CN114111608A - Gear tooth socket or tooth top position positioning method and system for gear cross-rod distance detection - Google Patents
Gear tooth socket or tooth top position positioning method and system for gear cross-rod distance detection Download PDFInfo
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Abstract
The invention discloses a gear tooth socket or tooth top position positioning method and a gear tooth socket or tooth top position positioning system for detecting the bar span distance of a gear, which comprises the following steps of S1, arranging a point laser sensor and a gear bar span distance detection mechanism at intervals beside a gear to be detected along the radial extension and the circumferential direction of the gear to be detected, aligning the emission surface of the point laser sensor to the tooth surface of the gear to be detected, and setting an included angle between the central axis of the point laser sensor and the central axis of the gear bar span distance detection mechanism as alpha; s2, the data acquisition module acquires the distance value S and the motor angle value theta of the point laser sensor corresponding to each moment; s3, the measuring rod of the gear cross-rod distance detection mechanism obtained by data processing needs to be aligned with the gear root, and the gear needs to rotate to the coordinates: thetaabs＝θfinall+ α. The method can effectively ensure that the rod of the gear cross-rod distance detection mechanism and the tooth socket of the gear to be detected are accurately positioned, thereby effectively improving the precision of the detection of the M value of the gear.
Description
Technical Field
The invention discloses a gear tooth socket or tooth top position positioning method and system, belongs to the technical field of gear M value detection, and particularly discloses a gear tooth socket or tooth top position positioning method and system for gear cross-rod distance detection.
Background
At present, after gear hobbing and gear grinding are carried out on a gear, the rod spanning distance (M value) of the gear needs to be measured, the rod spanning distance of the traditional measuring gear needs to be measured by clamping a measuring rod into a gear tooth groove of the gear by a person, if automatic measurement is needed, the faced difficulty is that the absolute position of the gear tooth groove is accurately found, only the absolute position is accurately found, the gear can be controlled to rotate or the measuring rod is controlled to move, and then the rod spanning distance of the gear is measured by aligning the gear tooth groove and a measuring mechanism. The above method of contact positioning of the gear tooth grooves has the following problems:
1. a contact type sensor is matched with a rotating gear to search a tooth socket, and a measuring head of the sensor is extruded by a tooth top to influence the detection precision;
2. for accurate positioning of the gear bottom, the common space of the automobile gear tooth root is small, the gap is narrow, and the minimum diameter of the tooth root cannot be measured by using a common ball head type contact sensor. Thereby can't seek the minimum center of finding gear tooth's socket to unable accurate location, if make dedicated minor diameter extension bar and measure tooth root minimum diameter and look for gear tooth's socket root, can have because of the extension bar is thin and rigidity is poor, lead to measurement accuracy poor and easy rupture.
3. The telecentric lens is used for searching the tooth bottom of the tooth root by a light transmission method, and the collected image is unreliable due to the reflection diffraction light generated by the smooth surface of the gear; and for the helical teeth, images cannot be acquired because light cannot penetrate through the gap between the tooth bottoms.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a gear tooth socket or tooth top position positioning method and system for detecting the gear cross-rod distance, which can accurately search the gear tooth socket or tooth top position and improve the precision of gear M value detection.
The invention discloses a gear tooth socket or tooth top position positioning method for detecting the cross-rod distance of a gear, which comprises the following steps,
s1, extending the point laser sensor and the gear span bar distance detection mechanism along the radial direction of the gear to be detected, and arranging the point laser sensor and the gear span bar distance detection mechanism at intervals beside the gear to be detected in the circumferential direction, wherein the emission surface of the point laser sensor is aligned with the tooth surface of the gear to be detected, and the included angle between the central axis of the point laser sensor and the central axis of the gear span bar distance detection mechanism is alpha;
s2, the driving mechanism drives the gear to be tested to rotate a certain angle around the central axis of the gear, the data acquisition module acquires a distance value S and a motor angle value theta of the point laser sensor corresponding to each moment, the distance value S is the distance between the transmitting end of the point laser sensor and the outer contour of the gear, and the motor angle value theta is the angle of the motor rotating relative to the initial position;
s3, the data acquisition module acquires the distance value S and the motor angle value theta of the point laser sensor corresponding to each moment and sends the distance value S and the motor angle value theta to the data analysis module, and the data analysis module establishes a plurality of groups of length values len1And generating an array:
(s0,θ0)，(s1,θ1)……(slen1-1,θlen1-1)，(slen1,θlen1)；
s4, the data analysis module carries out filtering processing on the generated array in S3, removes invalid abnormal point data, and establishes an array length value len2And generating a new array:
(s0,θ0)，(s1,θ1)……(slen2-1,θlen2-1)，(slen2,θlen2)；
s5, the data analysis module carries out unary linear regression equation iterative operation on the new array in the S5, calculates the derivative a of the new array, and screens out the data section (b) of the data acquired by the point laser sensor corresponding to the gear tooth spacemi,imi)；
S6, data analysis module pair(bmi,imi) Traversing the array, selecting the optimal tooth space bottom data, determining the tooth space bottom coordinates of the optimal teeth, and determining the tooth space bottom position theta of the optimal teeth based on the tooth space bottom coordinatesfinall；
S7, the data analysis module converts the tooth space and tooth bottom angle of the optimal tooth, the measuring rod of the gear cross-rod distance detection mechanism is aligned to the tooth root of the gear, and the gear cross-rod distance detection mechanism needs to rotate to the coordinate: thetaabs＝θfinall+α；
S8, the data analysis module compares thetaabsFeeding back to the motor, the motor rotates to thetaabsAnd the angle position is that the bottom of the gear tooth groove is accurately aligned with the measuring rod of the gear cross-rod distance detection mechanism.
In a preferred embodiment of the present invention, in S4, the method for removing invalid outlier data comprises,
s41, calculating the average value of the data based on the array in S3
And the variance a of the sum is,
s42, the full range value of the sensor is SmaxThe empty measuring range of the sensor is sminAnd eliminating the data meeting the following conditions:
in a preferred embodiment of the present invention, in S5, the one-dimensional first regression equation is in the form of
yi＝axi+b
Wherein
Length of each iteration is laThe iteration start index is isThe ending index is
The array for a single iteration is then:
wherein
In a preferred embodiment of the present invention, the method for calculating the two parameters a and b of the linear regression equation comprises,
wherein:
in a preferred embodiment of the invention, the calculated values are compared
And
forming a new array:
using gradient descentMethod of searching for
The maximum and minimum values of the segmented extremum) of the current block, the calculation formula is:
corresponding sequence value is imiAnd is recorded as
(bmi,imi)
The array contains valid data segments for all of the screened gear tooth slots.
In a preferred embodiment of the present invention, in S6, if b ismi<bmi+1Then, then
lenmi＝imi+1-imi
And record the array as
(lenmi,imi)；
To lenmiMaximum value of
lenmax＝MAX(lenmi)
Its corresponding point sequence
imax＝i
The point sequence corresponding to the maximum value is the optimal point sequence, and then the coordinate sequence corresponding to the gear tooth root
The coordinate angle of the gear bottom corresponding to the motor is as follows:
θfinallnamely the bottom position of the tooth socket of the optimal tooth.
In a preferred embodiment of the present invention, in S2, the driving mechanism drives the gear to be measured to rotate around its central axis by more than 2 tooth bottom slots, and the data acquisition module acquires the distance value S and the motor angle value θ of the point laser sensor corresponding to each time.
The invention discloses a gear tooth socket or tooth top position positioning system for detecting the bar span distance of a gear, which comprises a base, wherein a point laser sensor, a data acquisition module, a data analysis module, a gear positioning support mechanism, a gear rotation driving mechanism and a gear bar span distance detection mechanism are arranged on the base.
In a preferred embodiment of the invention, the gear positioning and supporting mechanism comprises a supporting seat, the supporting seat is used for supporting the upper end face of the gear to be in a V shape, two sides of the supporting seat are symmetrically provided with a fixed center and a rotating center, the rotating center is in transmission connection with the gear rotating driving mechanism, the fixed center, the rotating center and the central axis of the gear are coaxially arranged, and the point laser sensor and the gear cross-rod distance detection mechanism are arranged above the gear to be detected.
In a preferred embodiment of the present invention, the gear rotation driving mechanism includes an expanding shaft and a fixed support, one end of the expanding shaft is coaxially connected to the gear rotation driving mechanism in a transmission manner, the other end of the expanding shaft is coaxially connected to the gear to be detected in a transmission manner, the expanding shaft is arranged perpendicular to the base, and the fixed support is provided with the point laser sensor and the gear span length detection mechanism.
The invention has the beneficial effects that: the method has the advantages of high precision, high efficiency, non-contact and green measurement, and can effectively ensure that the rod of the gear cross-rod distance detection mechanism and the tooth socket of the gear to be detected are accurately positioned, thereby effectively improving the precision of the detection of the M value of the gear.
Drawings
FIG. 1 is a schematic diagram of a gear tooth slot or tooth tip position locating system for gear cross-bar distance detection according to the present invention;
FIG. 2 is a schematic diagram of a gear tooth slot or tooth tip position locating system for gear cross-rod distance detection according to the present invention;
FIG. 3 is a top view of a gear tooth slot or tooth tip position locating system for gear cross-bar distance detection in accordance with the present invention.
Detailed Description
The invention will now be described in further detail, including the preferred embodiments, with reference to the accompanying drawings and by way of illustration of some alternative embodiments of the invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Further, in the present application, relational terms such as "first" and "second", and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The invention discloses a gear tooth socket or tooth top position positioning method for detecting the cross-rod distance of a gear, which comprises the following steps,
s1, the point laser sensor and the gear span bar distance detection mechanism extend along the radial direction of the gear to be detected and are circumferentially arranged beside the gear to be detected at intervals, the emission surface of the point laser sensor is aligned with the tooth surface of the gear to be detected (namely the point laser light spot is parallel to the tooth root direction of the gear), and the included angle between the central axis of the point laser sensor and the central axis of the gear span bar distance detection mechanism is alpha;
s2, the driving mechanism drives the gear to be tested to rotate a certain angle around the central axis of the gear, the data acquisition module acquires a distance value S and a motor angle value theta of the point laser sensor corresponding to each moment, the distance value S is the distance between the transmitting end of the point laser sensor and the outer contour of the gear, and the motor angle value theta is the angle of the motor rotating relative to the initial position;
s3, the data acquisition module acquires the distance value S and the motor angle value theta of the point laser sensor corresponding to each moment and sends the distance value S and the motor angle value theta to the data analysis module, and the data analysis module establishes a plurality of groups of length values len1And generating an array:
(s0,θ0)，(s1,θ1)……(slen1-1,θlen1-1)，(slen1,θlen1)；
s4, the data analysis module carries out filtering processing on the generated array in S3, removes invalid abnormal point data, and establishes an array length value len2And generating a new array:
(s0,θ0)，(s1,θ1)……(slen2-1,θlen2-1)，(slen2,θlen2)；
s5, the data analysis module carries out unary linear regression equation iterative operation on the new array in the S5, the derivative a of the new array is calculated, and the screened data section contains data such as the depth of the tooth bottom and the tooth socket, the angle of the motor corresponding to the bottom of the tooth bottom and the like;
s6, data analysis module pair (b)mi,imi) Traversing the array, selecting the optimal tooth space bottom data, determining the tooth space bottom coordinates of the optimal teeth, and determining the tooth space bottom position theta of the optimal teeth based on the tooth space bottom coordinatesfinall；
S7, the data analysis module converts the tooth space and tooth bottom angle of the optimal tooth, the measuring rod of the gear cross-rod distance detection mechanism is aligned to the tooth root of the gear, and the gear cross-rod distance detection mechanism needs to rotate to the coordinate: thetaabs＝θfinall+α；
S8, the data analysis module compares thetaabsFeeding back to the motor, the motor rotates to thetaabsAnd the angle position is that the bottom of the gear tooth groove is accurately aligned with the measuring rod of the gear cross-rod distance detection mechanism.
In a preferred embodiment of the present invention, in S4, the method for removing invalid outlier data comprises,
s41, calculating the average value of the data based on the array in S3
And the variance a of the sum is,
s42, the full range value of the sensor is SmaxThe empty measuring range of the sensor is sminAnd eliminating the data meeting the following conditions:
in a preferred embodiment of the present invention, in S5, the one-dimensional first regression equation is in the form of
yi＝axi+b
Wherein
Length of each iteration is laThe iteration start index is isThe ending index is
The array for a single iteration is then:
wherein
In a preferred embodiment of the present invention, the method for calculating the two parameters a and b of the linear regression equation comprises,
wherein:
in a preferred embodiment of the invention, the calculated values are compared
And
forming a new array:
finding using gradient descent/ascent method
The maximum and minimum values of the segmented extremum) of the current block, the calculation formula is:
corresponding sequence value is imiAnd is recorded as
(bmi,imi)
The array contains valid data segments for all of the screened gear tooth slots.
In a preferred embodiment of the present invention, in S6, if b ismi<bmi+1Then, then
lenmi＝imi+1-imi
And record the array as
(lenmi,imi)；
To lenmiMaximum value of
lenmax＝MAX(lenmi)
Its corresponding point sequence
imax＝i
The point sequence corresponding to the maximum value is the optimal point sequence, and then the coordinate sequence corresponding to the gear tooth root
The coordinate angle of the gear bottom corresponding to the motor is as follows:
θfinallnamely the bottom position of the tooth socket of the optimal tooth.
In a preferred embodiment of the present invention, in S2, the driving mechanism drives the gear to be measured to rotate around its central axis by more than 2 tooth bottom slots, and the data acquisition module acquires the distance value S and the motor angle value θ of the point laser sensor corresponding to each time.
The invention discloses a gear tooth socket or tooth top position positioning system for detecting the gear rod spanning distance, which comprises a base 9, wherein a point laser sensor 1, a data acquisition module, a data analysis module, a gear positioning support mechanism 2, a gear rotation driving mechanism 3 and a gear rod spanning distance detection mechanism are arranged on the base 9.
The invention provides two gear positioning and supporting mechanisms 2 aiming at different types of gears:
in a preferred embodiment of the invention, the gear positioning and supporting mechanism comprises a supporting seat 4, the supporting seat 4 is used for supporting the upper end face of the gear to be in a V shape, two sides of the supporting seat 4 are symmetrically provided with a fixed tip 5 and a rotating tip 6, the rotating tip 6 is in transmission connection with the gear rotation driving mechanism 2, the fixed tip 5 and the rotating tip 6 are coaxially arranged with the central axis of the gear, and the point laser sensor and the gear span rod distance detection mechanism are arranged above the gear to be detected 10.
In a preferred embodiment of the invention, the gear rotation driving mechanism comprises an expansion shaft 7 and a fixed support 8, one end of the expansion shaft 7 is coaxially connected with the gear rotation driving mechanism in a transmission manner, the other end of the expansion shaft 7 is coaxially connected with a gear 10 to be detected in a transmission manner, the expansion shaft is vertically arranged with the base, and the fixed support is provided with the point laser sensor 1 and the gear span distance detection mechanism. The light projection surface of the point laser sensor 1 is right opposite to the gear 10 to be measured, and the light beam of the point laser sensor 1 is irradiated on the tooth surface of the gear 10 to be measured, so that the self rotation angle and the vertical height can be adjusted.
In a preferred embodiment of the invention, the geared rotary drive 3 is a rotary motor with an encoder.
In a preferred embodiment of the invention, the position of the spot laser sensor 1 is adjusted as follows (by way of example in fig. 1 and 2):
and 4, the laser position of the point is required to be at the same height with the center line of the tip.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and any modification, combination, replacement, or improvement made within the spirit and principle of the present invention is included in the scope of the present invention.
Claims (10)
1. A gear tooth socket or tooth top position positioning method for detecting the cross-rod distance of a gear is characterized by comprising the following steps of: comprises the following steps of (a) carrying out,
s1, extending the point laser sensor and the gear span bar distance detection mechanism along the radial direction of the gear to be detected, and arranging the point laser sensor and the gear span bar distance detection mechanism at intervals beside the gear to be detected in the circumferential direction, wherein the emission surface of the point laser sensor is aligned with the tooth surface of the gear to be detected, and the included angle between the central axis of the point laser sensor and the central axis of the gear span bar distance detection mechanism is alpha;
s2, the driving mechanism drives the gear to be tested to rotate a certain angle around the central axis of the gear, the data acquisition module acquires a distance value S and a motor angle value theta of the point laser sensor corresponding to each moment, the distance value S is the distance between the transmitting end of the point laser sensor and the outer contour of the gear, and the motor angle value theta is the angle of the motor rotating relative to the initial position;
s3, the data acquisition module acquires the distance value S and the motor angle value theta of the point laser sensor corresponding to each moment and sends the distance value S and the motor angle value theta to the data analysis moduleBlock, data analysis Module establishes array Length value len1And generating an array:
(s0，θ0)，(s1，θ1)......(slen1-1，θlen1-1)，(slen1，θlen1)；
s4, the data analysis module carries out filtering processing on the generated array in S3, removes invalid abnormal point data, and establishes an array length value len2And generating a new array:
(s0，θ0)，(s1，θ1)......(slen2-1，θlen2-1)，(slen2，θlen2)；
s5, the data analysis module carries out unary linear regression equation iterative operation on the new array in the S5, calculates the derivative a of the new array, and screens out the data section (b) of the data acquired by the point laser sensor corresponding to the gear tooth spacemi，imi)；
S6, data analysis module pair (b)mi，imi) Traversing the array, selecting the optimal tooth space bottom data, determining the tooth space bottom coordinates of the optimal teeth, and determining the tooth space bottom position theta of the optimal teeth based on the tooth space bottom coordinatesfinall；
S7, the data analysis module converts the tooth space and tooth bottom angle of the optimal tooth, the measuring rod of the gear cross-rod distance detection mechanism is aligned to the tooth root of the gear, and the gear cross-rod distance detection mechanism needs to rotate to the coordinate: thetaabs＝θfinall+α；
S8, the data analysis module compares thetaabsFeeding back to the motor, the motor rotates to thetaabsAnd the angle position is that the bottom of the gear tooth groove is accurately aligned with the measuring rod of the gear cross-rod distance detection mechanism.
2. The method of claim 1 for gear tooth slot or tooth tip position location for gear cross-bar distance detection: in S4, the method of removing invalid outlier data includes,
s41, calculating the average value of the data based on the array in S3
And the variance a of the sum is,
s42, the full range value of the sensor is SmaxThe empty measuring range of the sensor is sminAnd eliminating the data meeting the following conditions:
3. the method of claim 1, wherein the method comprises: in S5, the unary regression equation is in the form of
yi＝axi+b
Wherein
Length of each iteration is laThe iteration start index is isThe ending index is
The array for a single iteration is then:
wherein
4. The method of claim 3 for gear tooth slot or tooth tip position location for gear cross-bar distance detection: the calculation method of the two parameters a and b of the linear regression equation comprises,
wherein:
5. the method of claim 4 for gear tooth slot or tooth tip position location for gear cross-bar distance detection: to calculated
And
forming a new array:
finding using gradient descent/ascent method
The maximum and minimum values of the segmented extremum) of the current block, the calculation formula is:
corresponding sequence value is imiAnd is recorded as
(bmi，imi)
The array contains valid data segments for all of the screened gear tooth slots.
6. The method of claim 1 for gear tooth slot or tooth tip position location for gear cross-bar distance detection: in S6, if b ismi＜bmi+1Then, then
lenmi＝imi+1-imi
And record the array as
(lenmi，imi)；
To lenmiMaximum value of
lenmax＝MAX(lenmi)
Its corresponding point sequence
imax＝i
The point sequence corresponding to the maximum value is the optimal point sequence, and then the coordinate sequence corresponding to the gear tooth root
The coordinate angle of the gear bottom corresponding to the motor is as follows:
θfinallnamely the bottom position of the tooth socket of the optimal tooth.
7. The method of claim 1 for gear tooth slot or tooth tip position location for gear cross-bar distance detection: in S2, the driving mechanism drives the gear to be measured to rotate around the central axis of the gear to be measured to exceed 2 tooth bottom grooves, and the data acquisition module acquires the distance value S and the motor angle value theta of the point laser sensor corresponding to each moment.
8. The gear tooth slot or tooth tip position locating system for gear cross-bar distance detection of claim 1, wherein: the automatic detection device comprises a base, wherein a point laser sensor, a data acquisition module, a data analysis module, a gear positioning and supporting mechanism, a gear rotation driving mechanism and a gear cross-rod distance detection mechanism are arranged on the base.
9. The gear tooth slot or tooth tip position locating system for gear cross-bar distance detection of claim 8, wherein: the gear positioning and supporting mechanism comprises a supporting seat, the supporting seat is used for supporting the upper end face of a gear to be V-shaped, a fixed tip and a rotating tip are symmetrically arranged on two sides of the supporting seat, the rotating tip is in transmission connection with the gear rotating driving mechanism, the fixed tip, the rotating tip and the central axis of the gear are coaxially arranged, and the point laser sensor and the gear cross-rod distance detection mechanism are arranged above the gear to be detected.
10. The gear tooth slot or tooth tip position locating system for gear cross-bar distance detection of claim 8, wherein: the gear rotation driving mechanism comprises an expansion shaft and a fixed support, one end of the expansion shaft is in coaxial transmission connection with the gear rotation driving mechanism, the other end of the expansion shaft is in coaxial transmission connection with a gear to be detected, the expansion shaft is vertically arranged with the base, and the fixed support is provided with the point laser sensor and the gear span rod distance detection mechanism.
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| CN116793236A (en) * | 2023-08-29 | 2023-09-22 | 四川丹齿精工科技有限公司 | Gear cross bar distance detection equipment and detection method |
| CN117029705A (en) * | 2023-06-27 | 2023-11-10 | 苏州瑞威盛科技有限公司 | Gear bar span measuring system and method based on non-contact 3D vision |
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| CN116793236A (en) * | 2023-08-29 | 2023-09-22 | 四川丹齿精工科技有限公司 | Gear cross bar distance detection equipment and detection method |
| CN116793236B (en) * | 2023-08-29 | 2023-10-27 | 四川丹齿精工科技有限公司 | Gear cross bar distance detection equipment and detection method |
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