CN113399960B - Manufacturing process of steel wheel of harmonic speed reducer - Google Patents
Manufacturing process of steel wheel of harmonic speed reducer Download PDFInfo
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- CN113399960B CN113399960B CN202010179963.8A CN202010179963A CN113399960B CN 113399960 B CN113399960 B CN 113399960B CN 202010179963 A CN202010179963 A CN 202010179963A CN 113399960 B CN113399960 B CN 113399960B
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- steel wheel
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 106
- 239000010959 steel Substances 0.000 title claims abstract description 106
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 25
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 22
- 238000003825 pressing Methods 0.000 claims abstract description 41
- 238000009987 spinning Methods 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 10
- 238000005121 nitriding Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000010791 quenching Methods 0.000 claims abstract description 8
- 230000000171 quenching effect Effects 0.000 claims abstract description 8
- 239000011265 semifinished product Substances 0.000 claims abstract description 8
- 238000005496 tempering Methods 0.000 claims abstract description 8
- 239000002994 raw material Substances 0.000 claims abstract description 5
- 239000000956 alloy Substances 0.000 claims description 3
- 229910045601 alloy Inorganic materials 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 4
- 208000012886 Vertigo Diseases 0.000 description 20
- 239000000463 material Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000010862 gear shaping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
- B23P15/14—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass gear parts, e.g. gear wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Heat Treatment Of Articles (AREA)
Abstract
The invention relates to a manufacturing process of a steel wheel of a harmonic reducer, wherein a semi-finished product with a circumferential inner tooth surface is obtained after rough turning, spheroidizing and finish turning of a steel wheel raw material, and then the steel wheel tooth surface is formed through a tooth-shaped spinning process, the tooth-shaped spinning process utilizes a disc-shaped circumferential tooth pressing cutter to actively rotate in the circumferential direction and simultaneously radially move and 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; and then quenching and tempering the hardness, finish turning all the sizes in place, and finally carrying out 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 backlash, high transmission precision and the like, and is widely applied to the fields of industrial robots, aerospace and precision machine tools. The harmonic reducer comprises a steel wheel, a flexible wheel and a wave generator, wherein the wave generator with elliptical deformation is arranged in the flexible wheel with elasticity, and the wave generator rotates to force the tooth shape of the flexible wheel to be meshed with and separated from the tooth shape of the steel wheel periodically, so that the effect of staggered tooth difference speed reduction is realized.
The steel wheel of the harmonic speed reducer is the main force transmission component for bearing the load of the speed reducer. The traditional steel wheel materials of the harmonic speed reducer adopt materials such as No. 45 steel, no. 50 steel, 40Cr and the like. The method comprises the steps of blanking, rough turning, modulating, finish turning and gear shaping. The tooth shaping adopts the gear shaping technology, and processing cycle is long, and is efficient, and the tooth face wearability is poor, and is with high costs.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a manufacturing process of a steel wheel of a harmonic speed reducer, 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:
a manufacturing process of a steel wheel of a harmonic speed reducer is characterized by comprising the following steps of: rough turning, spheroidizing and finish turning the steel wheel raw material to obtain a semi-finished product with a circumferential inner tooth surface, and forming the steel wheel tooth surface 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 a feeding 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; and then quenching and tempering the hardness, finish turning all the sizes in place, and finally carrying out surface nitriding treatment.
Further, the tooth form spinning process comprises the following steps:
the semi-finished product steel wheel after rough turning, spheroidizing and finish turning is fixed on a fixed chuck of the 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 main shaft motor, and cutter teeth of the tooth pressing cutter are positioned in a circumferential enclosing range of an inner tooth surface of the steel wheel and keep the vertical height overlapping of the cutter teeth of the tooth cutter and the inner tooth surface of the steel wheel;
the tooth pressing cutter rotates around the main rotating shaft, and meanwhile, the fixed chuck slides on the fixed linear track of the spinning machine to drive the steel wheel to move radially.
Further, the fixed chuck is fixedly arranged on the 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 screw rod to rotate and pushes the movable slide block to linearly move on the linear guide rail, so that the rotary support, the fixed chuck and the steel wheel on the movable slide block are driven to linearly move along the radial direction of the steel wheel, and the steel wheel can freely rotate on the movable slide block through the rotary support when contacting the tooth pressing cutter.
Further, the main rotating shaft of the tooth pressing cutter is downwards arranged from the upper cantilever, so that the disc-shaped cutter head of the tooth pressing cutter can approach the upper surface of the steel wheel from the upper side and is positioned in the circumferential enclosing range of the inner tooth surface of the steel wheel.
Further, the tooth form spinning process is set as follows: when the steel wheel moves to the tooth root position in the radial direction, the tooth profile of the steel wheel is spun into place in the circumferential direction and molded.
Further, the tooth shape of the tooth pressing cutter is formed by the motion envelope of the steel profile; the rebound compensation quantity of the tooth surface of the steel wheel in the spinning process is contained.
Further, the tooth pressing cutter is made of hard alloy M42.
Further, the steel wheel raw material is 40Cr bar.
Further, performing spheroidization to obtain semi-finished product with the hardness of 10-15 HRC; quenching and tempering to 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 material, the steel wheel is roughly turned to reach a preset size, the hardness of the material is reduced to 10-15 HRC after spheroidization treatment, preparation is made for subsequent tooth-shaped spinning forming, and then the outer ring size of the tooth surface position of the steel wheel is finely machined. And then carrying out quenching and tempering treatment to eliminate stress caused by spinning and hardness of the steel wheel, wherein the quenching and tempering treatment is required to reach the hardness of 32-34 HRC. And then finish turning, wherein the size reaches the final size, and finally surface nitriding treatment reaches HV 600-800, and the nitriding treatment can increase the hardness and wear resistance of the tooth surface.
The tooth form forming adopts a unique tooth form spinning forming process, the workpiece moves linearly and rotates passively, and the cutter rotates actively; the forming process can improve the compactness of the tooth surface, the fatigue resistance, the wear resistance and the loading capacity of the steel wheel, and meanwhile, the spinning forming time is short, and the process flow is simple.
Drawings
Fig. 1 is a schematic diagram of tooth form spinning-initializing stage in the manufacturing process of the steel wheel of the harmonic speed reducer.
Fig. 2 is a schematic diagram of the intermediate stage of the tooth form spinning in the manufacturing process of the steel wheel of the harmonic speed reducer.
Fig. 3 is a schematic diagram of a tooth form spinning-finishing stage in the manufacturing process of the steel wheel of the harmonic speed reducer.
Reference numerals correspond to the following: 1. a steel wheel; 2. tooth pressing cutter.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
The steel wheel of the harmonic speed reducer adopts 40Cr bars. The rough turning is carried out firstly to remove redundant materials, the feed amount of the step is larger, and the precision requirement is not high. And then, the steel wheel semi-finished product 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 the subsequent tooth surface spinning treatment. And finely turning the outer circle size of the steel wheel, strictly controlling the size precision of the tooth top circle position within 0.02mm, wherein the size precision influences the rebound quantity of the rolling tooth type.
The latter process is tooth surface spin forming, and comprises the following specific steps:
as shown in fig. 1, the spinning tooth form adopts a customized spinning machine, a workpiece moves linearly and rotates passively, and a cutter rotates actively; the tooth pressing cutter 2 is fixed on a main rotating shaft of the spinning machine and driven to rotate by a motor, the cutter tooth shape of the tooth pressing cutter 2 is obtained by fitting the motion envelope effect of the tooth pressing cutter through a steel tooth profile, meanwhile, the rebound quantity of the tooth surface of the steel wheel in the spinning process is compensated through a finite element analysis method, the final cutter tooth shape of the tooth pressing cutter 2 is determined through multiple experiments by manufacturing a sample cutter of the tooth pressing cutter 2, and the material of the tooth pressing cutter 2 is cemented carbide M42. The linear track of the spinning machine consists of a fixed track, a movable slide block, a rotary support, a fixed chuck, a screw rod 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 slide block of a linear guide rail of a machine tool, the movable slide block is arranged on the linear guide rail, and a driving motor and a screw rod are arranged on a fixed rail; the driving motor rotates to drive the screw rod to rotate and push the movable slide block to linearly move on the linear guide rail, so that the rotary support on the movable slide block, the fixed chuck and the steel wheel are driven to linearly move, and the steel wheel and the movable slide block can freely rotate due to the fact that the rotary support is an unpowered mechanism. When the steel wheel 1 and the tooth pressing cutter 2 are gradually contacted, the rotation of the tooth pressing cutter 2 drives the steel wheel 1 to passively rotate, so that the tooth profile shape is spun on the steel wheel 1, and the spinning process is shown in figure 2. When the steel wheel 1 moves to the tooth root position in the radial direction, the tooth shape of the steel wheel 1 is spun into place, and the steel wheel 1 is spun into shape as shown in figure 3.
The spinning tooth form adopts a customized spinning machine, and the linear motion of a workpiece, the passive rotation and the active rotation of a cutter are different from the processing motion modes of the active rotation, the linear motion of the cutter and the passive rotation of the workpiece of the traditional spinning machine. In the invention, a tooth pressing cutter 2 is fixed on a main rotating shaft of a spinning machine and driven to rotate by a motor, the cutter tooth shape of the tooth pressing cutter 2 is obtained by fitting the motion envelope effect of the tooth pressing cutter through a steel profile, meanwhile, the rebound quantity of the tooth surface of a steel wheel in the spinning process is compensated by a finite element analysis method, the final cutter tooth shape of the tooth pressing cutter 2 is determined by manufacturing a sample cutter of the tooth pressing cutter 2 through multiple experiments, and the material of the tooth pressing cutter 2 is selected from hard alloy M42. The semi-finished product of the steel wheel 1 is fixed on a fixed chuck and can freely rotate, the machine tool track and the driving motor drive the steel wheel 1 to radially move so that the steel wheel 1 and the tooth pressing cutter 2 are gradually contacted, the tooth pressing cutter 2 rotates to drive the steel wheel 1 to passively rotate, and the tooth profile shape is spun on the steel wheel 1, and the spinning process is shown in an attached drawing 2. When the steel wheel 1 moves to the tooth root position in the radial direction, the tooth shape of the steel wheel 1 is spun into place, and the steel wheel 1 is spun into shape as shown in figure 3.
After the profile of the steel wheel 1 is formed, the hardness of the steel wheel is increased by quenching and tempering, the internal stress generated in the tooth pressing process is eliminated, and the hardness is modulated to be 32-34 HRC. And then finish turning is carried out, and the size is up to the size of the final product. Finally, surface nitriding treatment is needed, the hardness and wear resistance of the tooth surface are improved, and the nitriding thickness reaches HV 600-800.
It should be noted that each step/component described in the present application may be split into more steps/components, or two or more steps/components or part of the operations of the steps/components may be combined into new steps/components, as needed for implementation, to achieve the object of the present invention.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. A manufacturing process of a steel wheel of a harmonic speed reducer is characterized by comprising the following steps of: rough turning, spheroidizing and finish turning the steel wheel raw material to obtain a semi-finished product with a circumferential inner tooth surface, and forming the steel wheel tooth surface 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 a feeding 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 are carried out to obtain hardness, then finish turning is carried out on all the sizes in place, and finally surface nitriding treatment is carried out;
the tooth-shaped spinning process comprises the following steps of:
the semi-finished product steel wheel after rough turning, spheroidizing and finish turning is fixed on a fixed chuck of the 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 main shaft motor, and cutter teeth of the tooth pressing cutter are positioned in a circumferential enclosing range of an inner tooth surface of the steel wheel and keep overlapping of vertical heights of the cutter teeth of the tooth pressing cutter and the inner tooth surface of the steel wheel;
the tooth pressing cutter rotates around the main rotating shaft, and meanwhile, the fixed chuck slides on the fixed linear track of the spinning machine to drive the steel wheel to move radially.
2. The manufacturing process of the steel wheel of the harmonic reducer, according to claim 1, is characterized in that: the fixed chuck is fixedly arranged on the 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 screw rod to rotate and pushes the movable slide block to linearly move on the linear guide rail, so that the rotary support, the fixed chuck and the steel wheel on the movable slide block are driven to linearly move along the radial direction of the steel wheel, and the steel wheel can freely rotate on the movable slide block through the rotary support when contacting the tooth pressing cutter.
3. The manufacturing process of the steel wheel of the harmonic reducer, according to claim 1, is characterized in that: the main rotating shaft of the tooth pressing cutter is downwards arranged from the upper cantilever, so that the disc-shaped cutter head of the tooth pressing cutter can approach the upper surface of the steel wheel from the upper side and is positioned in the circumferential enclosing range of the inner tooth surface of the steel wheel.
4. The manufacturing process of the steel wheel of the harmonic reducer, according to claim 1, is characterized in that: the tooth-shaped spinning process is arranged to spin and shape the tooth-shaped profile of the steel wheel in place circumferentially when the steel wheel moves radially to the tooth root position.
5. The manufacturing process of the steel wheel of the harmonic reducer, which is characterized in that the tooth shape of the tooth pressing cutter is formed by the motion envelope of the tooth profile of the steel wheel; the rebound compensation quantity of the tooth surface of the steel wheel in the spinning process is contained.
6. The manufacturing process of the steel wheel of the harmonic reducer, which is characterized in that the tooth pressing cutter is made of hard alloy M42.
7. The manufacturing process of the steel wheel of the harmonic reducer, which is disclosed in claim 1, is characterized in that the steel wheel raw material is 40Cr bar.
8. The manufacturing process of the steel wheel of the harmonic reducer, which is characterized in that the hardness of the steel wheel is 10-15 HRC after spheroidizing treatment; quenching and tempering to the hardness of 32-34 HRC.
9. The manufacturing process of the steel wheel of the harmonic speed reducer according to claim 1 or 2, which is characterized in that 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 |
|---|---|---|---|
| CN202010179963.8A CN113399960B (en) | 2020-03-16 | 2020-03-16 | Manufacturing process of steel wheel of harmonic speed reducer |
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| Publication Number | Publication Date |
|---|---|
| CN113399960A CN113399960A (en) | 2021-09-17 |
| CN113399960B true CN113399960B (en) | 2024-04-09 |
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| CN202010179963.8A Active CN113399960B (en) | 2020-03-16 | 2020-03-16 | Manufacturing process of steel wheel of harmonic speed reducer |
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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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| Publication number | Publication date |
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| CN113399960A (en) | 2021-09-17 |
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