CN108204791A - A kind of six axis laser gear measurement devices - Google Patents
A kind of six axis laser gear measurement devices Download PDFInfo
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- CN108204791A CN108204791A CN201711488436.XA CN201711488436A CN108204791A CN 108204791 A CN108204791 A CN 108204791A CN 201711488436 A CN201711488436 A CN 201711488436A CN 108204791 A CN108204791 A CN 108204791A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2416—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures of gears
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of six axis laser gear measurement devices, belong to Precision Inspection and instrument, technical field of mechanical transmission.Including two axis gauge head pose adjustment mechanisms, three axis mobile mechanisms, gear fixed mechanism.The present invention can be obtained the point cloud data of a line on the flank of tooth in one-shot measurement, be improved the speed of data acquisition using line laser gauge head.The present invention in measurement process can be adjusted the direction of laser, be made to keep preferable measurement posture between laser and the tested flank of tooth in real time using six axis motion systems.The gear-type that this six axis laser gear measurement device of the present invention can measure is very extensive, the variously-shaped flank of tooth can be scanned from best angle by the cooperation of six axis motion systems and laser line generator, can be very good the more difficult gear of reply bevel gear or curved tooth cylindrical gear etc. measurements.
Description
Technical field
The present invention relates to a kind of six axis laser gear measurement devices, belong to Precision Inspection and instrument, machine driving
Technical field.
Background technology
Gear is a kind of basic part being common in transmission system, and gear drive is to transmit one kind of machine power and movement
Principal mode.Gear can be divided into roller gear, bevel gear, non-circular gear, rack, endless screw-worm gear by its shape.By tooth trace shape
Gear can be divided into spur gear, helical gear, herringbone bear, curved tooth cylindrical gear.Surface gear as where the gear teeth can be divided into external gear, interior
Gear.Gear measurement device general at present can be divided into contact measuring apparatus and non-contact measurement apparatus, according to measurement
It is required that difference, the selection of measuring device is also different.
The general mode of operation of contact gear measurement device is carried out using trigger-type ruby stylus and gear surface
Contact, so as to obtain the three-dimensional coordinate of gear surface point.This method has the following disadvantages：1. it is complicated for operation, carrying out gear
There are the operations such as complicated reset calibration before measuring；2. measuring speed is slower, gear survey is carried out using contact measuring apparatus
Opposite slip, coordinate acquisition information occur during amount, between stylus and the flank of tooth；3. it needs to carry out gauge head compensation, measuring device acquisition
To coordinate value be in fact ruby stylus center coordinate value, need along stylus from the direction that contact point retracts add one
Radius of a ball value is surveyed as measured value.In fact, measure as a dynamic process, which is that the movement of one and gauge head is used to
The related dynamic value of property；It is 4. necessary when measuring this type gear when measuring bevel gear or curved tooth cylindrical gear etc. there are some difficulties
Special stylus is replaced, otherwise can not be measured, while stylus and gear under test collision to be avoided to be damaged.Due to contact gear
There is above deficiency in measuring device, can also be used to contactless gear measurement device when carrying out gear measurement.
Laser gear measurement device belongs to one kind of contactless gear measurement device.Laser gear measurement device is according to it
Measuring principle is different, can be divided into laser triangulation, laser ranging method, cone light holography method etc., wherein making especially with laser triangulation
With the most extensively.The measurement light source of laser triangulation is laser, by the laser irradiation that light source is sent out on the surface of object under test,
Then it reflects.Reflected light will be imaged on the detector, and reflected light can become because of the fluctuating on testee surface
Change, imaging can be also subjected to displacement on the detector.Due to being deposited between the movement of detector imaging and actual object displacement
In certain relationship, the actual displacement of object can be by obtaining as the detection moved.It is influenced by tested tooth surface shape, line swashs
Light gear measurement device will appear measurement dead angle problem when carrying out gear measurement, and detector is caused not receive reflected light, nothing
Method effectively obtains data.In the measurement for carrying out different type gear, the requirement to laser gauge head direction is different, is needed
Laser gauge head pose is adjusted, makes to keep good measurement position between gauge head and the tested flank of tooth, and multi-shaft interlocked dress
It puts and can be very good to realize such function.
Six-axis linkage device is one kind in multi-axis linkages, and there are six can be with the rotation of self-movement altogether for this device
Axis or shifting axle have the rectilinear coordinates or rotational coordinates of oneself on each axis.Compared to three traditional axis or four-axis mounting, six
Shaft device can realize more spatial attitude adjustment when carrying out gear measurement.
Invention content
The present invention proposes a kind of six axis laser gear measurement devices, greatly improves measurement speed during gear measurement
Degree, avoids the measurement dead angle problem occurred in measurement process, expands the category of measurable gear, overcome tradition
Contact gear measurement device measurement process middling speed spend it is slow there are gauge head wear problems, overcome for different types of survey
Head carries out the problem of radius compensation.
The present invention is directed to the problem of existing gear measurement device, carries out principle innovation, and basic thought is：The present invention
Using line laser gauge head, the point cloud data of a line on the flank of tooth can be obtained in one-shot measurement, improves the speed of data acquisition
Degree.The present invention in measurement process can be adjusted the direction of laser, be made laser with being tested in real time using six axis motion systems
It keeps preferable between the flank of tooth and measures posture.The gear class that this six axis laser gear measurement device of the present invention can measure
Type is very extensive, and the variously-shaped flank of tooth can be scanned from best angle by the cooperation of six axis motion systems and laser line generator,
It can be very good the more difficult gear of reply bevel gear or curved tooth cylindrical gear etc. measurements.
The present invention can be joined in the case of known tested design of gears parameter and machined parameters by six axis motion systems
It is dynamic, make in optimum measurement state between line laser gauge head and the flank of tooth to be measured, and in entire measurement process, according to tested surface
Situation selects best measurement position, and data can not be obtained, while improve measurement result by avoiding encountering measurement dead angle in measurement process
Accuracy.
The technical scheme is that:A kind of six axis laser gear measurement devices adjust machine including two axis gauge head poses
Structure 1, three axis mobile mechanisms 2, gear fixed mechanism 3.
The two axis gauge head pose adjustment mechanism 1 includes first rotating arm 1.1, the first guider 1.2, the second rotating arm
1.3rd, the second guider 1.4, gauge head 1.5, the first Circular gratings 1.6 and the second Circular gratings 1.7.
The three axis mobile mechanism 2 includes the first guide rail 2.1, the first grating 2.2, measuring arm 2.3, the second guide rail 2.4, the
Two gratings 2.5 and flexible measuring arm 2.6.
The gear fixed mechanism 3 includes revolving platform 3.1, the first fixed arm 3.2, the second fixed arm 3.3, third fixed arm
3.4th, top 3.5, third guide rail 3.6 under, the 4th guide rail 3.7, taper roll bearing 3.8, upper top 3.9, pedestal 3.10 and
Three Circular gratings 3.11.
The α axis is the rotary shaft of first rotating arm 1.1, and direction is parallel with horizontal plane.
The β axis is the rotary shaft of the second rotating arm 1.3, direction and horizontal plane.
The θ axis is the rotary shaft of revolving platform 3.1, and direction is parallel with horizontal plane.
The X-axis is shifting axle of the measuring arm 2.3 along the first guide rail 2.1, direction and the glide direction phase of the first guide rail 2.1
Together.
The Y-axis is flexible shifting axle of the measuring arm 2.6 along the second guide rail 2.4, direction and the slip side of the second guide rail 2.4
To identical.
The Z axis is the telescopic shaft of flexible measuring arm 2.6, and direction is identical with the telescopic direction of flexible measuring arm 2.6.X、Y、
Tri- axis of Z is orthogonal.
The first guider 1.2 in the two axis gauge head pose adjustment mechanism 1 is fixed on the end face of flexible measuring arm 2.6
On, first rotating arm 1.1 is connected with the first guider 1.2, and can be rotated around the direction α axis for being parallel to measuring arm 2.3, the
One guider 1.2 control first rotating arm 1.1 is only rotated along α axis, and rotation angle is by being fixed on the first guider 1.2
First Circular gratings 1.6 obtain, known to the length of first rotating arm 1.1 to its rotary shaft α.Second guider 1.4 is fixed on
On the end face of one rotating arm 1.1, the second rotating arm 1.3 is connected with the second guider 1.4, rotary shaft β directions and the first rotation
The rotary shaft α directions of arm 1.1 are vertical, and the second guider 1.4 controls the second rotating arm 1.3 only to be rotated along β axis, and rotation angle can
It is obtained by the second Circular gratings 1.7 being fixed on the second guider 1.4, the length of the second rotating arm 1.3 to its rotary shaft β is
Know.Gauge head 1.5 is fixed on the end face of the second rotating arm 1.3, and the measuring principle of gauge head 1.5 is laser triangulation, the line got
Laser direction is vertical with the rotary shaft β directions of the second rotating arm 1.3.Two axis gauge head pose adjustment mechanisms 1 pass through α axis and β axis
Rotation adjustment gauge head pose, makes to keep stable measurement posture between the flank of tooth and gauge head to be measured, improves the precision of measurement data.
The first guide rail 2.1 in the three axis mobile mechanism 2 is fixed on pedestal 3.10, and the first guide rail 2.1 is along X-direction
Perpendicular to the long side of pedestal 3.10, measuring arm 2.3 can simultaneously be moved perpendicular to the upper surface of pedestal 3.10 along the first guide rail 2.1,
The displacement of measuring arm 2.3 can be measured by the first grating 2.2 being fixed on pedestal 3.10, and the first grating 2.2 is parallel to first and leads
Rail 2.1.Second guide rail 2.4 is fixed in measuring arm 2.3, and the direction of the second guide rail 2.4 is Y-axis perpendicular to the X-axis side of guide rail 2.1
To flexible measuring arm 2.6 is fixed on the second guide rail 2.4, and is slided along the direction Y-axis of the second guide rail 2.4, measuring arm of stretching
2.6 displacement is measured by the second grating 2.5 being fixed in measuring arm 2.3, and the second grating 2.5 is parallel to the second guide rail 2.4.It stretches
Contracting measuring arm 2.6 can stretch along the Z-direction perpendicular to X-axis and Y-axis, and one end of flexible measuring arm 2.6 is connected to two axis gauge heads
Pose adjustment mechanism 1.Tri- axis of X, Y, Z in three axis mobile mechanisms 2 is orthogonal, and three axis mobile mechanisms 2 can carry out on a large scale
High-speed mobile, the location determination of measuring system is rapidly completed.
Revolving platform 3.1 in the gear fixed mechanism 3 is fixed on pedestal 3.10, and rotating shaft θ axis is parallel with Y-axis,
Perpendicular to pedestal 3.10, rotation angle is measured by the third Circular gratings 3.11 being fixed on pedestal 3.10, under it is top 3.5 fix
It on revolving platform 3.1, can be rotated with revolving platform 3.1, rotation axis is θ axis.3.3 phase of first fixed arm 3.2 and the second fixed arm
It is mutually parallel and be fixed on pedestal 3.10, and perpendicular to the upper surface of pedestal 3.10.3.6 and the 4th guide rail 3.7 of third guide rail divides
Wei Yu not be on the first fixed arm 3.2 and the second fixed arm 3.3,3.6 and the 4th guide rail 3.7 of third guide rail is parallel with Y direction, and
One fixed arm 3.2 and the second fixed arm 3.3 are symmetrical about θ axis centers.Third fixed arm 3.4 is led with third guide rail 3.6 and the 4th
Rail 3.7 is connected, and can be slided along the direction of 3.6 and the 4th guide rail 3.7 of third guide rail, and after reaching designated position, third is fixed
Arm 3.4 no longer moves.3.4 3 first fixed arm 3.2, the second fixed arm 3.3 and third fixed arm arms are in H-type gantry
Formula, stable structure can be firmly fixed gear under test, gear under test made not shake in measurement process, reduce to measure and miss
Difference.Upper top 3.9 are fixed on by taper roll bearing 3.8 on third fixed arm 3.4, upper top 3.9 can around center axis rotation,
Upper top 3.9 central shaft and θ overlapping of axles.
Pedestal 3.10 is supported by marble, has the spy that stability is good, and intensity is big, hardness is high, not modification, wearability are good
Point.Axial force can be changed into non-axial force by taper roll bearing 3.8, be greatly reduced fixed arm 3.4 in θ axis directions
Deformation.
The present invention operation principle be：
The specific embodiment that gear measurement is carried out using the present invention is achieved by the steps of.
The first step, system reset.Servo motor is driven to operate six axis by control system to move, move by the straight line of X-axis
It is dynamic that Y, Z, α, β axis is driven to be moved forward and backward along X-axis, Z, α, β axis is driven to move up and down along Y-axis by moving up and down for Y-axis, pass through Z
The telescopic moving of axis drives α, β axis to be moved forward and backward along Z axis, β axis is driven to be moved around α shaft rotations by the rotation of α axis.By each axis, institute is right
The grating signal answered obtains six axial coordinate information, realizes that six axis reset, finds the coordinate system corresponding to kinematic system.
Second step, gear are loaded.Gear under test and mating mandrel are attached, then move down fixed arm 3.4, it will
Mandrel be fixed on top 3.9 and under between top 3.5, make the central shaft of mandrel and the central shaft of gear under test and revolving platform
3.1 rotating shaft θ overlapping of axles.The locking device self-locking on 3.6 and the 4th guide rail 3.7 of third guide rail after finishing is fixed, it is fixed
Arm 3.4 no longer moves, and gear fixation finishes.
Third walks, gauge head positioning.By the input to gear under test known parameters, X, Y, Z tri- in three axis mobile mechanisms 2
Axis moves on a large scale, and the distance between gauge head and gear under test is made to reach the optimum distance of surveyor.Subsequent two axis gauge head pose
α axis and β axis in adjustment mechanism 1. rotate, the angle between adjust automatically gauge head and the tested flank of tooth.Treat laser gauge head
After reaching theoretical best angle, the θ shaft driven gears rotation in gear fixed mechanism 3 passes through the collected flank of tooth data of gauge head
Whether automatic decision has reached optimum measurement angle.Best measurement position and most is reached between gauge head and the flank of tooth to be measured confirming
After good measurement angle, gauge head positioning is completed, and the line laser vertical irradiation that laser line generator is got at this time is on the flank of tooth to be measured.
4th step starts to measure.Laser line generator can measure the location information of the flank of tooth to be measured at this time, then, revolving platform 3.1
It is rotated around θ axisAngle.At this point, the line laser that laser line generator is got is radiated at the flank of tooth to be measured of next tooth,
The step-length that revolving platform 3.1 rotates is θ ', and unilateral flank profil line with teeth can be obtained during gear rotates a circle.With
Afterwards, by the movement of six axis motion systems, make to find optimum measurement position between the opposite side of the gauge head and gear under test flank of tooth to be measured
It puts, it is with teeth with the rotation of step-length θ ' and stopping institute being measured during gear rotates a circle again by revolving platform 3.1
Opposite side unilateral flank profil line.
5th step, scanning survey.The line laser for gauge head being controlled to be sent out by six axis motion systems is radiated at the same flank of tooth
On different location, the data of different location can be collected on the same flank of tooth.The entire flank of tooth of laser scans can be controlled,
Obtain the information of the entire flank of tooth.
6th step, measurement terminate.Six axis motion systems drive gauge head playback.
The beneficial effects of the invention are as follows：
1. the gauge head pose adjustment mechanism in the present invention can be adjusted according to the flank of tooth to be measured of gear under test, make gauge head
Optimum measurement state is kept between the flank of tooth, improves measurement accuracy, the gear-type that can be measured includes：Roller gear, cone
Gear, spur gear, helical gear, herringbone bear, curved tooth cylindrical gear etc..
2. the invention avoids the measurement dead angle problem occurred in measurement process, the accuracy of measurement result is improved.
3. the present invention can restore the 3-D graphic of gear by the gear data that laser line generator measures, by the survey of gear
Amount result images show.
4. the present invention uses laser line generator as gauge head, can be in the situation compared with high measurement speed when carrying out gear measurement
The lower accuracy for ensureing to measure, greatly improves measuring speed.
5. can effectively be fixed to gear under test in the present invention, avoid the fixing device in measurement process that pine occurs
It is dynamic, cause measurement data inaccurate.
Description of the drawings
Fig. 1 is the six axis laser gear measurement schematic device of one kind of the present invention.
Fig. 2 is the two axis gauge head pose adjustment mechanism schematic diagrames of the present invention.
Fig. 3 is the three axis mobile mechanism schematic diagrames of the present invention.
Fig. 4 is the gear fixed mechanism schematic diagram of the present invention.
Fig. 5 is schematic diagram of the present invention when carrying out cylindrical straight gear wheel measurement.
Fig. 6 is schematic diagram of the present invention when carrying out bevel gear measurement.
Specific embodiment
With reference to some examples, the present invention is further illustrated, but the implementation of the present invention is not limited to this.
Embodiment 1
As shown in figure 5, the specific embodiment that cylindrical straight gear wheel measurement is carried out using the present invention is achieved by the steps of.
The first step, system reset.Servo motor is driven to operate six axis by control system to move, move by the straight line of X-axis
It is dynamic that Y, Z, α, β axis is driven to be moved forward and backward along X-axis, Z, α, β axis is driven to move up and down along Y-axis by moving up and down for Y-axis, pass through Z
The telescopic moving of axis drives α, β axis to be moved forward and backward along Z axis, β axis is driven to be moved around α shaft rotations by the rotation of α axis.By each axis, institute is right
The grating signal answered obtains six axial coordinate information, realizes that six axis reset, finds the coordinate system corresponding to kinematic system.
Second step, gear are loaded.Spur gear wheel to be measured and mating mandrel are attached, third is then moved down and consolidates
Fixed arm 3.4, by mandrel be fixed on upper top 3.9 and under between top 3.5, make the central shaft of mandrel and the central shaft of gear under test
And the rotating shaft θ overlapping of axles of revolving platform 3.1.Fix the locking device on 3.6 and the 4th guide rail 3.7 of third guide rail after finishing
Self-locking, third fixed arm 3.4 no longer move, and gear fixation finishes.
Third walks, gauge head positioning.By the input to gear under test known parameters, X, Y, Z tri- in three axis mobile mechanisms 2
Axis moves on a large scale, and the distance between gauge head and gear under test is made to reach the optimum distance of surveyor.Subsequent two axis gauge head pose
α axis and β axis in adjustment mechanism 1 rotate, the angle between adjust automatically gauge head and the tested flank of tooth.Treat that laser gauge head reaches
To after theoretical best angle, the θ shaft driven gears rotation in gear fixed mechanism 3, by the collected flank of tooth data of gauge head certainly
It is dynamic to judge whether to have reached optimum measurement angle.Best measurement position and most preferably is reached between gauge head and the flank of tooth to be measured confirming
After measurement angle, gauge head positioning is completed, and the line laser vertical irradiation that laser line generator is got at this time is on the flank of tooth to be measured.
4th step starts to measure.Laser line generator can measure the location information of the flank of tooth to be measured at this time, then, revolving platform 3.1
It is rotated around θ axisAngle.At this point, the line laser that laser line generator is got is radiated at the flank of tooth to be measured of next tooth,
The step-length that revolving platform 3.1 rotates is θ ', and unilateral flank profil line with teeth can be obtained during gear rotates a circle.With
Afterwards, by the movement of six axis motion systems, can make to find best survey between the opposite side of the gauge head and gear under test flank of tooth to be measured
Position is measured, institute can be measured during gear rotates a circle again with the rotation of step-length θ ' and stopping by revolving platform 3.1
The unilateral flank profil line of opposite side with teeth.
5th step, scanning survey.By the movement of Y-axis position in six axis motion systems, the line that can be sent out gauge head
Different height of the laser irradiation on the same flank of tooth collects the data of different height position on the same flank of tooth.Pass through Y-axis
The entire flank of tooth of laser scans can be controlled by moving up and down, and obtain the information point cloud of the entire flank of tooth.It can will be by by host computer
The flank of tooth information point cloud for surveying gear is reduced to 3-D view.
6th step, measurement terminate.Six axis motion systems drive gauge head playback.
Embodiment 2
As shown in fig. 6, the specific embodiment that bevel gear measurement is carried out using the present invention is achieved by the steps of.
The first step, system reset.Servo motor is driven to operate six axis by control system to move, move by the straight line of X-axis
It is dynamic that Y, Z, α, β axis is driven to be moved forward and backward along X-axis, Z, α, β axis is driven to move up and down along Y-axis by moving up and down for Y-axis, pass through Z
The telescopic moving of axis drives α, β axis to be moved forward and backward along Z axis, β axis is driven to be moved around α shaft rotations by the rotation of α axis.By each axis, institute is right
The grating signal answered obtains six axial coordinate information, realizes that six axis reset, finds the coordinate system corresponding to kinematic system.
Second step, gear are loaded.Bevel gear to be measured and mating mandrel are attached, then move down fixed arm 3.4,
By mandrel be fixed on upper top 3.9 and under between top 3.5, make the central shaft of mandrel and the central shaft of gear under test and revolution
The rotating shaft θ overlapping of axles of platform 3.1.The locking device self-locking on 3.6 and the 4th guide rail 3.7 of third guide rail after finishing is fixed, the
Three fixed arms 3.4 no longer move, and gear fixation finishes.
Third walks, gauge head positioning.By the input to gear under test known parameters, X, Y, Z in three axis mobile mechanisms 2.
Three axis move on a large scale, and the distance between gauge head and gear under test is made to reach the optimum distance of surveyor.Subsequent two axis gauge head position
α axis and β axis in appearance adjustment mechanism 1. rotate, the angle between adjust automatically gauge head and the tested flank of tooth.Treat that laser is surveyed
After head reaches theoretical best angle, the θ shaft driven gears rotation in gear fixed mechanism 3. passes through the collected flank of tooth number of gauge head
Optimum measurement angle whether is had reached according to automatic decision.Confirm reached between gauge head and the flank of tooth to be measured best measurement position and
After optimum measurement angle, gauge head positioning is completed, and the line laser vertical irradiation that laser line generator is got at this time is on the flank of tooth to be measured.
4th step starts to measure.Laser line generator can measure the location information of the flank of tooth to be measured at this time, then, revolving platform 3.1
It is rotated around θ axisAngle.At this point, the line laser that laser line generator is got is radiated at the flank of tooth to be measured of next tooth,
The step-length that revolving platform 3.1 rotates is θ ', and unilateral flank profil line with teeth can be obtained during gear rotates a circle.With
Afterwards, by the movement of six axis motion systems, can make to find best survey between the opposite side of the gauge head and gear under test flank of tooth to be measured
Position is measured, institute can be measured during gear rotates a circle again with the rotation of step-length θ ' and stopping by revolving platform 3.1
The unilateral flank profil line of opposite side with teeth.
5th step, scanning survey.By the movement and rotation of six axis motion systems, the line laser that can be sent out gauge head
The different location being radiated on the same flank of tooth collects the data of different height position on helix on the same flank of tooth.Pass through
The movement and rotation of six axis motion systems can control the entire flank of tooth of laser scans, obtain the information point cloud of the entire flank of tooth.It is logical
3-D view can be reduced to by the flank of tooth information point cloud of tested gear by crossing host computer.
6th step, measurement terminate.Six axis motion systems drive gauge head playback.
Claims (3)
1. a kind of six axis laser gear measurement devices, it is characterised in that：Including two axis gauge head pose adjustment mechanisms (1), three axis
Mobile mechanism (2), gear fixed mechanism (3)；
The two axis gauge head pose adjustment mechanism (1) includes first rotating arm (1.1), the first guider (1.2), the second rotation
Arm (1.3), the second guider (1.4), gauge head (1.5), the first Circular gratings (1.6) and the second Circular gratings (1.7)；
The three axis mobile mechanism (2) includes the first guide rail (2.1), the first grating (2.2), measuring arm (2.3), the second guide rail
(2.4), the second grating (2.5) and flexible measuring arm (2.6)；
The gear fixed mechanism (3) is solid including revolving platform (3.1), the first fixed arm (3.2), the second fixed arm (3.3), third
Fixed arm (3.4), under top (3.5), third guide rail (3.6), the 4th guide rail (3.7), taper roll bearing (3.8), upper top
(3.9), pedestal (3.10) and third Circular gratings (3.11)；
The α axis is the rotary shaft of first rotating arm (1.1), and direction is parallel with horizontal plane；
The β axis is the rotary shaft of the second rotating arm (1.3), direction and horizontal plane；
The θ axis is the rotary shaft of revolving platform (3.1), and direction is parallel with horizontal plane；
The X-axis is shifting axle of the measuring arm (2.3) along the first guide rail (2.1), direction and the glide direction of the first guide rail (2.1)
It is identical；
The Y-axis is flexible shifting axle of the measuring arm (2.6) along the second guide rail (2.4), direction and the slip of the second guide rail (2.4)
Direction is identical；
The Z axis is the telescopic shaft of flexible measuring arm (2.6), and direction is identical with the telescopic direction of flexible measuring arm (2.6)；X、Y、
Tri- axis of Z is orthogonal；
The first guider (1.2) in the two axis gauge head pose adjustment mechanism (1) is fixed on the end of flexible measuring arm (2.6)
On face, first rotating arm (1.1) is connected with the first guider (1.2), and can be around the direction α for being parallel to measuring arm (2.3)
Axis rotates, and the first guider (1.2) control first rotating arm (1.1) is only rotated along α axis, and rotation angle is led by being fixed on first
The first Circular gratings (1.6) on device (1.2) obtain, known to first rotating arm (1.1) to the length of its rotary shaft α；Second
Guider (1.4) is fixed on the end face of first rotating arm (1.1), the second rotating arm (1.3) and the second guider (1.4)
It is connected, rotary shaft β directions are vertical with the rotary shaft α directions of first rotating arm (1.1), the second guider (1.4) control second
Rotating arm (1.3) is only rotated along β axis, and rotation angle can be by the second Circular gratings (1.7) for being fixed on the second guider (1.4)
It obtains, known to the second rotating arm (1.3) to the length of its rotary shaft β；Gauge head (1.5) is fixed on the end of the second rotating arm (1.3)
On face, the measuring principle of gauge head (1.5) is laser triangulation, the line laser direction got and the rotation of the second rotating arm (1.3)
Axis β directions are vertical；Two axis gauge head pose adjustment mechanisms (1) adjust gauge head pose by the rotation of α axis and β axis, make the flank of tooth to be measured
Stable measurement posture is kept between gauge head, improves the precision of measurement data；
The first guide rail (2.1) in the three axis mobile mechanism (2) is fixed on pedestal (3.10), and the first guide rail (2.1) is along X-axis
Perpendicular to the long side of pedestal (3.10), measuring arm (2.3) can simultaneously lead perpendicular to the upper surface of pedestal (3.10) along first in direction
Rail (2.1) is mobile, and the displacement of measuring arm (2.3) can be measured by the first grating (2.2) being fixed on pedestal (3.10), the first light
Grid (2.2) are parallel to the first guide rail (2.1)；Second guide rail (2.4) is fixed in measuring arm (2.3), the side of the second guide rail (2.4)
To the X-direction for Y-axis perpendicular to guide rail 2.1, flexible measuring arm (2.6) is fixed on the second guide rail (2.4), and led along second
The direction Y-axis of rail (2.4) is slided, and the displacement of flexible measuring arm (2.6) is by the second grating for being fixed in measuring arm (2.3)
(2.5) it measures, the second grating (2.5) is parallel to the second guide rail (2.4)；Flexible measuring arm (2.6) edge is perpendicular to the Z of X-axis and Y-axis
Axis direction is stretched, and one end of flexible measuring arm (2.6) is connected to two axis gauge head pose adjustment mechanisms (1)；Three axis mobile mechanisms (2)
In tri- axis of X, Y, Z be orthogonal, three axis mobile mechanisms (2) can carry out large-scale high-speed mobile, be rapidly completed measurement system
The location determination of system；
Revolving platform (3.1) in the gear fixed mechanism (3) is fixed on pedestal (3.10), and rotating shaft θ axis is parallel with Y-axis,
Perpendicular to pedestal (3.10)；The rotation angle of revolving platform (3.1) is by the third Circular gratings (3.11) that are fixed on pedestal (3.10)
Measure, under top (3.5) be fixed on revolving platform (3.1), with revolving platform (3.1) rotate, rotation axis be θ axis；First fixed arm
(3.2) it is mutually parallel and is fixed on pedestal (3.10), and perpendicular to the upper table of pedestal (3.10) with the second fixed arm (3.3)
Face；Third guide rail (3.6) and the 4th guide rail (3.7) are located on the first fixed arm (3.2) and the second fixed arm (3.3) respectively, the
Three guide rails (3.6) and the 4th guide rail (3.7) are parallel with Y direction, and the first fixed arm (3.2) and the second fixed arm (3.3) are about θ
Axis center is symmetrical；Third fixed arm (3.4) is connected with third guide rail (3.6) and the 4th guide rail (3.7), and can be along third guide rail
(3.6) it is slided with the direction of the 4th guide rail (3.7), after reaching designated position, third fixed arm (3.4) no longer moves；The
(3.4) three one fixed arm (3.2), the second fixed arm (3.3) and third fixed arm arms are in H-type planer-type；Upper top (3.9) are logical
It crosses taper roll bearing (3.8) to be fixed on third fixed arm (3.4), upper top (3.9) can be upper top around center axis rotation
(3.9) central shaft and θ overlapping of axles.
2. a kind of six axis laser gear measurement device according to claim 1, it is characterised in that：Pedestal (3.10) is by big
Reason stone supports；Axial force is changed into non-axial force by taper roll bearing (3.8), reduces third fixed arm (3.4) in θ axis sides
Upward deformation.
3. a kind of six axis laser gear measurement device according to claim 1, it is characterised in that：The device passes through as follows
Step realization,
The first step, system reset；Servo motor is driven to operate six axis by control system to move, pass through the linear movement band of X-axis
Dynamic Y, Z, α, β axis is moved forward and backward along X-axis, Z, α, β axis is driven to move up and down along Y-axis by moving up and down for Y-axis, is passed through Z axis
Telescopic moving drives α, β axis to be moved forward and backward along Z axis, β axis is driven to be moved around α shaft rotations by the rotation of α axis；By corresponding to each axis
Grating signal obtains six axial coordinate information, realizes that six axis reset, finds the coordinate system corresponding to kinematic system；
Second step, gear are loaded；Gear under test and mating mandrel are attached, then move down fixed arm 3.4, by mandrel
Be fixed on top (3.9) and under between top (3.5), make the central shaft of mandrel and the central shaft of gear under test and revolving platform
(3.1) rotating shaft θ overlapping of axles；Locking device after fixation finishes on third guide rail (3.6) and the 4th guide rail (3.7) is certainly
Lock, third fixed arm (3.4) no longer move, and gear fixation finishes；
Third walks, gauge head positioning；By the input to gear under test known parameters, tri- axis of X, Y, Z in three axis mobile mechanisms (2)
It is a wide range of mobile, the distance between gauge head and gear under test is made to reach the optimum distance of surveyor；Subsequent two axis gauge head pose tune
α axis and β axis in complete machine structure (1) rotate, the angle between adjust automatically gauge head and the tested flank of tooth；Treat that laser gauge head reaches
To after theoretical best angle, the θ shaft driven gears rotation in gear fixed mechanism (3) passes through the collected flank of tooth data of gauge head
Whether automatic decision has reached optimum measurement angle；Best measurement position and most is reached between gauge head and the flank of tooth to be measured confirming
After good measurement angle, gauge head positioning is completed, and the line laser vertical irradiation that laser line generator is got at this time is on the flank of tooth to be measured；
4th step starts to measure；Laser line generator can measure the location information of the flank of tooth to be measured at this time, then, revolving platform (3.1) around
θ axis rotatesAngle；At this point, the line laser that laser line generator is got is radiated at the flank of tooth to be measured of next tooth, return
The step-length of turntable (3.1) rotation is θ ', and unilateral flank profil line with teeth is obtained during gear rotates a circle；Then, lead to
The movement of six axis motion systems is crossed, makes to find best measurement position between the opposite side of the gauge head and gear under test flank of tooth to be measured, is led to
It crosses revolving platform (3.1) opposite side with teeth is measured with stopping at the rotation of step-length θ ' during gear rotates a circle again
Unilateral flank profil line；
5th step, scanning survey；The line laser for gauge head being controlled to be sent out by six axis motion systems is radiated on the same flank of tooth
Different location collects the data of different location on the same flank of tooth；The entire flank of tooth of laser scans is controlled, obtains the entire flank of tooth
Information；
6th step, measurement terminate；Six axis motion systems drive gauge head playback.
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