High-precision rigid framework structure for speed reducer and machining method of high-precision rigid framework structure

Abstract

The invention discloses a high-precision rigid framework structure for a speed reducer and a machining method of the high-precision rigid framework structure, and belongs to the technical field of machinery. A plurality of first inner bearing blind holes and a plurality of framework supporting columns are uniformly and alternately arranged at the first end of an output framework disc in the circumferential direction; a first cylindrical positioning pin hole and a plurality of threaded holes are formed in the end face of each framework supporting column; a plurality of second inner bearing through holes corresponding to the first inner bearing blind holes, a plurality of second cylindrical positioning pin holes corresponding to the first cylindrical positioning pin holes, and a plurality of inner hexagonal countersunk thread via holes corresponding to the threaded holes are formed in the input connecting disc; and the output framework disc and the input connecting disc are locked and fixed into a whole through a cylindrical positioning pin and an inner hexagonal countersunk bolt. The requirement of an extremely precise robot RV speed reducer can be met, the manufacturing precision, the assembling precision and the overall using performance of a rigid framework structure are improved, the reject ratio is reduced, and the machining cost is relatively low.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical technology, and particularly relates to a high-precision rigid skeleton structure for a speed reducer and a processing method thereof. Background Art

[0002] At present, the skeleton structure used in the robot RV speed reducer has extremely high requirements for transmission accuracy, is complex in structure, has a high manufacturing cost, poor load-bearing performance, and a high failure rate.

[0003] According to the current design and manufacturing method of the RV speed reducer, in order to install gears at its end, a large counterbore is opened at the output structure, resulting in a thinner structure, weaker bending and tensile resistance of the parts, and prone to cracking under heavy loads. At the same time, the coaxiality of the bearing holes corresponding to the front and rear of the skeleton is poor, resulting in unqualified quality and low precision of the overall speed reducer. Summary of the Invention

[0004] In order to solve the above problems, the present invention adopts the following technical solutions: A high-precision rigid skeleton structure for a speed reducer, comprising: An output skeleton disk, the output skeleton disk is a cylinder, and a plurality of first inner bearing blind holes and a plurality of skeleton support columns are uniformly and alternately arranged along the circumference at the first end of the output skeleton disk. Each end face of the skeleton support column is provided with a first cylindrical positioning pin hole and a plurality of threaded holes. A first main bearing position and its bearing step are provided at the outer edge of the first end of the output skeleton disk; An input connection disk, the input connection disk is a cylinder, and the input connection disk is provided with a plurality of second inner bearing through holes corresponding to the first inner bearing blind holes, a plurality of second cylindrical positioning pin holes corresponding to the first cylindrical positioning pin holes, and a plurality of internal hexagonal counterbore threaded through holes corresponding to the threaded holes. A second main bearing position is provided at the outer edge of the first end of the input connection disk. The output skeleton disk and the input connection disk are locked and fixed into one body by a cylindrical positioning pin and an internal hexagonal counterbore bolt.

[0005] Further, both the first inner bearing blind holes and the skeleton support columns are provided with n, where 2 ≤ n ≤ 6.

[0006] Further, the skeleton support columns and the first inner bearing blind holes are arranged at an angle θ, where 30° ≤ θ ≤ 90°, and the second cylindrical positioning pin holes and the second inner bearing through holes are arranged at an angle θ, where 30° ≤ θ ≤ 90°.

[0007] Further, docking threaded holes are provided on the output connection end face of the output skeleton disk, and a skeleton cover pressing hole is provided in the inner hole. An input avoidance hole is provided in the inner hole of the input connection disk, and a circlip position is provided inside the second inner bearing through hole.

[0008] Further, the coaxiality between the first inner bearing blind hole and the correspondingly arranged second inner bearing through hole and the tolerance of its own cylindricity are both within 0.002 mm.

[0009] Further, the perpendicularity tolerance of the axis of the first inner bearing blind hole to the output skeleton disc and the perpendicularity tolerance of the axis of the second inner bearing through hole to the input connection disc are both within 0.002 mm.

[0010] Further, the coaxiality between the first main bearing position and the second main bearing position and the tolerance of its own cylindricity are both within 0.005 mm.

[0011] Further, the perpendicularity tolerance of the axis of the first main bearing position to the output skeleton disc and the perpendicularity tolerance of the axis of the second main bearing position to the input connection disc are both within 0.005 mm, and the surface finish is within Ra0.4.

[0012] Further, 2 - 3 threaded holes and internal hexagon countersunk threaded through holes are provided.

[0013] A processing method for a high - precision rigid skeleton structure for a speed reducer, used to manufacture the high - precision rigid skeleton structure for a speed reducer described in any one of the above, the method comprising the following steps: S10. First, perform 3D design on the output skeleton disc and the input connection disc, and design corresponding blank drawings, 2D rough machining drawings, and 2D finish machining drawings; S20. Manufacture the output skeleton disc, input connection disc blanks and accessories, and the accessories include forging dies, rough machining tooling, and finish machining tooling; S30. Perform heat treatment and quenching on the output skeleton disc and input connection disc blanks; S40. Fix the output skeleton disc blank on its rough machining tooling and place it in a CNC machining center for rough machining, leaving a margin of 1.5 - 2 mm; S50. Fix the input connection disc on its rough machining tooling and place it in a CNC machining center for rough machining, leaving a margin of 1.5 - 2 mm; S60. Semi - finish machine the rough - machined output skeleton disc and input connection disc, and finish machine the upper end face of the skeleton support column of the output skeleton disc and the end face on the side where the second main bearing position of the input connection disc is located, ensuring its flatness, perpendicularity to the axis of the body, and end face finish, and machine corresponding positioning pin holes, bolt through holes, and threaded holes according to the drawings; S70. Position the semi - finished output skeleton disc and the semi - finished input connection disc through the cylindrical positioning pin, and then lock them together through the internal hexagon countersunk head bolts to make them an integral body; Fix the locked semi-finished rigid skeleton structure on the precision engraving machine through a finishing tooling for finishing, so that the first main bearing position and the second main bearing position are finish-machined and formed in place at one time, and the first inner bearing blind hole and the corresponding second inner bearing through hole are finish-machined and formed in place at one time, fully ensuring their concentricity.

[0014] Beneficial effects:

[0015] The present invention can achieve the overall precision and uniformity of the rigid skeleton structure within 0.003 mm or even higher, which can meet the requirements of extremely precise robot RV reducers. It not only improves the manufacturing precision and assembly precision of the rigid skeleton structure, the overall service performance and reduces the defective rate, but also makes the processing cost relatively low. Description of the drawings

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic cross-sectional view of the overall structure of the present invention; Figure 3 It is a schematic diagram of the output skeleton disk structure of the present invention; Figure 4 It is a schematic cross-sectional view of the output skeleton disk structure of the present invention; Figure 5 It is a schematic diagram of the input connection disk structure of the present invention; Figure 6 It is a front view of the cross-sectional view of the input connection disk of the present invention.

[0017] Among them, 1. Output skeleton disk; 2. Input connection disk; 3. Skeleton blank cover; 4. Cylindrical positioning pin; 5. First main bearing position; 6. Second main bearing position; 7. First inner bearing blind hole; 8. Second inner bearing through hole; 9. Output connection end face; 10. Skeleton support column; 11. Socket head cap screw; 201. First cylindrical positioning pin hole; 202. Threaded hole; 203. Skeleton blank cover hole; 204. Bearing step; 301. Input avoidance hole; 302. Circlip position; 303. Socket head cap countersunk through hole. Specific embodiments

[0018] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0019] This part will describe the specific embodiments of the present invention in detail. The preferred embodiments of the present invention are shown in the drawings. The function of the drawings is to supplement the description in the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the protection scope of the present invention.

[0020] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0021] In the description of the present invention, the meaning of several is one or more, the meaning of multiple is more than two, greater than, less than, exceeding, etc. are understood not to include the recited number, and above, below, within, etc. are understood to include the recited number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0022] In the description of the present invention, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0023] Embodiment 1

[0024] Reference Figures 1-6 , a high-precision rigid skeleton structure for a speed reducer, comprising: An output skeleton disk 1, the output skeleton disk 1 is a cylinder, and a plurality of first inner bearing blind holes 7 and a plurality of skeleton support columns 10 are uniformly and alternately arranged along the circumferential direction at the first end of the output skeleton disk 1. Each end face of the skeleton support column 10 is provided with a first cylindrical positioning pin hole 201 and a plurality of threaded holes 202. The outer edge of the first end of the output skeleton disk 1 is provided with a first main bearing position 5 and its bearing step 204; An input connection disk 2, the input connection disk 2 is a cylinder. The input connection disk 2 is provided with a plurality of second inner bearing through holes 8 corresponding to the first inner bearing blind holes 7, a plurality of second cylindrical positioning pin holes corresponding to the first cylindrical positioning pin holes 201, and a plurality of internal hexagon countersunk threaded through holes 303 corresponding to the threaded holes 202. The outer edge of the first end of the input connection disk 2 is provided with a second main bearing position 6. The output skeleton disk 1 and the input connection disk 2 are locked and fixed into one body by a cylindrical positioning pin 4 and an internal hexagon countersunk bolt 11.

[0025] In this embodiment, both the first inner bearing blind holes 7 and the skeleton support columns 10 are set to n, and 2 ≤ n ≤ 6.

[0026] In this embodiment, the skeleton support column 10 is arranged at an angle θ with the first inner bearing blind hole 7, where 30° ≤ θ ≤ 90°. The second cylindrical positioning pin hole is arranged at an angle θ with the second inner bearing through hole 8, where 30° ≤ θ ≤ 90°.

[0027] For example, when n = 2, that is, both the skeleton support column 10 and the first inner bearing blind hole 7 are two, and they are alternately and evenly distributed on the output skeleton disc 1. At this time, θ between the skeleton support column 10 and the first inner bearing blind hole 7 is 90°, and so on.

[0028] Preferably, the cross-section of the skeleton support column 10 is an isosceles trapezoid.

[0029] In this embodiment, a docking threaded hole is provided on the output connection end face 9 of the output skeleton disc 1, and a skeleton gland hole 203 is provided in the inner hole. A skeleton gland 3 is installed in the skeleton gland hole 203, which is convenient for later assembly and the whole machine to seal lubricating grease. An input avoidance hole 301 is provided in the inner hole of the input connection disc 2, and a circlip position 302 is provided inside the second inner bearing through hole 8.

[0030] In this embodiment, the concentricity between the first inner bearing blind hole 7 and the correspondingly arranged second inner bearing through hole 8, and the cylindricity tolerance of itself are both within 0.002 mm.

[0031] In this embodiment, the perpendicularity tolerance of the axis of the first inner bearing blind hole 7 to the output skeleton disc 1, and the perpendicularity tolerance of the axis of the second inner bearing through hole 8 to the input connection disc 2 are both within 0.002 mm.

[0032] In this embodiment, the concentricity between the first main bearing position 5 and the second main bearing position 6, and the cylindricity tolerance of itself are both within 0.005 mm.

[0033] In this embodiment, the perpendicularity tolerance of the axis of the first main bearing position 5 to the output skeleton disc 1, and the perpendicularity tolerance of the axis of the second main bearing position 6 to the input connection disc 2 are both within 0.005 mm, and the surface finish is within Ra0.4.

[0034] Preferably, 2 - 3 threaded holes 202 and internal hexagon counterbore threaded through holes 303 are provided.

[0035] Embodiment 2

[0036] This embodiment is a processing method for a high-precision rigid skeleton structure for a speed reducer in Embodiment 1. The method includes the following steps: S10. First, perform 3D design on the output skeleton disc 1 and the input connection disc 2, and design the corresponding blank drawing, 2D rough machining drawing, and 2D finish machining drawing; S20. Manufacture the output skeleton disk 1, input the blank parts of the connecting disk 2 and accessories. The accessories include forging dies, rough machining fixtures and finish machining fixtures. S30. Perform heat treatment and quenching on the output skeleton disk 1 and the blank parts of the input connecting disk 2. S40. Fix the blank part of the output skeleton disk 1 on its rough machining fixture and place it on the CNC machining center for rough machining, leaving a margin of 1.5 - 2 mm. S50. Fix the input connecting disk 2 on its rough machining fixture and place it on the CNC machining center for rough machining, leaving a margin of 1.5 - 2 mm. S60. Semi - finish machine the output skeleton disk 1 and the input connecting disk 2 after rough machining, and finish machine the upper end face of the skeleton support column 10 of the output skeleton disk 1 and the end face on the side where the second main bearing position 6 of the input connecting disk 2 is located, ensuring its flatness, perpendicularity to the axis of the body and surface finish, and machining the corresponding positioning pin holes, bolt through - holes and threaded holes 202 according to the drawings. S70. Locate the semi - finished part of the output skeleton disk 1 and the semi - finished part of the input connecting disk 2 through the cylindrical positioning pin 4, and then lock them into one body by the countersunk head socket screw 11. S80. Fix the locked semi - finished rigid skeleton structure on the engraving machine through the finish machining fixture for finish machining, so that the first main bearing position 5 and the second main bearing position 6 are finish - machined into shape in one step, and the first inner bearing blind hole 7 and the corresponding second inner bearing through - hole 8 are finish - machined into shape in one step, fully ensuring their concentricity.

[0037] The present invention can achieve the overall accuracy and uniformity of the rigid skeleton structure within 0.003 mm or even higher, which can meet the requirements of extremely precise robot RV reducers. It not only improves the manufacturing accuracy and assembly accuracy of the rigid skeleton structure, the overall service performance and reduces the rejection rate, but also makes the processing cost relatively low.

[0038] The above is only a preferred embodiment of the present invention, and does not impose any limitation on the technical scope of the present invention. Therefore, any minor modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention still belong to the scope of the technical solution of the present invention.

Claims

1. A high-precision rigid skeleton structure for a speed reducer, characterized in that Including: An output skeleton disk, the output skeleton disk is a cylinder, a plurality of first inner bearing blind holes and a plurality of skeleton support columns are uniformly arranged alternately along the circumference at the first end of the output skeleton disk, a first cylindrical positioning pin hole and a plurality of threaded holes are arranged on the end face of each skeleton support column, and a first main bearing position and its bearing step are arranged on the outer edge of the first end of the output skeleton disk; An input connection disk, the input connection disk is a cylinder, a plurality of second inner bearing through holes corresponding to the first inner bearing blind holes, a plurality of second cylindrical positioning pin holes corresponding to the first cylindrical positioning pin holes, and a plurality of internal hexagonal countersunk threaded through holes corresponding to the threaded holes are arranged on the input connection disk, and a second main bearing position is arranged on the outer edge of the first end of the input connection disk. The output skeleton disk and the input connection disk are locked and fixed into one body by a cylindrical positioning pin and an internal hexagonal countersunk bolt.

2. The high-precision rigid skeleton structure for a speed reducer according to claim 1, characterized in that Both the first inner bearing blind holes and the skeleton support columns are set to n, where 2 ≤ n ≤ 6.

3. The high-precision rigid skeleton structure for a speed reducer according to claim 1, characterized in that, The skeleton support columns and the first inner bearing blind holes are arranged at an angle θ, where 30° ≤ θ ≤ 90°, and the second cylindrical positioning pin holes and the second inner bearing through holes are arranged at an angle θ, where 30° ≤ θ ≤ 90°.

4. The high-precision rigid skeleton structure for a speed reducer according to claim 1, characterized in that, Docking threaded holes are arranged on the output connection end face of the output skeleton disk, and a skeleton blank cover pressing hole is arranged in the inner hole. An input avoidance hole is arranged in the inner hole of the input connection disk, and a circlip position is arranged inside the second inner bearing through hole.

5. The high-precision rigid framework structure for a speed reducer according to claim 1, characterized in that, The coaxiality between the first inner bearing blind holes and the corresponding second inner bearing through holes and the cylindricity tolerance of themselves are both within 0.002 mm.

6. The high-precision rigid skeleton structure for a speed reducer according to claim 1, wherein, The perpendicularity tolerance between the axis of the first inner bearing blind holes and the output skeleton disk and the perpendicularity tolerance between the axis of the second inner bearing through holes and the input connection disk are both within 0.002 mm.

7. The high-precision rigid skeleton structure for a speed reducer according to claim 1, wherein, The coaxiality between the first main bearing position and the second main bearing position and the cylindricity tolerance of themselves are both within 0.005 mm.

8. The high-precision rigid skeleton structure for a speed reducer according to claim 1, characterized in that, The perpendicularity tolerance between the axis of the first main bearing position and the output skeleton disk and the perpendicularity tolerance between the axis of the second main bearing position and the input connection disk are both within 0.005 mm, and the surface finish is within Ra0.

4.

9. The high-precision rigid skeleton structure for a speed reducer according to claim 1, characterized in that, Both the threaded holes and the internal hexagonal countersunk threaded through holes are set to 2 - 3.

10. A processing method for a high-precision rigid skeleton structure used in a speed reducer, characterized in that, A method for manufacturing the high-precision rigid skeleton structure for a speed reducer according to any one of claims 1 to 9, the method comprising the following steps: S10. First, perform 3D design on the output skeleton disk and the input connection disk, and design corresponding blank parts drawings, 2D rough machining drawings, and 2D finish machining drawings; S20. Manufacture the output skeleton disk, the input connection disk blank parts and accessories, and the accessories include forging dies, rough machining fixtures, and finish machining fixtures; S30. Quench and temper the output skeleton disk and the input connection disk blank parts; S40. Fix the output skeleton disk blank part on its rough machining fixture and place it in a CNC machining center for rough machining, leaving a margin of 1.5 - 2 mm; S50. Fix the input connection disk on its rough machining fixture and place it in a CNC machining center for rough machining, leaving a margin of 1.5 - 2 mm; S60. After semi-finishing the rough-machined output skeleton disc and the input connection disc, finish-machine the upper end face of the skeleton support column of the output skeleton disc and the end face on the side where the second main bearing position of the input connection disc is located, ensuring its flatness, perpendicularity to the axis of the body, and surface finish of the end face, and machine the corresponding positioning pin holes, bolt through holes, and threaded holes according to the drawing; S70. Position the semi-finished output skeleton disc and the semi-finished input connection disc through the cylindrical positioning pin, and then lock them together with the socket head cap screw to make them an integral body; S80. Fix the locked semi-finished rigid skeleton structure on the CNC engraving machine through the finish-machining tooling for finish machining, so that the first main bearing position and the second main bearing position are finish-machined into shape in one go, and the first inner bearing blind hole and the corresponding second inner bearing through hole are finish-machined into shape in one go, fully ensuring their concentricity.

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