CN105904340A - RV reducer bearing base hole grinding tool and positioning method for bearing base holes - Google Patents

RV reducer bearing base hole grinding tool and positioning method for bearing base holes Download PDF

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Publication number
CN105904340A
CN105904340A CN201610446504.5A CN201610446504A CN105904340A CN 105904340 A CN105904340 A CN 105904340A CN 201610446504 A CN201610446504 A CN 201610446504A CN 105904340 A CN105904340 A CN 105904340A
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CN
China
Prior art keywords
hole
taper
grinding
expansion
pin
Prior art date
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Granted
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CN201610446504.5A
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Chinese (zh)
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CN105904340B (en
Inventor
宋洪舟
徐强
郑继贵
侍威
王水铭
王春明
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Beijing Research Institute of Precise Mechatronic Controls
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Beijing Research Institute of Precise Mechatronic Controls
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/06Work supports, e.g. adjustable steadies
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B5/00Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
    • B24B5/36Single-purpose machines or devices
    • B24B5/48Single-purpose machines or devices for grinding walls of very fine holes, e.g. in drawing-dies

Abstract

The invention provides an RV reducer bearing base hole grinding tool and a positioning method for bearing base holes. The tool comprises a taper shank disc, a cylindrical pin and fixing devices. The taper shank disc is a rotary part, a long taper shank is located at one end of the taper shank disc, and during machining, the taper shank disc is matched with a grinder clamping tapered face, and a threaded hole in the tail end of the long taper shank is used for regulation and fixation; a disc body is located at the other end of the taper shank disc and provided with five positioning holes which are sequentially marked as D0, B0, A0, C0 and E0, and the five positioning holes are symmetrically formed with respect to the A0; and the B0 or the C0 is a mounting positioning hole for a workpiece to be ground, and the bearing seat holes of the workpiece to be ground coincide with the D0 and the A0 or coincide with the E0 and the A0. According to the shape, the cylindrical pin is formed by connecting two cylindrical faces which are different in diameter. The cylindrical pin is used for connecting and positioning a mounting hole of the workpiece to be ground and the B0 or the C0 of the grinding tool. The fixing devices are used for fixing the workpiece to be ground and the grinding tool.

Description

A kind of RV reducer shaft bearing hole grinding fixture and the localization method of bearing saddle bore
Technical field
The present invention relates to robot RV reducer key components and parts manufacture field, especially relate to a kind of RV Reducer shaft bearing hole localization method and grinding attachment.
Background technology
RV decelerator because of its have that volume is little, lightweight, rigidity big, stable drive, kinematic accuracy are high, The features such as strong shock resistance, be widely used in robot, spindle of numerical control lathe indexing, factory automation, The fields such as FMC, elaborate servo transmission.
Robot RV decelerator is higher to index requests such as kinematic accuracy, gap return difference, rigidity, and one As control at about 1~1.5 point, just can ensure that robot end accurately reach specify position, therefore to RV The processing of each parts of decelerator and alignment error require extremely harsh.
RV decelerator is mainly by gear shaft, planetary gear, crank axle, Cycloidal Wheel, pinwheel, input disc, defeated The core parts such as placing form, and Cycloidal Wheel, output panel, input disc each have two bearing saddle bores, Wherein do eccentric rotary between crank axle and Cycloidal Wheel, in axle and bore, needle bearing is installed;Crank axle with Do planetary rotation between input disc, output panel, in axle and bore, needle bearing is installed.Crank axle as in Between parts, the motion of three parts is coupled together, when removing crank axle, Cycloidal Wheel, input disc, defeated The bearing saddle bore of placing is all corresponding to be overlapped, owing to needs coordinate with standard component (bearing), so to seat The size in hole, shape, position and the bore heart away from tolerance grade require the highest.
Prior art is individually to position the bearing saddle bore of each part, processes bore the most on this basis, The centre-to-centre spacing error in two holes, symmetry error are ensured by first positioning process, owing to three parts do not have There is unified machining benchmark, more do not have identical frock to carry out clamping, it is impossible to guarantee tolerance concordance, so Cause three parts and crank axle, needle bearing installation difficulty, and also introduce rigging error, have impact on Meshing characteristic between flank profil, reduces RV decelerator mass motion precision and service life.To this end, for How Cycloidal Wheel, input disc, output panel bearing saddle bore, design unified machining benchmark and general frock folder Tool, reduces manufacturing and positioning errors impact, is the key improving RV decelerator property indices.
Summary of the invention
The technology of the present invention solves problem: provide one to improve robot RV reducer key components and parts axle Bearing hole localization method, and provide a kind of universal fixture fixture, for two bearing saddle bores of grinding, make each work The centre-to-centre spacing error of part bearing saddle bore, symmetry all keep consistent.This localization method and frock clamp are not only Reduce manufacturing and positioning errors, make conjugate tooth profile design become more flexibly, simplify, also meet machine People's RV decelerator high-precision requirement.
The technical solution of the present invention is: a kind of RV reducer shaft bearing hole grinding fixture, including taper shank Disk, straight pin, fixing device;
Taper shank disk is slewing parts, and one end is taper major axis, adds man-hour and grinding machine clamping cone match, The screwed hole utilizing the long shaft end of taper adjusts and fixing, and the other end is disk, disk has five altogether and determines Hole, position order is designated as D0、B0、A0、C0、E0, hole, five location is with A0It is arranged symmetrically with;B0Or C0For The mounting-positioning holes of workpiece to be ground, the bearing saddle bore of workpiece to be ground and D0、A0Overlap or and E0、 A0Overlap;Straight pin shape is formed by connecting by the face of cylinder that two diameters are different;By straight pin by grinding work The installing hole of part and the B of grinding fixture0Or C0Hole connects and positions, by fixing device by grinding work piece Fix with grinding fixture.
Described fixing device by radial fixing device and axial securing means for impeller both direction to grinding work piece and mill Cut frock to be fixed.
Described radial fixing device includes that taper pin and expansion set, expansion set inner surface are the conical surface, and outside is cylinder Shape, around has the groove of one fixed width, and expansion set utilizes the conical surface to carry out dilatancy, adjusts excircle dimension;Cone Pin-shaped shape is formed by connecting by taper seat and the face of cylinder, and one end, the face of cylinder is provided with step, and taper seat one end has spiral shell Pit, the tapering size of taper seat is equal with the conical surface inside expansion set;By expansion set being inserted the taper seat of taper pin And fix, make expansion set dilatancy, offset the gap between above-mentioned taper seat and bearing saddle bore, complete radially Location is fixing.
A kind of localization method of RV reducer shaft bearing hole, step is as follows:
The first step, by taper shank disk and grinding machine clamping cone match, utilizes the screwed hole of the long shaft end of taper to adjust Whole and fixing;D by taper pin Yu taper shank disk 10Hole or E0Hole interference fit is installed;
Second step, by workpiece to be ground i.e. Cycloidal Wheel, output panel or input disc by straight pin by grinding work piece The B of installing hole and grinding fixture0Or C0Hole connects and positions;The taper seat of taper pin passes work to be ground One bearing saddle bore of part;
3rd step, inserts expansion set the taper seat of taper pin and by installing screw in compression in its end, makes expansion set Dilatancy, offsets the gap between above-mentioned taper seat and bearing saddle bore, completes radial direction and positions fixing;
4th step, grinding A0The bearing saddle bore that hole is corresponding;
5th step, after grinding completes, takes off expansion set, by workpiece to be ground around B0Or C0Rotate 180 °, By the taper seat of taper pin through the bearing saddle bore good with grinding, repeat the 3rd step and the 4th step.
Workpiece to be ground in second step is any two in Cycloidal Wheel, output panel, input disc or three Process together.
During grinding Cycloidal Wheel, using bearing saddle bore as second positioning benchmark, continue grinding epicyclodial wheel.
Grinding epicyclodial wheel implementation is as follows: Cycloidal Wheel bearing saddle bore B1With taper shank disc hole B0Or C0Right Together, Cycloidal Wheel bearing saddle bore C1With taper shank disc hole C0Or B0Alignment, Cycloidal Wheel centre bore A1With taper shank Disc centre hole A0Alignment, compresses after utilizing taper pin and expansion set location and installation, utilizes emery wheel to continue grinding cycloid The outer teeth profile of wheel.
The present invention compared with prior art has the beneficial effect that
1) universal fixture fixture is used, the bearing saddle bore of grinding RV decelerator key core part, process base Accurate strict unified, the hole heart is consistent away from error;
2) clamping positioning method that workpiece is rotated 180 ° is used, it is ensured that each shaft parts bearing hole position is tight Lattice are symmetrical, there is not phase error;
3) crank axle eccentric throw size can manufacture with bearing saddle bore error, reduces and Cycloidal Wheel, input further Rigging error between dish, output panel, reduces tooth Shape Design difficulty;
4) utilize the bearing saddle bore of this frock as second positioning benchmark, grinding epicyclodial wheel can be continued, improve Cycloidal profile grinding accuracy;
Accompanying drawing explanation
Fig. 1 a, 1b are the mounting structure schematic diagrams of one case study on implementation of the present invention;
Fig. 1 c is expanded function mounting structure schematic diagram of the present invention;
Fig. 2 is taper shank disk A0、B0、C0、D0、E0Hole labelling schematic diagram;
Fig. 3 is Cycloidal Wheel A1、B1、C1Hole labelling schematic diagram;
Fig. 4 is output panel A2、B2、C2Hole labelling schematic diagram;
Fig. 5 is input disc A3、B3、C3Hole labelling schematic diagram.
Detailed description of the invention
As shown in Fig. 1 a, 1b, profile and the feature of each part are described below: taper shank disk 1 is revolution class Part, one end is taper major axis, adds man-hour and grinding machine clamping cone match, utilizes the screwed hole of taper shank end Adjusting and fixing, taper shank disk has five location hole (A altogether0、B0、C0、D0、E0), and symmetrical cloth Put;Expansion set 3 inner surface is the conical surface, and outside is cylindrical, around has the groove of one fixed width, and expansion set can Utilize the conical surface to carry out dilatancy, adjust excircle dimension;Taper pin 2 shape is by taper seat and face of cylinder connection Becoming, one end is provided with step, and the other end has screwed hole, and tapering size is equal with the conical surface inside expansion set;Cylinder Pin 4 shape is formed by connecting by the face of cylinder that two diameters are different;The outward appearance of briquetting 5 is L-shaped, and side has Grooved hole, fixed by screw assembly 6.
According to Fig. 1, the installation steps of each part are described below: Cycloidal Wheel 7 will pendulum by straight pin 4 Line wheel A1Hole and taper shank disk B0Hole (or C0Hole) connect and position;Installing before workpiece, taper pin 2 with Taper shank disk 1 interference fit is installed, and the conical surface is stretched out in side, after clamping workpiece, utilizes taper pin and expansion set The tapering of surfaces externally and internally, is compressed by screw assembly, makes expansion set dilatancy, and then radially fixed workpiece, Offset gap;For preventing workpiece from axially collecting together, taper shank disk has some screwed holes, available briquetting and spiral shell Workpiece is compressed by screw assembly with taper shank disk;
According to Fig. 1~5, Cycloidal Wheel bearing saddle bore grinding order is described below: cycloid wheel bore A1With taper shank disk Hole B0(or C0) alignment, cycloid wheel bore B1With taper shank disc hole D0Alignment, after location and installation, emery wheel grinds Cut bearing saddle bore C1, grinding is complete, by overall for Cycloidal Wheel around hole B0(or C0) rotate 180 °, again Location and installation, emery wheel continues grinding bearing bore B1
With reference to foregoing description, output panel, input disc bearing saddle bore B2、C2、B3、C3All use same sample prescription Method grinding.
As illustrated in figure 1 c, based on this frock, using the bearing saddle bore of Cycloidal Wheel as second positioning benchmark, can continue Continuous grinding epicycloid flank profil, concrete grinding order is described below: Cycloidal Wheel bearing saddle bore B1With taper shank disk Hole B0(or C0) alignment, Cycloidal Wheel bearing saddle bore C1With taper shank disc hole C0(or B0) alignment, pendulum Line wheel centre bore A1With taper shank disc centre hole A0Alignment, after utilizing taper pin 2 and expansion set 3 location and installation, Being compressed by briquetting 5 and screw assembly 6, then emery wheel 8 can continue the outer teeth profile of grinding Cycloidal Wheel again ?;
The present invention is unspecified partly belongs to general knowledge as well known to those skilled in the art.

Claims (7)

1. a RV reducer shaft bearing hole grinding fixture, it is characterised in that: include taper shank disk (1), Straight pin (4), fixing device;
Taper shank disk (1) is slewing parts, and one end is taper major axis, adds and joins with the grinding machine clamping conical surface man-hour Closing, utilize the screwed hole of the long shaft end of taper to adjust and fixing, the other end is disk, and disk has five altogether Hole, individual location order is designated as D0、B0、A0、C0、E0, hole, five location is with A0It is arranged symmetrically with;B0Or C0For the mounting-positioning holes of workpiece to be ground, the bearing saddle bore of workpiece to be ground and D0、A0Overlap or with E0、A0Overlap;Straight pin (4) shape is formed by connecting by the face of cylinder that two diameters are different;Pass through cylinder Pin (4) is by the B of the installing hole of grinding work piece Yu grinding fixture0Or C0Hole connects and positions, by fixing Grinding work piece is fixed by device with grinding fixture.
Frock the most according to claim 1, it is characterised in that: described fixing device is by radially fixed Grinding work piece is fixed by device and axial securing means for impeller both direction with grinding fixture.
Frock the most according to claim 2, it is characterised in that: described radial fixing device includes cone Pin (2) and expansion set (3), expansion set (3) inner surface is the conical surface, and outside is cylindrical, around has one The groove of fixed width degree, expansion set (3) utilizes the conical surface to carry out dilatancy, adjusts excircle dimension;Taper pin (2) shape Shape is formed by connecting by taper seat and the face of cylinder, and one end, the face of cylinder is provided with step, and taper seat one end has screwed hole, The tapering size of taper seat is equal with the conical surface inside expansion set;By expansion set (3) being inserted the circle of taper pin (2) The conical surface is also fixed, and makes expansion set dilatancy, offsets the gap between above-mentioned taper seat and bearing saddle bore, completes Radially location is fixing.
4. the localization method of a RV reducer shaft bearing hole, it is characterised in that step is as follows:
The first step, by taper shank disk (1) and grinding machine clamping cone match, utilizes the screw thread of the long shaft end of taper Hole adjusts and fixing;D by taper pin (2) Yu taper shank disk (1)0Hole or E0Hole interference fit is installed;
Second step, by workpiece to be ground i.e. Cycloidal Wheel, output panel or input disc by straight pin (4) by grinding The installing hole of workpiece and the B of grinding fixture0Or C0Hole connects and positions;The taper seat of taper pin (2) passes One bearing saddle bore of workpiece to be ground;
3rd step, inserts the taper seat of taper pin (2) and by installing screw pressure in its end by expansion set (3) Tightly, make expansion set dilatancy, offset the gap between above-mentioned taper seat and bearing saddle bore, complete radially to position Fixing;
4th step, grinding A0The bearing saddle bore that hole is corresponding;
5th step, after grinding completes, takes off expansion set, by workpiece to be ground around B0Or C0Rotate 180 °, By the taper seat of taper pin (2) through the bearing saddle bore good with grinding, repeat the 3rd step and the 4th step.
Method the most according to claim 4, it is characterised in that: the workpiece to be ground in second step is pendulum Any two in line wheel, output panel, input disc or three process together.
6. according to the method described in claim 4 or 5, it is characterised in that: during grinding Cycloidal Wheel, with bearing Bore, as second positioning benchmark, continues grinding epicyclodial wheel.
Method the most according to claim 6, it is characterised in that: grinding epicyclodial wheel implementation is as follows:
Cycloidal Wheel bearing saddle bore B1With taper shank disc hole B0Or C0Alignment, Cycloidal Wheel bearing saddle bore C1With cone Handle disc hole C0Or B0Alignment, Cycloidal Wheel centre bore A1With taper shank disc centre hole A0Alignment, utilizes cone Compress after pin (2) and expansion set (3) location and installation, utilize emery wheel (8) to continue the external tooth of grinding Cycloidal Wheel Wide.
CN201610446504.5A 2016-06-20 2016-06-20 A kind of localization method of RV reducer shafts bearing hole grinding fixture and bearing saddle bore Active CN105904340B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107263261A (en) * 2017-07-14 2017-10-20 武汉船用机械有限责任公司 The grinding fixture and processing method of a kind of hydraulic motor arc push rod
CN109176160A (en) * 2018-10-17 2019-01-11 江西洪都航空工业集团有限责任公司 A kind of precision multi-diameter shaft Cylindrical Grinding Processes technique

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EP0310967B1 (en) * 1987-10-02 1992-04-22 Manfred Schanz Clamping device
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CN102581674A (en) * 2012-03-21 2012-07-18 山东冠泓数控装备有限公司 Two-hole processing tool for lathe
CN202388274U (en) * 2011-12-09 2012-08-22 浙江科力车辆控制系统有限公司 Rotation station turning tool for four-circuit protection valve
CN102717277A (en) * 2012-06-29 2012-10-10 鹰普机械(宜兴)有限公司 Positioning tooling for horizontal lathe

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3861692A (en) * 1971-08-20 1975-01-21 Borg Warner Stieber Gmbh Collet and adjusting screw therefor
EP0310967B1 (en) * 1987-10-02 1992-04-22 Manfred Schanz Clamping device
CN101941159A (en) * 2010-08-16 2011-01-12 浙江平柴泵业有限公司 Elastic eccentric clamp
CN201907009U (en) * 2010-12-20 2011-07-27 天津市中海上达机械制造有限公司 Fixture for planet carrier lathe
CN202240544U (en) * 2011-08-01 2012-05-30 芜湖鑫业汽车零部件有限公司 Turning fixture for five-gear shifting fork
CN202388274U (en) * 2011-12-09 2012-08-22 浙江科力车辆控制系统有限公司 Rotation station turning tool for four-circuit protection valve
CN102581674A (en) * 2012-03-21 2012-07-18 山东冠泓数控装备有限公司 Two-hole processing tool for lathe
CN102717277A (en) * 2012-06-29 2012-10-10 鹰普机械(宜兴)有限公司 Positioning tooling for horizontal lathe

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107263261A (en) * 2017-07-14 2017-10-20 武汉船用机械有限责任公司 The grinding fixture and processing method of a kind of hydraulic motor arc push rod
CN107263261B (en) * 2017-07-14 2019-08-23 武汉船用机械有限责任公司 A kind of grinding fixture and processing method of hydraulic motor arc push rod
CN109176160A (en) * 2018-10-17 2019-01-11 江西洪都航空工业集团有限责任公司 A kind of precision multi-diameter shaft Cylindrical Grinding Processes technique
CN109176160B (en) * 2018-10-17 2020-11-06 江西洪都航空工业集团有限责任公司 Precision stepped shaft cylindrical grinding process

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