Research On Error Measurement Technology Of Cycloidal Gear Of RV Reducer

Cycloidal gear is one of the key parts of RV reducer used in robot,of which manufacturing precision and meshing quality are the key influence of the motion accuracy and service life for the RV reducer.Due to the particular of the tooth profile and mesh characteristics,the control of manufacturing precision and meshing quality is always the problem in the precision manufacture.Therefore,in this paper,the theory and method of the machining error detection of cycloidal gear are studied,which provides the basis for the accurate evaluation and effective control of the machining error of the cycloid gear of the RV reducer.The main contents are as follows:(1)Based on domestic gear measuring center,the digitalized measurement theory and method of machining error for cycloidal gear are proposed and studied.The theoretical model of the designed tooth profile is established and the digital processing is carried out,by which the theoretical coordinate and the normal equation of the measured tooth profile are calculated,which provided the necessary theoretical data for tooth profile error detection.Firstly,the detection principle and method of the closed cycle tooth profile are analyzed deeply,and the measurement model of the single tooth profile and the whole tooth profile are established,then the sampling points measurement strategy of cycloidal gear is planned.At last,the accurate detection of profile error and pitch error are completed.(2)Based on the actual tooth profile data measured by gear measuring center,combined with the tooth surface deviation calculation principle,then the reconstruction and best match method of the single and whole tooth profile measurement data are researched.The actual single tooth profile is reconstructed with the NURBS curve fitting method,and matched with the least squares method.During the whole profile measurement,the "bottom" method and the "sensitive point" optimal symmetry method are applied,the actual profile is fit by cubic spline interpolation,then the accurate calculation method of profile error and pitch error are obtained during the measurement of the cycloidal gear single and whole profile.(3)The development of digitalized detection software system for cycloidal gear.Under the environment of Microsoft Visual C++6.0,the cycloidal gear error detection programs are written,and the man-machine interaction is designed.After inputting thebasic parameters of cycloidal gear on the main interface of the software,it can be used to solve the discrete point coordinates of the cycloidal gear designed profile and the theoretical trajectory of probe motion,then by the control of X,Y,C axis linkage with center computer,the machining error detection of cycloidal gear can be completed and the profile error and pitch error can be obtained after compensation processing.(4)Based on the cycloidal gear measuring software,after detection it can be verified that the theory and method presented in this paper is correct by comparative test.From now on,the accurate detection of cycloidal gear machining error with the domestic gear measuring center is realized,which provides a new method and way to evaluate and control the processing quality of cycloidal gear profile.