RV减速器摆线轮齿面的分区拓扑主动修形理论和多齿成形磨削精度控制方法

RV reducer is the key componen of industral robots, and the cycloid gears are the key transmission parts of the RV reducer. Due to the backward modification method and finishing method of the cycloid gear, the transmission accuracy of the domestic RV reducer is low and the return error is large. At present, a large number of RV reducers are still dependent on import.Aiming at the problem of the poor transmission performance and short accuracy life of RV cycloid and pin gears pair, which are caused by the traditional modification and outdated manufacturing method, propose a structural modeling technology, solving algorithms and technology guaranteeing method to improve the transmission performance and manufacturing precision, attempting to change the existing modification and manufacturing mode of cycloid gears. Based on reverse algorithms of Loaded Tooth Contact Analysis and multiobjective optimization, figure out the material removing mechanism affected by the load condition and predesigned transmission performance, to optimize the modification parameter. Based on mesh theory, deduce the ring surface enveloping profile of multi-tooth form grinding wheel. Seek interpolate algorithm of discrete points, ensure the tooth surface smooth and continuous.NC interpolation algorithm is to be researched to improve the precision and efficiency of NC interpolation. Figure out the forming mechanism of tooth error affected by the wheel position parameter so as to correct the manufacturing error. Form grinding and bench testing are to be carried out to verify the correctness and feasibility of the proposed modification mode and form grinding theory, propose an independent innovation idea for cycloid gear tooth modification and manufacturing.

作为工业机器人用RV减速器的关键传动件，摆线轮的齿形和加工精度直接决定了RV减速器的承载能力、平稳性和精度寿命。针对摆线轮修形方法和精加工手段落后造成国产RV减速器传动精度低、回程误差大，目前仍依赖进口的窘况，本项目以摆线轮的分区拓扑修形和多齿成形磨削为研究对象，以综合提高RV减速器的啮合性能、精度寿命为目标，系统研究分区拓扑主动修形对摆线轮传动性能的影响机理、多齿成形磨削砂轮廓形几何特性的控制策略和多齿成形磨削误差的反馈修正机理，探索分区拓扑主动修形摆线轮传动性能和成形磨削精度的控制方法，构建摆线轮分区拓扑修形参数控制、成形砂轮修整策略及磨削误差识别和补偿的系统模型，建立摆线轮啮合性能和成形磨削关键质量特性的“设计加工一体化”综合协同控制机制，提出一套减少摆线轮传动误差、提高精度寿命的建模技术、磨齿调整算法和精度保障体系，改变摆线轮现有的修形、精加工模式，为RV减速器国产化提供基论支撑。

作为工业机器人用RV减速器的关键传动件，摆线轮的齿形和加工精度直接决定了RV减速器的承载能力、平稳性和精度寿命。针对摆线轮修形方法和精加工手段落后造成国产RV减速器传动精度低、回程误差大，目前仍依赖进口的窘况，本项目以摆线轮的分区拓扑修形和多齿成形磨削为研究对象，以综合提高RV减速器的啮合性能、精度寿命为目标，系统研究了分区拓扑主动修形对摆线轮传动性能的影响机理、多齿成形磨削砂轮廓形几何特性的控制策略和多齿成形磨削误差的反馈修正机理，探索了分区拓扑主动修形摆线轮传动性能和成形磨削精度的控制方法，构建了摆线轮分区拓扑修形参数控制、成形砂轮修整策略及磨削误差识别和补偿的系统模型，完成了RV减速器摆线针轮最优修形参数计算及啮合性能控制。项目对机器人RV减速器摆线针轮的精密制造技术开展了研究，开发制造出了摆线轮、针轮壳数控成形砂轮磨齿机，开发了基于齿面接触印痕、传动误差与齿面拓扑修形控制的成形磨削驱动软件，在磨齿过程中基于磨削烧伤温度场控制模拟技术实现了磨削参数优化。建立了数字化检测模型，以单齿廓与全齿廓测量为目标实现了测量误差计算，构建了机床参数与轮齿误差之间的映射关系，实现了齿面误差的精确测量与加工参数的反调修正，采用自主研发设备建立了机器人RV减速器摆线针轮精密制造示范生产线，实现了高精度摆线针轮的批量生产，打破了国外的技术垄断，有效提升了机器人RV减速器摆线针轮国产制造技术和装备水平。