A forming method for processing flexible gears of harmonic reducers

Abstract

The present invention discloses a forming method for processing a flexible gear of a harmonic reducer, and the forming method includes: a. preparation before processing; b. workpiece conveying; c. workpiece loading; d. forming; e. synchronous feeding and loading. The present invention adopts cold extrusion forming to process the workpiece into a flexible gear, and the upper die set and the lower die set adopt hot working die steel to replace the cold working die steel in the existing cold extrusion forming process. Before the workpiece is subjected to cold extrusion processing, it is subjected to spheroidizing annealing and softening treatment, thereby reducing the processing difficulty of the high hardness mold after quenching, and realizing that the mold reaches the overall compressive strength, surface hardness and wear resistance equivalent to those of cold working die steel, and the overall toughness is higher than that of cold working die steel, effectively reducing the brittle fracture tendency of the cold working die, and improving the durability of the mold, and then the workpiece is continuously and automatically processed in batches by setting a processing device, thereby greatly improving the processing efficiency of the flexible gear, increasing the processing accuracy, and the surface of the workpiece after processing is smooth.

Description

Technical Field

[0001] The invention belongs to the technical field of harmonic reducer equipment, and in particular relates to a forming method for processing a flexible gear of a harmonic reducer. Background Art

[0002] The harmonic reducer is mainly composed of four basic components: wave generator, flexible gear, flexible bearing, and rigid gear. The harmonic drive reducer is a gear drive that relies on the wave generator to assemble a flexible bearing to make the flexible gear produce controllable elastic deformation and mesh with the rigid gear to transmit motion and power. Applied disciplines: Mechanical Engineering (first-level discipline); Transmission (second-level discipline); Gear Transmission (third-level discipline) Harmonic gear transmission reducer is a new type of reducer developed using the principle of planetary gear transmission. Harmonic gear transmission (abbreviated as harmonic transmission).

[0003] Flexible gears are also called flexible wheels, which are thin-walled cup-shaped, thin-walled cylindrical or flat-embedded. There is a gear ring outside the open end of the thin-walled cylindrical flexible wheel, which deforms with the rotation of the wave generator, and the bottom of the cylinder is connected to the output shaft. Generally, gear transmissions use rigid mechanisms, and the rotating parts are also rigid. Harmonic gear transmission is a new type of transmission that uses the elastic deformation movement of flexible working components to achieve the transmission purpose.

[0004] In the manufacturing process of flexible gears, the workpiece material is 40CrNiMoA, which has hot extrusion and cold extrusion. Hot extrusion requires heating the workpiece. Compared with cold extrusion, the batch processing time is long, the processing precision is low and the surface is rough. When the cold extrusion method is used, the main problems are high material strength, high difficulty in forming flexible gears, and when cold working die steel (Cr12MoV or SKD11) is used, the mold toughness is insufficient and it is easy to break and scrap prematurely. When the cold working die steel with good toughness is used to make the cold working die, the surface hardness and wear resistance are poor, and the mold surface is easily scratched and fails. Therefore, most flexible wheel parts at home and abroad use hot extrusion forming methods. Summary of the invention

[0005] The purpose of the present invention is to solve the above-mentioned technical problems existing in the prior art, and to provide a forming method for processing a harmonic reducer flexible gear. First, a workpiece, an upper die set and a lower die set are prepared. The workpiece material is 40CrNiMoA, which is a high-strength and high-toughness steel. Before the workpiece is subjected to cold extrusion processing, it is subjected to a spheroidizing annealing softening treatment for fine grain and uniform structure to reduce the material hardness and the maximum extrusion load during the forming process. Then, the upper die set and the lower die set use hot working die steel to replace the cold working die steel in the existing cold extrusion forming process. After the upper die set and the lower die set are basically processed and formed, a low-temperature, low-concentration, and certain-depth carburizing treatment is performed on the surface, so as to reduce the crystallization caused by excessively high temperature during the carburizing process of the mold. The grain size is enlarged and the formation of alloy carbides is avoided. At the same time, the deformation of the mold during carburizing is effectively reduced, and the processing difficulty of the high-hardness mold after quenching is reduced. The mold achieves an overall compressive strength, surface hardness and wear resistance comparable to those of cold-working die steel, and the overall toughness is higher than that of cold-working die steel, which effectively reduces the brittle fracture tendency of the cold-working die and improves the durability of the mold; the processed workpiece is placed horizontally on the conveyor belt of the feeding mechanism, and the conveyor belt conveys the workpiece horizontally to the push assembly, and the push assembly pushes the horizontally placed workpiece to the conversion assembly. The horizontal placement of the workpiece facilitates the smooth transportation of the conveyor belt, and the conversion assembly clamps the horizontally placed workpiece and drives the workpiece to rotate, so that the horizontally placed workpiece is placed vertically. The setting of the conversion component is used to convert the placement state of the workpiece, so that the workpiece is convenient for the grasping component to grasp the workpiece. The grasping component grasps the workpiece and sends it to the lower die set of the processing table, so as to complete the loading of the workpiece; after the workpiece is placed on the lower die set, the workbench controls the upper die set to press down on the lower die set, so as to process the workpiece into a flexible gear; after the flexible gear is processed, the next workpiece is continuously conveyed, and step b is repeated, so that after the grasping component grasps the workpiece on the conversion component, the grasping component drives the workpiece to rotate, and then the grasping component extends into the processing table, and at the same time the support table of the lower die set descends, and the flexible gear automatically falls onto the support table, so as to facilitate The grabbing assembly grabs the flexible gear on the supporting table, and the grabbing assembly drives the flexible gear to rotate again, while the supporting table is reset. Then the grabbing assembly controls the workpiece to be processed to be placed in the processing table for cold extrusion forming of the next workpiece. At the same time, the grabbing assembly grabs the flexible gear and resets it, so that the flexible gear is located on the collecting cavity of the feeding table. The grabbing assembly releases the flexible gear and makes it automatically fall into the collecting cavity, thereby realizing the automatic collection of the flexible gear, thereby realizing the cold extrusion processing and forming of the flexible gear, shortening the batch processing time, improving the processing accuracy, and making the surface of the workpiece smooth after processing. At the same time, the toughness of the mold is guaranteed, and the service life of the mold is improved, thereby reducing the processing cost.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A forming method for processing a flexible gear of a harmonic reducer comprises the following steps:

[0008] a. Preparation before processing

[0009] According to the size of the flexible gear to be processed, the workpiece to be processed is prepared, and the workpiece is subjected to spheroidizing annealing treatment before processing; and the corresponding upper die set and lower die set are prepared. Both the upper die set and the lower die set are made of hot working die steel. After the upper die set and the lower die set are basically processed and formed, the surface is subjected to low-temperature, low-concentration, and certain penetration layer depth carburizing treatment, and the surface carbon concentration is controlled at 0.9% to 1.1%, and the penetration layer depth is controlled at 1.3 to 1.6 mm; the carbon concentration of the mold with smaller bearing capacity is controlled at 0.7% to 0.8%, and the penetration layer depth is controlled at 1.0 to 1.2 mm. After quenching + high-temperature tempering of the hot working die steel, the surface hardness of the mold reaches 60 to 63 HRC, and the core hardness reaches 46 to 50 HRC; and the operation of the processing device is tested by starting the machine;

[0010] b. Workpiece conveying

[0011] 1) Workpiece conveying

[0012] A conveyor belt is provided on the loading mechanism on one side of the processing device. The conveyor belt conveys the workpieces horizontally. The conveyor belt conveys the workpieces one by one to the pushing assembly. The pushing assembly pushes the workpieces to the conversion assembly.

[0013] 2) Workpiece clamping

[0014] The conversion component drives the workpiece to rotate, so that the horizontally placed workpiece is arranged in a vertical direction, and the grabbing component of the feeding mechanism grabs the converted workpiece;

[0015] c. Workpiece loading

[0016] After the grabbing assembly grabs the workpiece, it sends the workpiece to the lower die set of the processing table, thereby completing the loading, and the grabbing assembly returns to the initial position;

[0017] d. Molding

[0018] After the workpiece is placed on the lower die set, the workbench controls the upper die set to press down. Through the cooperation of the upper die set and the lower die set, the workpiece is cold extruded to form a flexible wheel. Then the upper die set presses down again to open a tooth portion on the top of the flexible wheel, so that the flexible wheel is formed into a flexible gear.

[0019] e. Synchronous feeding and loading

[0020] After the flexible gear processing is completed, the next workpiece continues to be transported and step b is repeated. After the grabbing component grabs the workpiece on the conversion component, the grabbing component rotates, and then the grabbing component enters the processing table. At the same time, the support table in the lower mold assembly descends, so that the flexible gear automatically falls on the support table. The grabbing component grabs the flexible gear on the support table, and then the support table rises back to the initial position. Then the grabbing component drives the flexible gear to be transported to the outside of the processing table, and then the grabbing component rotates again. The grabbing component drives the workpiece to be placed on the lower mold assembly and continues the next processing and forming. After the grabbing component drives the flexible gear to the initial position, the grabbing component releases the flexible gear, so that the flexible gear automatically falls into the collection chamber of the feeding mechanism.

[0021] Furthermore, the processing device includes a processing table and a feeding mechanism. The feeding mechanism is arranged on one side of the processing table. The feeding mechanism includes a feeding table, a conveyor belt, a pushing assembly, a conversion assembly and a grabbing assembly. The conveyor belt is arranged on one side of the feeding table. The pushing assembly corresponds to the conveyor belt and is arranged at one end of the feeding table close to the processing table. The conversion assembly corresponds to the pushing assembly and is arranged at one end of the feeding table close to the processing table. The grabbing assembly corresponds to the conversion assembly and is arranged on the feeding table. A processing cavity is arranged in the processing table. A lower die set is arranged at the bottom of the processing cavity. An upper die set is arranged at the top of the processing cavity. A through hole is arranged on one side of the processing table close to the feeding mechanism, and the through hole is connected to the processing cavity. The conveyor belt is used to transport the workpiece to be processed. The pushing assembly pushes the workpiece on the conveyor belt to the conversion assembly. The conversion assembly is used to convert the placement state of the workpiece. The grabbing assembly is used to grab the workpiece in the conversion assembly. Both the upper die set and the lower die set are arranged in the processing cavity of the processing table. The grabbing assembly places the workpiece to be processed on the lower die set, and the processing of the workpiece is completed through the cooperation of the upper die set and the lower die set.

[0022] Furthermore, a conveyor trough is provided on one side of the loading platform, and a conveyor belt is provided in the conveyor trough. The end of the conveyor belt away from the processing platform is the feeding end, and the other end of the conveyor belt is the discharging end. The pushing assembly is located at the discharging end. The pushing assembly includes a pushing cylinder, a pushing guide rod and a pushing plate. The loading platform is fixedly connected with a first cylinder mounting seat, and the pushing cylinder is fixedly connected to the first cylinder mounting seat. One end of the pushing guide rod is connected to the end of the pushing cylinder, and the other end of the pushing guide rod is fixedly connected to the pushing plate. The conveyor belt delivers the workpiece from the feeding end to the discharging end, and the pushing cylinder drives the pushing guide rod to drive the pushing plate to move tightly, so that the pushing plate controls the workpiece located at the discharging end to be transported to one side of the conversion assembly. The conveyor trough is provided for installing a conveyor belt, and the conveyor belt is used to transport the workpiece. The pushing cylinder controls the pushing guide rod to drive the pushing plate to transport the workpiece to one side of the conversion assembly.

[0023] Furthermore, an L-shaped limit plate is fixedly connected to one side of the push plate close to the conversion assembly, and a baffle is fixedly connected to one side of the push plate close to the discharge end. A limit cavity is formed between the baffle, the push plate and the L-shaped limit plate, and the conveyor belt delivers the workpiece into the limit cavity. The setting of the baffle plate plays a limiting role on the workpiece transported on the conveyor belt, avoiding the misalignment of the workpiece transported by the conveyor belt. When the push assembly pushes the workpiece, the L-shaped limit plate plays a limiting role on the push of the workpiece, avoiding the misalignment of the workpiece during the push process. The setting of the limit cavity improves the conveying accuracy of the workpiece.

[0024] Furthermore, the conversion component includes a rotating motor, a finger cylinder and a pushing cylinder. The loading table is provided with an inverted trapezoidal groove corresponding to the pushing component. The inverted trapezoidal groove matches the workpiece. The loading table is provided with a second cylinder mounting seat corresponding to the inverted trapezoidal groove. The second cylinder mounting seat is fixedly connected with an L-shaped rotating rod at one end close to the processing table. The finger cylinder is rotatably connected to the L-shaped rotating rod. The finger cylinder is against the second cylinder mounting seat. The rotating motor is arranged on the L-shaped rotating rod on one side. The rotating motor drives the finger cylinder to rotate. The pushing cylinder is arranged at the end of the inverted trapezoidal groove away from the processing table. The pushing component pushes the workpiece into the inverted trapezoidal groove. The pushing cylinder pushes the workpiece in the inverted trapezoidal groove toward one end of the finger cylinder. The finger cylinder clamps the workpiece. The rotating motor drives the finger cylinder to swing the workpiece upward, so that the horizontally placed workpiece is rotated to a vertical setting. When the push assembly transports the workpiece into the inverted trapezoidal groove, it is convenient to reset the push assembly. After the push assembly is reset, the push cylinder located in the inverted trapezoidal groove pushes the workpiece to a finger cylinder. The finger cylinder clamps the workpiece, and the rotating motor drives the finger cylinder to drive the workpiece to rotate, thereby converting the horizontally placed workpiece into a vertical one, so that the vertically placed workpiece is easy to be grasped by the grasping assembly.

[0025] Furthermore, the grabbing assembly includes a support column, a lifting cylinder, a lifting seat, a grabbing rod and a grabbing hand. The two support columns are fixedly connected to the loading platform. A fixed plate is provided between the two support columns. The lifting cylinder is connected to the fixed plate. The bottom of the lifting cylinder is connected to the lifting seat. A sliding rail is provided on the support column. The lifting seat is correspondingly provided with a sliding groove. The lifting seat is controlled by the lifting cylinder to lift and slide along the sliding rail. One end of the grabbing rod is slidably connected to the lifting seat, and the other end of the grabbing rod is rotatably connected to the grabbing hand. The grabbing hand is used to grab the workpiece. The support column plays a supporting role for the lifting seat and the grabbing rod. The lifting seat can be controlled to lift and lower on the support column in cooperation with the lifting cylinder. The setting of the fixed plate is used to install the lifting cylinder, and at the same time, the integrity of the connection between the two support columns is increased, thereby increasing the stability of the grabbing assembly.

[0026] Furthermore, a guide groove is provided on the top of the lifting seat, and a guide block is provided corresponding to the grabbing rod, and the guide block is provided in the guide groove. A slide rail is provided on one side of the lifting seat, and a slide groove is provided corresponding to the grabbing rod, and the slide groove is slidably connected to the slide rail. The slide groove and the slide rail are used for the grabbing rod to slide and adjust along the lifting seat, and the guide groove and the guide block play a guiding role in the movement of the grabbing rod.

[0027] Furthermore, the gripper uses two mirror-image finger cylinders 2, which are fixedly connected by a connecting plate, and a rotating shaft is fixedly connected to the bottom of the gripper. The two finger cylinders 2 can be used for loading and unloading respectively, and the rotation of the rotating shaft drives the two finger cylinders 2 to rotate, thereby facilitating the loading and unloading of workpieces.

[0028] Furthermore, the lower die assembly is arranged at the bottom of the processing cavity, and an extrusion table is connected to the processing cavity for lifting and lowering. The upper die assembly is arranged at the bottom of the extrusion table corresponding to the lower die assembly. The upper die assembly includes a rotating shaft, a rotating arm, a first extrusion head and a second extrusion head. The rotating shaft is connected to the bottom of the extrusion table, and the rotating arm is rotatably connected to the rotating shaft. The first extrusion head is connected to one end of the rotating arm, and the second extrusion head is connected to the other end of the rotating arm. The lower die assembly includes a lower die base and a support table. Connecting rods are provided at the four corners of the bottom of the lower die base, and the connecting rods are fixedly connected to the bottom of the processing cavity. The support table is connected to the bottom of the processing cavity for lifting and lowering. The supporting table is against the bottom of the lower die base to form a molding cavity. The lower die base is fixed to the bottom of the processing cavity by a connecting rod, and the support platform is arranged below the lower die base and can be raised and lowered in the processing cavity. When the workpiece needs to be cold extruded, the support platform rises and rests against the bottom of the lower die base to form a forming cavity. The workpiece is placed in the forming cavity, and the rotating arm drives the first extrusion head to rotate above the workpiece, and the extrusion platform drives the first extrusion head to descend, so that the workpiece is cold extruded into a flexible wheel. The extrusion head rises and then resets, and then the rotating arm drives the second extrusion head to rotate above the workpiece again, and the extrusion platform drives the second extrusion head to descend, so that the flexible wheel is cold extruded into a flexible gear, thereby realizing automatic processing of the flexible gear.

[0029] Furthermore, in step d, the workpiece is placed on the lower die set, the workpiece is inserted into the lower die seat, the bottom of the workpiece is against the support table, and at the same time, the rotating arm drives the first extrusion head to rotate, so that the first extrusion head is located on the lower die seat, and the extrusion table drives the first extrusion head to descend, so that the first extrusion head initially extrude the workpiece into a flexible wheel, and after the initial extrusion molding, the rotating arm rotates again, so that the second extrusion head is located on the lower die seat, and the extrusion table drives the second extrusion head to descend, so that the second extrusion head extrude the flexible wheel again into a flexible gear. Automatic cold extrusion molding of the workpiece into a flexible gear is achieved.

[0030] The present invention has the following beneficial effects due to the adoption of the above technical solution:

[0031] In step a of the present invention, a workpiece, an upper die set and a lower die set are first prepared. The workpiece material is 40CrNiMoA, which is a high-strength and high-toughness steel. Before the workpiece is subjected to cold extrusion processing, it is subjected to a spheroidizing annealing softening treatment for fine grain and uniform organization to reduce the material hardness and the maximum extrusion load in the forming process. Then, the upper die set and the lower die set use hot working die steel to replace the cold working die steel in the existing cold extrusion forming process. After the upper die set and the lower die set are basically processed and formed, a low-temperature, low-concentration, and certain penetration layer depth carburizing treatment is performed on the surface to reduce the grain expansion caused by excessive temperature during the die carburizing process and avoid the formation of a network of alloy carbides. At the same time, the deformation of the die during the carburizing process is effectively reduced, and the processing difficulty of the high-hardness die after quenching is reduced, so that the die achieves an overall compressive strength, surface hardness and wear resistance equivalent to those of cold working die steel, and an overall toughness higher than that of cold working die steel, effectively reduces the brittle fracture tendency of the cold working die, and improves the durability of the die.

[0032] In step b of the present invention, the processed workpiece is horizontally placed on the conveyor belt of the loading mechanism, and the conveyor belt horizontally transports the workpiece to the pushing assembly. The pushing assembly pushes the horizontally placed workpiece to the conversion assembly. The horizontal placement of the workpiece facilitates smooth transportation by the conveyor belt. The conversion assembly clamps the horizontally placed workpiece and drives the workpiece to rotate, so that the horizontally placed workpiece is placed vertically, and then the grasping assembly grasps the rotated workpiece. The setting of the conversion assembly is used to convert the placement state of the workpiece, so as to facilitate the workpiece to be grasped by the grasping assembly.

[0033] In step e of the present invention, after the flexible gear is processed, the next workpiece is continuously conveyed, and step b is repeated, so that after the grasping component grasps the workpiece on the conversion component, the grasping component drives the workpiece to rotate, and then the grasping component extends into the processing table, and at the same time the support table of the lower die group descends, and the flexible gear automatically falls onto the support table, so as to facilitate the grasping component to grasp the flexible gear on the support table, the grasping component drives the flexible gear to rotate again, and at the same time the support table is reset, and then the grasping component controls the workpiece to be processed to be placed into the processing table, and the next workpiece is cold extruded and formed, and at the same time the grasping component grasps the flexible gear and resets it, so that the flexible gear is located on the collection chamber of the feeding table, and the grasping component releases the flexible gear, so that it automatically falls into the collection chamber, realizing the automatic collection of the flexible gear, thereby realizing the cold extrusion processing and forming of the flexible gear, shortening the batch processing time, improving the processing accuracy, and making the surface of the workpiece smooth after processing, while ensuring the toughness of the mold, and improving the service life of the mold, thereby reducing the processing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be further described below in conjunction with the accompanying drawings:

[0035] Figure 1 It is a structural schematic diagram of the present invention when the workpiece is being transported on the conveyor belt;

[0036] Figure 2 It is a structural schematic diagram of the present invention in which the workpiece is transported into the limiting cavity;

[0037] Figure 3 It is a schematic diagram of the structure of the present invention in which the workpiece is pushed into the inverted trapezoidal groove;

[0038] Figure 4 It is a structural schematic diagram of the present invention when the grasping component grasps the workpiece;

[0039] Figure 5 It is a structural schematic diagram of the present invention in which the workpiece is placed in the molding cavity;

[0040] Figure 6 This is a schematic diagram of the structure of the present invention when the workpiece processing is completed;

[0041] Figure 7 It is a schematic diagram of the structure of the present invention after the grabbing hand is rotated;

[0042] Figure 8 It is a structural schematic diagram of the present invention when the grasping hand grasps the flexible gear on the supporting platform;

[0043] Fig. 9 It is a structural schematic diagram of the processing table in the present invention;

[0044] Fig.10 It is a structural schematic diagram of the feeding mechanism in the present invention;

[0045] Fig.11 It is a structural schematic diagram of the finger cylinder 1 in the present invention;

[0046] Fig.12 It is a schematic structural diagram of the push assembly in the present invention.

[0047] In the figure, 1-workpiece; 2-processing device; 3-processing table; 4-feeding mechanism; 5-feeding table; 6-molding cavity; 7-pushing assembly; 8-conversion assembly; 9-grabbing assembly; 10-processing cavity; 11-connecting rod; 12-upper die set; 13-lower die set; 14-through hole; 15-conveying trough; 16-conveying belt; 17-feeding end; 18-discharging end; 19-pushing cylinder; 20-pushing guide rod; 21-pushing plate; 22-first cylinder mounting seat; 23-L-type limit plate; 24-baffle; 25-limiting cavity; 26-rotating motor; 27-finger cylinder 1; 28- Pushing cylinder; 29-inverted trapezoidal groove; 30-second cylinder mounting seat; 31-L-shaped rotating rod; 32-support column; 33-lifting cylinder; 34-lifting seat; 35-grabbing rod; 36-grabbing hand; 37-fixing plate; 38-sliding rail; 39-sliding groove; 40-guide groove; 41-guide block; 42-slide rail; 43-slide groove; 44-finger cylinder two; 45-connecting plate; 46-rotating shaft; 47-extrusion table; 48-rotating shaft; 49-rotating arm; 50-first extrusion head; 51-second extrusion head; 52-lower die seat; 53-support table; 54-collecting chamber. DETAILED DESCRIPTION

[0048] like Figures 1 to 12 As shown, a forming method for processing a flexible gear of a harmonic reducer according to the present invention comprises the following steps:

[0049] a. Preparation before processing

[0050] According to the size of the flexible gear to be processed, a workpiece 1 to be processed is prepared, and the workpiece 1 is subjected to spheroidizing annealing treatment before processing; and corresponding upper die set 12 and lower die set 13 are prepared, and both the upper die set 12 and the lower die set 13 are made of hot working die steel. After the upper die set 12 and the lower die set 13 are basically processed and formed, the surface is subjected to low-temperature, low-concentration, and certain carburization layer depth carburization treatment, and the surface carbon concentration is controlled at 0.9% to 1.1%, and the carburization layer depth is controlled at 1.3 to 1.6 mm; the carbon concentration of the mold with smaller bearing capacity is controlled at 0.7% to 0.8%, and the carburization layer depth is controlled at 1.0 to 1.2 mm. After quenching + high-temperature tempering of the hot working die steel, the surface hardness of the mold reaches 60 to 63 HRC, and the core hardness reaches 46 to 50 HRC; and the operation of the processing device is tested by starting the machine;

[0051] b. Workpiece 1 conveying

[0052] 1) Workpiece 1 conveying

[0053] The feeding mechanism 4 on one side of the processing device 2 is provided with a conveyor belt 16, and the conveyor belt 16 conveys the workpieces 1 horizontally. The conveyor belt 16 conveys the workpieces 1 one by one to the pushing assembly 7, and the pushing assembly 7 pushes the workpieces 1 to the conversion assembly 8;

[0054] 2) Workpiece 1 clamping

[0055] The conversion assembly 8 drives the workpiece 1 to rotate, so that the horizontally placed workpiece 1 is arranged in a vertical direction, and the grabbing assembly 9 of the feeding mechanism 4 grabs the converted workpiece 1;

[0056] c. Loading of workpiece 1

[0057] After the grabbing assembly 9 grabs the workpiece 1, the workpiece 1 is fed onto the lower die set 13 of the processing table 3, thereby completing the loading, and the grabbing assembly 9 returns to the initial position;

[0058] d. Molding

[0059] After the workpiece 1 is placed on the lower die set 13, the workbench controls the upper die set 12 to press down. Through the cooperation of the upper die set 12 and the lower die set 13, the workpiece 1 is cold-extruded to form a flexible wheel. Then the upper die set 12 is pressed down again to open a tooth portion on the top of the flexible wheel, so that the flexible wheel is formed into a flexible gear.

[0060] e. Synchronous feeding and loading

[0061] After the flexible gear processing is completed, the next workpiece 1 continues to be conveyed, and step b is repeated. After the grabbing component 9 grabs the workpiece 1 located on the conversion component 8, the grabbing component 9 rotates, and then the grabbing component 9 enters the processing table 3. At the same time, the support table 53 in the lower mold group 13 descends, so that the flexible gear automatically falls on the support table 53. The grabbing component 9 grabs the flexible gear located on the support table 53, and then the support table 53 rises back to the initial position. Then the grabbing component 9 drives the flexible gear to be conveyed to the outside of the processing table 3, and then the grabbing component 9 rotates again. The grabbing component 9 drives the workpiece 1 to be placed on the lower mold group 13 and continues the next processing and forming. After the grabbing component 9 drives the flexible gear to be sent to the initial position, the grabbing component 9 releases the flexible gear, so that the flexible gear automatically falls into the collection chamber 54 of the feeding mechanism 4.

[0062] The processing device 2 includes a processing table 3 and a feeding mechanism 4. The feeding mechanism 4 is arranged on one side of the processing table 3. The feeding mechanism 4 includes a feeding table 5, a conveyor belt 16, a pushing assembly 7, a conversion assembly 8 and a grabbing assembly 9. The conveyor belt 16 is arranged on one side of the feeding table 5. The pushing assembly 7 is arranged at one end of the feeding table 5 close to the processing table 3 corresponding to the conveyor belt 16. The conversion assembly 8 is arranged at one end of the feeding table 5 close to the processing table 3 corresponding to the pushing assembly 7. The grabbing assembly 9 is arranged on the feeding table 5 corresponding to the conversion assembly 8. A processing cavity 10 is provided in the processing table 3. A lower mold assembly 13 is provided at the bottom of the processing cavity 10. An upper mold assembly 12 is provided at the top of the processing cavity 10. A through hole 14 is provided on the side of the processing table 3 close to the feeding mechanism 4. The through hole 14 is connected to the processing cavity 10. The conveyor belt 16 is used to convey the workpiece 1 to be processed. The pushing assembly 7 pushes the workpiece 1 on the conveyor belt 16 to the conversion assembly 8. The conversion assembly 8 is used to convert the placement state of the workpiece 1. The grabbing assembly 9 is used to grab the workpiece 1 in the conversion assembly 8. The upper mold assembly 12 and the lower mold assembly 13 are both provided in the processing cavity 10 of the processing table 3. The grabbing assembly 9 places the workpiece 1 to be processed on the lower mold assembly 13, and the processing of the workpiece 1 is completed through the cooperation of the upper mold assembly 12 and the lower mold assembly 13.

[0063] A conveying trough 15 is provided on one side of the loading platform 5, and a conveyor belt 16 is arranged in the conveying trough 15. The end of the conveyor belt 16 away from the processing platform 3 is the feeding end 17, and the other end of the conveyor belt 16 is the discharging end 18. The pushing assembly 7 is located at the discharging end 18. The pushing assembly 7 includes a pushing cylinder 19, a pushing guide rod 20 and a pushing plate 21. The loading platform 5 is fixedly connected with a first cylinder mounting seat 22. The pushing cylinder 19 is fixedly connected to the first cylinder mounting seat 22. One end of the pushing guide rod 20 is connected to the end of the pushing cylinder 19, and the other end of the pushing guide rod 20 is fixedly connected to the pushing plate 21. The conveyor belt 16 delivers the workpiece 1 from the feeding end 17 to the discharging end 18. The pushing cylinder 19 drives the pushing guide rod 20 to drive the pushing plate 21 to move tightly, so that the pushing plate 21 controls the workpiece 1 located at the discharging end 18 to be transported to the side of the conversion assembly 8. The conveying trough 15 is used to install a conveyor belt 16, and the conveyor belt 16 is used to convey the workpiece 1. The push cylinder 19 controls the push guide rod 20 to drive the push plate 21 to convey the workpiece 1 to one side of the conversion assembly 8.

[0064] An L-shaped limit plate 23 is fixedly connected to one side of the push plate 21 close to the conversion assembly 8, and a baffle 24 is fixedly connected to one side of the push plate 21 close to the discharge end 18. A limit cavity 25 is formed between the baffle 24, the push plate 21 and the L-shaped limit plate 23, and the conveyor belt 16 delivers the workpiece 1 into the limit cavity 25. The setting of the baffle 24 plays a limiting role on the workpiece 1 conveyed on the conveyor belt 16, avoiding the misalignment of the workpiece 1 conveyed by the conveyor belt 16. When the push assembly 7 pushes the workpiece 1, the L-shaped limit plate 23 plays a limiting role on the push of the workpiece 1, avoiding the misalignment of the workpiece 1 during the push process. The setting of the limit cavity 25 improves the conveying accuracy of the workpiece 1.

[0065] The conversion assembly 8 includes a rotating motor 26, a finger cylinder 27 and a pushing cylinder 28. The loading platform 5 is provided with an inverted trapezoidal groove 29 corresponding to the pushing assembly 7. The inverted trapezoidal groove 29 matches the workpiece 1. The loading platform 5 is provided with a second cylinder mounting seat 30 corresponding to the inverted trapezoidal groove 29. The second cylinder mounting seat 30 is fixedly connected to an L-shaped rotating rod 31 at one end close to the processing table 3. The finger cylinder 27 is rotatably connected to the L-shaped rotating rod 31. The finger cylinder 27 is against the second cylinder mounting seat 30. The rotating motor 26 On the L-shaped rotating rod 31 arranged on one side, the rotating motor 26 drives the finger cylinder 1 27 to rotate, and the pushing cylinder 28 is arranged at the end of the inverted trapezoidal groove 29 away from the processing table 3. The push assembly 7 pushes the workpiece 1 into the inverted trapezoidal groove 29, and the pushing cylinder 28 pushes the workpiece 1 in the inverted trapezoidal groove 29 to move toward one end of the finger cylinder 1 27. The finger cylinder 1 27 clamps the workpiece 1, and the rotating motor drives the finger cylinder 1 27 to swing the workpiece 1 upward, so that the horizontally placed workpiece 1 is rotated to a vertical setting. When the push assembly 7 transports the workpiece 1 into the inverted trapezoidal groove 29, it is convenient to reset the push assembly 7. After the push assembly 7 is reset, the pushing cylinder 28 located in the inverted trapezoidal groove 29 pushes the workpiece 1 to the finger cylinder 1 27, and the finger cylinder 1 27 clamps the workpiece 1. The rotating motor drives the finger cylinder 1 27 to rotate the workpiece 1, thereby converting the horizontally placed workpiece 1 into a vertical placement, so that the vertically placed workpiece 1 is convenient for the grasping assembly 9 to grasp.

[0066] The grabbing assembly 9 includes a support column 32, a lifting cylinder 33, a lifting seat 34, a grabbing rod 35 and a grabbing hand 36. The two support columns 32 are fixedly connected to the loading platform 5. A fixed plate 37 is provided between the two support columns 32. The lifting cylinder 33 is connected to the fixed plate 37. The bottom of the lifting cylinder 33 is connected to the lifting seat 34. A sliding rail 38 is provided on the support column 32. The lifting seat 34 is correspondingly provided with a sliding groove 39. The lifting seat 34 is controlled by the lifting cylinder 33 to lift and slide along the sliding rail 38. One end of the grabbing rod 35 is slidably connected to the lifting seat 34, and the other end of the grabbing rod 35 is rotatably connected to the grabbing hand 36. The grabbing arm 36 is used to grab the workpiece 1, and the support column 32 supports the lifting seat 34 and the grabbing rod 35. The lifting seat 34 can be controlled to lift and lower on the support column 32 in cooperation with the lifting cylinder 33. The setting of the fixing plate 37 is used to install the lifting cylinder 33, and at the same time increases the integrity of the connection between the two support columns 32, thereby increasing the stability of the grabbing assembly 9.

[0067] A guide groove 40 is provided at the top of the lifting seat 34, and a guide block 41 is provided corresponding to the grabbing rod 35. The guide block 41 is provided in the guide groove 40. A slide rail 42 is provided on one side of the lifting seat 34, and a slide groove 43 is provided corresponding to the grabbing rod 35. The slide groove 43 is slidably connected to the slide rail 42. The slide groove 43 and the slide rail 42 are provided for the grabbing rod 35 to slide and adjust along the lifting seat 34. The guide groove 40 and the guide block 41 play a guiding role in the movement of the grabbing rod 35.

[0068] The gripper 36 uses two mirror-image finger cylinders 44, which are fixedly connected by a connecting plate 45. A rotating shaft 46 is fixedly connected to the bottom of the connecting plate 45, and the rotating shaft 46 is rotatably connected to the bottom of the gripper 36. The two finger cylinders 44 can be respectively loaded and unloaded, and the rotation of the rotating shaft 46 drives the two finger cylinders 44 to rotate, thereby facilitating the loading and unloading of the workpiece 1.

[0069] The lower die assembly 13 is arranged at the bottom of the processing chamber 10, and an extrusion platform 47 is connected to the processing chamber 10 for lifting and lowering. The upper die assembly 12 is arranged at the bottom of the extrusion platform 47 corresponding to the lower die assembly 13. The upper die assembly 12 includes a rotating shaft 48, a rotating arm 49, a first extrusion head 50 and a second extrusion head 51. The rotating shaft 48 is connected to the bottom of the extrusion platform 47, and the rotating arm 49 is rotatably connected to the rotating shaft 48. The first extrusion head 50 is connected to one end of the rotating arm 49, and the second extrusion head 51 is connected to the other end of the rotating arm 49. The lower die assembly 13 includes a lower die base 52 and a support platform 53. Connecting rods 11 are provided at the four corners of the bottom of the lower die base 52, and the connecting rods 11 are fixedly connected to the bottom of the processing chamber 10. The support platform 53 is connected to the bottom of the processing chamber 10 for lifting and lowering. The support platform 53 abuts against the bottom of the lower die base 52 to form a molding cavity 6. The lower die base 52 is fixed to the bottom of the processing chamber 10 by the connecting rod 11, and the support platform 53 is arranged below the lower die base 52 and can be raised and lowered in the processing chamber 10. When the workpiece 1 needs to be cold extruded, the support platform 53 rises and rests against the bottom of the lower die base 52 to form a forming chamber 6. The workpiece 1 is placed in the forming chamber 6, and the rotating arm 49 drives the first extrusion head 50 to rotate above the workpiece 1, and the extrusion table 47 drives the first extrusion head 50 to descend, and the workpiece 1 is cold extruded into a flexible wheel. The extrusion head rises and then resets, and then the rotating arm 49 drives the second extrusion head 51 to rotate above the workpiece 1 again, and the extrusion table 47 drives the second extrusion head 51 to descend, so that the flexible wheel is cold extruded into a flexible gear, thereby realizing automatic processing of the flexible gear.

[0070] In step d, the workpiece 1 is placed on the lower die set 13, the workpiece 1 is inserted into the lower die seat 52, the bottom of the workpiece 1 is against the support platform 53, and the rotating arm 49 drives the first extrusion head 50 to rotate, so that the first extrusion head 50 is located on the lower die seat 52, and the extrusion platform 47 drives the first extrusion head 50 to descend, so that the first extrusion head 50 initially extrude the workpiece 1 into a flexible wheel. After the initial extrusion molding, the rotating arm 49 rotates again, so that the second extrusion head 51 is located on the lower die seat 52, and the extrusion platform 47 drives the second extrusion head 51 to descend, so that the second extrusion head 51 extrude the flexible wheel into a flexible gear again. Automatic cold extrusion molding of the workpiece 1 into a flexible gear is achieved.

[0071] The present invention adopts cold extrusion to process the workpiece 1 into a flexible gear. The upper die set 12 and the lower die set 13 adopt hot working die steel to replace the cold working die steel in the existing cold extrusion forming process. Before the workpiece 1 is subjected to cold extrusion processing, it is subjected to spheroidizing annealing and softening treatment, thereby reducing the processing difficulty of the high-hardness die after quenching, and achieving the mold having an overall compressive strength, surface hardness and wear resistance equivalent to those of cold working die steel, and an overall toughness higher than that of cold working die steel, effectively reducing the brittle fracture tendency of the cold working die, and improving the durability of the die. Then, by setting a processing device 2, the workpiece 1 is continuously and automatically processed in batches, thereby greatly improving the processing efficiency of the flexible gear, increasing the processing accuracy, and making the surface of the workpiece smooth after processing.

[0072] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the present invention to solve basically the same technical problems and achieve basically the same technical effects are all included in the protection scope of the present invention.

Claims

1. A forming method for processing a flexible gear of a harmonic reducer, characterized in that The steps include: a. Preparation before processing According to the size of the flexible gear to be processed, the workpiece to be processed is prepared, and the workpiece is spheroidized annealed before processing; and the corresponding upper die set and lower die set are prepared. Both the upper die set and the lower die set are made of hot working die steel. After the upper die set and the lower die set are basically processed and formed, the surface is subjected to low-temperature, low-concentration, and certain penetration layer depth carburizing treatment, and the surface carbon concentration is controlled at 0.9% to 1.1%, and the penetration layer depth is controlled at 1.3 to 1.6 mm; the carbon concentration of the mold with smaller bearing capacity is controlled at 0.7% to 0.8%, and the penetration layer depth is controlled at 1.0 to 1.2 mm. After quenching + high-temperature tempering of the hot working die steel, the mold surface hardness reaches 6 0~63HRC, the core hardness reaches 46~50HRC; and the machine is turned on to detect the operation of the processing device; the processing device includes a processing table and a feeding mechanism, the feeding mechanism is arranged on one side of the processing table, the feeding mechanism includes a feeding table, a conveyor belt, a pushing assembly, a conversion assembly and a grabbing assembly, the conveyor belt is arranged on one side of the feeding table, the pushing assembly is arranged at one end of the feeding table close to the processing table corresponding to the conveyor belt, the conversion assembly is arranged at one end of the feeding table close to the processing table corresponding to the pushing assembly, and the grabbing assembly is arranged on the feeding table corresponding to the conversion assembly; the processing table is inside A processing chamber is provided, a lower mold group is provided at the bottom of the processing chamber, an upper mold group is correspondingly provided at the top of the processing chamber, a through hole is provided on the side of the processing table close to the feeding mechanism, and the through hole is communicated with the processing chamber; a conveying trough is provided on one side of the feeding table, the conveyor belt is arranged in the conveying trough, the end of the conveyor belt away from the processing table is the feeding end, and the other end of the conveyor belt is the discharging end, the pushing assembly is located at the discharging end, the pushing assembly includes a pushing cylinder, a pushing guide rod and a pushing plate, the feeding table is fixedly connected to a first cylinder mounting seat, and the pushing cylinder is fixedly connected to the first cylinder mounting seat, One end of the pushing guide rod is connected to the end of the pushing cylinder, and the other end of the pushing guide rod is fixedly connected to the pushing plate, and the conveyor belt delivers the workpiece from the feeding end to the discharging end, and the pushing cylinder drives the pushing guide rod to drive the pushing plate to move tightly, so that the pushing plate controls the workpiece located at the discharging end to be transported to one side of the conversion component; an L-shaped limit plate is fixedly connected to the side of the pushing plate close to the conversion component, and a baffle is fixedly connected to the side of the pushing plate close to the discharging end, and a limit cavity is formed between the baffle, the pushing plate and the L-shaped limit plate, and the conveyor belt delivers the workpiece into the limit cavity;The conversion assembly includes a rotating motor, a finger cylinder 1 and a pushing cylinder. The loading platform is provided with an inverted trapezoidal groove corresponding to the pushing assembly, and the inverted trapezoidal groove matches the workpiece. The loading platform is provided with a second cylinder mounting seat corresponding to the inverted trapezoidal groove. The second cylinder mounting seat is fixedly connected with an L-shaped rotating rod at one end close to the processing table. The finger cylinder 1 is rotatably connected to the L-shaped rotating rod, and the finger cylinder 1 is against the second cylinder mounting seat. The rotating motor is arranged on the L-shaped rotating rod on one side. The rotating motor drives the finger cylinder 1 to rotate. The pushing cylinder is arranged at one end of the inverted trapezoidal groove away from the processing table. The pushing assembly pushes the workpiece into the inverted trapezoidal groove, and the pushing cylinder pushes the workpiece in the inverted trapezoidal groove to move toward one end of the finger cylinder 1. The finger cylinder 1 clamps the workpiece, and the rotating motor drives the finger cylinder 1 to rotate. Cylinder 1 drives the workpiece to swing upward, so that the horizontally placed workpiece is rotated to be vertically arranged; the grabbing assembly includes a support column, a lifting cylinder, a lifting seat, a grabbing rod and a grabbing hand, the two support columns are fixedly connected to the loading platform, a fixed plate is provided between the two support columns, the lifting cylinder is connected to the fixed plate, the bottom of the lifting cylinder is connected to the lifting seat, a sliding rail is provided on the support column, and the lifting seat is correspondingly provided with a sliding groove, the lifting cylinder controls the lifting seat to lift and slide along the sliding rail, one end of the grabbing rod is slidably connected to the lifting seat, and the other end of the grabbing rod is rotatably connected to the grabbing hand; the grabbing hand adopts two mirror-set finger cylinders 2, the two finger cylinders 2 are fixedly connected by a connecting plate, the bottom of the connecting plate is fixedly connected to a rotating shaft, and the rotating shaft is rotatably connected to the bottom of the grabbing hand; b. Workpiece conveying 1) Workpiece conveying A conveyor belt is provided on the loading mechanism on one side of the processing device. The conveyor belt conveys the workpieces horizontally. The conveyor belt conveys the workpieces one by one to the pushing assembly. The pushing assembly pushes the workpieces to the conversion assembly. 2) Workpiece clamping The conversion component drives the workpiece to rotate, so that the horizontally placed workpiece is arranged in a vertical direction, and the grabbing component of the feeding mechanism grabs the converted workpiece; c. Workpiece loading After the grabbing assembly grabs the workpiece, it sends the workpiece to the lower die set of the processing table, thereby completing the loading, and the grabbing assembly returns to the initial position; d. Molding After the workpiece is placed on the lower die set, the workbench controls the upper die set to press down. Through the cooperation of the upper die set and the lower die set, the workpiece is cold extruded to form a flexible wheel. Then the upper die set presses down again to open a tooth portion on the top of the flexible wheel, so that the flexible wheel is formed into a flexible gear. e. Synchronous feeding and loading After the flexible gear processing is completed, the next workpiece continues to be transported and step b is repeated. After the grabbing component grabs the workpiece on the conversion component, the grabbing component rotates, and then the grabbing component enters the processing table. At the same time, the support table in the lower mold assembly descends, so that the flexible gear automatically falls on the support table. The grabbing component grabs the flexible gear on the support table, and then the support table rises back to the initial position. Then the grabbing component drives the flexible gear to be transported to the outside of the processing table, and then the grabbing component rotates again. The grabbing component drives the workpiece to be placed on the lower mold assembly and continues the next processing and forming. After the grabbing component drives the flexible gear to the initial position, the grabbing component releases the flexible gear, so that the flexible gear automatically falls into the collection chamber of the feeding mechanism.

2. A forming method for processing a flexible gear of a harmonic reducer according to claim 1, characterized in that: A guide groove is provided on the top of the lifting seat, a guide block is correspondingly provided on the grabbing rod, and the guide block is arranged in the guide groove; a slide rail is provided on one side of the lifting seat, a slide groove is correspondingly provided on the grabbing rod, and the slide groove is slidably connected to the slide rail.

3. The forming method for processing a flexible gear of a harmonic reducer according to claim 1, characterized in that: The lower die assembly is arranged at the bottom of the processing cavity, and an extrusion platform is connected to the processing cavity for lifting and lowering. The upper die assembly is arranged at the bottom of the extrusion platform corresponding to the lower die assembly. The upper die assembly includes a rotating shaft, a rotating arm, a first extrusion head and a second extrusion head. The rotating shaft is connected to the bottom of the extrusion platform, and the rotating arm is rotatably connected to the rotating shaft. The first extrusion head is connected to one end of the rotating arm, and the second extrusion head is connected to the other end of the rotating arm. The lower die assembly includes a lower die base and a support platform. Connecting rods are provided at the four corners of the bottom of the lower die base, and the connecting rods are fixedly connected to the bottom of the processing cavity. The support platform is connected to the bottom of the processing cavity by lifting and lowering, and the supporting platform forms a molding cavity after it abuts against the bottom of the lower die base.

4. A forming method for processing a flexible gear of a harmonic reducer according to claim 3, characterized in that: In the step d, the workpiece is placed on the lower die assembly, the workpiece is inserted into the lower die base, the bottom of the workpiece is against the support table, and at the same time, the rotating arm drives the first extrusion head to rotate, so that the first extrusion head is located on the lower die base, and the extrusion table drives the first extrusion head to descend, so that the first extrusion head extrude the workpiece into a flexible wheel for the first time. After the initial extrusion molding, the rotating arm rotates again, so that the second extrusion head is located on the lower die base, and the extrusion table drives the second extrusion head to descend, so that the second extrusion head extrude the flexible wheel into a flexible gear again.

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