CN205734213U - A kind of robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine - Google Patents
A kind of robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine Download PDFInfo
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- CN205734213U CN205734213U CN201620628916.6U CN201620628916U CN205734213U CN 205734213 U CN205734213 U CN 205734213U CN 201620628916 U CN201620628916 U CN 201620628916U CN 205734213 U CN205734213 U CN 205734213U
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- hydrostatic slideway
- robot
- bed body
- grinding machine
- static pressure
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- 238000000227 grinding Methods 0.000 title claims abstract description 43
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 18
- 230000002706 hydrostatic effect Effects 0.000 claims abstract description 64
- 230000003068 static effect Effects 0.000 claims abstract description 24
- 238000007667 floating Methods 0.000 claims abstract description 11
- 229910001651 emery Inorganic materials 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims description 5
- 238000005188 flotation Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000003754 machining Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 2
- 239000010438 granite Substances 0.000 description 2
- 238000003801 milling Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004579 marble Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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- Magnetic Bearings And Hydrostatic Bearings (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The utility model discloses a kind of robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine, including bed body, air floating platform, described bed body uses gantry structure and is installed on air floating platform, air floating platform corner is with amortisseur, described bed body upper surface side is provided with the first hydrostatic slideway that linear electric motors drive, the portal frame of bed body is provided with the second hydrostatic slideway, it is arranged above the 3rd hydrostatic slideway at gantry structure, 3rd hydrostatic slideway is provided with the grinding spindle with emery wheel, the first described hydrostatic slideway is provided with oily static pressure turntable and the 4th hydrostatic slideway of linear electric motors control that linear electric motors drive.This grinding machine can ensure that all dead eye systems disposably process and puts in place, and minimizing alignment error, tool-setting error, to improve machining accuracy and work efficiency, are particularly well-suited to high efficiency manufacture and the steady production of precision speed reduction device planetary gear.
Description
Technical field
This utility model relates to belonging to robot RV reducer processing technique field, is specifically related to a kind of robot RV and slows down
Device planet wheel spindle bearing bore system Special precision grinding machine.
Background technology
Robot RV reducer developed on the basis of tradition Cycloid drive, not only overcomes general pin
The shortcoming that swing is dynamic, and because having, volume is little, lightweight, gear range big, life-span length, precision keep stable, efficiency
The series of advantages such as height, stable drive.It is widely used in industrial robot, lathe, medical treatment detection device, satellite receiving system
In field.The structure of robot RV reducer is complicated, including pin wheel housing, planetary wheel carrier, three crank axles, Cycloidal Wheel and installation
Three pairs of tapering needle bearings between crank axle and planetary wheel carrier, three be arranged on crank axle between eccentric and Cycloidal Wheel
To bearing, two pairs of bearings being arranged between pin wheel housing and planetary wheel carrier, robot motion to be realized accurately and meet it
Service life, the requirement on machining accuracy of these parts and installation accuracy require the highest, and planetary gear is robot RV reducer
Vitals, piece surface is dispersed with the dead eye that multiple axle system is parallel to each other, these dead eye systems not only oneself requirements tool
The highest standby dimensional accuracy and surface quality, and the more important thing is that the depth of parallelism of dimension precision between the holes and each axle system requires the most very
Height, therefore the process unit of such part must be able to meet dimension between holes precision simultaneously, between surface quality and each hole in hole
Positional precision.
The processing of above-mentioned RV decelerator planet wheel spindle bearing bore system, currently mainly uses following two mode, first kind of way,
Process elementary contour first with milling mode, then utilize high-accuracy processing center machine tool boring machine to ensure the table that hole is
Face quality and dimensional accuracy, owing to this kind of processing mode is by the positional precision of the numerical control device guarantee planetary gear axis hole of lathe, and
And hole processing early stage use milling, therefore can cause hole system between positional precision deviation occurs, with hole when cylindricity and
Surface quality also cannot ensure.Second method is to use the high accuracy grinding machine of universal of external import, although this kind of mode can
Meet processing request, but this machine tool accuracy is higher, expensive, only apply in a small amount of single-piece production, it is impossible to meet now
High accurate speed reducer manufacture requirements in high volume.
Summary of the invention
For solving the problems referred to above that existing robot RV reducer manufacture field exists, this utility model provides a kind of permissible
Planet wheel spindle system hole is carried out ultraprecise grinding, and combine, in the course of processing, oily hydrostatic slideway that linear electric motors drive can
Accurately to control the robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine of position between each dead eye.
For achieving the above object, this utility model offer techniques below scheme:
A kind of robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine, including bed body, air floating platform, described bed
Body uses gantry structure and is installed on air floating platform, and air floating platform corner is with amortisseur, and described bed body upper surface side is pacified
The first hydrostatic slideway driven equipped with band linear electric motors, is provided with the second hydrostatic slideway on the portal frame of bed body, ties at gantry
Structure is arranged above the 3rd hydrostatic slideway, is provided with the grinding spindle with emery wheel on the 3rd hydrostatic slideway, described
Oily static pressure turntable and the 4th hydrostatic slideway of linear electric motors control that linear electric motors drive are installed on one hydrostatic slideway.
Further, the first hydrostatic slideway, the second hydrostatic slideway, the 3rd hydrostatic slideway, the 4th hydrostatic slideway and oil static pressure
Turntable and the most integrated digital control system of grinding spindle, controlled by same numerical control device.
Preferably, described grinding spindle uses air-flotation electric spindle, and the precision of this main shaft reaches 40000 revs/min, rotating accuracy
Reach 0.02 μm.
Preferably, the 4th hydrostatic slideway and oil static pressure turntable as an integral installation on the first hydrostatic slideway.Both
Between use particular form connect into an entirety, be integrated in lathe numerical control device, oil static pressure turntable for self-control produce, use
The oil channel structures of self-compensation type, possesses high stability, and the rotating accuracy of turntable reaches below 0.05 μm, and radial and axial rigidity is divided
Not Wei 1000N and 500N, the 4th hydrostatic slideway be used for move each dead eye system centrage and be allowed to oil static pressure turntable revolution
Centrage overlaps, and this guide rail uses the air-float guide rail that linear electric motors drive, and its repetitive positioning accuracy and positioning precision respectively reach.
Preferably, during use, the centre of gyration line of emery wheel, grinding spindle centre of gyration line, the centrage of workpiece spindle system, oil
The centre of gyration line of static pressure turntable keeps overlapping.
This utility model has the advantages that (1) uses the mode that straight-line static-pressure guide rail combines with hydraulic swivel,
Due to higher rotating accuracy and the stability of oil hydrostatic bearing, and the positioning precision that linear electric motors hydrostatic slideway is higher, energy
Pitch of holes between enough guarantee Kong Yukong, and the parallel accuracy between each hole, the no clamping again of workpiece simultaneously, can be once
Processing puts in place, is greatly improved working (machining) efficiency；(2) grinding spindle uses high-precision aerostatic bearing, during grinding,
High stability and rotating accuracy due to aerostatic bearing, it is possible to ensure the surface quality of each dead eye system；(3) machining path
Controllability good, each guide rail of this lathe all uses linear electric motors to drive, by numerical control device control, can be carried out continuously porous throw
Light.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used does simple introduction in description of the prior art, it should be apparent that, the accompanying drawing in describing below is this
Some embodiments of utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawing can be obtained according to these accompanying drawings.
Accompanying drawing 1 is the structural representation of this utility model embodiment.
Accompanying drawing 2 is the partial schematic diagram of this utility model embodiment.
In accompanying drawing, 1, air floating platform, 2, bed body, 3, oil static pressure turntable, the 4, the 4th hydrostatic slideway, 5, emery wheel, 6, grinding master
Axle, the 7, the 3rd hydrostatic slideway, the 8, second hydrostatic slideway, 9, amortisseur, the 10, first hydrostatic slideway.
Detailed description of the invention
Below by specific embodiment, this utility model is further described.
A kind of robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine as shown in Figure 1, including bed body 2, bed
Body 2 is arranged on to be had corner, bottom surface, lower end and is respectively provided with on the air floating platform 1 of amortisseur 9.Described bed body 2 uses gantry structure,
Upper surface side is provided with the first hydrostatic slideway 10 that linear electric motors drive, with alternating translational before and after realizing, the dragon of bed body
Second hydrostatic slideway 8 is installed, to move back and forth about realizing on door frame.It is arranged above the 3rd hydrostatic slideway at gantry structure
7 can realize moving back and forth up and down, and are provided with high-accuracy grinding spindle 6 on the 3rd hydrostatic slideway 7, and emery wheel 5 is installed on mill
Cut on main shaft 6.Described oily hydrostatic slideway 1 is provided with oily static pressure turntable 3 and linear electric motors control that linear electric motors drive
4th hydrostatic slideway 4 of system.
Wherein, the first hydrostatic slideway, the second hydrostatic slideway, the 3rd hydrostatic slideway, the 4th hydrostatic slideway and oil static pressure turntable
And grinding spindle can the most integrated digital control system, same numerical control device control.
It addition, grinding spindle can use air-flotation electric spindle, the precision of this main shaft reaches 40000 revs/min, and rotating accuracy reaches
0.02 μm, to ensure to add surface quality and the dimensional accuracy of each dead eye in man-hour.
During use, the centre of gyration line of emery wheel, grinding spindle centre of gyration line, the centrage of workpiece spindle system, oil static pressure turn
The centre of gyration line of platform keeps overlapping.
This grinding machine utilizes the amortisseur 9 being distributed its corner to create steady processing environment for natural marble matter bed body 2；First
Hydrostatic slideway 10 uses granite guide rail, uses oil static pressure mode to realize the steady mobile of big load, lays and be arranged on bed body 2
Upper surface, uses linear electric motors to drive.This guide rail is for supporting oily static pressure turntable 3 and the 4th hydrostatic slideway 4 and attached of top
Device, it is possible to the high-precision free alternating translational of X-direction；Second hydrostatic slideway 8, uses granite guide rail, uses oil quiet
Pressure mode, lays and is arranged on the portal frame of bed body 2, and the Y-direction that this guide rail realizes grinding spindle and auxiliary equipment thereof is the most past
Multiple mobile, for adjusting the position of grinding axis and axis of workpiece；3rd hydrostatic slideway 7, uses servomotor ball screw to drive
Dynamic, it is installed on above the first hydrostatic slideway 10, this guide rail is used for driving pumping of grinding attachment Z-direction, in processing
During realize grinding to lower feeding.
4th hydrostatic slideway 4 and oil static pressure turntable 3 as an integral installation on the first hydrostatic slideway 10, between the two
Using particular form to connect into an entirety, as shown in Figure 2, the air supporting that the 4th hydrostatic slideway 4 uses linear electric motors to drive is led
Rail, at dead eye, system adds man-hour, it is possible to axle center accurately moves to the centre of gyration of air-floating main shaft, thus ensures between the system of hole
Positional precision；Oil static pressure turntable uses annular straight motor to drive, and oil static pressure turntable is capable of high rigidity and high revolution essence
Degree, to ensure the stability in the course of processing；Wherein composition inclined shaft mirror finish grinding device emery wheel 5 uses commercially available minor diameter micro powder silt
Wheel, grinding spindle 6 uses self-control high accuracy air spindle.
The operation principle of the present invention is, the direction of feed of the first hydrostatic slideway 11 that above-mentioned linear electric motors drive and straight-line electric
The bearing axis of the oily hydrostatic bearing 3 that machine drives remains vertical；The additionally axis of air spindle 6 and oil hydrostatic bearing 3
Dead eye centrage remain parallel.Add man-hour, first workpiece is arranged on the 4th hydrostatic slideway 4, workpiece is to be added
The centrage of the centrage in work hole and oil hydrostatic bearing 3 plays table centering, utilizes the first hydrostatic slideway 11 by workpiece translational motion to grinding
The lower section of main shaft 6, by regulation the 3rd hydrostatic slideway 7, by the emery wheel axis on grinding air spindle 6 and oil hydrostatic bearing 2
Centrage keeps consistent.In the course of processing, high accuracy air spindle is utilized to ensure form accuracy and the surface quality of hole system,
After processing first hole, another generation processing hole is moved to static pressure turntable 3 by the 4th hydrostatic slideway 4 utilizing linear electric motors to control
Center, and ensure static pressure turntable the centre of gyration overlap with the centre of gyration in hole to be processed, after this step is complete, add according to identical
Work process conditions carry out grinding to second hole.It follows that according to identical step until all of hole system machines.
Owing in the course of processing, workpiece rotation is driven hydraulic swivel to complete by high-precision linear electric motors, translational motion then uses high accuracy
The oily hydrostatic slideway that linear electric motors drive, therefore in hole system grinding process, it is possible to well ensures to meet dimension between holes precision,
Positional precision between surface quality and each hole in hole.Meanwhile, due also to use linear electric motors to drive slide unit to move, precision
Height, machining path controllability is good, it is hereby achieved that higher workpiece surface quality.
Robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine in this utility model is demonstrate,proved through trial-production is on probation
Obvious results fruit is notable, is fully achieved design requirement.This lathe is capable of all dead eye systems and disposably processes and put in place, reduces and installs
Error, tool-setting error, improve machining accuracy and working (machining) efficiency, it is ensured that the dimensional accuracy of hole system, the surface quality in hole and
Positional precision between each hole, is particularly well-suited to high efficiency manufacture and the steady production of precision speed reduction device planetary gear.
Principle of the present utility model and embodiment are set forth by specific embodiment used herein, above enforcement
The explanation of example is only intended to help to understand method of the present utility model and core concept thereof.The above is only of the present utility model
Preferred implementation, it is noted that due to the finiteness of literal expression, and objectively there is unlimited concrete structure, for this
For the those of ordinary skill of technical field, on the premise of without departing from this utility model principle, it is also possible to make some improvement,
Retouching or change, it is also possible to above-mentioned technical characteristic is combined by rights；These improve retouching, change or combine,
Or the most improved design by utility model and technical scheme directly apply to other occasion, it is regarded as of the present utility model
Protection domain.
Claims (5)
1. a robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine, it is characterised in that include that bed body, air supporting are put down
Platform, described bed body uses gantry structure to be also installed on air floating platform, air floating platform corner with amortisseur, table in described bed body
Side, face is provided with the first hydrostatic slideway that linear electric motors drive, and is provided with the second hydrostatic slideway on the portal frame of bed body,
It is arranged above the 3rd hydrostatic slideway at gantry structure, the 3rd hydrostatic slideway is provided with the grinding spindle with emery wheel,
Oily static pressure turntable and the 4th static pressure of linear electric motors control that linear electric motors drive are installed on the first described hydrostatic slideway
Guide rail.
Robot RV reducer the most according to claim 1 planet wheel spindle bearing bore system Special precision grinding machine, it is characterised in that
First hydrostatic slideway, the second hydrostatic slideway, the 3rd hydrostatic slideway, the 4th hydrostatic slideway are equal with oil static pressure turntable and grinding spindle
An integrated digital control system, is controlled by same numerical control device.
Robot RV reducer the most according to claim 1 planet wheel spindle bearing bore system Special precision grinding machine, described grinding master
Axle uses air-flotation electric spindle, and the precision of this main shaft reaches 40000 revs/min, and rotating accuracy reaches 0.02 μm.
Robot RV reducer the most according to claim 1 planet wheel spindle bearing bore system Special precision grinding machine, the 4th static pressure is led
Rail and oil static pressure turntable as an integral installation on the first hydrostatic slideway.
Robot RV reducer the most according to claim 1 planet wheel spindle bearing bore system Special precision grinding machine, during use, emery wheel
Centre of gyration line, grinding spindle centre of gyration line, the centrage of workpiece spindle system, oil static pressure turntable centre of gyration line protect
Prudent conjunction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620628916.6U CN205734213U (en) | 2016-06-23 | 2016-06-23 | A kind of robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620628916.6U CN205734213U (en) | 2016-06-23 | 2016-06-23 | A kind of robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734213U true CN205734213U (en) | 2016-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620628916.6U Expired - Fee Related CN205734213U (en) | 2016-06-23 | 2016-06-23 | A kind of robot RV reducer planet wheel spindle bearing bore system Special precision grinding machine |
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| Country | Link |
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| CN (1) | CN205734213U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106862677A (en) * | 2017-01-12 | 2017-06-20 | 广州市敏嘉制造技术有限公司 | A kind of star-wheel grinder structure |
| CN107030579A (en) * | 2017-05-31 | 2017-08-11 | 西安交通大学 | A kind of hard brittle material Hole Ultra-precision processing method |
| CN110548937A (en) * | 2019-09-20 | 2019-12-10 | 东莞市沃德精密机械有限公司 | Harmonic reducer gear optical processing machine tool |
| CN113059407A (en) * | 2021-04-06 | 2021-07-02 | 蓝思智能机器人(长沙)有限公司 | Circular hole polishing method and polishing system, polishing device and polishing equipment thereof |
| CN118106873A (en) * | 2024-03-14 | 2024-05-31 | 哈尔滨工业大学 | High-rigidity five-axis linkage ultraprecise machining grinding machine tool |
-
2016
- 2016-06-23 CN CN201620628916.6U patent/CN205734213U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106862677A (en) * | 2017-01-12 | 2017-06-20 | 广州市敏嘉制造技术有限公司 | A kind of star-wheel grinder structure |
| CN107030579A (en) * | 2017-05-31 | 2017-08-11 | 西安交通大学 | A kind of hard brittle material Hole Ultra-precision processing method |
| CN110548937A (en) * | 2019-09-20 | 2019-12-10 | 东莞市沃德精密机械有限公司 | Harmonic reducer gear optical processing machine tool |
| CN113059407A (en) * | 2021-04-06 | 2021-07-02 | 蓝思智能机器人(长沙)有限公司 | Circular hole polishing method and polishing system, polishing device and polishing equipment thereof |
| CN118106873A (en) * | 2024-03-14 | 2024-05-31 | 哈尔滨工业大学 | High-rigidity five-axis linkage ultraprecise machining grinding machine tool |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 |