CN106825775B - Few teeth difference precise planetary reducer interior bracing technique - Google Patents

本发明公开了一种少齿差精密行星减速器内齿轮加工工艺，该内齿轮集成了具有支撑轴承外滚道，且具有圆弧包容槽为硬齿面的突出特征。步骤：A、选材并锻造毛坯；B、热处理；C、粗车外圆、端面，以外圆为基准加工内孔、轴承滚道；D、插齿加工圆弧包容槽；E、滚道、圆弧包容槽淬硬处理；F、粗磨内外圆与端面，以轴承滚道为基准粗磨圆弧包容槽；G、热处理；H、精磨外圆、端面；I、精磨轴承滚道、圆弧包容槽。本发明轴承滚道与圆弧包容槽以同一基准加工，保证了加工精度，降低安装误差，满足了减速器的高精度要求；轴承滚道、圆弧包容槽进行淬硬处理，提高了精密减速器的精度保持性与承载能力。

The invention discloses a processing technology for an internal gear of a precision planetary reducer with less tooth difference. The internal gear integrates an outer raceway of a support bearing and has the prominent feature of a hard tooth surface with an arc containing groove. Steps: A. Material selection and forging blank; B. Heat treatment; C. Rough turning outer circle and end face, machining inner hole and bearing raceway based on the outer circle; D. Gear shaping processing arc containing groove; E. Raceway, circle Arc containment groove hardening treatment; F, rough grinding of inner and outer circles and end faces, rough grinding of arc containment grooves based on bearing raceway; G, heat treatment; H, fine grinding of outer circle and end face; I, fine grinding of bearing raceways, Arc containment groove. The bearing raceway and the arc containment groove of the present invention are processed on the same basis, which ensures the machining accuracy, reduces the installation error, and meets the high-precision requirements of the reducer; the bearing raceway and the arc containment groove are hardened to improve the precision deceleration Accuracy retention and carrying capacity of the device.

少齿差精密行星减速器内齿轮加工工艺Machining Technology of Internal Gear of Precision Planetary Reducer with Less Tooth Difference

技术领域technical field

本发明属于机械加工技术领域，涉及一种少齿差精密行星减速器内齿轮加工工艺。The invention belongs to the technical field of mechanical processing, and relates to a processing technology for an internal gear of a precision planetary reducer with less tooth difference.

背景技术Background technique

少齿差精密行星减速器具有传动精度高、传动比大、结构紧凑、承载能力大和传动效率高等突出的优点，广泛应用于机器人、矿山、冶金、化工、纺织、国防工业等工业领域。作为精密减速器，传动误差以及整机的精度保持性是衡量精密减速器的重要指标。内齿轮是该类减速器关键零部件之一，首先它与滚针、摆线齿轮共同构成精密减速器的关键啮合副，其次，它对输出机构起到支撑作用。要实现减速器的高传动精度，内齿轮的加工精度要求极高；同时，为实现减速器传动精度的保持性与使用寿命，需要内齿轮具备良好的耐磨性，此外，硬齿面圆弧包容槽有利于提高精密减速器的承载能力。申请号为200510057463.2的双圆盘摆线轮行星传动装置；申请号为201420140453.x的封闭型摆线精密减速器，两件申请专利中的精密减速器内齿轮均采用滚道集成方式，将减速器支撑轴承集成于内齿轮。The precision planetary reducer with small tooth difference has the outstanding advantages of high transmission precision, large transmission ratio, compact structure, large load capacity and high transmission efficiency, and is widely used in industrial fields such as robotics, mining, metallurgy, chemical industry, textiles, and national defense industry. As a precision reducer, the transmission error and the accuracy retention of the whole machine are important indicators to measure the precision reducer. The internal gear is one of the key components of this type of reducer. First, it forms the key meshing pair of the precision reducer together with the needle roller and cycloid gear. Second, it supports the output mechanism. In order to achieve high transmission accuracy of the reducer, the processing accuracy of the internal gear is extremely high; at the same time, in order to maintain the transmission accuracy and service life of the reducer, the internal gear needs to have good wear resistance. In addition, the hard tooth surface arc The containing groove is beneficial to improve the bearing capacity of the precision reducer. The application number is 200510057463.2 double-disc cycloid planetary transmission device; the application number is 201420140453. Gear support bearings are integrated into the internal gear.

该种结构的内齿轮与普通摆线精密减速器、RV减速器的不同之处在于吃撑轴承外滚道集成于内齿轮上，结构更加紧凑；输入输出端盘与内齿轮采用交错滚子轴承支撑，提高了承载能力；轴承外滚道与内齿轮集成于一体，减少了误差分配环节，有利于提高了减速器传动精度，并降低关键零部件的经济加工精度；圆弧槽为硬齿面，在使用中提高了耐磨性，使减速器的精度保持性更加突出。目前通用摆线精密行星减速器内齿轮为软齿面，且输出机构轴承支撑部位硬度通用较低，但由于内齿轮的经济加工精度非常高，国内尚未解决少齿差精密行星减速器内齿轮的批量化高效高精度的制造技术难题，而对于具有硬齿面包容槽且集成了输出机构支撑轴承外滚道这种结构特点的内齿轮的批量化高效高精度制造工艺尚无研究成果报道。本专利提出了一种具有承载能力高、精度保持性好等突出特点的少齿差精密行星减速器内齿轮的加工工艺，该工艺可有效实现这种具有硬齿面包容槽和集成了支撑轴承外滚道的结构特征的内齿轮的高精度加工。The difference between the internal gear of this structure and the ordinary cycloidal precision reducer and RV reducer is that the outer raceway of the supporting bearing is integrated on the internal gear, and the structure is more compact; the input and output end discs and the internal gear adopt staggered roller bearings The support improves the carrying capacity; the outer raceway of the bearing is integrated with the inner gear, which reduces the error distribution link, which is conducive to improving the transmission accuracy of the reducer and reducing the economical processing accuracy of key parts; the arc groove is a hard tooth surface , The wear resistance is improved during use, which makes the precision retention of the reducer more prominent. At present, the internal gear of the general cycloidal precision planetary reducer has a soft tooth surface, and the hardness of the bearing support part of the output mechanism is generally low. However, due to the high economical machining accuracy of the internal gear, the problem of the internal gear of the precision planetary reducer with small tooth difference has not been solved in China. It is a technical problem to mass-produce high-efficiency and high-precision manufacturing technology, but there is no research report on the mass-produced, high-efficiency and high-precision manufacturing process of internal gears with hard tooth surface containment grooves and integrated with the structural characteristics of the output mechanism support bearing outer raceway. This patent proposes a processing technology for the internal gear of the precision planetary reducer with less tooth difference, which has the outstanding characteristics of high load capacity and good precision retention. High-precision machining of internal gears with structural features of outer raceways.

发明内容Contents of the invention

有鉴于此，本发明的目的在于提供一种少齿差精密行星减速器内齿轮加工工艺，可以有效解决具有硬齿面圆弧包容槽和集成支撑轴承外滚道特征的内齿轮零件的加工问题，能满足少齿差精密行星减速器的承载能力高、精度保持性好等性能指标对内齿轮的经济加工精度的要求。In view of this, the purpose of the present invention is to provide a small tooth difference precision planetary reducer internal gear processing technology, which can effectively solve the processing problem of the internal gear parts with the characteristics of hard tooth surface circular arc containment groove and integrated support bearing outer raceway , which can meet the economical processing accuracy requirements of the precision planetary reducer with small tooth difference, such as high load capacity and good precision retention, for the internal gear.

为达到上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:

少齿差精密行星减速器内齿轮加工工艺，其特征在于：包括以下步骤：The internal gear processing technology of precision planetary reducer with small tooth difference is characterized in that it includes the following steps:

A、选材并锻造毛坯，根据零件结构特征及尺寸大小选择合适的材料；A. Select the material and forge the blank, and select the appropriate material according to the structural characteristics and size of the part;

B、热处理、消除锻件的残余应力；B. Heat treatment to eliminate residual stress of forgings;

C、粗车外圆及端面；以粗车后的外圆为基准，粗车内孔与轴承滚道内孔，留工艺余量，保证轴承滚道与外圆的同轴度；C. Rough turning outer circle and end face; based on the outer circle after rough turning, the inner hole of the rough turning and the inner hole of the bearing raceway, leaving a process allowance to ensure the coaxiality of the bearing raceway and the outer circle;

D、以轴承滚道为基准，对圆弧包容槽插齿，留工艺余量；D. Based on the bearing raceway, the circular arc contains the groove and shaper, leaving a process allowance;

E、对轴承滚道与圆弧包容槽的表面淬硬处理，保证淬硬层深度1.1-1.4mm，淬火表面硬度HRC58-62，芯部硬度HRC28-32；E. The surface hardening treatment of the bearing raceway and the arc containment groove ensures that the depth of the hardened layer is 1.1-1.4mm, the hardened surface hardness is HRC58-62, and the core hardness is HRC28-32;

F、粗磨轴承滚道、外圆与端面，留精磨加工余量，然后以粗磨后的轴承滚道为基准，粗磨圆弧包容槽；F. Roughly grind the bearing raceway, outer circle and end face, leave the machining allowance for fine grinding, and then use the rough-ground bearing raceway as the reference, rough-grind the circular arc containing groove;

G、热处理，消除表面应力，防止应力集中；G. Heat treatment to eliminate surface stress and prevent stress concentration;

H、以轴承滚道为基准，磨削外圆、两端面到尺寸，保证尺寸、公差到图纸要求；H. Based on the bearing raceway, grind the outer circle and both ends to the size, and ensure that the size and tolerance meet the requirements of the drawing;

I、以外圆和端面为基准，精密磨削加工轴承滚道；以同一基准磨削加工圆弧包容槽，保证滚道圆度与尺寸，保证滚道与安装槽的位置度。I. Precisely grind the bearing raceway based on the outer circle and end face; grind and process the arc containment groove on the same basis to ensure the roundness and size of the raceway and the position of the raceway and the installation groove.

进一步，在步骤A中，选材为低碳优质合金钢材料，步骤E中，对轴承滚道与圆弧包容槽渗碳淬火处理，渗碳层深度为1.1-1.4mm。Further, in step A, the material is low-carbon high-quality alloy steel. In step E, carburizing and quenching is carried out on the bearing raceway and the arc containing groove, and the depth of the carburized layer is 1.1-1.4mm.

进一步，在步骤A中，选材为高强度中碳钢材料，步骤E中，对滚道与圆弧包容槽局部高频淬火处理。Further, in step A, the material is selected as a high-strength medium carbon steel material, and in step E, local high-frequency quenching is performed on the raceway and the arc containing groove.

进一步，步骤G中，热处理为低温回火。Further, in step G, the heat treatment is low temperature tempering.

进一步，步骤B中的热处理为等温正火，等温正火硬度为H B160-190。Further, the heat treatment in step B is isothermal normalizing, and the isothermal normalizing hardness is H B160-190.

本发明的有益效果在于：The beneficial effects of the present invention are:

1、提出了滚道一体式内齿轮的加工工艺，解决了无成熟批量化加工工艺的空白；1. Proposed the processing technology of raceway integrated internal gear, which solved the blank of no mature batch processing technology;

2、提高了滚道与圆弧包容槽表面硬度，从而提精密减速器的承载能力，并提高了减速器的精度保持性；2. Improve the surface hardness of the raceway and the arc containment groove, thereby improving the bearing capacity of the precision reducer and improving the precision retention of the reducer;

3、圆弧包容槽与滚道以同一基准加工，保证了加工精度，保证了内齿轮与摆线轮、行星架的同轴度等配合精度；3. The arc containment groove and the raceway are processed on the same basis, which ensures the processing accuracy and the coaxiality of the internal gear, cycloid wheel, and planet carrier;

4、减少了零部件个数，节约成本，且减少装配尺寸链的尺寸数量，从而降低了整机成本。4. The number of parts is reduced, the cost is saved, and the size of the assembly size chain is reduced, thereby reducing the cost of the whole machine.

附图说明Description of drawings

为了使本发明的目的、技术方案和有益效果更加清楚，本发明提供如下附图进行说明：In order to make the purpose, technical scheme and beneficial effect of the present invention clearer, the present invention provides the following drawings for illustration:

图1为本发明少齿差精密行星减速器内齿轮加工工艺的结构示意图；Fig. 1 is a structural schematic diagram of the internal gear processing technology of the precision planetary reducer with less tooth difference in the present invention;

图2为图1的主视图；Fig. 2 is the front view of Fig. 1;

图3为图2沿A-A的剖视图。Fig. 3 is a sectional view along A-A of Fig. 2 .

具体实施方式Detailed ways

下面将结合附图，对本发明的优选实施例进行详细的描述。The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

实施例1，Example 1,

1)锻造：选用材料为低碳优质合金钢，采用模锻的方式锻造出毛坯；1) Forging: The material is low-carbon high-quality alloy steel, and the blank is forged by die forging;

2)等温正火，等温正火硬度为HB160-190；2) Isothermal normalizing, the hardness of isothermal normalizing is HB160-190;

3)粗车：粗车毛坯外圆，平左右端面，留工艺余量0.5mm，保证加工尺寸；以外圆为定位基准，粗车内孔与轴承滚道内孔，控制各个内孔之间的同轴度、与端面的垂直度；3) Rough turning: the outer circle of the rough turning blank, the left and right end faces are flat, leaving a process allowance of 0.5mm to ensure the processing size; Axis, perpendicularity to the end face;

4)插齿：以轴承滚道5为基准，采用专用插刀加工内齿轮圆弧包容槽7，留余量0.5mm；4) Shaping: Based on the bearing raceway 5, use a special slotting tool to process the arc-shaped containment groove 7 of the internal gear, leaving a margin of 0.5mm;

5)热处理：对滚道1、5以及内齿轮圆弧包容槽7渗碳淬火，渗碳层深度1-1.2mm，表面硬度HRC58-62，做好其余部分的防渗处理；5) Heat treatment: Carburize and quench the raceways 1 and 5 and the inner gear arc containment groove 7, the depth of the carburized layer is 1-1.2mm, the surface hardness is HRC58-62, and the rest of the parts are treated with anti-seepage;

6)粗磨：以A为基准，粗磨右端面6、外圆4以及轴承滚道5，保证外圆4与轴承滚道5的同轴度、端面6与轴承滚道5的垂直度；掉头，以外圆4为基准，磨削外圆3、端面2以及轴承滚道1，保证形位公差；6) Coarse grinding: with A as the reference, coarsely grind the right end face 6, the outer circle 4 and the bearing raceway 5 to ensure the coaxiality between the outer circle 4 and the bearing raceway 5, and the perpendicularity between the end face 6 and the bearing raceway 5; U-turn, with the outer circle 4 as the reference, grind the outer circle 3, the end face 2 and the bearing raceway 1 to ensure the shape and position tolerance;

7)粗磨齿：以轴承滚道5为基准，粗磨圆弧包容槽6；7) Coarsely grinding the teeth: taking the bearing raceway 5 as the reference, coarsely grinding the circular arc containment groove 6;

8)低温回火，消除表面应力；8) Low temperature tempering to eliminate surface stress;

9)精磨：以轴承滚道为基准，精磨右端面6与外圆3，形位要求达到要求并进行抽检；以同一基准，精磨基准面A、B与端面2，保证尺寸内齿轮宽度、外圆尺寸达到要求。9) Fine grinding: take the bearing raceway as the benchmark, finely grind the right end face 6 and the outer circle 3, meet the shape and position requirements and conduct random inspection; use the same benchmark, fine grind the reference planes A, B and end face 2, to ensure the size of the internal gear The width and outer circle size meet the requirements.

10)精磨滚道与圆弧包容槽：以A、B为基准，装夹磨削轴承滚道内孔及端面，保证轴承滚道同轴度与尺寸；以同一基准，磨削圆弧包容槽。10) Fine grinding raceway and arc containment groove: based on A and B, the inner hole and end face of the bearing raceway are clamped and ground to ensure the coaxiality and size of the bearing raceway; on the same basis, the arc containment groove is ground .

11)采用连续式超声波清洗机清洗，然后检验、包装、入库。11) Use a continuous ultrasonic cleaning machine to clean, then inspect, pack, and store.

实施例2，Example 2,

1)锻造：选用材料为高强度中碳钢材料，采用模锻的方式锻造出毛坯；1) Forging: The material is high-strength medium carbon steel, and the blank is forged by die forging;

2)等温正火，等温正火硬度为HB160-190；2) Isothermal normalizing, the hardness of isothermal normalizing is HB160-190;

3)粗车：粗车毛坯外圆，平左右端面，留工艺余量0.5mm，保证加工尺寸；以外圆为定位基准，粗车内孔与轴承滚道内孔，控制各个内孔之间的同轴度、与端面的垂直度；3) Rough turning: the outer circle of the rough turning blank, the left and right end faces are flat, leaving a process allowance of 0.5mm to ensure the processing size; Axis, perpendicularity to the end face;

4)插齿：以滚道5为基准，采用专用插刀加工内齿轮圆弧包容槽7，留余量0.5mm；4) Shaping: Based on the raceway 5, use a special slotting tool to process the arc-shaped containment groove 7 of the internal gear, leaving a margin of 0.5mm;

5)热处理：对滚道1、5以及内齿轮圆弧包容槽7局部高频淬火处理；5) Heat treatment: local high-frequency quenching treatment for raceways 1, 5 and inner gear arc containment groove 7;

6)粗磨：以A为基准，粗磨右端面6、外圆4以及轴承滚道5，保证外圆4与轴承滚道5的同轴度、端面6与轴承滚道5的垂直度；掉头，以外圆4为基准，磨削外圆3、端面2以及轴承滚道1，保证形位公差；6) Coarse grinding: with A as the reference, coarsely grind the right end face 6, the outer circle 4 and the bearing raceway 5 to ensure the coaxiality between the outer circle 4 and the bearing raceway 5, and the perpendicularity between the end face 6 and the bearing raceway 5; U-turn, with the outer circle 4 as the reference, grind the outer circle 3, the end face 2 and the bearing raceway 1 to ensure the shape and position tolerance;

7)粗磨齿：以轴承滚道5为基准，粗磨圆弧包容槽6；7) Coarsely grinding the teeth: taking the bearing raceway 5 as the reference, coarsely grinding the circular arc containment groove 6;

8)低温回火，消除表面应力；8) Low temperature tempering to eliminate surface stress;

9)精磨：以轴承滚道为基准，精磨右端面6与外圆3，形位要求达到要求并进行抽检；以同一基准，精磨基准面A、B与端面2，保证尺寸内齿轮宽度、外圆尺寸达到要求。9) Fine grinding: take the bearing raceway as the benchmark, finely grind the right end face 6 and the outer circle 3, meet the shape and position requirements and conduct random inspection; use the same benchmark, fine grind the reference planes A, B and end face 2, to ensure the size of the internal gear The width and outer circle size meet the requirements.

10)精磨滚道与圆弧包容槽：以A、B为基准，装夹磨削轴承滚道内孔及端面，保证轴承滚道同轴度与尺寸；以同一基准，磨削圆弧包容槽。10) Fine grinding raceway and arc containment groove: based on A and B, the inner hole and end face of the bearing raceway are clamped and ground to ensure the coaxiality and size of the bearing raceway; on the same basis, the arc containment groove is ground .

11)采用连续式超声波清洗机清洗，然后检验、包装、入库。11) Use a continuous ultrasonic cleaning machine to clean, then inspect, pack, and store.

最后说明的是，以上优选实施例仅用以说明本发明的技术方案而非限制，尽管通过上述优选实施例已经对本发明进行了详细的描述，但本领域技术人员应当理解，可以在形式上和细节上对其作出各种各样的改变，而不偏离本发明权利要求书所限定的范围。Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that it can be described in terms of form and Various changes may be made in the details without departing from the scope of the invention defined by the claims.