CN105921823B - A kind of numerical control worm wheel grinding method of cycloid gear - Google Patents
A kind of numerical control worm wheel grinding method of cycloid gear Download PDFInfo
- Publication number
- CN105921823B CN105921823B CN201610423437.5A CN201610423437A CN105921823B CN 105921823 B CN105921823 B CN 105921823B CN 201610423437 A CN201610423437 A CN 201610423437A CN 105921823 B CN105921823 B CN 105921823B
- Authority
- CN
- China
- Prior art keywords
- grinding wheel
- gear
- worm
- worm grinding
- cycloid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 238000004519 manufacturing process Methods 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 claims abstract description 6
- 229910003460 diamond Inorganic materials 0.000 claims description 16
- 239000010432 diamond Substances 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 12
- 238000009966 trimming Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 2
- 210000003781 tooth socket Anatomy 0.000 claims 2
- 238000012545 processing Methods 0.000 abstract description 11
- 238000003754 machining Methods 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000005299 abrasion Methods 0.000 abstract 5
- 206010006514 bruxism Diseases 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000009795 derivation Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002715 modification method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F5/00—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made
- B23F5/02—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made by grinding
- B23F5/04—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made by grinding the tool being a grinding worm
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gear Processing (AREA)
Abstract
The present invention relates to a kind of numerical control worm wheel grinding methods of cycloid gear, and the worm abrasion wheel three-dimensional profile formula of machining cycloidal gears is derived according to cycloid gear three-dimensional profile formula using space meshing principle, and cycloid gear is refined using worm abrasion wheel.This method has apparent advantage compared to cycloid gear plunge grinding technology, substitutes discontinuously processing with Continuous maching, simultaneously, generating motion precision stability is higher than interrupted dividing movement precision, increasing substantially for precision of grinding teeth, the significant decrease of roll flute production cost, roll flute efficiency is caused to obviously increase.On the lathe of worm wheel grinding cycloid gear, in this way, and the special fixture platform of associated workpiece should be designed, two cycloid gear gear blanks of disposable location and installation, and determine their spatial position；Worm abrasion wheel side increases online gauge head, positions the spatial position of worm abrasion wheel；The R. concomitans of two above technology, realize cycloid gear gear blank and worm abrasion wheel quick and precisely to knife.
Description
Technical Field
The invention belongs to gear grinding in the field of mechanical manufacturing, particularly relates to the field of generating grinding processing of a cycloid gear, and relates to a numerical control worm grinding wheel grinding method of the cycloid gear.
Background
With the development of industrial technology, more and more cycloid gears are applied, and cycloid gear speed reducers have the advantages of large reduction ratio, compact structure and the like, and are widely applied under the condition of space-limited use; the cycloid gear has important application in the transmission mechanism of the modern robot, and along with the development of the robot industry, the number and the quality of the cycloid gear need to be further improved; the requirements for the use of cycloid gears in traditional horology, military and the like are increasing, which at the same time requires increasing progress in the efficiency and accuracy level of the finishing.
The forming and grinding technology of the cycloid gear is developed more mature, the production efficiency is not guaranteed, and although a solution for modifying the cutter and simultaneously processing a plurality of teeth is provided, the effect is not satisfactory; meanwhile, the forming grinding has high requirements on the precision grade of the machine tool (mainly comprising positioning and mounting, tool setting precision and indexing precision), and the development of the forming grinding of the cycloid gear is also limited.
The cycloidal gear grinding machine simulates the motion relationship of a gear and a pin wheel when a cycloidal gear speed reducer works to realize grinding of the cycloidal gear.
The grinding technology of the cycloidal worm grinding wheel researched by XuYouhu, Wangxing and the like utilizes the meshing principle of a cycloidal gear and a cycloidal rack, and the derivation results in that the cycloidal rack can be meshed with any cycloidal gear under the condition of ensuring that the radius and the eccentricity of a rolling circle are the same; the method is equivalent to establishing the three-dimensional profile of the worm by using the normal profile of the theoretical worm, and is correct under the condition of ensuring that the outer diameter of the worm grinding wheel is not changed; however, as the machining process progresses, the outer diameter of the worm grinding wheel gradually becomes smaller as the grinding progresses, and if the profile of the worm is not corrected in time, the grinding precision is greatly reduced; this method is therefore unsuitable for long-term continuous grinding with grinding worms with high precision requirements.
With the development of numerical control technology and the improvement of worm grinding wheel finishing technology, the method for processing the cycloid gear by using the worm grinding wheel is realized, and the development of the cycloid gear grinding technology is promoted.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a numerical control worm grinding wheel grinding method for a cycloid gear, which is characterized in that a space meshing principle is applied, a worm grinding wheel three-dimensional profile formula is derived according to the cycloid gear three-dimensional profile formula, and the worm grinding wheel three-dimensional profile formula and a cycloid gear tooth blank are positioned, installed, adjusted and ground in a designed position. The technological process is realized on the machine tool, so that the production efficiency and the processing precision of the grinding of the cycloid gear are improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
a numerical control worm grinding wheel grinding method of a cycloid gear is used on a worm grinding wheel grinding cycloid gear machine tool, a three-dimensional profile formula of a corresponding worm grinding wheel is calculated according to a cycloid gear three-dimensional profile formula, the worm grinding wheel is trimmed according to the three-dimensional profile formula, and a finished worm grinding wheel is utilized to process a cycloid gear tooth blank; positioning and mounting two cycloid gear blanks on a fixture table at one time to determine the spatial position of a workpiece; determining the spatial position of the worm grinding wheel according to the position and the corner of the central axis of the worm grinding wheel and the position of the online measuring head; and programming a numerical control program to carry out tool setting and grinding by utilizing the meshing relation and the spatial position of the worm grinding wheel and the cycloid gear. In order to realize the above functions, the main structure of the grinding machine tool is designed: the device comprises a machine tool base, a worm grinding wheel spindle, a worm grinding wheel translation guide rail, a workpiece clamp table, an online measuring head, a diamond roller and other related auxiliary devices.
As a preferred scheme of the invention, the calculation method of the profile formula of the worm grinding wheel comprises the following steps: establishing a space position coordinate system relation of the worm grinding wheel and the cycloid gear according to the three-dimensional profile of the cycloid gear, calculating a contact line in the meshing process according to the meshing motion relation of the worm grinding wheel and the cycloid gear, and performing spiral scanning motion on the contact line to obtain an equation formula of the three-dimensional profile of the worm grinding wheel; the profile formula of the worm grinding wheel is as follows:
contact line equation:
the three-dimensional profile of the worm grinding wheel after the additional spiral motion is as follows:
Xdm＝Xdcosθ-Ydsinθ
Ydm＝Xdsinθ+Ydcosθ
wherein z isgIs the number of teeth of the cycloid gear,is a cycloidal gear corner, lambda is a worm grinding wheel installation angle, K is a center distance, theta is a worm grinding wheel spiral angle, and T is a worm grinding wheel pitch; and finally, substituting the profile formulas of the X and Y of the cycloid gear into the calculation to obtain the three-dimensional profile formula of the worm grinding wheel.
As another preferable scheme of the invention, two cycloid gear tooth blanks are positioned and installed on a clamp table at one time, the clamp table adopts a positioning method of one surface and two pins, a straight line where a cylindrical pin and a trimming pin are located passes through one tooth slot and one tooth top of the cycloid gear tooth blank (the number of cycloid gear teeth in an RV reducer is generally odd), two trimming pins are arranged at the position to respectively limit the rotational freedom degree of the tooth blank along the cylindrical pin, and under the condition that the requirement of accuracy grade is met, two workpiece tooth blanks are positioned and installed at one time, and the positions of the space tooth slot and the tooth top of the tooth blank are determined.
As another preferred scheme of the invention, the two trimming pins respectively limit the rotational freedom degree of the gear blank along the cylindrical pin, the process holes and the positioning holes processed on the gear blank of the cycloid gear are superposed and have different sizes, and the positioning holes of the two gear blanks have a 180-degree difference; the upper gear blank is positioned by allowing the trimming pin for limiting the freedom degree of the upper gear blank to pass through the fabrication hole of the lower gear blank, the rotation freedom degree is limited, the fabrication hole of the lower gear blank passes through the trimming pin, and the trimming pin does not cause any influence on the lower gear blank; meanwhile, the upper gear side plane of the lower gear blank is a positioning and mounting surface of the upper gear blank.
As an improved scheme of the invention, an online measuring head is designed on one side of the worm grinding wheel on the central shaft of the worm grinding wheel, so that the spatial position of the three-dimensional profile of the worm grinding wheel can be determined, and a numerical control program is programmed to carry out tool setting and grinding processing by combining the spatial position of the tooth blank determined in the step 3 of the method and utilizing the meshing relationship of the two.
As another improvement of the present invention, in order to implement the grinding method, the main structure of the grinding machine is designed with: the machine tool comprises a machine tool base, a worm grinding wheel spindle, a worm grinding wheel translation guide rail, a workpiece clamp table, an online measuring head and a diamond roller; the grinding machine comprises a machine tool base, a worm grinding wheel spindle, a clamping mechanism and a grinding wheel spindle, wherein the worm grinding wheel spindle is arranged on a translation guide rail of the machine tool, a X, Y, Z-direction coordinate system is established by taking a worm grinding wheel as a center, the worm grinding wheel spindle is arranged along a Y-axis direction at a certain angle, the certain angle is a worm grinding wheel spiral angle, an A axis realizes the rotation function of a worm grinding wheel axis on a YZ plane, a B axis is the grinding wheel spindle to realize the high-speed rotation of the worm grinding wheel, an online measuring head is arranged at the end part of the worm grinding. The machine tool structure realizes the functions in the steps, and combines a worm grinding wheel three-dimensional profile formula to finish numerical control grinding of a worm grinding wheel fine grinding cycloid gear, and further realizes accurate and efficient grinding of the cycloid gear by the aid of an online grinding wheel finishing function of a diamond roller and other machine tool auxiliary devices related to a gear grinding machine.
The invention has the beneficial effects that: the method can realize high-precision and high-efficiency grinding of the cycloid gear, replaces indexing grinding with generating continuous grinding, and can replace the current mainstream forming grinding method in engineering application; a worm grinding wheel grinding method based on a cycloid gear is also proposed along with a modification method based on the inverse calculation of the profile of the worm grinding wheel, the process of modifying the cycloid gear is eliminated, and the processing efficiency is greatly improved; the on-machine detection function of the system well solves the problem that detection and assembly are repeated continuously in the trial production process of the product, and improves the trial production efficiency; the on-machine dressing module of the worm grinding wheel is additionally arranged on the machine tool, so that the worm grinding wheel can be conveniently and accurately dressed, the auxiliary time of grinding processing is shortened, the processing efficiency is improved, and meanwhile, the worm grinding wheel does not need to be installed again, and the processing precision and stability are also ensured.
Drawings
FIG. 1 is a schematic diagram of the generation of a cycloid gear and its equidistant lines;
FIG. 2 is a spatial meshing position diagram of a cycloid gear and a worm grinding wheel;
FIG. 3 is a diagram of the meshing transmission relationship between a cycloid gear and a worm grinding wheel;
FIG. 4 is a diagram of a worm grinding wheel spiral flank;
FIG. 5 is a cross-section of a worm grinding wheel;
FIG. 6 is a schematic view of a machine tool;
FIG. 7 is a view of the fixture table;
fig. 8 is a meshing view of the worm grinding wheel and the cycloid gear.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
Taking grinding of a standard involute helical gear by a worm grinding wheel as an example, a numerical control worm grinding wheel grinding method of a cycloid gear comprises the following steps:
as shown in fig. 1, the parameters in the figure are:
RZis the pinwheel radius;
K1is the coefficient of the minor amplitude of the cycloid;
Zbthe number of teeth of the pin gear;
Zais the number of cycloidal gear teeth;
ψ is the (no-coring) angle of R with respect to R;
x0、y0is a cycloidal gear tooth profile equation;
and x and y are cycloidal equidistant profile equations.
The tooth profile equation of the cycloid gear can be obtained by the cycloid forming process and the geometric relationship as follows:
the radius of the needle gear sleeve is set as rZAnd the included angle between the common normal of any point of the tooth profile of the cycloid and the X axis is gamma, the equation of the tooth profile equidistant line of the cycloid gear is as follows:
x＝xo+rZcosγ
y＝yo-rZsinγ
in the formula:
the three-dimensional profile of the cycloid worm grinding wheel is the spiral tooth surface of the cycloid worm grinding wheel. The meshing characteristics are analyzed by using the normal tooth profile or the axial tooth profile, so that the spiral tooth surface equation must be solved firstly. Establishing a space meshing relationship between the cycloid gear and the worm grinding wheel, wherein fig. 2 is a meshing position relationship between the cycloid gear and the worm grinding wheel, and fig. 3 is a meshing transmission relationship between the cycloid gear and the worm grinding wheel. According to the diagram, odzdIs the axis of rotation of the grinding worm wheel, ogz0Is the axis of rotation of the workpiece and the helix angle on the worm grinding wheel pitch cylinder is lambda. The transmission ratio of the worm grinding wheel to the cycloid gear is as follows:
in the formula: z is a radical ofgThe number of workpiece teeth (i.e. the number of cycloidal gear teeth),
z-the number of heads of the worm grinding wheel,
-the angle of rotation of the workpiece,
-the work piece is rotated pastAnd then the angle the worm grinding wheel rotates.
Radius of pitch circle R of worm grinding wheeldjAnd the lead T is calculated as follows:
wherein R isgjIs the pitch radius of the workpiece, and this parameter is determined by the designer.
The closest distance between the axis of the worm grinding wheel and the axis of the workpiece is as follows:
K＝Rgj+Rdj
the relationship between the coordinate systems of the cycloid gear and the worm grinding wheel is established as follows:
Ogand (XYZ) is a movable coordinate system fixedly connected with the cycloid gear.
Og(X0Y0Z0) For determining the spatial position of cycloidal gearsA coordinate system of interest fixed in space, OgZ0Shaft and OgThe Z axis coincides at any time.
Od(XdYdZd) Is a movable coordinate system fixedly connected with the worm grinding wheel.
Od(Xd0Yd0Zd0) To determine the spatial position of the grinding worm, which is fixed in space, reference coordinate system OdZdShaft and OdZd0The axes coincide at any time.
The workpiece to be processed is a cycloid gear, and the tooth form of the cycloid gear is an equidistant line of a short-amplitude epicycloid. Since the cycloid gear is straight, the pitch plane is perpendicular to the rotation axis of the workpiece, i.e., the point participating in meshing is the point on the end face tooth profile. Now, a workpiece (cycloid gear) tooth surface equation M (X, Y, Z) is established:
X＝X(ψ)
Y＝Y(ψ)
Z＝h
the formula is a cycloidal tooth surface equation, and is an end surface of the cycloidal gear when h is constant and 0.
According to the installation position and the meshing motion relation of the cycloid gear and the worm grinding wheel, an expression of a contact point M (X, Y, Z) in a cutter fixed connection coordinate system, namely a contact line equation, can be obtained through coordinate transformation. The specific calculation process is as follows:
finishing the above formulas to obtain:
in the formula:
obtaining the equation of the contact line when the contact line is wound around OdZdWhen the shaft rotates at an angular velocity theta and ensures that the lead is T to perform spiral motion (as shown in FIG. 4), the motion track is the spiral surface of the worm grinding wheel, and the expression is as follows:
namely, it is
When X is presentdmWhen 0, an axial edge profile equation of the worm wheel is obtained, which is expressed in the tool coordinate system as follows:
Ydz＝Xdsinθ+Ydcosθ
the worm grinding wheel and the cycloid gear are actually meshed in the normal tooth surface of the worm grinding wheel, and when strict spiral motion is ensured, the included angle between the normal section and the axial section is lambda (as shown in fig. 5), so that the normal blade profile equation is expressed in a tool coordinate system as follows:
Xdf＝Xdcos(θ-θ1)-Ydsin(θ-θ1)
Ydf＝Xdsin(θ-θ1)+Ydcos(θ-θ1)
wherein,
since the above profile equation of normal section is established in the tool coordinate system, XdfRelative to the tool coordinate system. When a coordinate system is independently established in the normal section, the blade profile is as follows:
according to the derivation calculation process, the profile equation of the worm grinding wheel can be obtained, and therefore the required worm grinding wheel is trimmed for numerical control machining.
Fig. 6 is a schematic structural diagram of a machine tool main body, which integrally expresses the main structural distribution of the machine tool, wherein: the grinding machine comprises a grinding machine base 1, a workpiece clamping table 2, a workpiece clamp 3, a gold steel roller (and ejector pin) clamping table 4, a diamond roller 5, a spindle rotating motor 6, a worm grinding wheel cutter 7, an online measuring head 8, a ball screw mechanism 9 and a machine tool guide rail 10 (mainly comprising X, Y, Z linear guide rails in three directions).
The specific steps of the grinding machine for machining the cycloid gear are as follows:
and (3) clamping the cycloid gear blank: as the cycloid pinwheels in the actual RV reducer are used in pairs, in order to reduce the assembly error in use, the cycloid pinwheels are clamped according to the actual use condition in the machining process, so that the transmission error of the cycloid pinwheels can be reduced to the maximum extent.
The specially designed fixture adopts a traditional positioning mode of one surface and two pins as shown in fig. 7, and the chamfered edge pins on two sides respectively limit the rotation freedom degree of one gear blank. The first cycloid gear blank is positioned by a clamping table, a cylindrical pin and a trimming pin at one side; the second cycloid gear blank is positioned by the upper surface of the first cycloid gear blank, the cylindrical pin and the chamfered edge pin on the other side and is clamped by the locking nut. The fabrication holes and the positioning holes of the two gear blanks are overlapped in the vertical direction of the spatial position, and have different sizes, so that interference and over-positioning are avoided.
Grinding and tool setting of the cycloid gear: the accurate positions of a tooth groove and a tooth top of the cycloid tooth blank can be determined by adopting the positioning pin at the clamping table, and the accurate position of the worm grinding wheel can be accurately determined by installing an online measuring head on the worm grinding wheel main shaft; and calculating the initial meshing positions of the worm grinding wheel and the cycloid tooth blank according to the meshing principle, as shown in fig. 8, accurately controlling the initial position coordinates of the worm grinding wheel and the cycloid tooth blank in a machine tool by using a numerical control system, and setting a proper feeding amount to perform grinding production.
Regrinding the worm grinding wheel: as the grinding production is carried out, the worm grinding wheel is gradually worn, so that the requirement of the machining precision level cannot be met, and therefore, the worm grinding wheel needs to be reground and trimmed, grinding parameters are readjusted, and the machining precision of a machine tool is kept; the worm grinding wheel moves to the diamond roller along the Z-axis direction of the machine tool, the positions of the worm grinding wheel and the diamond roller are adjusted through a numerical control system according to the position of an online measuring head, the proper feeding amount is set, and the re-grinding and trimming of the worm grinding wheel can be carried out according to a preset program.
In summary, the grinding process of the cycloid gear blank comprises the following steps: (introduction of relative position and movement of each part is added) to realize the grinding method, the main structure of the grinding machine tool is designed to have: the device comprises a machine tool base, a worm grinding wheel central shaft, a worm grinding wheel translation guide rail, a workpiece clamp table, an online measuring head, a diamond roller, other related auxiliary devices and the like. The grinding machine comprises a machine tool base, a worm grinding wheel spindle is mounted on a machine tool translation guide rail, a X, Y, Z-direction coordinate system is established by taking a worm grinding wheel as a center, the worm grinding wheel spindle forms installation at a certain angle along the Y-axis direction (namely a worm grinding wheel spiral angle), the axis A realizes the rotation function of the axis of the worm grinding wheel on a YZ plane, the axis B is a grinding wheel spindle to realize high-speed rotation of the worm grinding wheel, an online measuring head is mounted at the end part of the worm grinding wheel spindle, the position precision is high, an on-machine detection function can be realized, the axis C is overlapped with the axis Z to realize rotation of a workpiece tooth blank, the axis Y is a diamond roller spindle to realize high-speed rotation of a diamond roller, and the diamond roller can move in.
Firstly, two cycloid gear blanks installed at 180 degrees are respectively placed on a clamping table 2 and clamped by a locking nut 3, a diamond roller clamping table 4 moves downwards to be in contact with the clamp clamping table 2, the rigidity of a cylindrical pin of the clamp is increased, and the installation of the gear blanks is finished; according to the meshing principle, the grinding position relation between the worm grinding wheel and the cycloid gear blank is calculated, and the positions of the worm grinding wheel X, Y, Z in three directions are adjusted through a numerical control system; the grinding processing can be carried out by setting a proper feeding amount through the contact tool setting of the worm grinding wheel and the cycloid tooth blank; when the machining time or the number of the machined workpieces reaches a certain degree, regrinding adjustment needs to be carried out on the worm grinding wheel, machining is interrupted, the position of the worm grinding wheel in the X, Y, Z direction is readjusted, and the worm grinding wheel is trimmed by using a diamond roller 5; the worm grinding wheel can be divided into a rough grinding section and a fine grinding section in the machining process, so that the worm grinding wheel can be used more efficiently, and the surface quality of a machined workpiece can be well controlled.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (5)
1. A numerical control grinding method of a worm grinding wheel of a cycloid gear is used on a grinding machine of the cycloid gear by the worm grinding wheel, and is characterized in that a three-dimensional profile formula of the corresponding worm grinding wheel is calculated according to the three-dimensional profile formula of the cycloid gear, the worm grinding wheel is trimmed according to the three-dimensional profile formula of the worm grinding wheel, and a cycloid gear tooth blank is processed by the trimmed worm grinding wheel; positioning and mounting two cycloid gear blanks on a fixture table at one time to determine the spatial position of a workpiece; determining the spatial position of the worm grinding wheel according to the position and the corner of the central axis of the worm grinding wheel and the position of the online measuring head; programming a numerical control program to carry out tool setting and grinding by utilizing the meshing relation and the spatial position of the worm grinding wheel and the cycloid gear;
the following formula of the three-dimensional profile of the cycloid gear can be obtained by the cycloid forming process and the geometric relationship:
the radius of the needle gear sleeve is set as rZThe included angle between the common normal line of any point of the tooth profile of the cycloid and the X axis is gamma, and the X axis is an axis which takes the center of the end surface of the cycloid gear as a circular point and is arranged along the radial direction of the cycloid gear; then the equation of the equidistant line of the cycloid gear three-dimensional profile formula is as follows:
x＝xo+rZcosγ
y＝yo-rZsinγ
in the formula:
in the formula, RZIs the pinwheel radius; k1Is the coefficient of the minor amplitude of the cycloid; zbThe number of teeth of the pin gear; zaIs the number of cycloidal gear teeth; psi is the corner of R relative to R, R is the radius of the rolling circle forming the cycloid, and R is the radius of the base circle forming the cycloid;
the three-dimensional profile formula calculation method of the worm grinding wheel comprises the following steps: establishing a space position coordinate system relation of the worm grinding wheel and the cycloid gear according to a cycloid gear three-dimensional profile formula, calculating a contact line in the meshing process according to the meshing motion relation of the worm grinding wheel and the cycloid gear, and performing spiral scanning motion on the contact line to obtain the worm grinding wheel three-dimensional profile formula; the three-dimensional profile formula of the worm grinding wheel is as follows:
contact line equation:
the three-dimensional profile formula of the worm grinding wheel after the additional spiral motion is as follows:
Xdm＝Xdcosθ-Ydsinθ
Ydm＝Xdsinθ+Ydcosθ
wherein z isgIs the number of teeth of the cycloid gear,is a cycloid gear corner, lambda is a worm grinding wheel installation angle, X is a cycloid gear tooth surface equation abscissa, Y is a cycloid gear tooth surface equation ordinate, K is the closest distance between the worm grinding wheel axis and the workpiece axis, theta is a worm grinding wheel helix angle, and T is the pitch of the worm grinding wheel; and finally, substituting the cycloid gear three-dimensional profile formula into the calculation to obtain the worm grinding wheel three-dimensional profile formula.
2. The grinding method of numerical control worm grinding wheel of cycloid gear according to claim 1, characterized in that two cycloid gear tooth blanks are positioned and mounted at one time on a fixture table, the fixture table adopts a one-face two-pin positioning method, the straight line where the cylindrical pin and the chamfered pin are located passes through one tooth socket and tooth top of the cycloid gear tooth blank, two chamfered pins are arranged here to limit the rotational freedom of the tooth blank along the cylindrical pin respectively, and when the requirement of accuracy grade is met, two cycloid gear tooth blanks are positioned and mounted at one time, and the spatial tooth socket and tooth top position of the tooth blank are determined.
3. The method for grinding the numerical control worm grinding wheel of the cycloid gear as claimed in claim 2, wherein the two trimming pins respectively limit the rotational freedom of the gear blank along the cylindrical pin, the process holes and the positioning holes processed on the gear blank of the cycloid gear are overlapped in position and have different sizes, and the difference between the positioning holes of the two gear blanks is 180 degrees; the upper gear blank is positioned by allowing the trimming pin for limiting the freedom degree of the upper gear blank to pass through the fabrication hole of the lower gear blank, the rotation freedom degree is limited, the fabrication hole of the lower gear blank passes through the trimming pin, and the trimming pin does not cause any influence on the lower gear blank; meanwhile, the upper gear side plane of the lower gear blank is a positioning and mounting surface of the upper gear blank.
4. The method for grinding the worm grinding wheel of the cycloid gear in the numerical control manner as defined in claim 2, wherein an online measuring head is arranged on one side of the worm grinding wheel on the central shaft of the worm grinding wheel, so that the spatial position of the three-dimensional profile of the worm grinding wheel can be determined, and a numerical control program is programmed to perform tool setting and grinding by using the meshing relationship between the determined spatial position of the gear blank and the determined spatial position of the gear blank.
5. The method for grinding a cycloid gear by using a numerical control worm grinding wheel as claimed in claim 1, wherein the grinding method is implemented by designing a machine tool structure for grinding the cycloid gear by using the worm grinding wheel, comprising the following steps: the machine tool comprises a machine tool base, a worm grinding wheel spindle, a worm grinding wheel translation guide rail, a workpiece clamp table, an online measuring head and a diamond roller; the machine tool base is used as a base, a worm grinding wheel spindle is mounted on a worm grinding wheel translation guide rail, a X, Y, Z-direction coordinate system is established by taking a worm grinding wheel as a center, the worm grinding wheel spindle is mounted at a certain angle along the Y-axis direction, the certain angle is a worm grinding wheel spiral angle, the axis A realizes the rotation function of the worm grinding wheel axis on a YZ plane, the axis B is a grinding wheel spindle to realize the high-speed rotation of the worm grinding wheel, an online measuring head is mounted at the end part of the worm grinding wheel spindle to realize the on-machine detection function, the axis C is overlapped with the axis Z to realize the rotation of a cycloidal gear blank, the axis Y is a diamond roller spindle to realize the high-speed rotation of a diamond roller, and the diamond roller can move along a.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610423437.5A CN105921823B (en) | 2016-06-16 | 2016-06-16 | A kind of numerical control worm wheel grinding method of cycloid gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610423437.5A CN105921823B (en) | 2016-06-16 | 2016-06-16 | A kind of numerical control worm wheel grinding method of cycloid gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105921823A CN105921823A (en) | 2016-09-07 |
| CN105921823B true CN105921823B (en) | 2018-07-31 |
Family
ID=56830457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610423437.5A Active CN105921823B (en) | 2016-06-16 | 2016-06-16 | A kind of numerical control worm wheel grinding method of cycloid gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105921823B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106944680B (en) * | 2017-03-28 | 2018-10-09 | 重庆大学 | A kind of disc type gear molding roll flute adaptive machining method |
| CN107977503B (en) * | 2017-11-27 | 2021-05-14 | 重庆大学 | Multi-tool approximation method for machining small-size tooth top fillet by worm grinding wheel |
| CN108098515B (en) * | 2017-12-12 | 2020-07-28 | 科德数控股份有限公司 | Method for machining drill groove type by using multiple formed grinding wheels |
| CN109396567B (en) * | 2018-11-06 | 2020-04-28 | 重庆大学 | Digital envelope method for determining profile of worm grinding wheel in generating grinding of shape-modified cycloid gear |
| CN109834551B (en) * | 2019-01-28 | 2020-08-07 | 湖北工业大学 | Method for grinding arc straight groove by arc grinding wheel |
| CN110929352B (en) * | 2019-11-25 | 2024-03-08 | 重庆大学 | Design method for forming sand profile of grinding cycloid gear |
| CN113927483B (en) * | 2020-07-14 | 2022-12-09 | 中南大学 | Face gear worm grinding wheel dressing method |
| CN112643143B (en) * | 2020-11-13 | 2022-05-06 | 重庆大学 | Profile design method for drum-shaped worm grinding wheel of grinding face gear |
| CN113400197B (en) * | 2021-06-23 | 2022-07-26 | 重庆大学 | Method for shaping and trimming drum-shaped worm grinding wheel for grinding face gear |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1034327A (en) * | 1988-01-22 | 1989-08-02 | 重庆大学 | The correction of the flank shape device of novel grinding gear shaver emery wheel |
| US6315646B1 (en) * | 1998-10-23 | 2001-11-13 | Saga University | Processing system for increasing the quality of a gear and a barreling apparatus usable in the same |
| CN1370651A (en) * | 2002-03-19 | 2002-09-25 | 北京航空航天大学 | Numerically controlled tooth grinding machine driven by linear servo motor |
| CN1559731A (en) * | 2004-03-10 | 2005-01-05 | 重庆大学 | Cycloidal gear digital controlling abrasive belt tooth grinding method and device |
| CN101875139A (en) * | 2010-06-09 | 2010-11-03 | 合肥工业大学 | Numerical control grinding and machining method of stepwise variable pressure angle involute gear |
| DE102012006581A1 (en) * | 2012-03-30 | 2013-10-02 | Liebherr-Verzahntechnik Gmbh | Method and device for grinding modified gears |
| CN103433569A (en) * | 2013-09-04 | 2013-12-11 | 重庆大学 | Grinding method for worm grinding wheel of raised pitch curve non-circular gear |
| CN104139219A (en) * | 2013-11-26 | 2014-11-12 | 上海拓璞数控科技有限公司 | Five-axis grinding wheel grinding processing method for planar enveloping hourglass worm |
| CN104907897A (en) * | 2015-06-02 | 2015-09-16 | 重庆大学 | Method for finishing gear shaper cutter by diagonal contour evolution of conical worm grinding wheel |
| JP5796984B2 (en) * | 2011-03-31 | 2015-10-21 | 三菱重工業株式会社 | Gear grinding machine |
-
2016
- 2016-06-16 CN CN201610423437.5A patent/CN105921823B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1034327A (en) * | 1988-01-22 | 1989-08-02 | 重庆大学 | The correction of the flank shape device of novel grinding gear shaver emery wheel |
| US6315646B1 (en) * | 1998-10-23 | 2001-11-13 | Saga University | Processing system for increasing the quality of a gear and a barreling apparatus usable in the same |
| CN1370651A (en) * | 2002-03-19 | 2002-09-25 | 北京航空航天大学 | Numerically controlled tooth grinding machine driven by linear servo motor |
| CN1559731A (en) * | 2004-03-10 | 2005-01-05 | 重庆大学 | Cycloidal gear digital controlling abrasive belt tooth grinding method and device |
| CN101875139A (en) * | 2010-06-09 | 2010-11-03 | 合肥工业大学 | Numerical control grinding and machining method of stepwise variable pressure angle involute gear |
| JP5796984B2 (en) * | 2011-03-31 | 2015-10-21 | 三菱重工業株式会社 | Gear grinding machine |
| DE102012006581A1 (en) * | 2012-03-30 | 2013-10-02 | Liebherr-Verzahntechnik Gmbh | Method and device for grinding modified gears |
| CN103433569A (en) * | 2013-09-04 | 2013-12-11 | 重庆大学 | Grinding method for worm grinding wheel of raised pitch curve non-circular gear |
| CN104139219A (en) * | 2013-11-26 | 2014-11-12 | 上海拓璞数控科技有限公司 | Five-axis grinding wheel grinding processing method for planar enveloping hourglass worm |
| CN104907897A (en) * | 2015-06-02 | 2015-09-16 | 重庆大学 | Method for finishing gear shaper cutter by diagonal contour evolution of conical worm grinding wheel |
Non-Patent Citations (1)
| Title |
|---|
| 拓扑修形齿轮附加径向运动成形磨削中的砂轮廓形优化方法;李国龙等;《机械工程学报》;20110630;第47卷(第11期);155-162 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105921823A (en) | 2016-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105921823B (en) | A kind of numerical control worm wheel grinding method of cycloid gear | |
| CN102107300B (en) | CNC (computerized numerical control) combined turning and grinding machine tool for four-linkage enveloping worms and processing method thereof | |
| CN102248226B (en) | Numerical-control combined gear milling and hobbing machine for machining large-modulus gear and application thereof | |
| KR101544449B1 (en) | Tool grinding machine | |
| CN110064799B (en) | Numerical control gear grinding machine for wire gears and wire gear grinding processing method | |
| US9399279B2 (en) | Double-side dresser | |
| US8615317B2 (en) | Process and apparatus for generating control data for controlling a tool on a machine tool comprising at least 5 axes | |
| CN101733483B (en) | Spiral bevel gear cutting machine tool and gear cutting method | |
| CN1046647C (en) | Tool feeding method in gear manufacturing processes | |
| CN201906895U (en) | Four-linkage enveloping worm numerical control (NC) grinding composite machine tool | |
| CN104028849A (en) | Machining Method For Hard-fine Machining Of Noise-optimized Gears On Gear-cutting Machine | |
| CN203526726U (en) | Numerical-control grinding machine with plan-envelope annulus worm and five-shaft linkage | |
| CN107530802B (en) | Gear cutting machine and method | |
| CN114226868A (en) | Forming grinding wheel gear grinding machine tool | |
| JP2002103139A (en) | Gear grinding method, turret head for gear grinding, and gear grinding tool | |
| CN102922045B (en) | Gear grinding machine and control method thereof | |
| CN102310347A (en) | Seven-axis numerical control grinding and shaping equipment for dual conical surface and double enveloping worm | |
| CN113400197B (en) | Method for shaping and trimming drum-shaped worm grinding wheel for grinding face gear | |
| CN108856908A (en) | The gear hobbing machine-tooled method and device of space beveloid gear pair | |
| CN109877396A (en) | A kind of spiral bevel gear tooth top tip relief method | |
| CN112222538A (en) | Tooth pitch accumulated error compensation method for forming and milling tooth machining | |
| CN207840316U (en) | Without axial feed gear wheel plover mill machine | |
| CN101104245A (en) | Four-shaft numerically controlled ellipsoidal and spherical hobbing cutter spade milling machine tool | |
| JP2982531B2 (en) | Gear shape processing method | |
| CN101780640A (en) | Method for processing machine elements and device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |