Efficient machining method, device and equipment for RV reducer eccentric shaft

Abstract

The invention relates to the technical field of reducer eccentric shaft machining, in particular to an efficient machining method, device and equipment for an RV reducer eccentric shaft. The method comprises the steps that temperature data of all measurement positions of the surface of an eccentric shaft blank are obtained, and the quenching stress accumulation degree of all the measurement positions is calculated; and then the inhibition complexity of the surface quenching stress of the eccentric shaft blank at each collection moment is calculated, a feedback adjustment factor of quenching temperature rise is calculated, the feedback temperature rise rate is obtained by combining the actual temperature rise rate of quenching temperature rise at each collection moment, and the temperature rise rate of the quenching temperature rise process is adjusted by using a PID controller so as to perform quenching treatment on the eccentric shaft blank. And then low-temperature tempering, ultrasonic rolling treatment and size machining are carried out. The adjusting precision of the heating rate in the quenching process of the eccentric shaft blank can be improved, and efficient machining of the eccentric shaft is guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of the processing of eccentric shafts of speed reducers, and specifically relates to an efficient processing method, device, and equipment for the eccentric shaft of an RV speed reducer. Background Art

[0002] The RV (Rotary-Vector) speed reducer is a core component at the joints of industrial robots. As one of the core components of the RV speed reducer, the processing accuracy of the eccentric shaft will directly affect the transmission accuracy and service life of the RV speed reducer. However, at present, the processing of the eccentric shaft in the RV speed reducer is difficult and the processing accuracy is difficult to control, which is likely to have an adverse impact on the performance of the RV speed reducer. Therefore, optimizing the processing method of the eccentric shaft of the RV speed reducer to achieve efficient and high-quality processing of the eccentric shaft can effectively improve the stability of the RV speed reducer during operation.

[0003] The existing technology uses a carbonitriding process to successively perform carbonitriding, quenching, and low-temperature tempering on the rough-machined eccentric shaft blank to improve the surface hardness of the eccentric shaft and enhance its anti-wear performance, so that the processed eccentric shaft can more effectively improve the performance of the RV speed reducer during use. During the quenching process of the eccentric shaft blank, the quenching stress on the surface of the eccentric shaft blank has complex non-linear changes, and the existing technology cannot fully consider the complex non-linear changes in the characteristics of the quenching stress on the surface of the eccentric shaft blank to accurately feedback and adjust the heating rate during the quenching process, which is likely to cause serious quenching stress accumulation on the surface of the eccentric shaft blank, thus unable to effectively reduce the brittleness of the eccentric shaft of the RV speed reducer and affecting the subsequent service life of the eccentric shaft of the RV speed reducer. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide an efficient processing method, device, and equipment for the eccentric shaft of an RV speed reducer, and the specific technical solutions adopted are as follows: In the first aspect, an embodiment of this application provides an efficient processing method for the eccentric shaft of an RV speed reducer, including the following steps: During the heating-up process of the eccentric shaft blank during quenching, obtain the temperature data of each measurement position on the surface of the eccentric shaft blank; Analyze the degree of change difference in the temperature data of each measurement position on the surface of the eccentric shaft blank at each acquisition moment and its adjacent acquisition moments to obtain a second-order difference vector, and obtain the quenching stress accumulation degree of each measurement position on the surface of the eccentric shaft blank at each acquisition moment according to the similarity degree of each measurement position on the surface of the eccentric shaft blank at each acquisition moment and other measurement positions with respect to the second-order difference vector; For each measurement position, the quenching stress accumulation degrees at each acquisition moment and its neighboring acquisition moments form a quenching stress vector, which is then decomposed in time series to obtain a residual vector; based on the average level and dispersion degree of the data within the residual vector corresponding to each measurement position at each acquisition moment, and combined with the correlation relationship between different measurement positions regarding the quenching stress vector, the suppression complexity of the surface quenching stress of the eccentric shaft blank at each acquisition moment is obtained. According to the difference degree of the suppression complexity of the quenching stress corresponding to each acquisition moment and its neighboring acquisition moments, a feedback adjustment factor for quenching temperature rise at each acquisition moment is obtained, and combined with the actual temperature rise rate of quenching temperature rise at each acquisition moment, a feedback temperature rise rate for quenching temperature rise at each acquisition moment is obtained. Use a PID controller to adjust the temperature rise rate of the quenching temperature rise process based on the feedback temperature rise rate to quench the eccentric shaft blank, and then perform low-temperature tempering, ultrasonic rolling treatment, and dimensional processing.

[0005] Preferably, the obtaining of the second-order difference vector further includes: Take multiple acquisition moments with the closest time intervals to each acquisition moment as the neighboring acquisition moments of each acquisition moment, arrange the temperatures of each acquisition moment and its neighboring acquisition moments in chronological order to form a quenching temperature vector for each measurement position on the surface of the eccentric shaft blank at each acquisition moment, and perform a second-order difference on the quenching temperature vector to obtain the corresponding second-order difference vector.

[0006] Preferably, the calculation method of the quenching stress accumulation degree is: ; In the formula, is the quenching stress accumulation degree at the j-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment, is the exponential function with the natural constant as the base, is the number of measurement positions on the surface of the eccentric shaft blank, is the cosine similarity between the second-order difference vectors corresponding to the j-th measurement position and the k-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment.

[0007] Preferably, the obtaining of the residual vector further includes: Arrange the quenching stress accumulation degrees at each acquisition moment and its neighboring acquisition moments in chronological order to form a quenching stress vector for each measurement position on the surface of the eccentric shaft blank at each acquisition moment, perform a time series decomposition on the quenching stress vector to obtain a residual vector, where each measurement position on the surface of the eccentric shaft blank at each acquisition moment corresponds to a residual vector.

[0008] Preferably, the calculation method of the suppression complexity is: ; In the formula, is the suppression complexity of the surface hardening stress of the eccentric shaft blank at the t-th acquisition moment, is the mean value of the absolute values of all elements in the residual vector corresponding to the q-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment, is the coefficient of variation of the residual vector corresponding to the q-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment, is the covariance between the hardening stress vectors at the j-th and j-1-th measurement positions on the surface of the eccentric shaft blank at the t-th acquisition moment, is the number of measurement positions on the surface of the eccentric shaft blank, is a constant to avoid a zero denominator.

[0009] Preferably, the calculation method of the feedback adjustment factor for the hardening temperature rise at each acquisition moment is: ; In the formula, is the feedback adjustment factor for the hardening temperature rise at the current acquisition moment, is the number of elements in the suppression complexity vector of the hardening stress on the eccentric shaft blank at the current acquisition moment, and are the p-th and (p-1)-th elements in the suppression complexity vector of the hardening stress on the eccentric shaft blank at the current acquisition moment, respectively.

[0010] Preferably, the method for obtaining the suppression complexity vector of the hardening stress is: Normalize the suppression complexity corresponding to the current acquisition moment and its neighboring acquisition moments, and arrange the normalized suppression complexity of the current acquisition moment and its neighboring acquisition moments in chronological order to form the suppression complexity vector of the hardening stress on the eccentric shaft blank at the current acquisition moment.

[0011] Preferably, the calculation method of the feedback heating rate for the hardening temperature rise at each acquisition moment is: ; In the formula, is the feedback heating rate for the hardening temperature rise at the current acquisition moment, is the actual heating rate for the hardening temperature rise at the current acquisition moment, is the feedback adjustment factor for the hardening temperature rise at the current acquisition moment.

[0012] In a second aspect, an embodiment of the present application further provides an efficient processing device for an RV reducer eccentric shaft, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of the efficient processing method for an RV reducer eccentric shaft described in any one of the above are implemented.

[0013] In a third aspect, an embodiment of the present application further provides an efficient processing device for an eccentric shaft of an RV reducer. A computer program is stored in the device, and when the computer program is executed by a processor, it implements the efficient processing method for an eccentric shaft of an RV reducer described in any one of the above.

[0014] As can be seen from the above, the efficient processing method, device, and equipment for an eccentric shaft of an RV reducer provided by the present application have at least the following beneficial effects: By analyzing the difference in the temperature change rate between different measurement positions during the quenching process of the eccentric shaft blank, the present application constructs a quenching stress accumulation degree, which reflects the magnitude of the quenching stress accumulation effect at the surface measurement position of the eccentric shaft blank during the quenching heating process, and is used to accurately and effectively feedback-regulate the heating rate during the quenching heating process to reduce the quenching stress on the surface of the eccentric shaft blank. By analyzing the non-linear random fluctuation of the quenching stress accumulation effect on the surface of the eccentric shaft blank, the present application analyzes the difficulty of suppressing the quenching stress on the eccentric shaft blank and extracts the suppression complexity characteristics, which is beneficial to timely and accurately controlling and regulating the heating rate during the quenching heating process and reducing the risk of quenching cracking of the eccentric shaft blank during the quenching process. Based on the change in the complexity of suppressing the quenching stress on the surface of the eccentric shaft blank during the quenching process, the present application sets a feedback adjustment factor and uses the feedback adjustment factor to timely and accurately control and regulate the heating rate during the quenching heating process, avoiding the continuous generation of quenching stress accumulation on the surface of the eccentric shaft blank, and solving the problem that the prior art cannot fully consider the complex non-linear change of the quenching stress characteristics on the surface of the eccentric shaft blank to accurately feedback-regulate the heating rate during the quenching process, thereby effectively improving the toughness of the eccentric shaft of the RV reducer and reducing the brittleness of the eccentric shaft of the RV reducer. Description of the Drawings

[0015] To more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 It is a flowchart of the steps of an efficient processing method for an eccentric shaft of an RV reducer provided by the present application. Detailed Embodiments

[0017] In order to further elaborate on the technical means and effects adopted by the present application to achieve the intended invention purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details a high-efficiency processing method, device, and equipment for an eccentric shaft of an RV reducer according to the present application, including its specific implementation manner, structure, features, and effects, as follows. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0018] Unless otherwise specified and limited, terms such as "including", "comprising", or any other variant thereof are intended to cover non-exclusive inclusion, such that a circuit structure, article, or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the article or device including the said element. Additionally, the term "and / or" used herein includes any and all combinations of one or more of the related listed items. All technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs.

[0019] The following specifically describes the specific solutions of a high-efficiency processing method, device, and equipment for an eccentric shaft of an RV reducer provided by the present application in conjunction with the accompanying drawings.

[0020] Please refer to Figure 1 , which shows a step flow chart of a high-efficiency processing method for an eccentric shaft of an RV reducer provided by an embodiment of the present application, including the following steps: Step 1: During the quenching heating process of the eccentric shaft blank, obtain the temperature data of each measurement position on the surface of the eccentric shaft blank.

[0021] The purpose of the present invention is to fully consider the heat transfer phenomenon on the surface of the eccentric shaft blank to accurately feedback and regulate the heating rate during the quenching process, avoid the phenomenon of high quenching stress on the surface of the eccentric shaft blank during the quenching process, and thus effectively reduce the brittleness of the eccentric shaft of the RV reducer.

[0022] During the processing of the eccentric shaft of the RV reducer, first, forge the eccentric shaft blank through a forging device using traditional forging processes; then, rough turn the eccentric shaft blank to quickly remove the blank allowance when forging the eccentric shaft blank, and obtain the eccentric shaft blank after rough machining.

[0023] To improve the surface hardness of the eccentric shaft and enhance its anti-wear performance, the carbonitriding process is used to successively perform carbonitriding, quenching, and low-temperature tempering on the rough-machined eccentric shaft blank. In this embodiment, during the quenching heating process, M measurement positions are evenly selected in the axial direction of the eccentric shaft blank. The temperature data of the M measurement positions on the surface of the eccentric shaft blank are collected at 10-second intervals through thermocouple temperature sensors, and the temperature data of each measurement position on the surface of the eccentric shaft blank at each acquisition moment are obtained. In this embodiment, the number M of measurement positions is 5, and the implementer can adaptively set it according to specific conditions.

[0024] Step 2: Analyze the degree of change difference of the temperature data of each measurement position on the surface of the eccentric shaft blank at each acquisition moment and its adjacent acquisition moments to obtain a second-order difference vector. According to the similarity degree of each measurement position on the surface of the eccentric shaft blank at each acquisition moment and other measurement positions with respect to the second-order difference vector, obtain the quenching stress accumulation degree of each measurement position on the surface of the eccentric shaft blank at each acquisition moment.

[0025] During the quenching heating process of the eccentric shaft blank, the difference in quenching temperature on the surface of the eccentric shaft blank is likely to cause quenching stress in the eccentric shaft blank. Since the quenching stress characteristics on the surface of the eccentric shaft blank during the quenching heating process have complex non-linear changes, the prior art cannot fully consider the complex non-linear changes of the quenching stress characteristics on the surface of the eccentric shaft blank to accurately control and adjust the heating rate during the quenching process, which easily causes serious quenching stress accumulation on the surface of the eccentric shaft blank, thus failing to effectively reduce the brittleness of the eccentric shaft of the RV reducer. Therefore, in order to accurately feedback and adjust the heating rate during the quenching process, it is necessary to accurately measure the complex non-linear changes of the quenching stress accumulation on the surface of the eccentric shaft blank.

[0026] To analyze the short-term quenching stress on the surface of the eccentric shaft blank at different acquisition moments, the R acquisition moments with the closest time intervals to each acquisition moment are used as the R adjacent acquisition moments of each acquisition moment. In this embodiment, the value of R is 16, and the implementer can adaptively determine the value according to specific conditions.

[0027] Further, for each measurement position on the surface of the eccentric shaft blank, arrange the temperatures at each acquisition moment and its neighboring acquisition moments in chronological order to obtain the quenching temperature vector of each measurement position on the surface of the eccentric shaft blank at each acquisition moment, and calculate the second-order difference vector of the quenching temperature vector. This second-order difference vector reflects the speed of the change rate of the quenching temperature at the measurement position. If the difference in the change rate of the quenching temperature between different measurement positions on the surface of the eccentric shaft blank at the same acquisition moment is greater, at this time, a significant quenching stress accumulation effect is more likely to occur on the surface of the eccentric shaft blank, and it is more necessary to accurately feedback and adjust the heating rate during the quenching heating process to avoid further serious quenching stress accumulation on the surface of the eccentric shaft blank.

[0028] Through the above analysis, calculate the quenching stress accumulation degree of each measurement position on the surface of the eccentric shaft blank at each acquisition moment: ; In the formula, is the quenching stress accumulation degree of the j-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment, is the exponential function with the natural constant as the base, is the number of measurement positions on the surface of the eccentric shaft blank, is the cosine similarity between the second-order difference vectors corresponding to the j-th measurement position and the k-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment. In this embodiment, the cosine similarity is used to measure the similarity degree. In actual application scenarios, the implementer can choose the cosine similarity or the Jaccard similarity coefficient, etc. This embodiment does not make special limitations on this.

[0029] It can be understood that the greater the similarity degree between the second-order difference vectors corresponding to the j-th measurement position and the k-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment, the higher the similarity between the second-order difference vectors corresponding to the j-th measurement position and the k-th measurement position.

[0030] The quenching stress accumulation degree reflects the size of the quenching stress accumulation effect at the measurement position on the surface of the eccentric shaft blank during the quenching heating process. The greater the quenching stress accumulation effect at the measurement position on the surface of the eccentric shaft blank, the greater the difference in the change rate of the quenching temperature between this measurement position and other measurement positions. At this time, the quenching internal stress accumulation effect generated at this position on the surface of the eccentric shaft blank is more significant, and it is more necessary to effectively feedback and adjust the heating rate during the quenching heating process to reduce the quenching stress on the surface of the eccentric shaft blank.

[0031] Step 3: For each measurement position, the quenching stress accumulation degrees at each acquisition moment and its neighboring acquisition moments form a quenching stress vector, which is then decomposed in time series to obtain a residual vector. Based on the average level and dispersion degree of the data within the residual vector corresponding to each measurement position at each acquisition moment, and in combination with the correlation relationship between different measurement positions regarding the quenching stress vector, the suppression complexity of the surface quenching stress of the eccentric shaft blank at each acquisition moment is obtained.

[0032] Furthermore, for each measurement position on the surface of the eccentric shaft blank, preferably, in this embodiment, the vector formed by arranging the quenching stress accumulation degrees at each acquisition moment and its neighboring acquisition moments in chronological order is denoted as the quenching stress vector of each measurement position on the surface of the eccentric shaft blank at each acquisition moment. The quenching stress vector reflects the change characteristics of the quenching stress accumulation effect at each measurement position on the surface of the eccentric shaft blank in a short period. If the non-linear change of the quenching stress accumulation effect in a short period is more complex, it indicates that the difficulty of suppressing the quenching stress on the eccentric shaft blank at this time is higher, and in severe cases, it may even cause the risk of quenching cracking.

[0033] Therefore, in order to analyze the non-linear complexity of the quenching stress accumulation in a short period, the quenching stress vector is input into the STL decomposition algorithm (Seasonal-Trend decomposition using LOESS), and the residual vector of the quenching stress vector is obtained by using the STL decomposition algorithm. This residual vector reflects the non-linear random fluctuation of the quenching stress change characteristics. The greater the average level and dispersion degree of the residual components, the higher and more complex the level of the non-linear random fluctuation of the quenching stress accumulation, and the more it can reflect the non-linear complexity of the quenching stress accumulation at this time. At this time, the difficulty of suppressing the quenching stress on the eccentric shaft blank is higher. Among them, the STL decomposition algorithm is a well-known technology and will not be elaborated further. At the same time, if the degree of mutual influence of the quenching stress between different measurement positions on the surface of the eccentric shaft blank is smaller, it reflects that the non-linear change of the quenching stress accumulation effect on the surface of the eccentric shaft blank at this time is more complex, and the difficulty of suppressing the quenching stress on the eccentric shaft blank at this time is higher.

[0034] Through the above analysis, calculate the suppression complexity of the surface quenching stress of the eccentric shaft blank at each acquisition moment: ; In the formula, is the suppression complexity of the surface quenching stress of the eccentric shaft blank at the t-th acquisition moment, is the mean value of the absolute values of all elements within the residual vector corresponding to the q-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment, is the coefficient of variation of the residual vector corresponding to the q-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment, is the covariance between the quenching stress vectors at the j-th and (j - 1)-th measurement positions on the surface of the eccentric shaft blank at the t-th acquisition moment. is a constant to avoid a zero denominator, with a value range of (0.001, 0.005). Taking a value within this range has a relatively small impact on the calculation results and can be ignored. In this embodiment, the value of the error parameter is 0.001.

[0035] The suppression complexity of quenching stress reflects the complexity of suppressing the quenching stress on the eccentric shaft blank. The greater the suppression complexity, the higher the non-linear complexity of the cumulative effect of quenching stress on the surface of the eccentric shaft blank, and the higher the difficulty of suppressing the quenching stress on the eccentric shaft blank. At this time, it is necessary to fully consider the complex non-linear change of the quenching stress on the surface of the eccentric shaft blank to feedback-regulate the heating rate during the quenching process and improve the accuracy of controlling and regulating the heating rate during the quenching heating process.

[0036] Step 4: According to the difference degree of the suppression complexity of the quenching stress corresponding to each acquisition moment and its adjacent acquisition moments, obtain the feedback adjustment factor for the quenching heating at each acquisition moment, and combine it with the actual heating rate of the quenching heating at each acquisition moment to obtain the feedback heating rate of the quenching heating at each acquisition moment.

[0037] To accurately feedback the quenching heating rate at the current moment, for each acquisition moment, in this embodiment, taking the current acquisition moment as an example, the suppression complexity of the current acquisition moment and its adjacent acquisition moments is normalized. The normalization method can be range normalization, exponential normalization or Z-score normalization. In this embodiment, Z-score normalization is used for normalization, and the vector formed by the normalized suppression complexity of the current acquisition moment and its adjacent acquisition moments in chronological order is denoted as the suppression complexity vector of the quenching stress on the eccentric shaft blank at the current acquisition moment. The suppression complexity vector reflects the change in the complexity of suppressing the quenching stress on the surface of the eccentric shaft blank during the quenching process.

[0038] During the quenching of the eccentric shaft blank, the heating rate in the quenching environment is monitored in real time through a thermocouple temperature sensor, and the feedback heating rate of the quenching heating at the current acquisition moment is calculated through the suppression complexity vector of the quenching stress on the eccentric shaft blank: ; In the formula, is the feedback adjustment factor for the quenching heating at the current acquisition moment, is the number of elements in the suppression complexity vector of the quenching stress on the eccentric shaft blank at the current acquisition moment, and are the p-th and (p - 1)-th elements in the suppression complexity vector of the quenching stress on the eccentric shaft blank at the current acquisition moment, respectively.

[0039] Further, adjust the heating rate of the quenching heating according to the feedback adjustment factor to obtain the feedback heating rate of the quenching heating at each acquisition moment. In this embodiment, the calculation formula for the feedback heating rate of the quenching heating at the current acquisition moment is as follows: ; In the formula, is the feedback heating rate of the quenching heating at the current acquisition moment, is the actual heating rate of the quenching heating at the current acquisition moment.

[0040] If the complexity change of suppressing the quenching stress on the surface of the eccentric shaft blank shows an upward trend, it indicates that the quenching stress on the surface of the eccentric shaft blank is more significant at this time. At this time, the heating rate during the quenching heating process should be reduced to avoid the continuous generation of quenching stress accumulation phenomenon on the surface of the eccentric shaft blank; on the contrary, if the complexity change of suppressing the quenching stress on the surface of the eccentric shaft blank shows a downward trend, it indicates that the quenching stress on the surface of the eccentric shaft blank is smaller at this time. To improve the quenching efficiency of the eccentric shaft blank, the heating rate during the quenching heating process should be increased at this time.

[0041] Step 5: Use a PID controller to adjust the heating rate of the quenching heating process based on the feedback heating rate to quench the eccentric shaft blank, and then perform low-temperature tempering, ultrasonic rolling treatment, and dimensional machining.

[0042] In order to perform feedback control on the heating rate during the quenching process of the eccentric shaft blank, input the feedback heating rate and the actual heating rate of the quenching heating at the current acquisition moment into the PID controller. The PID controller controls and adjusts the heating rate according to the actual error between the feedback heating rate and the actual heating rate. The specific process of the PID controller adjusting the heating rate during the quenching process is well-known to those skilled in the art and will not be elaborated in this embodiment.

[0043] By adjusting the quenching heating rate, the actual heating rate during the quenching heating process continuously approaches the feedback heating rate, thereby realizing accurate feedback adjustment of the heating rate during the quenching process and avoiding serious quenching stress accumulation on the surface of the eccentric shaft blank.

[0044] By performing feedback control on the heating rate during the quenching process, reach the quenching temperature. In this embodiment, the quenching temperature is 830 °C. Then, keep the temperature for 1.5 h during quenching. Finally, perform low-temperature tempering on the eccentric shaft blank to obtain the eccentric shaft blank after carbonitriding treatment.

[0045] In this embodiment, further, perform ultrasonic rolling treatment on the eccentric shaft blank after carbonitriding treatment to make the surface roughness reach 0.1 , the surface residual compressive stress reaches 1500 MPa; finally, the eccentric shaft blank after ultrasonic rolling is processed to ensure that the dimensions of the eccentric shaft are machined to the set dimensions, completing the efficient machining of the eccentric shaft of the RV reducer.

[0046] Based on the same inventive concept as the above method, the embodiment of the present application also provides an efficient machining device for the eccentric shaft of an RV reducer, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any one of the above methods for efficiently machining the eccentric shaft of an RV reducer.

[0047] At the same time, the embodiment of the present application also provides an efficient machining equipment for the eccentric shaft of an RV reducer. A computer program is stored in the equipment, and when the computer program is executed by a processor, it implements any one of the above methods for efficiently machining the eccentric shaft of an RV reducer.

[0048] It can be understood that the above sequence of embodiments of the present application is only for description and does not represent the advantages or disadvantages of the embodiments. And the above specific embodiments of this specification have been described. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0049] Each embodiment in this specification is described in a progressive manner. The same or similar parts between each embodiment can be referred to each other, and the key point of each embodiment is to illustrate the differences from other embodiments.

[0050] The above content is only the implementation manner of the present application and is not used to limit the scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, is similarly included in the protection scope of the present application.

Claims

1. An efficient processing method for the eccentric shaft of an RV reducer, characterized in that, Including the following steps: During the quenching heating process of the eccentric shaft blank, obtain the temperature data of each measurement position on the surface of the eccentric shaft blank; Analyze the change difference degree of the temperature data of each measurement position on the surface of the eccentric shaft blank at each acquisition moment and its adjacent acquisition moments to obtain a second-order difference vector. According to the similarity degree of each measurement position on the surface of the eccentric shaft blank at each acquisition moment and other measurement positions with respect to the second-order difference vector, obtain the quenching stress accumulation degree of each measurement position on the surface of the eccentric shaft blank at each acquisition moment; For each measurement position, the quenching stress accumulation degrees at each acquisition moment and its adjacent acquisition moments form a quenching stress vector and perform time series decomposition to obtain a residual vector; through the average level and dispersion degree of the data in the corresponding residual vector of each measurement position at each acquisition moment, combined with the correlation relationship between different measurement positions regarding the quenching stress vector, obtain the suppression complexity of the quenching stress on the surface of the eccentric shaft blank at each acquisition moment; According to the difference degree of the suppression complexity of the quenching stress corresponding to each acquisition moment and its adjacent acquisition moments, obtain the feedback adjustment factor for the quenching heating at each acquisition moment, and combined with the actual heating rate of the quenching heating at each acquisition moment, obtain the feedback heating rate of the quenching heating at each acquisition moment; Use a PID controller to adjust the heating rate of the quenching heating process based on the feedback heating rate to perform quenching treatment on the eccentric shaft blank, and then perform low-temperature tempering, ultrasonic rolling treatment, and dimensional processing.

2. The high-efficiency processing method of an eccentric shaft of an RV reducer according to claim 1, characterized in that The obtaining of the second-order difference vector further includes: Take multiple acquisition moments with the closest time interval to each acquisition moment as the adjacent acquisition moments of each acquisition moment. Arrange the temperatures at each acquisition moment and its adjacent acquisition moments in chronological order to form a quenching temperature vector of each measurement position on the surface of the eccentric shaft blank at each acquisition moment, and perform second-order difference on the quenching temperature vector to obtain the corresponding second-order difference vector.

3. The high-efficiency machining method of an eccentric shaft of an RV reducer according to claim 1, characterized in that, The calculation method of the quenching stress accumulation degree is: ； In the formula, is the cumulative degree of quenching stress at the j-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment, is the exponential function with the natural constant as the base, is the number of measurement positions on the surface of the eccentric shaft blank, is the cosine similarity between the second-order difference vectors corresponding to the j-th and k-th measurement positions on the surface of the eccentric shaft blank at the t-th acquisition moment.

4. The high-efficiency machining method of an eccentric shaft of an RV reducer according to claim 1, characterized in that, The obtaining of the residual vector further includes: Arrange the quenching stress accumulation degrees at each acquisition moment and its adjacent acquisition moments in chronological order to form a quenching stress vector of each measurement position on the surface of the eccentric shaft blank at each acquisition moment, and perform time series decomposition on the quenching stress vector to obtain a residual vector, where each measurement position on the surface of the eccentric shaft blank at each acquisition moment corresponds to a residual vector.

5. The high-efficiency machining method of an eccentric shaft of an RV reducer as described in claim 1, characterized in that, The calculation method of the suppression complexity is: ； In the formula, is the suppression complexity of the surface hardening stress of the eccentric shaft blank at the t-th acquisition moment, is the mean value of the absolute values of all elements in the residual vector corresponding to the q-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment, is the coefficient of variation of the residual vector corresponding to the q-th measurement position on the surface of the eccentric shaft blank at the t-th acquisition moment, is the covariance between the quenching stress vectors at the j-th and (j - 1)-th measurement positions on the surface of the eccentric shaft blank at the t-th acquisition moment, is the number of measurement positions on the surface of the eccentric shaft blank, is a constant to avoid a zero denominator.

6. The high-efficiency machining method of an eccentric shaft of an RV reducer according to claim 1, characterized in that, The calculation method of the feedback adjustment factor for the quenching heating at each acquisition moment is: ； In the formula, is the feedback adjustment factor for the quenching temperature rise at the current acquisition moment, is the number of elements in the suppression complexity vector of the quenching stress on the eccentric shaft blank at the current acquisition moment, and are the p-th and (p - 1)-th elements in the suppression complexity vector of the quenching stress on the eccentric shaft blank at the current acquisition moment, respectively.

7. The high-efficiency machining method of an eccentric shaft of an RV reducer according to claim 6, characterized in that, The obtaining method of the suppression complexity vector of the quenching stress is: Perform normalization processing on the suppression complexity corresponding to the current acquisition moment and its adjacent acquisition moments, and arrange the normalized suppression complexity of the current acquisition moment and its adjacent acquisition moments in chronological order to form a suppression complexity vector of the quenching stress on the eccentric shaft blank at the current acquisition moment.

8. The high-efficiency machining method of an eccentric shaft of an RV reducer according to claim 1, characterized in that, The calculation method of the feedback heating rate of the quenching heating at each acquisition moment is: ； In the formula, is the feedback heating rate of quenching heating at the current acquisition moment, is the actual heating rate of quenching heating at the current acquisition moment, is the feedback adjustment factor of quenching heating at the current acquisition moment.

9. An efficient processing device for the eccentric shaft of an RV reducer, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it realizes the steps of an efficient processing method for an RV reducer eccentric shaft as described in any one of claims 1-8.

10. An efficient processing device for the eccentric shaft of an RV reducer, wherein a computer program is stored in the device, characterized in that, When the computer program is executed by a processor, it implements an efficient machining method for an eccentric shaft of an RV reducer as described in any one of claims 1-8.

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