Abrasion-resistant precision harmonic speed reducer

Abstract

The invention provides an abrasion-resistant precision harmonic speed reducer. Material selecting and a hot working process of an internal circular spline of the harmonic speed reducer are greatly changed, the abrasion-resistant precision harmonic speed reducer aims to provide good service conditions for a flexible wheel on the other side of a transmission pair by means of a self-lubricating and temperature rise coefficient reducing method, the service life of the flexible wheel on the other side of the transmission pair is prolonged, and finally the quality of the precision harmonic speed reducer used by an industrial robot is improved.

Description

technical field [0001] The invention belongs to the technical field of manufacturing common mechanical parts, and in particular relates to a wear-resistant precision harmonic reducer. Background technique [0002] Harmonic gear reducer is a precision mechanical device composed of three fixed internal gear wheels, flex splines and harmonic generators. Compared with ordinary reducers, it has small volume, large torque, high transmission efficiency, Compared with ordinary reducers, the material used can be reduced by 50%, and the volume and weight can be reduced by at least 1 / 3, so it is especially suitable for industrial robots. For example, a six-axis robot usually needs to use 3-4 harmonic reducers to realize the deceleration function of the 3rd-6th joints. With the rise of a new round of manufacturing revolution and the rise of labor costs, industrial robots The demand for harmonic reducers has increased in a blowout manner. At present, there are hundreds of thousands of u...

AI Technical Summary

Problems solved by technology

However, due to the poor quality of the ductile iron blanks used, there is still a lot of room for improvement in the quality of the manufactured parts

figure 1 It is a metallographic photo of an internal toothed steel wheel in a certain type of harmonic reducer of a company. It can be seen from the photo that the spheroidization rate of graphite does not exceed 80%, and the size of graphite is lower than grade 5. Such a graphite shape is even for ordinary parts. It is unsatisfactory, not to mention for the precision ring gear parts with a modulus of only 0.3, the non-round graphite will become the initiation point of fatigue cracks under the state of cyclic stress, and the size of graphite balls or graphite blocks is close to The height or width of the tooth shape will often become a hidden danger of tooth collapse. The reason for poor spheroidization and excessive graphite size is that it is difficult to cast small-diameter thick-walled ductile iron pipes

Under the conditions of traditional mass production of castings, the tube wall is thick, the solidification process is slow, and it is easy to spheroidize and decay. Graphite morphology requirements, so it is necessary to propose improved

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