CN106367673B - A kind of harmonic speed reducer and preparation method thereof of self-lubricating low-temperature-rise - Google Patents

A kind of harmonic speed reducer and preparation method thereof of self-lubricating low-temperature-rise Download PDF

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CN106367673B
CN106367673B CN201610793399.2A CN201610793399A CN106367673B CN 106367673 B CN106367673 B CN 106367673B CN 201610793399 A CN201610793399 A CN 201610793399A CN 106367673 B CN106367673 B CN 106367673B
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temperature
graphite
speed reducer
harmonic speed
flexbile gear
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CN106367673A (en
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许旸
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The prosperous intelligent machine Science and Technology Ltd. that opens up of Dongguan City
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Prosperous Intelligent Machine Science And Technology Ltd That Opens Up Of Dongguan City
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    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C37/00—Cast-iron alloys
    • C22C37/10—Cast-iron alloys containing aluminium or silicon
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/04—Continuous casting of metals, i.e. casting in indefinite lengths into open-ended moulds
    • B22D11/055—Cooling the moulds
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
    • C21D1/18—Hardening; Quenching with or without subsequent tempering
    • C21D1/19—Hardening; Quenching with or without subsequent tempering by interrupted quenching
    • C21D1/20—Isothermal quenching, e.g. bainitic hardening
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
    • C21D1/26—Methods of annealing
    • C21D1/32—Soft annealing, e.g. spheroidising
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
    • C21D9/34—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for tyres; for rims
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
    • C21D9/40—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for rings; for bearing races
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Thermal Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Gears, Cams (AREA)
  • General Details Of Gearings (AREA)
  • Heat Treatment Of Articles (AREA)

Abstract

The invention discloses a kind of harmonic speed reducers of self-lubricating low-temperature-rise, are made of internal tooth rigid wheel, flexbile gear and flexible bearing three-major-items.Internal tooth rigid wheel, flexbile gear and flexible bearing are made of austempering ductile iron material (ADI), matrix and graphite form with ultra-dense.Wherein diameter of graphite ball≤0.03mm of internal tooth rigid wheel teeth portion, graphite nodule density >=200/mm2；Diameter of graphite ball≤0.02mm of flexbile gear and bearing ring, graphite nodule density >=400/mm2, matrix could be observed clear under 500 times or more metallographic microscopes.Harmonic speed reducer of the invention has excellent self-lubricating function, thus thoroughly from grease up；While extending the service life, it is provided with the advantage that temperature rise is low, noise is small, light-weight, torsion is big, good, the acceleration torque of rigidity and instantaneous acceleration torque are high.

Description

A kind of harmonic speed reducer and preparation method thereof of self-lubricating low-temperature-rise
Technical field
The invention belongs to mechanized equipment manufacturing technology fields, and in particular to a kind of harmonic speed reducer of self-lubricating low-temperature-rise, The invention further relates to the preparation methods of the harmonic speed reducer.
Background technique
Industrial robot realizes that the critical component of mechanical action is RV retarder and harmonic speed reducer.Harmonic gear reducer It is a kind of precision machinery device being made of internal tooth rigid wheel, flexbile gear and flexible bearing three-major-items, compares, have with common retarder Have the advantages that small in size, transmission efficiency is high, reduction ratio range is wide, rotating accuracy is accurate, along with used material will lack 50%, volume and weight at least reduce 1/3, so among especially suitable for industrial robot.One six-joint robot usually needs To realize that the deceleration torque increase function in 3-6 grades of joints, market capacity are very big using 3-4 harmonic speed reducer.
In April, 2016, " the Robot industry development plan that national Ministry of Industry and Information, the Committee of Development and Reform and Ministry of Finance's joint are issued (2016-2020) " it proposes: by development of high strength wear-resistant material technology, processing optimisation technique, high-speed lubrication technology, reliability And the exploration of life tests technology and Novel transmission mechanism, develop and is suitble to the high efficiency of robot application, low weight, exempts from for a long time The seriation retarder of maintenance.Currently, the performance indicator of harmonic speed reducer and service life are maximum short in industrial robot component Plate: it is showed and the analysis of causes is as follows:
1 because flexible deformation needs, the wall thickness of flexbile gear only has 1-2mm or so, and because tool for cutting machining is to the limit of hardness The hardness of system, flexbile gear and internal circular spline only has HRC28-32, and intensity is lower, and torsion is limited, and the service life is shorter.
The modulus of the tooth of 2 flexbile gears and internal tooth rigid wheel is only 0.1-0.3, and slightly abrasion can skid and scrap.
3 harmonic drives mainly lean on the radial deformation of flexbile gear to realize, flexbile gear and internal circular spline high speed is engaging-in nibble out when, Slip between the flank of tooth is several times higher than the slippage that ordinary gear is driven, and lubricating oil film has been broken in sliding friction, causes dry friction, is made Tooth surface abrasion.
4, in order to increase lubricant effect, prevent from revealing again, the 50-70% in harmonic speed reducer intracavity space is filled with viscous Thick lubricant grease.These greases prevent heat to distribute, and cause temperature rise to improve 45-60 DEG C, while acting as resisting medium again, Forward and reverse movement switching of slow gear and bearing, so that two important performance indexes of harmonic speed reducer --- acceleration turns Square and instantaneous acceleration torque --- it is not easy to improve.
5 in terms of material selection, and flexbile gear uses always low-alloy carbon steel or spring steel, and flexible bearing uses bearing steel. And to internal circular spline, originally use ordinary carbon steel or low-alloy carbon steel, Harmonic Drive (HD) Japanese several years ago and Xin Bao company, and Harmonic Drive AG (HDAG) company of Germany have used spheroidal graphite cast-iron, some Chinese enterprises instead It attempts to use ductile iron material, it is therefore an objective to improve the service life using the self-lubricating and abrasion resistance of magnesium iron, and play protection to flexbile gear Effect.But because firm gear is thicker, the as-cast structure at internal tooth position is not easy fine and closely woven, causes the graphite nodule of its teeth portion very big, density Very little, about 50/mm2.So big and dilute graphite nodule, it is easy to cause to collapse tooth, self-lubricating effect is also limited.
Summary of the invention
The object of the present invention is to provide a kind of harmonic speed reducers of self-lubricating low-temperature-rise, have self-lubricating function, without adding Infuse lubricant grease.
It is a further object to provide a kind of preparation methods of the harmonic speed reducer of self-lubricating low-temperature-rise.
The technical scheme adopted by the invention is that a kind of harmonic speed reducer of self-lubricating low-temperature-rise, by internal tooth rigid wheel, soft Wheel and flexible bearing three-major-items composition, internal tooth rigid wheel, flexbile gear and flexible bearing are composed of the following components by mass percentage: C:3.4%-3.7%, Si:2.7%-2.9%, Mn:0.3%-0.5%, Cr:0.3%-0.5%, S≤0.05%, P≤ 0.05%, residual content of magnesium 0.03%-0.045%, Fe are surplus, and the sum of said components mass percent is 100%.
Another technical solution of the present invention is a kind of preparation side of the harmonic speed reducer of self-lubricating low-temperature-rise Method is specifically implemented according to the following steps:
Step 1, material being configured with the bread pig iron, steel scrap and ferroalloy and melting molten iron, mass percent component is as follows: C: 3.4%-3.7%, Si:1.5%-1.7%, Mn:0.3%-0.5%, Cr:0.3%-0.5%, S≤0.05%, P≤0.05%, Fe and other impurities are surplus, and the above components mass percent summation is 100%, then makes molten iron with spheroidising by breeding Whole silicon amount be 2.7%-2.9%, residual content of magnesium 0.03%-0.045%；
Step 2, the molten iron in step 1 is drawn into hollow profile and solid bar by vertical continuous casting method respectively；
Step 3, the metallographic structure of detecting step 2 obtains hollow profile and solid bar；
Step 4, according to the needs of the length of part and turnery processing, hollow profile or solid bar are sawed into section, slightly Vehicle is semi-finished product, carries out spheroidizing processing；
Step 5, the blank after step 4 annealing is made rough turn；
Step 6, means of isothermal quenching is carried out to step 5 rough turned piece, is then finish-machined to internal tooth rigid wheel, cup type respectively Flexbile gear and flexible bearing lasso；
Step 7, flexible bearing is conventionally assembled；
Step 8, the other parts for processing harmonic speed reducer traditionally assemble harmonic speed reducer, then carry out performance Detection and the processing of retarder surface rust protection.
The features of the present invention also characterized in that
The crystallizer used in vertical continuous casting method in step 2 is the water mold of double helix Two In and Two Out, structure Are as follows: including the inner cylinder and outer barrel being mutually socketed, the top of inner cylinder and outer barrel is connected with upper flange plate, inner cylinder and outer The bottom end of cylinder is connected with lower flange, and the top of outer barrel is respectively equipped with water inlet tap I and water inlet tap II, the lower part of outer barrel Not She You faucet I and faucet II, the outer circle of inner cylinder got on the bus out double helix gusset, after inside and outside cylinder suit, formd The water stream channel of double helix.
The metallographic structure detection of hollow profile in step 3: to the hollow profile of production internal tooth rigid wheel, it is ensured that away from surface Graphite nodule rate >=90% in as-cast structure at 15-20mm layer depth, diameter of graphite ball≤0.03mm, graphite nodule density >= 200/mm2, graphite the area ratio ≈ 15%；Make within the surface layer 6mm of the continuous casting solid bar of cup type flexbile gear and make bearing Within the surface layer 10mm of the continuous casting hollow profile of lasso, graphite nodule rate >=90% in as-cast structure, diameter of graphite ball≤ 0.02mm, graphite nodule density >=400/mm2, graphite the area ratio ≈ 20%.
Spheroidizing, which is handled, in step 4 includes:
A. blank material is warming up to eutectoid Ac in well formula or box heat treatment furnace1+ 50 DEG C, keep the temperature 55- 65min；
B. the magnesium iron blank material that step a is handled is furnace-cooled to eutectoid Ac1- 50 DEG C, keep the temperature 55-65min；
C. continue to repeat step a and step b；
D. the magnesium iron tubing that step c is handled is furnace-cooled to 595-605 DEG C, switched to air-cooled until room temperature.
Isothermal hardening includes: in step 6
For internal tooth rigid wheel: step 5 rough turned piece being heated to 880-900 DEG C, keeps the temperature 40-50min；It is then immersed in In 390-400 DEG C of isothermal nitrate groove, 40-50min is kept；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salting；
For flexbile gear: step 5 rough turned piece being heated to 880-900 DEG C, keeps the temperature 40-50min；It is then immersed in 350-360 DEG C isothermal nitrate groove in, keep 40-50min；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salting；
For flexible bearing lasso: step 5 rough turned piece being heated to 880-900 DEG C, keeps the temperature 40-50min；It is then immersed in In 230-240 DEG C of isothermal nitrate groove, 40-50min is kept；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salting.
In step 6, for cup type flexbile gear, the thickness of bottom of a cup is remained into 4-6mm when finishing, when assembly is screwed On the end face of reducer output shaft.
The invention has the advantages that the present invention is a kind of harmonic speed reducer of self-lubricating low-temperature-rise, flexbile gear, internal tooth rigidity Wheel and flexible bearing are manufactured with ADI material, and harmonic speed reducer is just provided with excellent self-lubricating function, thus thoroughly from adding Infuse lubricating grease；While extending the service life, it is provided with that temperature rise is low, noise is small, light-weight, torsion is big, good, the acceleration torque of rigidity The high advantage with instantaneous acceleration torque.
Detailed description of the invention
Fig. 1 is tied in vertical continuous casting molding equipment in the preparation method of the harmonic speed reducer of self-lubricating low-temperature-rise of the present invention The schematic diagram of brilliant device spiral inner cylinder；
Fig. 2 is tied in vertical continuous casting molding equipment in the preparation method of the harmonic speed reducer of self-lubricating low-temperature-rise of the present invention The schematic diagram of brilliant device assembling structure；
Fig. 3 is the process curve figure of spheroidizing in the preparation method of the harmonic speed reducer of self-lubricating low-temperature-rise of the present invention；
Fig. 4 is internal tooth rigid wheel isothermal quenching technique curve graph；
Fig. 5 is flexbile gear isothermal quenching technique curve graph；
Fig. 6 is flexible bearing inner and outer ring isothermal quenching technique curve graph；
The installation diagram of cup type flexbile gear in Fig. 7 present invention；
The graphite morphology of internal tooth rigid wheel in Fig. 8 present invention；
Fig. 9 is the graphite morphology of flexbile gear and flexible bearing lasso in the present invention；
Figure 10 is the metallographic structure figure of flexible bearing lasso in the present invention；
Figure 11 is the qualified bainite structure figure in professional standard.
In figure, 1. inner cylinders, 2. outer barreies, 3. upper flange plates, 4. lower flanges, 5. water inlet tap I, 6. water inlet tap II, 7. Faucet I, 8. faucet II, 9. double helix gussets, 10. cup type flexbile gears, 11. fastening screws, 12. output shafts.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The harmonic speed reducer of self-lubricating low-temperature-rise of the present invention is made of internal tooth rigid wheel, flexbile gear and flexible bearing three-major-items, Internal tooth rigid wheel, flexbile gear and flexible bearing lasso are made of austempering ductile iron material (ADI), the quality hundred of ingredient Divide ratio are as follows: C:3.4%-3.7%, Si:2.7%-2.9%, Mn:0.3%-0.5%, Cr:0.3%-0.5%, S≤0.05%, P ≤ 0.05%, residual content of magnesium 0.03%-0.045%, Fe are surplus, and the sum of said components mass percent is 100%.In operation The incorporation of rare earth and titanium is avoided, as far as possible to obtain highest Oxygen potential.
The present invention also provides the preparation methods of above-mentioned harmonic speed reducer, and the preparation method is in patent " inductile metal hollow The continuous casting former of profile " (patent No.: ZL200710018928.2, publication number: 101134231, publication date: 2008-03- 05) implement on.The difference is that, the crystallizer in original device is not identical as the structure of crystallizer in the present invention with original device, As shown in Fig. 1~2, structure are as follows: including the inner cylinder 1 and outer barrel 2 being mutually socketed, the top of inner cylinder 1 and outer barrel 2 connects It is connected to upper flange plate 3, the bottom end of inner cylinder 1 and outer barrel 2 is connected with lower flange 4, and the top of outer barrel 2 is respectively equipped with into water Mouth I5 and water inlet tap II6, the lower part of outer barrel 2 are respectively equipped with faucet I7 and faucet II8, and the outer circle of inner cylinder 1 is got on the bus out Double helix gusset 9 after inside and outside cylinder suit, forms the water stream channel of double helix.Double helix water channel will provide bigger cold But ability.Graphite sleeve is inlayed in the inner hole of inner cylinder, is the high temperature resistant component directly contacted with molten iron, for making molten steel solidification Forming material, and so that profile is drawn out crystallizer using its self-lubricating property.
A kind of preparation method of the harmonic speed reducer of self-lubricating low-temperature-rise, is specifically implemented according to the following steps:
Step 1, using the bread pig iron, steel scrap and ferroalloy materials, molten iron component: C is configured according to mass percent: 3.4%-3.7%, Si:1.5%-1.7%, Mn:0.3%-0.5%, Cr:0.3%-0.5%, S≤0.05%, P≤0.05%, Fe is surplus, and the above components mass percent summation is 100%, and the above material is molten into molten iron, by breeding and ball Change handles the whole silicon amount 2.7%-2.9%, residual content of magnesium 0.03%-0.045% for making molten iron；
Step 2, the molten iron in step 1 is drawn into hollow profile and solid bar by vertical continuous casting method respectively；
Step 3, the metallographic structure of detecting step 2 obtains hollow profile and solid bar；
To the hollow profile of production internal tooth rigid wheel, it is ensured that away from the stone in the as-cast structure at the 15-20mm layer depth of surface Tampon rate >=90%, diameter of graphite ball≤0.03mm, graphite nodule density >=200/mm2, graphite the area ratio ≈ 15%；Production Within the surface layer 6mm of the continuous casting solid bar of cup type flexbile gear and production bearing ring continuous casting hollow profile the surface layer 10mm with It is interior, graphite nodule rate >=90% in as-cast structure, diameter of graphite ball≤0.02mm, graphite nodule density >=400/mm2, stone Black the area ratio ≈ 20%；
Step 4, according to the needs of the length of part and turnery processing, hollow profile or solid bar are sawed into section, into The processing of row spheroidizing；
As shown in figure 3, spheroidizing processing includes:
A. blank material is warming up to eutectoid Ac in well formula or batch-type furnace1+ 50 DEG C, keep the temperature 55-65min；
B. the step a blank material handled is furnace-cooled to eutectoid Ac1- 50 DEG C, keep the temperature 55-65min；
C. continue to repeat step a and step b；
D. the magnesium iron blank material that step c is handled is furnace-cooled to 595-605 DEG C, switched to air-cooled until room temperature；
Step 5, the blank after step 4 annealing is made rough turn；
Step 6, means of isothermal quenching is carried out to step 5 rough turned piece, is then finish-machined to internal tooth rigid wheel, cup type respectively Flexbile gear and flexible bearing lasso；For cup type flexbile gear, the thickness of bottom of a cup is remained into 4-6mm when finishing；
Isothermal hardening includes:
As shown in figure 4, for internal tooth rigid wheel: step 5 rough turned piece being heated to 880-900 DEG C, keeps the temperature 40-50min； It is then immersed in 390-400 DEG C of isothermal nitrate groove, keeps 40-50min；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses Surface salting；
As shown in figure 5, for flexbile gear: step 5 rough turned piece being heated to 880-900 DEG C, keeps the temperature 40-50min；Then it soaks Enter in 350-360 DEG C of isothermal nitrate groove, keeps 40-50min；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salt Stain；
As shown in fig. 6, for flexible bearing lasso: step 5 rough turned piece being heated to 880-900 DEG C, keeps the temperature 40- 50min；It is then immersed in 230-240 DEG C of isothermal nitrate groove, keeps 40-50min；Taking-up is air-cooled to room temperature, is transferred to Rinsing Area Middle flushing surface salting；
Step 7, flexible bearing is conventionally assembled；
Step 8, the other parts for processing harmonic speed reducer, traditionally assemble harmonic speed reducer, as shown in fig. 7, cup Type flexbile gear 10 assemble when be fixed on fastening screw 11 on the end face of reducer output shaft 12, then carry out performance detection and The processing of retarder surface derusting.
With traditional hardness requirement (internal tooth rigid wheel and flexbile gear: HRC28-32；Bearing ring: HRC60-63) it is different, this Inventing hardness range to be achieved is respectively: internal tooth rigid wheel HRC30-34, flexbile gear HRC32-36, bearing ring HRC45- 50, the hardness of flexbile gear improves HRC4 degree than traditional flexbile gear, it will increases its anti-shearing deformability, the torsional load of permission It significantly improves, the service life extends.
It illustrates: the forming hollow profile of cast iron of continuously casting and its ADI material of isothermal hardening, due to containing extremely fine and closely woven Graphite nodule, hardening is in mutually tiny herring-bone form and Dispersed precipitate, thus substantially reduces front part of blade in machining The width of extrusion shearing band, cutting resistance die-off, and show excellent cutting ability.The permission hardness of machining can be made to compare steel Improve HRC4 degree or so.
For cup type flexbile gear, raw material are the solid bars of continuously casting, and the shape before isothermal hardening is cup type, essence The thickness of bottom of a cup is remained into 4-6mm when processing, compared with the bottom of a cup thickness of traditional flexbile gear only has 1mm or so, intensity increases, in It is to punch on it, when assembly is fixed on the end face of reducer output shaft with fastening screw, is eliminated in traditional fabrication Riveting or gland, it is more convenient and reliable.
The harmonic speed reducer that the present invention is assembled, does not fill lubricant grease.Since flexbile gear and firm gear are containing graphite nodule ADI material can be avoided with self-lubricating because lubricating oil film is destroyed although slip is still very big when engaged transmission Dry friction caused by and.The tooth form very little of two kinds of parts, movement velocity is very high, but the bending fatigue strength of ADI material is higher, has Extend service life to effect.Equally, the graphite in the inner and outer ring of flexible bearing also ensures the self-lubricating of bearing.In high frequency In the rolling extrusion of rate (1500-3000 revs/min), the austenite in roller table surface layer is changed into strain-induced martensite, and hardness mentions Height, wearability increase.Pit extremely small and dispersed, does not reduce connecing for bearing ring caused by the exposed graphite nodule of roller table surface Touch strength.For ADI as a kind of cast iron materials, the capacity of heat transmission is bigger than steel by about one time, does not have lubricant grease along with type is intracavitary Insulation effect, the temperature rise of such retarder will substantially reduce.The sound-absorbing vibration-absorbing function of cast iron materials will make the work of retarder Lower noise.Casting specific gravity is lighter, accordingly alleviates retarder weight.
It for industrial robot, continually to act back and forth, and need to be accurately positioned, so with other machinery Retarder in device is compared, more two indices in the performance requirement of harmonic speed reducer: acceleration torque and instantaneous acceleration Torque.For example National Development and Reform Committee's " 2015 industry development program for tackling key problems in science and technology " is the research objective that harmonic speed reducer is listed, and is just existed Except several common performance indicators, the special technical indicator for proposing acceleration torque and instantaneous acceleration torque.In order to reach this One index, conventional measure is the power of enlarging moment motor, but brings other negative effects therefrom.Harmonic wave of the invention subtracts Fast device fills sticky lubricant grease due to not needing, and avoids grease to the viscous damping of bearing and flexbile gear high-speed motion, just It inherently ensure that the raising of acceleration torque and instantaneous acceleration torque.
The present invention makes internal circular spline with ultra-dense ADI material, final hardness can be increased to HRC32-35.Teeth portion Graphite nodule density can achieve 200-300/mm2More than, see Fig. 8.
The present invention makes flexbile gear with ultra-dense ADI material, final hardness can be increased to HRC34-36.Flexbile gear teeth portion Graphite nodule density can achieve 500-600/mm2More than, see Fig. 9.With the hardness HRC28- of traditional 42CrMo quenched and tempered steel production 32 flexbile gear is compared, and the increase of Fracture of Material can make the permission torsion of flexbile gear bigger, longer life expectancy.
The present invention makes the inner and outer ring of flexible bearing of ultra-dense ADI material, and graphite nodule density can achieve 500-600 A/mm2Above (see Fig. 9), the fine and closely woven degree (Figure 10, the metallograph of 500 times of amplifications) and axis of the iron tissue difficult to understand as matrix The Bainitic hardening tissue for holding steel is suitable, sees Figure 11 (and metallograph of 500 times of amplifications).Although hardness HRC45-50 it Between, but because strain-induced martensite can be induced when by rolling extrusion, therefore its wearability and plain bearing steel are quite or more preferable.
Embodiment 1
Step 1, using the bread pig iron, steel scrap and ferroalloy materials, molten iron component: C is configured according to mass percent: 3.4%-3.7%, Si:1.5%-1.7%, Mn:0.3%-0.5%, Cr:0.3%-0.5%, S≤0.05%, P≤0.05%, Fe is surplus, and the above components mass percent summation is 100%, and the above material is molten into molten iron, by breeding and ball Change handles the whole silicon amount 2.7%-2.9%, residual content of magnesium 0.03%-0.045% for making molten iron；
Step 2, the molten iron in step 1 is drawn into hollow profile and solid bar by vertical continuous casting method respectively；
Step 3, the metallographic structure of detecting step 2 obtains hollow profile and solid bar；
To the hollow profile of production internal tooth rigid wheel, it is ensured that away from the stone in the as-cast structure at the 15-20mm layer depth of surface Tampon rate >=90%, diameter of graphite ball≤0.03mm, graphite nodule density >=200/mm2, graphite the area ratio ≈ 15%；Production Within the surface layer 6mm of the continuous casting solid bar of cup type flexbile gear and production bearing ring continuous casting hollow profile the surface layer 10mm with It is interior, graphite nodule rate >=90% in as-cast structure, diameter of graphite ball≤0.02mm, graphite nodule density >=400/mm2, stone Black the area ratio ≈ 20%；
Step 4, according to the needs of the length of part and turnery processing, hollow profile or solid bar are sawed into section, into The processing of row spheroidizing；
Spheroidizing is handled
A., blank material is warming up to 780 DEG C of eutectoid in well formula or box heat treatment furnace, keeps the temperature 55min；
B. the magnesium iron tubing that step a is handled is furnace-cooled to 680 DEG C of eutectoid, keeps the temperature 55min；
C. continue to repeat step a and step b；
D. the magnesium iron tubing that step c is handled is furnace-cooled to 605 DEG C, continues to be air-cooled to room temperature；
Step 5, the blank after step 4 annealing is made rough turn；
Step 6, means of isothermal quenching is carried out to step 5 rough turned piece, is then finish-machined to internal tooth rigid wheel, cup type respectively Flexbile gear and flexible bearing snare；For cup type flexbile gear, the thickness of bottom of a cup is remained into 4-6mm when finishing；
Isothermal hardening includes:
For internal tooth rigid wheel: step 5 rough turned piece being heated to 890 DEG C, keeps the temperature 50min；Be then immersed in 400 DEG C etc. In warm nitrate groove, 50min is kept；Taking-up is air-cooled to room temperature, is transferred to flushing surface salt substance in Rinsing Area；
For flexbile gear: step 5 rough turned piece being heated to 890 DEG C, keeps the temperature 45min；It is then immersed in 355 DEG C of isothermal salt made from earth containing a comparatively high percentage of sodium chloride In slot, 45min is kept；Taking-up is air-cooled to room temperature, is transferred to flushing surface salt substance in Rinsing Area；
For flexible bearing snare: step 5 rough turned piece being heated to 900 DEG C, keeps the temperature 40min；It is then immersed in 230 DEG C In isothermal nitrate groove, 40min is kept；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salting；
Step 7, bearing is conventionally assembled；
Step 8, the other parts for processing harmonic speed reducer traditionally assemble harmonic speed reducer, then carry out performance Detection and the processing of retarder surface derusting.
Embodiment 2
Step 1, using the bread pig iron, steel scrap and ferroalloy materials, molten iron component: C is configured according to mass percent: 3.4%-3.7%, Si:1.5%-1.7%, Mn:0.3%-0.5%, Cr:0.3%-0.5%, S≤0.05%, P≤0.05%, Fe is surplus, and the above components mass percent summation is 100%, and the above material is molten into molten iron, by breeding and ball Change handles the whole silicon amount 2.7%-2.9%, residual content of magnesium 0.03%-0.045% for making molten iron；
Step 2, the molten iron in step 1 is drawn into hollow profile and solid bar by vertical continuous casting method respectively；
Step 3, the metallographic structure of detecting step 2 obtains hollow profile and solid bar；
To the hollow profile of production internal tooth rigid wheel, it is ensured that away from the stone in the as-cast structure at the 15-20mm layer depth of surface Tampon rate >=90%, diameter of graphite ball≤0.03mm, graphite nodule density >=200/mm2, graphite the area ratio ≈ 15%；Production Within the surface layer 6mm of the continuous casting solid bar of cup type flexbile gear and production bearing ring continuous casting hollow profile the surface layer 10mm with It is interior, graphite nodule rate >=90% in as-cast structure, diameter of graphite ball≤0.02mm, graphite nodule density >=400/mm2, stone Black the area ratio ≈ 20%；
Step 4, according to the needs of the length of part and turnery processing, hollow profile or solid bar are sawed into section, into The processing of row spheroidizing；
Spheroidizing is handled
A., blank material is warming up to 790 DEG C of eutectoid in well formula or box heat treatment furnace, keeps the temperature 60min；
B. the magnesium iron tubing that step a is handled is furnace-cooled to 680 DEG C of eutectoid, keeps the temperature 60min；
C. continue to repeat step a and step b；
D. the magnesium iron tubing that step c is handled is furnace-cooled to 600 DEG C, continues to be air-cooled to room temperature；
Step 5, the blank after step 4 annealing is made rough turn；
Step 6, means of isothermal quenching is carried out to step 5 rough turned piece, is then finish-machined to internal tooth rigid wheel, cup type respectively Flexbile gear and flexible bearing snare；For cup type flexbile gear, the thickness of bottom of a cup is remained into 4-6mm when finishing；
Isothermal hardening includes:
For internal tooth rigid wheel: step 5 rough turned piece being heated to 880 DEG C, keeps the temperature 50min；Be then immersed in 390 DEG C etc. In warm nitrate groove, 45min is kept；Taking-up is air-cooled to room temperature, is transferred to flushing surface salt substance in Rinsing Area；
For flexbile gear: step 5 rough turned piece being heated to 880 DEG C, keeps the temperature 45min；It is then immersed in 360 DEG C of isothermal salt made from earth containing a comparatively high percentage of sodium chloride In slot, 40min is kept；Taking-up is air-cooled to room temperature, is transferred to flushing surface salt substance in Rinsing Area；
For flexible bearing snare: step 5 rough turned piece being heated to 880 DEG C, keeps the temperature 40min；It is then immersed in 235 DEG C In isothermal nitrate groove, 45min is kept；Taking-up is air-cooled to room temperature, is transferred to flushing surface salt substance in Rinsing Area；
Step 7, bearing is conventionally assembled；
Step 8, the other parts for processing harmonic speed reducer traditionally assemble harmonic speed reducer, then carry out performance Detection and the processing of retarder surface derusting.
Embodiment 3
Step 1, using the bread pig iron, steel scrap and ferroalloy materials, molten iron component: C is configured according to mass percent: 3.4%-3.7%, Si:1.5%-1.7%, Mn:0.3%-0.5%, Cr:0.3%-0.5%, S≤0.05%, P≤0.05%, Fe is surplus, and the above components mass percent summation is 100%, and the above material is molten into molten iron, by breeding and ball Change handles the whole silicon amount 2.7%-2.9%, residual content of magnesium 0.03%-0.045% for making molten iron；
Step 2, the molten iron in step 1 is drawn into hollow profile and solid bar by vertical continuous casting method respectively；
Step 3, the metallographic structure of detecting step 2 obtains hollow profile and solid bar；
To the hollow profile of production internal tooth rigid wheel, it is ensured that away from the stone in the as-cast structure at the 15-20mm layer depth of surface Tampon rate >=90%, diameter of graphite ball≤0.03mm, graphite nodule density >=200/mm2, graphite the area ratio ≈ 15%；Production Within the surface layer 6mm of the continuous casting solid bar of cup type flexbile gear and production bearing ring continuous casting hollow profile the surface layer 10mm with It is interior, graphite nodule rate >=90% in as-cast structure, diameter of graphite ball≤0.02mm, graphite nodule density >=400/mm2, stone Black the area ratio ≈ 20%；
Step 4, according to the needs of the length of part and turnery processing, hollow profile or solid bar are sawed into section, into The processing of row spheroidizing；
Spheroidizing is handled
A., blank material is warming up to 785 DEG C of eutectoid in well formula or box heat treatment furnace, keeps the temperature 65min；
B. the magnesium iron tubing that step a is handled is furnace-cooled to 675 DEG C of eutectoid, keeps the temperature 65min；
C. continue to repeat step a and step b；
D. the magnesium iron tubing that step c is handled is furnace-cooled to 595 DEG C, continues to be air-cooled to room temperature；
Step 5, the blank after step 4 annealing is made rough turn；
Step 6, means of isothermal quenching is carried out to step 5 rough turned piece, is then finish-machined to internal tooth rigid wheel, cup type respectively Flexbile gear and flexible bearing snare；For cup type flexbile gear, the thickness of bottom of a cup is remained into 4-6mm when finishing；
Isothermal hardening includes:
For internal tooth rigid wheel: step 5 rough turned piece being heated to 900 DEG C, keeps the temperature 50min；Be then immersed in 395 DEG C etc. In warm nitrate groove, 40min is kept；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salting；
For flexbile gear: step 5 rough turned piece being heated to 900 DEG C, keeps the temperature 45min；It is then immersed in 350 DEG C of isothermal salt made from earth containing a comparatively high percentage of sodium chloride In slot, 50min is kept；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salting；
For flexible bearing snare: step 5 rough turned piece being heated to 890 DEG C, keeps the temperature 40min；It is then immersed in 240 DEG C In isothermal nitrate groove, 50min is kept；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salting；
Step 7, bearing is conventionally assembled；
Step 8, the other parts for processing harmonic speed reducer traditionally assemble harmonic speed reducer, then carry out performance Detection and the processing of retarder surface derusting.

Claims (4)

1. a kind of preparation method of the harmonic speed reducer of self-lubricating low-temperature-rise, which is characterized in that be specifically implemented according to the following steps:
Step 1, material being configured with the bread pig iron, steel scrap and ferroalloy and melting molten iron, mass percent component is as follows: C: 3.4%-3.7%, Si:1.5%-1.7%, Mn:0.3%-0.5%, Cr:0.3%-0.5%, S≤0.05%, P≤0.05%, Fe and other impurities are surplus, and the above components mass percent summation is 100%, then makes molten iron with spheroidising by breeding Whole silicon amount be 2.7%-2.9%, residual content of magnesium 0.03%-0.045%；
Step 2, the molten iron in step 1 is drawn into hollow profile and solid bar by vertical continuous casting method respectively, wherein The crystallizer used in vertical continuous casting method is the water mold of double helix Two In and Two Out, structure are as follows: including being mutually socketed Inner cylinder (1) and outer barrel (2), the top of the inner cylinder (1) and outer barrel (2) is connected with upper flange plate (3), it is described in The bottom end of cylinder (1) and outer barrel (2) is connected with lower flange (4), and the top of the outer barrel (2) is respectively equipped with water inlet tap I (5) and water inlet tap II (6), the lower part of the outer barrel (2) are respectively equipped with faucet I (7) and faucet II (8), the inner cylinder The outer circle of body (1) has been got on the bus out double helix gusset (9), after inside and outside cylinder suit, forms the water stream channel of double helix；
Step 3, the metallographic structure of detecting step 2 obtains hollow profile and solid bar, specifically: to production internal tooth rigid wheel Hollow profile, it is ensured that away from graphite nodule rate >=90% in the as-cast structure at the 15-20mm layer depth of surface, diameter of graphite ball ≤ 0.03mm, graphite nodule density >=200/mm2, graphite the area ratio ≈ 15%；Make the continuous casting solid bar of cup type flexbile gear Within the surface layer 6mm and within the surface layer 10mm of the continuous casting hollow profile of production bearing ring, the spheroidization of graphite in as-cast structure Rate >=90%, diameter of graphite ball≤0.02mm, graphite nodule density >=400/mm2, graphite the area ratio ≈ 20%；
Step 4, according to the needs of the length of part and turnery processing, hollow profile or solid bar is sawed into section, carry out ball Annealing processing；
Step 5, the blank after step 4 annealing is made rough turn；
Step 6, means of isothermal quenching is carried out to step 5 rough turned piece, is then finish-machined to internal tooth rigid wheel, cup type flexbile gear respectively With flexible bearing lasso；
Step 7, bearing is conventionally assembled；
Step 8, the other parts for processing harmonic speed reducer traditionally assemble harmonic speed reducer, then carry out performance detection And retarder surface derusting processing.
2. the preparation method of the harmonic speed reducer of self-lubricating low-temperature-rise according to claim 1, which is characterized in that step 4 Middle spheroidizing is handled
A. blank material is warming up to eutectoid Ac in well formula or box heat treatment furnace1+ 50 DEG C, keep the temperature 55-65min；Then It is furnace-cooled to eutectoid Ac1- 50 DEG C, keep the temperature 55-65min；
B. continue to repeat step a；
C. the magnesium iron blank material that step b is handled is furnace-cooled to 600 DEG C, switched to air-cooled until room temperature.
3. the preparation method of the harmonic speed reducer of self-lubricating low-temperature-rise according to claim 1, which is characterized in that step 6 Middle isothermal quenching technique are as follows:
For internal tooth rigid wheel: step 5 rough turned piece being heated to 880-900 DEG C, keeps the temperature 40-50min；It is then immersed in 390- In 400 DEG C of isothermal nitrate groove, 40-50min is kept；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salting；
For flexbile gear: step 5 rough turned piece being heated to 880-900 DEG C, keeps the temperature 40-50min；It is then immersed in 350-360 DEG C In isothermal nitrate groove, 40-50min is kept；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salting；
For flexible bearing lasso: step 5 rough turned piece being heated to 880-900 DEG C, keeps the temperature 40-50min；It is then immersed in 230- In 250 DEG C of isothermal nitrate groove, 40-50min is kept；Taking-up is air-cooled to room temperature, is transferred in Rinsing Area and rinses surface salting.
4. the preparation method of the harmonic speed reducer of self-lubricating low-temperature-rise according to claim 1 or 3, which is characterized in that step In rapid 6, for cup type flexbile gear, the thickness of bottom of a cup is remained into 4-6mm when finishing, it is defeated that when assembly is screwed in retarder On the end face of shaft.
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CN107448581A (en) * 2017-08-10 2017-12-08 张天贵 Anti abrasive accurate harmonic speed reducer
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CN101589661A (en) * 2009-07-01 2009-12-02 宣化冶金工业有限责任公司 A kind of Austempering ductile iron ploughshare and production method thereof that has carbide
CN203235937U (en) * 2012-12-05 2013-10-16 陕西华安铸铁型材有限公司 Crystallizer for continuous casting
CN103742599A (en) * 2014-01-17 2014-04-23 南京信息工程大学 Angular reduction device

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Publication number Priority date Publication date Assignee Title
CN101589661A (en) * 2009-07-01 2009-12-02 宣化冶金工业有限责任公司 A kind of Austempering ductile iron ploughshare and production method thereof that has carbide
CN203235937U (en) * 2012-12-05 2013-10-16 陕西华安铸铁型材有限公司 Crystallizer for continuous casting
CN103742599A (en) * 2014-01-17 2014-04-23 南京信息工程大学 Angular reduction device

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