机器人RV减速器摆线轮在线检测关键技术研究

为满足机器人RV减速器摆线轮在线检测要求,提出了一种采用多传感器测量系统对其关键尺寸进行快速检测的方法.设计出以中心孔为定位基准,采用接触式电感传感器对孔组位置度误差进行检测;根据被测孔径特点,采用非接触气动测量方式实现对摆线轮轴承安装孔内径和圆度的快速评定的方案.通过对研制出的样机与三坐标测量机的测量结果进行实验比对,实现孔组的位置度最大测量误差小于3μm,孔径及圆度最大测量误差均小于1μm,整机测量节拍均小于1 min的结果,实验表明本系统的测量方法和评定算法准确可靠,满足企业实际在线生产需要.

Study on the Key Technology of On-line Detection of Cycloid Gear for Robot RV Reducer

In order to meet the requirement of on-line detection of cycloid gear of robot RV reducer,a method of rapid detection of key dimensions by using multi-sensor measuring system is proposed. Based on the center hole as the loca-tion datum,the contact inductance sensor is used to detect the location error of the hole-group;According to the char-acteristics of the measured aperture,the non-contact pneumatic measurement method is used to realize the rapid evalu-ation of the inner diameter and roundness of the mounting hole of the cycloidal gear bearing. Comparison experiment by measuring the prototype and the three-coordinate measuring machine,realize the hole set position of the maximum measurement error is less than 3μm,the maximum pore size and roundness measurement error was less than 1 μm, the measurement time was less than 1 minutes. The experimental results show that the measurement method and the e-valuation algorithm are accurate and reliable,and meet the actual production needs of the enterprise.