High-strength and high-wear-resistance robot joint bevel gear shaft

Abstract

The utility model discloses a high strength high wear -resisting's robot joint bevel gear axle belongs to bevel gear axle field, including bevel gear still include: axle body, the end surface of axle body is installed on bevel gear, and the surface of axle body is provided with recess by the annular array of middle part and disperses outward, and recess is inlayed with residual austenite organization, outer tooth block, the annular array is arranged in the axle body outside, and outer tooth block adopts high temperature high concentration short time carburizing process and is made, through the cooperation of above -mentioned each device, through the axle body, outer tooth block and middle axle rod of setting, adopt high temperature high concentration short time carburizing process, can obtain higher surface hardness and the carbide of being better than 2 level, the wear resistance of gear gets the very big promotion, increases residual austenite organization, is convenient for inhibiting the extension of crack, improves the fatigue resistance of gear axle, utilizes residual austenite in unstable characteristic, guarantees the size of gear axle in the process of being worn and torn and is made up.

Description

Technical Field

[0001] This utility model relates to the field of bevel gear shaft technology, specifically a high-strength, high-wear-resistant bevel gear shaft for robot joints. Background Technology

[0002] Bevel gear shafts are core components in robot joints used to change the direction of power transmission. They are widely used in joints such as arms and shoulders that require multi-degree-of-freedom movement. They are mainly used to adjust the direction of power transmission in robot joints, achieving multi-degree-of-freedom movement by changing the direction of the rotation axis, thus enabling flexible posture adjustment of the robot.

[0003] Precise meshing is required to ensure the stability and accuracy of power transmission in order to effectively absorb and attenuate the vibrations and shocks generated during gear transmission and achieve stable operation with low noise.

[0004] The gear shaft also has high requirements for material strength, and needs to be subjected to appropriate heat treatment processes to achieve high wear resistance and long service life.

[0005] Therefore, this invention provides a high-strength, high-wear-resistant bevel gear shaft for robot joints to solve the above problems. Utility Model Content

[0006] (a) Technical problems to be solved

[0007] This invention provides a high-strength, high-wear-resistant bevel gear shaft for robot joints, aiming to solve the problems mentioned in the background art.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, this utility model provides the following technical solution: a high-strength, high-wear-resistant bevel gear shaft for robot joints, comprising a bevel gear, and further comprising:

[0010] The shaft body has its end face mounted on the bevel gear, and the surface of the shaft body has grooves arranged in a circular array from the center outwards, with residual austenite embedded in the grooves;

[0011] The outer tooth blocks are arranged in a ring array on the outside of the shaft body, and the outer tooth blocks are made by a high temperature, high concentration and short time carburizing process;

[0012] The central shaft is installed inside the hollow groove opened in the middle of the shaft body.

[0013] As a preferred technical solution of this application, a shaft block is fixedly installed on the other end face of the shaft body, and the shaft block has intersecting grooves on its outside, with ribs embedded inside the grooves.

[0014] As a preferred technical solution of this application, the saw teeth of the outer tooth block are meshed with a bushing through the inner tooth block, and the bushing is provided with carbide blocking grooves distributed on its outer side to block the continuous distribution of carbides along the axial direction.

[0015] As a preferred technical solution of this application, a sealing ring is sleeved on the outer side of the end interface of the bevel gear, and the sealing ring is made of fluororubber, and the inner diameter of the sealing ring is interference-fitted with the interface of the bevel gear.

[0016] As a preferred technical solution of this application, the top end of the bevel gear is fixedly mounted with a shaft, and the center of the shaft has a rounded transition shape with an arc groove.

[0017] As a preferred technical solution of this application, an outer rod is fixedly installed on the end face of the shaft block, and the outer rod has a spiral groove on its outer surface.

[0018] (III) Beneficial Effects

[0019] 1. By using a high-temperature, high-concentration, short-time carburizing process with a specially designed shaft, external gear block, and central shaft, a higher surface hardness and better than level 2 carbides can be obtained, greatly improving the wear resistance of the gears. The addition of retained austenite structure facilitates the suppression of crack propagation, improves the fatigue resistance of the gear shaft, and utilizes the unstable characteristics of retained austenite to ensure that the wear of the gear shaft during use is compensated.

[0020] 2. Through the cooperation of the internal gear and bushing, a carbide blocking groove is provided to block the continuous distribution of carbides along the axial direction, which facilitates the interruption of the axial diffusion path of carbon, so that the carbides are distributed in a dispersed and discontinuous state, thereby avoiding brittle fracture in the transition zone due to continuous carbides, further improving the strength and toughness of the region, and also adapting to the variable load and high frequency start-stop conditions of robot joints. Attached Figure Description

[0021] Figure 1 A schematic diagram of the overall three-dimensional structure of a high-strength, high-wear-resistant robot joint bevel gear shaft;

[0022] Figure 2 This is a schematic diagram of the bevel gear in a high-strength, high-wear-resistant robot joint bevel gear shaft.

[0023] Figure 3 A cross-sectional schematic diagram of the bushing in the shaft of a high-strength, high-wear-resistant bevel gear for a robot joint;

[0024] Figure 4 This is a schematic diagram showing the installation of residual austenite structure in a high-strength, high-wear-resistant robot joint bevel gear shaft.

[0025] Figure 5This is a schematic diagram of the installation of the ribs in the bevel gear shaft of a high-strength, high-wear-resistant robot joint.

[0026] In the picture:

[0027] 1. Bevel gear; 2. Shaft; 3. Retained austenite structure; 4. External gear block; 5. Central shaft; 6. Shaft block; 7. Rib; 8. Internal gear block; 9. Bushing; 10. Sealing ring; 11. Shaft portion; 12. External rod. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] This invention provides a high-strength, high-wear-resistant bevel gear shaft for robot joints, such as... Figures 1-5 As shown, it includes bevel gear 1, and also includes:

[0030] Shaft 2, the end face of shaft 2 is mounted on bevel gear 1, and the surface of shaft 2 is provided with grooves arranged in a ring array from the middle outwards, and the grooves are embedded with residual austenite structure 3. The addition of residual austenite structure 3 helps to suppress crack propagation, improve the fatigue resistance of gear shaft, and utilize the unstable characteristics of residual austenite to ensure that the wear of gear shaft during use is compensated.

[0031] The outer gear block 4 is arranged in a ring array on the outside of the shaft body 2. The outer gear block 4 is made by high temperature, high concentration and short time carburizing process. The high temperature, high concentration and short time carburizing process can obtain higher surface hardness and better than level 2 carbides, and the wear resistance of the gear is greatly improved.

[0032] The central shaft 5 is installed inside the hollow groove in the middle of the shaft body 2. It passes through the hollow groove in the middle of the shaft body 2 along the axial direction. There is a pre-reserved assembly gap between the outer wall of the central shaft 5 and the inner wall of the hollow groove. It can be relatively fixed or rotated with the shaft body 2 by interference fit, key connection or bearing assembly, so as to ensure the installation stability and movement accuracy of the central shaft 5 inside the shaft body 2. The central shaft 5 is a rigid rod structure, and its overall length matches the axial dimension of the shaft body 2. It is precisely installed in the pre-set hollow groove in the middle of the shaft body 2. The hollow groove extends along the central axis of the shaft body 2, providing a stable installation carrier and radial limit for the central shaft 5.

[0033] Please see Figure 1 , Figure 3 , Figure 4 and Figure 5 A shaft block 6 is fixedly installed on the other end face of the shaft body 2. The shaft block 6 has intersecting grooves on its exterior. Ribs 7 are embedded inside the grooves. Multiple sets of grooves are formed in a cross or grid pattern on the outer side wall of the shaft block 6. The edges of the grooves are chamfered to avoid stress concentration. The ribs 7 are made of high-strength alloy material and their length matches the extension length of the grooves. The inner wall of the grooves has a pre-set limit protrusion, and the corresponding position of the ribs 7 has a limit groove. The two are precisely fitted by the concave and convex fit. After the ribs 7 are fitted, their outer surface is flush with or slightly higher than the outer wall of the shaft block 6, which is used to improve the torsional and compressive resistance of the shaft block 6 during transmission and load-bearing processes.

[0034] Please see Figure 3 and Figure 4 The outer toothed block 4 is meshed with the inner toothed block 8 through the bushing 9. The bushing 9 is made of high carbon steel, which is easy to form a continuous carbide network structure extending axially during heat treatment processes such as carburizing and quenching. Therefore, on the outer surface of the bushing 9, there are multiple sets of axially extending carbide blocking grooves evenly distributed in the circumferential direction. Each set of blocking grooves contains multiple parallel grooves, and adjacent sets of blocking grooves are arranged in an alternating manner. This can cut off the continuous growth path of carbides and prevent brittle cracking caused by carbide aggregation, without excessively weakening the overall structural strength of the bushing 9. The outer side of the bushing 9 is provided with carbide blocking grooves to block the continuous distribution of carbides along the axial direction.

[0035] Please see Figure 2 , Figure 3 and Figure 4 A sealing ring 10 is fitted onto the outer side of the end interface of the bevel gear 1. The sealing ring 10 is made of fluororubber and its inner diameter is interference-fitted with the interface of the bevel gear 1. The sealing ring 10 has the characteristics of high temperature resistance, acid and alkali resistance and aging resistance. The inner diameter of the sealing ring 10 is larger than the outer diameter of the end interface of the bevel gear 1.

[0036] Please see Figure 1 and Figure 4 The top of the bevel gear 1 is fixedly mounted with a shaft 11, and the center of the shaft 11 has a rounded transition shape with an arc groove. The arc groove in the central area of ​​the shaft 11 is opened along the axial direction. Its inner wall has no sharp corners and has a continuous and smooth arc transition. Compared with the right angle groove structure, it can effectively disperse the stress generated by the shaft 11 during high-speed rotation or load-bearing process, and prevent the shaft 11 from cracking due to stress concentration.

[0037] Please see Figure 1 , Figure 2 and Figure 3An outer rod 12 is fixedly installed on the end face of the shaft block 6. The outer rod 12 has a mating relationship with the external drive interface, which can assist the spline segment in transmitting part of the torque, reduce the load concentration of the spline teeth, and improve the transmission stability. The outer rod 12 has a spiral groove on its outside. The spiral groove can form a spiral engagement with the protrusion, which enhances the anti-loosening effect after assembly and prevents the bevel gear 1 and the shaft block 6 from rotating relative to each other under high-frequency start-stop and variable load conditions.

[0038] Specifically, the shaft body 2 of the bevel gear 1 is internally reinforced with retained austenite 3 to suppress crack propagation and improve the fatigue resistance of the gear shaft. The unstable nature of the retained austenite ensures that the wear on the gear shaft during use is compensated. During robot joint operation, the two sets of bevel gears 1 mesh and rotate. During rotation, the robot joint is adjusted. A sealing ring 10 enhances the sealing between the joint connections, preventing lubricant leakage and external dust intrusion, while also preventing axial loosening. Subsequently, the outer tooth block 4 and inner tooth block 8, when meshing and rotating, utilize 20CrMo steel, which provides higher impact toughness. Ribs 7 are added to the outside of the shaft block 6 to enhance the strength and toughness of this area, adapting to the variable load and high-frequency start-stop conditions of the robot joint, reducing wear during operation. Furthermore, a carbide blocking groove is formed on the outside of the bushing 9 to block the continuous axial distribution of carbides, interrupting the axial diffusion path of carbon and resulting in a dispersed and discontinuous distribution of carbides, thus preventing brittle fracture in the transition zone due to continuous carbides.

[0039] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A high-strength, high-wear-resistant bevel gear shaft for robot joints, comprising a bevel gear (1), characterized in that: Also includes: Shaft (2), the end face of shaft (2) is mounted on the bevel gear (1), and the surface of shaft (2) is provided with grooves in a ring array from the middle outwards, and the grooves are embedded with residual austenite structure (3); The outer tooth blocks (4) are arranged in a ring array on the outside of the shaft (2), and the outer tooth blocks (4) are made by high temperature, high concentration and short time carburizing process; The central shaft (5) is installed inside the hollow groove opened in the middle of the shaft (2).

2. The high-strength, high-wear-resistant bevel gear shaft for robot joints according to claim 1, characterized in that: A shaft block (6) is fixedly installed on the other end face of the shaft (2), and the shaft block (6) has intersecting grooves on its outside, with ribs (7) embedded inside the grooves.

3. The high-strength, high-wear-resistant bevel gear shaft for robot joints according to claim 1, characterized in that: The outer tooth block (4) has a bushing (9) meshing between its teeth through the inner tooth block (8), and the bushing (9) has carbide blocking grooves arranged on its outer side to block the continuous distribution of carbides along the axial direction.

4. The high-strength, high-wear-resistant bevel gear shaft for robot joints according to claim 1, characterized in that: The end interface of the bevel gear (1) is fitted with a sealing ring (10), and the sealing ring (10) is made of fluororubber. The inner diameter of the sealing ring (10) is interference-fitted with the interface of the bevel gear (1).

5. The high-strength, high-wear-resistant bevel gear shaft for robot joints according to claim 1, characterized in that: The top of the bevel gear (1) is fixedly mounted with a shaft (11), and the center of the shaft (11) has a rounded transition shape with an arc groove.

6. The high-strength, high-wear-resistant bevel gear shaft for robot joints according to claim 2, characterized in that: An outer rod (12) is fixedly installed on the end face of the shaft block (6), and the outer rod (12) has a spiral groove on its exterior.

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