CN107655682A - A kind of gear grinding burn automatic checkout system - Google Patents
A kind of gear grinding burn automatic checkout system Download PDFInfo
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- CN107655682A CN107655682A CN201610589378.9A CN201610589378A CN107655682A CN 107655682 A CN107655682 A CN 107655682A CN 201610589378 A CN201610589378 A CN 201610589378A CN 107655682 A CN107655682 A CN 107655682A
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- gear
- automatic checkout
- checkout system
- detection
- gear grinding
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/021—Gearings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/028—Acoustic or vibration analysis
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- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
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Abstract
A kind of gear grinding burn automatic checkout system clamps detector gauge head, conjunction precise rotating platform, host computer by P high-accuracy mechanicals hand and formed as the Pmac control systems of basic control system, slave computer for Manipulator Controller and turntable.The present invention has preferably repeatability, it can effectively differentiate whether gear grinding burn occurs, the problem for solving gear batch detection, improve detection efficiency and accuracy, for the automatic crawl and detection of later stage cooperative mechanical hand, realize that certain basis is laid in the late detection full-automation of Gear Production.
Description
Art
The present invention relates to a kind of detecting system, more particularly to a kind of gear grinding burn automatic checkout system.
Background technology
Gear is one of key components and parts of mechanical industry, right with the emergence of aerospace industry, the prosperity of shipbuilding industry
The quality requirement more and more higher of gear, its surface quality, performance and life-span need to be protected, these manufactures all to gear and
Detection proposes higher requirement.The quality determining method after gear grinding mainly has acid wash, metallographic method of testing, hardness at present
Method of testing and X ray residual stress mornitoring methods.In actual production, factory uses this conventional method of pickling and detected, so
And this method takes, and the test specimen after pickling can not reuse, and shortcoming is obvious.Remaining method is used for laboratory research, no
Suitable for batch detection.In recent years, Barkhausen noise detection method quickly and efficiently carries out Non-Destructive Testing with it to grinding burn,
Gradually risen in the ferrimagnet defects detection such as automobile camshaft, gear.Because gear is typically to produce in enormous quantities, general bar
Ke Haosen noise detection techniques incorporate Automatic Measurement Technique, and detection efficiency can be greatly improved, and people can be replaced to complete heavy uninteresting
Repetitive operation.And Multi-freedom-degreemanipulator manipulator range of movement is big, the motion control of complexity can be realized, for the complex-curved of gear
Automatic detection has greater advantage.
Barkhausen noise detection method is to induce certain under alternation external magnetic field based on ferrimagnet to survey
The principle of noise signal, this phenomenon are that roentgen Barkhausen had found in 1919.Ferrimagnet is excited
The changing of the relative positions occurs for excitation field action, magnetic domain, and pulse caused by a limited bulk material internal in close proximity to coil will be superposed to one
The individual signal as noise, this signal are referred to as Barkhausen noise.The intensity of noise signal can characterize answering for material surface
The integrity of power state and microscopic structure.Once producing grinding damage, hardness will be reduced, residual tension is lifted, will all cause
The increase of noise level.
The content of the invention
The purpose of the present invention is for after for roller gear and bevel gear grinding, the grinding burn detection of the flank of tooth is asked
Topic, a kind of gear grinding burn automatic checkout system is invented.
The technical solution adopted for the present invention to solve the technical problems is：
Gear grinding burns automatic checkout system by P high-accuracy mechanicals hand clamping detector gauge head, conjunction precise rotating platform, host computer work
For the Pmac control systems composition that basic control system, slave computer are Manipulator Controller and turntable.
Described detector gauge head develops Barkhausen noise detecting instrument using StressteechAST companies of Finland
Rollscan, its operation principle are：By applying alternating voltage to the inductance coil on U-shaped electromagnet, on tested part surface
An alternating magnetic field is produced, resulting Barkhausen noise is received by induction coil, the electric signal that induction coil comes out, warp
After crossing the signal transactings such as amplification, filtering, you can it was observed that.
Described arm-and-hand system, the nominal motion speed at instrument dot center is 250mm/s, and repetitive positioning accuracy is reachable
± 0.05mm, the radius of clean-up is up to 130mm.
Described precise rotating platform is driven by direct driving motor, and its encoder resolution is 1015808 pulses/circle, positioning precision
For ± 0.0125 °, nominal operation torque is 15Nm, can meet the testing requirements of most of ordinary gear.
The described detection for roller gear and bevel gear, it is desirable to the gauge head of manipulator clamping detector, be allowed to be bonded
Detection is scanned in the flank of tooth and along tooth trace, the tooth trace of gear generally has straight line, oblique line, circular arc line, helix and cycloid.
The space curve of bevel gear helix and cycloid is relatively complicated, and manipulator is difficult to accurate control, in detection, it is impossible to
Ensure that gauge head is fitted in the flank of tooth all the time, therefore put aside the automatic detection of both gears.
Described order of the Manipulator Controller primary recipient from host computer, and control machinery hand clamping gauge head along
Tooth trace moves, and programmed environment is robot VAL3 language.
After described gauge head has swept a flank of tooth, host computer sends order to Pmac cards, and controlled motor makes turntable rotate one
Individual suitable angle, manipulator is waited to act next time.
Described upper computer software system uses VC++ programming realizations, and software is based on ICP/IP protocol and realized and machinery manual control
The communication of device processed, communication of the Pmac cards with host computer realize that software calculates the every ginseng of gear by its supporting dynamic link library
After number, tooth trace type and turntable stepping angle size are delivered separately to Manipulator Controller and Pmac cards, are calculated and be shown suitable
Optimum Excitation voltage, driving frequency and the filter range of this kind of gear material, sensor parameters are adjusted accordingly to reach optimal work
Make state.
The beneficial effects of the invention are as follows：
Grinding burn automatic detection multi-spindle machining hand and Barkhausen's detection method being used for after Gear Processing, has and preferably repeats
Property, it can effectively differentiate whether gear grinding burn occurs, the problem for solving gear batch detection, improve detection efficiency and accurate
Property, for the automatic crawl and detection of later stage cooperative mechanical hand, realize that certain base is laid in the late detection full-automation of Gear Production
Plinth.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is gear grinding burn automatic checkout system.
Fig. 2 is Barkhausen noise detection principle diagram.
Fig. 3 is Barkhausen noise overhaul flow chart.
Fig. 4 is software function composition figure.
Fig. 5 is system control process.
Wherein, 1- detectors gauge head, 2-Pmac control systems, 3- host computers, 4- Manipulator Controllers, 5- turntables, 6- machines
Tool arm.
Embodiment
As shown in figure 1, gear grinding is burnt, automatic checkout system clamps detector gauge head 1 by P high-accuracy mechanicals hand, closes essence
Close turntable 5, host computer 3 are as basic control system, 2 groups of the Pmac control systems that slave computer is Manipulator Controller 4 and turntable 5
Into.Arm-and-hand system used herein, the nominal motion speed at instrument dot center is 250mm/s, and repetitive positioning accuracy can
Up to ± 0.05mm, the radius of clean-up is up to 1300mm.The precise rotating platform 5 used is driven by direct driving motor, and its encoder resolution is
1015808 pulses/circle, positioning precision are ± 0.0125 °, and nominal operation torque is 15Nm, can meet most of ordinary gear
Testing requirements.Detection for roller gear and bevel gear, it is desirable to the gauge head of manipulator clamping detector, be allowed to be fitted in tooth
Face is simultaneously scanned detection along tooth trace, and the tooth trace of gear generally has straight line, oblique line, circular arc line, helix and cycloid.Bore tooth
The space curve of wheel helix and cycloid is relatively complicated, and manipulator is difficult to accurate control, in detection, it is impossible to ensure
Gauge head is fitted in the flank of tooth all the time, therefore puts aside the automatic detection of both gears.In order to realize the connection of manipulator and turntable 5
Dynamic control, using host computer 3 as basic control system, it is responsible for distribution task, parameter calculating etc., slave computer is Manipulator Controller
4 and the Pmac control systems 2 of turntable 5.Order of the primary recipient of Manipulator Controller 4 from host computer 3, and control machinery hand is pressed from both sides
The gauge head held moves along tooth trace, and programmed environment is robot VAL3 language.After gauge head has swept a flank of tooth, host computer 3 to
Pmac cards send order, and controlled motor makes turntable 5 rotate a suitable angle, waits manipulator to act next time.
As shown in Figure 2,3, Barkhausen noise detection method is to be sensed based on ferrimagnet under alternation external magnetic field
Out certain can survey the principle of noise signal, and this phenomenon is that roentgen Barkhausen had found in 1919.
Ferrimagnet excited target magnetic fields, the changing of the relative positions occurs for magnetic domain, caused by a limited bulk material internal in close proximity to coil
Pulse will be superposed to a signal as noise, and this signal is referred to as Barkhausen noise.The intensity energy table of noise signal
Levy the stress state of material surface and the integrity of microscopic structure.Once producing grinding damage, hardness will be reduced, lifts remaining draw
Stress, it will all cause the increase of noise level.Detector gauge head 1 develops Barkhausen using StressteechAST companies of Finland
Noise measuring instrument Rollscan, its operation principle are：By applying alternating voltage to the inductance coil on U-shaped electromagnet,
Tested part surface produces an alternating magnetic field, and resulting Barkhausen noise is received by induction coil, and the line of induction is irised out
The electric signal come, after the signal transacting such as amplifying, filtering, you can it was observed that.
As shown in figure 4, the software systems of host computer 3 use VC++ programming realizations, software is based on ICP/IP protocol realization and machine
The communication of tool hand controls 4, the communication with host computer 3 of Pmac cards realize that software calculates tooth by its supporting dynamic link library
After taking turns parameters, tooth trace type and the stepping angle size of turntable 5 are delivered separately to Manipulator Controller 4 and Pmac cards, calculated
And show be adapted to this kind of gear material Optimum Excitation voltage, driving frequency and filter range, accordingly adjust sensor parameters with
Reach optimum Working.Burn detector can Real Time Observation noise amplitude, be sufficiently used for the detection of production scene.In order to enter one
Step research Barkhausen noise detection method, software readable takes the data that detector preserves, more reliable according to amplitude and most value difference
Determine whether to burn, and burn degree.
As shown in figure 5, Manipulator Controller 4 is moved accordingly after the data that host computer 3 transmits are received.For
With the gear of a collection of model, parameters are all consistent, only need to carry out teaching when detecting first, when detecting next gear,
Manipulator and turntable 5 are finely adjusted by software, the flank of tooth of gear is turned to taught point, if at this moment sensor has with the flank of tooth
Preferably contact, it will have signal, you can see whether to be aligned.
It is roller gear and the bevel gear of straight line for tooth trace, is risen on the flank of tooth by one tooth of teaching of control machinery hand 6
Initial point and end point, the movel () instructions of robot language are crossed, what robot end can determine along this 2 points automatically
Straight path moves.After the sensor 1 that manipulator 6 controls has swept a tooth, ready position is returned to, waits one tooth of pinion rotation
Angle, i.e., next tooth turns to the position of last scan, carries out the detection of second tooth, so repeat, until whole tooth
Wheel detection is completed.It is roller gear and the bevel gear of circular arc for tooth trace, one section of circular arc is just can determine that due to 3 points, so teaching
When, need to also be in the more teachings in any centre position once compared to straight-tooth, robot instructs what is determined along 3 points by movec ()
Circular motion, detection process are similar with straight-tooth.For helical gears, its tooth trace is helix, the movement locus of sensor 1
It is the helix at reference circle.Simple makes the movement locus of manipulator 6 relatively difficult for helix, can pass through turntable 5 and machinery
The mode that hand 6 links realizes that turntable is responsible for the motion of xoy planes, manipulator 6 is responsible for the motion of z direction of principal axis.According to spiral
Space of lines equation and gear parameter, it may be determined that the movement velocity relation of the rotating speed of turntable 5 and manipulator 6, sensor have swept one
After the flank of tooth, rotating table 5, continue to sweep next flank of tooth, process is similar with the detection of straight-tooth.
Claims (8)
- The automatic checkout system 1. a kind of gear grinding is burnt, by P high-accuracy mechanicals hand clamp detector gauge head, close precise rotating platform, Host computer is as the Pmac control systems composition that basic control system, slave computer are Manipulator Controller and turntable.
- The automatic checkout system 2. gear grinding according to claim 1 is burnt, it is characterized in that described detector gauge head is adopted Barkhausen noise detecting instrument Rollscan is developed with StressteechAST companies of Finland, its operation principle is：By to U Inductance coil on shape electromagnet applies alternating voltage, produces an alternating magnetic field on tested part surface, resulting bar Ke Haosen noises are received by induction coil, the electric signal that induction coil comes out, after the signal transacting such as amplifying, filtering, you can It was observed that.
- The automatic checkout system 3. gear grinding according to claim 1 is burnt, it is characterized in that described arm-and-hand system, work The nominal motion speed having at dot center is 250mm/s, and the reachable ± 0.05mm of repetitive positioning accuracy, the radius of clean-up is up to 130mm.
- The automatic checkout system 4. gear grinding according to claim 1 is burnt, it is characterized in that described precise rotating platform is by straight Motor driving is driven, its encoder resolution is 1015808 pulses/circle, and positioning precision is ± 0.0125 °, and nominal operation torque is 15Nm, the testing requirements of most of ordinary gear can be met.
- The automatic checkout system 5. gear grinding according to claim 1 is burnt, it is characterized in that described for roller gear With the detection of bevel gear, it is desirable to the gauge head of manipulator clamping detector, be allowed to be fitted in the flank of tooth and be scanned inspection along tooth trace Survey, the tooth trace of gear generally has straight line, oblique line, circular arc line, helix and cycloid；The space of bevel gear helix and cycloid is bent Line is relatively complicated, and manipulator is difficult to accurate control, in detection, it is impossible to ensure that gauge head is fitted in the flank of tooth all the time, because This puts aside the automatic detection of both gears.
- The automatic checkout system 6. gear grinding according to claim 1 is burnt, it is characterized in that described Manipulator Controller Order of the primary recipient from host computer, and the gauge head of control machinery hand clamping moves along tooth trace, programmed environment is robot VAL3 language.
- The automatic checkout system 7. gear grinding according to claim 1 is burnt, it is characterized in that described gauge head has swept one After the flank of tooth, host computer sends order to Pmac cards, and controlled motor makes turntable rotate a suitable angle, waits manipulator next Secondary action.
- The automatic checkout system 8. gear grinding according to claim 1 is burnt, it is characterized in that described upper computer software system System uses VC++ programming realizations, and software realizes the communication with Manipulator Controller, Pmac cards and host computer based on ICP/IP protocol Communication realized by its supporting dynamic link library, after software calculates gear parameters, tooth trace type and turntable stepping Angle size is delivered separately to Manipulator Controller and Pmac cards, and the Optimum Excitation electricity of suitable this kind of gear material is calculated and be shown Pressure, driving frequency and filter range, sensor parameters are adjusted accordingly to reach optimum Working.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610589378.9A CN107655682A (en) | 2016-07-25 | 2016-07-25 | A kind of gear grinding burn automatic checkout system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610589378.9A CN107655682A (en) | 2016-07-25 | 2016-07-25 | A kind of gear grinding burn automatic checkout system |
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| CN107655682A true CN107655682A (en) | 2018-02-02 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738528A (en) * | 2018-12-19 | 2019-05-10 | 中国兵器科学研究院宁波分院 | A kind of ultrasonic C-scanning automatic checkout system |
| CN109871956A (en) * | 2019-02-26 | 2019-06-11 | 北京工业大学 | The method of microscopic structure variation in quick predict burn gear |
| CN111207868A (en) * | 2020-01-19 | 2020-05-29 | 山东大学 | Automatic plane residual stress detection device and method based on magnetoelastic effect |
| CN113109420A (en) * | 2021-04-19 | 2021-07-13 | 北京工业大学 | Micro-magnetic nondestructive detection system for revolving body part |
| CN114136778A (en) * | 2021-11-26 | 2022-03-04 | 南昌航空大学 | Aviation gear grinding burn stress detection method and device |
-
2016
- 2016-07-25 CN CN201610589378.9A patent/CN107655682A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738528A (en) * | 2018-12-19 | 2019-05-10 | 中国兵器科学研究院宁波分院 | A kind of ultrasonic C-scanning automatic checkout system |
| CN109738528B (en) * | 2018-12-19 | 2021-06-08 | 中国兵器科学研究院宁波分院 | Ultrasonic C scanning automatic detection system |
| CN109871956A (en) * | 2019-02-26 | 2019-06-11 | 北京工业大学 | The method of microscopic structure variation in quick predict burn gear |
| CN111207868A (en) * | 2020-01-19 | 2020-05-29 | 山东大学 | Automatic plane residual stress detection device and method based on magnetoelastic effect |
| CN111207868B (en) * | 2020-01-19 | 2021-03-12 | 山东大学 | Automatic plane residual stress detection device and method based on magnetoelastic effect |
| CN113109420A (en) * | 2021-04-19 | 2021-07-13 | 北京工业大学 | Micro-magnetic nondestructive detection system for revolving body part |
| CN113109420B (en) * | 2021-04-19 | 2024-02-02 | 北京工业大学 | Micromagnetic nondestructive testing system for revolving body part |
| CN114136778A (en) * | 2021-11-26 | 2022-03-04 | 南昌航空大学 | Aviation gear grinding burn stress detection method and device |
| CN114136778B (en) * | 2021-11-26 | 2023-04-11 | 南昌航空大学 | Aviation gear grinding burn stress detection method and device |
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Application publication date: 20180202 |