CN112254667A - Gear offset measurement method based on laser displacement sensor - Google Patents
Gear offset measurement method based on laser displacement sensor Download PDFInfo
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
- G01B11/2522—Projection by scanning of the object the position of the object changing and being recorded
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Abstract
The invention discloses a gear offset measuring method based on a laser displacement sensor in the technical field of gear measurement, which comprises the following steps: (1) driving a laser displacement sensor to move along a guide rail, and calibrating the position of a central shaft of a gear to be measured; (2) installing a measured gear, driving a laser displacement sensor to move to a position where the tooth profile is to be measured along a Z-axis guide rail, setting a bias amount, and driving the laser displacement sensor to move so that a laser beam is directly emitted to the measured tooth profile; (3) driving a workpiece rotating table to rotate reversely along the developing direction of the unilateral tooth surface involute, and collecting displacement data of a projection point of a light beam on a measured tooth profile relative to a central shaft of a measuring gear coordinate system; (4) setting a new offset to enable the laser displacement sensor to be offset to the other side of the gear, rotating the workpiece rotary table along the involute development direction of the tooth surface on the other side of the gear, and collecting displacement data of a projection point on the measured tooth profile; (5) converting the displacement data measured twice into polar coordinates; the invention has high measurement precision.
Description
Technical Field
The invention relates to a gear measuring method, in particular to a gear offset measuring method based on a laser displacement sensor.
Background
The gear measurement technology can be divided into two types of contact measurement and non-contact measurement, and the contact measurement method for recording the three-dimensional coordinate position of a surface point of a body by contacting a contact type or scanning type sensing probe with the surface of a geometric body is widely used at present. Contact measurement can be effectively used for measuring straight gears, helical gears and the like, but when a contact measuring head is used for measuring a spiral cylindrical gear, a contact surface is a curved surface, a normal vector of a contact point is constantly changed, and because the volume of the measuring head is different between a theoretical contact point and an actual contact point, the position of the measuring head is difficult to compensate, and a large amount of calculation is consumed. The existing non-contact measurement mainly utilizes a laser triangulation method, a measuring device comprises a workbench, a workpiece rotary table and a three-coordinate translation mechanism are arranged on the workbench, the three-coordinate translation mechanism comprises an X-axis guide rail fixed on the upper side of the workbench, a Y-axis guide rail is connected on the X-axis guide rail in a sliding manner, a Z-axis guide rail is connected on the Y-axis guide rail in a sliding manner, a carriage is connected on the Z-axis guide rail in a sliding manner, a rotatable laser displacement sensor is connected on the carriage, a laser head and the center of a gear are always on the same straight line during testing, the distance from a measured point to the center of the gear is obtained by measuring the distance from the laser head and a tooth surface, the method can directly measure complex gears such as an arc tooth cylindrical gear and the like, the operation is simple, but the angle between a normal vector of the tooth surface and a measuring laser beam, but a large light spot is formed, the fluctuation of the measurement result is large, and the measurement precision is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of low measurement precision in the prior art and provides a gear offset measurement method based on a laser displacement sensor.
The purpose of the invention is realized as follows: a gear offset measurement method based on a laser displacement sensor comprises a measuring device used in the measurement method and comprises a workbench, wherein a workpiece rotary table and a three-coordinate translation mechanism are arranged on the workbench, the three-coordinate translation mechanism comprises an X-axis guide rail fixed on the upper side of the workbench, a Y-axis guide rail is connected onto the X-axis guide rail in a sliding manner, a Z-axis guide rail is connected onto the Y-axis guide rail in a sliding manner, a lifting frame is connected onto the Z-axis guide rail in a sliding manner, the lifting frame is connected with the laser displacement sensor, a central positioning mandrel is vertically arranged on the workpiece rotary table, and the measurement method comprises the following steps,
(1) driving a laser displacement sensor to move along guide rails of an X axis, a Y axis and a Z axis, and collecting peripheral data of the outer circumference of a central positioning mandrel to calibrate the position of a central shaft of a gear to be measured;
(2) mounting a gear to be measured on a central positioning mandrel, driving a laser displacement sensor to move to a position where the tooth profile is to be measured along a Z-axis guide rail, setting an offset e, and driving the laser displacement sensor to move along an X-axis guide rail to enable a laser beam emitted by the laser displacement sensor to be directly emitted to the tooth profile to be measured;
(3) driving a workpiece rotating table to rotate reversely at a constant speed along the unfolding direction of the unilateral tooth surface involute, and acquiring displacement data of a projection point of a light beam on a measured tooth profile relative to a central shaft of a measuring gear coordinate system;
(4) setting an offset 2e, driving a laser displacement sensor to move along an X-axis guide rail, so that the laser displacement sensor is offset to the other side of the gear, rotating a workpiece rotary table along the tooth surface involute unfolding direction on the other side of the gear, sequentially and directly irradiating laser beams emitted by the laser displacement sensor onto the tooth profile of the measured gear, and collecting displacement data of a projection point of the laser beams on the measured tooth profile relative to a central axis of a measuring gear coordinate system;
(5) and converting the displacement data measured twice into polar coordinates, and fitting the coordinate point description of the tooth profile to judge the error of the measured tooth profile.
As a further improvement of the invention, the three-coordinate translation mechanism is driven by a servo motor and controls the laser displacement sensor to move along an X-axis guide rail, a Y-axis guide rail or a Z-axis guide rail through a controller, and a rotary driving device is arranged at the bottom of the workpiece rotary table.
In order to further realize the calibration of the coordinate system, in the step (1), the calibration method of the coordinate system is as follows: the laser displacement sensor is driven by a servo motor to move to any proper position on the central positioning mandrel along the Z-axis guide rail, the Y-axis guide rail and the Z-axis guide rail are fixed, the laser displacement sensor is made to move from one side of the central positioning mandrel to the other side along the X-axis direction, the readings of the laser displacement sensor are recorded in the process, when a light beam is close to the center of the central positioning mandrel, the readings are increased after being reduced firstly, multiple comparisons are carried out by driving the laser displacement sensor to reciprocate along the X-axis guide rail, and the minimum position of the readings just passes through the central axis of the central positioning mandrel.
In order to further realize the setting of the offset, in the step (2), the measured gear is installed on a central positioning mandrel, the central positioning mandrel and a workpiece rotary table are fixed to coaxially rotate through a heart-shaped chuck to drive the measured gear and the workpiece rotary table to coaxially rotate, the Z-direction height of a laser displacement sensor is adjusted through a servo motor, a laser beam emitted by the laser displacement sensor is made to strike on a tooth surface, an offset value e is set after calibration, an X-axis guide rail is adjusted through the servo motor to move so that the laser displacement sensor is located at an offset position, the servo motor is driven by a controller to adjust the laser displacement sensor to move along a Y-axis guide rail to be close to the surface of the gear, a measured tooth profile reference circle is located at a standard measuring range D of the laser displacement sensor, and the displacement indication of the laser displacement sensor is.
In order to further realize the acquisition of the measured data, in the step (3), the involute expansion direction of the measured gear is specified to be the current measured rotation direction, the rotation driving device drives the workpiece turntable to drive the measured gear to rotate, meanwhile, the laser displacement sensor projects a laser beam onto the measured tooth profile, the acquisition of the position displacement coordinate data relative to the X axis is carried out, the center of the measured gear coordinate system is taken as a pole, and the acquired data are the angle rotated by taking the measured gear as the pole as the center and the distance from the laser displacement sensor corresponding to the angle to the tooth surface.
In order to further set the reverse offset, in the step (4), the offset is set to be twice of the offset on one side in the step (2), specifically, the laser displacement sensor is driven by the servo motor to be offset along the other direction of the X axis, the laser beam returns to a calibration position before the offset through one offset, and reaches a position of one offset relative to the X axis of the measured gear coordinate system through two offsets, at this time, the measured tooth surface is the other side tooth surface of the gear, and the involute expansion direction of the measured tooth surface on the side is specified to be the current measured rotation direction in a reverse direction.
In order to further realize the calculation of the coordinates of each measurement point, in the step (5), the polar coordinate conversion method is specifically to take any two points pmAnd pnTwo points of measurement are pm(lM measurement,θm)， pn(lMeasure n,θn)，lMeasuringThe distance from the laser displacement sensor to the measured point of the tooth surface, lM measurementFor the laser displacement sensor to the measured point p of the tooth surfacemA distance of lMeasure nFor the laser displacement sensor to the measured point p of the tooth surfacenA distance of (a), thetamFor measuring point p of laser displacement sensormThe point p corresponding to the angle encoder arranged in the time workpiece rotary tablemAngle reading of thetanFor measuring point p of laser displacement sensornPoint p corresponding to time angle encodernThe distance from the laser displacement sensor to the X axis is d, and the distance from the measured point to the X axis is d-lMeasuringThe offset value is e, and the measurement result can be converted into a polar coordinate formula
With pmAs a reference, pmThe angle between the X axis and the arc cos (e/r)m) From pmTo pnThe angle of rotation of the gear is thetan-θm，pnThe included angle between the Y axis and the Y axis is arsin (e/r)n) Then p ismAnd pnAngle theta with respect to gear coordinate system being arccos (e/r)m)+θn-θm+arsin(e/rn) - π/2, let the measured point pmAt the initial point zero point, pnPoint is pmNext point of conversion of point, pmAnd pnConversion of polar coordinate to pm(rm,0)，pn(rnθ) of which
θ＝arcos(e/rm)+θn-θm+arsin(e/rn) -pi/2, when converting the next point, let the next point be pn+1Conversion point pn+1Has the polar coordinate formula of pn+1(rn+1,θ+θ1) Wherein
θ1＝arcos(e/rn)+θn+1-θn+arsin(e/rn+1)-π/2。
drawings
FIG. 1 is a perspective view of a measuring apparatus according to the present invention.
Fig. 2 is a schematic diagram of the bias measurement in the present invention.
Fig. 3 is a schematic diagram of the reverse bias measurement in the present invention.
Fig. 4 is a schematic diagram of polar coordinate transformation in the present invention.
The automatic detection device comprises a 1X-axis guide rail, a 2 working table, a 3 rotary driving device, a 4 workpiece rotary table, a 5 lower tip, a 6 heart-shaped chuck, a 7 center positioning mandrel, a 8 measured gear, a 9 fixed seat, a 10 upper tip, 11 laser displacement sensors, a 12Z-axis guide rail, a 13 lifting frame and a 14Y-axis guide rail.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A gear offset measuring method based on a laser displacement sensor comprises a workbench, a workpiece rotary table, a three-coordinate translation mechanism and a fixed seat are arranged on the workbench, the three-coordinate translation mechanism comprises an X-axis guide rail fixed on the upper side of the workbench, a Y-axis guide rail is slidably connected onto the X-axis guide rail, a Z-axis guide rail is slidably connected onto the Y-axis guide rail, a lifting frame is slidably connected onto the Z-axis guide rail, a laser displacement sensor is connected onto the lifting frame, a central positioning mandrel is vertically arranged on the workpiece rotary table, the three-coordinate translation mechanism is driven by a servo motor and controls the laser displacement sensor to move along the X-axis guide rail or the Y-axis guide rail or the Z-axis guide rail through a controller, a rotary driving device is arranged at the bottom of the workpiece rotary table, an upper center which can be lifted and extends downwards is connected onto the fixed seat, a chicken center chuck, the measuring method comprises the following steps of clamping a central positioning mandrel by a heart-shaped clamping head, lowering an upper tip to enable the central positioning mandrel to be positioned between the lower tip and the upper tip, rotating the upper tip and the lower tip and the central positioning mandrel along with a workpiece rotary table,
(1) driving a laser displacement sensor to move along guide rails of an X axis, a Y axis and a Z axis, and collecting peripheral data of the outer circumference of a central positioning mandrel to calibrate the position of a central shaft of a gear to be measured;
(2) mounting a gear to be measured on a central positioning mandrel, driving a laser displacement sensor to move to a position where the tooth profile is to be measured along a Z-axis guide rail, setting an offset e, and driving the laser displacement sensor to move along an X-axis guide rail to enable a laser beam emitted by the laser displacement sensor to be directly emitted to the tooth profile to be measured;
(3) driving a workpiece rotating table to rotate reversely at a constant speed along the unfolding direction of the unilateral tooth surface involute, and acquiring displacement data of a projection point of a light beam on a measured tooth profile relative to a central shaft of a measuring gear coordinate system;
(4) setting an offset 2e, driving a laser displacement sensor to move along an X-axis guide rail, so that the laser displacement sensor is offset to the other side of the gear, rotating a workpiece rotary table along the tooth surface involute unfolding direction on the other side of the gear, sequentially and directly irradiating laser beams emitted by the laser displacement sensor onto the tooth profile of the measured gear, and collecting displacement data of a projection point of the laser beams on the measured tooth profile relative to a central axis of a measuring gear coordinate system;
(5) and converting the displacement data measured twice into polar coordinates, and fitting the coordinate point description of the tooth profile to judge the error of the measured tooth profile.
In order to further realize the calibration of the coordinate system, in the step (1), the calibration method of the coordinate system comprises the following steps: the laser displacement sensor is driven by a servo motor to move to any proper position on the central positioning mandrel along the Z-axis guide rail, the Y-axis guide rail and the Z-axis guide rail are fixed, the laser displacement sensor is made to move from one side of the central positioning mandrel to the other side along the X-axis direction, the readings of the laser displacement sensor are recorded in the process, when a light beam is close to the center of the central positioning mandrel, the readings are increased after being reduced firstly, multiple comparisons are carried out by driving the laser displacement sensor to reciprocate along the X-axis guide rail, and the minimum position of the readings just passes through the central axis of the central positioning mandrel.
In order to further realize the setting of the offset, in the step (2), the measured gear is installed on a central positioning mandrel, the central positioning mandrel and a workpiece rotary table are fixed to coaxially rotate through a heart-shaped chuck to drive the measured gear and the workpiece rotary table to coaxially rotate, the Z-direction height of a laser displacement sensor is adjusted through a servo motor, a laser beam emitted by the laser displacement sensor is made to strike on a tooth surface, an offset value e is set after calibration, an X-axis guide rail is adjusted through the servo motor to move so that the laser displacement sensor is located at an offset position, the servo motor is driven by a controller to adjust the laser displacement sensor to move along a Y-axis guide rail to be close to the surface of the gear, a measured tooth profile pitch circle is located at a standard measuring range D of the laser displacement sensor, and the displacement indication of the laser displacement sensor.
In order to further realize the acquisition of the measured data, step (3), the involute expansion direction of the measured gear is specified to be the current measured rotation direction, the rotation driving device drives the workpiece turntable to drive the measured gear to rotate, meanwhile, the laser displacement sensor projects a laser beam onto the measured tooth profile, the acquisition of the position displacement coordinate data relative to the X axis is carried out, the center of the measured gear coordinate system is taken as a pole, and the acquired data are the angle rotated by taking the measured gear as the pole as the center and the distance from the laser displacement sensor corresponding to the angle to the tooth surface.
In order to further set the reverse offset, in the step (4), the offset is set to be twice of the offset on the single side in the step (2), specifically, the laser displacement sensor is driven by the servo motor to be offset along the other direction of the X axis, the laser beam returns to a calibration position before the offset through one offset, and reaches a position of one offset relative to the X axis of the measured gear coordinate system through two offsets, at this time, the measured tooth surface is the tooth surface on the other side of the gear, and the involute expansion direction of the measured tooth surface on the side is specified to be the current measured rotation direction in a reverse direction.
In order to further realize the calculation of the coordinates of each measuring point, in the step (5), the conversion method of the polar coordinates is concretely that any two points p are takenmAnd pnTwo points of measurement are pm(lM measurement,θm)，pn(lMeasure n,θn)， lMeasuringThe distance from the laser displacement sensor to the measured point of the tooth surface, lM measurementFor the laser displacement sensor to the measured point p of the tooth surfacemA distance of lMeasure nFor the laser displacement sensor to the measured point p of the tooth surfacenA distance of (a), thetamFor measuring point p of laser displacement sensormThe point p corresponding to the angle encoder arranged in the time workpiece rotary tablemAngle reading of thetanFor measuring point p of laser displacement sensornPoint p corresponding to time angle encodernThe distance from the laser displacement sensor to the X axis is d, and the distance from the measured point to the X axis is d-lMeasuringThe offset value is e, and the measurement result can be converted into a polar coordinate formula
With pmAs a reference, pmThe angle between the X axis and the arc cos (e/r)m) From pmTo pnThe angle of rotation of the gear is thetan-θm， pnThe included angle between the Y axis and the Y axis is arsin (e/r)n) Then p ismAnd pnRelative to each otherAngle theta in gear coordinate system being arccos (e/r)m)+θn-θm+arsin(e/rn) - π/2, let the measured point pmAt the initial point zero point, pnPoint is pmNext point of conversion of point, pmAnd pnConversion of polar coordinate to pm(rm,0)，pn(rnθ) of which
θ＝arcos(e/rm)+θn-θm+arsin(e/rn) -pi/2, when converting the next point, let the next point be pn+1Conversion point pn+1Has the polar coordinate formula of pn+1(rn+1,θ+θ1)， pnThe polar coordinate formula of the next i conversion points after the point is as follows
Wherein,
θ1＝arcos(e/rn)+θn+1-θn+arsin(e/rn+1)-π/2，θj＝arcos(e/rn+j-1)+θn+j-θn+j-1+arsin(e/rn+j) -pi/2, j is not less than 1 and is an integer; thetan+1For measuring point p of laser displacement sensorn+1Point p corresponding to time angle encodern+1The angle reading of (c).
The method can improve the included angle between the laser beam and the normal direction of the tooth surface, so that the light spots of the laser beam on the tooth surface are converged into one point, the problem that the measured data fluctuates because the light rays passing through the center of the gear cannot be converged into one point at the steep position of the tooth surface is solved, the measurement of a complex gear can be realized, the tooth surface data are not fluctuated in the measurement process, and the precision is good; the gear measuring device can be applied to measuring work of various gears.
The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts based on the disclosed technical solutions, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (7)
1. A gear offset measurement method based on a laser displacement sensor is characterized in that a laser displacement sensor is connected to a lifting frame, and the measurement method comprises the following steps,
(1) driving a laser displacement sensor to move along guide rails of an X axis, a Y axis and a Z axis, and collecting peripheral data of the outer circumference of a central positioning mandrel to calibrate the position of a central shaft of a gear to be measured;
(2) mounting a gear to be measured on a central positioning mandrel, driving a laser displacement sensor to move to a position where the tooth profile is to be measured along a Z-axis guide rail, setting an offset e, and driving the laser displacement sensor to move along an X-axis guide rail to enable a laser beam emitted by the laser displacement sensor to be directly emitted to the tooth profile to be measured;
(3) driving a workpiece rotating table to rotate reversely at a constant speed along the unfolding direction of the unilateral tooth surface involute, and acquiring displacement data of a projection point of a light beam on a measured tooth profile relative to a central shaft of a measuring gear coordinate system;
(4) setting an offset 2e, driving a laser displacement sensor to move along an X-axis guide rail, so that the laser displacement sensor is offset to the other side of the gear, rotating a workpiece rotary table along the tooth surface involute unfolding direction on the other side of the gear, sequentially and directly irradiating laser beams emitted by the laser displacement sensor onto the tooth profile of the measured gear, and collecting displacement data of a projection point of the laser beams on the measured tooth profile relative to a central axis of a measuring gear coordinate system;
(5) and converting the displacement data measured twice into polar coordinates, and fitting the coordinate point description of the tooth profile to judge the error of the measured tooth profile.
2. The gear offset measurement method based on the laser displacement sensor as claimed in claim 1, wherein the three-coordinate translation mechanism is driven by a servo motor and controls the laser displacement sensor to move along an X-axis guide rail, a Y-axis guide rail or a Z-axis guide rail through a controller, and a rotary driving device is arranged at the bottom of the workpiece rotary table.
3. The gear offset measurement method based on the laser displacement sensor as claimed in claim 2, wherein in the step (1), the calibration method of the coordinate system is: the laser displacement sensor is driven by a servo motor to move to any proper position on the central positioning mandrel along the Z-axis guide rail, the Y-axis guide rail and the Z-axis guide rail are fixed, the laser displacement sensor is made to move from one side of the central positioning mandrel to the other side along the X-axis direction, the readings of the laser displacement sensor are recorded in the process, when a light beam is close to the center of the central positioning mandrel, the readings are increased after being reduced firstly, multiple comparisons are carried out by driving the laser displacement sensor to reciprocate along the X-axis guide rail, and the minimum position of the readings just passes through the central axis of the central positioning mandrel.
4. The gear offset measuring method based on the laser displacement sensor as claimed in claim 2, it is characterized in that in the step (2), the gear to be measured is arranged on a central positioning mandrel, the central positioning mandrel is fixed and coaxially rotates with the workpiece rotary table through a chicken heart chuck to drive the gear to be measured and the workpiece rotary table to coaxially rotate, the Z-direction height of the laser displacement sensor is adjusted through a servo motor, so that a laser beam emitted by the laser displacement sensor is irradiated on the tooth surface, a bias value e is set after calibration, the servo motor is driven to drive the servo motor to adjust the laser displacement sensor to move along the Y-axis guide rail to be close to the surface of the gear, so that the measured tooth profile reference circle is located at the standard measuring range D of the laser displacement sensor, and the displacement reading of the laser displacement sensor is zero at the moment.
5. The gear offset measurement method based on the laser displacement sensor as claimed in claim 2, wherein in the step (3), the involute expansion direction of the measured gear is defined to be opposite to the currently measured rotation direction, the rotation driving device drives the workpiece turntable to drive the measured gear to rotate, meanwhile, the laser displacement sensor projects a laser beam onto the measured tooth profile, and the data of the position displacement coordinate relative to the X axis is collected, wherein the center of the coordinate system of the measured gear is taken as a pole, and the collected data are the angle rotated by taking the measured gear as the pole as the center and the distance from the laser displacement sensor corresponding to the angle to the tooth surface.
6. The gear offset measurement method based on the laser displacement sensor as claimed in claim 2, wherein in the step (4), the offset is set to be twice of the offset of the single side in the step (2), specifically, the laser displacement sensor is driven by the servo motor to be offset along the other direction of the X axis, the laser beam returns to a calibration position before the offset through one offset, and reaches a position of one offset relative to the X axis of the measured gear coordinate system through two offsets, at this time, the measured tooth surface is the tooth surface of the other side of the gear, and it is specified that the involute expansion direction of the measured tooth surface of the side is reversed to the currently measured revolution direction.
7. The method for measuring gear offset based on the laser displacement sensor according to any one of claims 1 to 6, wherein in the step (5), the polar coordinate is converted by taking any two points pmAnd pnTwo points of measurement are pm(lM measurement,θm)，pn(lMeasure n,θn)，lMeasuringThe distance from the laser displacement sensor to the measured point of the tooth surface, lM measurementFor the laser displacement sensor to the measured point p of the tooth surfacemA distance of lMeasure nFor the laser displacement sensor to the measured point p of the tooth surfacenA distance of (a), thetamFor measuring point p of laser displacement sensormThe point p corresponding to the angle encoder arranged in the time workpiece rotary tablemAngle reading of thetanFor measuring point p of laser displacement sensornPoint p corresponding to time angle encodernThe distance from the laser displacement sensor to the X axis is d, and the distance from the measured point to the X axis is d-lMeasuringThe offset value is e, and the measurement result can be converted into a polar coordinate formula
With pmAs a reference, pmThe angle between the X axis and the arc cos (e/r)m) From pmTo pnThe angle of rotation of the gear is thetan-θm，pnThe included angle between the Y axis and the Y axis is arsin (e/r)n) Then p ismAnd pnAngle theta with respect to gear coordinate system being arccos (e/r)m)+θn-θm+arsin(e/rn) - π/2, let the measured point pmAt the initial point zero point, pnPoint is pmNext point of conversion of point, pmAnd pnConversion of polar coordinate to pm(rm,0)，pn(rnθ) of which
θ＝arcos(e/rm)+θn-θm+arsin(e/rn) -pi/2, when converting the next point, let the next point be pn+1Conversion point pn+1Has the polar coordinate formula of pn+1(rn+1,θ+θ1) Wherein
θ1＝arcos(e/rn)+θn+1-θn+arsin(e/rn+1)-π/2。
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061485A (en) * | 2021-11-17 | 2022-02-18 | 桂林欧瑞德科技有限责任公司 | Control device for automatically adjusting laser incident angle and use method thereof |
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| CN114061485A (en) * | 2021-11-17 | 2022-02-18 | 桂林欧瑞德科技有限责任公司 | Control device for automatically adjusting laser incident angle and use method thereof |
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| CN115077422A (en) * | 2022-08-19 | 2022-09-20 | 南京木木西里科技有限公司 | Automatic tracking and measuring device and method for surface profile of complex large workpiece |
| CN115325975A (en) * | 2022-10-13 | 2022-11-11 | 山东金恒农产品冷链物流有限公司 | Automatic detection device for position degree of cutting edge of plum blossom knife and control method |
| CN115325975B (en) * | 2022-10-13 | 2023-01-24 | 山东金恒农产品冷链物流有限公司 | Automatic detection device for position degree of cutting edge of plum blossom knife and control method |
| CN117553732A (en) * | 2023-10-27 | 2024-02-13 | 河北省科学院应用数学研究所 | Crankshaft relative rotation angle measuring device and method |
| CN117553732B (en) * | 2023-10-27 | 2024-04-26 | 河北省科学院应用数学研究所 | Crankshaft relative rotation angle measuring device and method |
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