CN110842493A - Machining method for prolonging service life and improving precision of crankshaft of planetary cycloidal pin gear speed reducer - Google Patents
Machining method for prolonging service life and improving precision of crankshaft of planetary cycloidal pin gear speed reducer Download PDFInfo
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- CN110842493A CN110842493A CN201911099583.7A CN201911099583A CN110842493A CN 110842493 A CN110842493 A CN 110842493A CN 201911099583 A CN201911099583 A CN 201911099583A CN 110842493 A CN110842493 A CN 110842493A
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- 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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Abstract
The invention relates to a processing method for prolonging the service life and improving the precision of a crankshaft of a planetary cycloidal pin gear speed reducer, which comprises the following steps: s1 forging a blank; s2 rough machining; s3 quenching and tempering heat treatment, wherein the hardness HRC is 25-30; s4 semi-finishing; s5 carburizing and quenching, wherein the surface hardness HRC is between 58 and 62; and S6 finishing: the surface roughness is controlled within 0.8 micron; s7 ultrasonic surface strengthening: the surface roughness reaches 0.2 micron, and the surface hardness HRC reaches more than 70; s8 plating hard chromium, the thickness is controlled at 0.08-0.09 mm; the surface hardness HRC reaches more than 80; s9 mirror polishing: the surface roughness reaches 0.1 micron, the surface hardness HRC reaches more than 80, and a crankshaft product is formed. The crank shaft manufactured by the processing method has good comprehensive mechanical property, greatly improves the surface hardness of the crank shaft and achieves higher wear resistance; the surface precision is also greatly improved.
Description
Technical Field
The invention belongs to the technical field of reducer manufacturing, relates to a planetary cycloidal reducer manufacturing technology, and particularly relates to a processing method for prolonging the service life and improving the precision of a crankshaft of a planetary cycloidal pin gear reducer.
Background
The reducer is one of four core technologies of an industrial robot, and occupies a large proportion in the production cost of the industrial robot. The planet cycloid speed reducer for the robot has the characteristics of small volume, high rigidity, large transmission ratio, small static return difference, high dynamic transmission precision and the like, and is widely applied to the industries of electronics, aerospace, robots and the like. The crankshaft (as shown in fig. 1) is the core part of the planetary cycloidal reducer, which is composed of two coaxial shaft ends and two eccentric wheels connected with the two shaft ends and set eccentrically relatively. Two tapered roller bearings are mounted at two shaft ends of a crankshaft, and a needle bearing is mounted on each of two eccentric wheels of the crankshaft to abut against the cycloid wheel. The existing technological method for prolonging the service life of the crankshaft mainly adopts the technological methods of carburizing and quenching, nitriding and quenching or carbonitriding, and adopts the method of grinding by a grinding wheel to improve the surface precision of parts, and the processing method has low surface hardness which is not more than HRC65, low precision and surface roughness which is not more than 0.4 micron. Thus resulting in poor precision and life of the crank shaft.
Through the search of the prior art, the technical scheme similar to the patent is not searched.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a processing method for prolonging the service life and improving the precision of a crankshaft of a planetary cycloidal pin gear speed reducer, which can greatly improve the surface hardness and the roughness of the crankshaft so as to meet the requirements of the speed reducer on high precision and high reliability.
The above object of the present invention is achieved by the following technical solutions:
a processing method for improving the service life and the precision of a crankshaft of a planetary cycloidal pin gear speed reducer is characterized by comprising the following steps of:
s1 forging blank: forging the cylindrical bar stock by adopting a forging mode;
s2 rough machining: machining and forging the blank in a turning mode, and removing a large amount of blank;
s3 quenching and tempering heat treatment: carrying out vacuum quenching and tempering heat treatment on the upper-order semi-finished product by adopting a quenching and tempering heat treatment mode, wherein the hardness HRC is 25-30;
s4 semi-finishing: turning the excircle of two shaft ends and the excircle of two eccentric wheels, and processing a spline on the shaft ends by a gear hobbing machine;
s5 carburizing and quenching: the whole part adopts a carburizing and quenching heat treatment mode, a carburized layer is controlled to be between 1.0mm and 1.3mm, and the surface hardness HRC is controlled to be between 58 and 62;
and S6 finishing: grinding two shaft ends and two eccentric wheels, and controlling the surface roughness within 0.8 micron;
s7 ultrasonic surface strengthening: carrying out surface strengthening treatment on the outer circles of the two eccentric wheels of the part by using an ultrasonic rolling cutter, wherein the surface roughness reaches 0.2 micron, and the surface hardness HRC reaches more than 70;
s8 hard chromium plating: electroplating chromium layers on the surfaces of two eccentric wheels of the part, wherein the thickness of the chromium layers is controlled to be 0.08-0.09 mm; the surface hardness HRC reaches more than 80;
s9 mirror polishing: and (3) mirror polishing the outer circles of the two electroplated eccentric wheels to ensure that the surface roughness reaches 0.1 micron and the surface hardness HRC reaches more than 80, thus forming a crankshaft product.
Further, the degree of vacuum in the furnace in S3 was 10-1Pa。
And after the excircle of two shaft ends and the excircle of two eccentric wheels are turned in S4, a single edge is left with a margin of 0.5 mm.
The invention has the advantages and positive effects that:
the crankshaft manufactured by the processing method has good comprehensive mechanical property, the surface hardness HRC reaches more than 80, the surface hardness of the crankshaft is greatly improved, and higher wear resistance is achieved; the surface roughness reaches 0.1 micron, and the surface precision is greatly improved, so that the high precision and the high reliability of the robot speed reducer are met.
Drawings
Fig. 1 is a schematic structural view of a crank shaft.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments, which are illustrative only and not limiting, and the scope of the present invention is not limited thereby.
A processing method for improving the service life and the precision of a crankshaft of a planetary cycloidal pin gear speed reducer is disclosed, referring to a figure 1, the invention point of the processing method comprises the following steps:
s1 forging blank: forging the cylindrical bar stock by adopting a forging mode;
s2 rough machining: machining and forging the blank in a turning mode, and removing a large amount of blank;
s3 quenching and tempering heat treatment: carrying out vacuum quenching and tempering heat treatment on the upper-order semi-finished product by adopting a quenching and tempering heat treatment mode, wherein the vacuum degree in a furnace is 10-1Pa, hardness HRC between 25-30;
s4 semi-finishing: turning the excircle of two shaft ends 1 and the excircle of two eccentric wheels 3, and leaving a margin of 0.5mm on a single side, and processing a spline 2 on the shaft ends by a gear hobbing machine;
s5 carburizing and quenching: the whole part adopts a carburizing and quenching heat treatment mode, a carburized layer is controlled to be between 1.0mm and 1.3mm, and the surface hardness HRC is controlled to be between 58 and 62;
and S6 finishing: grinding two shaft ends and two eccentric wheels, and controlling the surface roughness within 0.8 micron;
s7 ultrasonic surface strengthening: carrying out surface strengthening treatment on the outer circles of the two eccentric wheels of the part by using an ultrasonic rolling cutter, wherein the surface roughness reaches 0.2 micron, and the surface hardness HRC reaches more than 70;
s8 hard chromium plating: electroplating chromium layers on the surfaces of two eccentric wheels of the part, wherein the thickness of the chromium layers is controlled to be 0.08-0.09 mm; the surface hardness HRC reaches more than 80;
s9 mirror polishing: and (3) mirror polishing the outer circles of the two electroplated eccentric wheels to ensure that the surface roughness reaches 0.1 micron and the surface hardness HRC reaches more than 80, thus forming a crankshaft product.
The invention combines various surface treatment modes of carburizing and quenching, grinding, surface ultrasonic strengthening, hard chromium plating and mirror surface polishing together, greatly improves the surface hardness and roughness, solves the defects of low precision and short service life of the crankshaft, and meets the requirements of high precision and high reliability of the speed reducer.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (3)
1. A processing method for improving the service life and the precision of a crankshaft of a planetary cycloidal pin gear speed reducer is characterized by comprising the following steps of:
s1 forging blank: forging the cylindrical bar stock by adopting a forging mode;
s2 rough machining: machining and forging the blank in a turning mode, and removing a large amount of blank;
s3 quenching and tempering heat treatment: carrying out vacuum quenching and tempering heat treatment on the upper-order semi-finished product by adopting a quenching and tempering heat treatment mode, wherein the hardness HRC is 25-30;
s4 semi-finishing: turning the excircle of two end shafts and the excircle of two eccentric wheels, and processing a spline on the shaft end by a gear hobbing machine;
s5 carburizing and quenching: the whole part adopts a carburizing and quenching heat treatment mode, a carburized layer is controlled to be between 1.0mm and 1.3mm, and the surface hardness HRC is controlled to be between 58 and 62;
and S6 finishing: grinding two shaft ends and two eccentric wheels, and controlling the surface roughness within 0.8 micron;
s7 ultrasonic surface strengthening: performing surface strengthening treatment on the outer circles of the two eccentric wheels of the part by using an ultrasonic rolling cutter, wherein the surface roughness reaches 0.2 micron, and the surface hardness HRC reaches more than 70;
s8 hard chromium plating: electroplating chromium layers on the surfaces of two eccentric wheels of the part, wherein the thickness of the chromium layers is controlled to be 0.08-0.09 mm; the surface hardness HRC reaches more than 80;
s9 mirror polishing: and (3) mirror polishing the outer circles of the two electroplated eccentric wheels to ensure that the surface roughness reaches 0.1 micron and the surface hardness HRC reaches more than 80, thus forming a crankshaft product.
2. The processing method for improving the service life and the precision of the crankshaft of the planetary cycloidal pin gear speed reducer according to claim 1, is characterized in that: s3, the vacuum degree in the furnace is 10-1Pa。
3. The processing method for improving the service life and the precision of the crankshaft of the planetary cycloidal pin gear speed reducer according to claim 1, is characterized in that: and in S4, after the excircles of the two shaft ends and the excircles of the two eccentric wheels are turned, a single edge is left with a margin of 0.5 mm.
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| CN201911099583.7A CN110842493A (en) | 2019-11-12 | 2019-11-12 | Machining method for prolonging service life and improving precision of crankshaft of planetary cycloidal pin gear speed reducer |
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| CN201911099583.7A CN110842493A (en) | 2019-11-12 | 2019-11-12 | Machining method for prolonging service life and improving precision of crankshaft of planetary cycloidal pin gear speed reducer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112760477A (en) * | 2020-12-18 | 2021-05-07 | 华南理工大学 | High-precision surface composite strengthening method for RV reducer eccentric shaft |
| CN113528762A (en) * | 2021-07-06 | 2021-10-22 | 西安重装澄合煤矿机械有限公司 | Method for processing and preparing hydraulic valve ejector rod |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5578832A (en) * | 1978-12-09 | 1980-06-13 | Toyota Motor Corp | Manufacturing method of crankshaft |
| SU960280A1 (en) * | 1981-03-27 | 1982-09-23 | Институт проблем надежности и долговечности машин АН БССР | Method for heat treating crankshafts |
| CN1563736A (en) * | 2004-03-18 | 2005-01-12 | 十堰兴升工贸有限公司 | Working tech for nitrogen spring piston rod |
| CN1762624A (en) * | 2005-11-10 | 2006-04-26 | 贵州群建齿轮有限公司 | Process method of small eccentricity multi-eccentric and bidirectionally eccentric axle |
| CN109048240A (en) * | 2018-08-10 | 2018-12-21 | 重庆迈通充磁机电设备有限责任公司 | A kind of automobile steering system high density tooth centre axis processing technique |
| CN109333012A (en) * | 2018-12-10 | 2019-02-15 | 西安航天动力机械有限公司 | A kind of processing method of TA1 cathode roll outer surface |
| 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 |
-
2019
- 2019-11-12 CN CN201911099583.7A patent/CN110842493A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5578832A (en) * | 1978-12-09 | 1980-06-13 | Toyota Motor Corp | Manufacturing method of crankshaft |
| SU960280A1 (en) * | 1981-03-27 | 1982-09-23 | Институт проблем надежности и долговечности машин АН БССР | Method for heat treating crankshafts |
| CN1563736A (en) * | 2004-03-18 | 2005-01-12 | 十堰兴升工贸有限公司 | Working tech for nitrogen spring piston rod |
| CN1762624A (en) * | 2005-11-10 | 2006-04-26 | 贵州群建齿轮有限公司 | Process method of small eccentricity multi-eccentric and bidirectionally eccentric axle |
| CN109048240A (en) * | 2018-08-10 | 2018-12-21 | 重庆迈通充磁机电设备有限责任公司 | A kind of automobile steering system high density tooth centre axis processing technique |
| CN109333012A (en) * | 2018-12-10 | 2019-02-15 | 西安航天动力机械有限公司 | A kind of processing method of TA1 cathode roll outer surface |
| 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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112760477A (en) * | 2020-12-18 | 2021-05-07 | 华南理工大学 | High-precision surface composite strengthening method for RV reducer eccentric shaft |
| CN113528762A (en) * | 2021-07-06 | 2021-10-22 | 西安重装澄合煤矿机械有限公司 | Method for processing and preparing hydraulic valve ejector rod |
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Effective date of registration: 20210308 Address after: 300409 No.64, Gaoxin Avenue, science and Technology Park, Beichen economic and Technological Development Zone, Tianjin Applicant after: Tianjin Qiling Electromechanical Technology Co.,Ltd. Address before: 300131 No. 268, No. 1, T-shaped road, Hongqiao District, Tianjin Applicant before: CHINA SHIPBUILDING INDUSTRY CORPORATION NO.707 Research Institute |
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Application publication date: 20200228 |