CN103433705A - Processing technology of robot RV speed reducer needle gear shell - Google Patents
Processing technology of robot RV speed reducer needle gear shell Download PDFInfo
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- CN103433705A CN103433705A CN201310364957XA CN201310364957A CN103433705A CN 103433705 A CN103433705 A CN 103433705A CN 201310364957X A CN201310364957X A CN 201310364957XA CN 201310364957 A CN201310364957 A CN 201310364957A CN 103433705 A CN103433705 A CN 103433705A
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Abstract
The invention discloses a processing technology of a robot RV speed reducer needle gear shell, and belongs to the technical field of robot RV speed reducer processing. The processing technology includes the steps that precise casting or forging is carried out on a needle gear shell blank; the needle gear shell blank is clamped after the surface of the needle gear shell blank is machined, and the rotation center of the needle gear shell blank is taken as a positioning reference; the end face of the needle gear shell blank, a bearing position of a roller pin bearing and bearing positions of two main bearings are machined; finish machining is carried out on the inner surface of the roller pin bearing according to the positioning reference; finish machining is carried out on a roller pin groove in line contact with a roller pin of the roller pin bearing according to the positioning reference; inner grooves are simultaneously machined in the bearing positions of the two main bearings in a finish machining mode according to the positioning reference; finish machining is carried out on the outer surface of the needle gear blank. The needle gear shell machined according to the steps improves machining precision and the parallelism degree of the bearing positions of the main bearings, guarantees coaxiality, the position degree and cylindricity of the main bearings after installation, achieves one-time clamping, can meet requirements of multiple process parameters, improves machining precision and installation precision of the needle gear shell, reduces accumulated errors, meets the high-precision requirements, and prolongs service life.
Description
Technical field
The invention belongs to the RV of robot decelerator processing technique field, relate in particular to a kind of processing technology of the RV of robot decelerator pin wheel housing.
Background technology
Robot RV decelerator has that volume is little, lightweight, stable drive, without impact, noiselessness, kinematic accuracy is high, gearratio is large, the bearing capacity advantages of higher, is widely used in the industries such as electronics, space flight and aviation, robot.The complex structure of the RV of robot decelerator, comprise pin wheel housing, planetary wheel carrier, three crank axles, Cycloidal Wheel and be arranged on crank axle and planetary wheel carrier between three pairs of tapering needle bearings, be arranged on three pairs of bearings between eccentric wheel and Cycloidal Wheel on crank axle, be arranged on two pairs of bearings between pin wheel housing and planetary wheel carrier, realize the accurate of robot motion and meet its service life, the requirement on machining accuracy of these parts and installation accuracy require very high, pin wheel housing is the vitals of the RV of robot decelerator, be provided with two base bearings between pin wheel housing and planetary wheel carrier, because the kinematic accuracy requirement of the RV of robot decelerator is very high, therefore require the accuracy of manufacture and the assembly precision of pin wheel housing also just very high, its structure as depicted in figs. 1 and 2.
The manufacturing process in prior art, pin wheel housing adopted is: first two base bearing bearing positions are processed, then cover is loaded onto base bearing, on pin wheel housing, bearings mounted position is referred to as bearing position, the machining accuracy of bearing position has corresponding requirements, two base bearing bearing position axialities require to want high, otherwise can produce the return error in use procedure, affect the service precision of the RV of robot decelerator, the rigging error that the form tolerance that the processing of two base bearing bearing positions produces and position of related features base bearing bring while installing, these accumulated errors are all to affect the service precision of the RV of robot decelerator and the major reason in service life, therefore the importance that the requirement on machining accuracy of pin wheel housing and assembly precision require is well imagined, the domestic method that there is no produces the pin wheel housing that reaches this requirement at present, mostly rely on import.
Summary of the invention
The purpose of the embodiment of the present invention is to provide a kind of processing technology of the RV of robot decelerator pin wheel housing, has reduced mismachining tolerance and rigging error, guarantees the accuracy of manufacture, meets the high-precision requirement of robot RV decelerator.
The embodiment of the present invention is achieved in that the processing technology of the RV of robot decelerator pin wheel housing, comprises the following steps:
(1) essence casting or forge the pin wheel housing blank;
(2), by clamping after the Surface Machining of described pin wheel housing blank, the centre of gyration of described pin wheel housing blank of take is positioning datum;
(3) process end face and needle bearing bearing position and the two base bearing bearing positions of described pin wheel housing blank, control the depth of parallelism of two described base bearing bearing positions all in 0.003 millimeter;
(4) with the inner surface of the described needle bearing of described positioning datum fine finishining, control cylindricity in 0.005 millimeter, the control position degree is in 0.003 millimeter;
(5) the needle roller groove contacted with the needle roller line of described needle bearing with described positioning datum fine finishining, the control line profile tolerance is in 0.003 millimeter, and the control position degree is in 0.003 millimeter;
(6) with described positioning datum road ditch in simultaneously fine finishining on two described base bearing bearing positions, the control line profile tolerance is in 0.003 millimeter, control cylindricity in 0.005 millimeter, control range accuracy between two described interior road ditches simultaneously in 0.005 millimeter;
(7) outer surface of the described pin wheel housing blank of fine finishining, control axiality in 0.005 millimeter.
As a kind of improvement, after step (1), carry out the hot extrusion step.
As a kind of improvement, in step (5), described needle roller groove is the peach-shaped groove, described peach-shaped groove is from two initiating terminal rounding ofves of described needle roller groove the taper needle roller groove that links together, the distance of two described starting points equals the diameter of described needle roller, and the degree of depth of described taper needle roller groove is greater than the radius of described needle roller.
As further improvement, in described taper needle roller groove, described needle roller is installed, described needle roller comprises cylindrical body, the two ends of described cylindrical body are equipped with the ball-type end.
As a kind of improvement, in step (6), use the described interior road of grinding wheel dressing device fine grinding ditch, described grinding wheel dressing device comprises the emery wheel body, described emery wheel body both sides are respectively equipped with the projection suitable with described interior road ditch shape.
After having adopted technique scheme, the invention has the beneficial effects as follows: because needle roller contacts with the needle roller line of rabbet joint, thereby it is more smooth to have guaranteed that needle roller turns round in the needle roller groove, has effectively reduced mutual frictional force, has improved service life; Owing to directly processing internal channel on the base bearing bearing position, thereby increased the distance of bearing inner race and outer ring, and then the processing dimension change of rolling ball on internal channel is large, has increased output torque power; Because Liang Nei road ditch is processed simultaneously, thereby reduce mismachining tolerance and rigging error, and then effectively reduced accumulated error, further guaranteed axiality and quality of fit after base bearing is installed.In sum, the pin wheel housing of processing by above-mentioned steps, improved base bearing bearing position machining accuracy and the depth of parallelism, guaranteed axiality, position degree and cylindricity after base bearing is installed; Realize clamped one time, just can reach the requirement of a plurality of technological parameters, improved machining accuracy and the installation accuracy of pin wheel housing, reduced accumulated error, met the RV of robot decelerator high-precision requirement, improved service life.
Owing to after essence casting pin wheel housing blank, carrying out hot extrusion, thereby make structure more closely knit, eliminated the sand holes and the shrinkage porosite that produce in casting or forging process, reduced allowance and processing cost, improved mechanical performance.
Because the needle roller groove is the peach-shaped groove, thereby the lubricating oil of this peach-shaped groove of flowing through just accumulates in this, has guaranteed the lubricant effect of needle roller, by needle roller, with the line between the needle roller groove, contacts simultaneously, has effectively reduced the wearing and tearing that mutual friction brings.
Because needle roller comprises cylindrical body, the two ends of this cylindrical body are spherical.Thereby the contact that makes the needle roller two ends becomes a contact, further reduced the friction and wear rate, effectively improve service life.
Because the grinding wheel dressing device comprises the emery wheel body, emery wheel body both sides are respectively equipped with the suitable projection of Yu Nei road ditch shape.Not only guarantee precision and the axiality of processing, effectively improved working (machining) efficiency simultaneously.
The accompanying drawing explanation
Fig. 1 is the structural representation of the RV of embodiment of the present invention robot decelerator pin wheel housing;
Fig. 2 is the cutaway view of Fig. 1;
Fig. 3 is the structural representation of grinding wheel dressing device;
Fig. 4 is the structural representation of needle roller;
In figure, the 1-pin wheel housing; 2-base bearing bearing position; The 3-needle roller; 4-Nei road ditch; 5-grinding wheel dressing device; The 6-projection; 7-needle bearing bearing position; 8-needle roller groove; The A-end standard; The B-positioning datum; D1-needle roller groove diameter; D2-needle bearing inner surface diameter; D3-base bearing bearing position diameter; D4-pin wheel housing outer surface diameter.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Fig. 1 and Fig. 2 are common, the processing technology of the RV of this robot decelerator pin wheel housing comprises the following steps:
(1) blank of pin wheel housing 1 is cast or forged to essence;
(2) hot extrusion;
(3), by clamping after the Surface Machining of pin wheel housing 1 blank, the centre of gyration of pin wheel housing 1 blank of take is positioning datum B;
(4) end face of processing pin wheel housing 1 blank, take this end face as end standard A, fine finishining needle bearing bearing position 7 and two base bearing bearing positions 2, control the machining accuracy of two base bearing bearing position diameter D3, controls the depth of parallelism of two base bearing bearing positions 2 all in 0.003 millimeter;
(5) with the inner surface of positioning datum B fine finishining needle bearing, control the machining accuracy of needle bearing inner surface diameter D2, control cylindricity in 0.003 millimeter, the control position degree is in 0.003 millimeter;
(6) the needle roller groove 8 contacted with needle roller 3 lines of needle bearing with positioning datum B fine finishining, the machining accuracy of control needle roller groove diameter D1, the control line profile tolerance is in 0.003 millimeter, and the control position degree is in 0.003 millimeter;
This needle roller groove 8 is the peach-shaped groove, and this peach-shaped groove is from two initiating terminal rounding ofves of needle roller groove 8 the taper needle roller groove that links together, and the distance of two starting points equals the diameter of needle roller 3, and the degree of depth of this taper needle roller groove is greater than the radius of needle roller 3.
As shown in Figure 4, in this taper needle roller groove, be rotatablely equipped with needle roller 3, this needle roller 3 comprises cylindrical body, and the two ends of this cylindrical body are spherical.So that the contact at needle roller 3 two ends becomes a contact, reduced the friction and wear rate, improve service life.
(7) with positioning datum B, on two base bearing bearing positions 2, use grinding wheel dressing device 5 refine simultaneously in road ditch 4, the control line profile tolerance is in 0.003 millimeter, control cylindricity in 0.005 millimeter, control range accuracy between Liang Nei road ditch 4 simultaneously in 0.003 millimeter;
This grinding wheel dressing device 5 comprises the emery wheel body, and these emery wheel body both sides are respectively equipped with the suitable protruding 6(of Yu Nei road ditch 4 shapes referring to Fig. 3); Add man-hour, keep processing tool constant, to the frock of grinding wheel dressing device 5 be installed near processing tool, until the position of two protruding 6 Yu Liangnei road ditches 4 is corresponding, then by power set, drive grinding wheel dressing device 5 to rotate, two projections 6 are rotated on two base bearing bearing positions, until road ditch 4 in forming.
(8) outer surface of fine finishining pin wheel housing 1 blank, the machining accuracy of control pin wheel housing outer surface diameter D4, control axiality in 0.005 millimeter.
In sum, the pin wheel housing 1 of processing by above-mentioned steps, improved machining accuracy and the depth of parallelism of base bearing bearing position 2, guaranteed axiality, position degree and cylindricity after base bearing is installed; By road ditch 4 in directly processing on base bearing bearing position 2, improved the processing dimension of ball on rolling Nei road ditch 4, increased output torque power, mismachining tolerance and rigging error have been reduced, thereby effectively reduced accumulated error, further guaranteed axiality and quality of fit after base bearing is installed.Realize clamped one time, just can reach the requirement of a plurality of technological parameters, improved machining accuracy and the installation accuracy of pin wheel housing, reduced accumulated error, met the RV of robot decelerator high-precision requirement, improved service life.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. the processing technology of the RV of robot decelerator pin wheel housing, is characterized in that, comprises the following steps:
(1) essence casting or forge the pin wheel housing blank;
(2), by clamping after the Surface Machining of described pin wheel housing blank, the centre of gyration of described pin wheel housing blank of take is positioning datum;
(3) process end face and needle bearing bearing position and the two base bearing bearing positions of described pin wheel housing blank, control the depth of parallelism of two described base bearing bearing positions all in 0.003 millimeter;
(4) with the inner surface of the described needle bearing of described positioning datum fine finishining, control cylindricity in 0.005 millimeter, the control position degree is in 0.003 millimeter;
(5) the needle roller groove contacted with the needle roller line of described needle bearing with described positioning datum fine finishining, the control line profile tolerance is in 0.003 millimeter, and the control position degree is in 0.003 millimeter;
(6) with described positioning datum road ditch in simultaneously fine finishining on two described base bearing bearing positions, the control line profile tolerance is in 0.003 millimeter, control cylindricity in 0.005 millimeter, control range accuracy between two described interior road ditches simultaneously in 0.005 millimeter;
(7) outer surface of the described pin wheel housing blank of fine finishining, control axiality in 0.005 millimeter.
2. the processing technology of the RV of robot decelerator pin wheel housing according to claim 1, is characterized in that, after step (1), carries out the hot extrusion step.
3. the processing technology of the RV of robot decelerator pin wheel housing according to claim 1, it is characterized in that, in step (5), described needle roller groove is the peach-shaped groove, described peach-shaped groove is from two initiating terminal rounding ofves of described needle roller groove the taper needle roller groove that links together, the distance of two described starting points equals the diameter of described needle roller, and the degree of depth of described taper needle roller groove is greater than the radius of described needle roller.
4. the processing technology of the RV of robot decelerator pin wheel housing according to claim 3, is characterized in that, in described taper needle roller groove, is rotatablely equipped with described needle roller, and described needle roller comprises cylindrical body, and the two ends of described cylindrical body are spherical.
5. the processing technology of the RV of robot decelerator pin wheel housing according to claim 1, it is characterized in that, in step (6), use the described interior road of grinding wheel dressing device fine grinding ditch, described grinding wheel dressing device comprises the emery wheel body, and described emery wheel body both sides are respectively equipped with the projection suitable with described interior road ditch shape.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310364957.XA CN103433705B (en) | 2013-08-20 | 2013-08-20 | The processing technology of robot RV reducer pin wheel housing |
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| CN201310364957.XA CN103433705B (en) | 2013-08-20 | 2013-08-20 | The processing technology of robot RV reducer pin wheel housing |
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| CN103433705B CN103433705B (en) | 2015-11-04 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105562841A (en) * | 2016-02-26 | 2016-05-11 | 南京康尼机电股份有限公司 | Precise grinding head for inner tooth hole of pin wheel housing and grinding method |
| CN106216961A (en) * | 2016-08-22 | 2016-12-14 | 银川威力减速器有限公司 | A kind of processing method of the integrated pivoted arm of RV bearing in reduction gears |
| CN107479521A (en) * | 2017-09-20 | 2017-12-15 | 重庆大学 | A kind of pin wheel housing intelligence manufacture production line |
| CN108127355A (en) * | 2017-12-15 | 2018-06-08 | 沈阳新松智能驱动股份有限公司 | A kind of processing method for improving RV retarders second level gear unit wear-resistant strength |
| CN108890238A (en) * | 2018-09-25 | 2018-11-27 | 山东帅克机械制造股份有限公司 | The processing technology of robot retarder rigidity flexbile gear |
| CN111015138A (en) * | 2019-12-26 | 2020-04-17 | 广东东睦新材料有限公司 | Processing method of powder metallurgy cross slip ring die |
| CN116275305A (en) * | 2023-02-16 | 2023-06-23 | 上海羿弓精密科技有限公司 | Needle gear shell machining device, needle gear shell machining process and needle gear shell |
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| JP3450096B2 (en) * | 1995-07-03 | 2003-09-22 | 帝人製機株式会社 | Eccentric oscillating planetary gear device and its manufacturing method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105562841A (en) * | 2016-02-26 | 2016-05-11 | 南京康尼机电股份有限公司 | Precise grinding head for inner tooth hole of pin wheel housing and grinding method |
| CN105562841B (en) * | 2016-02-26 | 2017-09-29 | 南京康尼机电股份有限公司 | A kind of accurate grinding bistrique and method for grinding for perforation in pin wheel housing |
| CN106216961A (en) * | 2016-08-22 | 2016-12-14 | 银川威力减速器有限公司 | A kind of processing method of the integrated pivoted arm of RV bearing in reduction gears |
| CN107479521A (en) * | 2017-09-20 | 2017-12-15 | 重庆大学 | A kind of pin wheel housing intelligence manufacture production line |
| CN107479521B (en) * | 2017-09-20 | 2019-11-22 | 重庆大学 | A kind of pin wheel housing intelligence manufacture production line |
| CN108127355B (en) * | 2017-12-15 | 2019-05-21 | 沈阳新松智能驱动股份有限公司 | A kind of processing method improving RV retarder second level gear unit wear-resistant strength |
| CN108127355A (en) * | 2017-12-15 | 2018-06-08 | 沈阳新松智能驱动股份有限公司 | A kind of processing method for improving RV retarders second level gear unit wear-resistant strength |
| CN108890238A (en) * | 2018-09-25 | 2018-11-27 | 山东帅克机械制造股份有限公司 | The processing technology of robot retarder rigidity flexbile gear |
| CN108890238B (en) * | 2018-09-25 | 2020-04-28 | 山东帅克机械制造股份有限公司 | Machining process of rigid flexible gear of robot speed reducer |
| CN111015138A (en) * | 2019-12-26 | 2020-04-17 | 广东东睦新材料有限公司 | Processing method of powder metallurgy cross slip ring die |
| CN111015138B (en) * | 2019-12-26 | 2021-09-21 | 广东东睦新材料有限公司 | Processing method of powder metallurgy cross slip ring die |
| CN116275305A (en) * | 2023-02-16 | 2023-06-23 | 上海羿弓精密科技有限公司 | Needle gear shell machining device, needle gear shell machining process and needle gear shell |
| CN116275305B (en) * | 2023-02-16 | 2024-04-16 | 上海羿弓精密科技有限公司 | Needle gear shell machining device, needle gear shell machining process and needle gear shell |
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| CN103433705B (en) | 2015-11-04 |
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Address after: 261206. 50 meters east of Fenghuang Avenue and South Road, Fangzi District, Shandong, Weifang Applicant after: Shandong Shuaike Machinery Manufacturing Co., Ltd. Address before: 261206. 50 meters east of Fenghuang Avenue and South Road, Fangzi District, Shandong, Weifang Applicant before: Weifang SHKE Machinery Co., Ltd. |
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