机器人RV减速器摆线轮在线检测关键技术研究

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 location datum,the contact inductance sensor is used to detect the location error of the hole-group; According to the characteristics of the measured aperture,the non-contact pneumatic measurement method is used to realize the rapid evaluation 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 3 μm,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 evaluation algorithm are accurate and reliable,and meet the actual production needs of the enterprise.