CN113399935B - Manufacturing process of harmonic speed reducer flexible gear - Google Patents
Manufacturing process of harmonic speed reducer flexible gear Download PDFInfo
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- CN113399935B CN113399935B CN202010180062.0A CN202010180062A CN113399935B CN 113399935 B CN113399935 B CN 113399935B CN 202010180062 A CN202010180062 A CN 202010180062A CN 113399935 B CN113399935 B CN 113399935B
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- 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
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- 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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- 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
- F16H55/17—Toothed wheels
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse 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
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Abstract
The invention relates to a manufacturing process of a flexible gear of a harmonic reducer, wherein raw materials are subjected to rough turning, spheroidizing and finish machining to form a semi-finished flexible gear with a flexible gear outer tooth surface gear ring, and the manufacturing process is characterized in that the semi-finished flexible gear is processed by a spinning tooth surface forming process to form a flexible gear outer tooth surface, and then is subjected to quenching and tempering, finish turning and final surface nitriding treatment; the spinning tooth surface forming process adopts a spinning machine and a circumferential disc-shaped tooth pressing cutter, the tooth pressing cutter positively rotates in the circumferential direction and simultaneously linearly moves the flexible gear in the radial direction towards the tooth pressing cutter, and the flexible gear is in contact with the tooth cutter to passively rotate and simultaneously is processed into a flexible gear tooth profile; the tooth profile of the tooth pressing cutter is matched with the tooth profile of the flexible gear. The fatigue resistance, wear resistance and load capacity of the flexible gear can be obviously improved, the manufacturing flow of the flexible gear is reduced, the processing time is shortened, and the cost is reduced.
Description
Technical Field
The invention relates to a harmonic speed reducer, in particular to a manufacturing process of a flexible gear of the harmonic speed reducer.
Technical Field
The harmonic reducer has the advantages of compact structure, small volume, light weight, large bearing capacity, small back clearance, high transmission precision and the like, and is widely applied to the fields of industrial robots, aerospace and precision machine tools. The harmonic speed reducer consists of a steel wheel, a flexible wheel and a wave generator, wherein the wave generator with elliptic deformation is arranged in the flexible wheel with elasticity, and the wave generator rotates to force the flexible wheel tooth form to be periodically meshed and separated with the steel wheel tooth form, so that the staggered tooth difference speed reduction effect is realized.
The flexible gear of the harmonic speed reducer needs to be alternately and flexibly deformed along with the wave generator and bears load torque, so that the requirements on the material, the processing technology and the heat treatment of the flexible gear of the harmonic speed reducer are extremely high. The traditional harmonic reducer flexspline material adopts fatigue-resistant materials such as 30CrMnSiA and 35CrMnSiA, and adopts a cross upsetting-drawing forging process to change the fiber direction, so that the flexspline has transverse annular fibers, and the fatigue resistance of the flexspline is improved. In order to enable the flexible gear to have good mechanical performance and fatigue resistance, the flexible gear needs to be subjected to quenching and tempering treatment, and the hardness of the flexible gear is 32-36 HRB. Then rough turning, quenching and tempering, finish turning, gear hobbing and surface nitriding treatment are carried out. The process makes the traditional harmonic reducer flexible gear have complex manufacturing procedure, long period and high cost.
The invention content is as follows:
the invention aims to provide a manufacturing process of a flexible gear of a harmonic speed reducer, which aims to improve the fatigue resistance, wear resistance and load capacity of the flexible gear, reduce the manufacturing flow of the flexible gear, shorten the processing time and reduce the cost.
The invention adopts the following technical scheme for solving the technical problems:
a manufacturing process of a harmonic reducer flexible gear comprises the steps of carrying out rough turning, spheroidizing and finish machining on raw materials to form a semi-finished flexible gear with a flexible gear outer tooth surface gear ring, and is characterized in that the semi-finished flexible gear is processed to form a flexible gear outer tooth surface through a spinning tooth surface forming process, then carrying out quenching and tempering, carrying out finish turning, and finally carrying out surface nitriding treatment; the spinning tooth surface forming process adopts a spinning machine and a circumferential disc-shaped tooth pressing cutter, the tooth pressing cutter actively rotates in the circumferential direction and simultaneously moves the flexible gear in a straight line towards the tooth pressing cutter in the radial direction, and the flexible gear is in contact with the tooth cutter to passively rotate and simultaneously processed into a flexible gear tooth profile; the tooth profile of the tooth pressing tool is matched with that of the flexible gear.
Further, the spinning tooth surface forming process comprises the following steps:
the tooth pressing cutter is horizontally fixed on a main rotating shaft of the spinning machine and can rotate around the main rotating shaft; the semi-finished flexible gear is horizontally fixed on a fixed chuck of a spinning machine and can freely rotate around the center of the fixed chuck, the peripheral tooth profile of the tooth pressing cutter is not in contact with the outer tooth surface of the flexible gear in an initial state, and the peripheral tooth profile and the outer tooth surface of the flexible gear are provided with overlapping sections in the vertical direction;
the tooth pressing tool rotates around the main rotating shaft, the fixed chuck slides on the linear track of the spinning machine to drive the flexible gear to move linearly in the radial direction, and when the outer tooth surface of the flexible gear is gradually contacted with the circumferential teeth of the tooth pressing tool, the tooth pressing tool rotates to drive the flexible gear to rotate passively, so that the outer tooth surface of the flexible gear is spun into a set tooth profile shape in the rotating process.
Furthermore, a linear track of the spinning machine is fixedly arranged along the radial direction of the flexible gear, a movable sliding block is arranged on the linear track and can linearly move along a linear guide rail under the action of a driving motor and a screw rod, a rotary supporting device is fixed on the movable sliding block, a fixed chuck is fixedly arranged on the rotary supporting device and can rotate along with a rotary shaft of the rotary supporting device, and the rotary shaft and the fixed chuck are coaxially arranged.
Further, a spindle motor of the spinning machine drives a tooth pressing tool to rotate around the main rotating shaft; the height position of the gear pressing cutter is adjusted by lifting the main rotating shaft, so that the vertical processing area of the outer tooth surface of the flexible gear is adjusted.
Furthermore, the tooth profile of the tooth pressing tool is formed by fitting the tooth profile of the flexible gear to a motion envelope curve of the tooth pressing tool, and the compensation rebound quantity of the tooth surface of the flexible gear in the spinning process is included.
Further, the material of the tooth pressing cutter is made of cemented carbide M42.
Furthermore, the flexible gear adopts one bar raw material of 30CrMnSiA, 35CrMnSiA or 40 CrMnSiA.
Further, the hardness is reduced to 10-15 HRC by spheroidizing.
Further, quenching and tempering to reach the hardness of 32-34 HRC.
Further, the surface nitriding treatment reaches HV 800-1000.
Compared with the prior art, the invention has the following beneficial effects:
the flexible gear of the harmonic speed reducer is roughly turned to reach a preset size, the hardness of the material is reduced to 10-15 HRC through spheroidizing, preparation is made for subsequent tooth-shaped spinning forming, and then the size of an outer ring at the tooth surface position of the flexible gear is finely processed. And then, carrying out thermal refining to eliminate stress and flexible gear hardness caused by spinning forming, wherein the thermal refining is required to be carried out until the hardness is 32-34 HRC. And then finish turning is carried out, the size reaches the final size, finally, surface nitriding treatment is carried out, HV 800-1000 is achieved, and the surface hardness and the wear resistance of the teeth can be improved through nitriding treatment.
Particularly, the tooth profile forming adopts a unique spinning forming process, the tooth surface density can be improved, the transverse fiber texture of the flexible gear can be improved, the fatigue resistance, the wear resistance and the load capacity of the flexible gear can be improved, meanwhile, the spinning forming time is short, the radial movement of the flexible gear and the rotation of the cutter are synchronously carried out, the rotation of the cutter is stopped when the flexible gear moves to a set position in the radial direction, and the process flow is simple.
Drawings
Fig. 1 is a schematic diagram of an initialization stage of a tooth-shaped spinning process related to a manufacturing process of a flexible gear of a harmonic speed reducer.
Fig. 2 is a schematic diagram of the middle stage of a tooth-shaped spinning process related to the manufacturing process of the flexible gear of the harmonic reducer.
Fig. 3 is a schematic diagram of the completion stage of the tooth-shaped spinning process related to the manufacturing process of the flexible gear of the harmonic reducer of the invention.
The reference numerals in the figures correspond to the following: 1. a flexible gear; 2. and (5) pressing a tooth cutter.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The manufacturing process of the flexible gear of the harmonic reducer according to the invention is shown in figures 1-3.
The flexible gear is made of one of 30CrMnSiA, 35CrMnSiA or 40CrMnSiA, one of the materials is selected according to different requirements, and the raw material is a bar material. Raw materials are roughly turned to remove redundant materials, the feed amount in the step is large, and the precision requirement is not high. And then, the semi-finished product of the flexible gear is subjected to a spheroidizing heat treatment process, the hardness of the part is reduced to 10-15 HRC, and the step is prepared for subsequent tooth surface spinning treatment. The size of the outer circle of the flexible gear is finely turned, the size precision of the addendum circle position is strictly controlled within 0.02mm, and the size precision influences the rebound quantity of the rolling tooth form. The later process is the tooth surface spinning forming, and the specific steps are as follows:
as shown in fig. 1, the spinning tooth shape adopts a customized spinning machine, so that the flexible wheel workpiece moves linearly and rotates passively, and the cutter rotates actively, which is different from the traditional spinning machine that the workpiece rotates actively, the cutter moves linearly and rotates passively. The tooth pressing tool 2 is fixed on a main rotating shaft of a spinning machine and is driven to rotate by a motor, the tool tooth profile of the tooth pressing tool 2 is a motion envelope effect of the tooth pressing tool fitted through a flexible gear tooth profile, meanwhile, the rebound quantity of a flexible gear on the tooth surface in the spinning process is compensated through a finite element analysis method, the tooth pressing tool 2 is manufactured, the final tool tooth shape of the tooth pressing tool 2 is determined through multiple experiments, and hard alloy M42 is selected for use as the material of the tooth pressing tool 2. The linear track of the spinning machine tool consists of a fixed track, a movable slide block, a rotary support, a fixed chuck, a lead screw and a driving motor; the flexible gear 1 is fixed on a fixed chuck, the fixed chuck is arranged on a rotary support, the rotary support is fixed on a movable sliding block of a linear guide rail of a machine tool, the movable sliding block is arranged on the linear guide rail, and a driving motor and a lead screw are arranged on the machine tool guide rail; the driving motor rotates to drive the screw rod to rotate, the movable sliding block is pushed to linearly move on the linear guide rail, the rotary support and the fixed chuck on the movable sliding block and the flexible gear are also driven to linearly move, when the flexible gear 1 is gradually contacted with the tooth pressing cutter 2, the rotation of the tooth pressing cutter 2 drives the flexible gear 1 to passively rotate, the flexible gear 1 is made to rotate to form the tooth profile shape, and the spinning process is as shown in an attached drawing 2. When the flexible gear 1 moves to the tooth root position in the radial direction, the tooth form of the flexible gear 1 is spun in place, and as shown in the attached figure 3, the flexible gear 1 is spun and formed.
After the tooth form of the flexible gear 1 is formed, thermal refining is needed to increase the hardness of the flexible gear and eliminate internal stress generated in the tooth pressing process, and the hardness is adjusted to 32-34 HRC. And then the product is subjected to finish turning processing to obtain the final product. And finally, surface nitriding treatment is needed, the hardness and the wear resistance of the tooth surface are improved, and the nitriding thickness reaches HV 800-1000.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A manufacturing process of a harmonic reducer flexible gear comprises the steps of carrying out rough turning, spheroidizing and finish machining on raw materials to form a semi-finished flexible gear with a flexible gear outer tooth surface gear ring, and is characterized in that the semi-finished flexible gear is processed to form a flexible gear outer tooth surface through a spinning tooth surface forming process, then carrying out quenching and tempering, carrying out finish turning, and finally carrying out surface nitriding treatment; the spinning tooth surface forming process adopts a spinning machine and a circumferential disc-shaped tooth pressing cutter, the tooth pressing cutter actively rotates in the circumferential direction and simultaneously linearly moves a semi-finished flexible gear in the radial direction towards the tooth pressing cutter, and the semi-finished flexible gear contacts with the tooth pressing cutter to passively rotate and simultaneously is processed into a flexible gear tooth profile; the tooth profile of the tooth pressing tool is matched with that of the flexible gear;
the spinning tooth surface forming process comprises the following steps:
the tooth pressing cutter is horizontally fixed on a main rotating shaft of the spinning machine and can rotate around the main rotating shaft; the semi-finished flexible gear is horizontally fixed on a fixed chuck of a spinning machine and can freely rotate around the center of the fixed chuck, the peripheral tooth profile of the tooth pressing cutter is not in contact with the outer tooth surface of the semi-finished flexible gear in an initial state, and the outer tooth profile and the outer tooth surface of the semi-finished flexible gear are provided with overlapping sections in the vertical direction;
the gear pressing cutter rotates around the main rotating shaft, the fixed chuck slides on the linear track of the spinning machine to drive the semi-finished flexible gear to move linearly in the radial direction, and when the outer tooth surface of the semi-finished flexible gear is gradually contacted with the circumferential gear pressing of the gear pressing cutter, the gear pressing cutter rotates to drive the semi-finished flexible gear to rotate passively, so that the outer tooth surface of the semi-finished flexible gear is spun into a set tooth profile shape in the rotating process.
2. The manufacturing process of the flexible gear of the harmonic reducer according to claim 1, wherein the spinning machine is provided with a linear rail fixedly arranged along the radial direction of the semi-finished flexible gear, the movable slide block is arranged on the linear rail and can move linearly along the linear guide rail under the action of the driving motor and the screw rod, the rotary supporting device is fixed on the movable slide block, the fixed chuck is fixedly arranged on the rotary supporting device and can rotate along with a rotary shaft of the rotary supporting device, and the rotary shaft and the fixed chuck are coaxially arranged.
3. The manufacturing process of the flexible gear of the harmonic reducer according to claim 1 or 2, wherein a spindle motor of a spinning machine drives a tooth pressing tool to rotate around a main rotating shaft; the height position of the gear pressing cutter is adjusted by lifting the main rotating shaft, so that the vertical processing area of the outer tooth surface of the semi-finished flexible gear is adjusted.
4. The manufacturing process of the flexible gear of the harmonic reducer according to claim 1 or 2, wherein the tooth profile of the tooth pressing tool is formed by fitting the tooth profile of the flexible gear to the motion envelope curve of the tooth pressing tool, and the compensation rebound quantity of the tooth surface of the flexible gear in the spinning process is included.
5. The manufacturing process of the flexible gear of the harmonic reducer according to claim 1 or 2, wherein the material of the tooth pressing tool is cemented carbide M42.
6. The manufacturing process of the flexible gear of the harmonic reducer according to claim 1 or 2, characterized in that the flexible gear is made of one bar material of 30CrMnSiA, 35CrMnSiA or 40 CrMnSiA.
7. The manufacturing process of the flexible gear of the harmonic reducer according to claim 1 or 2, wherein the hardness is reduced to 10-15 HRC by spheroidizing.
8. The manufacturing process of the flexible gear of the harmonic reducer according to claim 1 or 2, wherein the flexible gear is subjected to thermal refining until the hardness is 32-34 HRC.
9. The manufacturing process of the flexible gear of the harmonic reducer according to claim 1 or 2, wherein the surface nitriding treatment is HV 800-1000.
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| CN202010180062.0A CN113399935B (en) | 2020-03-16 | 2020-03-16 | Manufacturing process of harmonic speed reducer flexible gear |
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| CN104625664A (en) * | 2014-12-24 | 2015-05-20 | 厦门大学 | Numerical control machining method for harmonic reducer flexible gear bi-directional crowned tooth profile |
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| CN109014803A (en) * | 2018-08-29 | 2018-12-18 | 广东天机机器人有限公司 | The production method of the flexbile gear of harmonic speed reducer |
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