CN111843772A - High-precision machining device and method for cycloidal gear capable of automatically forming tooth profile - Google Patents
High-precision machining device and method for cycloidal gear capable of automatically forming tooth profile Download PDFInfo
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- CN111843772A CN111843772A CN202010762040.5A CN202010762040A CN111843772A CN 111843772 A CN111843772 A CN 111843772A CN 202010762040 A CN202010762040 A CN 202010762040A CN 111843772 A CN111843772 A CN 111843772A
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- cycloid wheel
- wheel
- grinding
- cycloid
- precision machining
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
Abstract
The invention discloses a high-precision machining device for a cycloidal gear capable of automatically forming a tooth profile and a machining method of the high-precision machining device. Compared with the prior art, the invention adds a special cycloidal gear tooth profile processing device based on a numerical control cylindrical grinding machine, and is characterized by automatically forming an accurate cycloidal tooth profile, having simple and clear structure, needing no complex programming and needing no precise cycloidal grinding machine, greatly reducing the production cost and improving the efficiency.
Description
Technical Field
The invention relates to the field of processing of cycloidal gears of RV speed reducers, in particular to a high-precision processing device and a processing method for a cycloidal gear capable of automatically forming a tooth profile.
Background
For a long time, the machining of the cycloid wheel on the RV reducer of the precision robot always requires a high-precision cycloid grinding machine for machining, and the machining difficulty is high, the yield is low, the investment is large, and the efficiency is low. The equipment is foreign equipment, the market price is one million yuan, and the equipment investment is huge.
Disclosure of Invention
The invention aims to solve the problems and realize a high-precision machining device and a high-precision machining method for a cycloidal gear, which have the advantages of simple structure, low cost and capability of automatically forming a tooth profile.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides an automatic form profile's cycloid wheel high accuracy processingequipment, includes cycloid wheel processing frock and excircle grinding machanism, cycloid wheel processing frock is by base, frame, RV speed reducer, revolving stage and upper cover, the frame top is equipped with the flange base of installation RV speed reducer, and the frame bottom is equipped with the servo motor of drive RV speed reducer operation, on the revolving stage was fixed in the output of RV speed reducer, treat that the cycloid wheel of processing is placed on the last top surface of revolving stage, be equipped with a set of linkage bent axle on the RV speed reducer, the cover is equipped with two sets of cams on the linkage bent axle, linkage bent axle lower extreme is connected through the cycloid wheel transmission of a set of cam with RV speed reducer model machine, and linkage bent axle upper end is passed the revolving stage and is.
Preferably, the frame is an n-shaped arch frame, and two ends of the frame are fixed on the base through fastening screws.
As preferred, be equipped with the female connection post on the revolving stage, the female connection post passes and waits to process the bottom surface that the cycloid wheel supports the upper cover, the upper cover can be dismantled with the female connection post through fastening screw and be connected, countersunk screw hole has still been seted up on the revolving stage, the revolving stage is fixed in on the output terminal surface of RV speed reducer through with countersunk screw hole assorted fastening screw.
Preferably, the upper end of the linkage crankshaft is rotatably connected with the upper cover.
Preferably, the two cams of the one group at the upper end of the linked crankshaft have the same phase.
Preferably, the cylindrical grinding mechanism adopts a numerical control cylindrical grinding machine, and the cycloidal gear machining tool is fixed on the numerical control cylindrical grinding machine.
Preferably, one or two groups of excircle polishing heads are arranged on the numerical control excircle grinding machine, and the cycloid wheel to be processed is positioned between grinding wheels of the excircle polishing heads.
Preferably, the grinding wheel on the outer circle grinding head is vertically arranged, the edge of the grinding wheel is circular, and the diameter of the grinding wheel is equal to the diameter of a roller pin in the RV reducer.
A high-precision machining method for a cycloid wheel comprises the following steps,
a. the servo motor drives the RV reducer to operate, and the crankshaft is linked to enable the cycloid wheel to be machined on the upper surface and the cycloid wheel in the RV reducer on the lower surface to keep the same rotation and swing;
b. during processing, the numerical control cylindrical grinding machine drives the cylindrical grinding head to move up and down at a constant speed, and the up-down movement distance is the thickness of the two cycloid gears so as to ensure that the edge grinding is vertical;
c. meanwhile, the grinding wheel on the grinding head is gradually close to the cycloid wheel to be machined under the control of the numerical control cylindrical grinding machine and is linearly pushed towards the direction of the central point, and the grinding wheel can be fed to the central point again after the cycloid wheel to be machined rotates for one circle until the machining displacement is equal to the diameter of the roller pin.
Preferably, the cycloid wheel to be machined rotates and swings under the drive of the extension crankshaft of the standard RV reducer, and the motion of the cycloid wheel to be machined is completely consistent with that of one cycloid wheel in the standard RV reducer. The contact point of the edge of the cycloidal gear to be processed and the grinding wheel is enveloped to form a real and perfect cycloidal tooth profile which is completely the same as a curve enveloped by the contact point of the cycloidal gear and the rolling needle in the RV reducer below.
Compared with the prior art, the invention has the advantages that: the invention relates to a special cycloidal gear tooth profile machining device based on a numerical control cylindrical grinding machine, which is characterized by automatically forming an accurate cycloidal tooth profile, having simple and clear structure and needing no complex programming and no precise cycloidal grinding machine. The production cost can be greatly reduced and the efficiency can be improved, the cost of one device can be controlled within twenty-ten thousand yuan, and the market prospect is very huge.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic overall front view of the present invention;
FIG. 3 is an exploded view of the tooling for machining a cycloid gear of the present invention;
FIG. 4 is an exploded view of the tooling for machining a cycloid gear without the rotating table according to the present invention;
FIG. 5 is a front exploded view of the tooling for machining a cycloid gear of the present invention;
FIG. 6 is a schematic view of the state of the cycloidal gear processing tool of the present invention when polishing the cycloidal gear;
fig. 7 is a top view of the tooling for processing a cycloid wheel of the present invention when grinding the cycloid wheel.
In the figure: 1. processing tooling of the cycloid wheel; 2. an excircle polishing mechanism; 3. an excircle polishing head; 4. a base; 5. a frame; 6. a flange base; 7. an RV reducer; 8. a rotating table; 9. an internal thread connecting column; 10. a cycloid wheel to be processed; 11. an upper cover; 12. a linkage crankshaft; 13. a cam; 14. a servo motor; 15. virtual needles.
Detailed Description
The present invention will be further explained below.
Example (b): referring to fig. 1 to 6, a high-precision machining device for a cycloidal gear capable of automatically forming a tooth profile comprises a cycloidal gear machining tool 1 and an excircle polishing mechanism 2, wherein the cycloidal gear machining tool 1 comprises a base 4, a frame 5, an RV reducer 7, a rotary table 8 and an upper cover 11, the base 4 is the base 4 of a numerical control excircle grinding machine, the RV reducer 7 adopts a high-precision reducer as a standard prototype, the top of the frame 5 is provided with a flange base 6 for installing the RV reducer 7, the bottom of the frame 5 is provided with a servo motor 14 for driving the RV reducer 7 to operate, a main shaft of the RV reducer 7 is driven to rotate by the servo motor 14, the cycloidal gear in the RV reducer 7 is operated, the rotary table 8 is fixed on the output end of the RV reducer 7, a cycloidal gear 10 to be machined is placed on the upper top surface of the rotary table, the linkage crankshaft 12 adopts a crankshaft lengthening design, so that the RV reducer 7 and the cycloidal gear 10 to be processed move synchronously, two groups of cams 13 are sleeved on the linkage crankshaft 12, the phases of the two groups of cams 13 are the same, the motion trail of the cycloidal gear 10 to be processed is ensured to be consistent with the motion trail of the cycloidal gear of a prototype, and two cycloidal gears can be processed simultaneously. The lower end of the linkage crankshaft 12 is in transmission connection with a cycloidal gear of an RV speed reducer prototype through a group of cams 13, the upper end of the linkage crankshaft 12 penetrates through the rotary table 8 and is in transmission connection with a cycloidal gear 10 to be processed through another group of cams 13, the phases of a group of cams 13 at the upper end of the linkage crankshaft 12 are the same and are also the same as the phase of a cycloidal gear in the RV speed reducer 7, and the extended linkage crankshaft 12 simultaneously drives the cycloidal gear in an RV speed reducer core to synchronously and consistently move with the cycloidal gear 10 to be processed. The cycloidal gear 10 to be processed performs standard cycloidal motion, a standard cycloidal tooth profile is formed by a contact point of the cycloidal gear and a grinding wheel which is relatively fixed, each tooth is ground once by rotating a circle, then the grinding wheel is fed to the center once, and the processed cycloidal gear is completely consistent with a cycloidal gear in a standard RV reducer 7.
The structure principle of the cycloidal gear machining tool 1 is that an RV reducer without a shell and a roller pin is placed above a standard RV reducer 7, and a through linkage crankshaft 12 enables an upper cycloidal gear to be machined and a cycloidal gear in a lower reducer to keep the same rotation and swing completely. At this time, the circular edge of the grinding wheel of the outer circle grinding mechanism 2 is equal to the contact between one needle roller and the two cycloid gears 10 to be processed, and the track of the contact point is the real cycloid tooth profile.
The frame 5 adopts the arched door frame 5 of n font, 5 both ends of frame are fixed on base 4 through fastening screw, and its bottom of the arched door frame 5 structure of n font is convenient for install servo motor 14, and both ends can be with the steady frame of cycloid wheel processing frock 1 on base 4, and the installation department that forms fastening screw is turned over outwards perpendicularly in frame 5 bottom, can improve the stationarity of support simultaneously. The base 4 can be provided with a limit groove matched with the bottom of the frame 5, so that the cycloidal gear machining tool 1 is limited, and the polishing stability is improved.
Be equipped with internal thread spliced pole 9 on the revolving stage 8, internal thread spliced pole 9 passes the auxiliary positioning hole of waiting to process on the cycloid wheel 10 and supports the bottom surface at upper cover 11, upper cover 11 passes through fastening screw and internal thread terminal fixed connection, realizes waiting to process the fixed mounting of cycloid wheel 10 through revolving stage 8 and upper cover 11, can dismantle connection structure and be convenient for the installation and dismantle, has processed the back when this group of cycloid wheel, takes off upper cover 11 and can process a set of cycloid wheel down, countersunk screw hole has still been seted up on the revolving stage 8, revolving stage 8 is connected to the output screw of speed reducer below through with countersunk screw hole assorted fastening screw on, realizes the fixed of speed reduction model machine with the RV, and the countersunk screw design of countersunk screw hole avoids fastening screw's nut to support on waiting to process cycloid wheel 10.
The upper end of the linkage crankshaft 12 is rotatably connected with the upper cover 11, the linkage crankshaft 12 can be rotatably connected with the upper cover 11 by adopting a rolling bearing, the linkage crankshaft 12 is limited by the upper cover 11, and the rotation of the linkage crankshaft is not influenced. The cylindrical grinding mechanism 2 adopts a numerical control cylindrical grinding machine, the cycloid wheel machining tool 1 is fixed on the numerical control cylindrical grinding machine, and the common triaxial numerical control cylindrical grinding machine can meet the production requirement.
Be equipped with a set of or two sets of excircle grinding head 3 on the numerical control cylindrical grinder, excircle grinding head 3 sets up according to the position of RV speed reducer kingpin, treat that processing cycloid wheel 10 is located between the emery wheel of excircle grinding head 3, can realize that the multiunit grinding head carries out the multiple spot simultaneously and polish to the cycloid wheel, machining efficiency has been improved greatly, consider the commonality of numerical control cylindrical grinder, the simplicity, usually a set of or two sets of excircle grinding head 3 can, if with two sets of then 3 parallel arrangement of two sets of excircles grinding head, by numerical control cylindrical grinder synchro control.
The grinding wheel on the outer circle grinding head 3 is vertically arranged, the edge of the grinding wheel is circular, the diameter of the grinding wheel is equal to the diameter of a roller pin in the RV speed reducer 7, the edge of the cycloidal gear on the motion trail is ground and formed like the roller pin capable of being ground, the edge of the cycloidal gear is ground according to the operation state of the cycloidal gear, and the grinding precision meets the actual operation requirement.
A high-precision machining method for a cycloid wheel comprises the following steps,
a. the servo motor 14 drives the RV reducer 7 to operate, and the crankshaft 12 is linked to enable the cycloid wheel 10 to be machined on the upper surface and the cycloid wheel in the RV reducer 7 on the lower surface to keep the same rotation and swing;
b. during processing, the numerical control cylindrical grinding machine drives the cylindrical grinding head 3 to move up and down at a constant speed continuously, and the up-down movement distance is the thickness of the two cycloid gears so as to ensure that the edge grinding is vertical;
c. meanwhile, the grinding wheel on the polishing head is gradually close to the cycloid wheel to be processed and is linearly pushed towards the direction of the central point under the control of the numerical control cylindrical grinder, and the grinding wheel can be fed to the central point again after the cycloid wheel 10 to be processed rotates for one circle until the processing displacement is equal to the diameter of the roller pin.
In the blank of the cycloid wheel to be processed, the two side holes are processed in place, the two cycloid wheels are overlapped and completely consistent, and the blank is also completely the same after being processed. When the speed reducer is installed, the speed reducer is installed as a pair, and the running consistency can be ensured.
As is clear from the above figures: before the cycloid wheel completes a circle of rotation, the position of the grinding wheel is fixed, the circular edge of the grinding wheel is equal to a roller pin, referring to fig. 7, 15 in the figure is a virtual roller pin which is used only for illustration and keeps contact with the cycloid wheel which rotates and swings, the track of the contact point is a perfect and real cycloid tooth profile, and the effect of the contact point is equal to that of the cycloid wheel in a standard RV reducer 7. The ground cycloid wheel truly reproduces the cycloid wheel standard in the RV reducer 7.
The invention skillfully uses the existing RV reducer 7 to generate the cycloid movement of the workpiece. The most natural method is used for polishing and forming the cycloid wheel, a high-precision expensive cycloid grinding machine is not needed in the polishing process, and the cycloid wheel which is as good as the standard RV reducer 7 can be processed only by a numerical control cylindrical grinding machine.
The programming of the processing of the cycloid tooth profile is not needed, and the used cylindrical grinding machine only needs the linear motion of the grinding wheel and the up-and-down movement of the processing platform. And the processing efficiency is high, the operation is simple, and the yield is high and stable.
And the grinding wheel does not need to be shaped, and the tooth profile is formed by point contact enveloping of the grinding wheel and the workpiece. After the grinding wheel is worn, only a little more grinding wheel needs to be added.
The present invention provides a high-precision machining device for a cycloid wheel capable of automatically forming a tooth profile and a machining method thereof, which are described in detail above, wherein a specific example is applied to illustrate the principle and the implementation mode of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; while the invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an automatic form cycloid wheel high accuracy processingequipment of flank profile which characterized in that: including cycloid wheel processing frock and excircle grinding machanism, cycloid wheel processing frock is by base, frame, RV speed reducer, revolving stage and upper cover, the frame top is equipped with the flange base of installation RV speed reducer, and the frame bottom is equipped with the servo motor of drive RV speed reducer operation, on the revolving stage was fixed in the output of RV speed reducer, treat that the processing cycloid wheel is placed in the last top surface of revolving stage, be equipped with a set of linkage bent axle on the RV speed reducer, the cover is equipped with two sets of cams on the linkage bent axle, the linkage bent axle lower extreme is connected through the cycloid wheel transmission of a set of cam with RV speed reducer model machine, and the linkage bent axle upper end is passed the revolving stage and is connected through another.
2. The high-precision machining device for the cycloid wheel with the automatically formed tooth profile as claimed in claim 1, wherein: the frame adopts n font arched door frame, the frame both ends are fixed on the base through fastening screw.
3. The high-precision machining device for the cycloid wheel with the automatically formed tooth profile as claimed in claim 1, wherein: be equipped with the internal thread spliced pole on the revolving stage, the internal thread spliced pole passes and waits to process the bottom surface that the cycloid wheel supports the upper cover, the upper cover can be dismantled with the internal thread terminal through fastening screw and be connected, countersunk screw hole has still been seted up on the revolving stage, the revolving stage is fixed in on the output terminal surface of RV speed reducer through with countersunk screw hole assorted fastening screw.
4. The high-precision machining device for the cycloid wheel with the automatically formed tooth profile as claimed in claim 1, wherein: the upper end of the linkage crankshaft is rotatably connected with the upper cover.
5. The high-precision machining device for the cycloid wheel with the automatically formed tooth profile as claimed in claim 1, wherein: and the phases of a group of two cams at the upper end of the linked crankshaft are the same.
6. The high-precision machining device for the cycloid wheel with the automatically formed tooth profile as claimed in claim 1, wherein: the excircle polishing mechanism adopts a numerical control excircle grinding machine, and the cycloidal gear machining tool is fixed on the numerical control excircle grinding machine.
7. The high-precision machining device for the cycloid wheel with the automatically formed tooth profile as claimed in claim 6, wherein: and one or two groups of excircle polishing heads are arranged on the numerical control cylindrical grinding machine, and the cycloid wheel to be processed is positioned between grinding wheels of the excircle polishing heads.
8. The high-precision machining device for the cycloid wheel with the automatically formed tooth profile as claimed in claim 7, wherein: the grinding wheel on the excircle grinding head is vertically arranged, the edge of the grinding wheel is circular, and the diameter of the grinding wheel is equal to that of a roller pin in the RV reducer.
9. The high-precision machining method of the cycloid wheel according to claim 1, using the high-precision machining device of the cycloid wheel, characterized in that: the method comprises the following steps of,
a. the servo motor drives the RV reducer to operate, and the crankshaft is linked to enable the cycloid wheel to be machined on the upper surface and the cycloid wheel in the RV reducer on the lower surface to keep the same rotation and swing;
b. during processing, the numerical control cylindrical grinding machine drives the cylindrical grinding head to move up and down at a constant speed, and the up-down movement distance is the thickness of the two cycloid gears so as to ensure that the edge grinding is vertical;
c. meanwhile, the grinding wheel on the grinding head is gradually close to the cycloid wheel to be machined under the control of the numerical control cylindrical grinding machine and is linearly pushed towards the direction of the central point, and the grinding wheel can be fed to the central point again after the cycloid wheel to be machined rotates for one circle until the machining displacement is equal to the diameter of the roller pin.
10. The high-precision machining method of the cycloid wheel as claimed in claim 9, using the high-precision machining apparatus for the cycloid wheel, characterized in that: the edge of the cycloidal gear to be processed is enveloped with a real perfect cycloidal tooth profile which is completely the same as a curve enveloped by contact points of the cycloidal gear and a roller needle in the RV speed reducer below.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010762040.5A CN111843772A (en) | 2020-07-31 | 2020-07-31 | High-precision machining device and method for cycloidal gear capable of automatically forming tooth profile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010762040.5A CN111843772A (en) | 2020-07-31 | 2020-07-31 | High-precision machining device and method for cycloidal gear capable of automatically forming tooth profile |
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| CN111843772A true CN111843772A (en) | 2020-10-30 |
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| CN202010762040.5A Pending CN111843772A (en) | 2020-07-31 | 2020-07-31 | High-precision machining device and method for cycloidal gear capable of automatically forming tooth profile |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113263363A (en) * | 2021-05-08 | 2021-08-17 | 雷榕 | Excircle clout remove device is used in window pulley processing |
| CN114290130A (en) * | 2021-12-25 | 2022-04-08 | 九众九机器人有限公司 | Workpiece contour machining process |
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