An efficient processing method, device and equipment for the eccentric shaft of an RV reducer

Abstract

The present application relates to the technical field of the processing of eccentric shafts of speed reducers, and particularly relates to an efficient processing method, device and equipment for the eccentric shaft of an RV speed reducer. The method includes: obtaining the temperature data of each measurement position on the surface of the eccentric shaft blank, calculating the cumulative degree of quenching stress at each measurement position, and further calculating the suppression complexity of the quenching stress on the surface of the eccentric shaft blank at each acquisition moment, calculating the feedback adjustment factor for the quenching temperature rise, and combining the actual temperature rise rate of the quenching temperature rise at each acquisition moment to obtain the feedback temperature rise rate, and using a PID controller to adjust the temperature rise rate during the quenching temperature rise process to perform quenching treatment on the eccentric shaft blank, and then performing low-temperature tempering, ultrasonic rolling treatment and dimensional processing. The present application can improve the adjustment accuracy of the temperature rise rate during the quenching process of the eccentric shaft blank and ensure the efficient processing of the eccentric shaft.

Description

Technical Field

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

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

[0003] The prior art 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 the anti-wear performance of the eccentric shaft, so that the machined eccentric shaft can more effectively improve the service performance of the RV 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 prior art 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 failing to effectively reduce the brittleness of the eccentric shaft of the RV reducer and affecting the subsequent service life of the eccentric shaft of the RV 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 reducer. The specific technical solutions adopted are as follows:

[0005] In the first aspect, an embodiment of this application provides an efficient processing method for the eccentric shaft of an RV reducer, including the following steps:

[0006] During the heating-up process of the eccentric shaft blank quenching, obtain the temperature data of each measurement position on the surface of the eccentric shaft blank;

[0007] 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 with other measurement positions regarding 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;

[0008] For each measurement position, the quenching stress accumulation degrees at each acquisition moment and its neighboring acquisition moments form a quenching stress vector and are subjected to time series decomposition 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.

[0009] 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.

[0010] 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.

[0011] Preferably, the obtaining of the second-order difference vector further includes:

[0012] Take the acquisition moments with the closest time intervals to each acquisition moment as the neighboring acquisition moments of each acquisition moment, arrange the temperatures at 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 second-order difference on the quenching temperature vector to obtain the corresponding second-order difference vector.

[0013] Preferably, the calculation method of the quenching stress accumulation degree is:

[0014] ;

[0015] 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.

[0016] Preferably, the obtaining of the residual vector further includes:

[0017] 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 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.

[0018] Preferably, the calculation method of the suppression complexity is as follows:

[0019] ;

[0020] 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.

[0021] Preferably, the calculation method of the feedback adjustment factor for the quenching temperature rise at each acquisition moment is as follows:

[0022] ;

[0023] 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.

[0024] Preferably, the method for obtaining the suppression complexity vector of the quenching stress is as follows:

[0025] 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 quenching stress on the eccentric shaft blank at the current acquisition moment.

[0026] Preferably, the calculation method of the feedback heating rate for the quenching temperature rise at each acquisition moment is as follows:

[0027] ;

[0028] In the formula, is the feedback heating rate for the quenching temperature rise at the current acquisition moment, is the actual heating rate for the quenching temperature rise at the current acquisition moment, It is the feedback adjustment factor for the quenching temperature rise at the current acquisition moment.

[0029] In a second aspect, an embodiment of the present application further provides a high-efficiency processing device for an 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 the high-efficiency processing method for an eccentric shaft of an RV reducer described in any one of the above.

[0030] In a third aspect, an embodiment of the present application further provides a high-efficiency processing equipment for an 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 the high-efficiency processing method for an eccentric shaft of an RV reducer described in any one of the above.

[0031] As can be seen from the above, the high-efficiency processing method, device, and equipment for an eccentric shaft of an RV reducer provided by the present application at least have the following beneficial effects:

[0032] 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 the quenching stress accumulation degree, which reflects the size of the quenching stress accumulation effect at the surface measurement position of the eccentric shaft blank during the quenching temperature rise process, and is used to accurately and effectively feedback-adjust the heating rate during the quenching temperature rise process in the subsequent stage, in order to reduce the quenching stress on the surface of the eccentric shaft blank.

[0033] 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 adjusting the heating rate during the quenching temperature rise process in the subsequent stage, and reducing the risk of quenching cracking of the eccentric shaft blank during the quenching process.

[0034] By setting the feedback adjustment factor according to the change in the complexity of suppressing the quenching stress on the surface of the eccentric shaft blank during the quenching process, and timely and accurately controlling and adjusting the heating rate during the quenching temperature rise process through the feedback adjustment factor, the present application avoids the continuous generation of quenching stress accumulation on the surface of the eccentric shaft blank, solves 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-adjust the heating rate during the quenching process, and thus effectively improves the toughness of the eccentric shaft of the RV reducer and reduces the brittleness of the eccentric shaft of the RV reducer. Description of the Drawings

[0035] 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 accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0036] Figure 1 It is a step flow chart of an efficient processing method for the eccentric shaft of an RV reducer provided by the present application. Detailed implementation manners

[0037] 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 the specific implementation manners, structures, features, and effects of an efficient processing method, device, and equipment for the eccentric shaft of an RV reducer proposed according to the present application. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0038] Unless otherwise specified and limited, terms such as "including", "comprising", or any other variant thereof are intended to cover non-exclusive inclusion, so 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 of ordinary skill in the technical field to which the present application belongs.

[0039] The following specifically describes the specific solutions of an efficient processing method, device, and equipment for the eccentric shaft of an RV reducer provided by the present application in conjunction with the accompanying drawings.

[0040] Please refer to Figure 1 , which shows a step flow chart of an efficient processing method for the eccentric shaft of an RV reducer provided by an embodiment of the present application, including the following steps:

[0041] Step 1: During the quenching temperature rise process of the eccentric shaft blank, obtain the temperature data of each measurement position on the surface of the eccentric shaft blank.

[0042] The purpose of the present invention is to accurately feedback and regulate the heating rate during the quenching process by fully considering the heat transfer phenomenon on the surface of the eccentric shaft blank, 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.

[0043] During the processing of the eccentric shaft of the RV reducer, first, the eccentric shaft blank is forged by a forging device using traditional forging processes; then, the eccentric shaft blank is rough-turned to quickly remove the blank allowance when forging the eccentric shaft blank, and the rough-machined eccentric shaft blank is obtained.

[0044] To improve the surface hardness of the eccentric shaft and enhance its anti-wear performance, the rough-machined eccentric shaft blank is successively subjected to carbonitriding, quenching, and low-temperature tempering treatments using the carbonitriding process. In this embodiment, during the quenching heating process, M measurement positions are uniformly 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 respectively collected by a thermocouple temperature sensor at a time interval of 10 s, 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 of measurement positions M is taken as 5, and the implementer can adaptively set it according to the specific situation.

[0045] 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 to other measurement positions with respect to the second-order difference vector, the quenching stress accumulation degree of each measurement position on the surface of the eccentric shaft blank at each acquisition moment is obtained.

[0046] During the quenching heating process of the eccentric shaft blank, the difference in the quenching temperature on the surface of the eccentric shaft blank easily causes 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 regulate the heating rate during the quenching process, which easily causes serious quenching stress accumulation on the surface of the eccentric shaft blank, and thus cannot effectively reduce the brittleness of the eccentric shaft of the RV reducer. Therefore, in order to accurately feedback and regulate 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.

[0047] 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 taken as 16, and the implementer can adaptively select the value according to the specific situation.

[0048] Furthermore, 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 vectors at each measurement position on the surface of the eccentric shaft blank at each acquisition moment, and calculate the second-order difference vectors of the quenching temperature vectors. The second-order difference vectors reflect the rate of change of the quenching temperature at the measurement positions. If the difference in the rate of change 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, the effect of significant quenching stress accumulation 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.

[0049] Through the above analysis, calculate the quenching stress accumulation degree at each measurement position on the surface of the eccentric shaft blank at each acquisition moment:

[0050] ;

[0051] 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. In this embodiment, the cosine similarity is used to measure the degree of similarity. 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.

[0052] It can be understood that the greater the degree of 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, the higher the similarity between the second-order difference vectors corresponding to the j-th measurement position and the k-th measurement position.

[0053] The quenching stress accumulation degree reflects the magnitude of the quenching stress accumulation effect at the measurement positions on the surface of the eccentric shaft blank during the quenching heating process. The greater the quenching stress accumulation effect at the measurement positions on the surface of the eccentric shaft blank, the greater the difference in the rate of change 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Through the above analysis, calculate the suppression complexity of the surface quenching stress of the eccentric shaft blank at each acquisition moment:

[0058] ;

[0059] 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 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 a constant to avoid a zero denominator, with a value range of (0.001, 0.005). Taking a value within this range has a negligible impact on the calculation results and can be ignored. In this embodiment, the value of the error parameter is 0.001.

[0060] The suppression complexity of quenching stress reflects the complexity of suppressing 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 quenching stress on the eccentric shaft blank. At this time, it is necessary to fully consider the complex non-linear change of 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.

[0061] Step 4: According to the difference degree of the suppression complexity of the quenching stress corresponding to each acquisition moment and its neighboring acquisition moments, obtain the feedback adjustment factor for quenching heating at each acquisition moment, and combine the actual heating rate of quenching heating at each acquisition moment to obtain the feedback heating rate of quenching heating at each acquisition moment.

[0062] 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 neighboring 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 composed of the normalized suppression complexity of the current acquisition moment and its neighboring 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 quenching stress on the surface of the eccentric shaft blank during the quenching process.

[0063] 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 quenching heating at the current acquisition moment is calculated through the suppression complexity vector of the quenching stress on the eccentric shaft blank:

[0064] ;

[0065] In the formula, is the feedback adjustment factor for 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 They are respectively 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.

[0066] Further, according to the feedback adjustment factor, the heating rate of quenching heating is adjusted to obtain the feedback heating rate of quenching heating at each acquisition moment. In this embodiment, the calculation formula for the feedback heating rate of quenching heating at the current acquisition moment is:

[0067] ;

[0068] 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.

[0069] If the change in the complexity 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 on the surface of the eccentric shaft blank; on the contrary, if the change in the complexity 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.

[0070] 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 processing.

[0071] In order to perform feedback control on the heating rate during the quenching process of the eccentric shaft blank, the feedback heating rate and the actual heating rate of quenching heating at the current acquisition moment are input 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.

[0072] 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.

[0073] By performing feedback control on the heating rate during the quenching process, the quenching temperature is reached. In this embodiment, the quenching temperature is 830 °C. Then, the quenching is held for 1.5 h. Finally, the eccentric shaft blank is subjected to low-temperature tempering to obtain the eccentric shaft blank after carbonitriding treatment.

[0074] In this embodiment, further, the eccentric shaft blank after carbonitriding treatment is subjected to ultrasonic rolling to make the surface roughness reach 0.1 , and the surface residual compressive stress reaches 1500 MPa; finally, the eccentric shaft blank after ultrasonic rolling is processed to ensure that each dimension of the eccentric shaft is processed to the set dimension, thus completing the efficient processing of the eccentric shaft of the RV reducer.

[0075] Based on the same inventive concept as the above method, an embodiment of the present application also provides an efficient processing 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, the steps of any one of the above methods for efficiently processing the eccentric shaft of an RV reducer are implemented.

[0076] Meanwhile, an embodiment of the present application also provides an efficient processing 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, the above-mentioned method for efficiently processing the eccentric shaft of an RV reducer is implemented.

[0077] It can be understood that the above sequence of the embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. And the above description of specific embodiments of this specification is provided. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0078] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key point of each embodiment is to illustrate the differences from other embodiments.

[0079] 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, shall be equally included in the protection scope of the present application.

Claims

1. An efficient machining 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 with other measurement positions regarding 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 processing 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 an 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 according to 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: ； wherein, 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: ； Wherein, 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 an 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 implements the steps of the efficient processing method of an RV reducer eccentric shaft 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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