A decelerator damper mechanism and a manufacturing method thereof

Abstract

The application relates to the technical field of reducer manufacturing, in particular to a reducer damping mechanism and a manufacturing method thereof, which comprises the following steps: the damping mechanism comprises a first output member and a second output member, the second output member is inserted into the first output member, and the damping mechanism is characterized in that the following steps are included: preparing first output member blanks and second output member blanks, respectively performing rough machining, finishing and inspection on the first output member blanks and the second output member blanks, and achieving the requirements of drawings; forming a damping layer between the qualified first output member and the second output member; and detecting the reducer damping mechanism after the damping layer is formed by using a detection mechanism to judge whether the reducer damping mechanism is qualified or not. The application can improve the attenuation capacity of radial vibration and torsional vibration.

Description

Technical Field

[0001] This invention relates to the field of speed reducer manufacturing technology, and specifically to a speed reducer vibration damping mechanism and its manufacturing method. Background Technology

[0002] As a key component in mechanical transmission systems for torque transmission and speed conversion, speed reducers are widely used in robot joints, precision machine tools, wind power equipment, and other fields. Due to the time-varying stiffness of gear meshing, fluctuations in input and output torque, and external load impacts, speed reducers generate significant vibration and noise during operation, severely affecting transmission accuracy, service life, and operator comfort. Therefore, damping mechanisms are typically integrated into the input shaft, output shaft, or planetary carrier of the speed reducer. Common structures include flexible coupling-type damping rings, flexible planetary gear bushings, and multi-layer buffer washers.

[0003] Most existing shock-absorbing mechanisms of this type consist of a first output component, a second output component, and an intermediate elastomer (such as natural rubber, nitrile rubber, polyurethane, etc.). Their processing mainly involves two steps: first, machining the inner and outer metal parts; then, coating the metal surfaces with adhesive, placing uncured rubber blanks into a mold, and finally hot-pressing and vulcanizing to cross-link the rubber and bond it to the metal. Some processes also include pretreatments such as sandblasting and brass plating on the metal surface to improve the vulcanization bonding strength.

[0004] However, existing intermediate elastomers are typically only placed between the end faces of the two second output components, serving as end face buffers. In this structural configuration, the elastomer mainly bears axial compressive loads, has limited attenuation capabilities for radial and torsional vibrations, and exhibits poor buffering performance, making it difficult to meet the vibration reduction requirements under high-speed and high-torque conditions.

[0005] Given the shortcomings of existing technologies, there is an urgent need for a new type of speed reducer damping mechanism and its manufacturing method, which can improve the attenuation capability of radial and torsional vibrations. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides a speed reducer damping mechanism and its manufacturing method, which improves the attenuation capability of radial and torsional vibrations.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows: a speed reducer damping mechanism includes a first output component and a second output component, the second output component being inserted into the first output component, a keyway being provided at one end of the first output component near the second output component, and a mating key being provided at one end of the second output component adjacent to the first output component, the mating key being inserted into the keyway to realize the keyway for the insertion of the first output component and the second output component.

[0008] Furthermore, a method for manufacturing a speed reducer damping mechanism includes the following steps:

[0009] Prepare the first output component blank and the second output component blank, and perform rough machining, fine machining and inspection on the first output component blank and the second output component blank respectively to meet the requirements of the drawing;

[0010] A damping layer is formed between the qualified first and second output components;

[0011] The speed reducer damping mechanism after the damping layer is formed is tested by a testing agency to determine whether it is qualified.

[0012] Furthermore, the first output component blank and / or the second output component blank are made by any one or more combinations of cold extrusion, forging, machining, metal injection molding or powder metallurgy sintering.

[0013] Furthermore, when using cold extrusion, the bar is annealed and phosphated, and then extruded into the blank of the keyway or mating key in one or several times in a cold extrusion die.

[0014] When forging is used, the bar stock is heated to a preset temperature and then hot forged, followed by air cooling and normalizing.

[0015] When machining is used, the bar stock, forging billet or casting billet is turned and / or milled to directly produce the keyway or mating key;

[0016] When metal injection molding is used, metal powder is mixed with binder, injection molded, and then degreased and sintered to obtain the blank.

[0017] When powder metallurgy sintering is used, metal powder is pressed into shape, and then sintered at high temperature and finished to obtain the billet.

[0018] Furthermore, the method of forming the damping layer includes: before inserting the mating key of the second output component into the keyway, forming a damping layer on the surface of the mating key, and then inserting the mating key after forming the damping layer into the keyway; during the insertion process of the mating key after forming the damping layer, detecting the circumferential pressure distribution of the mating key after forming the damping layer, and judging whether the uniformity of the prepared damping layer is qualified based on the circumferential pressure distribution.

[0019] Furthermore, before forming the damping layer, the first output component and the second output component are subjected to sandblasting, shot blasting or high-intensity shot blasting, and an adhesive is applied to the pre-set elastomer bonding area of ​​the second output component.

[0020] Furthermore, the method of forming the damping layer includes: pre-filling the keyway with molten damping material, fully inserting the mating key of the second output component into the keyway, and forming the damping layer after the molten damping material cools to a solid state.

[0021] Furthermore, the sidewalls of the mating key are provided with first axial grooves, which are arranged along the insertion direction of the mating key; during the process of inserting the mating key of the second output component into the keyway, the molten damping material flows along the first axial groove, promoting the uniform filling of the molten damping material between the keyway and the mating key.

[0022] Furthermore, the method of forming the damping layer includes: forming a damping layer on the inner wall surface of the keyway before inserting the mating key of the second output component into the keyway, and then inserting the mating key into the keyway in which the damping layer is formed.

[0023] Furthermore, the circumferential pressure distribution is detected by a detection mechanism, which includes an annular carrier and a control interface unit. Several movable grooves are arranged circumferentially on the inner side of the annular carrier, and pressure sensors are slidably connected in each movable groove. Springs are installed between the pressure sensors and the inner wall of the movable grooves, and the two ends of the springs are fixedly connected to the pressure sensors and the inner wall of the movable grooves, respectively.

[0024] The control interface unit is used to determine whether the stacking thickness of the damping layer is consistent in all directions based on the pressure values ​​of each pressure sensor. If they are inconsistent, the damping layer is deemed unqualified and the judgment result is output.

[0025] The contact ends of the pressure sensors are all ball-jointed with balls; the outer side of the damping layer is provided with several second axial grooves, and each second axial groove corresponds to a pressure sensor.

[0026] When the damping layer is press-fitted to the keyway, the gas in the keyway is squeezed by the damping layer and discharged along the second axial groove on the outside of the damping layer. The discharged gas forms an air flotation film between the pressure sensor and the contact surface of the damping layer.

[0027] The technical principles of the above solution are as follows:

[0028] The speed reducer damping mechanism of the present invention mainly consists of a first output component, a second output component, and a damping layer disposed between the two. The inner ring of the first output component is milled to form several circumferentially distributed arc-shaped grooves. These arc-shaped grooves, together with the outer wall (i.e., the mating key surface) of the second output component, form at least one radial annular cavity (keyway) after assembly. Within this cavity, an elastomer (such as natural rubber, nitrile rubber, or polyurethane) is injected and cured through a hot-press vulcanization process, bonding the elastomer to the second output component to form the damping layer.

[0029] When the reducer is running, power is transmitted from the input shaft to the second output component, and then from the damping layer to the first output component. During this process, due to factors such as the variable stiffness of gear meshing, load fluctuations, and external impacts, the transmission system will generate multi-directional vibrations.

[0030] Axial vibration and impact: The force along the output shaft direction is transmitted to the damping layer through the flange end face. The elastic body undergoes axial compression deformation, converting the impact energy into internal energy and dissipating it, thus playing an axial buffering role.

[0031] Radial vibration: Vibration perpendicular to the axis caused by gear radial force, unbalanced mass, etc., acts directly on the radial surface of the damping layer through the arc-shaped groove wall of the first output component, causing the elastic body to produce radial shear and compression deformation, thereby effectively absorbing radial vibration energy.

[0032] Torsional vibration: The circumferential alternating load caused by torque fluctuations causes a relative torsional tendency between the flange and the frame. The elastic body embedded in the radial annular cavity is subjected to circumferential shear stress, which attenuates the torsional vibration through its high damping characteristics.

[0033] Because the damping layer is constrained within the radial annular cavity and forms multi-faceted contact with the arc-shaped groove of the inner flange ring and the outer wall of the skeleton, its deformation mode is no longer limited to a single axial compression, but also includes multiple modes such as radial compression, shear and circumferential shear, thereby achieving axial-radial-torsional three-dimensional damping coupling and greatly improving the ability to suppress vibrations under complex working conditions.

[0034] This invention introduces an online detection principle based on morphological consistency criteria to address the potential problem of uneven stress distribution in elastomers after press-fitting due to vulcanization shrinkage or dimensional deviations. Its specific working principle is as follows:

[0035] The principle of morphological consistency detection: Pressure sensors evenly distributed circumferentially on the inner side of the annular carrier maintain contact with the outer wall of the damping layer under the action of spring preload. During the press-fitting process, if the thickness of the damping layer deviates in any circumferential direction (i.e., it does not match the dimension of the keyway in that direction), the elastomer in that direction will be subjected to additional compression, resulting in a significant increase in its reaction force. The control interface unit collects and compares the values ​​of all circumferential pressure sensors in real time. Once the pressure value of any sensor exceeds the preset deviation threshold, it is determined that the morphological change of the damping layer in that direction is out of tolerance, and thus the product is deemed unqualified. This detection logic quantifies the geometric fit between the elastomer and the cavity from a mechanical perspective, rather than simply relying on position detection, thus directly relating it to the final damping performance.

[0036] Eliminating the stick-slip effect and the principle of air flotation friction reduction: The stick-slip phenomenon that is very easy to occur when the damping layer (viscoelastic material) is pressed through the detection mechanism is a periodic process in which the elastomer and the sensor surface alternately adhere, accumulate deformation, and suddenly slide to release stress. This severe frictional oscillation at the micro level will be seriously coupled into the pressure signal, generating high-frequency sawtooth wave noise, which will drown out the true pressure reading.

[0037] Therefore, the present invention adopts a two-pronged approach:

[0038] Point contact interference reduction: The flat diaphragm contact surface of the pressure sensor is replaced with a ball joint connected to a ball bearing, which transforms the original sliding friction contact into rolling friction, significantly reducing the interference of tangential friction on the axial component of pressure measurement.

[0039] Air-floating film isolation: During the press-fitting process, the gas in the keyway is compressed by the damping layer and discharged in an orderly manner along the second axial groove pre-cut on the outer side of the damping layer. This forced airflow forms a stable air-floating film in the micro-gap at the contact interface between the pressure sensor ball and the damping layer. This air-floating film effectively isolates the solid-solid direct contact, reducing the sliding friction coefficient to near zero, thereby reducing the crosstalk of stick-slip vibration on the pressure signal. This ensures that the data collected by the pressure sensor truly reflects the radial compression state of the elastomer, improving the accuracy and signal-to-noise ratio of the detection.

[0040] The above approach has the following beneficial effects:

[0041] 1. This solution constructs a radial annular cavity between the inner ring of the first output component and the second output component, embedding a damping layer within it, thereby achieving coupling of three deformation modes: axial compression, radial shear / compression, and circumferential shear. Compared to the traditional end-face buffer pad structure that only bears axial loads, this improves the attenuation capability for radial and torsional vibrations generated during reducer operation.

[0042] 2. This solution uses circumferential multi-point pressure sensors to compare and detect changes in the morphology of the elastomer during the pressing process. This allows for the accurate identification of localized thickness deviations in the elastomer caused by uneven vulcanization shrinkage or mold wear. Defective products that may lead to uneven wear or stress concentration are then screened out, ensuring consistent performance for every shock-absorbing mechanism leaving the factory.

[0043] 3. This solution cleverly solves the long-standing problem of pressure signal distortion caused by the stick-slip effect in the press-fit testing of viscoelastic materials by utilizing the air-floating film formed by the ball joint bearings and the second axial groove for venting. The point contact structure of the bearings reduces the tangential force coupling path, while the air-floating film fundamentally isolates solid-solid friction, enabling the pressure sensor to capture a pure radial pressure signal. This improves the resolution and stability of the testing system, providing a solid technical foundation for intelligent and data-driven quality control. Attached Figure Description

[0044] Figure 1 This is a schematic flowchart of the manufacturing method of the speed reducer vibration damping mechanism of the present invention;

[0045] Figure 2 This is a schematic diagram of the internal structure of the detection mechanism in the manufacturing method of the speed reducer vibration damping mechanism of the present invention;

[0046] Figure 3This is a schematic diagram of the cross-sectional structure of the damping layer in an embodiment of the manufacturing method of the speed reducer damping mechanism of the present invention;

[0047] Figure 4 This is a schematic diagram of the press-fitting process of the damping layer in an embodiment of the manufacturing method of the speed reducer damping mechanism of the present invention.

[0048] The reference numerals in the accompanying drawings include: 1, semi-ring; 2, damping layer; 3, first output component; 4, second output component; 101, movable groove; 102, spring; 103, pressure sensor; 104, ball bearing; 201, second axial groove. Detailed Implementation

[0049] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "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 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 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.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] The following detailed description illustrates the specific implementation methods:

[0053] Example 1

[0054] like Figures 1 to 3As shown, this embodiment provides a speed reducer damping mechanism, including a first output component 3 and a second output component 4. One end of the second output component 4 is inserted into one end of the first output component 3. Specifically, a keyway is provided at the end of the first output component 3 near the second output component 4, and a mating key is provided at the end of the second output component 4 adjacent to the first output component 3. The mating key is inserted into the keyway to realize the plug-in connection between the first output component 3 and the second output component 4.

[0055] A damping layer 2 is provided between the first output component 3 and the second output component 4. The damping layer 2 is located between the inner wall of the keyway and the outer wall of the mating key, and is used to buffer the impact and vibration generated by the reducer during operation and reduce transmission noise.

[0056] In this embodiment, the first output component 3 is a flange component, and the second output component 4 is a skeleton component. One end of the flange component has an inner hole, and a keyway is formed on the inner wall of the inner hole; one end of the skeleton component has an outwardly extending mating key, and a gap is left between the outer peripheral surface of the mating key and the inner wall of the keyway. This gap is used to fill the damping layer 2.

[0057] Example 2:

[0058] As attached Figure 1 - Appendix Figure 4 As shown: This embodiment provides a method for manufacturing a speed reducer damping mechanism, including the following steps:

[0059] S1. Metal Billet Preparation Steps: In this embodiment, the billets of the first output component 3 and the second output component 4 can be manufactured by any one or more combinations of cold extrusion, forging, machining, metal injection molding (MIM), or powder metallurgy sintering. This embodiment uses forging as an example, and the specific process is as follows:

[0060] Alloy structural steel bars are selected and hot-forged to 1150℃~1200℃ to form the blank contours of the first output part 3 and the second output part 4. The mating key of the second output part 4 and the keyway of the first output part 3 can be pre-formed during forging or formed in subsequent machining steps. After forging, the parts are air-cooled and normalized to refine the grains, homogenize the microstructure, and improve machinability.

[0061] S2. Rough machining step: Forging, normalizing and precision machining are performed on the blanks of the first output part 3 and the second output part 4 (preferably a three-stage planetary carrier skeleton in this embodiment) to obtain rough machined flange parts and rough machined skeleton parts.

[0062] (1) Forging process: The blanked bar is heated to 1150℃~1200℃ in a medium frequency induction heating furnace and held for 20~30 minutes to ensure uniform heating. Then, it is upsetting, pre-forging and final forging are carried out on a 1000t hot die forging press to obtain the first output part 3 forging and the second output part 4 forging. After forging, it is immediately air-cooled.

[0063] (2) Normalizing process: The forged parts are placed in a box-type resistance furnace and heated to 860℃~890℃. After holding at this temperature for 2~3 hours, they are taken out and cooled uniformly to room temperature in still air. After normalizing, the hardness is tested using a portable Brinell hardness tester. The hardness value is controlled between 170~210HB to ensure that the microstructure is homogenized and the grains are refined, thereby improving the machinability.

[0064] (3) Finish turning: The normalized forgings are clamped on a CNC lathe and rough turning and finish turning are performed respectively. First, the outer diameter, end face and inner hole are rough turned, leaving a machining allowance on one side. Then, the forgings are finish turned to the basic dimensions on the drawing to obtain the rough-machined flange and the rough-machined skeleton. After finish turning, the coaxiality is checked to ensure that the coaxiality tolerance between the outer diameter and the inner hole is ≤φ0.05mm.

[0065] S3, Semi-finishing steps:

[0066] The rough-machined flange is then machined. Example: The rough-machined flange is clamped in a vertical machining center, and a carbide end mill is used to mill the inner contour of the flange inner ring. Specifically, four arc-shaped grooves are uniformly machined circumferentially on the inner ring of the flange. These four arc-shaped grooves together form a petal-shaped cavity structure, which is the keyway. Then, a ball end mill is used to finish-mill the surface of the arc-shaped grooves, achieving a surface roughness Ra ≤ 1.6 μm. Simultaneously, a finger end mill is used to mill the end teeth on the flange end face. After milling, a coordinate measuring machine (CMM) is used to randomly inspect the contour of the arc-shaped grooves, ensuring that the contour tolerance is ≤ 0.03 mm.

[0067] The rough-machined skeleton component is then machined. Example: The rough-machined skeleton component is clamped on the same vertical machining center. First, the outer perimeter contour of the skeleton (i.e., the mating key surface) is rough-milled to create a complementary fit between the outer wall contour of the skeleton and the arc-shaped groove of the flange (the inner wall surface of the petal-shaped cavity structure). The surface roughness of the skeleton's outer wall is required to reach Ra≤1.6μm, and the outer diameter tolerance is controlled within ±0.02mm. After machining, a pneumatic gauge is used to check the outer diameter.

[0068] Preferably, a laser marking machine is used to process a grid-like groove with a depth of 0.1~0.3mm and a spacing of 1~2mm in the pre-set elastomer bonding area of ​​the skeleton component to enhance the mechanical locking effect during subsequent bonding.

[0069] S4. Heat Treatment Steps: Quenching and tempering are performed on the semi-finished flange parts and frame parts. Example: The semi-finished flange parts and frame parts are neatly stacked in a vacuum quenching furnace. The vacuum is evacuated to below 1.0 × 10⁻² Pa, and heated to 840℃~860℃ at a heating rate of 5~8℃ / min, held for 60~90 minutes to fully homogenize the austenite. Then, high-pressure gas quenching is performed at a nitrogen pressure of 4~6 bar, followed by rapid cooling to below 60℃.

[0070] After quenching, the workpiece is transferred to a tempering furnace and heated to 520℃~560℃, held for 120~180 minutes for tempering treatment. After tempering, it is cooled to room temperature in the furnace. The hardness is tested, and the Rockwell hardness of the flange and frame parts is controlled within the range of 28~44HRC (preferably controlled within 34~40HRC in this embodiment). Each part is subjected to magnetic particle testing to check for defects such as cracks on the surface and near the surface. Qualified parts are transferred to the next process.

[0071] S5. Surface treatment steps: Sandblasting, shot blasting or high-intensity shot blasting is performed on the heat-treated flange and skeleton parts, and adhesive is applied to the pre-set elastomer bonding area of ​​the skeleton parts.

[0072] (1) The surface treatment adopts any one or more of the following combinations:

[0073] Sandblasting: Solvent cleaning or acid pickling is performed on flanges and skeleton components to remove surface oil, grease, and large impurities; areas not requiring treatment are masked for protection. First, activate the dust collection system to establish negative pressure inside the chamber, then turn on the air source and sandblasting machine. Adjust the working air pressure according to process requirements (generally 0.4~0.6MPa) to ensure normal abrasive supply and uniform abrasive output from the spray gun. Secure or install the flanges and skeleton components into the working chamber. Maintain a distance of 150~400mm between the spray gun and the workpiece surface, with an angle of 60°~80° (or 45°~80°). Move the spray gun at a uniform speed or rotate the workpiece, avoiding prolonged spraying at a fixed point, until the surface achieves the required cleanliness and roughness. After the operation, first turn off the sandblasting air source, then delay for 1~3 minutes before turning off the dust collection system to vent dust. Remove the workpiece and use dry, oil-free compressed air or a vacuum cleaner to remove any residual abrasive and dust from the surface and crevices.

[0074] Shot blasting: Heat-treated flanges and frame components are loaded into a crawler-type shot blasting machine. Cast steel shot with a diameter of φ0.3~φ0.6mm is used, and shot blasting is performed under conditions of 0.5~0.7MPa pressure and 8~15 minutes. After treatment, the metal surface cleanliness meets ISO 8501-1 standard, and the surface roughness reaches Ra3.2~6.3μm. After shot blasting, compressed air is used to blow away residual shot particles and dust from the workpiece surface.

[0075] Intensive shot peening: Flanges and skeleton components are degreased, cleaned, and thoroughly dried to ensure no contaminants interfere with the shot peening effect. Process testing is conducted using Almen test pieces and an arc height measuring instrument to determine the optimal shot material, peening pressure, flow rate, and time, in order to plot a saturation curve and calculate the shot peening intensity. The flanges and skeleton components are placed in a shot peening machine, and compressed air or a centrifugal wheel is used to propel metal shot (such as steel shot or ceramic shot) at high speed to impact the workpiece surface. Precise control of coverage and intensity is required during the process. After the operation, residual shot and debris are blown away, and the surface strengthening effect and cleanliness are rigorously inspected.

[0076] (2) Cleaning and coating: Immerse the shot-blasted workpiece in an ultrasonic cleaning tank. The cleaning medium is an environmentally friendly metal cleaning agent (concentration 5%~8%). The cleaning temperature is 50℃~60℃, the ultrasonic frequency is 40kHz, and the cleaning time is 10~15 minutes. After cleaning, take it out, rinse it twice with deionized water, and then dry it in a hot air circulating oven at 80℃~100℃ for 20~30 minutes.

[0077] After drying, apply adhesive to the pre-designed elastomer bonding area of ​​the skeleton (including the peripheral surface and end face of the skeleton outer wall).

[0078] S6. Elastomer Molding Steps: The adhesive-coated skeleton component is placed into the vulcanizing mold. Unvulcanized rubber blank is injected into the keyway. Hot-press vulcanization is then performed to cross-link the rubber and bond it to the skeleton component, forming a damping layer 2 that simultaneously withstands axial and radial loads. Example: The adhesive-coated and dried skeleton component is placed into the lower mold of a preheated vulcanizing mold. The vulcanizing mold is made of hot-work die steel, and the mold cavity shape matches the keyway shape. After mold closing, an independent petal-shaped space composed of four arc-shaped grooves is formed between the two.

[0079] Install the vulcanizing mold on a flat vulcanizing machine and connect it to a hot oil circulation temperature control system. Preheat the mold to 160℃~170℃ (165℃ in this embodiment). Using injection molding, inject the mixed, unvulcanized natural rubber blank (nitrile rubber or polyurethane can also be used; in this embodiment, natural rubber NR is used, with a Mooney viscosity ML(1+4) of 50~60 at 100℃) into the petal-shaped space through the mold's injection port. Control the injection pressure at 12~15MPa and the injection time at 10~20 seconds.

[0080] After injection molding, maintain a mold clamping pressure of 15 MPa and a temperature of 165℃±3℃ for 8-12 minutes of pressure vulcanization (10 minutes is preferred in this embodiment). During vulcanization, the rubber molecular chains undergo a cross-linking reaction to form a three-dimensional network structure, while the adhesive layer undergoes a chemical cross-linking reaction, resulting in a strong chemical bond between the rubber and the surface of the second output component 4. After vulcanization, open the mold and remove the component, trim any burrs and flash, and obtain a semi-finished product integrating the skeleton component and the shock-absorbing layer 2. Inspect the surface of the elastomer to ensure there are no defects such as bubbles, missing glue, or cracks.

[0081] S7. Finishing steps: Perform hot finishing on the flange and the skeleton with the damping layer 2 bonded together; Example: Mount the flange and the skeleton with the damping layer 2 on a CNC lathe for hot finishing.

[0082] (1) For flange parts: Use CBN (cubic boron nitride) inserts to finish turn the flange parts with a cutting speed of 120~150m / min and a feed rate of 0.08~0.12mm / r. Machin the inner hole of the flange parts to the final size (tolerance controlled within H7 accuracy grade), and machine the threaded bottom hole and outer circle of the end face to the final size. After finish turning, the roundness of the inner hole is ≤0.005mm and the flatness of the end face is ≤0.01mm.

[0083] (2) For the skeleton with the damping layer 2 bonded together: use sharp carbide inserts and light cutting parameters such as cutting speed of 80~100m / min, feed rate of 0.05~0.08mm / r and cutting depth of ≤0.2mm to finish turn the outer circle and end face of the mounting reference of the skeleton.

[0084] After finishing, the outer diameter of the damping layer 2 bonded to the skeleton is inspected to ensure that its outer diameter is 0.3~0.6mm larger than the inner diameter of the keyway in the inner ring of the flange (i.e., interference fit) to ensure that the elastomer is in a pre-compressed state after press fitting.

[0085] S8. Press-fitting step: Press-fit the precision-machined flange and skeleton parts to press the damping layer 2 into the keyway to obtain the finished damping mechanism.

[0086] The precision-machined flange is fixed onto the base of the press-fitting fixture, with the arc-shaped groove of the flange's inner ring facing upwards. The skeleton component with the adhesive damping layer 2 is aligned with the flange's inner bore and placed below the working head of the servo press-fitting machine. Press-fitting parameters are set, and the press-fitting machine is started. The working head presses the skeleton component into the flange's inner bore (i.e., the petal-shaped keyway in this embodiment) at a constant speed. During the press-fitting process, the outer wall of the damping layer 2 gradually fits against the inner wall of the flange's arc-shaped groove, forming a tight fit.

[0087] During the pressing process, the following tests are performed on the shock absorption mechanism before it is finished:

[0088] The morphological changes of the damping layer 2 during the pressing process are detected using a testing mechanism. Specifically, in this embodiment, the reducer damping mechanism mainly includes a first output component 3, a second output component 4, and a damping layer 2 disposed between the two. The damping layer 2 is embedded in the keyway of the first output component 3, and the damping layer 2 is vulcanized and fixed to the outer wall of the mating key of the second output component 4, for simultaneously absorbing axial impact loads and radial vibration energy. In some other preferred embodiments, the damping layer is formed by pre-filling the keyway with molten damping material, fully inserting the mating key of the second output component 4 into the keyway, and then cooling the molten damping material to a solid state to form the damping layer.

[0089] Preferred, combined with appendix Figure 3 As shown, the outer side of the damping layer 2 is provided with several second axial grooves 201 (parallel to the axes of the first output member 3 and the second output member 4). In some other preferred embodiments, the sidewalls of the mating key are provided with first axial grooves, which are arranged along the insertion direction of the mating key; during the process of inserting the mating key of the second output member 4 into the keyway, the molten damping material flows along the first axial grooves, promoting the uniform filling of the molten damping material between the keyway and the mating key.

[0090] In some other preferred embodiments, the damping layer is formed by: vulcanizing the inner wall surface of the keyway to form a damping layer before inserting the mating key of the second output member 4 into the keyway, and then inserting the mating key into the keyway in which the damping layer is formed.

[0091] Specifically, the detection mechanism includes a ring-shaped carrier and a control interface unit. In this embodiment, the ring-shaped carrier is composed of two interlocking semi-rings 1 to facilitate installation and disassembly between the first output component 3 and the second output component 4. Several movable grooves 101 are circumferentially formed on the inner side of the ring-shaped carrier, and pressure sensors 103 are slidably connected within each movable groove 101. Preferably, in conjunction with the attached... Figure 2 As shown, each contact end of the pressure sensor 103 is ball-jointed with a ball 104, and the pressure sensor 103 corresponds one-to-one with the second axial groove 201; a spring 102 is provided between the pressure sensor 103 and the inner wall of the movable groove 101, and the two ends of the spring 102 are respectively bonded and fixed to the pressure sensor 103 and the inner wall of the movable groove 101; the control interface unit is used to determine whether the stacking thickness of the damping layer 2 in each direction is consistent based on the pressure value of each pressure sensor 103. If they are inconsistent, the damping layer 2 is judged to be unqualified, and the judgment result is output and displayed.

[0092] When the damping layer 2 is press-fitted into the key groove, the gas in the key groove is squeezed by the damping layer 2 and is discharged along the second axial rib groove 201 on the outer side of the damping layer 2. The discharged gas forms an air-floating film between the contact surfaces of the pressure sensor 103 and the damping layer 2, thereby reducing the sliding friction force between the contact surfaces of the pressure sensor 103 and the damping layer 2.

[0093] Specifically: the annular carrier is sleeved on the periphery of the first output member 3, so that the balls 104 of the pressure sensors 103 uniformly distributed in the circumferential direction are in contact with the outer wall of the damping layer 2 during press-fitting. The pressure value of each pressure sensor 103 is continuously collected during the press-fitting process, and the pressure values of each circumferential measuring point are compared through the control interface unit. If the deviation between the pressure value of any measuring point and the circumferential average pressure value exceeds ±15% (the preset value set in this embodiment), it is determined that the current damping layer 2 has an out-of-tolerance shape change during the press-fitting process, and the product is a non-conforming product. Conversely, if the pressure values of all measuring points are within the allowable deviation range, that is, the stacking thickness in all directions is uniform and the geometric adaptability with the radial annular cavity is good, the damping layer 2 is determined to be qualified.

[0094] As attached Figure 4 shown, during the press-fitting process, when the damping layer 2 is squeezed into the key groove, the gas (air) originally filling the cavity is compressed. Since a plurality of second axial rib grooves 201 are opened on the outer side of the damping layer 2, and each rib groove is aligned with the corresponding ball 104 of the pressure sensor 103 in the circumferential position one by one, the gas in the key groove is preferentially discharged outward along these second axial rib grooves 201, avoiding the formation of a closed air mass in the cavity which would cause air resistance.

[0095] At the same time, when the air flow discharged from the second axial rib groove 201 flows through the micro-gap at the contact surface between the ball 104 of the pressure sensor 103 and the damping layer 2, a continuous and stable dynamic air-floating film is formed in the gap. The air-floating film physically isolates the ball 104 from the surface of the damping layer 2, so that the friction state between the two changes from solid-solid sliding friction to an air film lubrication state with near-zero friction. Combined with the characteristic that the ball 104 itself can roll freely and convert sliding contact into rolling contact, under the synergistic effect of the two, the tangential friction force between the damping layer 2 and the detection mechanism is reduced, and the high-frequency serrated vibration crosstalk caused by the "Stick-Slip" effect of the viscoelastic material in traditional detection is reduced. Therefore, the pressure values collected by each pressure sensor 103 truly and purely reflect the radial extrusion reaction force of the damping layer 2 in this direction, ensuring the reliability and repeatability of the detection results. Through precise comparison of the pressure values, the control interface unit can accurately identify the local thickness deviation of the elastomer caused by uneven vulcanization shrinkage, mold wear or difference in rubber fluidity, so as to screen out non-conforming products in time during the press-fitting process and prevent them from flowing into subsequent processes.

[0096] After the above testing steps are completed, qualified products continue to the subsequent packaging and warehousing process, while unqualified products are identified, isolated and reviewed in accordance with the unqualified product control procedure.

[0097] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for manufacturing a speed reducer damping mechanism, characterized in that, Includes the following steps: Prepare the blanks for the first output part (3) and the second output part (4), and perform rough machining, fine machining and inspection on the blanks for the first output part (3) and the second output part (4) respectively to meet the requirements of the drawings; A damping layer (2) is formed between the qualified first output component (3) and the second output component (4); The speed reducer damping mechanism after the damping layer (2) is formed is tested by the testing agency to determine whether it is qualified; The testing mechanism includes an annular carrier and a control interface unit. Several movable grooves (101) are arranged circumferentially on the inner side of the annular carrier. Pressure sensors (103) are slidably connected in each movable groove (101). Springs (102) are arranged between the pressure sensors (103) and the inner wall of the movable grooves (101). The two ends of the springs (102) are fixedly connected to the pressure sensors (103) and the inner wall of the movable grooves (101), respectively. The control interface unit is used to determine whether the stacking thickness of the damping layer (2) is consistent in each direction based on the pressure value of each pressure sensor (103). If it is inconsistent, the damping layer (2) is deemed unqualified and the judgment result is output. The contact end of the pressure sensor (103) is ball-jointed with a ball (104); the outer side of the damping layer (2) is provided with several second axial grooves (201), and the second axial grooves (201) correspond one-to-one with the pressure sensor (103); When the damping layer (2) is pressed into the keyway, the gas in the keyway is squeezed by the damping layer (2) and discharged along the second axial groove (201) on the outside of the damping layer (2). The discharged gas forms an air flotation film between the pressure sensor (103) and the contact surface of the damping layer (2).

2. The method for manufacturing a speed reducer vibration damping mechanism according to claim 1, characterized in that, The first output component (3) blank and / or the second output component (4) blank are made by any one or more combinations of cold extrusion, forging, machining, metal injection molding or powder metallurgy sintering.

3. The method for manufacturing a speed reducer vibration damping mechanism according to claim 2, characterized in that, When cold extrusion is used, the bar is annealed and phosphated, and then extruded into the blank of the keyway or mating key in one or several times in a cold extrusion die. When forging is used, the bar stock is heated to a preset temperature and then hot forged, followed by air cooling and normalizing. When machining is used, the bar stock, forging billet or casting billet is turned and / or milled to directly produce the keyway or mating key; When metal injection molding is used, metal powder is mixed with binder, injection molded, and then degreased and sintered to obtain the blank. When powder metallurgy sintering is used, metal powder is pressed into shape, and then sintered at high temperature and finished to obtain the billet.

4. The method for manufacturing a speed reducer vibration damping mechanism according to claim 1, characterized in that, The method of forming the damping layer (2) includes: before inserting the mating key of the second output component (4) into the keyway, forming the damping layer (2) on the surface of the mating key, and then inserting the mating key after forming the damping layer (2) into the keyway; during the insertion process of the mating key after forming the damping layer (2), detecting the circumferential pressure distribution of the mating key after forming the damping layer, and judging whether the uniformity of the prepared damping layer (2) is qualified based on the circumferential pressure distribution.

5. The method for manufacturing a speed reducer vibration damping mechanism according to claim 1, characterized in that, Before forming the damping layer (2), the first output component (3) and the second output component (4) are subjected to sandblasting, shot blasting or high-intensity shot blasting, and an adhesive is applied to the pre-set elastomer bonding area of ​​the second output component (4).

6. The method for manufacturing a speed reducer damping mechanism according to claim 1, characterized in that, The method of forming the damping layer (2) includes: pre-filling the keyway with molten damping material, fully inserting the mating key of the second output component (4) into the keyway, and forming the damping layer (2) after the molten damping material cools to solid state.

7. The method for manufacturing a speed reducer vibration damping mechanism according to claim 6, characterized in that, The sidewalls of the mating key are provided with first axial grooves, which are arranged along the insertion direction of the mating key. During the process of inserting the mating key of the second output component (4) into the keyway, the molten damping material flows along the first axial groove, which promotes the uniform filling of the molten damping material between the keyway and the mating key.

8. The method for manufacturing a speed reducer vibration damping mechanism according to claim 1, characterized in that, The method of forming the damping layer (2) includes: forming the damping layer (2) on the inner wall surface of the keyway before inserting the mating key of the second output member (4) into the keyway, and then inserting the mating key into the keyway in which the damping layer (2) is formed.

9. A speed reducer damping mechanism, manufactured according to the speed reducer damping mechanism manufacturing method according to any one of claims 1-8, the damping mechanism comprising a first output member (3) and a second output member (4), the second output member (4) being inserted into the first output member (3), characterized in that, The first output component (3) has a keyway at one end near the second output component (4). The second output component (4) has a mating key at one end adjacent to the first output component (3). The mating key has a shock-absorbing layer (2) on its surface. The mating key is inserted into the keyway to realize the keyway for connecting the first output component (3) and the second output component (4).

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