齿廓倒角装备的视觉辅助机器人系统开发

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中图分类号：TP391 文献标志码：A 文章编号：1671-5276（2025）06-0200-07

Abstract：Totacklethedificultyinautomaticchamferingof specificationsandsmallbatchgearprofilesintheindustry，this paperdevelopsavisionaidedrobotsystem fortooth proflechamferequipment，andstudiesitsthreekeytechnologies.The adaptivegearrapidmechanical positioning systemisestablished basedonthecombinationof movabletrayandpneumatictaper pintorealizeinitialpositioningof toth profilechamfer.Basedontheregistrationfusionof theoreticalprofilemodeland visual profile measurement，the3Dposeerrorofgearprofileismeasuredandcompensated，andtheprecisepositioningoftoothprofile isrealized.Accordingtotherequirementsoftheangleandwidthof thechamfersurface，thecutercomplementmodelofthetaper milingcuterisderived，andthepreciselocationofthemachiningtrajectoryisrealized.Experimentsshowthatthemaximum machiningerorofthesystem islessthanO.2mmforgearswithdiameterof6OOto7OOmm，andforgears withadiameterof 700 to 800 mm，the maximum machining errorof the system is lessthan O.3 mm，meeting the precisionrequirements of automatic chamfering of tooth profile.

Keywords：visual assstance；chamfer processing； tooth profile registration；knife repair model

0 引言

能通过人工手持角磨机进行，如图1所示，它不仅耗时耗力，而且容易受到人为因素的影响，导致加工的效率低下和倒角质量的不稳定性[2]

齿轮作为机械制造业的核心部件之一，扮演着传递运动和动力的重要角色。（剩余7345字）