基于路径分段寻优的零件孔组位置度算法

The position of the axle holes uniformly distributed along the circumference on the planet carrier and cycloid wheel that are the main parts of industrial robot RV reducer is a key manufacturing parameter. In this paper, aiming at the uniformly distributed hole group along the circumference on the planet carrier and cycloid wheel, two special instruments are developed and a processing algorithm is proposed. With comparative measurement method, several sensors are used to measure the hole group, the coordinates of the hole centers of the holes are obtained. Then, the segmented iteration and sorting optimization of the rotary path are performed, finally the accurate position error is obtained. The entire measurement process is easy to operate and the measurement time is less than 10 s, the rapid part measurement is achieved. Multiple experiments on the parts of model 320E were conducted, the results show that the measurement repeatability error of planet carrier instrument is less than 2.5 μm, the measurement repeatability error of cycloid wheel is less than 1 μm; compared with the measurement result of three coordinate measuring machine, the measurement precision of the instrument is less than 3 μm, which proves the high precision of the instrument and the reliability of the algorithm.