CN206794943U - Joint of robot RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders - Google Patents

Joint of robot RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders Download PDF

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Publication number
CN206794943U
CN206794943U CN201720553103.XU CN201720553103U CN206794943U CN 206794943 U CN206794943 U CN 206794943U CN 201720553103 U CN201720553103 U CN 201720553103U CN 206794943 U CN206794943 U CN 206794943U
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China
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axis
static
support plate
speed reducer
joint
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CN201720553103.XU
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Inventor
刘雪垠
费宇
赵其春
邬君
陈健
李志伟
闫剑
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Sichuan Machinery Research and Design Institute (Group) Co., Ltd
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MECHANIAL RESEARCH AND DESIGN INSTITUTE SICHUAN
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Abstract

The utility model discloses a kind of joint of robot RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders, including bed body and corresponding X to component, Y-direction component, Z-direction component, X is moved to component by X-axis hydrostatic slideway and X-axis motor, Y-direction component and Z-direction component are similarly, static pressure grinding spindle and grinding machine head are set on Z-direction component, dynamic balancing head is set on grinding spindle, the utility model is positioned to workpiece, clamped and supported using high rigidity hydrostatic head tailstock, use static pressure grinding spindle to provide main cutting force for abrasive grinding wheel, fixed using hydrostatic bearing, support rotating shaft;Above static pressure mechanism is applied to high precision grinder advantages:Precision is high, and rigidity is big, and bearing capacity is strong, and dynamic balancing is outstanding, and damping performance is excellent, minimum to lathe heat input, can improve cutting force, shortens process time;Static pressure transmission mechanism coordinates the closed-loop drive system of ultraprecise encoder to fully meet technological requirement.

Description

Joint of robot RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders
Technical field
It the utility model is related to a kind of special purpose grinder, more particularly to a kind of precision grinder suitable for Key Part of Cycloid Cam Planetary Speed Reducer.
Background technology
The high-accuracy cycloidal reducer of industrial robot is the weak Typical Representative of China's key foundation parts.2013 I State's industrial robot purchase volume exceedes Japan first, turns into the whole world first.And as the high-accuracy of industrial robot core component Decelerator is still monopolized by foreign countries, seriously constrains the development of China's industry of industrial robots, up to now, RV decelerators are domestic Change there is no substantive breakthroughs.
RV decelerators transmitting large torque on the premise of transmission accuracy is ensured, it is necessary in tight space, bear overload punching Hit, and the expectsted of working life is grown, thus used cross location structure in design.Cross Position Design and bring high processing Precision and assembly technology requirement, size Control precision is micron and rad rank easily, hence it is evident that more than general precision machined model Enclose, large-scale production is subject to processing the serious restriction of equipment, processing technology and mounting technology.Just because of robot ultraprecise slows down The high machining accuracy of device and assembly technology requirement so that general enterprises are difficult to reach, particularly high precision machines people ultraprecise Reducer relies primarily on import, current 75% market share by Liang Jia Japanese firms (Nabtesco companies and HarmonicDrive companies) monopolization.
Because the core technology that joint of robot is manufactured with RV decelerators is grasped by Japanese Nakib Teske Co., Ltd , therefore the technology is via its more than two decades of cornering the market.Well-known high-precision grinder manufacturing enterprise has more than ten in the world, But it really is able to meet that the process equipment of RV decelerator kernel component Cycloidal Wheel machining accuracies is very rare, indivedual enterprises Equipment is also only used for scientific research and development, only SwitzerlandThe molding gear grinding machine bed of " Mei Gaile " is public in Slovakia SPINEA There is a sales achievement in department, and shake health, Shandong Shuai Kedeng robots RV ultraprecise decelerators enterprise of domestic Nantong also have purchased this enterprise of family Equipment, it is but very low according to feedback, Mei Gaile device efficiency, it is impossible to meet batch production and require that manufacturing cost remains high, and make The product quality produced is also and unstable.
Recent year part manufacturer and universities and colleges start to endeavour the production domesticization and industrialization of high-precision cycloidal planetary gear speed reducer Research, as handsome gram of Shandong, Nantong shake, health, Zhejiang Hengfeng are safe, Zhejiang is bicyclic, the experiment of (University Of Chongqing) machine driving state key Room, Tianjin reductor factory, Qin Chuan machine tool plant, Dalian University Of Communications etc., but do not have at present in terms of the batch production technique of RV decelerators Good solution, the production domesticization of RV decelerators not yet make substantial breakthroughs.
Utility model content
Decelerator is the essential key foundation parts of equipment manufacture, and high-accuracy decelerator is always China's dress Standby manufacturing short slab, relies on import for a long time.The special molding grinding machine of this utility model is mainly used in solving suitable robot The joint batch production technique of high-accuracy RV decelerators key components and parts --- cycloid gear ---, it is most important in processing to complete It is most difficult last one of precision grinding process, had both can guarantee that the high manufacturing accuracy and high workload efficiency of cycloid gear, and can ensures High efficiency manufacture and steady production, it can effectively control financial cost.
The utility model is achieved through the following technical solutions above-mentioned purpose:
Joint of robot RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders, including bed body, in addition to:
X is slidably arranged in bed body to component, including X-axis support plate, the X-axis support plate, and X-axis support plate upper surface sets coaxial The static head frame and static pressure tail point of heart arrangement, RV Cycloidal Wheel fixtures are set on the static head frame;
Y-direction component, including Y-axis support plate, the Y-axis support plate are slidably arranged in bed body, and Y-axis support plate upper surface sets Y-direction Slide unit, lower surface set Y-direction slide track seat and Y-direction feed screw nut, the Y-direction slide track seat to be led with the Y-axis static pressure being arranged in bed body Rail is slidably matched, and the Y-direction feed screw nut coordinates with Y-axis static-pressure lead screw, described Y-axis static-pressure lead screw one end and Y-axis motor Connection, the other end are connected with Y-axis leading screw bearing;
Z-direction component, including Z axis support plate, the Z axis support plate are slidably arranged in the front end of Y-direction slide unit, the front end of Z axis support plate Face sets static pressure grinding spindle and abrasive grinding wheel, and rear end face sets Z-direction slide track seat and Z-direction feed screw nut, the Z-direction slide track seat with The Z axis hydrostatic slideway for being arranged on Y-direction slide unit front end face is slidably matched, and the Z-direction feed screw nut coordinates with Z axis static-pressure lead screw, institute State Z axis static-pressure lead screw one end with Z axis motor to couple, the other end is connected with Z axis leading screw bearing.
Further, in addition to measuring instrument, the measuring instrument are arranged on the side of abrasive grinding wheel, it is preferable that can set On wheel guard.
Further, the X-axis support plate lower surface is provided with X to slide track seat and X to feed screw nut, and the X is to slide track seat It is slidably matched with the X-axis hydrostatic slideway being arranged in bed body, the X coordinates to feed screw nut and X-axis static-pressure lead screw, the X-axis Static-pressure lead screw one end couples with X-axis motor, and the other end is connected with X-axis leading screw bearing.
Further, it is also equipped with repairing emery wheel motor, finishing emery wheel motor work on the static head frame End installation amendment emery wheel.
Further, the bed body is T stage structure, and the front end of T stage structure arranges X to component, rear end arrangement Y-direction group Part.
Further, the X-axis hydrostatic slideway, Y-axis hydrostatic slideway, Z axis hydrostatic slideway are disposed as two.
The beneficial effects of the utility model are:
1st, bed body uses cast mineral, and compared with cast iron, linear contraction is small, and shaping tolerance is small, good corrosion resistance, shock absorption Good, placing temperature is low, internal stress free, has good corrosion resistance to oil, coolant and other corrosive liquids, finally Precision is significantly larger than cast iron.
2nd, the travel mechanism of grinding machine X, Y, Z three-dimensionals stroke uses hydrostatic slideway, compared to common line slideway, hydrostatic slideway Do not beat, there is no frictional resistance during low speed, feeding is smaller than 0.1 μm, does not also wear during maximum load, precision is never damaged Lose, damping property is excellent, improves workpiece surface quality and cutter life.
3rd, using static-pressure lead screw driving hydrostatic slideway movement, the frictional force and speed of static-pressure lead screw are directly proportional, several during low speed It is zero, positioning precision is high, and step-length is minimum (0.01 μm, 0.1 μm), and feed speed is extremely slow, in the case of dynamic load, static-pressure lead screw Damping performance is splendid, completely eliminates vibrations and noise that roller screw has.
4th, workpiece is positioned, clamped and supported using high rigidity hydrostatic head tailstock, use static pressure grinding spindle as mill Cut emery wheel and main cutting force is provided, fixed using hydrostatic bearing, support rotating shaft;Above static pressure mechanism is applied to high precision grinder advantage It is prominent:Precision is high, and rigidity is big, and bearing capacity is strong, and dynamic balancing is outstanding, and damping performance is excellent, minimum to lathe heat input, never grinds Damage, cutting force can be improved, shorten process time;Static pressure transmission mechanism coordinates the closed-loop drive system of ultraprecise encoder completely full Sufficient technological requirement.
5th, using Grinding Cycle Command control technology, instant feedback grinding machine working condition, it is ground by measuring instrument sensor Contact point detects, and system has the control of finishing emery wheel and anti-collision, energy real time on-line monitoring grinding workpiece, performs time-out and carries Show abnormal alarm, ensure crudy, improving production efficiency, improve stabilization of equipment performance, effectively save downtime and cost.
6th, using grinding wheel dynamic balance control technology, dynamic balancing head is installed on grinding spindle, can autobalance grinding sand Wheel, crudy is improved, reduce waste product and do over again, extend main shaft, emery wheel and trimmer life-span, improve stabilization of equipment performance and effect Rate, improve production efficiency.
Brief description of the drawings
Fig. 1 is the utility model structure diagram;
Wherein:1st, bed body, 2, X-axis support plate, 3, RV Cycloidal Wheels to be processed, 4, RV Cycloidal Wheel fixtures, 5, X-axis hydrostatic slideway, 6th, X-axis static-pressure lead screw, 7, X-axis leading screw bearing, 8, static head frame, 9, finishing emery wheel motor, 10, finishing emery wheel, 11, measurement Instrument, 12, abrasive grinding wheel, 13, static pressure grinding spindle, 14, Z axis support plate, 15, Z axis motor, 16, Z axis hydrostatic slideway, 17, Z Axle static-pressure lead screw, 18, Y-direction slide unit, 19, Y-axis motor, 20, Y-axis support plate, 21, Y-axis static-pressure lead screw, 22, Y-axis static pressure leads Rail, 23, static pressure tailstock, 24, X-axis motor.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described further to the utility model.
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining this Utility model, it is not used to limit the utility model.
This time the RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinder of utility model is adopted using shaping grinding process, grinding machine integral layout With workbench portable structure, overall primary structure include bed body 1, motor, hydrostatic slideway, static head frame, static pressure tailstock, Static pressure grinding spindle, static-pressure lead screw, flow controller and automatic-balancing system etc..
RV Key Part of Cycloid Cam Planetary Speed Reducer 3 to be processed is fixed on static head frame 8 by fixture 4, and static pressure tailstock 23 is in grinding Fixture 4 can be pushed against, static head frame 8 is bolted with static pressure tailstock 23 to be fixed on X-axis support plate 2, and X-axis support plate 2 and X-axis are quiet The sliding block of guide rail 5 and the feed screw nut of X-axis static-pressure lead screw 23 is pressed to be connected simultaneously, the track of X-axis hydrostatic slideway 5 is fixed on bed body 1 On, whole X-axis support plate 2 and its connection member can drive X-axis static-pressure lead screw 6 to move in X direction by X-axis motor 24;Together Reason, because static pressure grinding spindle 12 is connected on Y-direction slide unit 18 by Z axis support plate 14 and Z axis hydrostatic slideway 16, therefore it is overall can be It can be moved on Y-axis support plate 20 along Y-direction, static pressure grinding spindle 12 and its connected abrasive grinding wheel 11, Z axis support plate 13 are as whole Body can move along Z-direction;Repair emery wheel motor 9 to be connected with static head frame 8, in abrasive grinding wheel 12 by the abrasion that works long hours After can drive finishing emery wheel 10 it is repaired.
The utility model specific implementation process:First by a pair of RV Key Part of Cycloid Cam Planetary Speed Reducer 3 by roughly grinding machine-shaping (leaving grinding allowance) is fixed on static head frame 8 by the overlapping alignment of fixture 4, and fixture 4 is withstood in the top stretching of static pressure tailstock 23, A pair of RV Key Part of Cycloid Cam Planetary Speed Reducer 3 to be processed are accurately fixedly positioning;The probe of measuring instrument 11 in detecting system stretches out measurement and repaiied Relative initial position between whole emery wheel 10, abrasive grinding wheel 12 and RV Cycloidal Wheels 3 to be processed, static head frame 8 is along X-axis hydrostatic slideway 5 are moved at probe positions, and static head frame 8 drives fixture 4 to rotate, and measuring instrument 11 is popped one's head in be sentenced according to the position mark on fixture 4 Determine grinding initial position;X, Y, Z axis motor 24,19,15 according to operating system order-driven correspond to static-pressure lead screw 6, 21st, 17 so that Y-axis support plate 20 moves along Y-axis hydrostatic slideway 22, is ground initially to abrasive grinding wheel 12 and RV Cycloidal Wheels 3 to be processed Aligned in position, X-axis support plate 2 move along X-axis hydrostatic slideway 5, are located at the axis of abrasive grinding wheel 12 to the left surface of RV Cycloidal Wheels 3 to be processed On the right side of the vertical plane of place, Z axis support plate 14 moves down along Z axis hydrostatic slideway 16, to first time grinding depth initial position;Grinding Emery wheel 12 keeps rated speed and position is constant, and RV Cycloidal Wheels 3 to be processed at the uniform velocity move from right to left along X-axis hydrostatic slideway 5, directly Being cut to corase grind for the first time is completed, grinding depth 0.05mm, so back and forth, RV Cycloidal Wheels 3 to be processed move left and right along X-axis guide rail 5, Abrasive grinding wheel 12 is fed along Z axis guide rail 16 by grinding depth each time, each cycloidal gear teeth grinding process by " corase grind --- it is thick Grind --- corase grind --- the empty mill of fine grinding --- fine grinding --- " step progress, roughly grind Y-axis feeding depth 0.05mm, fine grinding Y-axis feeding Depth 0.02mm;3 each tooth of RV Cycloidal Wheels to be processed is finished by above-mentioned steps grinding, and abrasive grinding wheel 12 rises, the band of static head frame 8 Dynamic generation processing RV Cycloidal Wheels 3, which are rotated to next tooth position to be processed, is put, and abrasive grinding wheel 12, which repeats the above steps, to be processed, until whole The individual grinding of Cycloidal Wheel 3 finishes;After grinding, abrasive grinding wheel 12 is risen, and the detection probe of measuring instrument 11 is stretched out, and X-axis support plate 2 drives The Cycloidal Wheel processed is moved at probe along X-axis guide rail 5, carries out quality testing to the Cycloidal Wheel of completion of processing, detection is up to standard After remove Cycloidal Wheel;By working long hours mild wear can occur for abrasive grinding wheel 12, influence grinding accuracy and repaiied, it is necessary to be moved to Repaired at whole emery wheel 10.
The joint of robot of this utility model with RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinder the linear positions up to 1 μm, angle Degree positioning precision reaches 5arcsec, by RV the form of cycloidal gear tooth outline of straight line degree≤4 μm of the grinding machine batch grinding, between cog Angular error is less than 5arcsec.
Above-described embodiment is preferred embodiment of the present utility model, is not the limit to technical solutions of the utility model System, as long as the technical scheme that can be realized without creative work on the basis of above-described embodiment, is regarded as falling into In the rights protection scope of the utility model patent.

Claims (8)

1. joint of robot RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders, including bed body (1), it is characterised in that also include:
X is slidably arranged in bed body (1) to component, including X-axis support plate (2), the X-axis support plate (2), X-axis support plate (2) upper surface The static head frame (8) and static pressure tail point (23) of concentric arrangement are set, RV Cycloidal Wheel fixtures are set on the static head frame (8) (4);
Y-direction component, including Y-axis support plate (20), the Y-axis support plate (20) is slidably arranged in bed body (1), on Y-axis support plate (20) End face sets Y-direction slide unit (18), and lower surface sets Y-direction slide track seat and Y-direction feed screw nut, and the Y-direction slide track seat is with being arranged on bed Y-axis hydrostatic slideway (22) on body (1) is slidably matched, and the Y-direction feed screw nut coordinates with Y-axis static-pressure lead screw (21), the Y-axis Static-pressure lead screw (21) one end couples with Y-axis motor (19), and the other end is connected with Y-axis leading screw bearing;
Z-direction component, including Z axis support plate (14), the Z axis support plate (14) are slidably arranged in the front end of Y-direction slide unit (18), and Z axis carries The front end face of plate (14) sets static pressure grinding spindle (13) and abrasive grinding wheel (12), and rear end face sets Z-direction slide track seat and Z-direction leading screw Nut, the Z-direction slide track seat are slidably matched with being arranged on the Z axis hydrostatic slideway (16) of Y-direction slide unit (18) front end face, the Z-direction Feed screw nut coordinates with Z axis static-pressure lead screw (17), and described Z axis static-pressure lead screw (17) one end couples with Z axis motor (15), separately One end is connected with Z axis leading screw bearing.
2. joint of robot according to claim 1 RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders, it is characterised in that also include Measuring instrument (11), the measuring instrument (11) are arranged on the side of abrasive grinding wheel (12).
3. joint of robot according to claim 1 or 2 RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders, it is characterised in that institute State X-axis support plate (2) lower surface and be provided with X to slide track seat and X to feed screw nut, the X is to slide track seat and is arranged in bed body (1) X-axis hydrostatic slideway (5) be slidably matched, the X coordinates to feed screw nut and X-axis static-pressure lead screw (6), the X-axis static-pressure lead screw (6) one end couples with X-axis motor (24), and the other end is connected with X-axis leading screw bearing (7).
4. joint of robot according to claim 1 or 2 RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders, it is characterised in that institute State and be also equipped with repairing emery wheel motor (9), the installation amendment of finishing emery wheel motor (9) working end on static head frame (8) Emery wheel (10).
5. joint of robot according to claim 1 RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders, it is characterised in that the bed Body (1) is T stage structure, and the front end of T stage structure arranges X to component, rear end arrangement Y-direction component.
6. joint of robot according to claim 3 RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders, it is characterised in that the X Axle hydrostatic slideway (5), Y-axis hydrostatic slideway (22), Z axis hydrostatic slideway (16) are disposed as two.
7. joint of robot RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders according to claim 1 or 5, it is characterised in that institute Bed body (1) is stated to be made up of cast mineral.
8. joint of robot according to claim 1 RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders, it is characterised in that described quiet Dynamic balancing head is additionally provided with pressure grinding spindle (13).
CN201720553103.XU 2017-05-17 2017-05-17 Joint of robot RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders Active CN206794943U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107081483A (en) * 2017-05-17 2017-08-22 四川省机械研究设计院 Joint of robot RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders
CN108971663A (en) * 2018-08-23 2018-12-11 朋志鹏 A kind of automobile ABS gear machining apparatus
CN112503155A (en) * 2020-11-27 2021-03-16 四川省机械技术服务中心 Compact oscillating reduction gear

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107081483A (en) * 2017-05-17 2017-08-22 四川省机械研究设计院 Joint of robot RV Key Part of Cycloid Cam Planetary Speed Reducer precision grinders
CN108971663A (en) * 2018-08-23 2018-12-11 朋志鹏 A kind of automobile ABS gear machining apparatus
CN112503155A (en) * 2020-11-27 2021-03-16 四川省机械技术服务中心 Compact oscillating reduction gear

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Address after: No.30, section 3, Renmin South Road, Wuhou District, Chengdu City, Sichuan Province, 610000

Patentee after: Sichuan Machinery Research and Design Institute (Group) Co., Ltd

Address before: 610044 30 Renmin South Road, Wuhou District, Chengdu City, Sichuan Province

Patentee before: SICHUAN PROVINCIAL MACHINERY RESEARCH & DESIGN INSTITUTE

CP03 Change of name, title or address