CN113399960A - Manufacturing process of harmonic speed reducer steel wheel - Google Patents
Manufacturing process of harmonic speed reducer steel wheel Download PDFInfo
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- CN113399960A CN113399960A CN202010179963.8A CN202010179963A CN113399960A CN 113399960 A CN113399960 A CN 113399960A CN 202010179963 A CN202010179963 A CN 202010179963A CN 113399960 A CN113399960 A CN 113399960A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 112
- 239000010959 steel Substances 0.000 title claims abstract description 112
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 26
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 22
- 238000003825 pressing Methods 0.000 claims abstract description 46
- 238000009987 spinning Methods 0.000 claims abstract description 37
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000005121 nitriding Methods 0.000 claims abstract description 9
- 239000011265 semifinished product Substances 0.000 claims abstract description 6
- 238000010791 quenching Methods 0.000 claims abstract description 5
- 230000000171 quenching effect Effects 0.000 claims abstract description 5
- 238000005496 tempering Methods 0.000 claims abstract description 5
- 239000002994 raw material Substances 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims description 8
- 238000007670 refining Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 238000013459 approach Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 5
- 208000012886 Vertigo Diseases 0.000 description 20
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010862 gear shaping Methods 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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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
- B23P15/14—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass gear parts, e.g. gear wheels
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- Engineering & Computer Science (AREA)
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Abstract
The invention relates to a manufacturing process of a steel wheel of a harmonic speed reducer, wherein a semi-finished product with a circumferential inner tooth surface is obtained by rough turning, spheroidizing and finish turning of raw materials of the steel wheel, and the tooth surface of the steel wheel is formed by a tooth-shaped spinning process, wherein the tooth-shaped spinning process utilizes a disc-shaped circumferential tooth pressing cutter to actively rotate in the circumferential direction and simultaneously radially move to feed the steel wheel to process the tooth profile of the inner tooth surface of the steel wheel, and the tooth profile of the tooth pressing cutter is matched with the tooth profile of the inner tooth surface of the steel wheel; then quenching and tempering hardness, finely turning all sizes in place, and finally performing surface nitriding treatment. The fatigue resistance, wear resistance and load capacity of the steel wheel can be obviously improved, the manufacturing flow of the steel wheel 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 steel wheel 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 comprises 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 and the steel wheel tooth form to be periodically meshed and separated, so that the effect of staggered tooth difference speed reduction is realized.
The steel wheel of the harmonic speed reducer is a main force transmission component for bearing the load of the speed reducer. The traditional harmonic reducer steel wheel material adopts 45-grade steel, 50-grade steel, 40Cr and other materials. The gear shaping process comprises the steps of blanking, rough turning, modulation, finish turning and gear shaping. The tooth profile forming adopts a gear shaping process, and has the advantages of long processing period, low efficiency, poor tooth surface wear resistance and high cost.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a manufacturing process of a harmonic speed reducer steel wheel, which improves the fatigue resistance, wear resistance and load capacity of the steel wheel, reduces the manufacturing flow of the steel wheel, shortens the processing time and reduces the cost.
In order to solve the technical problems, the invention adopts the following technical scheme:
the manufacturing process of the harmonic speed reducer steel wheel is characterized in that: the method comprises the following steps of carrying out rough turning, spheroidizing and finish turning on a steel wheel raw material to obtain a semi-finished product with a circumferential inner tooth surface, and forming the tooth surface of the steel wheel through a tooth-shaped spinning process, wherein a disc-shaped circumferential tooth pressing cutter is used for carrying out circumferential active rotation and simultaneously radially moving a feeding steel wheel to machine the inner tooth surface of the steel wheel in the tooth-shaped spinning process, and the tooth shape of the tooth pressing cutter is matched with the tooth profile of the inner tooth surface of the steel wheel; then quenching and tempering hardness, finely turning all sizes in place, and finally performing surface nitriding treatment.
Further, the tooth-shaped spinning process comprises the following steps:
the roughly turned, spheroidized and finely turned semi-finished steel wheel is fixed on a fixed chuck of a spinning machine and can freely rotate along with the fixed chuck, a tooth pressing cutter is fixed on a main rotating shaft of the spinning machine and can rotate around the main rotating shaft under the action of a spindle motor, and cutter teeth of the tooth pressing cutter are positioned in the circumferential enclosing range of the inner tooth surface of the steel wheel and keep the vertical height of the cutter teeth of the tooth pressing cutter and the inner tooth surface of the steel wheel overlapped;
the tooth pressing tool rotates around the main rotating shaft, the fixed chuck slides on the fixed linear track of the spinning machine to drive the steel wheel to move radially, and when the inner tooth surface of the steel wheel contacts with the circumferential teeth of the tooth pressing tool, the tooth pressing tool rotates to drive the steel wheel to rotate passively, so that the inner tooth surface of the steel wheel is rotated to form a set tooth profile shape in the rotating process.
Further, the fixed chuck is fixedly arranged on a rotary support, the rotary support is fixed on a movable slide block of a linear guide rail of the spinning machine, and the linear guide rail is arranged along the radial direction of the steel wheel; the driving motor drives the lead screw to rotate, the movable sliding block is pushed to linearly move on the linear guide rail, so that the rotary support, the fixed chuck and the steel wheel on the movable sliding block are driven to linearly move along the radial direction of the steel wheel, and the steel wheel can freely rotate on the movable sliding block through the rotary support when contacting the tooth pressing tool.
Furthermore, a main rotating shaft of the tooth pressing cutter is arranged downwards from an upper cantilever, so that a disc-shaped cutter head of the tooth pressing cutter can approach the upper surface of the steel wheel from the upper part and is positioned in the circumferential enclosing range of the inner tooth surface of the steel wheel.
Further, the tooth-shaped spinning process comprises the following steps: when the steel wheel moves to the tooth root position in the radial direction, the tooth profile of the steel wheel is circumferentially spun in place and formed.
Further, the tooth profile of the tooth pressing tool is formed by the motion envelope of the tooth profile of the steel wheel; the compensation amount of the rebound of the tooth surface of the steel wheel in the spinning process is included.
Further, the material of the tooth pressing cutter is cemented carbide M42.
Further, the steel wheel raw material is a 40Cr bar.
Further, performing spheroidization to obtain a semi-finished product with the hardness of 10-15 HRC; and (4) carrying out thermal refining to obtain the hardness of 32-34 HRC.
Further, the surface nitriding treatment reaches HV 600-800.
Therefore, compared with the prior art, the invention has the following beneficial effects:
the steel wheel is made of 40Cr materials, the steel wheel is roughly turned to reach a preset size, the hardness of the materials is reduced to 10-15 HRC through spheroidization, preparation is made for subsequent tooth-shaped spinning forming, and then the size of an outer ring at the tooth surface position of the steel wheel is finely processed. And then, quenching and tempering are carried out to eliminate stress and steel wheel hardness caused by spinning forming, and the quenching and tempering are 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 600-800 is achieved, and the surface hardness and the wear resistance of the teeth can be improved through nitriding treatment.
The tooth profile forming adopts a unique tooth profile spinning forming process, a workpiece moves linearly and rotates passively, and a cutter rotates actively; the forming process can improve the tooth surface density, improve the fatigue resistance, the wear resistance and the load capacity of the steel wheel, and simultaneously has short time of spin forming and simple process flow.
Drawings
FIG. 1 is a schematic diagram of a tooth form spinning-initialization stage in the manufacturing process of the harmonic reducer steel wheel.
FIG. 2 is a schematic diagram of tooth-shaped spinning-intermediate stage in the manufacturing process of the harmonic reducer steel wheel.
FIG. 3 is a schematic diagram of a tooth-shaped spinning-finishing stage in the manufacturing process of the harmonic reducer steel wheel.
As the reference numbers in the figures correspond to the following: 1. a steel wheel; 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 steel wheel of the harmonic reducer adopts a 40Cr bar. The redundant materials are removed through rough turning, the feed amount in the step is large, and the precision requirement is not high. And then, the semi-finished steel wheel is subjected to a spheroidizing heat treatment process, so that the hardness of the part is reduced to 10-15 HRC, and the step is prepared for subsequent tooth surface spinning treatment. And then, finely turning the outer circle size of the steel wheel, and strictly controlling the size precision of the addendum circle position within 0.02mm, wherein the size precision influences the rebound quantity of the rolling tooth profile.
The later process is the tooth surface spinning forming, and the specific steps are as follows:
as shown in the attached figure 1, the spinning tooth shape adopts a customized spinning machine, a workpiece moves linearly and rotates passively, and a cutter rotates actively; 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 steel wheel tooth profile, meanwhile, through a finite element analysis method, the rebound amount of a tooth surface of a steel wheel in the spinning process is compensated, the tooth pressing tool 2 is manufactured, through multiple experiments, the final tool tooth shape of the tooth pressing tool 2 is determined, and hard alloy M42 is selected for use as the material of the tooth pressing tool 2. The linear track of the spinning machine consists of a fixed track, a movable sliding block, a rotary support, a fixed chuck, a lead screw and a driving motor; the steel wheel 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 a fixed track; the driving motor rotates to drive the lead screw to rotate, the movable sliding block is pushed to linearly move on the linear guide rail, the rotary support on the movable sliding block and the fixed chuck and the steel wheel are also driven to linearly move, and the rotary support is an unpowered mechanism, so that the steel wheel and the movable sliding block can freely rotate. When the steel wheel 1 is gradually contacted with the tooth pressing tool 2, the rotation of the tooth pressing tool 2 drives the steel wheel 1 to rotate passively, so that the steel wheel 1 is screwed out of the shape of the tooth profile, and the spinning process is shown as an attached drawing 2. When the steel wheel 1 moves to the tooth root position in the radial direction, the tooth form of the steel wheel 1 is spun in place, and as shown in the attached figure 3, the steel wheel 1 is spun and formed.
The spinning tooth shape adopts a customized spinning machine, the workpiece moves linearly and rotates passively, and the cutter rotates actively, which is different from the processing motion modes of the traditional spinning machine, such as the workpiece rotating actively, the cutter moving linearly and rotating passively. In the invention, a 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 matched with the motion envelope effect of the tooth pressing tool through a steel wheel tooth profile, meanwhile, the rebound quantity of a tooth surface of a steel wheel in the spinning process is compensated through a finite element analysis method, the final tooth shape of the tooth pressing tool 2 is determined through manufacturing a sample tool of the tooth pressing tool 2 and multiple experiments, and the tooth pressing tool 2 is made of hard alloy M42. The semi-finished product of the steel wheel 1 is fixed on a fixed chuck and can rotate freely, the machine tool track and the driving motor drive the steel wheel 1 to move radially, so that the steel wheel 1 and the tooth pressing tool 2 are contacted gradually, the rotation of the tooth pressing tool 2 drives the steel wheel 1 to rotate passively, the steel wheel 1 is made to rotate upwards to form a tooth profile shape, and the spinning process is as shown in the attached drawing 2. When the steel wheel 1 moves to the tooth root position in the radial direction, the tooth form of the steel wheel 1 is spun in place, and as shown in the attached figure 3, the steel wheel 1 is spun and formed.
After the tooth profile of the steel wheel 1 is formed, the hardness of the steel wheel needs to be increased through thermal refining and internal stress generated in the tooth pressing process is eliminated, 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 600-800.
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 (10)
1. The manufacturing process of the harmonic speed reducer steel wheel is characterized in that: the method comprises the following steps of carrying out rough turning, spheroidizing and finish turning on a steel wheel raw material to obtain a semi-finished product with a circumferential inner tooth surface, and forming the tooth surface of the steel wheel through a tooth-shaped spinning process, wherein a disc-shaped circumferential tooth pressing cutter is used for carrying out circumferential active rotation and simultaneously radially moving a feeding steel wheel to machine the inner tooth surface of the steel wheel in the tooth-shaped spinning process, and the tooth shape of the tooth pressing cutter is matched with the tooth profile of the inner tooth surface of the steel wheel; then quenching and tempering hardness, finely turning all sizes in place, and finally performing surface nitriding treatment.
2. The manufacturing process of the steel wheel of the harmonic reducer according to claim 1, wherein the tooth-shaped spinning process comprises the following steps:
the roughly turned, spheroidized and finely turned semi-finished steel wheel is fixed on a fixed chuck of a spinning machine and can freely rotate along with the fixed chuck, a tooth pressing cutter is fixed on a main rotating shaft of the spinning machine and can rotate around the main rotating shaft under the action of a spindle motor, and cutter teeth of the tooth pressing cutter are positioned in the circumferential enclosing range of the inner tooth surface of the steel wheel and keep the vertical height of the cutter teeth of the tooth pressing cutter and the inner tooth surface of the steel wheel overlapped;
the tooth pressing tool rotates around the main rotating shaft, the fixed chuck slides on the fixed linear track of the spinning machine to drive the steel wheel to move radially, and when the inner tooth surface of the steel wheel contacts with the circumferential teeth of the tooth pressing tool, the tooth pressing tool rotates to drive the steel wheel to rotate passively, so that the inner tooth surface of the steel wheel is rotated to form a set tooth profile shape in the rotating process.
3. The manufacturing process of the steel wheel of the harmonic reducer according to claim 1 or 2, characterized in that: the fixed chuck is fixedly arranged on a rotary support, the rotary support is fixed on a movable slide block of a linear guide rail of the spinning machine, and the linear guide rail is arranged along the radial direction of the steel wheel; the driving motor drives the lead screw to rotate, the movable sliding block is pushed to linearly move on the linear guide rail, so that the rotary support, the fixed chuck and the steel wheel on the movable sliding block are driven to linearly move along the radial direction of the steel wheel, and the steel wheel can freely rotate on the movable sliding block through the rotary support when contacting the tooth pressing tool.
4. The manufacturing process of the steel wheel of the harmonic reducer according to claim 1 or 2, characterized in that: the main rotating shaft of the tooth pressing cutter is arranged downwards from an upper cantilever, so that a disc-shaped cutter head of the tooth pressing cutter can approach the upper surface of the steel wheel from the upper part and is positioned in the circumferential enclosing range of the inner tooth surface of the steel wheel.
5. The manufacturing process of the steel wheel of the harmonic reducer according to claim 1 or 2, characterized in that: the tooth-shaped spinning process is characterized in that when the steel wheel moves to the tooth root position in the radial direction, the tooth-shaped profile of the steel wheel is spun in place in the circumferential direction and is molded.
6. The manufacturing process of the steel wheel of the harmonic reducer according to claim 1 or 2, wherein the tooth profile of the tooth pressing cutter is formed by the motion envelope of the tooth profile of the steel wheel; the compensation amount of the rebound of the tooth surface of the steel wheel in the spinning process is included.
7. The manufacturing process of the steel wheel of the harmonic reducer according to claim 1 or 2, wherein the material of the tooth pressing cutter is cemented carbide M42.
8. The manufacturing process of the steel wheel of the harmonic reducer according to claim 1 or 2, wherein the steel wheel is made of 40Cr bar.
9. The manufacturing process of the steel wheel of the harmonic reducer according to claim 1 or 2, wherein the hardness of the semi-finished product obtained through spheroidizing is 10-15 HRC; and (4) carrying out thermal refining to obtain the hardness of 32-34 HRC.
10. The manufacturing process of the steel wheel of the harmonic reducer according to claim 1 or 2, wherein the surface nitriding treatment reaches HV 600-800.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010179963.8A CN113399960B (en) | 2020-03-16 | 2020-03-16 | Manufacturing process of steel wheel of harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010179963.8A CN113399960B (en) | 2020-03-16 | 2020-03-16 | Manufacturing process of steel wheel of harmonic speed reducer |
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| CN113399960A true CN113399960A (en) | 2021-09-17 |
| CN113399960B CN113399960B (en) | 2024-04-09 |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102466019A (en) * | 2010-11-15 | 2012-05-23 | 苏州市恒加新精密机械科技有限公司 | Engaging tooth assembly used for matching with gear of harmonic reductor |
| CN103158884A (en) * | 2013-03-21 | 2013-06-19 | 北京航空航天大学 | Harmonic wave speed reducing mechanism of inertance stabilizing tracking platform |
| CN103727209A (en) * | 2013-12-20 | 2014-04-16 | 陕西渭河工模具总厂 | Inlaid type harmonic drive reducer |
| WO2014068202A1 (en) * | 2012-11-05 | 2014-05-08 | Brevets G5 Sarl | Variable-diameter wheel, continuously variable gear and transmission comprising this wheel |
| KR20160001505A (en) * | 2014-06-27 | 2016-01-06 | 주식회사 액셜스페이스 | A harmonic speed reducer including gear tooth and a supporting part combined with the gear tooth |
| CN108838635A (en) * | 2018-09-25 | 2018-11-20 | 山东帅克机械制造股份有限公司 | The processing technology of robot retarder steel wheel |
| CN109163067A (en) * | 2018-10-12 | 2019-01-08 | 凌子龙 | PEEK is molded gear harmonic speed reducer |
| CN110142572A (en) * | 2019-05-23 | 2019-08-20 | 泉州市微柏工业机器人研究院有限公司 | A kind of harmonic wave steel wheel manufacture craft |
| CN110303204A (en) * | 2019-07-10 | 2019-10-08 | 湖南大学 | A kind of method and device of multiple gear blank simultaneous processings |
-
2020
- 2020-03-16 CN CN202010179963.8A patent/CN113399960B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102466019A (en) * | 2010-11-15 | 2012-05-23 | 苏州市恒加新精密机械科技有限公司 | Engaging tooth assembly used for matching with gear of harmonic reductor |
| WO2014068202A1 (en) * | 2012-11-05 | 2014-05-08 | Brevets G5 Sarl | Variable-diameter wheel, continuously variable gear and transmission comprising this wheel |
| CN103158884A (en) * | 2013-03-21 | 2013-06-19 | 北京航空航天大学 | Harmonic wave speed reducing mechanism of inertance stabilizing tracking platform |
| CN103727209A (en) * | 2013-12-20 | 2014-04-16 | 陕西渭河工模具总厂 | Inlaid type harmonic drive reducer |
| KR20160001505A (en) * | 2014-06-27 | 2016-01-06 | 주식회사 액셜스페이스 | A harmonic speed reducer including gear tooth and a supporting part combined with the gear tooth |
| CN108838635A (en) * | 2018-09-25 | 2018-11-20 | 山东帅克机械制造股份有限公司 | The processing technology of robot retarder steel wheel |
| CN109163067A (en) * | 2018-10-12 | 2019-01-08 | 凌子龙 | PEEK is molded gear harmonic speed reducer |
| CN110142572A (en) * | 2019-05-23 | 2019-08-20 | 泉州市微柏工业机器人研究院有限公司 | A kind of harmonic wave steel wheel manufacture craft |
| CN110303204A (en) * | 2019-07-10 | 2019-10-08 | 湖南大学 | A kind of method and device of multiple gear blank simultaneous processings |
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| CN113399960B (en) | 2024-04-09 |
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