Cycloidal gear eccentric hole positioning machining device, system and method

Abstract

The invention relates to the technical field of cycloidal gear machining equipment, and provides a cycloidal gear eccentric hole positioning and machining device, system and method, and the cycloidal gear eccentric hole positioning and machining device comprises a clamping assembly and an adjusting assembly. Wherein the clamping assembly comprises a base, a driving piece and at least two clamping jaws, and the adjusting assembly comprises a connecting piece, a guiding piece and an adapting piece. Thus, according to the cycloidal gear eccentric hole positioning and machining device, the process of determining the corresponding coordinates of the eccentric position of the cycloidal gear in the mechanical arm coordinate system is simplified, the rotation center point of the mechanical arm can be rapidly positioned to the eccentric position of the cycloidal gear, and the problem that positioning is tedious when the eccentric hole is machined through a laser shock peening technology is solved; meanwhile, aiming at the problems of complex programming and inaccurate positioning of a cycloidal gear eccentric position processing program in related technologies, the cycloidal gear eccentric hole positioning and processing device disclosed by the invention can be used for quickly performing surface strengthening processing on cycloidal gears with different specifications and sizes without programming the processing program.

Description

Technical Field

[0001] This invention relates to the field of cycloidal wheel processing equipment technology, and in particular to a cycloidal wheel eccentric hole positioning processing device, system and method. Background Technology

[0002] Currently, rotary vector reducers (RV reducers) have advantages such as small size, light weight, smooth transmission, no impact, no noise, high motion accuracy, large transmission ratio, and high load capacity, and are widely used in industries such as electronics, aerospace, and robotics.

[0003] The RV reducer for robots has a complex structure, including a needle gear housing, a planetary gear carrier, three crankshafts, a cycloidal wheel, three pairs of tapered needle roller bearings mounted between the crankshafts and the planetary gear carrier, three pairs of bearings mounted between the eccentric wheel and the cycloidal wheel on the crankshaft, and two pairs of bearings mounted between the needle gear housing and the planetary gear carrier. To achieve accurate robot movements and meet its service life requirements, the machining and installation precision requirements for these components are extremely high. The cycloidal wheel is a disc with an arc-shaped curved surface on its outer side, and it has an eccentric hole with high positional accuracy relative to the cycloidal wheel axis. Laser shock peening is a method to significantly improve the wear resistance of the cycloidal wheel. However, the current machining process for the eccentric hole is extremely complex and cumbersome, which is not conducive to effective control of production costs. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention proposes a cycloidal wheel eccentric hole positioning processing device, which enables convenient installation of cabinet doors on the outside of the cabinet door, ensuring the aesthetics of the cabinet door installation.

[0005] The present invention also proposes a cycloidal wheel eccentric hole positioning machining system.

[0006] This invention also proposes a method for locating and machining the eccentric hole of a cycloidal wheel.

[0007] According to a first aspect of the present invention, a cycloidal wheel eccentric hole positioning machining apparatus includes: The clamping assembly includes a base, a drive unit, and at least two jaws. The drive unit is disposed on the base, and the at least two jaws are slidably disposed on a first side of the base. The drive unit is connected to the at least two jaws, and the drive unit can drive the at least two jaws to move so that the at least two jaws are adapted to act on the cycloidal wheel along the shaft hole of the cycloidal wheel. The adjustment assembly includes a connector, a guide, and an adapter. The base has a second side opposite to the first side. The connector is disposed on the second side, and the guide is connected to the connector. The extension direction of the guide is the same as the radial direction of the cycloidal wheel. The adapter is slidably disposed on the guide and is adapted to be connected to a robotic arm. The adapter switches between a first position and a second position relative to the guide. In the first position, the connection point of the robotic arm on the adapter coincides with the center of the shaft hole of the cycloidal wheel. In the second position, the rotation center of the robotic arm coincides with the center of the eccentric hole of the cycloidal wheel.

[0008] According to one embodiment of the present invention, the guide member is provided with scale lines, the distribution direction of the scale lines is the same as the length direction of the guide member; the adapter is provided with an observation window, the observation window being opposite to the scale lines.

[0009] According to one embodiment of the present invention, the adapter includes a first part, a second part, and a connecting part. The first part and the second part are arranged at an included angle. The first part is provided with a through hole, and the guide is disposed through the through hole. The connecting part is disposed in the second part and is adapted to be connected to a robotic arm. In the first position, the center of the connecting part coincides with the center of the shaft hole of the cycloidal wheel.

[0010] According to one embodiment of the present invention, the adjusting assembly further includes a locking member, and the first part is further provided with a locking hole communicating with the through hole, the locking member being disposed in the locking hole to abut or separate from the guide member.

[0011] According to one embodiment of the present invention, the guide includes a first guide rod and a second guide rod arranged side by side, and the adapter is synchronously slidably disposed on the first guide rod and the second guide rod.

[0012] According to one embodiment of the present invention, the adjusting assembly further includes a stop member disposed at the end of the guide member away from the connector.

[0013] According to one embodiment of the present invention, the connector includes a cover plate and a connecting block, the cover plate being adapted to and disposed on the second side, the connecting block being disposed on the side of the cover plate opposite to the base, and the guide being disposed on the connecting block.

[0014] According to one embodiment of the present invention, it further includes: The drying assembly includes a gas heater and an air supply pipe connected together. The gas heater is disposed on the connector and is used to heat gas, which is then delivered to the cycloidal wheel through the air supply pipe.

[0015] According to a second aspect of the present invention, a cycloidal wheel eccentric hole positioning and machining system includes: a laser, a robotic arm, and the aforementioned cycloidal wheel eccentric hole positioning and machining device; The robotic arm is connected to the adapter and is configured to transfer the cycloidal wheel to the location of the laser. The laser is configured to emit a laser beam through the eccentric hole of the cycloidal wheel.

[0016] A method for locating the eccentric hole of a cycloidal wheel according to a third aspect of the present invention includes: Adjust the position of the adapter on the guide so that the adapter is in the first position; The position of the adapter on the guide is readjusted so that the adapter is in the second position; wherein the distance between the first position and the second position is equal to the distance between the center of the shaft hole of the cycloidal wheel and the center of the eccentric hole; The robotic arm transfers the cycloidal wheel to the location of the laser, and the laser emits a laser beam through the eccentric hole of the cycloidal wheel.

[0017] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: The robotic arm is connected to the adapter, and the position of the adapter on the guide is adjusted to a first position. Then, the position of the adapter on the guide is adjusted again to a second position. The distance between the first and second positions is equal to the distance between the center of the cycloidal wheel's shaft hole and the center of the eccentric hole. Finally, the robotic arm moves the cycloidal wheel to the location of the laser, and the laser emits a laser beam onto the eccentric hole of the cycloidal wheel. Thus, this embodiment of the invention simplifies the process of determining the coordinates of the eccentric position of the cycloidal wheel in the robotic arm's coordinate system, enabling the robotic arm's rotation center point to be quickly located at the eccentric position of the cycloidal wheel, solving the problem of cumbersome positioning when machining eccentric holes using laser shock peening technology. Furthermore, addressing the difficulties of complex programming and inaccurate positioning in related technologies for machining eccentric positions of cycloidal wheels, this embodiment of the invention eliminates the need for programming, allowing for rapid surface strengthening of cycloidal wheels of different sizes.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the cycloidal wheel eccentric hole positioning and processing device provided in an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the clamping assembly provided in an embodiment of the present invention.

[0022] Figure 3 This is an assembly diagram of the connector and guide provided in an embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the adapter provided in an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the drying assembly provided in an embodiment of the present invention.

[0025] Figure 6 This is a flowchart of the cycloidal wheel eccentric hole positioning machining method provided in the embodiments of the present invention.

[0026] Figure label: 1. Clamping assembly; 11. Base; 111. First side; 112. Second side; 12. Drive component; 13. Claw; 2. Adjustment assembly; 21. Connector; 211. Cover plate; 212. Connecting block; 22. Guide component; 221. First guide rod; 2211. Scale line; 222. Second guide rod; 23. Adapter; 231. First part; 2311. Through hole; 2312. Locking hole; 2313. Observation window; 232. Second part; 233. Connecting part; 24. Locking component; 25. Stop component; 3. Drying assembly; 31. Gas heater; 32. Air supply pipe; 33. Mounting plate. Detailed Implementation

[0027] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0028] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the embodiments of the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise stated, "multiple," "multiple roots," and "multiple groups" mean two or more.

[0029] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0030] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0031] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0032] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the cycloidal wheel eccentric hole positioning and machining device of this embodiment includes: a clamping assembly 1 and an adjusting assembly 2. The clamping assembly 1 includes a base 11, a driving member 12, and at least two jaws 13. The driving member 12 is disposed on the base 11, and the at least two jaws 13 are slidably disposed on a first side 111 of the base 11. The driving member 12 is connected to the at least two jaws 13, and the driving member 12 can drive the at least two jaws 13 to move, so that the at least two jaws 13 are adapted to interact with the cycloidal wheel along the shaft hole. The adjustment assembly 2 includes a connector 21, a guide 22, and an adapter 23. The base 11 has a second side 112 opposite to the first side 111. The connector 21 is disposed on the second side 112. The guide 22 is connected to the connector 21. The extension direction of the guide 22 is the same as the radial direction of the cycloidal wheel. The adapter 23 is slidably disposed on the guide 22 and is adapted to be connected to the robotic arm. The adapter 23 switches between a first position and a second position relative to the guide 22. In the first position, the connection point of the robotic arm on the adapter 23 coincides with the center of the shaft hole of the cycloidal wheel. In the second position, the rotation center of the robotic arm coincides with the center of the eccentric hole of the cycloidal wheel.

[0033] It should be noted that the number of jaws 13 varies, and can be two, three, four, or even more. Furthermore, the more jaws 13 there are, the greater the gripping force on the cycloidal wheel. For example, with three jaws 13, these three jaws are set at a 120° angle to each other; with four jaws 13, these four jaws are set at a 90° angle to each other.

[0034] As an example, the chuck 13 can be slidably disposed within the slot of the base 11. The drive component 12 also includes components such as an adjustment disk, which is rotatably disposed within the base 11 and slidably connected to the chuck 13. For example, the chuck 13 is provided with sliding posts, and the adjustment disk is provided with vortex tracks evenly spaced around the circumference to cooperate with each sliding post. In addition, a rotating shaft is connected to the adjustment disk, and the rotating shaft is coaxially disposed with the adjustment disk. A worm gear is provided on the rotating shaft, and a worm that cooperates with the worm gear is rotatably connected within the base 11, with the end of the worm extending out of the base 11. Thus, by rotating the worm gear, the worm gear rotates, which in turn drives the adjustment disk to rotate via the rotating shaft. When the adjustment disk rotates, the sliding posts on the chuck 13 slide within the vortex tracks on the adjustment disk. Therefore, the movement of the sliding posts within the vortex tracks causes the chuck 13 to move linearly in the slot. For example, the chuck 13 moves linearly outward or inward within the slot. In other words, the pawl 13 can be inserted into the shaft hole of the cycloidal wheel. When the pawl 13 moves linearly outward in the slot, it can clamp the cycloidal wheel. When the pawl 13 moves linearly inward in the slot, it can release the cycloidal wheel.

[0035] Understandably, the jaw 13 can have multiple steps, with the height of the steps decreasing progressively from the center of the base 11 outwards, forming multiple annular clamping areas for holding cycloidal wheels of different diameters. In this way, the jaw 13 can accommodate different models of cycloidal wheels, expanding its applicability.

[0036] In practical applications, the robotic arm is connected to the adapter 23, and the position of the adapter 23 on the guide 22 is adjusted so that the adapter 23 is in the first position. Then, the position of the adapter 23 on the guide 22 is adjusted again so that the adapter 23 is in the second position. The distance between the first position and the second position is equal to the distance between the center of the shaft hole of the cycloidal wheel and the center of the eccentric hole. Finally, the robotic arm transfers the cycloidal wheel to the location of the laser, and the laser emits a laser beam at the eccentric hole of the cycloidal wheel.

[0037] Thus, the cycloidal wheel eccentric hole positioning and processing device of this invention simplifies the process of determining the corresponding coordinates of the eccentric position of the cycloidal wheel in the coordinate system of the robotic arm, enabling the rotation center point of the robotic arm to be quickly positioned to the eccentric position of the cycloidal wheel, solving the problem of cumbersome positioning when processing eccentric holes using laser shock hardening process; at the same time, addressing the difficulties of complex programming and inaccurate positioning of cycloidal wheel eccentric position processing programs in related technologies, this invention embodiment does not require programming and can quickly perform surface hardening processing on cycloidal wheels of different specifications and sizes.

[0038] In optional embodiments, such as Figure 3 and Figure 4As shown, the guide 22 is provided with scale lines 2211, and the distribution direction of the scale lines 2211 is the same as the length direction of the guide 22; the adapter 23 is provided with an observation window 2313, which is opposite to the scale lines 2211 so that the user can observe the movement distance of the adapter 23 relative to the guide 22 through the observation window 2313.

[0039] It should be noted that the scale lines 2211 are evenly distributed along the length of the guide member 22, and the scale values ​​increase or decrease from one end to the other. The scale lines 2211 can be made by laser engraving or chemical etching processes.

[0040] Understandably, the observation window 2313 can be designed as an opening structure on the adapter 23 (or directly as a transparent window), with its position precisely aligned with the internal scale line 2211. This allows the user to clearly observe the real-time position information indicated by the scale line 2211 directly through the observation window 2313 during operation, without needing to perform additional numerical calculations or cumbersome unit conversions. This allows for quick and intuitive acquisition of the current displacement of the adapter 23, thus efficiently completing the precise positioning task and significantly improving overall work efficiency and ease of operation.

[0041] In practical applications, the robotic arm is connected to the adapter 23, and the position of the adapter 23 on the guide 22 is adjusted so that the adapter 23 is in the first position. The scale value at this time is recorded as the initial scale value. Then, based on the distance between the center of the shaft hole of the cycloidal wheel and the center of the eccentric hole, the required adjustment value can be quickly calculated. The final scale value can be calculated using this adjustment value and the initial scale value. In this way, the position of the adapter 23 on the guide 22 can be quickly readjusted so that the adapter 23 is in the second position.

[0042] To facilitate the connection between the adapter 23 and the robotic arm, in optional embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the adapter 23 includes a first part 231, a second part 232, and a connecting part 233. The first part 231, the second part 232, and the connecting part 233 can be integrally formed. The first part 231 and the second part 232 are arranged at an angle. The first part 231 is provided with a through hole 2311, and the guide 22 passes through the through hole 2311. The connecting part 233 is provided in the second part 232 and is suitable for connecting with a robotic arm. In the first position, the center of the connecting part 233 coincides with the center of the shaft hole of the cycloidal wheel.

[0043] Specifically, the first part 231 can be a flat plate structure, perpendicular to the axis of the guide member 22. It has a through hole 2311, the diameter of which matches the outer diameter of the guide member 22, ensuring smooth passage of the guide member 22. The second part 232 can be arranged at a 90° angle to the first part 231, forming an L-shaped or T-shaped structure. Furthermore, the connecting part 233 can be a cylinder, so that in the first position, the center of the cylinder coincides with the center of the cycloidal wheel's shaft hole. Moreover, the cylinder extends from the first side 111 to the second side 112, which is the same as the height direction of the base 11. It is understood that the coincidence of the cylinder's center with the center of the cycloidal wheel's shaft hole can be determined using measuring instruments.

[0044] It should be noted that the preset distance between the central axis of the cylinder and the central axis of the observation window 2313 is known. Therefore, the actual initial scale value should be determined by the difference between the initial scale value and the preset distance. Then, based on the distance between the center of the shaft hole of the cycloidal wheel and the center of the eccentric hole, the required adjustment value can be quickly calculated. The final scale value can be calculated using this adjustment value and the actual initial scale value.

[0045] To achieve precise positioning and fixation of the adapter 23 on the guide 22, in optional embodiments, such as... Figure 1 , Figure 3 and Figure 4 As shown, the adjustment assembly 2 also includes a locking member 24, and the first part 231 is also provided with a locking hole 2312 communicating with the through hole 2311. The locking member 24 is disposed in the locking hole 2312 to abut or separate from the guide member 22.

[0046] It should be noted that the locking hole 2312 can be a threaded hole, and the locking member 24 can be an internal hexagon head screw. Loosening the locking member 24 (e.g., rotating it counterclockwise) separates its tail from the surface of the guide member 22, releasing the constraint on the adapter 23. Manually slide the adapter 23 to move it along the axis of the guide member 22 to the target position. Rotate the locking member 24 (e.g., clockwise) to gradually press its tail against the surface of the guide member 22. Through the threaded self-locking function, the locking member 24 applies radial pressure to the guide member 22, using friction to fix the position of the adapter 23 on the guide member 22.

[0047] As an example, such as Figure 1 , Figure 3 and Figure 4 As shown, the guide member 22 includes a first guide rod 221 and a second guide rod 222 arranged side by side, and the adapter 23 is slidably disposed on the first guide rod 221 and the second guide rod 222.

[0048] Specifically, the two guide rods are parallel and have a fixed spacing, forming a double guide rail structure. For example, only one of the first guide rod 221 and the second guide rod 222 is provided with a scale line 2211, or both the first guide rod 221 and the second guide rod 222 are provided with a scale line 2211.

[0049] For example, the first guide rod 221 is provided with a scale line 2211, and the first part 231 is provided with only one locking hole 2312. At this time, the locking member 24 is provided in the locking hole 2312 to abut or separate from the second guide rod 222.

[0050] In optional embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the adjusting assembly 2 also includes a stop 25, which is located at the end of the guide 22 away from the connector 21. It should be noted that the stop 25 can be a block-shaped object, and it is used to limit the maximum sliding stroke of the adapter 23 to prevent derailment or collision with other objects.

[0051] In optional embodiments, such as Figure 1 , Figure 2 and Figure 3 As shown, the connector 21 includes a cover plate 211 and a connecting block 212. The cover plate 211 and the connecting block 212 can be integrally formed or have a separate structure. The cover plate 211 is adapted to the second side 112 and is disposed on the second side 112. The connecting block 212 is disposed on the side of the cover plate 211 away from the base 11. The guide 22 is disposed on the connecting block 212.

[0052] It should be noted that the base 11 can be a cylindrical structure, in which case the cover plate 211 is circular, and the size of the cover plate 211 is the same as that of the base 11. The cover plate 211 covers the second side 112 of the base 11. For example, the cover plate 211 is fixedly connected to the base 11 by screws. The connecting block 212 can be rectangular, and the connecting block 212 has a certain height. In this way, when the first guide rod 221 and the second guide rod 222 are connected to the side of the connecting block 212, the first guide rod 221 and the second guide rod 222 can leave a gap between themselves and the cover plate 211 in the height direction.

[0053] In practical applications, the first part 231 of the adapter 23 can be moved above the cover plate 211, and the second part 232 of the adapter 23 can be moved above the connecting block 212. This facilitates the positioning of the cylinder on the second part 232 of the adapter 23 with the shaft hole of the cycloidal wheel.

[0054] In optional embodiments, such as Figure 1 and Figure 5As shown, the cycloidal wheel eccentric hole positioning processing device also includes a drying component 3. The drying component 3 includes a gas heater 31 and an air supply pipe 32 connected to each other. The gas heater 31 is disposed on the connector 21 and is used to heat the gas and deliver it to the cycloidal wheel through the air supply pipe 32.

[0055] Specifically, the gas heater 31 may include a housing, which has an accommodating space and an air inlet and an air outlet communicating with the accommodating space. The fan and resistance wire of the gas heater 31 are arranged in the accommodating space. The air supply pipe 32 may be a high-temperature resistant silicone tube with an operating temperature of -60℃ to 200℃. The air supply pipe 32 is connected to the air outlet. A pneumatic regulating valve may be installed on the air supply pipe 32. Thus, the start and stop of the gas heater 31 and the opening degree of the pneumatic regulating valve can be controlled by the control motherboard.

[0056] As an example, the gas heater 31 is mounted on the cover plate 211 via the mounting plate 33. The mounting plate 33 can be a Z-shaped structure. In other words, the mounting plate 33 includes a vertical part and a first horizontal part and a second horizontal part disposed on the vertical part. The first horizontal part and the second horizontal part are oriented in opposite directions. At this time, the first horizontal part is connected to the surface of the cover plate 211, and the gas heater 31 is mounted to the second horizontal part.

[0057] Understandably, to address the issue of manually maintaining surface dryness during the laser shock peening process of cycloidal wheels, the cycloidal wheel eccentric hole positioning and processing device of this embodiment of the invention, through the drying component 3, can automatically dry the surface of the cycloidal wheel after a single laser shock peening. By replacing manual operation, it effectively avoids laser shock defects caused by surface contamination (such as uneven energy absorption and surface burns), while improving processing efficiency and quality stability, and ensuring the consistency of precision in the laser shock peening process.

[0058] Secondly, embodiments of the present invention also provide a cycloidal wheel eccentric hole positioning and processing system, comprising: a laser, a robotic arm, and a cycloidal wheel eccentric hole positioning and processing device. The robotic arm is connected to a connector 23 and is configured to transfer the cycloidal wheel to the location of the laser, and the laser is configured to emit a laser beam to the eccentric hole of the cycloidal wheel.

[0059] Thus, the cycloidal wheel eccentric hole positioning and machining system of this invention simplifies the process of determining the corresponding coordinates of the eccentric position of the cycloidal wheel in the coordinate system of the robotic arm, enabling the rotation center point of the robotic arm to be quickly positioned to the eccentric position of the cycloidal wheel, solving the problem of cumbersome positioning when machining eccentric holes using laser shock hardening process; at the same time, addressing the difficulties of complex programming and inaccurate positioning of cycloidal wheel eccentric position machining programs in related technologies, this invention eliminates the need to write machining programs, and can quickly perform surface hardening machining on cycloidal wheels of different specifications and sizes.

[0060] Thirdly, such as Figure 6 As shown, this embodiment of the invention also provides a method for locating and machining the eccentric hole of a cycloidal wheel applied to a cycloidal wheel eccentric hole positioning machining system, comprising: S100, adjust the position of the adapter 23 on the guide 22 so that the adapter 23 is in the first position.

[0061] S200, readjust the position of the adapter 23 on the guide 22 so that the adapter 23 is in the second position. The distance between the first and second positions is equal to the distance between the center of the cycloidal wheel's shaft hole and the center of the eccentric hole.

[0062] The S300 uses a robotic arm to move the cycloidal wheel to the location of the laser, and then emits a laser beam through the eccentric hole of the cycloidal wheel.

[0063] In practical applications, the robotic arm is connected to the adapter 23, and the position of the adapter 23 on the guide 22 is adjusted so that the adapter 23 is in the first position, and the scale value at this time is recorded as the initial scale value. Then, based on the distance between the center of the shaft hole of the cycloidal wheel and the center of the eccentric hole, the required adjustment value can be quickly calculated. The final scale value can be calculated using this adjustment value and the initial scale value. In this way, the position of the adapter 23 on the guide 22 can be quickly readjusted so that the adapter 23 is in the second position. The robotic arm transfers the cycloidal wheel to the location of the laser, and the laser emits a laser beam at the eccentric hole of the cycloidal wheel. Finally, the drying component 3 can automatically dry the surface of the cycloidal wheel after a single laser shock strengthening process.

[0064] Thus, the cycloidal wheel eccentric hole positioning and machining method of the present invention simplifies the process of determining the corresponding coordinates of the eccentric position of the cycloidal wheel in the coordinate system of the robotic arm, enabling the rotation center point of the robotic arm to be quickly positioned to the eccentric position of the cycloidal wheel, and solving the problem of cumbersome positioning when machining eccentric holes by laser shock hardening process; at the same time, in view of the problem of complex programming and inaccurate positioning of cycloidal wheel eccentric position machining in related technologies, the present invention does not require programming and can quickly perform surface hardening machining on cycloidal wheels of different specifications and sizes.

[0065] Finally, it should be noted that the terms "parallel" and "perpendicular" in the embodiments of this invention should not be strictly limited to a geometric sense. At least manufacturing and installation errors should be considered. For example, an error of ±10° should be within the protection range of the embodiments of this invention. The above embodiments are only used to illustrate the technical solutions of this invention, and not to limit it. Although the invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this invention.

Claims

1. A device for positioning and machining an eccentric hole of a trochoid wheel, characterized in that, The utility model relates to a kind of adjusting mechanism for the center of rotation of the eccentric hole of cycloidal gear, comprising: Clamping assembly (1), including base (11), driving part (12) and at least two clamping jaws (13), the driving part (12) is arranged in the base (11), the at least two clamping jaws (13) are slidably arranged in the first side (111) of the base (11), the driving part (12) is connected with the at least two clamping jaws (13), the driving part (12) can drive the at least two clamping jaws (13) to act, so that the at least two clamping jaws (13) are adapted to cycloidal gear's axial hole and cycloidal gear interaction; Adjusting assembly (2), including connecting piece (21), guide piece (22) and adapter (23), the base (11) has the second side (112) being oppositely arranged with the first side (111), the connecting piece (21) is arranged in the second side (112), the guide piece (22) is connected to the connecting piece (21), the extension direction of the guide piece (22) is the same with the radial direction of cycloidal gear, the adapter (23) is slidably arranged in the guide piece (22), and is adapted to be connected with mechanical arm;Wherein, the adapter (23) is switched in first position and second position relative to the guide piece (22), in the first position, the connection point of mechanical arm on the adapter (23) coincides with the center of cycloidal gear's axial hole, in the second position, the center of rotation of mechanical arm coincides with the center of cycloidal gear's eccentric hole.

2. The device for positioning and machining of the eccentric hole of the trochoid wheel according to claim 1, characterized in that, The guide piece (22) is provided with a scale line (2211), and the distribution direction of the scale line (2211) is the same as the length direction of the guide piece (22);The adapter (23) is provided with an observation window (2313), and the observation window (2313) is opposite to the scale line (2211).

3. The device for positioning and machining of the eccentric hole of the trochoid wheel according to claim 1, characterized in that, The adapter (23) includes a first portion (231), a second portion (232), and a connecting portion (233). The first portion (231) and the second portion (232) are arranged at an angle. The first portion (231) is provided with a through hole (2311), and the guide piece (22) is arranged in the through hole (2311). The connecting portion (233) is arranged in the second portion (232), and the connecting portion (233) is adapted to be connected with the mechanical arm. In the first position, the center of the connecting portion (233) coincides with the center of the axial hole of the cycloidal gear.

4. The device for positioning and machining of the eccentric hole of the trochoid wheel according to claim 3, characterized in that, The adjusting assembly (2) further includes a locking member (24). The first portion (231) is further provided with a locking hole (2312) in communication with the through hole (2311). The locking member (24) is arranged in the locking hole (2312) to abut or separate from the guide piece (22).

5. The device for positioning and machining of the eccentric hole of the trochoid wheel according to claim 1, characterized in that, The guide piece (22) includes a first guide rod (221) and a second guide rod (222) arranged side by side. The adapter (23) is synchronously slidably arranged in the first guide rod (221) and the second guide rod (222).

6. The device for positioning and machining of the eccentric hole of the trochoid wheel according to claim 1, characterized in that, The adjusting assembly (2) further includes a stop member (25) arranged at an end of the guide piece (22) away from the connecting piece (21).

7. The device according to claim 1, wherein The connecting piece (21) comprises a cover plate (211) and a connecting block (212), the cover plate (211) is matched with the second side (112) and is arranged on the second side (112), the connecting block (212) is arranged on the side of the cover plate (211) away from the base (11), and the guide piece (22) is arranged on the connecting block (212).

8. The positioning and machining device for the eccentric hole of the trochoid wheel according to any one of claims 1 to 7, characterized in that, Further comprising: The drying assembly (3) comprises a gas heater (31) and an air supply pipe (32) connected with each other, the gas heater (31) is arranged on the connecting piece (21), and the gas heater (31) is used for heating gas and conveying the gas to the cycloidal wheel through the air supply pipe (32).

9. A system for positioning and machining an eccentric hole of a trochoid wheel, characterized in that, Comprise: The laser, the mechanical arm and the cycloidal wheel eccentric hole positioning machining device according to any one of claims 1 to 8; The mechanical arm is connected with the adapter (23), and the mechanical arm is configured to transfer the cycloidal wheel to the position where the laser is located, and the laser is configured to emit laser to the eccentric hole of the cycloidal wheel.

10. A method for positioning and machining the eccentric hole of a trochoid wheel according to the positioning and machining system of the eccentric hole of a trochoid wheel according to claim 9, characterized in that, Comprise: Adjust the position of the adapter (23) on the guide piece (22) so that the adapter (23) is in the first position; Adjust the position of the adapter (23) on the guide piece (22) again so that the adapter (23) is in the second position; wherein the distance between the first position and the second position is equal to the distance between the center of the shaft hole of the cycloidal wheel and the center of the eccentric hole; Transfer the cycloidal wheel to the position where the laser is located by the mechanical arm, and emit laser to the eccentric hole of the cycloidal wheel by the laser.

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