RV减速器行星架孔径在线自动测量技术研究

Research on the on-line automatic measuring technology for aperture of the planetary carrier of RV reducer

针对工业机器人RV减速器行星架圆周孔孔径在线测量问题,研究基于差压式气动测量的孔径比较式测量方案;基于测量方案和模块化设计思想,设计双截面八喷嘴气路结构、运动机构和电气系统,并研制出孔径在线自动测量仪,实现测量过程的自动化和数据采集实时化。系统误差分析结果表明气动测头结构引入误差小于0.156μm,生产线环境温度引入误差小于0.39μm。在重复性测量条件下进行测量试验,试验结果表明孔径在线自动测量仪重复性标准差小于0.22μm,测量误差小于1.3μm,测量结果不确定度0.8μm,具有较高准确性和良好重复性。单个零件测量节拍小于30 s,测量效率高,满足生产线上的测量要求。

The paper is aimed at the online measurement of the circumferential hole diameter of the planetary carrier of the industrial robot RV reducer,an on-line automatic aperture measuring instrument based on differential pressure pneumatic measurement is proposed.Based on the measuring scheme and the modularization idea,the movement mechanism,electrical system and pneumatic structure which has doublesection and eight nozzles were designed.An on-line automatic aperture measuring instrument was developed,which realized the automation of the measurement process and real-time data collection.The system error analysis result shows that the error introduced by the pneumatic probe structure is less than 0.156μm,and the error introduced by production line environment temperature is less than 0.39μm.The measurement experiment was carried out under the condition of repeatability measurement.The experimental results showed that the repeatability of the instrument was less than 0.22μm,the measurement error was less than 1.3μm,and the uncertainty of measurement results was 0.8μm,which has high measurement repeatability and accuracy.The measurement cycle of a single part is less than 30 s,and the measurement efficiency is high,which is suitable for the measurement requirements of the production line.