机器人RV减速器摆线轮制造误差测量新方法

A New Measuring Method of Manufacturing Error for Cycloid Gear of Robot RV Reducer

提出了以节点为单齿参考点测量摆线轮制造误差的新方法。建立了摆线针轮传动的理论模型和误差测量模型,规划了测量路径,开发了测量驱动软件,并运用针摆传动的啮合原理及复杂曲面测量理论等,得到了摆线轮制造误差。在国产齿轮测量中心上对摆线轮实际齿廓进行了齿廓、齿距误差测量,对比了不同测量参考点下的测量结果,验证了测量新方法的正确性。

A new measuring method setting the node as single tooth reference point for manufacturing error of cycloid wheel is proposed. The theoretical model and error measurement model of the cycloid wheel drive are established. The measurement path is planned,and measurement driver software is developed. By using the meshing principle of the pin-swing drive and the measuring theory of the complex surface,the manufacturing error of the cycloidal wheel is obtained. The tooth profile and pitch deviation of the fact cycloidal profile are measured on the domestic gear measuring center. The measurement results under different reference points are compared and the correctness of the new method is verified.