Method for manufacturing harmonic reducer of robot

Abstract

The invention discloses a method for manufacturing a harmonic reducer of a robot, which belongs to the technical field of harmonic reducer processing and includes the steps of manufacturing flexible gears and the steps of manufacturing rigid gears. The steps of manufacturing the flexible gears include: forging solid billets of the flexible gears; performing heat treatment for the solid billets of the flexible gears to reach the hardness of HRC (Rockwell hardness) 38-40; turning the solid billets of the flexible gears after heat treatment into thin-wall semi-finished flexible gears; supporting inner cavities of the semi-finished flexible gears by a flexible gear tensioning fixture; and grinding the supported semi-finished flexible gears to form external gear rings of the flexible gears on a grinder. By the method, the efficiency and the precision of machining the flexible gears and the rigid gears are improved, the hardness of the flexible gears is enhanced, the service life of the harmonic reducer is prolonged, and the method is widely applied to production of harmonic reducers.

Description

technical field [0001] The invention relates to the technical field of harmonic reducer processing, in particular to a manufacturing method of a robot harmonic reducer. Background technique [0002] Harmonic reducers have the advantages of small size, light weight, stable transmission, no impact, no noise, high motion precision, large transmission ratio, high load capacity, etc., and are widely used in electronics, aerospace, robotics and other industries. A harmonic reducer consists of a rigid gear with an inner ring gear (rigid wheel), a flexible gear with an outer ring gear (flex spline) and a wave generator. Due to the very thin wall thickness of the flexspline and the large alternating loads in the transmission process, the requirements for the fatigue resistance, processing and heat treatment of the flexspline material are relatively high, and the process is complicated. At present, most of them rely on imports. [0003] In the process of flexspline processing, the cu...

AI Technical Summary

Problems solved by technology

Generally, the hardness of the flexwheel body before rolling the outer ring gear is HRC22-25. If the hardness reaches HRC38-40, the hobbing tool cannot be processed. If the outer ring gear is processed and then heat-treated to make the hardness meet the standard, it will be uncontrollable. The amount of deformation, so the domestic processing flex spline does not undergo heat treatment, which will inevitably lead to a low service life of the flex spline

Due to the thin wall of the flexspline itself, it is easy to deform during the process of processing the outer ring gear, and it is also very easy to deform during the heat treatment process. Similarly, the surface roughness of the outer ring gear obtained by hobbing can only reach Ra6.3-3.2, so domestic Few qualified flexible wheel products are processed, resulting in low transmission accuracy, high noise and low service life of the harmonic reducer

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