基于多传感器测量的孔组位置度快速检测方法

Rapid detection method of positional error for hole groupbased on multi-sensor measurement

针对工业机器人上关节RV减速器的关键零部件——摆线轮的轴承安装孔组位置度的在线检测问题,提出一种采用多传感器测量系统对其进行快速检测的方法。根据孔组位置关系设计多传感器测量装置,即在同一平面内分布15支传感器来获取摆线轮上3个轴承安装孔的位置信息,通过多支传感器数据组合计算拟合出实测件与标定件的各孔心坐标,并设计位置度的评定算法,求出孔组位置度误差,其测量节拍小于10s,实现了生产线上的在线快速检测。另外,分析测量系统的各个误差来源,并完成了传感器的标定和误差补偿。实验结果表明,该方法测量精度较高,能够满足生产线上使用,并与三坐标测量机的测量结果进行对比验证,测量误差小于4μm,测量结果准确可靠。

To implement the online inspection of positional error for bearing mounting hole group on cycloidal gear of industrial robot joint RV reducer,a rapid detection method was proposed by using multi-sensor measurement system.The multi-sensor measuring device was designed according to the position relation of hole group.It was that the position information of each hole was obtained by 15 high-precision inductive sensors in the same plane,and the coordinates of each hole of measured and calibrated parts were fitted by combination calculation of multi-sensor data.An algorithm for positional error analysis was presented and the hole group position error was calculated.The measured beat was less than ten seconds and could meet the requirement of rapid online inspection in the production line.In addition,the error sources of measurement system were analyzed,and the calibration and error compensation of sensor were completed.The experimental results showed that the methods were of high accuracy and met the using of production line,and the measurement error was verified as less than or equal to 4μm by comparing with the coordinate measuring machine.It was indicated that the measurement results were accurate and reliable.