CN109570641B - Automatic chamfering device for large gear and use method - Google Patents

Abstract

The invention discloses a large-scale automatic chamfering device for gears and a method of use, which relates to the technical field of automatic chamfering in gear processing. The middle position is equipped with a suction cup type workbench, an air pump, an air pump, a stereoscopic vision measurement component on one side of the upper surface of the support base plate, a stereoscopic vision measurement component, a joint manipulator, and a support on the other side of the upper surface of the support base plate. The upper surface of the bottom plate is provided with a joint manipulator on the side adjacent to the air extraction pump. The end of the joint manipulator is provided with a manipulator end shaft and a dust suction component. The end shaft of the manipulator is provided with a dust suction component. It has the characteristics of protecting gears, efficient grinding, and efficient dust collection.

Description

An automatic chamfering device for large gears and its use method

Technical field

The present invention relates to the technical field of automatic chamfering in gear processing, and in particular to an automatic chamfering device for large gears and a method of use.

Background technique

Large gears are mostly milled using large special gear machining centers. Due to the characteristics of the cutting tools, there are usually slender burrs at the tooth edges after processing. When the gears are meshed and running at high speed, impact and collision are prone to occur between the paired gears, resulting in Spiking high frequency noise. Moreover, the burr area often concentrates stress, which will also greatly reduce the fatigue life of the gear. Therefore, after CNC milling of large gears, the tooth edges must be chamfered. Traditional gear chamfering machines mostly use milling cutter discs, which generally only target small and medium-sized gears, and are difficult to meet the chamfering requirements of large gears. At present, most companies use manual grinding to complete the chamfering of large gears. Manual grinding and chamfering is extremely dusty, has a harsh working environment, has high strength, low fault tolerance, and low production efficiency. Therefore, it is necessary to use automated mechanisms to realize gears of different sizes and tooth shapes (straight teeth, helical teeth, spiral teeth, etc.) Automatic chamfering.

Contents of the invention

The object of the present invention is to provide a large-scale gear automatic chamfering device and a method of use to solve the above technical problems.

The technical solutions adopted by the present invention are as follows:

An automatic chamfering device for large gears, including:

Support bottom plate, the support bottom plate has a rectangular plate-like structure;

A suction cup type workbench, the suction cup type workbench is provided at the middle position of the upper surface of the support bottom plate;

An air extraction pump, which is provided on one side of the upper surface of the supporting base plate;

A stereoscopic vision measuring component, the stereoscopic vision measuring component is provided on the other side of the upper surface of the supporting base plate;

An articulated manipulator is provided on the upper surface of the support base plate on the side adjacent to the air pump, and the end of the articulated manipulator is provided with a manipulator end shaft;

A dust suction component is provided on the end shaft of the manipulator.

Preferably, the stereo vision measurement components include: a tripod bracket, a high-precision industrial camera, a camera base, a vertical beam, a deceleration stepper motor, a pitch bracket, and a support plate;

The upper end of the tripod bracket is provided with the pitch bracket, and the opposite sides of the pitch bracket are each provided with a support plate. Each of the support plates is provided with a first through hole. A through hole is in a "D" shape, the two first through holes are opposite to each other, the deceleration stepper motor is provided on one side of the support plate, and the vertical beam is arranged between the two support plates, so The deceleration stepper motor drives the vertical beam through the first motor shaft. The upper side of the vertical beam and the lower side of the vertical beam are each provided with a camera base, and each camera base is provided with a camera base. Described high-precision industrial camera.

Preferably, the dust collection components include a cubic boron nitride grinding wheel, a protective cover, an electromagnet, a dust collection tube, a connector, a probe, a screw, a high-pressure pneumatic component, and a first rotating shaft;

An opening is provided on one side of the protective cover, and the cubic boron nitride grinding wheel is fixed at the opening through the first rotating shaft. The high-pressure pneumatic component is provided on one side of the protective cover. The pneumatic component drives the first rotating shaft, the bottom of the protective cover is provided with the electromagnet on one side close to the opening, and the side of the electromagnet away from the opening is provided with a dust suction pipe. The side of the cover away from the opening is connected to one side of the connector, the other side of the connector is connected to the end shaft of the manipulator, and the probe is provided inside the connector. The probe is connected to the end shaft of the manipulator through threads.

Preferably, the suction cup type workbench includes: a tray, a base, a mandrel, a first convex structure, a ball, a second convex structure, a third convex structure, a fourth convex structure, a taper sleeve, and a large gear , pinion gear, first bevel gear, second bevel gear, second rotating shaft, servo motor;

The outer edge of the lower end of the pallet is provided with a chute, the outer edge of the upper end of the base is provided with the first convex structure, and the upper end of the first convex structure is provided with a plurality of the balls. The protruding structure conflicts with the inner wall of the upper end of the chute through the balls;

A first groove is provided in the middle of the lower end of the tray, and a second groove is provided at the upper end of the tray. The second groove is connected with the first groove, and the lower end of the second groove is The outer edge of the inner wall is provided with the second protruding structure, the inside of the second groove is provided with the mandrel, and the lower outer edge of the mandrel conflicts with the upper end of the second protruding structure, The upper end of the mandrel is provided with the third convex structure, the outer circumferential surface of the third convex structure is provided with the tapered sleeve, and the lower end of the mandrel is provided with the fourth convex structure, Wherein, a first gap is provided between the outer circumferential surface of the fourth protruding structure and the inner circumferential surface of the second protruding structure, and the lower end of the fourth protruding structure and the lower end of the second groove A second gap is provided between the inner walls, the first gap is connected with the second gap, and a first cavity structure is provided inside the base;

A third groove is provided in the middle of the upper end of the base, and a first through hole is provided in the middle of the inner wall of the lower end of the third groove. The lower end of the first through hole is connected to the first cavity structure. , the upper end of the first through hole is connected with the first groove, the inner wall of the lower end of the third groove is provided with the large gear, the large gear drives the tray, and one of the large gears The small gear is provided on the side, and the small gear meshes with the large gear. The first bevel gear is provided on the inner wall of the upper end of the first cavity structure. The first bevel gear passes through the third bevel gear. Two rotating shafts are connected to the pinion gear, the second bevel gear is provided on the lower side of the first bevel gear, and the second bevel gear meshes with the first bevel gear;

The servo motor is provided on one side of the base, and the servo motor is connected to the second bevel gear through a motor shaft.

As a further preference, the suction cup type workbench also includes: a hollow shaft, four sets of second through holes, four sets of first hoses, six inlets and one outlet joints, and second hoses;

One end of the hollow shaft passes through the first through hole and is rotationally connected to the inner wall of the lower end of the first cavity structure, and the other end of the hollow shaft is fixed in the first groove;

The other end of the hollow shaft is evenly provided with four groups of second through holes, each group of second through holes includes six second through holes, and the second gap passes through the second through holes. The hole is connected to the interior of the hollow shaft;

There are four groups of hoses inside the hollow shaft. Each group of hoses includes six hoses. One end of each group of hoses is connected to each group of second through holes respectively. Each group of hoses includes six hoses. The other end of the set of hoses is connected to the air inlet of one of the six-inlet and one-outlet joints, and the air outlet of each of the six-inlet and one-outlet joints is connected to the air pump through a second hose. connect.

As a further preference, the suction cup type workbench also includes: four sets of third through holes, springs, suction cups, and suction cup hoses;

The outer edge of the upper end of the mandrel is evenly provided with four groups of the third through holes, each group of the third through holes includes six third through holes, and each third through hole is provided with a The spring and the suction cup, wherein the outer edge of the lower surface of the suction cup conflicts with the upper end of the spring, the upper end of the suction cup protrudes from the upper surface of the mandrel, and the lower end of each suction cup passes through One of the suction cup hoses is connected to one of the hoses.

As a further preference, it also includes a solenoid valve and a flow meter, and each second hose is provided with a solenoid valve and a flow meter.

A method of using a large gear automatic chamfering device. The method of use includes:

S1. Place the large gear on the suction cup workbench using a traveling crane or forklift;

S2. Use the third protruding structure and the taper sleeve on the mandrel to center and position the large gear;

S3. Turn on the air pump and each solenoid valve. The air pump controls each suction cup to suck the lower end of the large gear. The large gear is in close contact with the upper end of the mandrel under the action of its own gravity and the suction cup. combine;

S4. Adjust the stereo vision measurement component to a reasonable height and fix it;

S5. Use a calibration plate to calibrate the measurement accuracy of the tooth profile area of the large gear closest to the stereoscopic vision measurement component;

S6. Use the servo motor to control the rotation of the pallet, and at the same time use the joint manipulator to control the cubic boron nitride grinding wheel to grind the large gear;

S7. Start the dust suction component, the electromagnet absorbs the ferromagnetic dust generated during grinding, and the dust suction tube absorbs the non-ferromagnetic dust generated during grinding;

S8. When the tray rotates at a certain angle, the stereoscopic vision measurement component tilts once to complete the collection of tooth profile data and color image data of a tooth profile width of the polished large gear;

S9. After the tray is rotated 450°, the obtained tooth profile data and the color image data are aligned with the three-dimensional digital model of the large gear, and secondary burr information is recorded on the three-dimensional digital model;

S10. The direction of the pallet is rotated, and secondary polishing is performed based on the secondary burr information.

The above technical solution has the following advantages or beneficial effects:

(1) By providing a suction cup in the present invention, the end face of the gear to be processed can be avoided from contacting the mandrel and causing crushing, and can be used for processing large non-ferrous metal gears.

(2) In the present invention, through the arrangement of the stereoscopic vision measurement component, unchamfered tooth edges in large gears can be detected, secondary burrs can be detected, and secondary grinding can be performed efficiently.

(3) In the present invention, through the arrangement of the dust collecting component, the absorption of ferromagnetic dust and non-ferromagnetic dust can be achieved, and the efficiency of dust absorption can be improved.

Description of the drawings

Figure 1 is a perspective view of a large gear automatic chamfering device according to the present invention;

Figure 2 is a schematic structural diagram of the joint manipulator in the large-scale gear automatic chamfering device of the present invention;

Figure 3 is a schematic structural diagram of the dust suction component in the large-scale gear automatic chamfering device of the present invention;

Figure 4 is a schematic structural diagram of the stereoscopic vision measurement component in the large-scale gear automatic chamfering device of the present invention;

Figure 5 is a schematic diagram showing the distribution of each group of suction cups in the large-scale gear automatic chamfering device of the present invention;

Figure 6 is a schematic diagram showing the distribution of four groups of suction cups in the large-scale gear automatic chamfering device of the present invention;

Figure 7 is an overall longitudinal cross-sectional view of the suction cup type workbench in the large-scale gear automatic chamfering device of the present invention;

Figure 8 is a longitudinal cross-sectional view of the tray in the large-scale gear automatic chamfering device of the present invention.

Figure 9 is a flow chart of the method of using the large gear automatic chamfering device of the present invention.

In the picture, 1. Supporting base plate; 2. Suction cup type workbench; 3. Air pump; 4. Stereo vision measurement components; 5. Joint manipulator; 6. Dust collection components; 7. Triangular bracket; 8. Manipulator end shaft; 9. High-precision industrial camera; 10. Camera base; 11. Vertical beam; 12. Reduced stepper motor; 13. Tilt bracket; 14. Support plate; 15. Cubic boron nitride grinding wheel; 16. Protective cover; 17. Electromagnet; 18. Vacuum suction pipe; 19. Connector; 20. Probe; 21. First screw; 22. High-pressure pneumatic components; 23. First rotating shaft; 24. Tray; 25. Base; 26. Spindle; 27. First convex structure; 28, ball; 29, second convex structure; 31, third convex structure; 30, fourth convex structure; 32, taper sleeve; 33, large gear; 34, pinion gear; 35. First bevel gear; 36. Second bevel gear; 37. Second rotating shaft; 38. Servo motor; 39. First cavity structure; 40. Hollow shaft; 41. Spring; 42. Suction cup; 43. Suction cup Hose; 44, large gear; 45, second screw; 46, third screw.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but shall not be used as a limitation of the present invention.

Figure 1 is a perspective view of the large-scale gear automatic chamfering device of the present invention. Figure 2 is a structural schematic diagram of the joint manipulator in the large-scale gear automatic chamfering device of the present invention. Figure 3 is a diagram of the dust suction component of the large-scale gear automatic chamfering device of the present invention. Structural schematic diagram. Figure 4 is a schematic structural diagram of the stereoscopic vision measurement component in the large-scale gear automatic chamfering device of the present invention. Figure 5 is a schematic distribution diagram of each group of suction cups in the large-scale gear automatic chamfering device of the present invention. Figure 6 is a schematic diagram of the distribution of each group of suction cups in the large-scale gear automatic chamfering device of the present invention. A schematic diagram showing the distribution of the four groups of suction cups in the automatic gear chamfering device. Figure 7 is an overall longitudinal cross-sectional view of the suction cup type workbench in the large automatic gear chamfering device of the present invention. Figure 8 is a tray in the large automatic gear chamfering device of the present invention. Longitudinal cross-sectional view, Figure 9 is a flow chart of the use method of the large gear automatic chamfering device of the present invention, as shown in Figures 1-9, showing a preferred embodiment, showing a large gear automatic chamfering device Corner fixtures including:

The supporting base plate 1 has a rectangular plate-like structure.

Suction cup type workbench 2 is provided in the middle position of the upper surface of the supporting base plate 1 .

An air extraction pump 3 is provided on one side supporting the upper surface of the base plate 1 .

The stereoscopic vision measuring component 4 is provided on the other side of the upper surface of the supporting base plate 1 .

The joint manipulator 5 is provided on the upper surface of the supporting base plate 1 on the side adjacent to the air pump 3. The end of the joint manipulator 5 is provided with a manipulator end shaft 8. The joint manipulator 5 needs to be calibrated before use. The tool calibrating method is as follows: first, in the form of teaching, the probe 20 connected to the end shaft 8 of the manipulator is contacted with the center hole and upper end face of the large gear 44, and a large-scale random collection of 15~ 20 points, and record the coordinate value of each point. According to the coordinate values of the points, the circular hole surface and the upper end surface are respectively fitted, and the rotation direction vector value of the pallet 24 and the coordinates of the upper end surface center point in the point cloud are calculated, so that the joint manipulator 5 obtains the three-dimensional data of the large gear 44 The rotation coordinate system of the module. Then reinstall the dust collecting part 6, and calculate and obtain the positional relationship between the rotation center of the cubic boron nitride grinding wheel 15 and the probe 20 in the dust collecting part 6 according to the design size. Finally, the joint manipulator 5 drives the cubic boron nitride grinding wheel 15 for trial cutting on the tooth edge surface of the large gear 44. A small amount of sparks are seen, and the chamfering tool is completed.

The registration method between the point cloud and the three-dimensional digital model in the above embodiment is: using the three-dimensional digital model to generate a grid point cloud through a surface triangulation algorithm, combined with the rotation angle of the tray 24, initial registration is performed through coordinate transformation, and then using The ICP algorithm performs precise registration. After the registration is completed, the point cloud and the three-dimensional digital model in the visual measurement of the large gear 44 are fit together.

The dust collecting part 6 is provided on the end shaft 8 of the robot hand.

Furthermore, as a preferred embodiment, the stereo vision measurement component 4 includes: a tripod bracket 7 , a high-precision industrial camera 9 , a camera base 10 , a vertical beam 11 , a deceleration stepper motor 12 , a tilt bracket 13 , and a support plate 14 . The upper end of the tripod bracket 7 is provided with a pitch bracket 13. The opposite sides of the pitch bracket 13 are each provided with a support plate 14. Each support plate 14 is provided with a first through hole, and the first through hole is in the shape of "D". type, two first through holes are opposite to each other, a deceleration stepper motor 12 is provided on one side of a support plate 14, the vertical beam 11 is arranged between the two support plates 14, and the deceleration stepper motor 12 is driven by the first motor shaft The vertical beam 11 is provided with a camera base 10 on the upper side of the vertical beam 11 and the lower side of the vertical beam 11. Each camera base 10 is provided with a high-precision industrial camera 9. When in use, the stereoscopic vision measuring component 4 is first fixed on the other side of the upper surface of the supporting base plate 1 . Before each measurement, the pitch position of the high-precision industrial camera 9 can be adjusted through the vertical beam 11 and the height of the high-precision industrial camera 9 can be adjusted through the tripod bracket 7 .

Further, as a preferred embodiment, the dust collecting component 6 includes a cubic boron nitride grinding wheel 15, a protective cover 16, an electromagnet 17, a dust collecting tube 18, a connector 19, a probe 20, a first screw 21, a high voltage Pneumatic component 22, first rotating shaft 23. One side of the protective cover 16 is provided with an opening. The cubic boron nitride grinding wheel 15 is fixed at the opening through the first rotating shaft 23. One side of the protective cover 16 is provided with a high-pressure pneumatic component 22. The high-pressure pneumatic component 22 drives the first rotating shaft 23. , the side of the bottom of the protective cover 16 close to the opening is provided with an electromagnet 17, and the side of the electromagnet 17 away from the opening is provided with a dust suction pipe 18. The side of the protective cover 16 away from the opening is connected to the side of the connector 19. The other side of the connector 19 is connected to the end shaft 8 of the manipulator. A probe 20 is provided inside the connector 19. The probe 20 is connected to the end shaft 8 of the manipulator through threads. After the joint manipulator tool setting is completed, the grinding path of the joint manipulator 5 can be generated based on the measured tooth profile data. The joint manipulator 5 drives the cubic boron nitride grinding wheel 15 to grind the dust generated by inhaling through the suction port of the dust cover 16. Then it enters the dust collecting box (not shown in the figure) through the filter (not shown in the figure). When the dust has ferromagnetic properties, the electromagnet 17 can be turned on to assist in dust collection. The electromagnet 17 switches at a certain frequency to complete the ferromagnetic process. Magnetic dust collection, the power-on time of the electromagnet 17 is shorter than the power-off time of the electromagnet 17.

Furthermore, as a preferred embodiment, the suction cup workbench includes: a tray 24, a base 25, a mandrel 26, a first protruding structure 27, balls 28, a second protruding structure 29, and a third protruding structure 30. , the fourth protruding structure 31, the taper sleeve 32, the large gear 33, the small gear 34, the first bevel gear 35, the second bevel gear 36, the second rotating shaft 37, and the servo motor 38.

Furthermore, as a preferred embodiment, the outer edge of the lower end of the tray 24 is provided with a chute, the outer edge of the upper end of the base 25 is provided with a first convex structure 27, and the upper end of the first convex structure 27 is provided with a number of balls. 28. The first protruding structure 27 conflicts with the upper end inner wall of the chute through the balls 28. Providing the balls 28 can reduce the friction between the upper end inner wall of the chute and the upper end of the first protruding structure 27, and can reduce the noise generated when the tray 24 rotates.

Further, as a preferred embodiment, a first groove is provided in the middle of the lower end of the tray, and a second groove is provided at the upper end of the tray. The second groove is connected to the first groove, and the second groove is The outer edge of the lower end inner wall is provided with a second protruding structure 29, and a mandrel 26 is provided inside the second groove. The mandrel 26 is fixed in the second groove through a second screw 45, and the lower end outer edge of the mandrel 26 is in contact with the second groove. The upper ends of the second protruding structures 29 are in conflict with each other, the upper end of the mandrel 26 is provided with a third protruding structure 31, the outer circumferential surface of the third protruding structure 31 is provided with a tapered sleeve 32, and the lower end of the mandrel 26 is provided with a fourth The convex structure 30 has a first gap between the outer peripheral surface of the fourth convex structure 30 and the inner peripheral surface of the second convex structure 29, and the lower end of the fourth convex structure and the lower end inner wall of the second groove. There is a second gap between them, the first gap is connected with the second gap, and a first cavity structure 39 is provided inside the base. The third protruding structure 31 and the tapered sleeve 32 are provided to fix the machined large gear 44 .

Furthermore, as a preferred embodiment, a third groove is provided at the middle position of the upper end of the base 25, and a first through hole is provided at the middle position of the inner wall of the lower end of the third groove. The lower end of the first through hole is connected to the first through hole. The cavity structure 39 is connected, the upper end of the first through hole is connected with the first groove, and the inner wall of the lower end of the third groove is provided with a large gear 33. The large gear 33 drives the tray 24, and a small gear is provided on one side of the large gear 33. 34. The pinion gear 34 meshes with the large gear 33. The first bevel gear 35 is provided on the upper inner wall of the first cavity structure 39. The first bevel gear 35 is connected to the pinion gear 34 through the second rotating shaft 37. A second bevel gear 36 is provided on the lower side of the gear 35 , and the second bevel gear 36 meshes with the first bevel gear 35 . The lower end of the tray 24 is provided with tooth marks that mesh with the large gear 33, and the large gear 33 drives the tray 24 to rotate through the tooth marks. The shape of the cross section of the first groove matches the shape of the cross section of the first through hole.

Furthermore, as a preferred embodiment, a servo motor 38 is provided on one side of the base, and the servo motor 38 is connected to the second bevel gear 36 through a motor shaft. A coupling is provided between the motor shaft and the second bevel gear 36 , and the motor shaft is connected to the second bevel gear 36 through the coupling. When in use, the servo motor 38 drives the second bevel gear 36 to rotate through the motor shaft. The second bevel gear 36 drives the first bevel gear 35 to rotate. The first bevel gear 35 drives the pinion gear 34 to rotate through the second rotation shaft 37. The pinion gear 34 Then drive the big gear 33 to rotate.

Furthermore, as a preferred embodiment, the suction cup workbench also includes: a hollow shaft 40, four sets of second through holes (not shown in the figure), four sets of first hoses (not shown in the figure), Six in and one out joints (not shown in the figure) and a second hose (not shown in the figure).

Furthermore, as a preferred embodiment, one end of the hollow shaft 40 passes through the first through hole and is rotationally connected to the inner wall of the lower end of the first cavity structure 39 , and the other end of the hollow shaft 40 is fixed in the first groove. Four sets of second through holes are evenly provided on the circumferential surface of the other end of the hollow shaft 40. Each set of second through holes includes six second through holes. The second gaps are connected to the interior of the hollow shaft 40 through the second through holes. The other end of the hollow shaft 40 is fixed in the first groove through a third screw 46 . Four sets of second through holes are alternately arranged on the upper end peripheral surface of the hollow shaft 40 , and the distance between each two adjacent second through holes among the twenty-four second through holes is the same.

Further, as a preferred embodiment, four sets of hoses are provided inside the hollow shaft, each set of hoses includes six hoses, and one end of each set of hoses is connected to each set of second through holes respectively. The other end of each set of hoses is connected to the air inlet of a six-inlet and one-outlet joint, and the air outlet of each six-inlet and one-outlet joint is connected to the air pump 3 through a second hose. Each second hose is provided with a solenoid valve (not shown in the figure) and a flow meter (not shown in the figure).

Furthermore, as a preferred embodiment, the suction cup type workbench also includes: four sets of third through holes (not shown in the figure), springs 41, suction cups 42, and suction cup hoses 43. The outer edge of the upper end of the mandrel 26 is evenly provided with four groups of third through holes, each group of third through holes includes six third through holes, and each third through hole is provided with a spring 41 and a suction cup 42, wherein , the outer edge of the lower surface of the suction cup 42 conflicts with the upper end of the spring 41, the upper end of the suction cup 42 protrudes from the upper surface of the mandrel 26, and the lower end of each suction cup 42 is connected to a hose through a suction cup hose 43. In the above embodiment, there are a total of twenty-four third through holes, twenty-four springs 41, twenty-four suction cups 42, and twenty-four suction cup hoses 43. The six third through holes in each group are arranged in a circular array, and the angle between two adjacent third through holes in each group is 60°. When the four groups of third through holes are mutually They are arranged alternately to form a circular array. At this time, the angle between each two adjacent third through holes is 15°. Each suction cup hose 43 in each group of third through holes is connected to each hose in each group of hoses. During use, the air suction pump 3 and each solenoid valve are turned on, and the large gear 44 is attached and fixed to the upper end of the mandrel 26 through its own gravity and the action of the circular array of suction cups 42 . Since there may be an array of round holes on the end face of the large gear 44, a certain suction cup 42 may be located under the round hole. Four flow meters monitor the gas flow in the corresponding second hose respectively. If the gas in a certain second hose If the flow rate is greater than a given threshold, the solenoid valve on the second hose is closed, and then the suction pump 3 controls the suction cups 42 to provide suction through the remaining three second hoses.

The following describes the preferred method of use of the present invention. The method of use includes:

S1. Place the large gear 44 on the suction cup type workbench 2 using a traveling crane or forklift.

S2. Use the third protruding structure 31 on the mandrel 26 and the tapered sleeve 32 to center and position the large gear 44.

S3. Open the air pump 3 and each solenoid valve. The air pump 3 controls each suction cup 42 to suck the lower end of the large gear 44. The large gear 44 closely fits the upper end of the mandrel 26 under the action of its own gravity and the suction cup.

S4. Adjust the stereo vision measurement component 4 to a reasonable height and fix it.

S5. Use a calibration plate to calibrate the measurement accuracy of the tooth profile area of the large gear 44 closest to the stereo vision measurement component 4.

S6. The servo motor is used to control the rotation of the tray 24, and at the same time, the joint manipulator 5 is used to control the cubic boron nitride grinding wheel 15 to grind the large gear 44.

S7. Start the dust suction part 6, the electromagnet 17 absorbs the ferromagnetic dust produced during grinding, and the dust suction tube 18 absorbs the non-ferromagnetic dust produced during grinding.

S8. When the tray 24 rotates a certain angle every time, the stereo vision measuring component 4 is tilted once to complete the collection of tooth profile data and color image data of one tooth profile width of the polished large gear 44.

S9. After the tray 24 is rotated 450°, the obtained tooth profile data and color image data are registered with the three-dimensional digital model of the large gear 44, and the secondary burr information is recorded on the three-dimensional digital model.

S10. The pallet 24 rotates in the opposite direction and performs secondary polishing based on the secondary burr information.

The above are only preferred embodiments of the present invention, and do not limit the implementation and protection scope of the present invention. Those skilled in the art should be able to realize that any equivalents made by using the description and illustrations of the present invention Solutions resulting from substitutions and obvious changes should be included in the protection scope of the present invention.

Claims (4)

1. An automatic chamfering device for large gears, which is characterized in that it includes: Support bottom plate, the support bottom plate has a rectangular plate-like structure; A suction cup type workbench, the suction cup type workbench is provided at the middle position of the upper surface of the support bottom plate; An air extraction pump is provided on one side of the upper surface of the supporting base plate, A stereoscopic vision measuring component, the stereoscopic vision measuring component is provided on the other side of the upper surface of the supporting base plate; An articulated manipulator is provided on the upper surface of the support base plate on the side adjacent to the air pump, and the end of the articulated manipulator is provided with a manipulator end shaft; A dust suction component, which is provided on the end shaft of the manipulator; The suction cup type workbench includes: a tray, a base, a mandrel, a first convex structure, a ball, a second convex structure, a third convex structure, a fourth convex structure, a taper sleeve, a large gear, and a pinion. , the first bevel gear, the second bevel gear, the second rotating shaft, and the servo motor; The outer edge of the lower end of the pallet is provided with a chute, the outer edge of the upper end of the base is provided with the first convex structure, and the upper end of the first convex structure is provided with a plurality of the balls. The protruding structure conflicts with the inner wall of the upper end of the chute through the balls; A first groove is provided in the middle of the lower end of the tray, and a second groove is provided at the upper end of the tray. The second groove is connected with the first groove, and the lower end of the second groove is The outer edge of the inner wall is provided with the second protruding structure, the inside of the second groove is provided with the mandrel, and the lower outer edge of the mandrel conflicts with the upper end of the second protruding structure, The upper end of the mandrel is provided with the third convex structure, the outer circumferential surface of the third convex structure is provided with the tapered sleeve, and the lower end of the mandrel is provided with the fourth convex structure, Wherein, a first gap is provided between the outer circumferential surface of the fourth protruding structure and the inner circumferential surface of the second protruding structure, and the lower end of the fourth protruding structure and the lower end of the second groove A second gap is provided between the inner walls, the first gap is connected with the second gap, and a first cavity structure is provided inside the base; A third groove is provided in the middle of the upper end of the base, and a first through hole is provided in the middle of the inner wall of the lower end of the third groove. The lower end of the first through hole is connected to the first cavity structure. , the upper end of the first through hole is connected with the first groove, the inner wall of the lower end of the third groove is provided with the large gear, the large gear drives the tray, and one of the large gears The small gear is provided on the side, and the small gear meshes with the large gear. The first bevel gear is provided on the inner wall of the upper end of the first cavity structure. The first bevel gear passes through the third bevel gear. Two rotating shafts are connected to the pinion gear, the second bevel gear is provided on the lower side of the first bevel gear, and the second bevel gear meshes with the first bevel gear; The servo motor is provided on one side of the base, and the servo motor is connected to the second bevel gear through a motor shaft; The suction cup type workbench also includes: a hollow shaft, four sets of second through holes, four sets of first hoses, six inlets and one outlet joints, and second hoses; One end of the hollow shaft passes through the first through hole and is rotationally connected to the inner wall of the lower end of the first cavity structure, and the other end of the hollow shaft is fixed in the first groove; The other end of the hollow shaft is evenly provided with four groups of second through holes, each group of second through holes includes six second through holes, and the second gap passes through the second through holes. The hole is connected to the interior of the hollow shaft; There are four groups of said hoses inside the hollow shaft, each group of said hoses includes six hoses, one end of each group of said hoses is connected to each group of said second through holes respectively, and each group of said hoses The other end of the hose is connected to the air inlet of one of the six-in and one-out joints, and the air outlet of each of the six-in and one-out joints is connected to the air pump through a second hose; The suction cup type workbench also includes: four sets of third through holes, springs, suction cups, and suction cup hoses; The outer edge of the upper end of the mandrel is evenly provided with four groups of the third through holes, each group of the third through holes includes six third through holes, and each third through hole is provided with a The spring and the suction cup, wherein the outer edge of the lower surface of the suction cup conflicts with the upper end of the spring, the upper end of the suction cup protrudes from the upper surface of the mandrel, and the lower end of each suction cup passes through One of the suction cup hoses is connected to one of the hoses; The stereo vision measurement components include: tripod bracket, high-precision industrial camera, camera base, vertical beam, deceleration stepper motor, pitch bracket, and support plate; The upper end of the tripod bracket is provided with the pitch bracket, and the opposite sides of the pitch bracket are each provided with a support plate. Each of the support plates is provided with a first through hole. A through hole is in a "D" shape, the two first through holes are opposite to each other, the deceleration stepper motor is provided on one side of the support plate, and the vertical beam is arranged between the two support plates, so The deceleration stepper motor drives the vertical beam through the first motor shaft. The upper side of the vertical beam and the lower side of the vertical beam are each provided with a camera base, and each camera base is provided with a camera base. Described high-precision industrial camera. 2. The large-scale gear automatic chamfering device according to claim 1, characterized in that the dust suction components include a cubic boron nitride grinding wheel, a protective cover, an electromagnet, a dust suction tube, a connector, a probe, and a third One screw, high-pressure pneumatic component, and first rotating shaft; An opening is provided on one side of the protective cover, and the cubic boron nitride grinding wheel is fixed at the opening through the first rotating shaft. The high-pressure pneumatic component is provided on one side of the protective cover. The pneumatic component drives the first rotating shaft, the bottom of the protective cover is provided with the electromagnet on one side close to the opening, and the side of the electromagnet away from the opening is provided with a dust suction pipe. The side of the cover away from the opening is connected to one side of the connector, the other side of the connector is connected to the end shaft of the manipulator through the first screw, and the connector is provided with all The probe is connected to the end shaft of the manipulator through a thread. 3. The large gear automatic chamfering device according to claim 1, further comprising a solenoid valve and a flow meter, and each second hose is provided with a solenoid valve and a flow meter. . 4. A method of using a large gear automatic chamfering device, which is characterized in that it includes the large gear automatic chamfering device according to any one of claims 1 to 3, and the method of use includes: S1. Place the large gear on the suction cup workbench using a traveling crane or forklift; S2. Use the third protruding structure and the taper sleeve on the mandrel to center and position the large gear; S3. Turn on the air pump and each solenoid valve. The air pump controls each suction cup to suck the lower end of the large gear. The large gear is in close contact with the upper end of the mandrel under the action of its own gravity and the suction cup. combine; S4. Adjust the stereo vision measurement component to a reasonable height and fix it; S5. Use a calibration plate to calibrate the measurement accuracy of the tooth profile area of the large gear closest to the stereoscopic vision measurement component; S6. Use the servo motor to control the rotation of the pallet, and at the same time use the joint manipulator to control the cubic boron nitride grinding wheel to grind the large gear; S7. Start the dust suction component, the electromagnet absorbs the ferromagnetic dust generated during grinding, and the dust suction tube absorbs the non-ferromagnetic dust generated during grinding; S8. When the tray rotates at a certain angle, the stereoscopic vision measurement component tilts once to complete the collection of tooth profile data and color image data of a tooth profile width of the polished large gear; S9. After the tray is rotated 450°, the obtained tooth profile data and the color image data are aligned with the three-dimensional digital model of the large gear, and secondary burr information is recorded on the three-dimensional digital model; S10. The pallet rotates in the opposite direction, and performs secondary polishing based on the secondary burr information.