CN104565282B - Harmonic reducer and machining process thereof - Google Patents
Harmonic reducer and machining process thereof Download PDFInfo
- Publication number
- CN104565282B CN104565282B CN201410845283.XA CN201410845283A CN104565282B CN 104565282 B CN104565282 B CN 104565282B CN 201410845283 A CN201410845283 A CN 201410845283A CN 104565282 B CN104565282 B CN 104565282B
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- China
- Prior art keywords
- needle roller
- roller groove
- firm wheel
- output shaft
- processing
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Classifications
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
- B23P15/14—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass gear parts, e.g. gear wheels
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a harmonic reducer. The harmonic reducer comprises a rigid circular spline; a flexible output device is drivingly connected inside the rigid circular spline and composed of a flexible gear and an output shaft which are integrally formed. The invention also provides a machining process of the harmonic reducer. The machining process comprises a right circular spline machining step, a flexible output device machining step and an assembly step. An external roller pin groove and the rigid circular spline are integrally formed; the flexible gear, a bearing track, an internal roller pin groove and the output shaft are integrally formed. According to the machining process of the harmonic reducer, the external roller pin groove and the rigid circular spline are integrally formed; during the flexible output device machining step, the flexible gear, the bearing track, the internal roller pin groove and the output shaft are integrally formed and accordingly are simple in structure, so that error accumulation due to separate machining can be greatly reduced, the product precision can be improved, the concentricity and the location degree of the rigid circular spline, the flexible gear and the output shaft are ensured, the service life of the harmonic reducer can be prolonged by 50%, and the production cost can be reduced by 20-30%.
Description
Technical field
The present invention relates to decelerator and its processing technique, more particularly to a kind of harmonic speed reducer and its processing technique.
Background technology
Harmonic speed reducer is new high-precision transmission decelerating device, and this decelerator moment of torsion is big, gear ratio is high, weight
Gently, small volume is used widely.
Traditional harmonic speed reducer includes firm wheel, is connected with flexbile gear and output shaft in firm wheel, flexbile gear and output shaft it
Between be fixedly connected, connection, wherein cross roller bearing are rotated by cross roller bearing between output shaft and firm wheel
Typically it is made up of inner ring, outer ring and decussation needle roller.
At present the inner ring of the cross roller bearing that harmonic speed reducer is used mostly is adopted on the excircle of output shaft
Directly similar to the groove of inner ring structure at processing；And the outer ring of cross roller bearing is typically limited to current process equipment
Working ability and technique, it is general using outer ring along the circumferential direction to be cut into two parts in order to easy to assembly, then again to this
Two-part internal diameter junction processes respectively half groove-like structure, finally by the fixed form of bolt or bearing pin by this two parts
Combination is fixed so as to which the groove to be formed similar to outer ring is docked in the junction of internal diameter, then reassembles decussation needle roller.
This processing and assembling has following defect：One be because each component needs to process respectively, cumulative errors compared with
Greatly, Product Precision is reduced, and is wasted time and energy, it is relatively costly；Two when being assembling, and each component needs repeatedly assembling, causes dress
It is larger with error, it is impossible to ensure the concentric degree and position degree of firm wheel and flexbile gear and output shaft, reduce the use of decelerator
Life-span.
The content of the invention
The problem to be solved in the present invention is to provide a kind of simple structure, can improve assembly precision, reduce production cost, energy
Enough ensure concentric degree and position degree, the harmonic speed reducer of increase service life of firm wheel and flexbile gear and output shaft.
In order to solve the above problems, the present invention is employed the following technical solutions：
A kind of harmonic speed reducer, including firm wheel, be connected flexible output device in firm wheel, and flexible output device includes
Flexbile gear and output shaft, the flexbile gear and output shaft are integrally machined molding.
The following is further optimization of the present invention to such scheme：
Connection is rotated by cross roller bearing between output shaft and firm wheel, the cross roller bearing is by rolling
Needle tray and decussation needle roller are constituted, needle roller groove include with firm wheel be integrally machined molding outer needle roller groove and with output shaft one plus
The interior needle roller groove of work molding.
Further optimization：By internal tooth and external tooth engaged transmission between flexbile gear and firm wheel；It is provided with flexbile gear and flexbile gear one
The raceway of body machine-shaping.
Further optimization：The needle roller installing hole connected with needle roller groove, institute are disposed radially on the excircle of the firm wheel
State and be provided with needle roller installing hole for blocking needle roller installing hole, preventing decussation needle roller from blocking up that needle roller installing hole is exited
Head.
Further optimization：Plug is processed into the structure shape consistent with the interior wall construction of needle roller groove near one end of needle roller groove
Shape.
It is axially disposed on the end face of the firm wheel that have can be also cross firm wheel and the tapered location hole of plug, tapered positioning
The taper pin for fixing plug is plugged with hole.
The present invention adopts such scheme so that outer needle roller groove is integrally machined molding with firm wheel；Flexbile gear and output shaft add work step
In rapid, interior needle roller groove is integrally machined molding with output shaft, and simple structure reduces rigging error, improves Product Precision, it is ensured that
The concentric degree and position degree of firm wheel and flexbile gear and output shaft, extend the service life of decelerator.
The problem also to be solved of the invention is to provide the processing technique of above-mentioned harmonic speed reducer.In order to solve above-mentioned asking
Topic, the present invention is employed the following technical solutions：
A kind of processing technique of harmonic speed reducer, the technique includes firm wheel procedure of processing and flexible output device procedure of processing
And installation step；In firm wheel procedure of processing, outer needle roller groove is integrally machined molding with firm wheel；Flexible output device axle procedure of processing
In, flexbile gear is integrally machined molding with raceway and interior needle roller groove and output shaft.
The following is further optimization of the present invention to such scheme：
Firm wheel procedure of processing includes：
1）, forge blank and be tempered；
2）, roughing：Processed respectively by lathe：The internal tooth inner circle of a, firm wheel；B, outer needle roller groove；C, needle roller are installed
Hole；D, tapered location hole；The allowance of 0.5mm is left after the internal tooth inner circle of firm wheel and outer needle roller groove processing；
3）, assembling positioning：Decussation needle roller is encased in outer needle roller groove by needle roller installing hole, is then inserted with plug
Enter to needle roller installing hole, finally taper pin is inserted in tapered location hole and fixes plug；
4）, semifinishing：Processed respectively by Digit Control Machine Tool：The internal tooth inner circle of a, firm wheel；B, outer needle roller groove；Stay after processing
There is the allowance of 0.01~0.015mm；
5）, it is quenched, quenching；Overall quenched HRC28-36 is carried out to firm wheel；Then selective hardening is carried out to needle roller groove location
HRC58-63；
6）, polish；By grinding machine clamped one time, grind the internal tooth of firm wheel, outer needle roller groove, make the interior toothed ring gear of firm wheel with
The concentricity of outer needle roller groove reaches 0.3 micron.
Further optimization：In above-mentioned steps 4, process outer needle roller groove when, by plug near one end of needle roller groove be processed into
The consistent planform of the interior wall construction of needle roller groove.
Further optimization：
Flexible output device procedure of processing includes：
7）, by blank once by roughing and semifinishing, process the planform of flexbile gear and output shaft；
8）, by grinding machine clamped one time, disposably grind the external tooth of flexbile gear and the interior needle roller groove of output shaft and bearing rolling
Road 3, clamped one time just can be machined, and substantially reduce the accumulation of error produced by parts processing.Make the external tooth of flexbile gear and defeated
The interior needle roller groove concentricity of shaft reaches 0.3 micron.
Further optimization：Installation step is：9）, plug and taper pin exited respectively, then flexible output device is filled
Enter in firm wheel, then decussation needle roller is encased in outer needle roller groove by needle roller installing hole, be then inserted into rolling with plug
Pin installing hole, taper pin is finally inserted in tapered location hole position plug.
The present invention adopts such scheme so that outer needle roller groove is integrally machined molding with firm wheel；Flexible output device adds work step
In rapid, flexbile gear is integrally machined molding with raceway and interior needle roller groove and output shaft, and simple structure substantially reduces split and adds
The accumulation of error produced by work, improves Product Precision, it is ensured that the concentric degree and position of firm wheel and flexbile gear and output shaft
Degree, the service life of decelerator improves 50%, and production cost reduces 20-30%.
With reference to the accompanying drawings and examples the invention will be further described.
Description of the drawings
Accompanying drawing 1 is the structural representation of harmonic wave accelerator in the embodiment of the present invention.
In figure：1- firm wheels；2- flexbile gears；3- raceways；4- decussation needle rollers；5- sealing rings；6- output shafts；7- needle rollers
Installing hole；8- plugs；9- needle roller grooves；10- taper pins；The tapered location holes of 11-；12- internal tooths；13- external tooths.
Specific embodiment
Embodiment, as shown in figure 1, a kind of harmonic speed reducer, including firm wheel 1, be connected flexible output dress in firm wheel 1
Put, flexible output device includes flexbile gear 2 and output shaft 6, the flexbile gear 2 and output shaft 6 are integrally machined molding.
Between output shaft 6 and firm wheel 1 by cross roller bearing rotate connection, the cross roller bearing by
Needle roller groove 9 and decussation needle roller 4 are constituted, and needle roller groove 9 includes being integrally machined the outer needle roller groove and and output shaft of molding with firm wheel 1
The 6 interior needle roller grooves for being integrally machined molding.
It is tightly connected by sealing ring 5 between the end of output shaft 6 and firm wheel 1.
By internal tooth 12 and the engaged transmission of external tooth 13 between flexbile gear 2 and firm wheel 1；
The raceway 3 that molding is integrally machined with flexbile gear 2 is provided with flexbile gear 2, for being connected with profile of tooth output shaft.
The needle roller installing hole 7 connected with needle roller groove 9, the needle roller peace are disposed radially on the excircle of the firm wheel 1
Dress is provided with for blocking needle roller installing hole 7 in hole 7, the plug 8 for preventing decussation needle roller 4 from exiting from needle roller installing hole 7.
Plug 8 is processed into the planform consistent with the interior wall construction of needle roller groove 9 near one end of needle roller groove 9.
It is axially disposed on the end face of the firm wheel 1 to have and bore also cross firm wheel 1 and the tapered location hole 11 of plug 8
The taper pin 10 for fixing plug 8 is plugged with type location hole 11.
The processing technique of above-mentioned harmonic speed reducer, including firm wheel procedure of processing and flexible output device procedure of processing and assembling
Step；In firm wheel procedure of processing, outer needle roller groove is integrally machined molding with firm wheel；In flexible output device axle procedure of processing, flexbile gear
Molding is integrally machined with raceway 3 and interior needle roller groove and output shaft 6.
Firm wheel procedure of processing includes：
1）, forge blank and be tempered；
2）, roughing：Processed respectively by lathe：The internal tooth inner circle of a, firm wheel；B, outer needle roller groove；C, needle roller are installed
Hole；D, tapered location hole；The oil sealing position of e, sealing ring；Leave 0.5mm's after the internal tooth inner circle of firm wheel and outer needle roller groove processing
Allowance；
3）, assembling positioning：Decussation needle roller is encased in outer needle roller groove by needle roller installing hole, is then inserted with plug
Enter to needle roller installing hole, finally taper pin is inserted in tapered location hole and fixes plug；
4）, semifinishing：Processed respectively by Digit Control Machine Tool：The internal tooth inner circle of a, firm wheel；B, outer needle roller groove；E, sealing ring
Oil sealing position；The allowance of 0.01~0.015mm is left after processing；When processing outer needle roller groove, by plug near needle roller groove
One end be processed into the planform consistent with the interior wall construction of needle roller groove.
5）, it is quenched, quenching；Overall quenched HRC28-36 is carried out to firm wheel；Then selective hardening is carried out to needle roller groove location
HRC58-63；
6）, polish；By grinding machine clamped one time, the internal tooth of firm wheel, outer needle roller groove, clamped one time are ground
Can just machine, substantially reduce the accumulation of error produced by parts processing.Make the interior toothed ring gear of firm wheel with it is outer
The concentricity of needle roller groove reaches 0.3 micron.
Flexible output device procedure of processing includes：
7）, by blank once by roughing and semifinishing, process the planform of flexbile gear and output shaft；
8）, by grinding machine clamped one time, disposably grind the external tooth of flexbile gear and the interior needle roller groove of output shaft and bearing rolling
Road 3, clamped one time just can be machined, and substantially reduce the accumulation of error produced by parts processing.Make the external tooth of flexbile gear and defeated
The interior needle roller groove concentricity of shaft reaches 0.3 micron.
Installation step is：9）, plug and taper pin exited respectively, then flexible output device is encased in firm wheel,
Decussation needle roller is encased in outer needle roller groove by needle roller installing hole again, is then inserted into needle roller installing hole with plug, most
Taper pin is inserted in tapered location hole afterwards positions plug.
The invention enables outer needle roller groove is integrally machined molding with firm wheel；In flexible output device procedure of processing, flexbile gear and axle
Hold raceway 3 and interior needle roller groove and output shaft 6 is integrally machined molding.Simple structure, reduces rigging error, improves product essence
Degree, it is ensured that the concentric degree and position degree of firm wheel and flexbile gear and output shaft, extends the service life of decelerator.
Claims (10)
1. a kind of harmonic speed reducer, including firm wheel（1）, firm wheel（1）Inside be connected flexible output device, flexible output device
Including flexbile gear（2）And output shaft（6）, it is characterised in that：The flexbile gear（2）And output shaft（6）It is integrally machined molding；
Output shaft（6）With firm wheel（1）Between by cross roller bearing rotate connection, the cross roller bearing by
Needle roller groove（9）With decussation needle roller（4）Composition, needle roller groove（9）Including with firm wheel（1）Be integrally machined molding outer needle roller groove and
With output shaft（6）It is integrally machined the interior needle roller groove of molding.
2. a kind of harmonic speed reducer according to claim 1, it is characterised in that：Flexbile gear（2）With firm wheel（1）Between lead to
Cross internal tooth（12）And external tooth（13）Engaged transmission；Flexbile gear（2）Inside it is provided with and flexbile gear（2）It is integrally machined the raceway of molding
（3）.
3. a kind of harmonic speed reducer according to claim 2, it is characterised in that：The firm wheel（1）Excircle on edge
It has been radially arranged and needle roller groove（9）The needle roller installing hole of connection（7）, the needle roller installing hole（7）Inside it is provided with for blocking rolling
Pin installing hole（7）, prevent decussation needle roller（4）From needle roller installing hole（7）The plug for exiting（8）.
4. a kind of harmonic speed reducer according to claim 3, it is characterised in that：Plug（8）Near needle roller groove（9）'s
It is processed into and needle roller groove one end（9）The consistent planform of interior wall construction.
5. a kind of harmonic speed reducer according to claim 3 or 4, it is characterised in that：The firm wheel（1）End face on edge
It is axially arranged that have can be also cross firm wheel（1）And plug（8）Tapered location hole（11）, tapered location hole（11）Inside it is plugged with use
In fixed plug（8）Taper pin（10）.
6. a kind of processing technique of harmonic speed reducer as claimed in claim 5, the technique includes firm wheel procedure of processing and flexibility
Output device procedure of processing and installation step；It is characterized in that：
In firm wheel procedure of processing, outer needle roller groove is integrally machined molding with firm wheel；In flexible output device axle procedure of processing, flexbile gear
Molding is integrally machined with raceway and interior needle roller groove and output shaft.
7. the processing technique of a kind of harmonic speed reducer according to claim 6, it is characterised in that：Firm wheel procedure of processing bag
Include：
1）, forge blank and be tempered；
2）, roughing：Processed respectively by lathe：The internal tooth inner circle of a, firm wheel；B, outer needle roller groove；C, needle roller installing hole
；D, tapered location hole；The allowance of 0.5mm is left after the internal tooth inner circle of firm wheel and outer needle roller groove processing；
3）, assembling positioning：Decussation needle roller is encased in outer needle roller groove by needle roller installing hole, is then inserted with plug
To needle roller installing hole, finally taper pin is inserted in tapered location hole and fixes plug；
4）, semifinishing：Processed respectively by Digit Control Machine Tool：The internal tooth inner circle of a, firm wheel；B, outer needle roller groove；Stay after processing
There is the allowance of 0.01~0.015mm；
5）, it is quenched, quenching；Overall quenched HRC28-36 is carried out to firm wheel；Then selective hardening is carried out to needle roller groove location
HRC58-63 ；
6）, polish；By grinding machine clamped one time, grind the internal tooth of firm wheel, outer needle roller groove, make the interior toothed ring gear of firm wheel with it is outer
The concentricity of needle roller groove reaches 0.3 micron.
8. the processing technique of a kind of harmonic speed reducer according to claim 7, it is characterised in that：In above-mentioned steps 4,
When processing outer needle roller groove, plug is processed into into the planform consistent with the interior wall construction of needle roller groove near one end of needle roller groove.
9. the processing technique of a kind of harmonic speed reducer according to claim 7, it is characterised in that：Flexible output device adds
Work step includes suddenly：7）, by blank once by roughing and semifinishing, process the planform of flexbile gear and output shaft；
8）, by grinding machine clamped one time, disposably grind the external tooth of flexbile gear and the interior needle roller groove of output shaft and raceway（3）, one
Secondary clamping just can be machined, substantially reduce the accumulation of error produced by parts processing, make the external tooth and output shaft of flexbile gear
Interior needle roller groove concentricity reaches 0.3 micron.
10. the processing technique of a kind of harmonic speed reducer according to claim 7, it is characterised in that：Installation step is：
9）, plug and taper pin exited respectively, then flexible output device is encased in firm wheel, then decussation needle roller is passed through
Needle roller installing hole is encased in outer needle roller groove, is then inserted into needle roller installing hole with plug, is finally inserted into taper pin tapered
Plug is positioned in location hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410845283.XA CN104565282B (en) | 2014-12-31 | 2014-12-31 | Harmonic reducer and machining process thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410845283.XA CN104565282B (en) | 2014-12-31 | 2014-12-31 | Harmonic reducer and machining process thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104565282A CN104565282A (en) | 2015-04-29 |
| CN104565282B true CN104565282B (en) | 2017-05-17 |
Family
ID=53082061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410845283.XA Expired - Fee Related CN104565282B (en) | 2014-12-31 | 2014-12-31 | Harmonic reducer and machining process thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN104565282B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816050B (en) * | 2015-05-13 | 2017-03-22 | 广州市昊志机电股份有限公司 | Processing clamp and processing technology for flexible gear of harmonic reducer |
| US20190309839A1 (en) * | 2016-11-09 | 2019-10-10 | Shanghai F&S Bearing Tech Co., Ltd. | Novel assembly of a flexspline and a wave generator for a harmonic gear drive |
| CN108044323B (en) * | 2017-11-24 | 2019-12-03 | 万鑫精工（湖南）有限公司 | A kind of production method of harmonic speed reducer |
| CN108591417B (en) * | 2018-07-09 | 2024-06-14 | 东莞市国森科精密工业有限公司 | Assembly quality of harmonic speed reducer ware |
| CN108890238B (en) * | 2018-09-25 | 2020-04-28 | 山东帅克机械制造股份有限公司 | Machining process of rigid flexible gear of robot speed reducer |
| CN108916355A (en) * | 2018-09-25 | 2018-11-30 | 山东帅克机械制造股份有限公司 | A kind of robot few teeth difference surmounts harmonic speed reducer device |
| CN109837379B (en) * | 2019-02-14 | 2020-11-24 | 浙江来福谐波传动股份有限公司 | Heat treatment process for thin-wall flexible gear of harmonic reducer |
| CN113074234B (en) * | 2021-04-06 | 2022-05-24 | 浙江来福谐波传动股份有限公司 | Manufacturing method of four-point contact flexible bearing harmonic reducer |
| CN113374852B (en) * | 2021-05-24 | 2022-06-03 | 温州大学 | Movable tooth harmonic speed reducer |
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|---|---|---|---|---|
| CN2351616Y (en) * | 1998-10-22 | 1999-12-01 | 中国科学院长春光学精密机械研究所 | Harmonic speed reducer |
| CN102489960A (en) * | 2011-12-13 | 2012-06-13 | 潍坊帅克机械有限责任公司 | Method for manufacturing harmonic reducer of robot |
| CN102734393A (en) * | 2012-06-11 | 2012-10-17 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with input shaft |
| CN203656058U (en) * | 2013-11-28 | 2014-06-18 | 苏州绿的谐波传动科技有限公司 | Precise type harmonic reducer |
| CN204420011U (en) * | 2014-12-31 | 2015-06-24 | 山东帅克机械制造股份有限公司 | A kind of harmonic speed reducer |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85200829U (en) * | 1985-04-23 | 1985-12-20 | 雷良榆 | High efficient speed variator with inscribed steel ball |
| JP2007303592A (en) * | 2006-05-12 | 2007-11-22 | Honda Motor Co Ltd | Harmonic drive |
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2014
- 2014-12-31 CN CN201410845283.XA patent/CN104565282B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2351616Y (en) * | 1998-10-22 | 1999-12-01 | 中国科学院长春光学精密机械研究所 | Harmonic speed reducer |
| CN102489960A (en) * | 2011-12-13 | 2012-06-13 | 潍坊帅克机械有限责任公司 | Method for manufacturing harmonic reducer of robot |
| CN102734393A (en) * | 2012-06-11 | 2012-10-17 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with input shaft |
| CN203656058U (en) * | 2013-11-28 | 2014-06-18 | 苏州绿的谐波传动科技有限公司 | Precise type harmonic reducer |
| CN204420011U (en) * | 2014-12-31 | 2015-06-24 | 山东帅克机械制造股份有限公司 | A kind of harmonic speed reducer |
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| CN104565282A (en) | 2015-04-29 |
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