rotates with its center of circle as the axis, the centrifugal force will be used to force the lubricating oil inside the oil storage box to slowly flow out along the spiral oil spray pipe connected to the outside of the oil storage box. When the lubricating oil slowly flows out from the oil outlet of the spiral oil spray pipe, it will directly reach the tooth root of the main body, thereby lubricating the tooth root side of the meshing gears, and according to the speed of the gear, the lubricating oil stored in the oil storage box inside the main body can flow out according to the centrifugal force, thereby realizing dynamic adjustment of the lubricating oil. Furthermore, a mounting hole is provided inside the main body, a cavity matching the spiral oil injection pipe is provided inside the oil storage box, one side of the tooth is arranged as an inclined surface, and the other side of the tooth is arranged as a straight surface, a helical gear is provided on the active side of the main body, and a spur gear is provided on the driven side of the main body.

[0008] By adopting the above technical solution, when the main body rotates at high speed, local high temperature will occur due to mutual friction at the tooth root of the gear. At this time, the flow-limiting block arranged inside the oil outlet of the lubrication system at the tooth root will be self-adaptively adjusted due to temperature changes. The core component of the flow-limiting block is a flow-limiting ring made of shape memory alloy, which has temperature-sensitive characteristics. When the frictional heat at the tooth root is conducted to the flow-limiting ring, the metal material will generate radial deformation due to the thermal expansion effect. This deformation mechanism will synchronously drive multiple blocking blocks embedded inside the ring body to displace towards the periphery, thereby dynamically expanding the flow cross-sectional area of the oil outlet of the spiral oil injection pipe. This aperture adjustment function based on temperature feedback realizes dual optimization: on the one hand, by increasing the oil supply in the high-temperature area, the problem that the viscosity of the lubricating oil decreases with the increase of temperature is effectively compensated; on the other hand, the continuity of the lubricating oil film under high-speed conditions is ensured, and the risk of oil film rupture caused by centrifugal force is avoided.

[0009] In summary, the present invention mainly has the following beneficial effects: The present invention is fixed on the motor output shaft or the external transmission end through the mounting holes, and the grooves are used to prevent slipping. After installation, the main body is divided into an active side and a passive side. The active side adopts a helical gear design. When meshing with the driven gear, the meshing line length is increased, the contact stress distribution is uniform, the unit load is reduced, and the impact and micropitting are reduced. The passive side adopts a straight gear design, which reduces the tooth surface slip rate and the friction coefficient, combines lubrication optimization to reduce the temperature rise, and the combination of helical and straight gears suppresses resonance and vibration. When in use, lubricating oil is filled into the oil storage box through the oil filling port. When the main body rotates, the centrifugal force makes the lubricating oil flow along the spiral oil injection pipe to the tooth root, realizing dynamic lubrication. When rotating at high speed, the high temperature at the tooth root triggers the thermal expansion of the shape memory alloy flow-limiting ring of the flow-limiting block, driving the blocking block to move outwards to expand the cross-sectional area of the oil outlet, increasing the oil supply in the high-temperature area, and maintaining the continuity of the oil film. This structure improves the contact fatigue performance, enhances the bending strength, reduces the vibration and noise through self-lubrication and asymmetric tooth surfaces, and realizes the synergistic optimization of lubrication and mechanical properties. Brief Description of the Drawings

[0010] Figure 1 is a schematic diagram of the overall structure of the present invention from the first perspective; Figure 2 is a schematic diagram of the overall structure of the present invention from the second perspective; Figure 3 is a schematic diagram of the overall structure of the present invention from the third perspective; Figure 4 is a schematic diagram of the tooth structure of the present invention; Figure 5 is a schematic diagram of the local structure of the present invention; Figure 6 is a schematic diagram of the internal structure of the present invention; Figure 7 For the present invention Figure 6 is an enlarged view of part A.

[0011] In the figure: 1. main body; 2. bevel gear; 3. spur gear; 4. oil storage box; 5. mounting hole; 6. oil filling port; 7. teeth; 8. oil outlet; 9. spiral oil spray pipe; 10. flow limiting block; 11. flow limiting ring; 12. blocking block. DETAILED DESCRIPTION

[0012] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0013] The following describes an embodiment of the present invention based on its overall structure.

[0014] A special gear for industrial robots, such as Figures 1 - 7 As shown, it includes a main body 1, an oil storage box 4 is arranged inside the main body 1, and multiple groups of spiral oil injection pipes 9 are arranged on the outside of the oil storage box 4. A limiting flow block 10 is arranged at the opening of the spiral oil injection pipe 9, and a limiting flow ring 11 is arranged inside the limiting flow block 10. Multiple groups of teeth 7 are arranged on the outside of the main body 1, wherein the main body 1 is installed to the output shaft end or the external transmission end of the motor through the mounting hole 5 opened inside by the staff, and is fixed through the groove opened inside the mounting port to prevent it from slipping in the subsequent rotation transmission, which causes transmission failure and affects subsequent use. When the installation is completed, the main body 1 is divided into an active side and a passive side, and the tooth side surface of the active side is a helical tooth, because the helical teeth on the active side mesh with the external driven gear to transmit, and because of the helical teeth on the main side, the contact stress distribution is more uniform and the load per unit area is reduced by increasing the meshing line length. At the same time, the high overlap of the helical teeth can significantly reduce the meshing impact and inhibit the micro-pitting of the tooth surface; Exemplarily, a plurality of blocking blocks 12 are arranged inside the current-limiting ring 11. An oil outlet 8 is provided at one end of the spiral oil spray pipe 9, and the oil outlet 8 is matched with the blocking block 12. A plurality of through holes matched with the spiral oil spray pipe 9 are provided inside the main body 1. An oil filling port 6 is provided at one end of the oil storage box 4. Among them, when the main body 1 rotates at a high speed, local high temperature will occur due to mutual friction at the gear tooth root part. At this time, the current-limiting block 10 arranged inside the oil outlet 8 of the lubrication system at the tooth root will be adaptively adjusted due to temperature change. The core component of the current-limiting block 10 is a current-limiting ring 11 made of shape memory alloy, which has temperature-sensitive characteristics. When the friction heat at the tooth root is conducted to the current-limiting ring 11, the metal material will generate radial deformation due to the thermal expansion effect. This deformation mechanism will synchronously drive the plurality of blocking blocks 12 embedded inside the ring body to displace outward, thereby dynamically expanding the flow cross-sectional area of the oil outlet 8 of the spiral oil spray pipe 9. This aperture adjustment function based on temperature feedback realizes double optimization: on the one hand, by increasing the oil supply in the high-temperature area, the problem that the viscosity of the lubricating oil decreases with the increase of temperature is effectively compensated; on the other hand, the continuity of the lubricating oil film under high-speed working conditions is ensured, and the risk of oil film breakage caused by centrifugal force is avoided; Exemplarily, an installation hole 5 is provided inside the main body 1. A cavity matched with the spiral oil spray pipe 9 is provided inside the oil storage box 4. One side of the tooth 7 is arranged as an inclined surface, and the other side of the tooth 7 is arranged as a straight surface. A helical gear 2 is arranged on the driving side of the main body 1, and a spur gear 3 is arranged on the driven side of the main body 1. Among them, on the driven side on the other side of the main body 1, the tooth surface provided is a straight tooth, so as to achieve a low tooth surface slip rate, reduce the friction coefficient, and combined with lubrication optimization, the function of reducing the temperature rise can be achieved. And through the combination of the stiffness differences of the helical tooth and the straight tooth, the resonance frequency shift is suppressed and the vibration amplitude is reduced. Then when it is necessary to use the main body 1 to rotate, first, it is necessary to use an external tool to fill lubricating oil into the oil storage box 4 arranged inside the main body 1 through the oil filling port 6 arranged at one end of the main body 1, and ensure that the amount of lubricating oil is sufficient. Then when the main body 1 rotates around its center, the centrifugal force will force the lubricating oil inside the oil storage box 4 to slowly flow out along the spiral oil spray pipe 9 communicated with the outside of the oil storage box 4. When the lubricating oil slowly flows out from the oil outlet 8 of the spiral oil spray pipe 9, it will directly reach the tooth root of the main body 1, thereby lubricating the tooth root side where the gears mesh, and the lubricating oil stored inside the oil storage box 4 inside the main body 1 can flow out according to the centrifugal force according to the speed of the gear rotation, so as to realize the dynamic adjustment of the lubricating oil; The working principle of the present invention is as follows: When in use, the main body 1 is installed on the output shaft end of the motor or the external transmission end through the installation hole 5 provided inside it, and is fixed through the groove provided inside the installation port to prevent slipping during subsequent rotational transmission, resulting in transmission failure and affecting subsequent use; When the installation is completed, the main body 1 is divided into an active side and a passive side, and the tooth side surface of the active side is a helical tooth, because the helical teeth of the active side mesh with the external driven gear to transmit, and because of the helical teeth setting of the main side surface, the contact stress distribution is more uniform and the load per unit area is reduced by increasing the meshing line length. At the same time, the high overlap of the helical teeth can significantly reduce the meshing impact and inhibit the micro pitting of the tooth surface; The driven side of the main body 1 has straight teeth on its tooth side, which reduces the tooth surface slip rate and friction coefficient, and reduces the temperature rise by combining lubrication optimization. Then, when the main body 1 needs to be rotated, it is first necessary to use external tools to fill the lubricating oil into the oil storage box 4 provided inside the main body 1 through the oil filling port 6 provided at one end of the main body 1, and ensure that the amount of lubricating oil is sufficient. Then, when the main body 1 rotates with its center of circle as the axis, the centrifugal force will force the lubricating oil inside the oil storage box 4 to slowly flow out along the spiral oil injection pipe 9 connected to the outside of the oil storage box 4. When the lubricating oil slowly flows out from the oil outlet 8 of the spiral oil injection pipe 9, it will directly reach the tooth root of the main body 1, thereby lubricating the tooth root side of the meshing gears, and according to the speed of the gear, the lubricating oil stored in the oil storage box 4 inside the main body 1 can flow out according to the centrifugal force, thereby realizing dynamic adjustment of the lubricating oil. When the main body 1 rotates at high speed, the root of the gear teeth will generate local high temperature due to mutual friction. At this time, the flow limiting block 10 arranged inside the oil outlet 8 of the lubrication system at the root of the tooth will be affected by the temperature change and will be adaptively adjusted. The core component of the flow limiting block 10 is a flow limiting ring 11 made of memory metal, which has temperature sensitivity. When the friction heat of the tooth root is transmitted to the flow limiting ring 11, the metal material will produce radial deformation due to the thermal expansion effect. This deformation mechanism will simultaneously drive the multiple blocking blocks 12 embedded in the ring body to move toward the periphery, thereby dynamically expanding the flow cross-sectional area of ​​the oil outlet 8 of the spiral oil injection pipe 9. This aperture adjustment function based on temperature feedback achieves dual optimization: on the one hand, by increasing the oil supply in the high-temperature area, it effectively compensates for the problem that the viscosity of the lubricating oil decreases with the increase of temperature; on the other hand, it ensures the continuity of the lubricating oil film under high-speed conditions, avoiding the risk of oil film rupture due to centrifugal force; Through the above structure, a self-regulating lubrication method and asymmetric tooth side surfaces are achieved, which significantly improves the contact fatigue performance of the gear pair, while enhancing the bending strength of the tooth root structure. It also performs well in reducing operating vibration and noise, thereby achieving the synergistic optimization of lubrication efficiency and mechanical properties.

[0015] Although embodiments of the present invention have been shown and described, the specific embodiments are only explanations of the present invention and not limitations thereof. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art can make modifications, substitutions and variations that do not make creative contributions to the embodiments as needed, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A special gear for industrial robots, comprising a main body (1), characterized in that: Inside the said main body (1), there is an oil storage box (4). Outside the oil storage box (4), there are multiple groups of spiral oil spray pipes (9). At the opening of the spiral oil spray pipe (9), there is a flow limiting block (10). Inside the flow limiting block (10), there is a flow limiting ring (11). Outside the main body (1), there are multiple groups of teeth (7).

2. The special gear for industrial robots according to claim 1, wherein: Inside the flow limiting ring (11), there are multiple groups of blocking blocks (12). One end of the spiral oil spray pipe (9) is provided with an oil outlet (8), and the oil outlet (8) is matched with the blocking block (12).

3. The special gear for an industrial robot according to claim 1, wherein: Inside the main body (1), there are multiple groups of through holes matched with the spiral oil spray pipes (9). One end of the oil storage box (4) is provided with an oil filling port (6).

4. The special gear for an industrial robot according to claim 1, characterized in that: Inside the main body (1), there is an installation hole (5). Inside the oil storage box (4), there is a cavity matched with the spiral oil spray pipe (9).

5. The special gear for an industrial robot according to claim 1, wherein: One side surface of the tooth (7) is arranged in an inclined plane, and the other side surface of the tooth (7) is arranged in a straight plane.

6. The special gear for industrial robot according to claim 1, characterized in that: On the active side of the main body (1), there is a helical gear (2). On the driven side of the main body (1), there is a spur gear (3).

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