CN116038033A - Harmonic reducer machining equipment and machining method thereof - Google Patents
Harmonic reducer machining equipment and machining method thereof Download PDFInfo
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- CN116038033A CN116038033A CN202210991035.0A CN202210991035A CN116038033A CN 116038033 A CN116038033 A CN 116038033A CN 202210991035 A CN202210991035 A CN 202210991035A CN 116038033 A CN116038033 A CN 116038033A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F1/00—Making gear teeth by tools of which the profile matches the profile of the required surface
- B23F1/04—Making gear teeth by tools of which the profile matches the profile of the required surface by planing or slotting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
- B23F23/02—Loading, unloading or chucking arrangements for workpieces
- B23F23/06—Chucking arrangements
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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 discloses harmonic reducer processing equipment and a processing method thereof in the technical field of harmonic reducer processing, wherein the harmonic reducer processing equipment comprises a base, a support frame is fixedly connected to the upper surface of the base, a flexible gear is arranged in the middle of one side of the support frame, a fixing mechanism for fixing the flexible gear is arranged in the middle of the support frame, gear shaping mechanisms for cutting tooth parts on the outer wall of the flexible gear are arranged above and below the flexible gear, the directions of the upper gear shaping mechanism and the lower gear shaping mechanism in the vertical direction are opposite, the directions of the upper gear shaping mechanism and the lower gear shaping mechanism in the horizontal direction are mutually perpendicular, and the gear shaping mechanisms comprise a cross beam and two guide sleeves; according to the invention, the left side and the right side of the flexible gear can be cut simultaneously through the left cutter and the right cutter, and the front side and the rear side of the flexible gear can be cut simultaneously through the front cutter and the rear cutter, so that the left side, the right side, the front side and the rear side of the cutting impact force applied to the flexible gear are mutually counteracted, the flexible gear is prevented from shaking, and the accuracy of the cutting of the tooth of the flexible gear is further improved.
Description
Technical Field
The invention relates to the technical field of harmonic speed reducer machining, in particular to harmonic speed reducer machining equipment and a machining method thereof.
Background
The harmonic reducer comprises fixed internal tooth steel gear, flexspline and the ripples generator that makes flexspline take place radial deformation, and wherein the flexspline is the circular cap form of top round hole, and is equipped with round external tooth bottom the circular cap outer wall, and the external tooth of flexspline adopts the gear shaping method to process mostly, promptly, fixes the flexspline through fixing device, carries out the punching repeatedly from top to bottom through the cutter in one side of pivoted flexspline.
However, in the process that the cutter repeatedly punches the one side of the flexible gear up and down, due to the impact force of the cutter, the flexible gear and the fixing device for fixing the flexible gear are enabled to shake obviously, and the cutter can shake obviously under the reaction force, so that the accuracy of tooth cutting is reduced easily, the qualification rate of products is reduced, the loss of the fixing device for fixing the flexible gear can be accelerated due to shaking, and the service life of the fixing device is shortened.
Based on the above, the invention designs a processing device and a processing method of a harmonic reducer to solve the above problems.
Disclosure of Invention
The invention aims to provide a processing device and a processing method of a harmonic reducer, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a harmonic reducer processing equipment, includes the base, fixed surface is connected with the support frame on the base, support frame one side middle part is equipped with the flexbile gear, the support frame middle part is equipped with the fixed establishment who is used for fixed flexbile gear, the upper and lower below of flexbile gear all is equipped with the gear shaping mechanism that is used for cutting the tooth position on the flexbile gear outer wall, upper and lower two gear shaping mechanism is opposite in the orientation on vertical direction and the orientation mutually perpendicular on the horizontal direction.
The gear shaping mechanism comprises a cross beam and two guide sleeves, wherein the two ends of the cross beam are fixedly connected with rectangular sleeves, sliding rods are fixedly connected inside the rectangular sleeves, one ends of the sliding rods, which are far away from the flexible wheels, are fixedly connected with first springs, which are arranged between one ends of the rectangular sleeves, which are far away from the flexible wheels, and clamping mechanisms used for fixing the sliding rods are arranged between the sliding rods, one ends of the sliding rods, which are close to the flexible wheels, are all extended out of the rectangular sleeves, one side of the sliding rods, which is close to the flexible wheels, is fixedly connected with a cutter used for cutting a tooth part on the outer wall of the flexible wheels, the cutter is positioned at one end of the rectangular sleeve, which is close to the flexible wheels, the two guide sleeves are fixedly connected with a support frame, the two guide sleeves can be respectively connected with one ends of the sliding rods, which are close to the flexible wheels, and a first driving mechanism used for driving the upper cross beam and the lower cross beam to reversely move in the up-down direction is arranged between the gear shaping mechanism and the support frame.
As a further scheme of the invention, the first driving mechanism comprises a first hydraulic cylinder, the first hydraulic cylinder is connected with the support frame in height, the upper end of the first hydraulic cylinder is fixedly connected with a connecting plate, the connecting plate is fixedly connected with two first racks which are respectively positioned on two sides of the flexible gear, the two first racks are fixedly connected with the cross beam of the gear shaping mechanism above, the first racks are in sliding connection with the support frame, one side of each first rack is meshed with a first gear, each first gear is in rotating connection with the support frame, one side of each first gear far away from the first rack is meshed with a second rack, each second rack is in sliding connection with the support frame, and the two second racks are fixedly connected with the cross beam of the gear shaping mechanism below.
As a further scheme of the invention, the clamping mechanism comprises a fixed clamping plate, the fixed clamping plate is fixedly connected with one side of the cross beam, which is far away from the flexible wheel, the middle part of one side of the fixed clamping plate is vertically and fixedly connected with a second hydraulic cylinder, the telescopic end of the second hydraulic cylinder penetrates through the fixed clamping plate and is fixedly connected with a movable clamping plate, two brake pads are clamped between the fixed clamping plate and the movable clamping plate, one ends of the two brake pads facing back extend into rectangular sleeves on two sides respectively and are fixedly connected with sliding rods in the rectangular sleeves, and the brake pads are in sliding connection with the outer walls of the rectangular sleeves in the up-down direction.
As a further scheme of the invention, the fixing mechanism comprises a tray, the tray is fixedly connected with the support frame, the middle part of the tray is rotationally connected with a core column, the outer wall of the core column is connected with an inner supporting shell in a sliding manner in the up-down direction, the inner supporting shell is positioned above the tray, the lower end of the inner supporting shell is rotationally connected with a disc, the disc is rotationally and slidingly connected with the core column, the outer side of the core column is sleeved with a second spring positioned between the disc and the tray, the upper surface of the tray is fixedly connected with a plurality of jacking columns which are positioned at the outer side of the core column and distributed in a circumferential array, the top end of the jacking columns can be contacted with the bottom surface of the disc, the inner supporting shell is sleeved at the inner side of a flexible wheel, the inner wall of the flexible wheel can be spliced with the outer wall of the inner supporting shell from top to bottom, two bilaterally symmetrical turnover rods are rotationally connected with one end of the upper side of the flexible wheel, one end of the turnover rod far away from the core column is fixedly connected with a pressing plate, the lower surface of the pressing plate can be clamped with the top wall of the upper surface of the inner supporting shell together, the turnover rods are hinged with the middle part of the upper surface of the flexible wheel, the upper end of the flexible wheel is hinged with the upper wall of the disc, and the movable supporting rods are all hinged with the bottom end of the disc and the inner supporting shell is provided with a first clamping mechanism and used for driving the inner side of the disc.
As a further scheme of the invention, the automatic locking mechanism comprises a clamping groove and a vertical plate, the clamping groove is fixedly connected with the outer wall of the tray, the vertical plate is fixedly connected with the upper end of the vertical plate and the bottom end of the inner supporting shell, the vertical plate is in sliding connection with the inner side of the clamping groove, one side of the vertical plate, which is far away from the tray, is fixedly connected with a clamping block, the clamping block can be clamped with the bottom surface of the clamping groove, the common thickness of the vertical plate and the clamping block is smaller than the inner width of the clamping groove, a groove is formed in the lower end of a side wall, which is far away from the tray, of the clamping groove, a horizontal first tilting rod is rotationally connected with the groove, the upper surface of the horizontal first tilting rod is in contact with the inner top surface of the groove, the horizontal lower surface of the first tilting rod is completely positioned in the groove, a third spring is fixedly connected between the upper surface of the first tilting rod and one side, which is far away from the tray, one end of the first tilting rod is rotationally connected with a rotating shaft, the upper side of the rotating shaft is fixedly connected with a limiting boss, the lower supporting block is fixedly connected with the lower side of the rotating shaft, the lower tilting rod can be in contact with the lower side of the rotating shaft, which is far away from the first tilting rod, and the upper side of the first tilting rod is far away from the rotating shaft.
As a further scheme of the invention, the second driving mechanism comprises a motor, the motor is fixedly connected with the tray, an output shaft of the motor is fixedly connected with a second gear, the second gear is meshed with a third gear positioned on the lower side of the tray, and the middle part of the third gear is fixedly connected with the bottom end of the core column.
As a further scheme of the invention, one end of the sliding rod, which is close to the guide sleeve, is arranged in a square cone shape.
A method of machining a harmonic reducer machining apparatus, the method comprising the steps of:
step one: the upper gear shaping mechanism and the lower gear shaping mechanism are driven to move upwards and downwards respectively through a first driving mechanism;
step two: then the flexible wheel is inserted on the fixing mechanism from top to bottom through the existing mechanical arm, and the fixing mechanism automatically fixes the flexible wheel;
step three: then, the position of the cutter in the upper gear shaping mechanism and the lower gear shaping mechanism is calibrated through the matching of the first driving mechanism and the clamping mechanism;
step four: then the first driving mechanism drives the upper gear shaping mechanism and the lower gear shaping mechanism to simultaneously reciprocate reversely, so that cutters in the upper gear shaping mechanism and the lower gear shaping mechanism simultaneously reversely cut the gear part on the outer wall of the flexible gear;
step five: the fixing mechanism drives the flexible gear to indirectly rotate ninety degrees while reciprocating cutting is carried out, so that all teeth on the flexible gear are completely cut and formed;
step six: after all teeth on the flexible gear are completely cut and formed, driving the upper gear shaping mechanism and the lower gear shaping mechanism to move upwards and downwards respectively through the first driving mechanism, and enabling the fixing mechanism to automatically loosen the flexible gear in the downward moving process of the lower gear shaping mechanism;
step seven: finally, the flexible gear is taken out through the existing mechanical arm.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the left side and the right side of the flexible gear can be cut simultaneously through the left cutter and the right cutter, and the front side and the rear side of the flexible gear can be cut simultaneously through the front cutter and the rear cutter, so that the left cutting impact force, the right cutting impact force, the front cutting impact force and the rear cutting impact force are mutually counteracted, the flexible gear is prevented from shaking, the precision of the cutting of the teeth of the flexible gear is further improved, the sliding rod can be inserted into the guide sleeve in advance before cutting, the shaking amplitude of the cutters during cutting is greatly reduced, the precision of the cutting of the teeth of the flexible gear is further improved, the load of the fixing mechanism is reduced, and the service life of the fixing mechanism is prolonged.
2. According to the invention, the upper and lower cutters can simultaneously reversely cut the flexible gear, so that the upper and lower cutting impact forces applied to the flexible gear are mutually offset, the load of the fixing mechanism is further reduced, and the service life of the fixing mechanism is further prolonged.
3. The fixing mechanism can automatically fix the flexible wheel by utilizing the downward pressing force of the flexible wheel in the process of inserting the flexible wheel outside the inner support shell from top to bottom, so that the rapid automatic feeding can be realized under the cooperation of the traditional mechanical arm; the automatic locking mechanism can realize automatic release of the disc by utilizing the downward-unfolding collision of the gear shaping mechanism below, so that the fixing mechanism automatically releases the flexible wheel under the action of the elastic force of the second spring, the traditional mechanical arm can take down the flexible wheel from the inner supporting shell, and rapid automatic blanking is realized.
Drawings
FIG. 1 is a schematic view of the front side view of the general structure of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a schematic view of the rear side view of the general structure of the present invention;
FIG. 4 is a schematic cross-sectional view of a flexspline and its internal structure;
FIG. 5 is a partial enlarged view at B in FIG. 4;
FIG. 6 is a schematic view of a front side angular configuration of the securing mechanism;
FIG. 7 is an enlarged view of a portion of FIG. 6 at C;
FIG. 8 is a flow chart of the processing method of the present invention;
in the drawings, the list of components represented by the various numbers is as follows:
1. a base; 2. a support frame; 3. a flexible wheel; 4. a cross beam; 5. a rectangular sleeve; 6. a slide bar; 7. a first spring; 8. a guide sleeve; 9. a first hydraulic cylinder; 10. a connecting plate; 11. a first rack; 12. a first gear; 13. a second rack; 14. a fixed clamping plate; 15. a second hydraulic cylinder; 16. a movable clamping plate; 17. a brake pad; 18. a cutter; 19. a disc; 20. a motor; 21. a tray; 22. a stem; 23. an inner support shell; 24. a second spring; 25. a top column; 26. turning over the rod; 27. a pressing plate; 28. a movable rod; 29. a clamping groove; 30. a vertical plate; 31. a first warping rod; 32. a third spring; 33. a rotating shaft; 34. a limit protrusion; 35. a lower support block; 36. a second warping rod; 37. a clamping block; 38. a second gear; 39. and a third gear.
Detailed Description
Referring to fig. 1-8, the present invention provides a technical solution: the utility model provides a harmonic reducer processing equipment, includes base 1, 1 upper surface fixedly connected with support frame 2 of base, support frame 2 one side middle part is equipped with flexspline 3, support frame 2 middle part is equipped with the fixed establishment who is used for fixed flexspline 3, flexspline 3's upper and lower side all is equipped with the gear shaping mechanism that is used for cutting the tooth position on the flexspline 3 outer wall, upper and lower two gear shaping mechanism is opposite in the orientation on the vertical direction and the orientation mutually perpendicular on the horizontal direction.
The gear shaping mechanism comprises a cross beam 4 and two guide sleeves 8, the two ends of the cross beam 4 are fixedly connected with a rectangular sleeve 5, slide bars 6 are slidably connected inside the rectangular sleeve 5, one end, away from the flexible gear 3, of the slide bars 6 and one end, away from the flexible gear 3, of the rectangular sleeve 5 are fixedly connected with first springs 7, clamping mechanisms used for fixing the slide bars 6 are arranged between the two slide bars 6, one end, close to the flexible gear 3, of the slide bars 6 extends out of the rectangular sleeve 5, a cutter 18 used for cutting tooth parts on the outer wall of the flexible gear 3 is fixedly connected to one side, close to the flexible gear 3, of the slide bars 6, the cutter 18 is located at one end, close to the flexible gear 3, of the rectangular sleeve 5, the two guide sleeves 8 are fixedly connected with a support frame 2, the two guide sleeves 8 can be spliced with one ends, close to the flexible gear 3, of the two slide bars 6, and a first driving mechanism used for driving the upper cross beam 4 and the lower cross beam 4 to reversely move in the up-down direction is arranged between the two gear shaping mechanisms and the support frame 2.
When the scheme is put into practical use, the upper gear shaping mechanism and the lower gear shaping mechanism are driven to move upwards and downwards respectively through the first driving mechanism; then the flexible wheel 3 is inserted on a fixing mechanism from top to bottom through the existing mechanical arm, and the fixing mechanism automatically fixes the flexible wheel 3; then, the cutter 18 in the upper gear shaping mechanism and the lower gear shaping mechanism are aligned by the cooperation of the first driving mechanism and the clamping mechanism, so that the two cutters 18 in the upper gear shaping mechanism are respectively contacted with the upper ends of the left side and the right side of the upper gear tooth part of the outer wall of the flexible gear 3, and the two cutters 18 in the lower gear shaping mechanism are respectively contacted with the lower ends of the front side and the rear side of the upper gear tooth part of the outer wall of the flexible gear 3, and the specific process is as follows: the upper gear shaping mechanism and the lower gear shaping mechanism are driven to move downwards and upwards respectively through the first driving mechanism until cutters 18 in the upper gear shaping mechanism and the lower gear shaping mechanism are respectively contacted with the upper end and the lower end of the gear tooth part on the outer wall of the flexible gear 3, at the moment, the elastic force of the guide sleeve 8 can enable the guide sleeve 8 of the base 1 on the slide rod 6 to be tightly attached to the gear tooth part on the outer wall of the flexible gear 3, and then the slide rod 6 and the cross beam 4 are fixed together through the clamping mechanism, so that the position calibration of the cutters 18 is realized; then the upper gear shaping mechanism and the lower gear shaping mechanism are driven by the first driving mechanism to reciprocate up and down in the opposite directions at the same time, so that the cutter 18 in the upper gear shaping mechanism and the lower gear shaping mechanism simultaneously cuts the tooth part on the outer wall of the flexible gear 3 in the opposite directions, and before cutting, the slide rod 6 can be inserted into the guide sleeve 8 in advance; the fixing mechanism drives the flexible gear 3 to indirectly rotate ninety degrees while reciprocating cutting is carried out, so that all teeth on the flexible gear 3 are completely cut and formed, specifically, when cutting is carried out, the flexible gear 3 stops rotating, and when a cutter 18 leaves the teeth on the outer wall of the flexible gear 3, the flexible gear 3 rotates for one tooth position; after all teeth on the flexible gear 3 are completely cut and formed, driving the upper gear shaping mechanism and the lower gear shaping mechanism to move upwards and downwards respectively through the first driving mechanism, and enabling the fixing mechanism to automatically loosen the flexible gear 3 in the downward moving process of the lower gear shaping mechanism; finally, the flexible gear 3 is taken out through the existing mechanical arm, so that the device can cut the left side and the right side of the flexible gear 3 through the left cutter 18 and the right cutter 18 simultaneously, and can cut the front side and the rear side of the flexible gear 3 through the front cutter 18 and the rear cutter 18 simultaneously, so that the left cutting impact force, the right cutting impact force, the front cutting impact force and the rear cutting impact force borne by the flexible gear 3 are mutually counteracted, the flexible gear 3 is prevented from shaking, the precision of tooth cutting of the flexible gear 3 is further improved, the sliding rod 6 can be inserted into the guide sleeve 8 in advance before cutting, the shaking amplitude of the cutters 18 during cutting is greatly reduced, the precision of tooth cutting of the flexible gear 3 is further improved, the load of a fixing mechanism is reduced, and the service life of the fixing mechanism is prolonged; the device can simultaneously reversely cut the flexible gear 3 through the cutters 18 at the upper and lower sides, so that the upper and lower cutting impact forces received by the flexible gear 3 are mutually offset, the load of the fixing mechanism is further reduced, and the service life of the fixing mechanism is further prolonged.
As a further scheme of the invention, the first driving mechanism comprises a first hydraulic cylinder 9, the first hydraulic cylinder 9 is connected with the support frame 2 in height, the upper end of the first hydraulic cylinder 9 is fixedly connected with a connecting plate 10, the connecting plate 10 is fixedly connected with two first racks 11 respectively positioned at two sides of the flexible gear 3, the two first racks 11 are fixedly connected with the cross beam 4 of the gear shaping mechanism above, the first racks 11 are in sliding connection with the support frame 2, one side of each first rack 11 is meshed with a first gear 12, the first gears 12 are in rotating connection with the support frame 2, one side of each first gear 12 far away from the first racks 11 is meshed with a second rack 13, the second racks 13 are in sliding connection with the support frame 2, and the two second racks 13 are fixedly connected with the cross beam 4 of the gear shaping mechanism below.
When the scheme is put into practical use, when the first hydraulic cylinder 9 stretches, the connecting plate 10 drives the two first racks 11 to synchronously slide upwards, the two first racks 11 jointly drive the upper cross beam 4 to move upwards, so that the upper gear shaping mechanism moves upwards, meanwhile, the first racks 11 can drive the second racks 13 to slide downwards through the first gears 12, and the two second racks 13 jointly drive the lower cross beam 4 to move downwards, so that the lower gear shaping mechanism moves downwards; when the first hydraulic cylinder 9 contracts, the same applies and the transmission is reversed, so that the upper gear shaping mechanism and the lower gear shaping mechanism respectively move downwards and upwards, and the upper gear shaping mechanism and the lower gear shaping mechanism can simultaneously and reversely cut the flexible gear 3.
As a further scheme of the invention, the clamping mechanism comprises a fixed clamping plate 14, the fixed clamping plate 14 is fixedly connected with one side of the cross beam 4 far away from the flexible wheel 3, a second hydraulic cylinder 15 is vertically and fixedly connected with the middle part of one side of the fixed clamping plate 14, the telescopic end of the second hydraulic cylinder 15 penetrates through the fixed clamping plate 14 and is fixedly connected with a movable clamping plate 16, two brake pads 17 are clamped between the fixed clamping plate 14 and the movable clamping plate 16, one backward ends of the two brake pads 17 respectively extend into the rectangular sleeve 5 at two sides and are fixedly connected with the sliding rod 6 in the rectangular sleeve 5, and the brake pads 17 are in sliding connection with the outer wall of the rectangular sleeve 5 in the up-down direction.
When the above scheme is put into practical use, when two cutters 18 on the gear shaping mechanism above are respectively contacted with the upper ends of the left side and the right side of the gear position on the outer wall of the flexible gear 3, and when two cutters 18 on the gear shaping mechanism below are respectively contacted with the lower ends of the front side and the rear side of the gear position on the outer wall of the flexible gear 3, the two clamping mechanisms are simultaneously started, so that slide bars 6 in the upper gear shaping mechanism and the lower gear shaping mechanism are fixed, the position calibration of the four cutters 18 is realized, and specifically, a second hydraulic cylinder 15 in the clamping mechanism is contracted, so that a movable clamping plate 16 and a fixed clamping plate 14 jointly clamp brake pads 17 on two sides, and a slide bar 6 fixedly connected with the brake pads 17 is fixed.
When the scheme is put into practical use,
as a further scheme of the invention, the fixing mechanism comprises a tray 21, the tray 21 is fixedly connected with a support frame 2, a core column 22 is rotationally connected to the middle of the tray 21, an inner supporting shell 23 is slidingly connected to the outer wall of the core column 22 in the up-down direction, the inner supporting shell 23 is positioned above the tray 21, a disc 19 is rotationally connected to the lower end of the inner supporting shell 23, the disc 19 is rotationally and slidingly connected with the core column 22, a second spring 24 positioned between the disc 19 and the tray 21 is sleeved outside the core column 22, a plurality of jack posts 25 which are positioned outside the core column 22 and distributed in a circumferential array are fixedly connected to the upper surface of the tray 21, the top ends of the jack posts 25 can be in contact with the bottom surface of the disc 19, the inner supporting shell 23 is sleeved on the inner side of the flexible wheel 3, the inner wall of the flexible wheel 3 can be spliced with the outer wall of the inner supporting shell 23 from top to bottom, two turnover rods 26 which are bilaterally symmetrical and positioned on the upper side of the flexible wheel 3 are rotationally connected, one end of the turnover rods 26 far from the core column 22 is fixedly connected with a pressing plate 27, the lower surface 27 of the inner supporting shell 23 can be fixedly connected with the top wall 21 and the top wall 28 of the inner supporting shell 21 is provided with a movable supporting rod 28, and the top wall 28 is used for driving the tray 21 and is movably connected with the upper surface of the flexible wheel 21.
When the flexible gear 3 is required to be machined and is taken down in actual use, the first driving mechanism drives the lower gear shaping mechanism to move downwards, the cutter 18 on the lower gear shaping mechanism touches the second driving mechanism, the second driving mechanism automatically loosens the disc 19, the disc 19 slides upwards under the elastic force of the second spring 24, the disc 19 pushes the inner supporting shell 23 to slide upwards, the inner supporting shell 23 pushes the turning rod 26 to turn upwards through the movable rod 28, so that the two turning rods 26 turn upwards to be contacted with each other, the pressing plate 27 is separated from the top surface of the flexible gear 3, and then the flexible gear 3 is taken down from the inner supporting shell 23 by the existing mechanical arm; when the unprocessed flexible gear 3 is required to be fixed on a fixing mechanism, the flexible gear 3 is firstly inserted into the outer side of the inner support shell 23 from top to bottom through the existing mechanical arm, and as the flexible gear 3 is inserted downwards, the inner top wall of the flexible gear 3 pushes the inner support shell 23 to slide downwards, the inner support shell 23 pushes the disc 19 to slide downwards, the disc 19 compresses the second spring 24, and in the process of sliding the inner support shell 23 downwards, the inner support shell 23 pulls the turning rod 26 to turn downwards through the movable rod 28; when the bottom of the disc 19 is contacted with the top end of the jacking column 25, the automatic locking mechanism just automatically locks the disc 19, at the moment, the inner support shell 23 stops sliding downwards, and the turning rod 26 just turns over to the pressing plate 27 to press the top surface of the flexible gear 3, so that the pressing plate 27 and the inner support shell 23 clamp the top wall of the flexible gear 3, and the fixation of the flexible gear 3 is realized; therefore, the fixing mechanism in the device can automatically fix the flexible gear 3 by utilizing the downward pressing force of the flexible gear 3 in the process that the flexible gear 3 is inserted into the outer side of the inner supporting shell 23 from top to bottom, so that the rapid automatic feeding can be realized under the cooperation of the existing mechanical arm; the automatic locking mechanism in the equipment can utilize the collision of downward expansion of the gear shaping mechanism below to realize automatic loosening of the disc 19, so that the fixing mechanism automatically loosens the flexible wheel 3 under the action of the elastic force of the second spring 24, and the existing mechanical arm can take down the flexible wheel 3 from the inner supporting shell 23, thereby realizing rapid automatic blanking.
As a further scheme of the invention, the automatic locking mechanism comprises a clamping groove 29 and a vertical plate 30, the clamping groove 29 is fixedly connected with the outer wall of the tray 21, the vertical plate 30 is fixedly connected with the bottom end of the inner supporting shell 23, the vertical plate 30 is in sliding connection with the inner side of the clamping groove 29, one side, far away from the tray 21, of the vertical plate 30 is fixedly connected with a clamping block 37, the clamping block 37 can be clamped with the bottom surface of the clamping groove 29, the common thickness of the vertical plate 30 and the clamping block 37 is smaller than the inner side width of the clamping groove 29, the lower end of one side wall, far away from the tray 21, of the clamping groove 29 is provided with a groove, the upper surface of the horizontal first tilting rod 31 is in contact with the inner top surface of the groove, the lower surface of the horizontal first tilting rod 31 is completely located inside the groove, one side, far away from the tray 21, of the vertical plate 30 is fixedly connected with a third spring 32, one end, far away from the tray 21, of the first tilting rod 31 is rotatably connected with a rotating shaft 33, one side, far away from the tray 21, is fixedly connected with a second tilting rod 33, and is in contact with a rotating shaft 33, and can be in contact with the rotating shaft 33, and the lower side, which is in contact with the rotating shaft 33, and can be fixedly connected with the rotating shaft 33 with the rotating shaft 35.
When the scheme is put into practical use, when the disc 19 slides down to touch the jacking column 25, the clamping block 37 on the vertical plate 30 is just inserted down to be clamped on the lower surface of the clamping groove 29 (the vertical plate 30 is always sleeved in the clamping groove 29 in the process of moving up and down), so that the disc 19 is fixed; when the cutter 18 contacts the second warping rod 36 from top to bottom in the unfolding process of the lower gear shaping mechanism, the second warping rod 36 is pushed down by the cutter 18 to overturn downwards, the second warping rod 36 enables the first warping rod 31 to overturn downwards through the cooperation of the rotating shaft 33 and the lower supporting block 35, and the first warping rod 31 pushes the clamping block 37 to be separated from the lower surface of the clamping groove 29, so that the disc 19 is not fixed any more; when the cutter 18 moves up to push the second tilting bar 36 to turn upwards, the second tilting bar 36 drives the lower supporting block 35 to turn downwards through the rotating shaft 33 until the lower supporting block 35 is contacted with the lower surface of the first tilting bar 31 again, after the cutter 18 moves up to cross the second tilting bar 36, the second tilting bar 36 turns downwards under the action of gravity (through the arrangement of the limiting protrusion 34, the upward turning angle of the second tilting bar 36 can be smaller than ninety degrees, so that the second tilting bar 36 can turn downwards under the action of gravity), until the lower supporting block 35 is contacted with the lower surface of the first tilting bar 31 again, so that the disc 19 is loosened next time.
As a further scheme of the invention, the second driving mechanism comprises a motor 20, the motor 20 is fixedly connected with the tray 21, an output shaft of the motor 20 is fixedly connected with a second gear 38, the second gear 38 is meshed with a third gear 39 positioned at the lower side of the tray 21, and the middle part of the third gear 39 is fixedly connected with the bottom end of the stem 22.
When the scheme is put into practical use, when the flexible wheel 3 needs to be rotated, the motor 20 is started, the motor 20 drives the second gear 38 to rotate, the second gear 38 drives the third gear 39 to rotate, the third gear 39 drives the core column 22 to rotate, and the core column 22 drives the inner supporting shell 23, the turnover rod 26 and the pressing plate 27 to rotate, so that the flexible wheel 3 is rotated.
As a further scheme of the invention, one end of the sliding rod 6 close to the guide sleeve 8 is arranged in a square cone shape; in operation, through the square conical arrangement, the slide bar 6 can be conveniently and accurately inserted into the guide sleeve 8.
A method of machining a harmonic reducer machining apparatus, the method comprising the steps of:
step one: the upper gear shaping mechanism and the lower gear shaping mechanism are driven to move upwards and downwards respectively through a first driving mechanism;
step two: then the flexible wheel 3 is inserted on a fixing mechanism from top to bottom through the existing mechanical arm, and the fixing mechanism automatically fixes the flexible wheel 3;
step three: then, the position of the cutter 18 in the upper gear shaping mechanism and the lower gear shaping mechanism is calibrated through the cooperation of the first driving mechanism and the clamping mechanism;
step four: then the first driving mechanism drives the upper gear shaping mechanism and the lower gear shaping mechanism to simultaneously reciprocate up and down in the reverse direction, so that the cutter 18 in the upper gear shaping mechanism and the lower gear shaping mechanism simultaneously cuts the tooth part on the outer wall of the flexible gear 3 in the reverse direction;
step five: the fixing mechanism drives the flexible gear 3 to indirectly rotate ninety degrees while reciprocating cutting is carried out, so that all teeth on the flexible gear 3 are completely cut and formed;
step six: after all teeth on the flexible gear 3 are completely cut and formed, driving the upper gear shaping mechanism and the lower gear shaping mechanism to move upwards and downwards respectively through the first driving mechanism, and enabling the fixing mechanism to automatically loosen the flexible gear 3 in the downward moving process of the lower gear shaping mechanism;
step seven: finally, the flexible gear 3 is taken out through the existing mechanical arm.
Working principle: the upper gear shaping mechanism and the lower gear shaping mechanism are driven to move upwards and downwards respectively through a first driving mechanism; then the flexible wheel 3 is inserted on a fixing mechanism from top to bottom through the existing mechanical arm, and the fixing mechanism automatically fixes the flexible wheel 3; then, the cutter 18 in the upper gear shaping mechanism and the lower gear shaping mechanism are aligned by the cooperation of the first driving mechanism and the clamping mechanism, so that the two cutters 18 in the upper gear shaping mechanism are respectively contacted with the upper ends of the left side and the right side of the upper gear tooth part of the outer wall of the flexible gear 3, and the two cutters 18 in the lower gear shaping mechanism are respectively contacted with the lower ends of the front side and the rear side of the upper gear tooth part of the outer wall of the flexible gear 3, and the specific process is as follows: the upper gear shaping mechanism and the lower gear shaping mechanism are driven to move downwards and upwards respectively through the first driving mechanism until cutters 18 in the upper gear shaping mechanism and the lower gear shaping mechanism are respectively contacted with the upper end and the lower end of the gear tooth part on the outer wall of the flexible gear 3, at the moment, the elastic force of the guide sleeve 8 can enable the guide sleeve 8 of the base 1 on the slide rod 6 to be tightly attached to the gear tooth part on the outer wall of the flexible gear 3, and then the slide rod 6 and the cross beam 4 are fixed together through the clamping mechanism, so that the position calibration of the cutters 18 is realized; then the upper gear shaping mechanism and the lower gear shaping mechanism are driven by the first driving mechanism to reciprocate up and down in the opposite directions at the same time, so that the cutter 18 in the upper gear shaping mechanism and the lower gear shaping mechanism simultaneously cuts the tooth part on the outer wall of the flexible gear 3 in the opposite directions, and before cutting, the slide rod 6 can be inserted into the guide sleeve 8 in advance; the fixing mechanism drives the flexible gear 3 to indirectly rotate ninety degrees while reciprocating cutting is carried out, so that all teeth on the flexible gear 3 are completely cut and formed, specifically, when cutting is carried out, the flexible gear 3 stops rotating, and when a cutter 18 leaves the teeth on the outer wall of the flexible gear 3, the flexible gear 3 rotates for one tooth position; after all teeth on the flexible gear 3 are completely cut and formed, driving the upper gear shaping mechanism and the lower gear shaping mechanism to move upwards and downwards respectively through the first driving mechanism, and enabling the fixing mechanism to automatically loosen the flexible gear 3 in the downward moving process of the lower gear shaping mechanism; finally, the flexible gear 3 is moved out through the existing mechanical arm, so that the equipment can cut the left side and the right side of the flexible gear 3 through the left cutter 18 and the right cutter 18 simultaneously, and can cut the front side and the rear side of the flexible gear 3 through the front cutter 18 and the rear cutter 18 simultaneously, so that the left cutting impact force, the right cutting impact force, the front cutting impact force and the rear cutting impact force of the flexible gear 3 are mutually counteracted, the flexible gear 3 is prevented from shaking, the precision of tooth cutting of the flexible gear 3 is further improved, the sliding rod 6 can be inserted into the guide sleeve 8 in advance before cutting, the shaking amplitude of the cutters 18 during cutting is greatly reduced, the precision of tooth cutting of the flexible gear 3 is further improved, the load of a fixing mechanism is reduced, and the service life of the fixing mechanism is prolonged; the device can simultaneously reversely cut the flexible gear 3 through the cutters 18 at the upper and lower sides, so that the upper and lower cutting impact forces received by the flexible gear 3 are mutually offset, the load of the fixing mechanism is further reduced, and the service life of the fixing mechanism is further prolonged.
Claims (8)
1. A harmonic reducer machining apparatus comprising, characterized by: the automatic cutting machine comprises a base (1), wherein the upper surface of the base (1) is fixedly connected with a support frame (2), a flexible gear (3) is arranged in the middle of one side of the support frame (2), a fixing mechanism for fixing the flexible gear (3) is arranged in the middle of the support frame (2), gear shaping mechanisms for cutting tooth parts on the outer wall of the flexible gear (3) are arranged above and below the flexible gear (3), and the directions of the upper gear shaping mechanism and the lower gear shaping mechanism in the vertical direction are opposite and the directions of the upper gear shaping mechanism and the lower gear shaping mechanism in the horizontal direction are mutually perpendicular;
the gear shaping mechanism comprises a cross beam (4) and two guide sleeves (8), rectangular sleeves (5) are fixedly connected to two ends of the cross beam (4), sliding rods (6) are fixedly connected to one side of each rectangular sleeve (5) in a sliding mode, one ends of the sliding rods (6) away from the flexible gears (3) and one ends of the rectangular sleeves (5) away from the flexible gears (3) are fixedly connected with first springs (7), two clamping mechanisms used for fixing the sliding rods (6) are arranged between the sliding rods (6), one ends of the sliding rods (6) close to the flexible gears (3) are all extended out of the rectangular sleeves (5), one side of each sliding rod (6) close to one side of each flexible gear (3) is fixedly connected with a cutter (18) used for cutting a tooth part on the outer wall of each flexible gear (3), each cutter (18) is located at one end of each rectangular sleeve (5) close to each flexible gear (3), each guide sleeve (8) is fixedly connected with each support frame (2), each guide sleeve (8) can be respectively connected with two flexible gears (6) to one end of each support frame (2), and each lower gear shaping mechanism is used for being connected with one lower gear shaping mechanism in a reverse direction, and the lower driving mechanism is arranged between two upper end and one lower driving mechanism is used for carrying out opposite driving mechanism.
2. A harmonic reducer machining apparatus according to claim 1, wherein: the first actuating mechanism includes first pneumatic cylinder (9), first pneumatic cylinder (9) highly are connected with support frame (2), first pneumatic cylinder (9) upper end fixedly connected with connecting plate (10), connecting plate (10) fixedly connected with is two respectively located first rack (11) of flexbile gear (3) both sides, two first rack (11) all with the crossbeam (4) fixed connection of gear shaping mechanism of top, first rack (11) all with support frame (2) sliding connection, first rack (11) one side all has meshed first gear (12), first gear (12) all with support frame (2) swivelling joint, one side that first rack (11) were kept away from to first gear (12) all has meshed second rack (13), second rack (13) all with support frame (2) sliding connection, two second rack (13) all with crossbeam (4) fixed connection in the gear shaping mechanism of below.
3. A harmonic reducer machining apparatus according to claim 1, wherein: the clamping mechanism comprises a fixed clamping plate (14), one side of the fixed clamping plate (14) is fixedly connected with one side of the cross beam (4) away from the flexible wheel (3), one side middle part of the fixed clamping plate (14) is vertically fixedly connected with a second hydraulic cylinder (15), the telescopic end of the second hydraulic cylinder (15) penetrates through the fixed clamping plate (14) and is fixedly connected with a movable clamping plate (16), two brake pads (17) are clamped between the fixed clamping plate (14) and the movable clamping plate (16), two brake pads (17) are arranged at one ends of the two ends of the brake pads (17) facing back respectively extend into rectangular sleeves (5) at two sides and are fixedly connected with sliding rods (6) in the rectangular sleeves (5), and the brake pads (17) are in sliding connection with the outer walls of the rectangular sleeves (5) in the up-down direction.
4. A harmonic reducer machining apparatus according to claim 1, wherein: the fixing mechanism comprises a tray (21), the tray (21) is fixedly connected with a support frame (2), a core column (22) is rotationally connected in the middle of the tray (21), an inner supporting shell (23) is slidably connected to the outer wall of the core column (22) in the up-down direction, the inner supporting shell (23) is positioned above the tray (21), a disc (19) is rotationally connected to the lower end of the inner supporting shell (23), the disc (19) is rotationally and slidably connected with the core column (22), a second spring (24) positioned between the disc (19) and the tray (21) is sleeved outside the core column (22), a plurality of top columns (25) which are positioned outside the core column (22) and distributed in a circumferential array are fixedly connected to the upper surface of the tray (21), the top ends of the top columns (25) can be contacted with the bottom surface of the disc (19), the inner supporting shell (23) is sleeved on the inner side of a flexible wheel (3), the inner wall of the flexible wheel (3) can be rotationally connected with the outer wall of the inner supporting shell (23), two turnover rods (26) are symmetrically connected with one end (26) of the turnover rod (26) from top to the right side of the turnover rod (3), the upper wall of flexspline (3) can be pressed from both sides tightly with the upper surface of interior propping shell (23) to clamp plate (27) lower surface, tilting lever (26) middle part all articulates there is movable rod (28), movable rod (28) lower extreme all articulates with interior propping shell (23) interior bottom, be equipped with the automatic latch mechanism that is used for fixed disc (19) on tray (21), tray (21) one side is equipped with and is used for driving stem (22) pivoted second actuating mechanism.
5. A harmonic reducer machining apparatus according to claim 4, wherein: the automatic locking mechanism comprises a clamping groove (29) and a vertical plate (30), the clamping groove (29) is fixedly connected with the outer wall of the tray (21), the vertical plate (30) is fixedly connected with the bottom end of the inner supporting shell (23) at the upper end, the vertical plate (30) is in sliding connection with the inner side of the clamping groove (29), one side of the vertical plate (30) far away from the tray (21) is fixedly connected with a clamping block (37), the clamping block (37) can be clamped with the bottom surface of the clamping groove (29), the common thickness of the vertical plate (30) and the clamping block (37) is smaller than the inner side width of the clamping groove (29), the lower end of one side wall of the clamping groove (29) far away from the tray (21) is provided with a groove, a horizontal first tilting rod (31) is rotationally connected with the groove, the upper surface of the first tilting rod (31) is in contact with the inner top surface of the groove, the lower surface of the first tilting rod (31) is completely positioned in the groove, the upper surface of the first tilting rod (31) can be clamped with the bottom surface of the clamping groove, one side of the clamping groove (29) far away from the tray (21) is fixedly connected with a spring (33), one side of the first tilting rod (31) far away from the rotating shaft (33) is fixedly connected with the rotating shaft (33), the lower support block (35) can be in contact with the lower surface of the first tilting rod (31), one side, far away from the first tilting rod (31), of the rotating shaft (33) is fixedly connected with a horizontal second tilting rod (36), and one end, far away from the rotating shaft (33), of the second tilting rod (36) can collide with a motor (20) on the same side in the gear shaping mechanism below.
6. A harmonic reducer machining apparatus according to claim 4, wherein: the second driving mechanism comprises a motor (20), the motor (20) is fixedly connected with the tray (21), a second gear (38) is fixedly connected with an output shaft of the motor (20), a third gear (39) positioned on the lower side of the tray (21) is meshed with the second gear (38), and the middle of the third gear (39) is fixedly connected with the bottom end of the core column (22).
7. A harmonic reducer machining apparatus according to claim 1, wherein: one end of the sliding rod (6) close to the guide sleeve (8) is arranged to be square conical.
8. A method of machining a harmonic speed reducer machining apparatus, adapted to a harmonic speed reducer machining apparatus as claimed in claims 1 to 7, characterized by comprising the steps of:
step one: the upper gear shaping mechanism and the lower gear shaping mechanism are driven to move upwards and downwards respectively through a first driving mechanism;
step two: then the flexible wheel (3) is inserted on the fixing mechanism from top to bottom through the existing mechanical arm, and the fixing mechanism automatically fixes the flexible wheel (3);
step three: then, the position of the cutter (18) in the upper gear shaping mechanism and the lower gear shaping mechanism is calibrated through the cooperation of the first driving mechanism and the clamping mechanism;
step four: then the first driving mechanism drives the upper gear shaping mechanism and the lower gear shaping mechanism to simultaneously reciprocate up and down in the opposite directions, so that a cutter (18) in the upper gear shaping mechanism and the lower gear shaping mechanism simultaneously reversely cuts the gear part on the outer wall of the flexible gear (3);
step five: the fixing mechanism drives the flexible gear (3) to indirectly rotate ninety degrees while reciprocating cutting, so that all teeth on the flexible gear (3) are completely cut and formed;
step six: after all teeth on the flexible gear (3) are completely cut and formed, driving the upper gear shaping mechanism and the lower gear shaping mechanism to move upwards and downwards respectively through the first driving mechanism, and enabling the fixing mechanism to automatically loosen the flexible gear (3) in the downward moving process of the lower gear shaping mechanism;
step seven: finally, the flexible gear (3) is taken out through the existing mechanical arm.
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| CN108044323A (en) * | 2017-11-24 | 2018-05-18 | 万鑫精工（湖南）有限公司 | A kind of production method of harmonic speed reducer |
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| US4528755A (en) * | 1982-10-25 | 1985-07-16 | Toyota Jidosha Kabushiki Kaisha | Dial gauge |
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