CN109773109A - A kind of complicated forging molding process for harmonic speed reducer part - Google Patents

A kind of complicated forging molding process for harmonic speed reducer part Download PDF

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Publication number
CN109773109A
CN109773109A CN201910113522.5A CN201910113522A CN109773109A CN 109773109 A CN109773109 A CN 109773109A CN 201910113522 A CN201910113522 A CN 201910113522A CN 109773109 A CN109773109 A CN 109773109A
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China
Prior art keywords
forging
heat
manipulator
clamping ring
temperature
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CN201910113522.5A
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CN109773109B (en
Inventor
张�杰
杨燃
张瀚
管文斌
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ZHEJIANG LAIFUAL HARMONIC DRIVE Co Ltd
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ZHEJIANG LAIFUAL HARMONIC DRIVE Co Ltd
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The invention discloses a kind of complicated forging molding process for harmonic speed reducer part, the preparation including including the following steps: 1) mold;2) preparation before first time forging and forming;3) first time forging and forming;4) second of forging and stamping shaping;5) third time forging and stamping blanking;6) the 4th finish forge shaping.The present invention is by being reduced to 1100 degree for initial forging temperature, heat preservation mechanism is increased at the delivery platform before first time forging and forming, it is transferred to after first time forging and forming in next process and increases Medium frequency induction line heating coil, it is heated up and is kept the temperature to part, realize the cost for saving heating resource, guarantee part tissue will not because temperature is excessively high and overheat, burning obtains the coarse tissue of part, reduce subsequent heat treatment process for refining, improve molding qualification rate, it reduces forging defect to generate, to guarantee normally completing for forging process.

Description

A kind of complicated forging molding process for harmonic speed reducer part
Technical field
The invention belongs to technical field of forging, and in particular to a kind of complicated forging molding work for harmonic speed reducer part Skill.
Background technique
Harmonic speed reducer is a kind of special gear reduction unit, we have common gear reduction unit: roller gear slows down Machine, turbine and worm retarder, planetary reducer etc..And harmonic speed reducer is that a kind of special train based on planetary system transmission passes It is dynamic.Wave retarder due to bearing capacity height, transmission ratio is big, small in size, light-weight, stable drive and transmission accuracy height etc. this A little features are compared with tradition retarder, and harmonic speed reducer has incomparable advantage on drive mechanism, are widely used in each In servo-drive or automated execution mechanism, industrial robot is exactly allusion quotation example.Not only in robot field, with present manufacturing industry The raising of technical level, it is various improve, innovation new harmonic transmission mechanisms, be widely used in electronics, machinery, space flight, Navigation, instrument, medical treatment, the chemical industry energy, industrial robot etc. industry.
Harmonic speed reducer has three big kernel components: rigidity gear, flexible gear, wave producer.Flexible gear is a kind of Flexible thin-walled elastomer components with outer ring tooth, in harmonic speed reducer motion process, flexible gear by wave because sent out The effect of raw device, can generate periodic elastic deformation.So the material of flexible gear will have high tenacity and antifatigue strong The performance of degree, because harmonic drive essence or gear engagement, it requires flexible gear intensity with higher.In conjunction with next It says, the mechanical performance that the material of flexible gear will have high-intensitive and high tenacity to match.To improve flexible tooth in retarder The mechanical performance of wheel, my Products part are needed at present by after forging molding, being heat-treated and being machined, tradition forging It makes technique and forges 1200 degree or so a heating forging and formings of upset pulling by beginning, blanking is forged and pressed in secondary forging and stamping shaping three times, and four times Finish forge shaping completes forging technology and forges difficult continuation after final forging temperature is lower than 850 degree.Since my company uses superelevation Strength materials, product structure is complicated, and forging deformation drag is big, occurs forging molding difficulty in actual production, forges qualification rate It is low, serious phenomena such as being scrapped there are also cracking.Traditional solution is to improve initial forging temperature to control final forging temperature, improves forging The methods such as press tonnage, but effect is all less obvious, and a series of new problems occurs, such as after raising temperature, material Oxidation and decarbonization is serious, and crystal grain is obviously coarse after high temperature forging, and forging press mold initial failure cracking etc. influences product quality and life Produce efficiency.
Summary of the invention
Above-mentioned technical problem present in present invention aims to solve the prior art provides a kind of for harmonic speed reducer The complicated forging molding process of part, by the way that initial forging temperature is reduced to 1100 degree, the conveying before first time forging and forming is flat Heat preservation mechanism is increased at platform, is transferred in next process after first time forging and forming and is increased the heating of Medium frequency induction line Circle, heats up to part and is kept the temperature, so that Part temperature enters second forging and stamping shaping after reaching 1000 degree, to guarantee the Part temperature when forging and pressing blanking, the 4th finish forge shaping three times keeps 850 degree or more again, saves the cost of heating resource, Guarantee part tissue will not because temperature is excessively high and overheat, burning obtains the coarse tissue of part, reduction subsequent heat treatment it is thin Chemical industry skill improves molding qualification rate, reduces forging defect and generates, to guarantee normally completing for forging process.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme:
A kind of complicated forging molding process for harmonic speed reducer part, it is characterised in that include the following steps:
1) preparation of mold
The harmonic speed reducer part size and material forged as needed, make suitable mold;
2) preparation before first time forging and forming
A, it heats
Forged material is heated, by mid-frequency induction heating, temp measuring system controls heating temperature and is no more than 1100 degree, The temperature difference range is controlled at positive and negative 10 degree;
B, upset
After heating, start to carry out forged material upset, the height of forged material is reduced and cross section increases, made The end face of forged material is smooth, and smashes the carbide in forged material, is uniformly distributed it;
C, it pulls out
It after the completion of upset, is pulled out, the cross-sectional area of forged material is reduced and length growth, is smashed in forged material Carbide, while not generating new formation of crack, obtain the forging of homogeneous densification;
3) first time forging and forming
A, the clamping of forging
Forging is fitted into mold, clamping ring is installed in the outside of mold, circle distribution there are at least four limits on clamping ring Position column, limited post pass through clamping ring and hold out against mold, and limited post fixing mould, then will be on limited post in the center of clamping ring Nut be tightened in inside and outside clamping ring;
B, the conveying of forging
Heat preservation mechanism is installed in the outside of delivery platform, one end of heat preservation mechanism is connect with the first forging machine, heat preservation mechanism The other end at the top of offer transmission mouth, the clamping ring with forging by transmit mouth enter in heat preservation mechanism, heat preservation mechanism Inside there is delivery platform, clamping ring is placed on the heat-insulating base of delivery platform, the first forging machine is transported to by delivery platform;
C, first time feeding forges and presses
The two sides of first forging machine offer forging mouth, and the two sides of the inner sidewall of the first forging machine are equipped with the first slippage slot, The first mechanical arm assembly is equipped in first slippage slot, the top of the inner sidewall of the first forging machine is equipped with forging hammer, the first forging machine The bottom of inner sidewall is equipped with forging stage, when the heat-insulating base with forging is transported to by delivery platform the forging mouth of the first forging machine When place, the first mechanical arm assembly is moved adjacent to the side of delivery platform, and the clamping of the first mechanical arm assembly has the clamping of forging Clamping ring with forging is moved in forging stage by ring, the first mechanical arm assembly, and forging hammer starts to carry out forging to be forged into zero Part;
D, the circulation conveying of heat-insulating base
The two sides of the top surface of delivery platform are equipped with the second slippage slot, and the second slippage slot is equipped with the second mechanical arm assembly, the The empty heat-insulating base of two mechanical arm assemblies crawl is conveyed the start position for returning to delivery platform;
4) second of forging and stamping shaping
A, parts transport
The other side of first forging machine is equipped with mid-frequency induction heating coil, is equipped with conveyor track in mid-frequency induction heating coil Road is connected with heat-insulating base on delivery track, after forging forges into part, by the first mechanical arm assembly by it to intermediate frequency sense The side of heating coil is answered to convey, part is placed on the heat-insulating base of delivery track by the first mechanical arm assembly;
B, thermometric
Before entering mid-frequency induction heating coil, temp measuring system measures the temperature of part at this time;
C, heated constant temperature
According to previously measured temperature, mid-frequency induction heating coil quickly heats the part in transmission, makes part Temperature be maintained at 1000 degree, control the temperature difference range at positive and negative 10 degree;
D, thermometric again
When part is transported out from intermediate frequency load coil, temp measuring system measures the temperature of part at this time, if warm Within the scope of spending the step c not in step 4), part is transmitted back to Medium frequency induction again and added by the heat-insulating base on delivery track Heat coil again heats part, within the scope of step c of the Part temperature in step 4);
E, the second feeding forges and presses
It delivers into after the completion of heat parts to the second forging machine, the second forging machine forges and presses part whole for the second time Shape;
5) third time forging and stamping blanking
Part after second of forging and stamping shaping is transported to third forging machine, third forging machine is divided mold and part From;
6) the 4th finish forge shaping
By the parts transport after separation to the 4th forging machine, the 4th forging machine carries out the 4th finish forge shaping to part.
Further, in step 3), the top of heat-insulating base is equipped with limiting slot, and the limited post on clamping ring is placed on limiting slot In, clamping ring is smoothly placed on heat-insulating base again, and the first mechanical arm assembly crawl clamping ring is convenient, fast, every Hot seat can separate forging and delivery platform, so that the heat of forging is not transmitted on delivery platform, so that forging will not Delivery platform is impacted, ensure that the normal use of delivery platform.
Further, in step 3), heat preservation mechanism is equipped with slide that can be mobile to two sides, and transmission mouth is mounted on the top of slide Portion, transmission mouth are connected with partition, and when forging is transported to transmission mouth, partition is opened, and after forging enters delivery platform, partition is closed On, when next forging being waited to convey, it is again turned on.It ensure that the temperature of forging not will receive the influence of surrounding enviroment to drop Low or raising, and ring easy to setup is placed exactly on heat-insulating base, is improved work efficiency.
Further, in step 3), slipping block moves on the first slippage slot, when the side for being moved adjacent to delivery platform When, control manipulator platform is run on guide rail, and when manipulator platform is moved to above clamping ring, lifting cylinder drives mechanical The decline of hand fixed plate, the first manipulator of control clamp the limited post on clamping ring, and lifting cylinder drives manipulator fixed plate to rise, Slipping block is mobile to the first forging machine center on the first slippage slot, the clamping that control manipulator platform clamps the first manipulator Ring is put into forging stage, and the movement on guide rail of manipulator platform can be adjusted the position of the first manipulator, to control Clamping ring is put into the center of forging stage by the first manipulator.First manipulator grabs clamping ring, can position to clamping ring into Forging in clamping ring, is maintained at the center of forging stage by row adjustment, so that forging is when carrying out first time forging and forming, Forging uniform force, to reduce the probability for generating defect inside forging.
Further, in step 3), the two sides of heat-insulating base are equipped with clamping slot, and the first mechanical arm assembly send the taking-up of clamping ring Entering to after the first forging machine, slip base is mobile to the side of the first forging machine on the second slippage slot, after being moved to designated position, Lifting platform drives the decline of the second manipulator, and after the second manipulator drops to clamping slot sustained height, the pushing tow cylinder of two sides is driven Second manipulator is mobile to center, so that the second manipulator of two sides is extend into clamping slot, lifting platform rises, to drive Heat-insulating base rises, and for slip base to moving at transmission mouth on the second slippage slot, lifting platform decline, the pushing tow cylinder of two sides drives the Two manipulators are mobile to deep direction, heat-insulating base are placed on delivery platform, the clamping ring with forging passes through biography After outlet, it is placed on heat-insulating base.The recycling of heat-insulating base is realized, the second manipulator crawl heat-insulating base is convenient, fast, and It will not collide with the forging to be forged and pressed on delivery platform in second manipulator transportational process.
Further, in step 5), Part temperature is maintained at 850 degree or more, reduces forging defect and generates, to guarantee to forge Normally completing for process is made, the qualification rate of product is increased.
Further, in step 6), Part temperature is maintained at 850 degree or more, reduces forging defect and generates, to guarantee to forge Normally completing for process is made, the qualification rate of product is increased.
The present invention is by adopting the above-described technical solution, have the advantages that
The present invention, by being heated to 1100 degree to forged material, controls the temperature difference by the way that initial forging temperature is reduced to 1100 degree Range obtains the forging of homogeneous densification, is then put into forging at positive and negative 10 degree, then to forged material progress after upset, pulling In mold, clamping ring is installed in the outside of mold, forging is transported on the delivery platform in heat preservation mechanism, forging will be had Clamping ring is placed on the heat-insulating base on delivery platform, is sent into the first forging machine by delivery platform, is transported to the first forging machine Forging mouth it is outer when, the first mechanical arm assembly clamping clamping ring in the first forging machine carries out first time forging and stamping into forging stage Molding, the second mechanical arm assembly will transport back the starting point of delivery platform, wait the dress of next batch after empty heat-insulating base clamping The placement of clamp ring increases heat preservation mechanism at the delivery platform before first time forging and forming, turns after first time forging and forming It moves on in next process and increases mid-frequency induction heating coil, heated up and kept the temperature to part, so that Part temperature reaches Second of forging and stamping shaping is entered back into after 1000 degree, to guarantee part temperature when third time forges and presses blanking, the 4th finish forge shaping Degree keeps 850 degree or more again, saves the cost for heating resource, guarantee part tissue will not because temperature is excessively high and overheat, Burning obtains the coarse tissue of part, reduces subsequent heat treatment process for refining, improves molding qualification rate, reduces forging defect and produces It is raw, to guarantee normally completing for forging process.
In step 3), slipping block moves the present invention on the first slippage slot, when the side for being moved adjacent to delivery platform When, control manipulator platform is run on guide rail, and when manipulator platform is moved to above clamping ring, lifting cylinder drives mechanical The decline of hand fixed plate, the first manipulator of control clamp the limited post on clamping ring, and lifting cylinder drives manipulator fixed plate to rise, Slipping block is mobile to the first forging machine center on the first slippage slot, the clamping that control manipulator platform clamps the first manipulator Ring is put into forging stage, and the movement on guide rail of manipulator platform can be adjusted the position of the first manipulator, to control Clamping ring is put into the center of forging stage by the first manipulator.First manipulator grabs clamping ring, can position to clamping ring into Forging in clamping ring, is maintained at the center of forging stage by row adjustment, so that forging is when carrying out first time forging and forming, Forging uniform force, to reduce the probability for generating defect inside forging.
The present invention is in step 3), and the two sides of heat-insulating base are equipped with clamping slot, and the first mechanical arm assembly takes out clamping ring After being sent to the first forging machine, slip base is mobile to the side of the first forging machine on the second slippage slot, is moved to designated position Afterwards, lifting platform drives the decline of the second manipulator, after the second manipulator drops to clamping slot sustained height, the pushing tow cylinder band of two sides Dynamic second manipulator is mobile to center, so that the second manipulator of two sides is extend into clamping slot, lifting platform rises, thus band Dynamic heat-insulating base rises, and to movement at transmission mouth on the second slippage slot, the pushing tow cylinder of lifting platform decline, two sides drives slip base Second manipulator is mobile to deep direction, heat-insulating base is placed on delivery platform, the clamping ring with forging passes through After transmitting mouth, it is placed on heat-insulating base.The recycling of heat-insulating base is realized, the second manipulator crawl heat-insulating base is convenient, fast, And second will not collide with the forging to be forged and pressed on delivery platform in manipulator transportational process.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Structural schematic diagram when Fig. 1 is conveying of the present invention in forging;
Fig. 2 is that the first mechanical arm assembly prepares the structural schematic diagram that clamping has forging clamping ring in the present invention;
Clamping ring with forging is transported to the knot that forging stage is forged for the first mechanical arm assembly in the present invention by Fig. 3 Structure schematic diagram;
Part after first time forging and forming is placed into mid-frequency induction heating for the first mechanical arm assembly in the present invention by Fig. 4 Structural schematic diagram on the guide rail of coil;
Fig. 5 is the structural schematic diagram of heat-insulating base in the present invention;
Fig. 6 is the structural schematic diagram of the second mechanical arm assembly in the present invention;
Fig. 7 is the structural schematic diagram of the first mechanical arm assembly in the present invention;
Fig. 8 is the structural schematic diagram of mechanical platform in the present invention.
In figure, 1- mold;2- clamping ring;3- limited post;4- nut;5- delivery platform;6- heat preservation mechanism;7- first is forged Machine;8- transmits mouth;9- heat-insulating base;The first slippage slot of 10-;The first mechanical arm assembly of 11-;12- forging hammer;13- forging stage;14- forging Stoma;The second slippage slot of 15-;The second mechanical arm assembly of 16-;17- mid-frequency induction heating coil;18- delivery track;19- limit Slot;20- slide;21- partition;22- slipping block;23- manipulator platform;24- guide rail;25- lifting cylinder;26- manipulator is fixed Plate;The first manipulator of 27-;28- clamping slot;29- slip base;30- lifting platform;The second manipulator of 31-;32- pushing tow cylinder.
Specific embodiment
It as shown in Figures 1 to 8, is a kind of complicated forging molding process for harmonic speed reducer part of the present invention, including Following steps:
1) preparation of mold
The harmonic speed reducer part size and material forged as needed make suitable mold 1;
2) preparation before first time forging and forming
A, it heats
Forged material is heated, by mid-frequency induction heating, temp measuring system controls heating temperature and is no more than 1100 degree, The temperature difference range is controlled at positive and negative 10 degree.
B, upset
After heating, start to carry out forged material upset, the height of forged material is reduced and cross section increases, made The end face of forged material is smooth, and smashes the carbide in forged material, is uniformly distributed it.
C, it pulls out
It after the completion of upset, is pulled out, the cross-sectional area of forged material is reduced and length growth, is smashed in forged material Carbide, while not generating new formation of crack, obtain the forging of homogeneous densification.
3) first time forging and forming
A, the clamping of forging
Forging is fitted into mold 1, clamping ring 2 is installed in the outside of mold 1, circle distribution has at least four on clamping ring 2 A limited post 3, limited post 3 pass through clamping ring 2 and hold out against mold 1,3 fixing mould 1 of limited post in the center of clamping ring 2, The nut 4 on limited post 3 is tightened in inside and outside clamping ring 2 again.
B, the conveying of forging
Heat preservation mechanism 6 is installed in the outside of delivery platform 5, one end of heat preservation mechanism 6 is connect with the first forging machine 7, is kept the temperature Transmission mouth 8 is offered at the top of the other end of mechanism 6, the clamping ring 2 with forging is entered in heat preservation mechanism 6 by transmission mouth 8, There is delivery platform 5 in heat preservation mechanism 6, clamping ring 2 is placed on the heat-insulating base 9 of delivery platform 5, is conveyed by delivery platform 5 To the first forging machine 7.
C, first time feeding forges and presses
The two sides of first forging machine 7 offer forging mouth 14, and the two sides of the inner sidewall of the first forging machine 7 are equipped with the first sliding Slot 10, the first slippage slot 10 is interior equipped with the first mechanical arm assembly 11, and the top of the inner sidewall of the first forging machine 7 is equipped with forging hammer 12, The bottom of the inner sidewall of first forging machine 7 is equipped with forging stage 13, when the heat-insulating base 9 with forging is transported to by delivery platform 5 When at the forging mouth 14 of the first forging machine 7, the first mechanical arm assembly 11 is moved adjacent to the side of delivery platform 5, and first is mechanical The clamping of hand component 11 has the clamping ring 2 of forging, and the clamping ring 2 with forging is moved to forging stage by the first mechanical arm assembly 11 On 13, forging hammer 12 starts to carry out forging to be forged into part.
D, the circulation conveying of heat-insulating base 9
The two sides of the top surface of delivery platform 5 are equipped with the second slippage slot 15, and the second slippage slot 15 is equipped with the second manipulator group Part 16, the second mechanical arm assembly 16 grab empty heat-insulating base 9 and are conveyed the start position for returning to delivery platform 5.
4) second of forging and stamping shaping
A, parts transport
The other side of first forging machine 7 is equipped with mid-frequency induction heating coil 17, is equipped in mid-frequency induction heating coil 17 defeated Track 18 is sent, heat-insulating base 9 is connected on delivery track 18, after forging forges into part, passes through the first mechanical arm assembly 11 By its to the side of mid-frequency induction heating coil 17 convey, the first mechanical arm assembly 11 by part be placed on delivery track 18 every On hot seat 9.
B, thermometric
Before entering mid-frequency induction heating coil 17, temp measuring system measures the temperature of part at this time.
C, heated constant temperature
According to previously measured temperature, the part in 17 pairs of mid-frequency induction heating coil transmission is quickly heated, and makes zero The temperature of part is maintained at 1000 degree, controls the temperature difference range at positive and negative 10 degree.
D, thermometric again
When part is transported out from intermediate frequency load coil 17, temp measuring system measures the temperature of part at this time, if Within the scope of step c of the temperature not in step 4), part is transmitted back to intermediate frequency sense by the heat-insulating base 9 on delivery track 18 again Heating coil 17 is answered, part is heated again, within the scope of step c of the Part temperature in step 4).
E, the second feeding forges and presses
It delivers into after the completion of heat parts to the second forging machine, the second forging machine forges and presses part whole for the second time Shape.
5) third time forging and stamping blanking
Part after second of forging and stamping shaping is transported to third forging machine, third forging machine carries out mold 1 and part Separation;
6) the 4th finish forge shaping
By the parts transport after separation to the 4th forging machine, the 4th forging machine carries out the 4th finish forge shaping to part.
In step 3), the top of heat-insulating base 9 is equipped with limiting slot 19, and the limited post 3 on clamping ring 2 is placed on limiting slot 19 In, clamping ring 2 is smoothly placed again on heat-insulating base 9, and the first mechanical arm assembly 11 crawl 2 convenience of clamping ring, fast Victory, heat-insulating base 9 can separate forging and delivery platform 5, so that the heat of forging is not transmitted on delivery platform 5, so that Forging will not impact delivery platform 5, ensure that the normal use of delivery platform 5.
In step 3), heat preservation mechanism 6 is equipped with slide 20 that can be mobile to two sides, and transmission mouth 8 is mounted on the top of slide 20 Portion, transmission mouth 8 are connected with partition 21, and when forging is transported to transmission mouth 8, partition 21 is opened, and forging enters delivery platform 5 Afterwards, partition 21 is shut, and when next forging being waited to convey, is again turned on.It ensure that the temperature of forging not will receive surrounding enviroment Influence to reduce or increase, and ring easy to setup 2 is placed exactly on heat-insulating base 9, is improved work efficiency.
In step 3), slipping block 22 moves on the first slippage slot 10, when the side for being moved adjacent to delivery platform 5 When, control manipulator platform 23 is run on guide rail 24, when manipulator platform 23 is moved to clamping 2 top of ring, lifting cylinder 25 drive manipulator fixed plate 26 to decline, and the first manipulator 27 of control clamps the limited post 3 on clamping ring 2,25 band of lifting cylinder Dynamic manipulator fixed plate 26 rises, and slipping block 22 is mobile to 7 center of the first forging machine on the first slippage slot 10, controls manipulator The clamping ring 2 that first manipulator 27 clamps is put into forging stage 13 by platform 23, and movement can on guide rail 24 for manipulator platform 23 It is adjusted with the position to the first manipulator 27, so that clamping ring 2 is put into forging stage 13 by the first manipulator 27 of control Center.First manipulator 27 grabs clamping ring 2, can be adjusted to the position of clamping ring 2, and the forging in clamping ring 2 is kept In the center of forging stage 13, so that forging is when carrying out first time forging and forming, forging uniform force, to reduce forging Inside generates the probability of defect.
In step 3), the two sides of heat-insulating base 9 are equipped with clamping slot 28, and the first mechanical arm assembly 11 send the taking-up of clamping ring 2 Enter to after the first forging machine 7, slip base 29 is mobile to the side of the first forging machine 7 on the second slippage slot 15, is moved to specified Behind position, lifting platform 30 drives the decline of the second manipulator 31, after the second manipulator 31 drops to 28 sustained height of clamping slot, two sides Pushing tow cylinder 31 drive the second manipulator 31 mobile to center so that the second manipulator 31 of two sides extend into clamping slot 28 In, lifting platform 30 rises, so that heat-insulating base 9 be driven to rise, slip base 29 is mobile at mouth 8 to transmitting on the second slippage slot 15, Lifting platform 30 declines, and the pushing tow cylinder 31 of two sides drives the second manipulator 31 mobile to deep direction, and heat-insulating base 9 is put It sets on delivery platform 5, after the clamping ring 2 with forging is by transmission mouth 8, is placed on heat-insulating base 9.Realize heat-insulating base 9 Recycling, the second manipulator 31 grab heat-insulating base 9 it is convenient, fast, and in 31 transportational process of the second manipulator will not with it is defeated The forging to be forged and pressed on platform 5 is sent to collide.
In step 5), Part temperature is maintained at 850 degree or more, reduces forging defect and generates, to guarantee forging process Normally complete, increase the qualification rate of product.
In step 6), Part temperature is maintained at 850 degree or more, reduces forging defect and generates, to guarantee forging process Normally complete, increase the qualification rate of product.
The present invention, by being heated to 1100 degree to forged material, controls the temperature difference by the way that initial forging temperature is reduced to 1100 degree Range obtains the forging of homogeneous densification, is then put into forging at positive and negative 10 degree, then to forged material progress after upset, pulling In mold 1, clamping ring 2 is installed in the outside of mold 1, forging is transported on the delivery platform 5 in heat preservation mechanism 6, will be had The clamping ring 2 of forging is placed on the heat-insulating base 9 on delivery platform 5, is sent into the first forging machine 7 by delivery platform 5, is transported to The forging mouth 14 of first forging machine 7 it is outer when, the first mechanical arm assembly 11 clamping clamping ring 2 in the first forging machine 7 to forging First time forging and forming is carried out in platform 13, the second mechanical arm assembly 16 will transport back delivery platform 5 after empty 9 clamping of heat-insulating base Starting point waits the placement of the clamping ring 2 of next batch, increases heat preservation at the delivery platform 5 before first time forging and forming Mechanism 6 is transferred in next process after first time forging and forming and increases mid-frequency induction heating coil 17, carries out to part Heating and heat preservation are fallen so that Part temperature enters back into second of forging and stamping shaping after reaching 1000 degree to guarantee that third time forges and presses Part temperature when material, the 4th finish forge shaping keeps 850 degree or more again, saves the cost of heating resource, guarantees part Tissue will not because temperature is excessively high and overheat, burning obtains the coarse tissue of part, reduce subsequent heat treatment process for refining, raising Qualification rate is formed, forging defect is reduced and generates, to guarantee normally completing for forging process.
The above is only specific embodiments of the present invention, but technical characteristic of the invention is not limited thereto.It is any with this hair Based on bright, to solve essentially identical technical problem, essentially identical technical effect is realized, made simple change, etc. With replacement or modification etc., all it is covered by among protection scope of the present invention.

Claims (7)

1. a kind of complicated forging molding process for harmonic speed reducer part, it is characterised in that include the following steps:
1) preparation of mold
The harmonic speed reducer part size and material forged as needed, make suitable mold;
2) preparation before first time forging and forming
A, it heats
Forged material is heated, by mid-frequency induction heating, temp measuring system controls heating temperature and is no more than 1100 degree, control The temperature difference range is at positive and negative 10 degree;
B, upset
After heating, start to carry out forged material upset, the height of forged material is reduced and cross section increases, make to forge The end face of material is smooth, and smashes the carbide in forged material, is uniformly distributed it;
C, it pulls out
It after the completion of upset, is pulled out, the cross-sectional area of forged material is reduced and length growth, the carbon in forged material is smashed Compound, while new formation of crack is not generated, obtain the forging of homogeneous densification;
3) first time forging and forming
A, the clamping of forging
Forging is fitted into mold, clamping ring is installed in the outside of mold, circle distribution has at least four limited posts on clamping ring, Limited post passes through clamping ring and holds out against mold, and limited post fixing mould is in the center of clamping ring, then by the spiral shell on limited post Mother is tightened in inside and outside clamping ring;
B, the conveying of forging
Heat preservation mechanism is installed in the outside of delivery platform, one end of heat preservation mechanism connect with the first forging machine, heat preservation mechanism it is another Transmission mouth is offered at the top of one end, the clamping ring with forging enters in heat preservation mechanism by transmitting mouth, has in heat preservation mechanism Clamping ring is placed on the heat-insulating base of delivery platform by delivery platform, is transported to the first forging machine by delivery platform;
C, first time feeding forges and presses
The two sides of first forging machine offer forging mouth, and the two sides of the inner sidewall of the first forging machine are equipped with the first slippage slot, and first The first mechanical arm assembly is equipped in slippage slot, the top of the inner sidewall of the first forging machine is equipped with forging hammer, the inside of the first forging machine The bottom of wall is equipped with forging stage, when the heat-insulating base with forging is transported to by delivery platform the forging making-port of the first forging machine When, the first mechanical arm assembly is moved adjacent to the side of delivery platform, and the clamping of the first mechanical arm assembly has the clamping ring of forging, Clamping ring with forging is moved in forging stage by the first mechanical arm assembly, and forging hammer starts to carry out forging to be forged into part;
D, the circulation conveying of heat-insulating base
The two sides of the top surface of delivery platform are equipped with the second slippage slot, and the second slippage slot is equipped with the second mechanical arm assembly, the second machine The empty heat-insulating base of tool hand component crawl is conveyed the start position for returning to delivery platform;
4) second of forging and stamping shaping
A, parts transport
The other side of first forging machine is equipped with mid-frequency induction heating coil, and delivery track is equipped in mid-frequency induction heating coil, defeated It send and is connected with heat-insulating base on track, after forging forges into part, added it to Medium frequency induction by the first mechanical arm assembly The side of heat coil conveys, and part is placed on the heat-insulating base of delivery track by the first mechanical arm assembly;
B, thermometric
Before entering mid-frequency induction heating coil, temp measuring system measures the temperature of part at this time;
C, heated constant temperature
According to previously measured temperature, mid-frequency induction heating coil quickly heats the part in transmission, makes the temperature of part Degree is maintained at 1000 degree, controls the temperature difference range at positive and negative 10 degree;
D, thermometric again
When part is transported out from intermediate frequency load coil, temp measuring system measures the temperature of part at this time, if temperature is not Within the scope of step c in step 4), part is transmitted back to mid-frequency induction heating line by the heat-insulating base on delivery track again Circle, again heats part, within the scope of step c of the Part temperature in step 4);
E, the second feeding forges and presses
It is delivered into after the completion of heat parts to the second forging machine, the second forging machine is to second of forging and stamping shaping of part progress;
5) third time forging and stamping blanking
Part after second of forging and stamping shaping is transported to third forging machine, third forging machine separates mold with part;
6) the 4th finish forge shaping
By the parts transport after separation to the 4th forging machine, the 4th forging machine carries out the 4th finish forge shaping to part.
2. a kind of complicated forging molding process for harmonic speed reducer part according to claim 1, it is characterised in that: In the step 3), the top of heat-insulating base is equipped with limiting slot, and the limited post on clamping ring is placed in limiting slot.
3. a kind of complicated forging molding process for harmonic speed reducer part according to claim 1, it is characterised in that: In the step 3), heat preservation mechanism is equipped with slide that can be mobile to two sides, and transmission mouth is mounted on the top of slide, and transmission mouth is living Dynamic to be connected with partition, when forging is transported to delivery port, partition is opened, and after forging enters delivery platform, partition is shut, and is waited next When a forging conveys, it is again turned on.
4. a kind of complicated forging molding process for harmonic speed reducer part according to claim 1, it is characterised in that: In the step 3), slipping block moves on the first slippage slot, and when being moved adjacent to the side of delivery platform, control is mechanical Hand platform is run on guide rail, and when manipulator platform is moved to above clamping ring, lifting cylinder is driven under manipulator fixed plate Drop, the first manipulator of control clamp the limited post on clamping ring, and lifting cylinder drives manipulator fixed plate to rise, and slipping block is the It is mobile to the first forging machine center on one slippage slot, manipulator platform, which is controlled, by the clamping ring that the first manipulator clamps is put into forging Platform is made, the movement on guide rail of manipulator platform can be adjusted the position of the first manipulator, thus the first manipulator of control Clamping ring is put into the center of forging stage.
5. a kind of complicated forging molding process for harmonic speed reducer part according to claim 1, it is characterised in that: In the step 3), the two sides of heat-insulating base are equipped with clamping slot, and the taking-up of clamping ring is sent to the first forging by the first mechanical arm assembly After making machine, slip base is mobile to the side of the first forging machine on the second slippage slot, and after being moved to designated position, lifting platform is driven The decline of second manipulator, after the second manipulator drops to clamping slot sustained height, the pushing tow cylinder of two sides drives the second manipulator Mobile to center, so that the second manipulator of two sides is extend into clamping slot, lifting platform rises, to drive on heat-insulating base It rises, for slip base to movement at transmission mouth on the second slippage slot, the pushing tow cylinder of lifting platform decline, two sides drives the second manipulator It is mobile to deep direction, heat-insulating base is placed on delivery platform, after the clamping ring with forging is by transmission mouth, is put It sets on heat-insulating base.
6. a kind of complicated forging molding process for harmonic speed reducer part according to claim 1, it is characterised in that: In the step 5), Part temperature is maintained at 850 degree or more.
7. a kind of complicated forging molding process for harmonic speed reducer part according to claim 1, it is characterised in that: In the step 6), Part temperature is maintained at 850 degree or more.
CN201910113522.5A 2019-02-14 2019-02-14 Complex forging forming process for harmonic reducer part Active CN109773109B (en)

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