CN104565282A - Harmonic reducer and machining process thereof - Google Patents
Harmonic reducer and machining process thereof Download PDFInfo
- Publication number
- CN104565282A CN104565282A CN201410845283.XA CN201410845283A CN104565282A CN 104565282 A CN104565282 A CN 104565282A CN 201410845283 A CN201410845283 A CN 201410845283A CN 104565282 A CN104565282 A CN 104565282A
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- needle roller
- roller groove
- output shaft
- wheel
- plug
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
- B23P15/14—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass gear parts, e.g. gear wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Retarders (AREA)
Abstract
The invention discloses a harmonic reducer. The harmonic reducer comprises a rigid circular spline; a flexible output device is drivingly connected inside the rigid circular spline and composed of a flexible gear and an output shaft which are integrally formed. The invention also provides a machining process of the harmonic reducer. The machining process comprises a right circular spline machining step, a flexible output device machining step and an assembly step. An external roller pin groove and the rigid circular spline are integrally formed; the flexible gear, a bearing track, an internal roller pin groove and the output shaft are integrally formed. According to the machining process of the harmonic reducer, the external roller pin groove and the rigid circular spline are integrally formed; during the flexible output device machining step, the flexible gear, the bearing track, the internal roller pin groove and the output shaft are integrally formed and accordingly are simple in structure, so that error accumulation due to separate machining can be greatly reduced, the product precision can be improved, the concentricity and the location degree of the rigid circular spline, the flexible gear and the output shaft are ensured, the service life of the harmonic reducer can be prolonged by 50%, and the production cost can be reduced by 20-30%.
Description
Technical field
The present invention relates to decelerator and processing technology thereof, relate to a kind of harmonic speed reducer and processing technology thereof specifically.
Background technology
Harmonic speed reducer is novel high-precision transmission decelerating device, and this decelerator moment of torsion is large, gearratio is high, lightweight, volume is little is used widely.
Traditional harmonic speed reducer comprises firm wheel, flexbile gear and output shaft is connected with in firm wheel, be fixedly connected with between flexbile gear and output shaft, output shaft and being rotationally connected by cross roller bearing between just having taken turns, wherein cross roller bearing is generally made up of inner ring, outer ring and right-angled intersection needle roller.
The inner ring of the cross roller bearing that current harmonic speed reducer uses mostly adopts direct processing place on the excircle of output shaft to be similar to the groove of inner ring structure; And the outer ring of cross roller bearing is confined to working ability and the technique of current process equipment usually, in order to easy to assembly, outer ring is along the circumferential direction cut into two parts by general employing, and then half channel-shaped structure is processed respectively to this two-part internal diameter junction, the combination of these two parts is fixed by the fixed form finally by bolt or bearing pin, make the junction of its internal diameter dock the groove being formed and be similar to outer ring, and then assemble right-angled intersection needle roller.
This processing and assembling has following defect: one is because each assembly needs to process respectively, and cumulative errors are comparatively large, and reduce Product Precision, and waste time and energy, cost is higher; Two when being assemblings, and each assembly needs repeatedly to assemble, and causes rigging error comparatively large, can not ensure concentric degree and the position degree of just wheel and flexbile gear and output shaft, reduce the service life of decelerator.
Summary of the invention
The problem to be solved in the present invention be to provide a kind of structure simple, assembly precision can be improved, reduce production cost, the harmonic speed reducer in the concentric degree of just wheel and flexbile gear and output shaft and position degree, increase service life can be ensured.
In order to solve the problem, the present invention by the following technical solutions:
A kind of harmonic speed reducer, comprises firm wheel, and be just connected with flexible output device in wheel, flexible output device comprises flexbile gear and output shaft, described flexbile gear and the machine-shaping of output shaft one.
Below the further optimization of the present invention to such scheme:
Output shaft and being rotationally connected by cross roller bearing between just having taken turns, described cross roller bearing is made up of needle roller groove and right-angled intersection needle roller, needle roller groove comprise with just take turns one machine-shaping outer needle roller groove and with output shaft one machine-shaping in needle roller groove.
Further optimization: flexbile gear and between just having taken turns by internal tooth and external tooth engaged transmission; The raceway with the machine-shaping of flexbile gear one is provided with in flexbile gear.
Further optimization: the excircle of described firm wheel is disposed radially the needle roller installing hole be communicated with needle roller groove, is provided with in described needle roller installing hole for the plug blocking needle roller installing hole, prevent right-angled intersection needle roller from exiting from needle roller installing hole.
Further optimization: plug is processed into the planform consistent with the interior wall construction of needle roller groove near one end of needle roller groove.
The end face of described firm wheel is provided with vertically the tapered locating hole that simultaneously can pass just wheel and plug, in tapered locating hole, is plugged with the taper pin for fixing plug.
The present invention adopts such scheme, makes outer needle roller groove and just takes turns one machine-shaping; In flexbile gear and output shaft procedure of processing, interior needle roller groove and the machine-shaping of output shaft one, structure is simple, reduce rigging error, improve Product Precision, ensure that concentric degree and the position degree of firm wheel and flexbile gear and output shaft, extend the service life of decelerator.
The problem that the present invention also will solve is to provide the processing technology of above-mentioned harmonic speed reducer.In order to solve the problem, the present invention by the following technical solutions:
A processing technology for harmonic speed reducer, this technique comprises just wheel procedure of processing and flexible output device procedure of processing and installation step; In firm wheel procedure of processing, outer needle roller groove takes turns one machine-shaping with firm; In flexible output device axle procedure of processing, flexbile gear and raceway and interior needle roller groove and output shaft integrally machine-shaping.
Below the further optimization of the present invention to such scheme:
Firm wheel procedure of processing comprises:
1), blank is forged and tempering;
2) the internal tooth inner circle of, roughing: processed respectively by lathe: a, just wheel; B, outer needle roller groove; C, needle roller installing hole; D, tapered locating hole; The allowance of 0.5mm is left after the internal tooth inner circle of firm wheel and outer needle roller slot machining;
3), assembling and positioning: right-angled intersection needle roller is encased in outer needle roller groove by needle roller installing hole, is then inserted into needle roller installing hole with plug, finally taper pin is inserted in tapered locating hole and plug is fixed;
4) the internal tooth inner circle of, semifinishing: processed respectively by Digit Control Machine Tool: a, just wheel; B, outer needle roller groove; The allowance of 0.01 ~ 0.015mm is left after processing;
5), modified, quenching; Overall modified HRC28-36 is carried out to just taking turns; Then selective hardening HRC58-63 is carried out to needle roller groove location;
6), fine finishining; By grinding machine clamped one time, grind internal tooth, the outer needle roller groove of just wheel, make the just interior toothed ring gear of wheel and the concentricity of outer needle roller groove reach 0.3 micron.
Further optimization: in above-mentioned steps 4, when processing outer needle roller groove, is processed into the planform consistent with the interior wall construction of needle roller groove by plug near one end of needle roller groove.
Further optimization:
Flexible output device procedure of processing comprises:
7), by blank once by roughing and semifinishing, the planform of flexbile gear and output shaft is processed;
8), by grinding machine clamped one time, disposablely grind the external tooth of flexbile gear and the interior needle roller groove of output shaft and raceway 3, clamped one time just can machine, and substantially reduces the accumulation of error that parts processing produces.The interior needle roller groove concentricity of the external tooth of flexbile gear and output shaft is made to reach 0.3 micron.
Further optimization: installation step is: 9), by plug and taper pin exit respectively, then flexible output device is encased in just taking turns, again right-angled intersection needle roller is encased in outer needle roller groove by needle roller installing hole, then be inserted into needle roller installing hole with plug, finally taper pin be inserted in tapered locating hole and plug is located.
The present invention adopts such scheme, makes outer needle roller groove and just takes turns one machine-shaping; In flexible output device procedure of processing, flexbile gear and raceway and interior needle roller groove and the machine-shaping of output shaft one, structure is simple, substantially reduce the accumulation of error that parts processing produces, improve Product Precision, ensure that concentric degree and the position degree of firm wheel and flexbile gear and output shaft, the service life of decelerator improves 50%, and production cost reduces 20-30%.
Below in conjunction with drawings and Examples, the invention will be further described.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of harmonic wave accelerator in the embodiment of the present invention.
In figure: 1-just takes turns; 2-flexbile gear; 3-raceway; 4-right-angled intersection needle roller; 5-sealing ring; 6-output shaft; 7-needle roller installing hole; 8-plug; 9-needle roller groove; 10-taper pin; The tapered locating hole of 11-; 12-internal tooth; 13-external tooth.
Detailed description of the invention
Embodiment, as shown in Figure 1, a kind of harmonic speed reducer, comprises just wheel 1, and be just connected with flexible output device in wheel 1, flexible output device comprises flexbile gear 2 and output shaft 6, described flexbile gear 2 and the machine-shaping of output shaft 6 one.
Output shaft 6 and being rotationally connected by cross roller bearing between just having taken turns 1, described cross roller bearing is made up of needle roller groove 9 and right-angled intersection needle roller 4, needle roller groove 9 comprise with just take turns 1 one machine-shaping outer needle roller groove and with output shaft 6 one machine-shaping in needle roller groove.
The end of output shaft 6 and being tightly connected by sealing ring 5 between just having taken turns 1.
Flexbile gear 2 and pass through internal tooth 12 and external tooth 13 engaged transmission between just take turns 1;
The raceway 3 with the machine-shaping of flexbile gear 2 one is provided with, for being in transmission connection with profile of tooth output shaft in flexbile gear 2.
The excircle of described firm wheel 1 being disposed radially the needle roller installing hole 7 be communicated with needle roller groove 9, being provided with for blocking needle roller installing hole 7 in described needle roller installing hole 7, prevent the plug 8 that right-angled intersection needle roller 4 exits from needle roller installing hole 7.
Plug 8 is processed into the planform consistent with the interior wall construction of needle roller groove 9 near one end of needle roller groove 9.
The end face of described firm wheel 1 is provided with vertically and simultaneously through the tapered locating hole 11 of just taking turns 1 and plug 8, the taper pin 10 for fixing plug 8 in tapered locating hole 11, can be plugged with.
The processing technology of above-mentioned harmonic speed reducer, comprises just wheel procedure of processing and flexible output device procedure of processing and installation step; In firm wheel procedure of processing, outer needle roller groove takes turns one machine-shaping with firm; In flexible output device axle procedure of processing, flexbile gear and raceway 3 and interior needle roller groove and output shaft 6 integrally machine-shaping.
Firm wheel procedure of processing comprises:
1), blank is forged and tempering;
2) the internal tooth inner circle of, roughing: processed respectively by lathe: a, just wheel; B, outer needle roller groove; C, needle roller installing hole; D, tapered locating hole; The oil sealing position of e, sealing ring; The allowance of 0.5mm is left after the internal tooth inner circle of firm wheel and outer needle roller slot machining;
3), assembling and positioning: right-angled intersection needle roller is encased in outer needle roller groove by needle roller installing hole, is then inserted into needle roller installing hole with plug, finally taper pin is inserted in tapered locating hole and plug is fixed;
4) the internal tooth inner circle of, semifinishing: processed respectively by Digit Control Machine Tool: a, just wheel; B, outer needle roller groove; The oil sealing position of e, sealing ring; The allowance of 0.01 ~ 0.015mm is left after processing; When processing outer needle roller groove, plug is processed into the planform consistent with the interior wall construction of needle roller groove near one end of needle roller groove.
5), modified, quenching; Overall modified HRC28-36 is carried out to just taking turns; Then selective hardening HRC58-63 is carried out to needle roller groove location;
6), fine finishining; By grinding machine clamped one time, grind internal tooth, the outer needle roller groove of just wheel, clamped one time
Just can machine, substantially reduce the accumulation of error that parts processing produces.The just interior toothed ring gear of wheel and the concentricity of outer needle roller groove is made to reach 0.3 micron.
Flexible output device procedure of processing comprises:
7), by blank once by roughing and semifinishing, the planform of flexbile gear and output shaft is processed;
8), by grinding machine clamped one time, disposablely grind the external tooth of flexbile gear and the interior needle roller groove of output shaft and raceway 3, clamped one time just can machine, and substantially reduces the accumulation of error that parts processing produces.The interior needle roller groove concentricity of the external tooth of flexbile gear and output shaft is made to reach 0.3 micron.
Installation step is: 9), by plug and taper pin exit respectively, then flexible output device is encased in just taking turns, again right-angled intersection needle roller is encased in outer needle roller groove by needle roller installing hole, then be inserted into needle roller installing hole with plug, finally taper pin be inserted in tapered locating hole and plug is located.
The invention enables outer needle roller groove and just take turns one machine-shaping; In flexible output device procedure of processing, flexbile gear and raceway 3 and interior needle roller groove and output shaft 6 integrally machine-shaping.Structure is simple, reduces rigging error, improves Product Precision, ensure that concentric degree and the position degree of firm wheel and flexbile gear and output shaft, extend the service life of decelerator.
Claims (11)
1. a harmonic speed reducer, comprises firm wheel (1), and be just connected with flexible output device in wheel (1), flexible output device comprises flexbile gear (2) and output shaft (6), it is characterized in that: described flexbile gear (2) and the machine-shaping of output shaft (6) one.
2. a kind of harmonic speed reducer according to claim 1, it is characterized in that: output shaft (6) and just having taken turns between (1) is rotationally connected by cross roller bearing, described cross roller bearing is made up of needle roller groove (9) and right-angled intersection needle roller (4), and needle roller groove (9) comprises and just takes turns the outer needle roller groove of (1) one machine-shaping and the interior needle roller groove with the machine-shaping of output shaft (6) one.
3. a kind of harmonic speed reducer according to claim 2, is characterized in that: flexbile gear (2) and just having taken turns between (1) by internal tooth (12) and external tooth (13) engaged transmission; The raceway (3) with the machine-shaping of flexbile gear (2) one is provided with in flexbile gear (2).
4. a kind of harmonic speed reducer according to claim 3, is characterized in that:
The excircle of described firm wheel (1) is disposed radially the needle roller installing hole (7) be communicated with needle roller groove (9), is provided with in described needle roller installing hole (7) for the plug (8) blocking needle roller installing hole (7), prevent right-angled intersection needle roller (4) from exiting from needle roller installing hole (7).
5. a kind of harmonic speed reducer according to claim 3, is characterized in that:
Plug (8) is processed into the planform consistent with the interior wall construction of needle roller groove (9) near one end of needle roller groove (9).
6. a kind of harmonic speed reducer according to claim 4 or 5, it is characterized in that: the end face of described firm wheel (1) is provided with vertically and simultaneously through the tapered locating hole (11) of just taking turns (1) and plug (8), the taper pin (10) for fixing plug (8) in tapered locating hole (11), can be plugged with.
7. a processing technology for harmonic speed reducer as claimed in claim 6, this technique comprises just wheel procedure of processing and flexible output device procedure of processing and installation step; It is characterized in that:
In firm wheel procedure of processing, outer needle roller groove takes turns one machine-shaping with firm; In flexible output device axle procedure of processing, flexbile gear and raceway and interior needle roller groove and output shaft integrally machine-shaping.
8. the processing technology of a kind of harmonic speed reducer according to claim 7, is characterized in that: just wheel procedure of processing comprises:
1), blank is forged and tempering;
2) the internal tooth inner circle of, roughing: processed respectively by lathe: a, just wheel; B, outer needle roller groove; C, needle roller installing hole; D, tapered locating hole; The allowance of 0.5mm is left after the internal tooth inner circle of firm wheel and outer needle roller slot machining;
3), assembling and positioning: right-angled intersection needle roller is encased in outer needle roller groove by needle roller installing hole, is then inserted into needle roller installing hole with plug, finally taper pin is inserted in tapered locating hole and plug is fixed;
4) the internal tooth inner circle of, semifinishing: processed respectively by Digit Control Machine Tool: a, just wheel; B, outer needle roller groove; The allowance of 0.01 ~ 0.015mm is left after processing;
5), modified, quenching; Overall modified HRC28-36 is carried out to just taking turns; Then selective hardening HRC58-63 is carried out to needle roller groove location;
6), fine finishining; By grinding machine clamped one time, grind internal tooth, the outer needle roller groove of just wheel, make the just interior toothed ring gear of wheel and the concentricity of outer needle roller groove reach 0.3 micron.
9. the processing technology of a kind of harmonic speed reducer according to claim 8, is characterized in that: in above-mentioned steps 4, when processing outer needle roller groove, plug is processed into the planform consistent with the interior wall construction of needle roller groove near one end of needle roller groove.
10. the processing technology of a kind of harmonic speed reducer according to claim 8, is characterized in that:
Flexible output device procedure of processing comprises:
7), by blank once by roughing and semifinishing, the planform of flexbile gear and output shaft is processed;
8), by grinding machine clamped one time, disposablely grind the external tooth of flexbile gear and the interior needle roller groove of output shaft and raceway 3, clamped one time just can machine, substantially reduce the accumulation of error that parts processing produces, make the interior needle roller groove concentricity of the external tooth of flexbile gear and output shaft reach 0.3 micron.
The processing technology of 11. a kind of harmonic speed reducers according to claim 8, it is characterized in that: installation step is: 9), by plug and taper pin exit respectively, then flexible output device is encased in just taking turns, again right-angled intersection needle roller is encased in outer needle roller groove by needle roller installing hole, then be inserted into needle roller installing hole with plug, finally taper pin be inserted in tapered locating hole and plug is located.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410845283.XA CN104565282B (en) | 2014-12-31 | 2014-12-31 | Harmonic reducer and machining process thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410845283.XA CN104565282B (en) | 2014-12-31 | 2014-12-31 | Harmonic reducer and machining process thereof |
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| Publication Number | Publication Date |
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| CN104565282A true CN104565282A (en) | 2015-04-29 |
| CN104565282B CN104565282B (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410845283.XA Expired - Fee Related CN104565282B (en) | 2014-12-31 | 2014-12-31 | Harmonic reducer and machining process thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816050A (en) * | 2015-05-13 | 2015-08-05 | 广州市昊志机电股份有限公司 | Processing clamp and processing technology for flexible gear of harmonic reducer |
| WO2018086195A1 (en) * | 2016-11-09 | 2018-05-17 | 上海斐赛轴承科技有限公司 | Novel flexspline and wave generator assembly for harmonic gear drive apparatus |
| CN108044323A (en) * | 2017-11-24 | 2018-05-18 | 万鑫精工（湖南）有限公司 | A kind of production method of harmonic speed reducer |
| CN108591417A (en) * | 2018-07-09 | 2018-09-28 | 东莞市国森科精密工业有限公司 | A kind of assembly device of harmonic speed reducer |
| 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 |
| CN108916355A (en) * | 2018-09-25 | 2018-11-30 | 山东帅克机械制造股份有限公司 | A kind of robot few teeth difference surmounts harmonic speed reducer device |
| CN109837379A (en) * | 2019-02-14 | 2019-06-04 | 浙江来福谐波传动股份有限公司 | A kind of heat treatment process for harmonic speed reducer thin wall flexible gear |
| CN113074234A (en) * | 2021-04-06 | 2021-07-06 | 浙江来福谐波传动股份有限公司 | Manufacturing method of four-point contact flexible bearing harmonic reducer |
| CN113374852A (en) * | 2021-05-24 | 2021-09-10 | 温州大学 | Movable tooth harmonic speed reducer |
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| CN204420011U (en) * | 2014-12-31 | 2015-06-24 | 山东帅克机械制造股份有限公司 | A kind of harmonic speed reducer |
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| CN85200606U (en) * | 1985-04-12 | 1985-09-10 | 北京航空学院 | Oscillaling-tooth speed reducer |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816050A (en) * | 2015-05-13 | 2015-08-05 | 广州市昊志机电股份有限公司 | Processing clamp and processing technology for flexible gear of harmonic reducer |
| WO2018086195A1 (en) * | 2016-11-09 | 2018-05-17 | 上海斐赛轴承科技有限公司 | Novel flexspline and wave generator assembly for harmonic gear drive apparatus |
| CN108044323A (en) * | 2017-11-24 | 2018-05-18 | 万鑫精工（湖南）有限公司 | A kind of production method of harmonic speed reducer |
| CN108591417A (en) * | 2018-07-09 | 2018-09-28 | 东莞市国森科精密工业有限公司 | A kind of assembly device of harmonic speed reducer |
| 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 |
| CN108916355A (en) * | 2018-09-25 | 2018-11-30 | 山东帅克机械制造股份有限公司 | A kind of robot few teeth difference surmounts harmonic speed reducer device |
| 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 |
| CN109837379A (en) * | 2019-02-14 | 2019-06-04 | 浙江来福谐波传动股份有限公司 | A kind of heat treatment process for harmonic speed reducer thin wall flexible gear |
| CN113074234A (en) * | 2021-04-06 | 2021-07-06 | 浙江来福谐波传动股份有限公司 | Manufacturing method of four-point contact flexible bearing harmonic reducer |
| CN113374852A (en) * | 2021-05-24 | 2021-09-10 | 温州大学 | Movable tooth harmonic speed reducer |
| CN113374852B (en) * | 2021-05-24 | 2022-06-03 | 温州大学 | Movable tooth harmonic speed reducer |
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| Publication number | Publication date |
|---|---|
| CN104565282B (en) | 2017-05-17 |
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