CN108044323A - A kind of production method of harmonic speed reducer - Google Patents
A kind of production method of harmonic speed reducer Download PDFInfo
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- CN108044323A CN108044323A CN201711192846.XA CN201711192846A CN108044323A CN 108044323 A CN108044323 A CN 108044323A CN 201711192846 A CN201711192846 A CN 201711192846A CN 108044323 A CN108044323 A CN 108044323A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 29
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 22
- 238000009987 spinning Methods 0.000 claims description 22
- 210000001161 mammalian embryo Anatomy 0.000 claims description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 14
- 238000010438 heat treatment Methods 0.000 claims description 13
- 238000004321 preservation Methods 0.000 claims description 11
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 10
- 239000000956 alloy Substances 0.000 claims description 10
- 229910045601 alloy Inorganic materials 0.000 claims description 10
- 238000000227 grinding Methods 0.000 claims description 9
- 239000000243 solution Substances 0.000 claims description 8
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 7
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 claims description 7
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 7
- PWHULOQIROXLJO-UHFFFAOYSA-N Manganese Chemical compound [Mn] PWHULOQIROXLJO-UHFFFAOYSA-N 0.000 claims description 7
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 claims description 7
- 239000005864 Sulphur Substances 0.000 claims description 7
- 239000004411 aluminium Substances 0.000 claims description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 7
- 229910052782 aluminium Inorganic materials 0.000 claims description 7
- 229910052804 chromium Inorganic materials 0.000 claims description 7
- 239000011651 chromium Substances 0.000 claims description 7
- 239000010949 copper Substances 0.000 claims description 7
- 229910052802 copper Inorganic materials 0.000 claims description 7
- 229910021389 graphene Inorganic materials 0.000 claims description 7
- 229910052742 iron Inorganic materials 0.000 claims description 7
- 229910052748 manganese Inorganic materials 0.000 claims description 7
- 239000011572 manganese Substances 0.000 claims description 7
- 238000002844 melting Methods 0.000 claims description 7
- 230000008018 melting Effects 0.000 claims description 7
- 229910052759 nickel Inorganic materials 0.000 claims description 7
- 229910052710 silicon Inorganic materials 0.000 claims description 7
- 239000010703 silicon Substances 0.000 claims description 7
- 238000003723 Smelting Methods 0.000 claims description 5
- 239000012670 alkaline solution Substances 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 claims description 5
- 238000001035 drying Methods 0.000 claims description 5
- 229910052757 nitrogen Inorganic materials 0.000 claims description 5
- 238000000498 ball milling Methods 0.000 claims description 4
- 238000001816 cooling Methods 0.000 claims description 4
- 239000011261 inert gas Substances 0.000 claims description 4
- 238000000641 cold extrusion Methods 0.000 claims description 3
- 238000004080 punching Methods 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 3
- 229910052698 phosphorus Inorganic materials 0.000 description 3
- 239000011574 phosphorus Substances 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
- B23P15/14—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass gear parts, e.g. gear wheels
-
- 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
- C21D9/32—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for gear wheels, worm wheels, or the like
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C38/00—Ferrous alloys, e.g. steel alloys
- C22C38/04—Ferrous alloys, e.g. steel alloys containing manganese
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C38/00—Ferrous alloys, e.g. steel alloys
- C22C38/06—Ferrous alloys, e.g. steel alloys containing aluminium
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C38/00—Ferrous alloys, e.g. steel alloys
- C22C38/18—Ferrous alloys, e.g. steel alloys containing chromium
- C22C38/34—Ferrous alloys, e.g. steel alloys containing chromium with more than 1.5% by weight of silicon
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C38/00—Ferrous alloys, e.g. steel alloys
- C22C38/18—Ferrous alloys, e.g. steel alloys containing chromium
- C22C38/40—Ferrous alloys, e.g. steel alloys containing chromium with nickel
- C22C38/42—Ferrous alloys, e.g. steel alloys containing chromium with nickel with copper
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C38/00—Ferrous alloys, e.g. steel alloys
- C22C38/60—Ferrous alloys, e.g. steel alloys containing lead, selenium, tellurium, or antimony, or more than 0.04% by weight of sulfur
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties
- F16H2055/065—Moulded gears, e.g. inserts therefor
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Crystallography & Structural Chemistry (AREA)
- Electromagnetism (AREA)
- Gears, Cams (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of production methods of harmonic speed reducer, and including flexbile gear production method and firm gear production method, its service life and precision of slowing down is improved by the production method and its production method of shape and firm gear of improving flexbile gear.The present invention improves its transmission accuracy and improves its hardness by improving the manufacture craft of flexbile gear, the coefficient of expansion for reducing flexbile gear, tensile strength, improves the shape of flexbile gear in addition, improves the service life of retarder.
Description
Technical field
The invention belongs to retarder field more particularly to a kind of production methods of harmonic speed reducer.
Background technology
Harmonic speed reducer have small, light-weight, stable drive, without impact, noiseless, kinematic accuracy is high, gearratio
Greatly, the advantages that bearing capacity is high is widely used in the industries such as electronics, space flight and aviation, robot.Harmonic speed reducer is included with interior
The rigid gear (firm gear) of gear ring, the flexible gear (flexbile gear) with external toothing and wave producer.Since Wall-thick is very thin,
And larger alternating load is born in transmission process, thus the fatigue resistance to flexbile gear material, processing and heat treatment requirements
Higher, complex process depends on greatly import at present.In addition, the side wall mean level of flexbile gear is set, therefore erection stress is big,
It can influence the service life of speed reducer.
The content of the invention
To solve the above problems, the present invention provides a kind of production methods of harmonic speed reducer, the present invention is by improving
The manufacture craft of flexbile gear, the coefficient of expansion for reducing flexbile gear improve its transmission accuracy and improve its hardness, tensile strength,
In addition the shape of flexbile gear is improved, improves the service life of retarder.
To reach above-mentioned technique effect, the technical scheme is that：
A kind of production method of harmonic speed reducer, including flexbile gear production method and firm gear production method, the flexbile gear makes
Method includes the following steps：
Step 1: by material：The iron of 94.3-96 parts by weight, the graphene of 1-1.5 parts by weight, the silicon of 1.5-2 parts by weight,
The manganese of 0.2-0.3 parts by weight, the nickel of 0.044-0.065 parts by weight；The sulphur of 0.03-0.05 parts by weight, 1.2-1.6 parts by weight
Chromium, the copper of 0.1-0.17 parts by weight, the aluminium of 0.02-0.07 parts by weight add in the grinding of ball milling instrument；
Step 2: adding in the material after grinding in the smelting furnace filled with inert gas shielding, it is molten to form alloy for heating melting
Alloy solution is poured into flexbile gear mold and is cooled and shaped i.e. obtained flexbile gear embryo by liquid；
Step 3: will flexbile gear embryo nitrogen protection under be heated to 600-630 DEG C heat preservation 3 it is small when, be subsequently cooled to 260-280 DEG C
Keep the temperature 0.5-1 it is small when, then temperature be 80-90 DEG C, PH be 8-9 alkaline solution in keep the temperature 0.5-1 it is small when, cleaning, drying；
Step 4: carrying out hot spinning to flexbile gear embryo, the pressure of hot spinning is：A=b*c.Wherein, a represents the pressure of hot spinning
Power, unit N；B represents the wall thickness of flexbile gear, unit mm；C is pressure parameter, value range 2600-3000；Hot spinning
Temperature is 430-470 DEG C；Flexbile gear finished product after natural cooling i.e.；
Firm gear making side production method includes the following steps：
Step 5: firm gear base is made, shaft outlet hole is then processed on punching machine；
Step 6: on firm gear embryo it is crude go out firm gear ring gear；
Step 7: cold extrusion is carried out to ring gear using cold-extruded corrector, until firm gear ring gear is molded；
Step 8: assembling flexbile gear, firm gear and wave producer form harmonic speed reducer.
Further to improve, the material includes the iron of 95.2 parts by weight, the graphene of 1.1 parts by weight, 1.8 parts by weight
Silicon, the manganese of 0.25 parts by weight, the nickel of 0.052 parts by weight；The sulphur of 0.035 parts by weight, the chromium of 1.4 parts by weight, 0.13 parts by weight
Copper, the aluminium of 0.05 parts by weight.
It is further to improve, which is characterized in that the temperature of the hot spinning is 460 DEG C, c=2600.
Further to improve, the inner wall of the firm gear is circle, and outer wall is ellipse.
Further to improve, the teeth portion of the flexbile gear side wall is horizontally disposed, and rest part is obliquely installed.
Description of the drawings
Fig. 1 is 4 two-stage harmonic speed reducer structure sectional view of embodiment；
Fig. 2 is the structure diagram of 4 harmonic wave flexbile gear of embodiment；
The end view of 4 harmonic speed reducer level-one firm gear of Fig. 3 embodiments
The sectional view of 4 harmonic speed reducer level-one firm gear of Fig. 4 embodiments.
Wherein, 1- connections bolt, 2- left box bodies, 3- two level flexible bearings, 4- level-one steel wheels, 5- level-one flexbile gears, 6- are fixed
Bolt, 7- level-one flexible bearings, 8- input shafts, 9- input terminal seal washers, 10- clutch shaft bearings, 11- second bearings, 12- ripples hair
Raw device, 13- cross connectors, 14- 3rd bearings, 15- coupling nuts, 16- right cases, 17- two level flexbile gears, 18- connecting pins,
19- output terminal seal washers, 20- output shafts, 21- fourth bearings.
Specific embodiment
It is illustrated below by way of specific embodiment and with reference to attached drawing to technical scheme.
Embodiment 1
A kind of production method of harmonic speed reducer, including flexbile gear production method and firm gear production method, flexbile gear production method
Include the following steps：Material is proportionally added in into the grinding of ball milling instrument, (phosphorus content is small for iron of the material including 94.3 parts by weight
In 0.01%), the graphene of 5 parts by weight, the silicon of 2 parts by weight, the manganese of 0.3 parts by weight, the nickel of 0.065 parts by weight；0.05 weight
The sulphur of part, the chromium of 1.6 parts by weight, the copper of 0.17 parts by weight, the aluminium of 0.07 parts by weight,；Material after grinding is added in filled with lazy
Property gas smelting furnace in, heating melting forms alloy solution, is heated up 4 DEG C with per minute using 6 DEG C of heating per minute during heating
After mode mixed and alternate is heated to fully melting, alloy solution is poured into flexbile gear mold and is cooled and shaped i.e. obtained flexbile gear embryo, it will
Flexbile gear embryo nitrogen protection under be heated to 600 DEG C heat preservation 3 it is small when, be subsequently cooled to 260 DEG C heat preservation 0.5 it is small when, then temperature be 80
DEG C, when heat preservation 0.5 is small in the alkaline solution that PH is 8, cleaning, drying；Then hot spinning, the pressure of hot spinning are carried out to flexbile gear embryo
For：A=b*c.Wherein, a represents the pressure of hot spinning, unit N；B represents the wall thickness of flexbile gear, unit mm；C joins for pressure
Number, value range 2600；The temperature of hot spinning is 430 DEG C；Flexbile gear finished product after natural cooling i.e..Making side of firm gear making side
Method includes the following steps：Firm gear base is made, shaft outlet hole is then processed on punching machine；On firm gear embryo it is crude go out firm gear ring gear；
Cold extrusion is carried out to ring gear using cold-extruded corrector, until firm gear ring gear is molded.Then flexbile gear, firm gear and wave producer are assembled
Form harmonic speed reducer.Wherein the inner wall of firm gear is circle, and outer wall is ellipse.The teeth portion of flexbile gear side wall be it is horizontally disposed,
Remaining part point is obliquely installed.
Embodiment 2
On the basis of embodiment 1, the production method of flexbile gear includes the following steps：Material is proportionally added in into ball milling instrument
Grinding, iron (phosphorus content be less than 0.01%) of the material including 96 parts by weight, the graphene of 1 parts by weight, 1.5 parts by weight
Silicon, the manganese of 0.2 parts by weight, the nickel of 0.044 parts by weight；The sulphur of 0.03 parts by weight, the chromium of 1.2 parts by weight, the copper of 0.1 parts by weight,
The aluminium of 0.02 parts by weight；Material after grinding is added in inert gas filled smelting furnace, heating melting forms alloy solution,
During heating using it is per minute heating 6 DEG C with it is per minute heating 4 DEG C by the way of mixed and alternate be heated to fully melt after, alloy is molten
Liquid, which pours into be cooled and shaped in flexbile gear mold, is made flexbile gear embryo, will be heated under the protection of flexbile gear embryo nitrogen 630 DEG C keep the temperature 3 it is small when,
Be subsequently cooled to 280 DEG C heat preservation 1 it is small when, then temperature be 90 DEG C, PH be 9 alkaline solution in heat preservation 1 it is small when, cleaning, drying；
Then hot spinning is carried out to flexbile gear embryo, the pressure of hot spinning is：A=b*c.Wherein, a represents the pressure of hot spinning, unit N；b
Represent the wall thickness of flexbile gear, unit mm；C is pressure parameter, value range 3000；The temperature of hot spinning is 470 DEG C；Naturally it is cold
But flexbile gear finished product afterwards i.e..
Embodiment 3
On the basis of embodiment 1, material includes the iron (phosphorus content is less than 0.01%) of 95.2 parts by weight, 1.1 parts by weight
Graphene, the silicon of 1.8 parts by weight, the manganese of 0.25 parts by weight, the nickel of 0.052 parts by weight；The sulphur of 0.035 parts by weight, 1.4 weight
The chromium of part, the copper of 0.13 parts by weight, the aluminium of 0.05 parts by weight, and；Material after grinding is added in into inert gas filled smelting furnace
In, heating melting forms alloy solution, using 6 DEG C of heating per minute and the mixed and alternate per minute by the way of 4 DEG C that heats up during heating
After being heated to fully melting, alloy solution is poured into flexbile gear mold and is cooled and shaped i.e. obtained flexbile gear embryo, flexbile gear embryo nitrogen is protected
Be heated under shield 620 DEG C of heat preservations 3 it is small when, be subsequently cooled to 270 DEG C of heat preservations 0.5 it is small when, then in temperature be 85 DEG C, PH is 8-9
When heat preservation 0.5 is small in alkaline solution, cleaning, drying；Then hot spinning is carried out to flexbile gear embryo, the pressure of hot spinning is：A=b*c.
Wherein, a represents the pressure of hot spinning, unit N；B represents the wall thickness of flexbile gear, unit mm；C is pressure parameter, value range
For 2700；The temperature of hot spinning is 460 DEG C；Flexbile gear finished product after natural cooling i.e..
Flexbile gear performance obtained is as follows：
| Embodiment 1 | Embodiment 2 | Embodiment 3 | |
| Hardness (HRC) | 57.8 | 56.9 | 58.6 |
| Yield point (MPa) | 389 | 407 | 426 |
| Tensile strength (Mpa) | 592 | 595 | 627 |
| Coefficient of thermal expansion (10-6/℃) | 8.3 | 7.4 | 5.8 |
Therefore flexbile gear performance produced by the present invention is above flexbile gear performance in the market, while its side wall uses teeth portion as water
Flat to set, rest part is obliquely installed, and reduces its erection stress.
Embodiment 4
A kind of high transmission ratio two-stage harmonic speed reducer as shown in Figs 1-4, it is including left box body 2 and relatively solid with left box body 2
Fixed right case 16；Left box body 2, which passes through, input shaft 8；It is connected between left box body 2 and input shaft 8 by bearing, the input shaft
8 connection wave producers 12, wave producer 12 are connected with level-one flexbile gear 5 by level-one flexible bearing 7, and level-one flexbile gear 5 is fixed on a left side
On babinet 2；Level-one flexbile gear 5 is engaged with level-one steel wheel 4, and 4 one end of level-one steel wheel is engaged with level-one flexbile gear 5, and the other end passes through bearing
It is connected with left box body 2；The inner wall of level-one steel wheel 4 is circle, and outer wall is ellipse；4 outside of level-one steel wheel passes through two level flexible shaft
3 connection two level flexbile gears 17 are held, two level flexbile gear 17 is connected with output shaft 20, and output shaft 20 passes through right case 16.Input shaft 8 passes through
One bearing 10 and second bearing 11 are rotatably connected fixation with left box body 2；Level-one steel wheel 4 passes through 3rd bearing 14 and 2 phase of left box body
Even；Output shaft 20 is rotatably connected by fourth bearing 21 on right case 16.Left box body 2 and right case 16 are by connecting bolt 1
Connection is fixed.Level-one flexbile gear 5 is fixed on by fixing bolt 6 on left box body 2.Input shaft 8 and the end face junction of left box body 2 are pacified
Equipped with input terminal seal washer 9.Input shaft 8 is connected by cross connector 13 with wave producer 12.
4 inner end of level-one firm gear of the present invention is the rigid teeth engaged with level-one flexbile gear 5, and outer end face is oval, and conduct
The wave producer of two level harmonic reduction.
For the present invention when assembling completion, wave producer 12 makes the inside and outside circle profile of level-one flexible bearing 7 be become by circular curve
For elliptic curve, the shape of level-one flexbile gear 5 also becomes elliptic curve from circular curve when further.Similarly, level-one firm gear 4
Outer end face makes the inside and outside circle profile of two level flexible bearing 3 become elliptic curve from circular curve, two level flexbile gear 17 when further
Shape elliptic curve is also become from circular curve.
When external motor driving input shaft 8 rotates, input shaft 8 drives wave producer 12 to revolve by cross connector 13
Turn, since level-one flexbile gear 5 is fixed on by fixing screws 6 on left box body 2, the left end outside wall surface of level-one firm gear 4 is interior with bearing 3
End face coordinates so that and level-one firm gear 5 has axial degree of freedom, when wave producer 12 makes flexbile gear generate periodically deforming, by
In relative motion, so that level-one firm gear 4 rotates, so as to fulfill primary speed-down.Then the outer end face conduct of level-one firm gear 4
The wave producer of two level harmonic reduction, since two level firm gear is fixed, two level flexbile gear 17 has axial freedom, so that two level is soft
Wheel rotates, so as to fulfill double reduction.Two level flexbile gear 17 is connected to one by connecting pin 18 and output shaft 20, so as to
It realizes the output of power, and realizes deceleration.
As shown in Fig. 2, in this patent, for Reducing distortion amount, residual stress after reduction assembling, raising service life, one
The teeth portion of grade 17 flexbile gear barrel of flexbile gear 5 and two level flexbile gear is horizontally disposed, and rest part is obliquely installed.And it requires：
θ=(10~15) ω * m (°)
B=b+ (4~7) (mm).
Wherein, θ represents flexbile gear barrel inclination angle, and ω represents deformation of flexible wheel coefficient, and m represents flexbile gear modulus, and b represents the facewidth, B tables
Show barrel horizontal component width, δ represents Wall-thick, d1Represent flexbile gear tail end diameter, d2Represent flexbile gear increment diameter；L represents soft
Take turns lateral length.
The specific guiding embodiment of the present invention is above are only, but the design concept of the present invention is not limited thereto,
All changes for carrying out unsubstantiality to the present invention using this design, should all belong to the behavior for invading protection scope of the present invention.
Claims (5)
1. a kind of production method of harmonic speed reducer, including flexbile gear production method and firm gear production method, which is characterized in that described
Flexbile gear production method includes the following steps：
Step 1: by material：The iron of 94.3-96 parts by weight, the graphene of 1-1.5 parts by weight, the silicon of 1.5-2 parts by weight, 0.2-
The manganese of 0.3 parts by weight, the nickel of 0.044-0.065 parts by weight；The sulphur of 0.03-0.05 parts by weight, the chromium of 1.2-1.6 parts by weight,
The copper of 0.1-0.17 parts by weight, the aluminium of 0.02-0.07 parts by weight add in the grinding of ball milling instrument；
Step 2: adding in the material after grinding in the smelting furnace filled with inert gas shielding, heating melting forms alloy solution,
Alloy solution is poured into be cooled and shaped in flexbile gear mold, flexbile gear embryo is made；
Step 3: will flexbile gear embryo nitrogen protection under be heated to 600-630 DEG C heat preservation 3 it is small when, be subsequently cooled to 260-280 DEG C heat preservation
When 0.5-1 is small, then temperature be 80-90 DEG C, PH be 8-9 alkaline solution in keep the temperature 0.5-1 it is small when, cleaning, drying；
Step 4: carrying out hot spinning to flexbile gear embryo, the pressure of hot spinning is：A=b*c.Wherein, a represents the pressure of hot spinning, single
Position is N；B represents the wall thickness of flexbile gear, unit mm；C is pressure parameter, value range 2600-3000；The temperature of hot spinning is
430-470℃；Flexbile gear finished product after natural cooling i.e.；
Firm gear making side production method includes the following steps：
Step 5: firm gear base is made, shaft outlet hole is then processed on punching machine；
Step 6: on firm gear embryo it is crude go out firm gear ring gear；
Step 7: cold extrusion is carried out to ring gear using cold-extruded corrector, until firm gear ring gear is molded；
Step 8: assembling flexbile gear, firm gear and wave producer form harmonic speed reducer.
2. the production method of harmonic speed reducer as described in claim 1, which is characterized in that include the iron of 95.2 parts by weight, 1.1 weights
Measure the graphene of part, the silicon of 1.8 parts by weight, the manganese of 0.25 parts by weight, the nickel of 0.052 parts by weight；The sulphur of 0.035 parts by weight, 1.4
The chromium of parts by weight, the copper of 0.13 parts by weight, the aluminium of 0.05 parts by weight.
3. the production method of harmonic speed reducer as described in claim 1, which is characterized in that the temperature of the hot spinning is 460
DEG C, c=2600.
4. the production method of the harmonic speed reducer as described in claim 1-3, which is characterized in that the inner wall of the firm gear is circle
Shape, outer wall are ellipse.
5. the production method of the harmonic speed reducer as described in claim 1-3, which is characterized in that the teeth portion of the flexbile gear side wall is
Horizontally disposed, rest part is obliquely installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711192846.XA CN108044323B (en) | 2017-11-24 | 2017-11-24 | A kind of production method of harmonic speed reducer |
Applications Claiming Priority (1)
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| CN111002000A (en) * | 2019-12-31 | 2020-04-14 | 宁波中大力德智能传动股份有限公司 | Processing method for improving grain size of flexible gear of harmonic reducer |
| CN113074234A (en) * | 2021-04-06 | 2021-07-06 | 浙江来福谐波传动股份有限公司 | Manufacturing method of four-point contact flexible bearing harmonic reducer |
| CN113070679A (en) * | 2021-04-06 | 2021-07-06 | 浙江来福谐波传动股份有限公司 | Method for assembling harmonic reducer with spherical flexible bearing |
| CN113339478A (en) * | 2021-06-15 | 2021-09-03 | 苏州兴域机器人装备有限责任公司 | Radial double-wave flexible transmission speed reducer |
| CN116038033A (en) * | 2022-08-18 | 2023-05-02 | 罗斯特卡希传动设备(浙江)有限公司 | Harmonic reducer machining equipment and machining method thereof |
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| CN116038033A (en) * | 2022-08-18 | 2023-05-02 | 罗斯特卡希传动设备(浙江)有限公司 | Harmonic reducer machining equipment and machining method thereof |
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