A gear shaping device for a motor train unit

Abstract

The application provides a motor train unit gear modification device, which comprises a rack, a workbench, a driving mechanism, a manipulator, a control device and a resistance mechanism fixedly installed on the workbench, the manipulator and the driving mechanism are both fixedly installed on the rack, the workbench is connected with the rack through a screw nut pair, an image sensor is arranged on the driving mechanism, a grinding wheel and a visual sensor are arranged on the manipulator, a driving wheel needing modification is arranged on the driving mechanism, a driven wheel needing modification is arranged on the resistance mechanism, the driving wheel needing modification and the driven wheel needing modification can be engaged, the screw nut pair, the driving mechanism, the resistance mechanism, the image sensor, the manipulator and the visual sensor are all electrically connected with the control device. The application can effectively improve the modification effect of the gear and the engagement quality of the gear based on the deformation of the gear and the tooth surface contact spot data obtained under the simulated gear service condition and through the control device controlling the manipulator to modify the gear.

Description

Technical Field

[0001] This invention relates to a gear shaping device for high-speed trains, belonging to the field of gear processing technology. Background Technology

[0002] During the service life of gears, the meshing quality of gears directly affects the vibration and impact on the EMU system, and thus affects the fatigue life and reliability of the EMU. Modifying the tooth direction and tooth profile of the EMU gears can give the gears better meshing quality.

[0003] In the process of modifying the gears of high-speed trains, factors such as gear size, clamping method, shape, stress, and adjustable modification amount need to be considered. Traditional modification methods rely on experience to determine the modification amount, length, and curve, lacking quantitative analysis of uncontrollable factors such as manufacturing errors and installation deviations, resulting in unstable modification effects. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a high-speed train gear shaping device that uses gear deformation and tooth surface contact pattern data obtained under simulated gear service conditions to control a robotic arm to shape the gears. This device effectively improves the gear shaping effect and thus enhances the gear meshing quality.

[0005] To address the aforementioned technical problems, this invention provides a gear shaping device for high-speed trains, comprising a frame, a worktable, a drive mechanism, a robotic arm, a control device, and a resistance mechanism fixedly mounted on the worktable. Both the robotic arm and the drive mechanism are fixedly mounted on the frame. The worktable is connected to the frame via a lead screw and nut pair. An image sensor is arranged on the drive mechanism, and a grinding wheel and a vision sensor are arranged on the robotic arm. The driving gear to be shaped is arranged on the drive mechanism, and the driven gear to be shaped is arranged on the resistance mechanism. The driving gear and the driven gear to be shaped can mesh. The lead screw and nut pair, drive mechanism, resistance mechanism, image sensor, robotic arm, and vision sensor are all electrically connected to the control device.

[0006] In one specific embodiment, the drive mechanism includes a drive motor, a driven gear shaft, drive shaft A, drive shaft B, a three-jaw chuck, and an image sensor fixedly mounted on drive shaft B. A drive gear shaft is arranged on the output shaft of the drive motor. The driven gear shaft meshes with the drive gear shaft. Both ends of the driven gear shaft pass through two opposite side plates of the frame. Drive shaft A is positioned above the frame via a bracket A fixedly mounted on the frame. Drive shaft B is positioned above the frame via a bracket B fixedly mounted on the frame. Both drive shafts A and B are positioned above the driven gear shaft and are parallel to it. One end of the driven gear shaft is connected to one end of drive shaft A via a belt drive mechanism A, and the other end of the driven gear shaft is connected to one end of drive shaft B via a belt drive mechanism B. The three-jaw chuck is positioned at the other end of drive shaft A. The drive wheel requiring shaping is arranged on the three-jaw chuck. Drive shaft A, the three-jaw chuck, and the drive wheel requiring shaping are arranged concentrically. The drive motor is electrically connected to the control device.

[0007] In one specific embodiment, the resistance mechanism includes a resistance bracket, a resistance motor, a resistance shaft, and a six-jaw chuck fixedly mounted on a workbench. The resistance motor is fixedly mounted on the upper end of the resistance bracket, and a bearing hole for mounting a bearing is opened on the top of the resistance bracket. A bearing is installed in the bearing hole. One end of the resistance shaft passes through the bearing in the bearing hole of the resistance bracket and is connected to the output shaft of the resistance motor. The other end of the resistance shaft is connected to the six-jaw chuck. The driven wheel that needs to be shaped is fixedly mounted on the six-jaw chuck. The resistance shaft, the output shaft of the resistance motor, the six-jaw chuck, and the driven wheel that needs to be shaped are arranged concentrically. The resistance motor is electrically connected to the control device.

[0008] In one specific embodiment, the workbench is provided with a square slot.

[0009] In one specific embodiment, the frame is provided with a waste tray and square holes.

[0010] In one specific embodiment, the lead screw and nut assembly includes a lead screw, a lead screw motor, and a guide rail parallel to the lead screw. The lead screw motor and the guide rail are both fixedly mounted on the frame. The side of the worktable is provided with screw holes that mate with the lead screw. One end of the lead screw is connected to the lead screw motor through a coupling, and the other end of the lead screw passes through the screw hole on the side of the worktable and then through a bearing mounted on the frame. The side of the worktable opposite to the side with the screw hole that mates with the lead screw is connected to the slider of the guide rail. The lead screw motor is electrically connected to the control device.

[0011] In one specific embodiment, the belt drive mechanism A includes a driving pulley A, a driven pulley A, and an annular belt A connecting the driving pulley A and the driven pulley A. The driving pulley A is connected to the driven gear shaft by an interference fit, and the driven pulley A is connected to the drive shaft A by an interference fit. The belt drive mechanism B includes a driving pulley B, a driven pulley B, and an annular belt B connecting the driving pulley B and the driven pulley B. The driving pulley B is connected to the driven gear shaft by an interference fit, and the driven pulley B is connected to the drive shaft B by an interference fit.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0013] 1. This invention, by setting up a drive mechanism and a resistance mechanism, places the driving wheel and the driven wheel requiring modification under simulated gear service conditions. Thus, an image sensor captures the deformation of the driving wheel under these conditions, a vision sensor acquires tooth surface contact spot data, and a control device calculates stress based on gear deformation. The control device then calculates the modification amount and trajectory based on the stress and tooth surface contact spot data. A robotic arm performs modification on the driving wheel and driven wheel according to the modification amount and trajectory. This effectively improves the modification effect of the driving wheel and driven wheel, thereby improving the meshing quality of the two wheels.

[0014] 2. This invention can simulate various actual operating conditions of gears by adjusting the drive motor and the resistance motor, and has a wider range of operating conditions adaptability.

[0015] 3. This invention can clamp gears with different center holes or gear shafts that need to be modified by a chuck, which has better versatility. At the same time, the worktable can be moved to adapt to two gears with different center distances that need to be modified. Also, when modifying the driving gear that needs to be modified, the worktable can be moved to avoid interference between the driven gear that needs to be modified and the robot arm.

[0016] 4. This invention uses a visual sensor and an image sensor to acquire data on gear deformation and tooth surface contact spots under simulated gear operating conditions in real time, and judges the modification effect of the driving gear and the driven gear that need modification in real time based on the data on gear deformation and tooth surface contact spots.

[0017] 5. This invention adopts a modular design, with each module processed and assembled separately, and then the modules are finally assembled together. Its structure is reasonable and ingenious, easy to implement, and suitable for completing the processing of EMU gears. Attached Figure Description

[0018] Figure 1This is a schematic diagram of the structure of the present invention (the driving wheel that needs to be modified meshes with the driven wheel that needs to be modified).

[0019] Figure 2 This is a schematic diagram of the structure of the present invention (the active wheel for shaping the robotic arm).

[0020] Figure 3 This is a schematic diagram of the structure of the present invention (the driven wheel that the robot arm needs to modify).

[0021] Figure 4 This is an exploded structural diagram of the driving mechanism of the present invention.

[0022] Figure 5 This is a schematic diagram of the exploded structure of the resistance mechanism of the present invention.

[0023] Figure 6 This is a schematic diagram of the structure of the frame and worktable of the present invention (the connection between the lead screw and nut pair and the frame and worktable is a cross-sectional view).

[0024] Reference numerals: 1. Frame; 2. Worktable; 3. Drive mechanism; 4. Resistance mechanism; 5. Robot arm; 6. Bearing; 11. Scrap pan; 12. Square hole; 13. Lead screw; 14. Lead screw motor; 15. Guide rail; 16. Coupling; 21. Square slot; 22. Screw hole; 30. Driven gear shaft; 31. Drive shaft A; 32. Drive shaft B; 33. Three-jaw chuck; 34. Drive wheel requiring shaping; 35. Bracket A; 36. Bracket B; 37. Belt drive mechanism A; 38. Belt drive mechanism B; 39. Drive gear shaft 3 00, Elastic retaining ring 310, Image sensor 331, Bracket A body 360, Bracket A cover plate 361, Bracket B body 370, Bracket B cover plate 371, Drive pulley A 380, Driven pulley A 381, Annular belt A 382, ​​Drive pulley B 390, Driven pulley B 391, Annular belt B 392, Resistance bracket 41, Resistance motor 42, Resistance shaft 43, Six-jaw chuck 44, Driven wheel requiring shaping 45, Resistance bracket body 411, Resistance bracket cover plate 412. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the embodiments and accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0026] refer to Figures 1 to 6A gear shaping device for high-speed trains is characterized by comprising a frame 1, a worktable 2, a drive mechanism 3, a manipulator 5, a control device, and a resistance mechanism 4 fixedly mounted on the worktable 2. Both the manipulator 5 and the drive mechanism 3 are fixedly mounted on the frame 1. The worktable 2 is connected to the frame 1 via a lead screw and nut pair. An image sensor 331 is arranged on the drive mechanism 3, and a grinding wheel and a vision sensor are arranged on the manipulator 5. The driving gear 35 to be shaped is arranged on the drive mechanism 3, and the driven gear 45 to be shaped is arranged on the resistance mechanism 4. The driving gear 35 and the driven gear 45 to be shaped can mesh. The lead screw and nut pair, the drive mechanism 3, the resistance mechanism 4, the image sensor 331, the manipulator 5, and the vision sensor are all electrically connected to the control device.

[0027] Ideally, different specifications of grinding wheels can be replaced according to actual needs.

[0028] Preferably, the control device is equipped with a human-machine interface.

[0029] The worktable 2 moves on the frame 1 under the action of the lead screw and nut pair so that the center distance between the driving wheel 35 and the driven wheel 45 that need to be modified meets the requirements.

[0030] Optionally, the robotic arm 5 and the drive mechanism 3 are both bolted to the frame 1, and the resistance mechanism 4 is bolted to the worktable 2. The robotic arm is existing technology.

[0031] This gear shaping device is easy to assemble and disassemble, and can shape driving gears 35 and driven gears 45 of different sizes. It can also adjust the center distance between the driving gear 35 and the driven gear 45. During the shaping process, the worktable 2 can be moved to avoid interference between the robot arm 5 and the driven gear 45. The resistance mechanism 4 can place the driving gear 35 and the driven gear 45 in simulated gear service conditions, and the image sensor 331 detects this. The deformation of the gears is then used to calculate the stress of the driving gear 35 and the driven gear 45 that need to be modified under simulated gear service conditions. The tooth surface contact spot data is obtained through a vision sensor. The control device calculates the modification amount and modification trajectory based on the stress and tooth surface contact spot data. The control device controls the grinding wheel to grind according to the modification amount and modification trajectory, so as to improve the modification effect of the driving gear 35 and the driven gear 45 that need to be modified, and thus improve the meshing quality of the driving gear 35 and the driven gear 45 that need to be modified.

[0032] Preferably, the drive mechanism 3 includes a drive motor 30, a driven gear shaft 31, a drive shaft A32, a drive shaft B33, a three-jaw chuck 34, and an image sensor 331 fixedly mounted on the drive shaft B33. A drive gear shaft 300 is arranged on the output shaft of the drive motor 30. The driven gear shaft 31 meshes with the drive gear shaft 300. Both ends of the driven gear shaft 31 pass through two opposite side plates of the frame 1. Bearings 6 that fit into corresponding bearing holes on the frame 1 are provided at the shoulders of both ends of the driven gear shaft 31. Elastic retaining rings 310 are also provided at both ends of the driven gear shaft 31. The elastic retaining rings 310 cooperate with the corresponding bearing holes to limit the movement of the driven gear shaft 31. The drive shaft A32 is arranged above the frame 1 via a bracket A36 fixedly mounted on the frame 1. A bearing hole is provided at the upper end of the bracket A. The bearings 6 at the shoulders of the drive shaft A fit into the bracket. The bearing hole at the upper end of A36 is fitted. The drive shaft B33 is mounted above the frame 1 via a bracket B37 fixedly mounted on the frame 1. The upper end of the bracket B is provided with a bearing hole. The bearing 6 at the shoulder of the drive shaft B is fitted with the bearing hole at the upper end of the bracket B37. The drive shafts A32 and B33 are both mounted above the driven gear shaft 31. The drive shafts A32 and B33 are parallel to the driven gear shaft 31. One end of the driven gear shaft 31 is connected to one end of the drive shaft A32 via a belt drive mechanism A38. The other end of the driven gear shaft 31 is connected to one end of the drive shaft B33 via a belt drive mechanism B39. The three-jaw chuck 34 is mounted at the other end of the drive shaft A32. The drive wheel 35 that needs to be shaped is arranged on the three-jaw chuck 34. The drive shaft A32, the three-jaw chuck 34, and the drive wheel 35 that needs to be shaped are arranged concentrically. The drive motor 30 is electrically connected to the control device.

[0033] Furthermore, the bracket A36 includes a bracket A body 360 and a bracket A cover plate 361. The bracket A cover plate 361 is fixedly installed on the top of the bracket A body 360 by bolts. The bracket B37 includes a bracket B body 370 and a bracket B cover plate 371. The bracket B cover plate 371 is fixedly installed on the top of the bracket B body 370 by bolts.

[0034] Specifically, each belt drive mechanism A38 includes a driving pulley A380, a driven pulley A381, and an annular belt A382 connecting the driving pulley A380 and the driven pulley A381. The driving pulley A380 is connected to the driven gear shaft 31 by an interference fit, and the driven pulley A381 is connected to the drive shaft A32 by an interference fit. Each belt drive mechanism B39 includes a driving pulley B390, a driven pulley B391, and an annular belt B392 connecting the driving pulley B390 and the driven pulley B391. The driving pulley B390 is connected to the driven gear shaft 31 by an interference fit, and the driven pulley B391 is connected to the drive shaft B33 by an interference fit.

[0035] The drive motor 30 drives the drive gear shaft 300 to rotate, which in turn drives two drive pulleys to move. The two drive pulleys transmit power to two driven pulleys through corresponding annular belts. The two driven pulleys drive the drive shaft A32 and drive shaft B33 to rotate respectively. Drive shaft A32 drives the three-jaw chuck 34 and the drive wheel 35 that needs to be modified to rotate. Drive shaft B33 drives the image sensor 331 to rotate. The angular velocities of drive shaft B33 and drive shaft A32 are the same.

[0036] Preferably, the resistance mechanism 4 includes a resistance bracket 41, a resistance motor 42, a resistance shaft 43, and a six-jaw chuck 44, all fixedly mounted on the workbench 2. The resistance motor 42 is fixedly mounted on the upper end of the resistance bracket 41 by bolts. The top of the resistance bracket 41 has a bearing hole for mounting a bearing, and a bearing 6 is installed in the bearing hole. One end of the resistance shaft 43 passes through the bearing 6 in the bearing hole of the resistance bracket 41 and is connected to the output shaft of the resistance motor 42. The other end of the resistance shaft 43 is connected to the six-jaw chuck 44. The driven wheel 45 to be modified is fixedly mounted on the six-jaw chuck 44. The resistance shaft 43, the output shaft of the resistance motor 42, the six-jaw chuck 44, and the driven wheel 45 to be modified are arranged concentrically. The resistance motor 42 is electrically connected to the control device. The resistance motor 42 drives the resistance shaft 43 to rotate, thereby rotating the six-jaw chuck 44 and the driven wheel 45 to be modified, so that both the driving wheel 35 and the driven wheel 45 to be modified are under simulated gear service conditions.

[0037] Furthermore, the resistance bracket 41 includes a resistance bracket body 411 and a resistance bracket cover plate 412, the resistance bracket cover plate 412 being fixedly installed on the top of the resistance bracket body 411 by bolts.

[0038] Preferably, the robotic arm includes a first axis, a second axis, a third axis, a fourth axis, a fifth axis, a grinding wheel, a vision device mounted on the fifth axis, and a base fixedly mounted on a frame. A motor is installed in the inner cavity of the fifth axis, and the output end of the motor is connected to the grinding wheel. The motor drives the grinding wheel to rotate. The fifth axis is hinged to the fourth axis, the fourth axis is rotatably connected to the third axis, the third axis is hinged to the second axis, the second axis is hinged to the first axis, and the first axis is rotatably connected to the base. The motor is electrically connected to the control device. During the shaping process, the robotic arm can change its posture as needed. The grinding wheel can rotate around the fifth axis under the action of the motor to perform tooth surface grinding.

[0039] Preferably, the worktable 2 is provided with a square groove 21, which is located below the driven wheel that needs to be shaped. The driven wheel to be shaped can be partially located in the square groove 21 to avoid interference between the driven wheel and the worktable.

[0040] Preferably, the frame 1 is provided with a waste tray 11 and a square hole 12. The waste tray 11 is used to collect waste, and the square hole 12 can effectively reduce the weight of the frame.

[0041] Specifically, the lead screw and nut assembly includes a lead screw 13, a lead screw motor 14, and a guide rail 15 parallel to the lead screw 13. The lead screw motor 14 and the guide rail 15 are both fixedly mounted on the frame 1. The side of the worktable 2 is provided with a screw hole 22 that mates with the lead screw 13. One end of the lead screw 13 is connected to the lead screw motor 14 through a coupling 16. The other end of the lead screw 13 passes through the screw hole 22 on the side of the worktable 2 and then passes through a bearing 6 mounted on the frame 1. The side of the worktable 2 opposite to the side with the screw hole 22 that mates with the lead screw 13 is connected to the slider of the guide rail 15. The lead screw motor 14 is electrically connected to the control device.

[0042] The working steps of this invention are as follows:

[0043] Step 1: Apply cinnabar to the tooth surface of the drive gear 35 that needs to be modified.

[0044] Step 2: Engage the drive wheel 35 and the driven wheel 45 that need to be shaped: After inputting the command from the human-machine interface, the control device controls the screw motor 14 to output torque according to the command. The screw motor 14 drives the screw 13 to rotate, and the worktable 2 moves along the guide rail 15 on the frame 1 until the drive wheel 35 and the driven wheel 45 that need to be shaped are engaged.

[0045] Step 3: Obtain stress and tooth surface contact pattern data for one tooth under simulated gear service conditions: After the driving gear 35 requiring modification meshes with the driven gear 45 requiring modification, the control device controls the output speed and torque of the drive motor 30 and the resistance motor 42 according to the set parameters, so that both the driving gear 35 and the driven gear 45 requiring modification rotate by one tooth degree. The control device then controls the drive motor 30 and the resistance motor 42 to stop moving, and the lead screw motor 14 moves to separate the driving gear 35 and the driven gear 45 requiring modification. During the rotation of the driving gear 35 and the driven gear 45 requiring modification, the image sensor 331 captures the deformation of the gear and sends it to the control device, and the vision sensor acquires tooth surface contact pattern data and sends it to the control device. The control device calculates the stress based on the deformation of the gear, and calculates the modification amount and modification trajectory based on the stress and tooth surface contact pattern data.

[0046] Step 4: Shape one tooth of the driving wheel 35 and one tooth of the driven wheel 45 that need to be shaped: The control device controls the movement of the robot arm 5 according to the stress and shaping trajectory calculated in step 2, and then shapes the corresponding tooth of the driving wheel 35 and the corresponding tooth of the driven wheel 45 that need to be shaped by the grinding wheel.

[0047] Step 5: Modify the teeth of the driving wheel 35 and the driven wheel 45 that need modification one by one: After the teeth of the driving wheel 35 and the driven wheel 45 that need modification are modified, the control device controls the output torque of the drive motor 30 and the resistance motor 42 according to the parameters set by the system so that the driving wheel 35 and the driven wheel 45 that need modification rotate by one tooth degree and then execute step 4, until each tooth of the driving wheel 35 and the driven wheel 45 that need modification is modified.

[0048] Step 6: Check if the driving wheel 35 and driven wheel 45 requiring modification meet the requirements: Execute step 2 to engage the driving wheel 35 and driven wheel 45 requiring modification. The control device controls the drive motor 30 and resistance motor 42 to rotate, causing the driving wheel 35 and driven wheel 45 to rotate. The number of rotations is determined according to the actual situation. After the driving wheel 35 and driven wheel 45 have rotated to the target number of times, under the control of the control device, the driving wheel 35... The drive gear 35 and the driven gear 45 that needs to be modified are separated. During the rotation of the drive gear 35 and the driven gear 45 that need to be modified, the image sensor 331 captures the amount of gear deformation and sends it to the control device. The vision sensor acquires the tooth surface contact spot data and sends it to the control device. The control device calculates the stress based on the amount of gear deformation. The control device judges whether the stress and the tooth surface contact spot data meet the conditions. If they meet the conditions, the modification is stopped. If they do not meet the conditions, steps 2 to 6 are executed until the conditions are met.

[0049] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions and substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A gear shaping device for high-speed trains, characterized in that, The system includes a frame (1), a worktable (2), a drive mechanism (3), a robot (5), a control device, and a resistance mechanism (4) fixedly installed on the worktable (2). The robot (5) and the drive mechanism (3) are both fixedly installed on the frame (1). The worktable (2) is connected to the frame (1) through a screw and nut pair. An image sensor (331) is arranged on the drive mechanism (3). A grinding wheel and a vision sensor are arranged on the robot (5). The active wheel (35) that needs to be modified is arranged on the drive mechanism (3). The driven wheel (45) that needs to be modified is arranged on the resistance mechanism (4). The active wheel (35) that needs to be modified and the driven wheel (45) that needs to be modified can mesh. The screw and nut pair, the drive mechanism (3), the resistance mechanism (4), the image sensor (331), the robot (5), and the vision sensor are all electrically connected to the control device. The drive mechanism (3) includes a drive motor (30), a driven gear shaft (31), a drive shaft A (32), a drive shaft B (33), a three-jaw chuck (34), and an image sensor (331) fixedly mounted on the drive shaft B (33). A drive gear shaft (300) is arranged on the output shaft of the drive motor (30). The driven gear shaft (31) meshes with the drive gear shaft (300). The two ends of the driven gear shaft (31) pass through two opposite side plates of the frame (1). The drive shaft A (32) is arranged above the frame (1) through a bracket A (36) fixedly mounted on the frame (1). The drive shaft B (33) is arranged above the frame (1) through a bracket B (37) fixedly mounted on the frame (1). The drive shaft A (32) and drive shaft B (33) are both located above the driven gear shaft (31). The drive shaft A (32) and drive shaft B (33) are parallel to the driven gear shaft (31). One end of the driven gear shaft (31) is connected to one end of the drive shaft A (32) through the belt drive mechanism A (38), and the other end of the driven gear shaft (31) is connected to one end of the drive shaft B (33) through the belt drive mechanism B (39). The three-jaw chuck (34) is located at the other end of the drive shaft A (32). The drive wheel (35) that needs to be modified is arranged on the three-jaw chuck (34). The drive shaft A (32), the three-jaw chuck (34) and the drive wheel (35) that needs to be modified are arranged concentrically. The drive motor (30) is electrically connected to the control device.

2. The EMU gear shaping device as described in claim 1, characterized in that, The resistance mechanism (4) includes a resistance bracket (41), a resistance motor (42), a resistance shaft (43), and a six-jaw chuck (44) fixedly mounted on the workbench (2). The resistance motor (42) is fixedly mounted on the upper end of the resistance bracket (41). The top of the resistance bracket (41) has a bearing hole for mounting a bearing. A bearing (6) is installed in the bearing hole. One end of the resistance shaft (43) passes through the bearing (6) in the bearing hole of the resistance bracket (41) and is connected to the output shaft of the resistance motor (42). The other end of the resistance shaft (43) is connected to the six-jaw chuck (44). The driven wheel (45) that needs to be modified is fixedly mounted on the six-jaw chuck (44). The resistance shaft (43), the output shaft of the resistance motor (42), the six-jaw chuck (44), and the driven wheel (45) that needs to be modified are arranged concentrically. The resistance motor (42) is electrically connected to the control device.

3. The EMU gear shaping device as described in claim 2, characterized in that, The workbench (2) is provided with a square slot (21).

4. The EMU gear shaping device as described in claim 3, characterized in that, The frame (1) is provided with a waste tray (11) and a square hole (12).

5. The EMU gear shaping device as described in claim 4, characterized in that, The lead screw and nut assembly includes a lead screw (13), a lead screw motor (14), and a guide rail (15) parallel to the lead screw (13). The lead screw motor (14) and the guide rail (15) are both fixedly mounted on the frame (1). The side of the workbench (2) is provided with a screw hole (22) that mates with the lead screw (13). One end of the lead screw (13) is connected to the lead screw motor (14) through a coupling (16). The other end of the lead screw (13) passes through the screw hole (22) on the side of the workbench (2) and then passes through the bearing (6) on the frame (1). The side of the workbench (2) opposite to the side with the screw hole (22) that mates with the lead screw (13) is connected to the slider of the guide rail (15). The lead screw motor (14) is electrically connected to the control device.

6. The EMU gear shaping device as described in claim 5, characterized in that, The belt drive mechanism A (38) includes a driving pulley A (380), a driven pulley A (381), and an annular belt A (382) connecting the driving pulley A (380) and the driven pulley A (381). The driving pulley A (380) is connected to the driven gear shaft (31) by an interference fit, and the driven pulley A (381) is connected to the drive shaft A (32) by an interference fit. The belt drive mechanism B (39) includes a driving pulley B (390), a driven pulley B (391), and an annular belt B (392) connecting the driving pulley B (390) and the driven pulley B (391). The driving pulley B (390) is connected to the driven gear shaft (31) by an interference fit, and the driven pulley B (391) is connected to the drive shaft B (33) by an interference fit.

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