CN115815492A - Machining method of flexible gear for harmonic speed reducer, flexible gear and harmonic speed reducer - Google Patents
Machining method of flexible gear for harmonic speed reducer, flexible gear and harmonic speed reducer Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 43
- 238000003754 machining Methods 0.000 title description 19
- 238000009987 spinning Methods 0.000 claims abstract description 95
- 238000010438 heat treatment Methods 0.000 claims abstract description 45
- 230000008569 process Effects 0.000 claims abstract description 24
- 238000007514 turning Methods 0.000 claims abstract description 13
- 238000003672 processing method Methods 0.000 claims description 19
- 238000001816 cooling Methods 0.000 claims description 11
- 238000005242 forging Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 abstract description 28
- 238000004519 manufacturing process Methods 0.000 abstract description 19
- 230000002035 prolonged effect Effects 0.000 abstract description 8
- 238000009826 distribution Methods 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 6
- 239000013078 crystal Substances 0.000 abstract description 6
- 238000005299 abrasion Methods 0.000 abstract description 4
- 238000000265 homogenisation Methods 0.000 abstract description 4
- 239000002184 metal Substances 0.000 description 6
- 239000007769 metal material Substances 0.000 description 5
- 238000007670 refining Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 239000011265 semifinished product Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 238000005496 tempering Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
- 230000000171 quenching effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
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Abstract
The invention discloses a method for processing a flexible gear of a harmonic speed reducer, the flexible gear and the harmonic speed reducer, and relates to the technical field of harmonic speed reducers. The invention is beneficial to the refinement and homogenization of the crystal grains of the processed material and improves the mechanical property of the processed material through two heat treatment processes; the cylinder part of the flexible gear is processed through the processes of stamping and spinning forming, the streamline distribution of the processing material is not damaged, the strength of the cylinder part of the flexible gear is improved, and the utilization rate of the processing material is high, the production cost is low, and the production efficiency is high; finally, the cup bottom of the flexible gear is machined through finish turning, and the tooth part of the flexible gear is machined through hobbing, so that the inner hole and the tooth part of the machined flexible gear are good in abrasion resistance and high in bearing capacity, and the service life of the harmonic speed reducer is greatly prolonged.
Description
Technical Field
The invention relates to the technical field of harmonic speed reducers, in particular to a flexible gear machining method for a harmonic speed reducer, a flexible gear and a harmonic speed reducer.
Background
The harmonic speed reducer has the advantages of compact structure, small volume, light weight, large transmission ratio and bearing capacity, high transmission precision and the like, so that the harmonic speed reducer is widely applied to the industries of robots, automation and the like. The harmonic speed reducer comprises three basic components of a wave generator, a flexible gear and a rigid gear. When the wave generator is installed in the inner hole of the flexible gear, the flexible gear is forced to generate elastic deformation and to be in an ellipse shape, and in the working engineering of the harmonic reducer, the flexible gear needs to be subjected to repeated radial deformation without fracture, so that the flexible gear needs to have enough strength. The traditional cutting processing method causes the processing streamline of the flexible gear to be damaged, reduces the strength of the flexible gear and has low processing efficiency.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a method for processing a flexible gear, which can improve the strength of the flexible gear and the production efficiency of the flexible gear.
The invention also provides a flexible gear and a harmonic speed reducer which are processed by the processing method of the flexible gear.
According to the processing method of the flexible gear for the harmonic reducer, the processing method comprises the following steps: blanking; carrying out primary heat treatment on the blank; forging the blank subjected to the first heat treatment step to process a cup-shaped prototype workpiece; carrying out secondary heat treatment on the rudiment workpiece; stamping the rudiment workpiece subjected to the secondary heat treatment step to process a thin-wall workpiece; spinning the thin-wall workpiece to machine a first cylinder section and a second cylinder section, wherein the first cylinder section is a cylinder part of the flexible gear, and the wall thickness of the second cylinder section is greater than that of the first cylinder section; carrying out finish turning on the thin-wall workpiece to machine the cup bottom of the flexible gear; and hobbing the second cylinder section to machine a tooth part of the flexible gear.
According to the processing method of the flexible gear for the harmonic reducer, disclosed by the embodiment of the invention, at least the following beneficial effects are achieved:
through the two-time heat treatment process, the refining and homogenization of the crystal grains of the processed material are facilitated, and the mechanical property of the processed material is improved; the cylinder part of the flexible gear is processed through the processes of stamping and spinning forming, the streamline distribution of the processing material is not damaged, the strength of the cylinder part of the flexible gear is improved, and the utilization rate of the processing material is high, the production cost is low, and the production efficiency is high; finally, the cup bottom of the flexible gear is machined through finish turning, and the tooth part of the flexible gear is machined through hobbing, so that the inner hole of the machined flexible gear and the tooth part are good in abrasion resistance and high in bearing capacity, and the service life of the harmonic speed reducer is greatly prolonged.
According to some embodiments of the invention, the step of spinning the thin-walled workpiece comprises: mounting the thin-wall workpiece on spinning equipment with a spinning wheel set; the rotary wheel set performs rotary pressing on the thin-wall workpiece along the feeding direction;
the spinning wheel set comprises a first spinning wheel and a second spinning wheel, the first spinning wheel and the second spinning wheel are arranged at intervals along the feeding direction, the first spinning wheel is prior to the second spinning wheel to enter a spinning state, an arc surface is arranged at one end, facing the feeding direction, of the first spinning wheel, and a conical surface is arranged at one end, facing the feeding direction, of the second spinning wheel.
According to some embodiments of the invention, the conical angle of the conical surface is 10 ° to 25 °.
According to some embodiments of the invention, the radius of the circular arc surface is 5mm to 10mm.
According to some embodiments of the invention, a feeding rate of the spinning roller set is 0.2mm/r to 0.5mm/r, and a core mold rotation speed of the spinning apparatus is 35m/min to 65m/min.
According to some embodiments of the invention, the first spinning wheel and the second spinning wheel are spaced apart along a circumferential direction of the thin-walled workpiece.
According to some embodiments of the invention, the number of the first rotary wheels is two, and the two first rotary wheels and the two second rotary wheels are uniformly distributed along the circumferential direction of the thin-wall workpiece.
According to some embodiments of the invention, the wall thickness of the thin-walled workpiece after the stamping step is uniform, and the wall thickness of the thin-walled workpiece is equal to the wall thickness of the second barrel section.
According to some embodiments of the invention, the step of stamping the green workpiece after the second heat treatment step comprises: and stamping the prototype workpiece subjected to the second heat treatment step to form a thin-wall workpiece and a mounting hole positioned at the bottom of the thin-wall workpiece.
According to some embodiments of the invention, the step of first heat treating comprises: heating the blank to a first temperature and then preserving heat for a first time; placing the blank in an oven to maintain a second temperature for a second time period; and cooling to room temperature.
According to some embodiments of the invention, the second heat treatment comprises: heating the prototype workpiece to a third temperature and keeping the temperature for a third time, and then cooling to room temperature; and heating the prototype workpiece to a fourth temperature, keeping the temperature for a fourth time, and cooling to room temperature.
According to the flexible gear of the second aspect of the present invention, the flexible gear is processed by the method for processing the flexible gear for the harmonic reducer according to the above embodiment.
The flexible gear provided by the embodiment of the invention at least has the following beneficial effects:
the processing method for the flexible gear of the harmonic reducer is adopted, and the processing method for the flexible gear is beneficial to refining and homogenization of grains of a processed material through two heat treatment processes, so that the mechanical property of the processed material is improved; the cylinder part of the flexible gear is processed through the processes of stamping and spinning forming, the streamline distribution of the processing material is not damaged, the strength of the cylinder part of the flexible gear is improved, and the processing material has high utilization rate, low production cost and high production efficiency; and finally, the cup bottom of the flexible gear is machined by finish turning, and the tooth part of the flexible gear is machined by hobbing.
The harmonic reducer according to the third aspect of the embodiment of the present invention includes the flexspline described in the above embodiment.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
fig. 1 is a flowchart of a method for processing a flexspline of a harmonic reducer according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of a blank in a blanking step;
FIG. 3 is a schematic cross-sectional view of the green part machined after the forging step;
FIG. 4 is a schematic cross-sectional view of a thin-walled workpiece machined after a stamping step;
FIG. 5 is a schematic cross-sectional view of a thin-walled workpiece after a spinning step;
FIG. 6 is a schematic cross-sectional view of a thin-walled workpiece after a finish turning step;
FIG. 7 is a schematic cross-sectional view of the finished flexspline;
FIG. 8 is a schematic front view illustrating a spinning wheel set manufacturing process according to an embodiment of a spinning step;
FIG. 9 is a schematic right-side view illustrating the machining process of another embodiment of the spinning roller assembly in the spinning step;
FIG. 10 is a flow chart of a method for machining a flexspline of a harmonic reducer according to another embodiment of the present invention;
fig. 11 is a flowchart of a method for processing a flexspline of a harmonic reducer according to another embodiment of the present invention;
fig. 12 is a flowchart of a method for processing a flexspline of a harmonic reducer according to another embodiment of the present invention.
Reference numerals:
a blank 100;
a prototype workpiece 200;
a thin-walled workpiece 300; a first barrel section 310; a second barrel section 320;
a flexible gear 400; a barrel portion 410; a cup bottom 420; a tooth portion 430; an inner bore 440; a mounting hole 450;
a rotating wheel group 500; a first spinning wheel 510; the arc surface 511; a second spinning wheel 520; a tapered surface 521;
the core mold 600.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to, for example, the upper, lower, etc., is indicated based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, a plurality means two or more. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
The harmonic speed reducer is one of precision speed reducers, has the advantages of compact structure, small volume, light weight, large transmission ratio and bearing capacity, high transmission precision and the like, and is widely applied to the industries of electronics, aerospace, robots, automation and the like.
The harmonic speed reducer comprises three basic components of a wave generator, a flexible gear and a rigid gear, wherein the flexible gear is a flexible external gear, the rigid gear is a rigid internal gear ring, and the wave generator consists of a flexible bearing and a cam.
The flexible gear is an important part of the harmonic reducer. When the wave generator is installed in the inner hole of the flexible gear, the flexible gear is forced to generate elastic deformation and is elliptical, and the flexible gear needs to be subjected to repeated radial deformation in the working process of the harmonic reducer, so that the structural stability of the flexible gear has direct influence on the performance of the harmonic reducer.
In order to ensure that the flexspline does not break during operation, the flexspline must have sufficient structural strength. The traditional flexible gear processing technology is a cutting technology, so that the processing streamline of the flexible gear is damaged, and the strength of the flexible gear is reduced. Moreover, for the flexible gear produced in mass, the production efficiency of the cutting process is low.
Therefore, in order to solve the problem of structural strength of the flexible gear, the embodiment of the application adopts a flexible gear processing method, so that the strength of the flexible gear can be improved, and the production efficiency of the flexible gear can be improved.
Referring to fig. 1, a method for processing a flexspline 400 of a harmonic reducer according to an embodiment of the present invention includes steps of blanking, first heat treatment, forging, second heat treatment, stamping, spinning, finish turning, and hobbing. The processing method of the flexible gear 400 provided by the embodiment of the invention specifically comprises the following steps:
s101: and (6) blanking. Depending on the actual condition of the flexspline 400 product, a metallic material, such as a suitable grade of alloy steel, is selected. And calculates a mass of the metal blank based on the mass of the flexspline 400. Referring to fig. 2, which is a schematic cross-sectional view of the blank 100 in the blanking step, it can be understood that the shape of the metal blank 100 is a circular cake shape in order to facilitate the subsequent forming of the metal blank 100.
S102: the blank 100 is subjected to a first heat treatment. The first heat treatment comprises the steps of heating and heat preservation, heat preservation in a furnace, cooling and the like. After the first heat treatment of the blank 100, the internal stress of the metal can be removed and the structure can be uniform.
S103: the blank 100 after the first heat treatment step is forged to form a cup-shaped blank 200. Referring to fig. 3, which is a schematic cross-sectional view of the blank 200 machined after the forging step, it can be appreciated that the blank 200 is cup-shaped. After the forging step, the metal material has good compactness and uniformity, and the streamline distribution of the metal material is reasonable, so that the structural stability of the processed prototype workpiece 200 is better.
S104: the blank 200 is subjected to a second heat treatment. The second heat treatment includes a quenching step and a tempering step. Specifically, the blank workpiece 200 is quenched first, so that the hardness of the blank workpiece 200 is improved; and tempering the blank workpiece 200 to eliminate the brittleness of the blank workpiece 200 and improve the toughness of the blank workpiece, thereby obtaining the blank workpiece 200 with better mechanical property.
S105: the blank workpiece 200 after the second heat treatment step is punched to form the thin-walled workpiece 300. Referring to fig. 4, which is a schematic cross-sectional view of the thin-walled workpiece 300 processed after the stamping step, the thin-walled workpiece 300 may have a uniform wall thickness. Before the stamping step, stamping oil can be coated on the surface of the blank workpiece 200, so that the lubricating and cooling effects are achieved, the surface smoothness of the thin-wall workpiece 300 is improved, the die loss is reduced, and the service life is prolonged.
S106: the thin-walled workpiece 300 is spun to form a first cylindrical section 310 and a second cylindrical section 320. The first cylinder section 310 is a cylinder portion 410 of the flexible gear 400, the second cylinder section 320 is a semi-finished product of the tooth portion 430 of the flexible gear 400, and the wall thickness of the second cylinder section 320 is larger than that of the first cylinder section 310. It is understood that the first cylinder section 310 and the second cylinder section 320 may be formed by spinning wheels of a spinning apparatus; the second cylinder section 320 can also be formed by a stamping step and then not formed by a spinning step to change the wall thickness, thereby improving the processing efficiency. The thin-walled workpiece 300 after spinning is a semi-finished product of the flexspline 400. Referring to fig. 5, which is a schematic cross-sectional view of a thin-walled workpiece 300 after a spinning step, it can be understood that a semi-finished product with different wall thicknesses can be processed by spinning, no material cutting is generated in the process, continuity of a metal fiber structure, refinement of crystal grains and integrity of a metal streamline are ensured, meanwhile, in the process of the prototype workpiece 200, the metal material is subjected to compressive stress, shearing stress and friction force, grain boundary sliding, crystal grain rotation and dislocation accumulation can occur, so that the blank is uniformly deformed, the metal material is processed and hardened, the strength of the cylinder portion 410 of the flexspline 400 is greatly improved compared with that of a traditional turning process, and the fatigue life of the flexspline 400 is prolonged.
S107: the thin-walled workpiece 300 is finish turned to produce the cup bottom 420 of the flexspline 400. Referring to fig. 6, which is a schematic cross-sectional view of the thin-walled workpiece 300 after the finish turning step, it can be understood that the cup bottom 420 of the flexspline 400 is machined through the finish turning process, that is, a step is machined, and the step is an installation position for connecting an output shaft of the harmonic reducer, so as to meet the requirement of installation accuracy.
S108: the second cylinder section 320 is hobbed to machine the teeth 430 of the flexspline 400. Referring to fig. 7, which is a schematic cross-sectional view of the manufactured flexspline 400, it can be understood that the second cylinder 320 may be formed by hobbing the teeth 430 of the flexspline 400 to obtain the teeth 430 with high strength, and then the flexspline 400 with higher structural strength is manufactured. It can be understood that, during the hobbing process, the junction between the first cylinder section 310 and the second cylinder section 320 can be also subjected to transition processing, so that the stress concentration is reduced, and the service life of the flexspline 400 is prolonged.
The method for processing the flexible gear 400 provided by the embodiment of the invention has the advantages that the refining and homogenization of the crystal grains of the processed material are facilitated through two heat treatment processes, and the mechanical property of the processed material is improved; the cylinder part 410 of the flexible gear 400 is processed through the processes of stamping and spinning forming, the streamline distribution of the processing material is not damaged, the strength of the cylinder part 410 of the flexible gear 400 is improved, and the utilization rate of the processing material is high, the production cost is low, and the production efficiency is high; finally, the cup bottom 420 of the flexible gear 400 is machined through finish turning, and the tooth part 430 of the flexible gear 400 is machined through gear hobbing, so that the inner hole 440 and the tooth part 430 of the machined flexible gear 400 are good in wear resistance and high in bearing capacity, and the service life of the harmonic speed reducer is greatly prolonged.
Referring to fig. 8 and 9, in the spinning step S106 according to the embodiment of the present invention, the spinning process on the thin-walled workpiece 300 is performed by a spinning apparatus (not shown in the drawings). The spinning device comprises a core mold 600 and a spinning wheel group 500, wherein the core mold 600 is used for positioning the thin-wall workpiece 300 and driving the thin-wall workpiece 300 to rotate. The rotary wheel set 500 is pressed on the thin-wall workpiece 300 to generate local plastic deformation, and the processing mode of changing the wall thickness of the rotary wheel set 500 is realized through the feed motion.
Referring to fig. 10, it can be understood that the spinning step S106 specifically includes:
s1001: the thin-walled workpiece 300 is mounted to the spinning apparatus.
S1002: the spinning wheel assembly 500 spins the thin-walled workpiece 300 in the feed direction.
It can be understood that, in order to enable the tube portion 410 of the flexible spline 400 to meet the strength requirement of the flexible spline 400 during operation, so that the flexible spline 400 obtains high strength performance, the swivel 500 of the embodiment of the present application includes a first swivel 510 and a second swivel 520. Referring to fig. 8, the first spinning roller 510 has an arc surface 511 at one end facing the feeding direction, and the second spinning roller 520 has a tapered surface 521 at one end facing the feeding direction. The first spinning roller 510 is located in front of the second spinning roller 520 in the feeding direction, the second spinning roller 520 and the first spinning roller 510 are arranged at intervals in the feeding direction, so that the first spinning roller 510 enters a spinning state before the second spinning roller 520, the arc surface 511 of the first spinning roller 510 contacts with the thin-wall workpiece 300 to generate local deformation, rough machining for spinning the thin-wall workpiece 300 is achieved, the conical surface 521 of the second spinning roller 520 contacts with the thin-wall workpiece 300 machined through the arc surface 511 of the first spinning roller 510 to generate further local deformation, and finish machining for spinning the thin-wall workpiece 300 is achieved. Therefore, the rotary wheel set 500 with the above structure can improve the processing efficiency of the flexible wheel 400, and has high processing precision and high structural strength.
Referring to fig. 8, it can be understood that the taper angle a of the tapered surface 521 is a, and the taper angle a is in a range of 10 ° to 25 °. When the taper angle a satisfies the above parameter range, the machining accuracy and the wear resistance of the flexspline 400 can be improved. Analysis of parameters such as the diameter, initial wall thickness, pass reduction, material type, and strength of the flexspline 400 shows that the taper angle a is too large or too small, which decreases the machining accuracy and wear resistance of the flexspline 400.
Referring to fig. 8, it can be understood that the radius r of the circular arc surface 511 is a parameter ranging from 5mm to 10mm. When the radius r of the arc surface 511 satisfies the above parameter range, the machining accuracy and wear resistance of the flexspline 400 can be improved. Analysis of parameters such as the diameter, initial wall thickness, pass reduction, material type, and strength of the flexspline 400 shows that an excessively large or small radius r of the arc surface 511 may reduce the machining accuracy and wear resistance of the flexspline 400.
Referring to fig. 9, it can be understood that the first spinning roller 510 and the second spinning roller 520 may be disposed at intervals along the circumferential direction of the thin-walled workpiece 300, so as to effectively avoid interference between the first spinning roller 510 and the second spinning roller 520 in the spinning process of the spinning roller set 500, and make the stress on the thin-walled workpiece 300 more uniform.
It is understood that in the embodiment of the present invention, two first rollers 510 are provided, one second roller 520 is provided, and three rollers are uniformly arranged along the circumference of the thin-walled workpiece 300. The two first spinning rollers 510 can make the precision and uniformity of the spinning rough machining better, so that the machining precision is higher when the second spinning roller 520 performs the spinning finish machining, and the formed cylinder part 410 of the flexible gear 400 has higher structural strength and better performance. And the scheme that two first spinning wheels 510 and one second spinning wheel 520 are uniformly distributed along the circumferential direction of the thin-wall workpiece 300 can ensure the stress uniformity of the thin-wall workpiece 300 in the processing process, and improve the processing precision of the flexible wheel 400.
Referring to fig. 8, it can be understood that, in the spinning step S106, the feed rate G of the spinning roller set 500 is 0.2mm/r to 0.5mm/r, and the flexspline 400 processed by using the above feed rate range has a stable structure and high strength. Due to the specific structure and processing requirements of the flexible gear 400, the feeding rate of the rotary gear set 500 cannot be too large or too small, which easily causes the reduction of the structural strength of the flexible gear 400 and the reduction of the processing yield. The rotation speed N of the core mold 600 is 35m/min to 65m/min, and the flexible gear 400 processed by adopting the rotation speed range has high precision and high efficiency. The thin-wall workpiece 300 has small wall thickness and high precision requirement; too high rotation speed N of the core mold 600 may cause the core mold 600 to swing and the spinning apparatus to vibrate, reducing the machining accuracy; and the rotation speed N of the core mold 600 is too low to affect the efficiency of the machining.
Referring to fig. 4, it can be understood that after the stamping step S105, the wall thickness of the thin-walled workpiece 300 is uniform, and the wall thickness is equal to the wall thickness of the second cylinder section 320 processed after the spinning step S106, that is, only part of the outer wall needs to be spun in the spinning step S106 to obtain a semi-finished product of the flexspline 400, so that the processing steps are reduced, and the production efficiency is improved. And the second cylinder section 320 is a structure formed by a stamping step, and has high structural strength and good performance.
Referring to fig. 3 and 4, it can be understood that the stamping step S105 specifically includes: the thin-wall workpiece 300 and the mounting hole 450 located at the bottom of the thin-wall workpiece 300 are punched from the blank workpiece 200 after the second heat treatment step, that is, in the process of punching the thin-wall workpiece 300, the mounting hole 450, which is used for mounting the output shaft of the harmonic speed reducer, of the cup bottom 420 of the flexspline 400 is synchronously machined, so that the structural strength of the cup bottom 420 is higher, the stability of connection with the output shaft is improved, the subsequent machining steps are simplified, and the production efficiency of the flexspline 400 is improved.
Referring to fig. 11, it can be understood that the first heat treatment step S102 specifically includes:
s1101: the blank 100 is heated to a first temperature and then held for a first length of time. It can be understood that, when the blank 100 is subjected to the first heat treatment, the blank 100 is first placed in a furnace to be heated to a first temperature, which may be 800 ℃ to 900 ℃, and then kept at the first temperature for a first time period, which may be 2h to 3h.
S1102: the blank 100 is placed in an oven and held at a second temperature for a second length of time. It will be appreciated that the blank 100 then needs to be held in the furnace for a second period of time, 10 to 12 hours, at which time the furnace temperature needs to be adjusted to a second temperature, which may be 550 to 620 ℃.
S1103: and cooling to room temperature. Finally, the blank 100 is taken out and cooled to room temperature.
It can be understood that, by performing the first heat treatment on the blank 100 through the above heat treatment steps and parameters, the embodiment of the present invention can remove the internal stress of the material, and make the structure uniform, so as to make the performance of the blank 100 better.
Referring to fig. 12, it can be understood that the second heat treatment step S104 specifically includes:
s1201: and heating the prototype workpiece 200 to a third temperature and keeping the temperature for a third time, and then cooling to room temperature. It will be appreciated that the blank 200 is first quenched, the blank 200 is heated to a third temperature, which may be 750 ℃ to 850 ℃, for a third time period after reaching the third temperature, which may be 1h to 2h, and then cooled to room temperature, thereby increasing the hardness of the blank 200.
S1202: and heating the prototype workpiece 200 to a fourth temperature, keeping the temperature for a fourth time, and cooling to room temperature. It can be understood that the quenched blank workpiece 200 is tempered, the blank workpiece 200 is heated to a fourth temperature, the fourth temperature is 400 ℃ to 500 ℃, the fourth temperature is reached, the fourth temperature is kept for a fourth time, the fourth time can be 1.5h to 2.5h, and then the temperature is cooled to the room temperature, so that the brittleness of the blank workpiece 200 is eliminated, the toughness of the blank workpiece 200 is improved, and the blank workpiece 200 with better mechanical properties is obtained.
The flexible gear 400 according to an embodiment of the present invention is manufactured by the method for manufacturing the flexible gear 400 according to the above embodiment. It can be understood that the embodiment of the present invention is processed by the method for processing the flexspline 400 of the harmonic reducer of the embodiment of the first aspect, and the method for processing the flexspline 400 is implemented by two heat treatment processes, which is beneficial to refining and homogenizing grains of a processed material, and improves mechanical properties of the processed material; the cylinder part 410 of the flexible gear 400 is processed through the processes of stamping and spinning forming, the streamline distribution of the processing material is not damaged, the strength of the cylinder part 410 of the flexible gear 400 is improved, and the utilization rate of the processing material is high, the production cost is low, and the production efficiency is high; finally, the cup bottom 420 of the flexible gear 400 is machined through finish turning, the tooth part 430 of the flexible gear 400 is machined through gear hobbing, the inner hole 440 and the tooth part 430 of the flexible gear 400 machined through the machining method are good in abrasion resistance and high in bearing capacity, and the service life of the harmonic reducer is greatly prolonged.
The harmonic reducer of an embodiment of the present invention includes the flexspline 400 of the above embodiment. It can be understood that the embodiment of the present invention adopts the flexible gear 400 processed by the method for processing the flexible gear 400 of the harmonic reducer of the embodiment of the first aspect, and the method for processing the flexible gear 400 is beneficial to refining and homogenizing the crystal grains of the processed material through two heat treatment processes, so as to improve the mechanical properties of the processed material; the cylinder part 410 of the flexible gear 400 is processed through the processes of stamping and spinning forming, the streamline distribution of the processing material is not damaged, the strength of the cylinder part 410 of the flexible gear 400 is improved, and the utilization rate of the processing material is high, the production cost is low, and the production efficiency is high; finally, the cup bottom 420 of the flexible gear 400 is machined through finish turning, the tooth part 430 of the flexible gear 400 is machined through gear hobbing, the inner hole 440 and the tooth part 430 of the flexible gear 400 machined through the machining method are good in abrasion resistance and high in bearing capacity, and the service life of the harmonic reducer is greatly prolonged.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (13)
1. The processing method of the flexible gear for the harmonic reducer is characterized by comprising the following steps of:
blanking;
carrying out primary heat treatment on the blank;
forging the blank subjected to the first heat treatment step to process a cup-shaped prototype workpiece;
carrying out secondary heat treatment on the rudiment workpiece;
stamping the rudiment workpiece subjected to the secondary heat treatment step to process a thin-wall workpiece;
spinning the thin-wall workpiece to machine a first cylinder section and a second cylinder section, wherein the first cylinder section is a cylinder part of the flexible gear, and the wall thickness of the second cylinder section is greater than that of the first cylinder section;
carrying out finish turning on the thin-wall workpiece to machine the cup bottom of the flexible gear;
and hobbing the second cylinder section to machine a tooth part of the flexible gear.
2. The processing method according to claim 1, characterized in that: the step of spinning the thin-walled workpiece comprises:
mounting the thin-wall workpiece on spinning equipment with a spinning wheel set;
the spinning wheel set is used for spinning the thin-wall workpiece along the feeding direction;
the spinning wheel set comprises a first spinning wheel and a second spinning wheel, the first spinning wheel and the second spinning wheel are arranged at intervals along the feeding direction, the first spinning wheel is prior to the second spinning wheel to enter a spinning state, an arc surface is arranged at one end, facing the feeding direction, of the first spinning wheel, and a conical surface is arranged at one end, facing the feeding direction, of the second spinning wheel.
3. The processing method according to claim 2, characterized in that: the taper angle of the tapered surface is 10 ° to 25 °.
4. A method of processing according to claim 2 or 3, characterized in that: the radius of the circular arc surface is 5mm to 10mm.
5. The processing method according to claim 2, characterized in that: the feeding rate of the spinning wheel set is 0.2mm/r to 0.5mm/r, and the core mold rotating speed of the spinning equipment is 35m/min to 65m/min.
6. The processing method according to claim 2, characterized in that: the first rotary wheel and the second rotary wheel are arranged at intervals along the circumferential direction of the thin-wall workpiece.
7. The processing method according to claim 2 or 6, characterized in that: the first rotary wheel is provided with two, and the first rotary wheel and the second rotary wheel are uniformly distributed along the circumferential direction of the thin-wall workpiece.
8. The processing method according to claim 1, characterized in that: and the wall thickness of the thin-wall workpiece after the stamping step is equal, and the wall thickness of the thin-wall workpiece is equal to that of the second cylinder section.
9. The processing method according to claim 1, characterized in that: the step of stamping the rudiment workpiece subjected to the second heat treatment step comprises the following steps of:
and stamping the prototype workpiece subjected to the second heat treatment step to form a thin-wall workpiece and a mounting hole positioned at the bottom of the thin-wall workpiece.
10. The processing method according to claim 1, characterized in that: the first heat treatment step includes:
heating the blank to a first temperature and then preserving heat for a first time;
placing the blank in an oven to maintain a second temperature for a second time period;
and cooling to room temperature.
11. The processing method according to claim 1, characterized in that: the second heat treatment step includes:
heating the prototype workpiece to a third temperature and keeping the temperature for a third time, and then cooling to room temperature;
and heating the prototype workpiece to a fourth temperature, keeping the temperature for a fourth time, and cooling to room temperature.
12. A flexspline, wherein the flexspline is manufactured by the method of any one of claims 1 to 11.
13. A harmonic reducer comprising the flexspline of claim 12.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211110177.8A CN115815492A (en) | 2022-09-13 | 2022-09-13 | Machining method of flexible gear for harmonic speed reducer, flexible gear and harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211110177.8A CN115815492A (en) | 2022-09-13 | 2022-09-13 | Machining method of flexible gear for harmonic speed reducer, flexible gear and harmonic speed reducer |
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