CN105904340B - A kind of localization method of RV reducer shafts bearing hole grinding fixture and bearing saddle bore - Google Patents
A kind of localization method of RV reducer shafts bearing hole grinding fixture and bearing saddle bore Download PDFInfo
- Publication number
- CN105904340B CN105904340B CN201610446504.5A CN201610446504A CN105904340B CN 105904340 B CN105904340 B CN 105904340B CN 201610446504 A CN201610446504 A CN 201610446504A CN 105904340 B CN105904340 B CN 105904340B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
- B24B5/48—Single-purpose machines or devices for grinding walls of very fine holes, e.g. in drawing-dies
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The localization method of a kind of RV reducer shafts bearing hole grinding fixture and bearing saddle bore, frock include taper shank disk, straight pin, fixing device；Taper shank disk is slewing parts, and one end is taper long axis, with grinding machine clamping cone match during processing, is adjusted using the threaded hole of the long shaft end of taper and fixed, the other end is disk, is opened altogether on disk and is denoted as D there are five location hole order0、B0、A0、C0、E0, five location holes are with A0It is arranged symmetrically；B0Or C0For the mounting-positioning holes of workpiece to be ground, the bearing saddle bore and D of workpiece to be ground0、A0Coincidence or and E0、A0It overlaps；Straight pin shape is formed by connecting by two different cylindrical surfaces of diameter；By straight pin by the mounting hole for being ground workpiece and the B of grinding fixture0Or C0Hole connects and positions, and is fixed by fixing device by workpiece is ground with grinding fixture.
Description
Technical field
The present invention relates to robot RV reducer key components and parts manufacture field, more particularly, to a kind of RV retarders bearing
Bore localization method and grinding attachment.
Background technology
RV retarders are because it is with small, light-weight, rigidity is big, stable drive, kinematic accuracy are high, strong shock resistance
The features such as, it is widely used in robot, spindle of numerical control lathe indexing, factory automation, flexible manufacturing unit, elaborate servo biography
It is dynamic to wait fields.
Robot is higher to index requests such as kinematic accuracy, gap return difference, rigidity with RV retarders, general control 1~
1.5 points or so, it just can ensure that robot end accurately reaches designated position, therefore to the processing of each parts of RV retarders
And installation error requirement is extremely harsh.
RV retarders are mainly by the cores such as gear shaft, planetary gear, crank axle, Cycloidal Wheel, pinwheel, input disc, output panel zero
Part forms, and Cycloidal Wheel, output panel, input disc each have two bearing saddle bores, wherein done between crank axle and Cycloidal Wheel
Eccentric rotary, axis in bore with being equipped with needle bearing；Planetary rotation, axis and seat are done between crank axle and input disc, output panel
Needle bearing is installed in hole.Crank axle connects the movement of three components as intermediate member, when removing crank axle
When, Cycloidal Wheel, input disc, the corresponding coincidence of the bearing saddle bore of output panel, due to needing to be coordinated with standard component (bearing), institute
With to the size of bore, shape, position and the bore heart away from tolerance grade requirement it is very high.
The prior art is that individually the bearing saddle bore of each part is positioned, and then processes bore, two holes on this basis
Centre-to-centre spacing error, symmetry error ensured by first of positioning process, since three parts do not have unified machining benchmark,
Clamping more is carried out without identical frock, can not ensure tolerance uniformity, so cause three parts and crank axle, needle bearing
It is difficult to install, and rigging error is also introduced, the meshing characteristic between flank profil is affected, reduces RV retarders mass motion essence
Degree and service life.For this purpose, for Cycloidal Wheel, input disc, output panel bearing saddle bore, how to design unified machining benchmark and lead to
Frock clamp, reducing manufacturing and positioning errors influences, and is the key that improve RV retarder property indices.
The content of the invention
The technology of the present invention solves the problems, such as：A kind of raising robot RV reducer key components and parts bearing saddle bore is provided to determine
Position method, and a kind of universal fixture fixture is provided, for being ground two bearing saddle bores, miss the centre-to-centre spacing of each workpiece bearing saddle bore
Difference, symmetry are consistent.This localization method and frock clamp not only reduce manufacturing and positioning errors, make conjugate tooth profile
Design becomes more flexible, simplifies, and also meets robot RV reducer high-precision requirement.
The present invention technical solution be：A kind of RV reducer shafts bearing hole grinding fixture, including taper shank disk, cylinder
Pin, fixing device；
Taper shank disk is slewing parts, and one end is taper long axis, with grinding machine clamping cone match during processing, utilizes taper
The threaded hole of long shaft end is adjusted and fixed, and the other end is disk, is opened altogether on disk and is denoted as D there are five location hole order0、B0、
A0、C0、E0, five location holes are with A0It is arranged symmetrically；B0Or C0For the mounting-positioning holes of workpiece to be ground, the axis of workpiece to be ground
Bearing hole and D0、A0Coincidence or and E0、A0It overlaps；Straight pin shape is formed by connecting by two different cylindrical surfaces of diameter；Pass through
Straight pin is by the mounting hole for being ground workpiece and the B of grinding fixture0Or C0Hole connects and positions, and work will be ground by fixing device
Part is fixed with grinding fixture.
The fixing device is by radial fixing device and axial securing means for impeller both direction to grinding workpiece and grinding work
Dress is fixed.
The radial fixing device includes taper pin and expansion set, and expansion set inner surface is the conical surface, and outside is cylinder, around
The slot of one fixed width is provided with, expansion set carries out dilatancy using the conical surface, adjusts excircle dimension；Taper pin shape is by circular conical surface and cylinder
Face is formed by connecting, and cylindrical surface one end is equipped with step, and circular conical surface one end is provided with threaded hole, taper size and the expansion set inside of circular conical surface
The conical surface is equal；By the way that expansion set to be inserted into circular conical surface and the fixation of taper pin, make expansion set dilatancy, offset above-mentioned circular conical surface and bearing
Gap between bore is completed radial positioning and is fixed.
A kind of localization method of RV reducer shafts bearing hole, step are as follows：
The first step by taper shank disk and grinding machine clamping cone match, is adjusted and solid using the threaded hole of the long shaft end of taper
It is fixed；By taper pin and the D of taper shank disk 10Hole or E0Hole interference fit installation；
Workpiece, that is, Cycloidal Wheel to be ground, output panel or input disc will be ground the installation of workpiece by second step by straight pin
Hole and the B of grinding fixture0Or C0Hole connects and positions；The circular conical surface of taper pin passes through a bearing saddle bore of workpiece to be ground；
3rd step by the circular conical surface of expansion set insertion taper pin and by being compressed in its end mounting screw, becomes expansion set expansion
Shape offsets the gap between above-mentioned circular conical surface and bearing saddle bore, completes radial positioning and fixes；
4th step is ground A0The corresponding bearing saddle bore in hole；
5th step after the completion of grinding, removes expansion set, by workpiece to be ground around B0Or C0180 ° of rotation, by the circular cone of taper pin
Face repeats the 3rd step and the 4th step through the bearing saddle bore to be ground.
Workpiece to be ground in second step is Cycloidal Wheel, output panel, any two in input disc or three together plus
Work.
When being ground Cycloidal Wheel, using bearing saddle bore as secondary positioning datum, continue to be ground epicyclodial wheel.
It is as follows to be ground epicyclodial wheel realization method：Cycloidal Wheel bearing saddle bore B1With taper shank disc hole B0Or C0Alignment, Cycloidal Wheel
Bearing saddle bore C1With taper shank disc hole C0Or B0Alignment, Cycloidal Wheel centre bore A1With taper shank disc centre hole A0Alignment, utilizes taper pin
It is compressed with after expansion set location and installation, continues to be ground the outer teeth profile of Cycloidal Wheel using emery wheel.
The present invention has the beneficial effect that compared with prior art：
1) universal fixture fixture is used, is ground the bearing saddle bore of RV retarder key core parts, machining benchmark is strictly united
One, the hole heart is consistent away from error；
2) using the clamping positioning method that workpiece is rotated to 180 °, it is ensured that each part bearing saddle bore position Striking symmetry,
There is no phase errors；
3) crank axle eccentricity size can be manufactured with bearing saddle bore error, further be reduced and Cycloidal Wheel, input disc, output
Rigging error between disk reduces tooth Shape Design difficulty；
4) by the use of the bearing saddle bore of this frock as secondary positioning datum, it can continue to be ground epicyclodial wheel, improve cycloid tooth
Wide grinding accuracy；
Description of the drawings
Fig. 1 a, 1b are the mounting structure schematic diagrams of a case study on implementation of the invention；
Fig. 1 c are expanded function mounting structure schematic diagrams of the present invention；
Fig. 2 is taper shank disk A0、B0、C0、D0、E0Hole marks schematic diagram；
Fig. 3 is Cycloidal Wheel A1、B1、C1Hole marks schematic diagram；
Fig. 4 is output panel A2、B2、C2Hole marks schematic diagram；
Fig. 5 is input disc A3、B3、C3Hole marks schematic diagram.
Specific embodiment
As shown in Fig. 1 a, 1b, the shape and feature of each part are described below：Taper shank disk 1 is slewing parts, and one end is
Taper long axis with grinding machine clamping cone match during processing, is adjusted and fixed, taper shank disk is opened altogether using the threaded hole of taper shank end
There are five location hole (A0、B0、C0、D0、E0), and be arranged symmetrically；3 inner surface of expansion set is the conical surface, and outside is cylinder, is around opened
There is the slot of one fixed width, expansion set can carry out dilatancy using the conical surface, adjust excircle dimension；2 shape of taper pin is by circular conical surface and circle
Cylinder is formed by connecting, and one end is equipped with step, and the other end is provided with threaded hole, and taper size is equal with the conical surface on the inside of expansion set；Straight pin 4
Shape is formed by connecting by two different cylindrical surfaces of diameter；The appearance of briquetting 5 is L-shaped, and one side is provided with groove type hole, passes through screw
Component 6 is fixed.
According to Fig. 1, the installation steps of each part are described below：Cycloidal Wheel 7 is by straight pin 4 by Cycloidal Wheel A1Hole with
Taper shank disk B0Hole (or C0Hole) it connects and positions；Before workpiece is installed, taper pin 2 is installed with the interference fit of taper shank disk 1, one side
The conical surface is stretched out, after clamping workpiece, using taper pin and the taper of expansion set surfaces externally and internally, is compressed by screw assembly, makes expansion set
Dilatancy, and then radially fixed workpiece, counteracting gap；To prevent workpiece axial direction moving, taper shank disk is provided with several threaded holes,
Workpiece and taper shank disk are compressed using briquetting and screw assembly；
According to Fig. 1~5, Cycloidal Wheel bearing saddle bore grinding order is described below：Cycloid wheel bore A1With taper shank disc hole B0(or
C0) alignment, cycloid wheel bore B1With taper shank disc hole D0It aligns, after location and installation, wheel grinding bearing saddle bore C1, grinding finishes, will
Cycloidal Wheel is whole around hole B0(or C0) 180 ° of rotation, installation is repositioned, emery wheel continues grinding bearing bore B1；
With reference to foregoing description, output panel, input disc bearing saddle bore B2、C2、B3、C3It is ground using same method.
As illustrated in figure 1 c, based on this frock, using the bearing saddle bore of Cycloidal Wheel as secondary positioning datum, it is outer that grinding can be continued
Cycloidal profile, specific grinding order are described below：Cycloidal Wheel bearing saddle bore B1With taper shank disc hole B0(or C0) alignment, cycloid
Wheel bearing bore C1With taper shank disc hole C0(or B0) alignment, Cycloidal Wheel centre bore A1With taper shank disc centre hole A0Alignment utilizes
It after 3 location and installation of taper pin 2 and expansion set, then is compressed by briquetting 5 and screw assembly 6, then emery wheel 8 can continue to be ground cycloid
The outer teeth profile of wheel；
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.
Claims (7)
1. a kind of RV reducer shafts bearing hole grinding fixture, it is characterised in that：Including taper shank disk (1), straight pin (4), fix
Device；
Taper shank disk (1) is slewing parts, and one end is taper long axis, with grinding machine clamping cone match during processing, utilizes taper
The threaded hole of long shaft end is adjusted and fixed, and the other end is disk, is opened altogether on disk and is denoted as D there are five location hole order0、B0、
A0、C0、E0, five location holes are with A0It is arranged symmetrically and the center of circle is on same straight line；B0Or C0For the installation of workpiece to be ground
Location hole, the bearing saddle bore and D of workpiece to be ground0、A0Coincidence or and E0、A0It overlaps；Straight pin (4) shape is by two diameters
Different cylindrical surfaces are formed by connecting；By straight pin (4) by the mounting hole for being ground workpiece and the B of grinding fixture0Or C0Hole connects
And position, it is fixed by fixing device by workpiece is ground with grinding fixture.
2. frock according to claim 1, it is characterised in that：The fixing device is solid by radial fixing device and axially
Determine device both direction grinding workpiece is fixed with grinding fixture.
3. frock according to claim 2, it is characterised in that：The radial fixing device includes taper pin (2) and expansion set
(3), expansion set (3) inner surface is the conical surface, and outside is cylinder, is around provided with the slot of one fixed width, expansion set (3) using the conical surface into
Row dilatancy adjusts excircle dimension；Taper pin (2) shape is formed by connecting by circular conical surface and cylindrical surface, and cylindrical surface one end is equipped with platform
Rank, circular conical surface one end are provided with threaded hole, and the taper size of circular conical surface is equal with the conical surface on the inside of expansion set；By the way that expansion set (3) is inserted into
The circular conical surface of taper pin (2) and fixation, make expansion set dilatancy, offset the gap between above-mentioned circular conical surface and bearing saddle bore, complete
Radial positioning is fixed.
4. a kind of localization method of RV reducer shafts 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, is adjusted and solid using the threaded hole of the long shaft end of taper
It is fixed；By taper pin (2) and the D of taper shank disk (1)0Hole or E0Hole interference fit installation；
Workpiece, that is, Cycloidal Wheel to be ground, output panel or input disc will be ground the mounting hole of workpiece by second step by straight pin (4)
With the B of grinding fixture0Or C0Hole connects and positions；The circular conical surface of taper pin (2) passes through a bearing saddle bore of workpiece to be ground；
3rd step by the circular conical surface of expansion set (3) insertion taper pin (2) and by being compressed in its end mounting screw, expands expansion set
The gap between above-mentioned circular conical surface and bearing saddle bore is offset in deformation, is completed radial positioning and is fixed；
4th step is ground A0The corresponding bearing saddle bore in hole；
5th step after the completion of grinding, removes expansion set, by workpiece to be ground around B0Or C0180 ° of rotation, by the circular cone of taper pin (2)
Face repeats the 3rd step and the 4th step through the bearing saddle bore to be ground.
5. according to the method described in claim 4, it is characterized in that：Workpiece to be ground in second step is Cycloidal Wheel, output panel,
Any two in input disc or three process together.
6. method according to claim 4 or 5, it is characterised in that：When being ground Cycloidal Wheel, using bearing saddle bore as secondary fixed
Position benchmark continues to be ground epicyclodial wheel.
7. according to the method described in claim 6, it is characterized in that：It is as follows to be ground epicyclodial wheel realization method：
Cycloidal Wheel bearing saddle bore B1With taper shank disc hole B0Or C0Alignment, Cycloidal Wheel bearing saddle bore C1With taper shank disc hole C0Or B0It is right
Together, Cycloidal Wheel centre bore A1With taper shank disc centre hole A0Alignment, it is sharp using being compressed after taper pin (2) and expansion set (3) location and installation
Continue the outer teeth profile of grinding Cycloidal Wheel with emery wheel (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610446504.5A CN105904340B (en) | 2016-06-20 | 2016-06-20 | A kind of localization method of RV reducer shafts bearing hole grinding fixture and bearing saddle bore |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610446504.5A CN105904340B (en) | 2016-06-20 | 2016-06-20 | A kind of localization method of RV reducer shafts bearing hole grinding fixture and bearing saddle bore |
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| Publication Number | Publication Date |
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| CN105904340A CN105904340A (en) | 2016-08-31 |
| CN105904340B true CN105904340B (en) | 2018-06-01 |
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| 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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| CN113579877B (en) * | 2021-06-25 | 2022-10-14 | 北京精密机电控制设备研究所 | Small-diameter flange part planet hole grinding tool and method |
| CN114211325B (en) * | 2021-11-05 | 2023-11-14 | 重庆红江机械有限责任公司 | Indexable eccentric turning and grinding clamp and application method thereof |
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| 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 |
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| CN105904340A (en) | 2016-08-31 |
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