CN1317390A - Technology for manufacturing speed reducer - Google Patents
Technology for manufacturing speed reducer Download PDFInfo
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- CN1317390A CN1317390A CN 01106799 CN01106799A CN1317390A CN 1317390 A CN1317390 A CN 1317390A CN 01106799 CN01106799 CN 01106799 CN 01106799 A CN01106799 A CN 01106799A CN 1317390 A CN1317390 A CN 1317390A
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- tooth
- pin
- eccentric
- profile
- processing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
A technology for manufacturing RV speed reducer includes machining the pin holes and tooth shapes of left and right cycloidal gears in pair mode, grinding the needle tooth hole on the needle tooth shell with small grinding head, machining the concentric circles at both ends of eccentric axle, machining eccentric external circle with an eccentric fixture, machining bearing holes of spider in pair mode, and combining three workpieces in a group to machine planetary gears.
Description
The present invention relates to a kind of manufacture method of decelerator, particularly RV decelerator manufacture method.
The RV transmission is a kind of new drive device that grows up on the cycloid pinwheel planetary gear transmission system basis, and it is little that it has a volume, and gear range is big, life-span is long, and it is stable that precision keeps, the efficient height, good rigidly, series of advantages such as stable drive replace Harmonic Gears gradually in the robot transmission.The RV transmission principle as shown in Figure 1, it is made up of the involute planet gear mechanism and cycloidal-pin wheel planetary mechanism two utmost points, planetary gear 2 fuses with eccentric shaft 3, as the input of second level deceleration part.Eccentric part at eccentric shaft is installed with RV Cycloidal Wheel device by rolling bearing.If involute sun gear clockwise direction is with the n1 rotational speed, planetary gear 2 also has anticlockwise rotation when revolving round the sun clockwise so, and makes eccentric motion by eccentric shaft 3 drive Cycloidal Wheel 4.At this moment, Cycloidal Wheel is when the standard shaft line revolves round the sun counterclockwise, also with counterclockwise rotation.Simultaneously, the output shaft by eccentric shaft promotion planet carrier structure also rotates with the n6 clockwise direction.The gearratio of RV transmission is:
(1) casing is fixed, the output shaft transmission
Wherein:
The Z1--sun gear number of teeth Z2--planetary gear number of teeth Z5--pin tooth number of teeth
W1--sun gear angular speed W6, WH--output shaft, planet carrier angular speed
For return difference and the kinematic accuracy requirement that guarantees the RV decelerator, according to mapping and theory analysis, the RV decelerator must satisfy following several required precisions:
1, three bearing hole location Φ 0.01 on the planet carrier.
2, the position degree in pin wheel housing 40-Φ 10H7 hole: radially Φ 0.020, and circumferential 0.050.
3, the eccentric throw tolerance+0.003 of eccentric shaft.
4, the form of cycloidal gear tooth longitudinal error 0.02, circular pitch error ± 0.005, accumulative pitch error 0.015, three pin-and-hole position degree Φ 0..01. and join gap 0～0.004 with bearing, eccentric shaft.
RV decelerator technology part sum is few, but vital part has four kinds of Cycloidal Wheel, pin wheel housing, eccentric shaft, planet carrier.Each part precision is all very high, and dimension relationship each other, except that meeting design requirement, also will consider in the final assembly of crossing under the situation of location in conjunction with transmission principle on the technology in the processing.Therefore, the manufacturing process of RV decelerator is a difficult point at present.
The object of the invention provides a kind of manufacturing process of R V decelerator.
The manufacturing process of RV decelerator provided by the invention, the processing method of its major part may further comprise the steps:
(1) make up pin-and-hole and the gear of processing on the left and right Cycloidal Wheel in pairs, and under pin-and-hole dislocation 180 degree on the left and right Cycloidal Wheel, make up in pairs and process profile of tooth:
(2) on the moulding internal gear grinder, use small abrasive nose grinding pin wheel housing upper pin gear hole:
(3) concentric circles at elder generation's processing eccentric shaft two ends is processed eccentric excircle with an eccentric fixture again on cylindrical grinder;
(4) the planet carrier dead eye is processed in combination in pairs;
(5) three one group processing planetary gear.
The radius of the diamond wheel of selecting for use when finishing in the left and right the form of cycloidal gear tooth processing is less than the minimum profile curvature radius of profile of tooth equation.Otherwise the profile of tooth that grinding goes out can form goat's horn in the both sides of a tooth.
Advantage of the present invention is to utilize the RV decelerator of the processing of existing equipment to meet technical conditions.
Accompanying drawing 1 is the transmission principle sketch of R V decelerator.Figure number is described as follows:
1, sun gear 2, planetary gear 3, eccentric shaft 4, Cycloidal Wheel
5, pin tooth 6, output shaft 7, pin wheel housing
Accompanying drawing 2 is the testing arrangement sketch.
Embodiment: the processing method of RV decelerator vital part is described as follows:
1, the processing of left and right Cycloidal Wheel is divided into pin-and-hole processing and tooth Profile Machining 2 points.
(1) processing of pin-and-hole on the left and right Cycloidal Wheel must be made up in pairs and be processed, and pin-and-hole can finish grind on jig grinder, to guarantee the status requirement in three holes.
(2) processing of profile of tooth, also in pairs combination processing, and the pin-and-hole on the left and right Cycloidal Wheel must misplace under the assurance of anchor clamps in 180 degree, tooth phase difference half tooth when guaranteeing on the Cycloidal Wheel of the left and right sides to be benchmark with the pin-and-hole.Grinding profile of tooth on YK7332 moulding gear grinding machines, the former employing of this lathe CBN emery wheel after porous grinding wheel is adopted in repacking, has increased the trimmer parts, just can grinding arbitrary shape profile of tooth, comprise cycloidal tooth profile certainly.Must reasonably select modification of equidistance amount and modification of moved distance amount by the multiple tooth theory of engagement as for original tooth curve.The radius of the emery wheel of selecting for use when noting trimming wheel (emery wheel of selecting for use half for R2.5) must be less than the amount small curvature radius of profile of tooth equation, otherwise the profile of tooth that grinding goes out can form goat's horn tooth both sides.The pins that should also be noted that two 180 degree location when actual grinding must be solid and reliable, in order to avoid the misplace accuracy of half tooth of two cycloidal gear teeths about influence.After grinding is intact, on three coordinates, about measuring, the position relation of two Cycloidal Wheel with respect to pin-and-hole, also to measure the coordinate of profile of tooth point, just can analyze by trace routine then and find out profile error.Because trace routine is a longitudinal error relatively when laterally consistent,, general profile of tooth longitudinal error gets final product with interior so being controlled at 0.02.
2, the difficult point of pin wheel housing processing is the pin perforation, and on the RV250A II is 40-Φ 10H7, requires the hole adjacent 0.005, cumulative errors 0.02, and the hole is axial 0.005, and precision is equivalent to the 3-4 level of involute.Increased a small abrasive nose on the YK75100 moulding internal gear grinder, got final product the grinding semicircle orifice, efficient is very high.When not having condition, also can in the boring of high-precision vertical sample, be equipped with high accuracy multi-gear disk calibration, bore boring Buddha's warrior attendant hinge 40-Φ 10H7 circular hole.Notice that thick, fine finishining separates, after the sample boring is intact, use three-dimensional coordinates measurement precision car semicircle orifice more earlier, bite is little, in order to avoid influence precision.This processing method is more time-consuming, should not adopt after the industrialization.
3, the key of eccentric shaft processing is two joint eccentric excircles, not only the eccentric throw tolerance have only ± 0.003.Require very highly, then eccentric direction also has the position relation with the teeth groove of axle head, like this when fine finishining, and the concentric cylindrical at processing two ends earlier.When grinding two eccentric excircles, on the Si Tute of Switzerland's import cylindrical grinder, carry out, do an eccentric grinding jig, the correction cylindrical on the anchor clamps and the offset of locating hole are wanted accurately.Can be when actual grinding with the sucker on the internal grinder a with nothing left cutter be almost 0 so that the sucker end face is directly jumped.Frock is located with locating hole, the with nothing left location end face that combines with sucker so just can guarantee that hole centre line is parallel with lathe headstock swivel bearing again.Adding man-hour, it is (tight as far as possible that eccentric locating hole on the eccentric shaft on a cogged end cylindrical and the anchor clamps is joined gap 0-0.002, but feel), by teeth groove 180 degree location grindings two eccentric excircles, can not be too tight when twisting dog screw, because of radially only 0.3 second of the internal grinder headstock, too tightly occur error easily and strengthen.So eccentric throw tolerance=0.003 can reach requirement.Simultaneously, two joint eccentric excircles must be joined gap 0.001-0.004 with bearing and Cycloidal Wheel hole.
4, the position of planet carrier dead eye is according to structure and the matching requirements of RV, can adopt the method that in the boring of high accuracy sample, manufactures with the Cycloidal Wheel pin-and-hole to process, when manufacturing, to be benchmark with the big bearing top circle and the Cycloidal Wheel centre bore of planet carrier, and carry out position mark, to reduce rigging error as far as possible.
Except that above four vital parts, planetary gear is processed for the tooth phase place unanimity that guarantees three, also can adopt three one group of method for finishing manufactured.
5, RV decelerator assembly method and points for attention: during the assembling of RV decelerator, each part is wanted deburring, cleans up, and adopts grease lubrication, foul must not be brought in the machine, notes the mark position of each major part.At first assemble pin wheel housing, planet carrier, match grinding pad and give big axial compression load, two left and right sides planet carriers divide piece number in conjunction with the time the taper pin location want reliable, must tighten screw by the limit gulde edge, otherwise the location may deviate and influence precision.After assembling is finished, record axial dimension, carry out record so that with assembling before planet carrier and the planet carrier axial dimension after the general assembly relatively, can know planet carrier in the middle of faying face whether contact firmly, behind this end-of-job, take apart and be equipped with general assembly.During general assembly, earlier Cycloidal Wheel and eccentric shaft bearing are combined, combine with planet carrier, pin wheel housing again, insert 40 good pins of apolegamy then, guarantee the tooth root of Cycloidal Wheel and the gap that the pin tooth has 0.01-0.003, planet carrier be combined the back with previous axial dimension is more consistent can, thrust bearing on the eccentric shaft also will suitably be pressed load, behind the good pad of match grinding, can unclamp planet carrier earlier, after installing Deng eccentric shaft upper bearing (metal) ring washer, tighten planet carrier again.Load onto three planetary gears at last, the intact back of general assembly setting stick power shaft, feel is wanted evenly, no dead point, but load sense person is best.
6, the method for testing precision of RV decelerator:
(1) test purpose
Dynamic indicators such as the driving-chain precision of the main test of this device RV decelerator, idle running.
(2) test philosophy and testing arrangement
Test is exactly after the signal of input is handled through multiplication and division, to convert the signal that is equal to mutually with output to, if there is not transmission chain error, then actual value and theoretical value equate, promptly error is zero.If there is error, promptly error amount is at this moment shown, and get off by printer record in sampling instant, realized the measurement of driving-chain, its testing arrangement sketch such as Fig. 2:
By output, input angle-measuring equipment, intelligent driving-chain tester is formed.
(3) the test macro error is calculated
Accuracy computation formula according to " intelligent transmission chain error dynamic measuring instrument ":
Total instrument error=(low speed signalling head system error)
2+ (the head system error of signaling at a high speed/i)
2+ (low speed post a letter head not repeated)
2+ (number of posting a letter at a high speed do not repeat/i)
2
Because, a low speed precision≤2 ＂ that post a letter
A precision≤5 ＂ post a letter at a high speed
So, in i 〉=10 o'clock, driving-chain measuring system precision≤5 ＂.
Claims (2)
1, technology for manufacturing speed reducer is characterized in that may further comprise the steps:
(1) makes up the pin-and-hole and the profile of tooth of processing on the left and right Cycloidal Wheel in pairs, and under pin-and-hole dislocation 180 degree on the left and right Cycloidal Wheel, make up in pairs and process profile of tooth;
(2) on the moulding internal gear grinder, use small abrasive nose grinding pin wheel housing upper pin gear hole;
(3) concentric circles at elder generation's processing eccentric shaft two ends is processed eccentric excircle with an eccentric fixture again on cylindrical grinder;
(4) the planet carrier dead eye is processed in combination in pairs;
(5) three one group processing planetary gear.
2, decelerator manufacturing process according to claim 1 is characterized in that the minimum profile curvature radius of the radius of the diamond wheel selected for use less than the profile of tooth equation when finishing in the processing of left and right the form of cycloidal gear tooth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011067993A CN100364716C (en) | 2001-03-23 | 2001-03-23 | Technology for manufacturing speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011067993A CN100364716C (en) | 2001-03-23 | 2001-03-23 | Technology for manufacturing speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1317390A true CN1317390A (en) | 2001-10-17 |
| CN100364716C CN100364716C (en) | 2008-01-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB011067993A Expired - Fee Related CN100364716C (en) | 2001-03-23 | 2001-03-23 | Technology for manufacturing speed reducer |
Country Status (1)
| Country | Link |
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| CN (1) | CN100364716C (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806336A (en) * | 2010-05-01 | 2010-08-18 | 吴声震 | Wind power generation three-piece cycloidal variable propeller reducer |
| CN101825067A (en) * | 2010-05-01 | 2010-09-08 | 吴声震 | Wind generating cycloidal pitch-controlled speed reducer |
| CN101825154A (en) * | 2010-05-01 | 2010-09-08 | 吴声震 | Wind generating dual-cycloid variable-blade reducer |
| CN102632374A (en) * | 2012-05-04 | 2012-08-15 | 宁波中大力德传动设备有限公司 | Integrated machining method for output flange and support flange of cycloidal speed reducer |
| CN103016634A (en) * | 2012-12-17 | 2013-04-03 | 哈尔滨理工大学 | RV (rotate vector) double-cycloidal pin gear speed reducer |
| CN103398157A (en) * | 2013-08-20 | 2013-11-20 | 潍坊帅克机械有限责任公司 | Method for manufacturing cycloidal gears of cycloidal device of robot RV reducer |
| CN103433705A (en) * | 2013-08-20 | 2013-12-11 | 潍坊帅克机械有限责任公司 | Processing technology of robot RV speed reducer needle gear shell |
| CN104534031A (en) * | 2015-01-05 | 2015-04-22 | 西北工业大学 | Transmission device for robot joint |
| CN104565218A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | RV speed reducer based on CTC (Centralized Traffic Control) circular arc and single circular arc few tooth difference planetary transmission |
| CN104589004A (en) * | 2015-01-13 | 2015-05-06 | 哈尔滨飞机工业集团有限责任公司 | Final drive positioner manufacturing process method |
| CN104791423A (en) * | 2015-04-21 | 2015-07-22 | 同济大学 | RV reducer based on cycloidal gear edge shaping |
| CN104791424A (en) * | 2015-04-21 | 2015-07-22 | 同济大学 | RV speed reducer with shaped roller pins |
| CN105221669A (en) * | 2015-09-17 | 2016-01-06 | 吴建红 | A kind of planetary gear mechanism, robot joint speed reducer and robot |
| CN106090136A (en) * | 2016-08-12 | 2016-11-09 | 上海交通大学 | A kind of RV decelerator |
| CN108127355A (en) * | 2017-12-15 | 2018-06-08 | 沈阳新松智能驱动股份有限公司 | A kind of processing method for improving RV retarders second level gear unit wear-resistant strength |
| CN109047945A (en) * | 2018-08-10 | 2018-12-21 | 宜昌长机科技有限责任公司 | A method of improving Gear Processing precision and stability |
| CN110014272A (en) * | 2019-04-08 | 2019-07-16 | 华南理工大学 | A kind of processing method and assembly method of pairs of eccentric shaft |
| CN110014273A (en) * | 2019-04-08 | 2019-07-16 | 华南理工大学 | A kind of processing method and assembly method of pairs of involute planet gear |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4944195A (en) * | 1986-09-12 | 1990-07-31 | Takashi Takahashi | Controlling transmission |
| FR2684154A1 (en) * | 1991-11-21 | 1993-05-28 | Staubli Sa Ets | CYCLOUIDAL SPEED REDUCER FOR ROBOTS AND OTHER INDUSTRIAL MANIPULATORS. |
| CN2120924U (en) * | 1992-01-02 | 1992-11-04 | 兰州减速机厂 | Heavy load-bearing cycloid pin gear planetary speed reducer |
| JPH07133849A (en) * | 1993-11-12 | 1995-05-23 | Teijin Seiki Co Ltd | Eccentric differential type speed reducer |
-
2001
- 2001-03-23 CN CNB011067993A patent/CN100364716C/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806336A (en) * | 2010-05-01 | 2010-08-18 | 吴声震 | Wind power generation three-piece cycloidal variable propeller reducer |
| CN101825067A (en) * | 2010-05-01 | 2010-09-08 | 吴声震 | Wind generating cycloidal pitch-controlled speed reducer |
| CN101825154A (en) * | 2010-05-01 | 2010-09-08 | 吴声震 | Wind generating dual-cycloid variable-blade reducer |
| CN101825067B (en) * | 2010-05-01 | 2012-11-07 | 吴声震 | Wind generating cycloidal pitch-controlled speed reducer |
| CN102632374A (en) * | 2012-05-04 | 2012-08-15 | 宁波中大力德传动设备有限公司 | Integrated machining method for output flange and support flange of cycloidal speed reducer |
| CN103016634A (en) * | 2012-12-17 | 2013-04-03 | 哈尔滨理工大学 | RV (rotate vector) double-cycloidal pin gear speed reducer |
| CN103398157A (en) * | 2013-08-20 | 2013-11-20 | 潍坊帅克机械有限责任公司 | Method for manufacturing cycloidal gears of cycloidal device of robot RV reducer |
| CN103433705A (en) * | 2013-08-20 | 2013-12-11 | 潍坊帅克机械有限责任公司 | Processing technology of robot RV speed reducer needle gear shell |
| CN104565218A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | RV speed reducer based on CTC (Centralized Traffic Control) circular arc and single circular arc few tooth difference planetary transmission |
| CN104534031A (en) * | 2015-01-05 | 2015-04-22 | 西北工业大学 | Transmission device for robot joint |
| CN104589004A (en) * | 2015-01-13 | 2015-05-06 | 哈尔滨飞机工业集团有限责任公司 | Final drive positioner manufacturing process method |
| CN104791423A (en) * | 2015-04-21 | 2015-07-22 | 同济大学 | RV reducer based on cycloidal gear edge shaping |
| CN104791424A (en) * | 2015-04-21 | 2015-07-22 | 同济大学 | RV speed reducer with shaped roller pins |
| CN105221669A (en) * | 2015-09-17 | 2016-01-06 | 吴建红 | A kind of planetary gear mechanism, robot joint speed reducer and robot |
| CN105221669B (en) * | 2015-09-17 | 2019-01-29 | 吴建红 | A kind of planetary gear transmission mechanism, robot joint speed reducer and robot |
| CN106090136A (en) * | 2016-08-12 | 2016-11-09 | 上海交通大学 | A kind of RV decelerator |
| CN108127355A (en) * | 2017-12-15 | 2018-06-08 | 沈阳新松智能驱动股份有限公司 | A kind of processing method for improving RV retarders second level gear unit wear-resistant strength |
| CN108127355B (en) * | 2017-12-15 | 2019-05-21 | 沈阳新松智能驱动股份有限公司 | A kind of processing method improving RV retarder second level gear unit wear-resistant strength |
| CN109047945A (en) * | 2018-08-10 | 2018-12-21 | 宜昌长机科技有限责任公司 | A method of improving Gear Processing precision and stability |
| CN110014272A (en) * | 2019-04-08 | 2019-07-16 | 华南理工大学 | A kind of processing method and assembly method of pairs of eccentric shaft |
| CN110014273A (en) * | 2019-04-08 | 2019-07-16 | 华南理工大学 | A kind of processing method and assembly method of pairs of involute planet gear |
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| CN100364716C (en) | 2008-01-30 |
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Owner name: QINCHUAN MACHINE TOOL GROUP CO., LTD. Free format text: FORMER NAME: QINCHUAN MACHINERY DEVELOPMENT CO LTD, SHAANXI PROV |
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Address after: 721009, 22 Tan Tan Road, Shaanxi, Baoji Patentee after: Qin Chuan Machine Tool & Tool Group Co., Ltd. joint-stock company Address before: Baoji City, Shaanxi province Jiang Tan Lu 721009 No. 22 Patentee before: Qinchuan Machinery Development Co., Ltd., Shaanxi Prov |
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Granted publication date: 20080130 Termination date: 20160323 |