CN113245636A - Equipment and process method for automatically grinding tooth profile fillet of precision gear by robot - Google Patents

Equipment and process method for automatically grinding tooth profile fillet of precision gear by robot Download PDF

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Publication number
CN113245636A
CN113245636A CN202110537283.3A CN202110537283A CN113245636A CN 113245636 A CN113245636 A CN 113245636A CN 202110537283 A CN202110537283 A CN 202110537283A CN 113245636 A CN113245636 A CN 113245636A
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China
Prior art keywords
grinding
robot
module
tooth profile
gear
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CN202110537283.3A
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Chinese (zh)
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CN113245636B (en
Inventor
田凤杰
韩晓
李论
张彦智
车长林
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Shenyang Ligong University
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Shenyang Ligong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F19/00—Finishing gear teeth by other tools than those used for manufacturing gear teeth
    • B23F19/10—Chamfering the end edges of gear teeth
    • B23F19/12—Chamfering the end edges of gear teeth by grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
    • B23F23/10—Arrangements for compensating irregularities in drives or indexing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
    • B23F23/12—Other devices, e.g. tool holders; Checking devices for controlling workpieces in machines for manufacturing gear teeth
    • B23F23/1237—Tool holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
    • B23Q15/22—Control or regulation of position of tool or workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q23/00—Arrangements for compensating for irregularities or wear, e.g. of ways, of setting mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding

Abstract

The invention discloses equipment and a process method for automatically grinding tooth profile fillets of precision gears by a robot, wherein a robot module in the equipment is arranged on one side of a workbench module, and a grinding tool module is arranged on an end effector of the robot module; a forming cutter is arranged at the front end of a pneumatic engraving and milling machine in the grinding and processing tool module, and the pneumatic engraving and milling machine is connected with the upper plate surface of the XY-horizontal sliding table through a clamp and a first L-shaped connecting plate; the XY-horizontal sliding table is used as a position adjusting device of the explorator and is connected with the explorator through a connecting plate, and the tool setting gauge is arranged on the same side of the explorator; the air cylinder is arranged on an end effector of the robot module through a second L-shaped connecting plate; the piston of the cylinder is connected with the first L-shaped connecting plate. The equipment and the method can ensure that the distance between the cutter and the tooth profile line is constant in the grinding process, avoid the problem of processing quality caused by positioning errors of the robot, and greatly save the cost because the force sensor is not adopted for error adjustment and compensation.

Description

Equipment and process method for automatically grinding tooth profile fillet of precision gear by robot
Technical Field
The invention relates to the technical field of automatic processing application of industrial robots, in particular to equipment and a process method for automatically grinding tooth profile fillets of precision gears by a robot.
Background
The gears in high-precision transmission and speed change equipment such as hydraulic pumps, gearboxes and the like are difficult to produce and process due to the characteristics of high manufacturing precision and complex structure.
Precision gear profile transition fillet is because the size is little, the precision is high, adopts abrasive machining usually, chooses the abrasive machining cost that the digit control machine tool carried out gear profile fillet for use to improve greatly to for the various high-precision gears that the shape is complicated, the structure is various, the compliance of digit control machine tool, adaptability are relatively poor, and the working space of lathe also can restrict the abrasive machining of great size ring gear profile fillet. The gear chamfering machine is mostly used for processing chamfers with large sizes, the precision of the tooth profile transition fillet of a processed precise gear is low, the adaptability is poor, and the gear chamfering machine cannot grind tooth profile transition fillets at a tooth root transition circular arc and a tooth root circle. At present, the high-precision gear tooth profile transition fillet is mainly ground by a trial and error method of removing, measuring, removing again and measuring by a worker holding an electric grinder, the processing quality highly depends on the working experience of operators, the processing consistency is poor, the processing quality of the gear tooth profile transition fillet is difficult to guarantee, the working time is long, and the adverse environments such as noise, dust and the like generated in the processing process are harmful to the health of the workers.
Disclosure of Invention
Aiming at the problems that the machining quality of the gear tooth profile transition fillet is difficult to ensure, the working time is long, the noise is high, the dust is more and the like in the prior art for machining the high-precision gear tooth profile transition fillet, the invention provides equipment and a method for automatically grinding the precision gear tooth profile fillet by a robot, which can realize the automatic grinding machining of the precision gear tooth profile transition fillet and is used for replacing the conventional manual machining. The equipment provided by the invention is used as a processing technology system, and the automatic grinding of the precise gear tooth profile by the robot can be realized by adopting the extraction of the gear model tooth profile curve, the automatic generation of the grinding track, the in-situ detection and the error compensation of the processing track, so that the gear tooth profile transition fillet meeting the processing quality requirement is obtained.
In order to solve the technical problems, the invention adopts the technical scheme that:
the invention provides equipment for automatically grinding tooth profile round corners of precision gears by a robot, which comprises: the gear workpiece positioning device comprises a robot module, a grinding tool module, a workbench module and a positioner module, wherein the positioner module for bearing a gear workpiece is arranged on the workbench module, the robot module is arranged on one side of the workbench module, and the grinding tool module is arranged on an end effector of the robot module; the grinding processing tool module comprises a pneumatic engraving and milling machine 1, a forming cutter, a profiling mold, a tool setting gauge, an XY-horizontal sliding table, a cylinder, a first L-shaped connecting plate, a second L-shaped connecting plate and a connecting plate, wherein the forming cutter is installed at the front end of the pneumatic engraving and milling machine, and the pneumatic engraving and milling machine is connected with the upper plate surface of the XY-horizontal sliding table through a clamp and the first L-shaped connecting plate; the XY-horizontal sliding table is used as a position adjusting device of the explorator and is connected with the explorator through a connecting plate, and the tool setting gauge is arranged on the same side of the explorator; the air cylinder is arranged on an end effector of the robot module through a second L-shaped connecting plate; the piston of the cylinder is connected with the first L-shaped connecting plate.
The system also comprises a computer module and a pneumatic device module, wherein the computer module is in bidirectional communication connection with a robot controller in the robot module through a communication interface, and a data input end of the computer module receives workpiece position data measured by the tool setting gauge; the data output end of the computer module sends the corrected workpiece position data to a robot controller in the robot module; the pneumatic device module provides air source for the pneumatic engraving and milling machine and the air cylinder.
The profiling main body is formed by combining two plate-shaped isosceles trapezoid structures with different gradients, the head of the profiling is of an arc structure, the central angle of the arc is an arc greater than 180 degrees and abuts against the tooth profile surface of the gear workpiece, and the tail of the profiling is provided with two connecting holes and is installed on the lower plate surface of the XY-horizontal sliding table through a connecting plate;
the center of the arc of the upper end surface of the head of the explorator is provided with a conical positioning center hole.
The rotation axis of the forming cutter is collinear with the axis of the arc of the head of the profiling mold to form a fixed-length structure.
The invention also provides a process method for automatically grinding the tooth profile fillet of the precision gear by the robot, which comprises the following steps:
1) extracting and dispersing a gear tooth profile curve, and planning a machining track to generate a track program which can be recognized by a robot;
2) carrying out tool setting operation to make the rotary axis of the forming tool collinear with the arc axis of the head of the explorator;
3) calibrating a coordinate system of the grinding tool and a coordinate system of the workpiece;
4) the method comprises the steps of grinding a fixed-length structure based on the size of a gear tooth profile fillet and grinding a forming cutter based on the shape of the gear tooth profile fillet to realize the grinding processing of the gear workpiece tooth profile fillet;
5) carrying out instantaneous position compensation on the feeding motion track error of the robot in the grinding process by adopting an air cylinder;
6) the tool setting gauge is adopted to measure the relative position of the grinding tool and the gear workpiece at regular time in the grinding process, data processing is carried out through a computer, and the robot module realizes grinding position offset compensation and avoids the influence on the processing quality.
The processing track planning in the step 1) comprises the following steps:
101) adopting a feeding track grinding processing mode of cutting in and out at a specified angle, taking an axial middle symmetrical plane of a gear groove of the processing gear as an interface, enabling the upper surface of the explorator to be parallel to the end surface of the gear tooth of the gear, and enabling the rotation angle of the explorator to be zero when the middle symmetrical line of the explorator 3 is superposed with the interface;
102) the upper surface of the profiling is parallel to the end face of the gear tooth of the gear in the grinding process, the profiling is cut in at one side of the interface at a specified angle, and simultaneously rotates around the rotation axis in the grinding feed motion process to reduce the cut-in angle until the interface, and at the moment, the rotation angle value of the profiling is changed to be zero; when the tooth profile on the other side of the interface is ground, the explorator rotates around the rotation axis in the opposite direction, and the other tooth profile is cut out at a specified cutting angle;
the tool setting operation in the step 2) comprises the following steps: the XY-horizontal sliding table is adopted to adjust the position of the explorator in the X-axis and Y-axis directions in the horizontal plane; the profiling is connected with the lower plate surface of the XY-horizontal sliding table through a connecting plate, and the lower plate surface of the horizontal sliding table moves along the X axis and the Y axis by adjusting the spiral micrometer on the XY-horizontal sliding table to drive the profiling mounted on the horizontal sliding table to move, so that the adjustment of the rotation axis of the forming cutter and the arc axis of the head part of the profiling are collinear.
The grinding method for the fixed-length structure in the step 4) comprises the following steps: the rotary axis of the forming tool is coaxial with the circle center of the circular arc at the head of the profiling mold, the arc distance between the rotary axis of the forming tool and the working part of the circular arc at the head of the profiling mold in grinding is equal, the distance between the tool and the tooth profile line in the grinding process is constant, quantitative removal is realized, and the size requirement of the transition fillet of the tooth profile of the gear after grinding is met.
And 5) adopting an air cylinder to perform instantaneous position compensation on the feeding motion track error of the robot in the grinding process, specifically comprising the following steps: set for suitable air supply pressure and let in the cylinder, ejecting forward through the cylinder piston makes profiling head circular arc and gear tooth profile face in close contact with all the time in the abrasive machining process, realizes carrying out instantaneous position control compensation to robot movement track error, cooperates with the scale structure, guarantees that the distance between shaping cutter and the profile line is invariable, satisfies the profile transition fillet size uniformity requirement after abrasive machining.
The invention has the following beneficial effects and advantages:
1. in order to ensure the grinding processing precision of the transition fillet of the gear tooth profile, the invention adopts a linear motion cylinder to carry out instantaneous position compensation on the feeding motion track error of the robot in the grinding processing process, compressed air with proper air pressure is introduced into the cylinder through a pneumatic system device to push a profiling to be always tightly attached to the gear tooth profile, the distance between a cutter and the tooth profile line in the grinding processing process is ensured to be constant, and the processing quality problem caused by the positioning error of the robot is avoided. Because the force sensor is not adopted for error adjustment and compensation, the cost is greatly saved.
2. In order to avoid accumulated errors of a position changer, workpiece clamping, robot movement and the like in the machining process, the control computer-tool setting gauge system is adopted to measure the relative position of the grinding tool and the gear workpiece at regular time and transmit the measured data back to the control computer for processing, the control computer transmits the processed position correction data information to the robot controller, the robot controller drives the robot to drive the grinding tool to perform position compensation and correct a machining track, and the influence of the accumulated machining errors on the machining quality can be avoided.
3, in order to ensure the size of the transition fillet of the gear tooth profile, the invention adopts a fixed-length structure grinding method, realizes quantitative removal by adjusting the distance between the grinding part of the cutter and the arc of the head of the profiling mold to be equal, and ensures the size of the fillet of the gear tooth profile after grinding. Due to the adoption of the profiling structure, the rigidity and the stability of the structure are improved, and the processing quality is ensured.
4, in order to ensure the shape of the transition fillet of the gear tooth profile, the invention adopts a method of forming the cutter for grinding, the shape of the grinding part of the cutter is the same as the shape of the fillet of the gear tooth profile, and the fillet shape after grinding is ensured. Because of the adoption of the forming cutter, the size tooth profile fillet is ground and processed at one time, and the accumulated error caused by multiple processing is avoided.
5. In order to ensure the consistency of the processing quality of the transition fillet of the gear tooth profile after grinding, the invention adopts a feed mode of specified angle cut-in and cut-out to carry out grinding, so that the cut-in and cut-out angles of the cutter are consistent, and the consistency of the processing quality of the fillet of the gear tooth profile after grinding is ensured.
Drawings
FIG. 1 is a schematic diagram of the general structure of the equipment for automatically grinding the round angle of the tooth profile of the precision gear by a robot;
FIG. 2 is a schematic view of a gear structure according to the present invention;
FIG. 3 is a schematic diagram of a grinding path according to the present invention;
FIG. 4 is a schematic view of a tooling module according to the present invention;
FIG. 5 is a schematic view showing the relative positions of the cutter, the master form and the gear part in the present invention;
FIG. 6 is a schematic view of the master form structure of the present invention;
FIG. 7 is a schematic view of a forming tool according to the present invention;
FIG. 8 is a schematic diagram of a system communication scheme of the present invention;
FIG. 9 is a schematic view of a polishing process in the method of the present invention.
The device comprises a robot module 1, a grinding tool module 2, a pneumatic engraving and milling machine 21, a forming cutter 22, a profiling 23, a tool setting gauge 24, an XY-horizontal sliding table 25, a cylinder 26, a first L-shaped connecting plate 27, a second L-shaped connecting plate 28, a connecting plate 29, a workbench module 3, a positioner module 4, a gear workpiece 5, a computer module 6, a pneumatic device module 7, a tooth root transition fillet 8, a tooth profile line 9, a tooth root circle 10, a central symmetry line 11 and a grinding part 12.
Detailed Description
The invention is further elucidated with reference to the accompanying drawings.
As shown in fig. 1, the invention provides a robot for automatically grinding a tooth profile fillet of a precision gear, which comprises: the gear workpiece grinding and positioning system comprises a robot module 1, a grinding tool module 2, a workbench module 3 and a positioner module 4, wherein the positioner module 4 for bearing a gear workpiece 5 is arranged on the workbench module 3, the robot module 1 is arranged on one side of the workbench module 3, and the grinding tool module 2 is arranged on an end effector of the robot module 1; the grinding processing tool module 2 comprises a pneumatic engraving and milling machine 21, a forming cutter 22, a profiling mold 23, a tool setting gauge 24, an XY-horizontal sliding table 25, a cylinder 26, a first L-shaped connecting plate 27, a second L-shaped connecting plate 28 and a connecting plate 29, wherein the forming cutter 22 is installed at the front end of the pneumatic engraving and milling machine 21, and the pneumatic engraving and milling machine 21 is connected with the upper plate surface of the XY-horizontal sliding table 25 through a clamp and the first L-shaped connecting plate 27; the XY-horizontal sliding table 25 is used as a position adjusting device of the explorator 23 and is connected with the explorator 23 through a connecting plate 29, and the tool setting gauge 24 is arranged on the same side of the explorator 23; the cylinder 26 is mounted on the end effector of the robot module 1 by a second L-shaped connecting plate 28; the piston of the cylinder 26 is connected to a first L-shaped connecting plate 27.
As shown in fig. 1 and 8, the present invention further includes a computer module 6 and a pneumatic device module 7, the computer module 6 is in bidirectional communication connection with a robot controller in the robot module 1 through a communication interface, a data input end of the computer module 6 receives robot position data information returned by the robot controller, receives workpiece position data information measured by the tool setting gauge 24, and simultaneously performs comparison and processing of the workpiece position data information and the robot position data information to perform robot position correction; the data output end of the computer module 6 sends the corrected position data information to a robot controller in the robot module 1; the pneumatic device module 7 provides air source for the pneumatic engraving and milling machine 21 and the air cylinder 26.
As shown in fig. 6, the master form 23 is formed by combining two plate-shaped isosceles trapezoid structures with different slopes as a main body, the head part is a circular arc and is abutted against the tooth profile surface of the gear workpiece 5, and the tail part is provided with two connecting holes and is installed on the lower plate surface of the XY-horizontal sliding table 25 through a connecting plate; the central angle of the head arc is a major arc larger than 180 degrees, and the center of the head upper end face arc is provided with a conical positioning central hole.
As shown in fig. 4 to 5 and 7, the rotation axis of the forming tool 22 is coaxial with the axis of the head arc of the explorator 23, so that the distances between the arc of the head of the explorator and the rotation axis of the forming tool 22 can be ensured to be equal, and a fixed-length structure is formed.
The grinding tool module 2 of the present invention is composed of two parts, i.e., a grinding part and a machining trajectory error adjustment compensating part, as shown in fig. 4. The pneumatic engraving and milling machine 21 is a main grinding tool and is connected with the XY-horizontal sliding table 25 through a clamp and a first L-shaped connecting plate 27. The XY-horizontal slide 25 is a position adjusting device of the master form 23 and is connected to the master form 23 through a connecting plate 29. The forming cutter 22 is a grinding cutter and is connected with the pneumatic engraving and grinding machine 21, the rotation axis of the forming cutter is vertical to the upper surface of the profiling 23 and is coaxial with the center of the circular arc at the head of the profiling 23, and the profiling 23 and the forming cutter 22 form a fixed-length structure. The tool setting gauge 24 is a device for measuring the relative position of a grinding tool and a gear workpiece and is arranged on the same side of the profiling 23 of the XY-horizontal sliding table 25. The parts form a grinding part of the grinding tool module 2, and grinding machining of a gear tooth profile transition fillet, relative position adjustment of the forming cutter 22 and the profiling 23 and measurement of the relative position of the grinding tool and a gear workpiece are achieved. The air cylinder 26 and the second L-shaped connecting plate 28 form a robot feeding motion track error instantaneous position adjusting compensation part, an air source with certain pressure intensity is introduced, the air cylinder drives the grinding part to move forwards, the arc of the head of the explorator 23 is ensured to be always tightly attached to the tooth surface of the gear tooth in the grinding process, instantaneous position compensation is carried out on the robot processing track error, and the fixed length distance between the forming cutter 22 and the gear tooth profile is realized. The two parts are connected through a first L-shaped connecting plate 27 to form a grinding tool module 2, and the whole grinding tool is connected with an end effector of the robot 1 through a second L-shaped connecting plate 28.
The relative positions of the forming cutter 22, the profiling 23 and the gear workpiece 5 are shown in figure 5, wherein the structure of the profiling 23 is shown in figure 6, the central angle corresponding to the head arc is larger than 180, the head arc of the profiling 23 is ensured to be always contacted with the gear tooth profile surface in the grinding process, and a conical positioning central hole is machined at the center of the head arc of the profiling 23 and used for aligning with the forming cutter 22. The rotation axis of the forming tool 22 is perpendicular to the upper surface of the explorator 23 in the machining process and is collinear with the arc axis of the head of the explorator 23, so that the arc distance between the rotation axis of the forming tool 22 and the arc of the head of the explorator 23 in the grinding process is equal. During machining, the distance between the forming tool 22 and the tooth profile line is ensured to be constant through the position adjustment compensation of the close fitting between the head arc surface of the profiling 23 and the gear tooth surface all the time, and the requirement on the size consistency of the transition fillet of the gear tooth profile after grinding is met. The grinding part of the cutter is designed into an arc-shaped structure with the same shape as the transition fillet of the gear tooth profile to grind the tooth profile, as shown in figure 7, and the shape requirement of the transition fillet of the tooth profile after grinding is ensured.
The gear tooth profile parts to be ground in the invention are shown in figure 2 and respectively comprise a tooth root transition round angle 8, a tooth profile line 9 and a tooth root circle 10. And during grinding, a grinding track is cut in from a tooth profile on one side, a tooth profile line 9, a tooth root transition fillet 8 and a tooth root circle 10 are machined sequentially, then the tooth profile line on the other side is machined, and finally a grinding cutter is cut out. The whole processing track and the processing sequence are shown in fig. 3.
The invention provides a processing scheme for calibrating a tool coordinate system, which is characterized in that the coordinate system of a grinding tool is calibrated by adopting the self function of a robot, and a middle point at the front end of the upper surface of the circular arc of the head part of a profiling 23 on a grinding tool module 2 is selected as a tool coordinate system for calibrating a tool. And establishing the directions of all axes of a tool coordinate system, enabling the upper surface of the explorator 23 to be parallel to the end surface of the gear tooth of the gear workpiece 5, setting the directions of the X axis and the Y axis of the tool coordinate system according to the processing direction of an offline trajectory planning program, and determining the direction of the Z axis according to a right-hand rule.
In the invention, the calibration of the workpiece coordinate system is carried out, the workpiece coordinate system is established on the gear workpiece by adopting an indirect method, firstly, four characteristic points on a three-dimensional model of the gear workpiece 5 are selected in three-dimensional drawing software, and the coordinate values of the four characteristic points in the workpiece coordinate system are recorded. And then, tool sharp points of the measured tool coordinate system are sequentially close to corresponding feature points on the workpiece, and coordinate values in the corresponding three-dimensional model are input in the robot demonstrator. After the above operations are completed, the robot controller calculates the established transformation relation of the workpiece coordinate system relative to the robot base coordinate system, thereby completing the calibration of the workpiece coordinate system.
The control communication scheme of the present invention comprises two parts, and the working thread is shown in fig. 8. The control computer 6-the robot controller working thread and the control computer 6-the tool setting gauge 24 working thread are used for realizing communication connection among the three and simultaneously realizing the off-line track planning of the grinding processing of the robot. The robot controller communicates with a Control computer through an Ethernet, a high-reliability TCP/IP (Transmission Control Protocol/Internet Protocol) communication Protocol is adopted, communication is carried out in a data flow mode, XML files are used for communication, a grinding track Control instruction is output to the robot controller, and the robot executes corresponding feeding motion according to a processing track instruction program. The tool setting gauge is communicated with a control computer through an Ethernet, and a UDP (user Datagram protocol) protocol of high-speed transmission is adopted for communication.
The invention also provides a process method for automatically grinding the tooth profile fillet of the precision gear by the robot, which comprises the following steps:
1) extracting and dispersing a gear tooth profile curve, and planning a machining track to generate a track program which can be recognized by a robot;
2) carrying out tool setting operation to make the rotation axis of the forming tool 22 and the arc axis of the head of the explorator 23 be collinear;
3) calibrating a coordinate system of the grinding tool and a coordinate system of the workpiece;
4) the method comprises the steps of grinding a fixed-length structure based on the size of a gear tooth profile fillet and grinding a forming cutter based on the shape of the gear tooth profile fillet to realize the grinding processing of the gear workpiece tooth profile fillet;
5) carrying out instantaneous position compensation on the feeding motion track error of the robot in the grinding process by adopting an air cylinder;
6) the tool setting gauge is adopted to measure the relative position of the grinding tool and the gear workpiece at regular time in the grinding process, data processing is carried out through a computer, and the robot module 1 realizes position offset compensation to avoid the influence on the processing quality.
Step 2) the tool setting operation comprises the following steps: the XY-horizontal sliding table 25 is adopted to adjust the position of the explorator 23 in the X-axis and Y-axis directions in the horizontal plane; the explorator 23 is connected with the lower plate surface of the XY-horizontal sliding table 25 through a connecting plate, and the lower plate surface of the horizontal sliding table moves along the X axis and the Y axis by adjusting the spiral micrometer on the XY-horizontal sliding table 25 to drive the explorator 23 mounted on the horizontal sliding table to move, so that the adjustment of the forming tool rotation axis and the explorator head arc rotation center line in a collinear way is realized.
And 3) calibrating a coordinate system of the grinding tool and a coordinate system of the workpiece.
Step 4), the grinding method of the fixed-length structure comprises the following steps: the rotation axis of the forming cutter 22 is coaxial with the axis of the circular arc at the head of the explorator 23, the arc distance between the working parts of the forming cutter and the circular arc at the head of the explorator is equal in grinding, the distance between the cutter and the tooth profile line is ensured to be constant, quantitative removal is realized, and the size requirement of the gear tooth profile transition fillet after grinding is met.
And 5) adopting an air cylinder to perform instantaneous position compensation on the feeding motion track error of the robot in the grinding process, specifically comprising the following steps: set for suitable air supply pressure and let in cylinder 26, push forward through cylinder 26 piston and make profiling 23 head circular arc and gear tooth profile face in close contact with all the time in the abrasive machining process, realize carrying out instantaneous position control compensation to robot movement track error, with the cooperation of scale structure, guarantee that the distance between shaping cutter and the profile line is invariable, satisfy the profile transition fillet size uniformity requirement after abrasive machining.
The method is provided for realizing automatic grinding of the precise gear tooth profile transition fillet by the robot, replacing manual operation processing, reducing labor intensity and improving processing quality and efficiency, and the process method adopted by the equipment for automatically grinding the precise gear tooth profile fillet by the robot is realized by the steps and specifically comprises the following steps:
1. and importing the gear three-dimensional model into track generation software in a control computer of the equipment, and planning the grinding processing track of the gear tooth profile transition fillet by a feeding motion track method of cut-in and cut-out at a specified angle. And under a workpiece coordinate system, extracting a gear tooth profile curve of the gear model, selecting a grinding machining feeding direction by adopting a feeding mode of cutting in and cutting out at a specified angle, setting a cutting-in angle and a cutting-out angle, and performing track discretization according to step length to generate a machining track. And converting to generate a track program which can be recognized by the robot system, and importing the planned track program into the robot controller.
2. The grinding tool module 2 is arranged on a flange plate at the tail end of a sixth shaft of the robot 1, and the lower plate surface of the XY-horizontal sliding table 25 moves along the X, Y direction by adjusting a screw micrometer on the XY-horizontal sliding table 25, so as to drive the explorator 23 arranged on the XY-horizontal sliding table to move, and the rotation axis of the forming tool 22 is collinear with the arc axis of the head part of the explorator 23.
3. And selecting a middle point at the front end of the arc upper surface at the head of the explorator 23 as a tool setting point and carrying out tool setting positioning with a workbench positioning block to finish the calibration of the base coordinate of the robot 1 and the coordinate of the grinding tool module 2, setting the X-axis and Y-axis directions of a tool coordinate system according to the processing direction of an off-line track planning program, and determining the Z-axis direction according to the right-hand rule. And the gear workpiece 5 is arranged on the positioner module 4, and the positioner module 4 is arranged on the workbench 3 for positioning and clamping. And in the positioning process, the positioning block on the workbench 3 is used as a reference object to complete the positioning of the gear workpiece 5. And (3) uniformly calibrating the coordinates of the gear workpiece 5 and the base coordinates of the robot 1, unifying the gear workpiece 5 and the grinding tool module 2 to the base coordinates of the robot 1, and calculating the transformation relation of a coordinate system by a robot controller to finish the uniformity of the coordinate calibration of the process system.
4. The robot controller drives the robot to drive the grinding tool to complete feeding motion according to a planned grinding track, the pneumatic engraving and milling machine 21 rotates to be cutting main motion, the rotating power is provided by a pneumatic motor, the pneumatic device module 7 provides air source power, and the rotating speed is adjusted and controlled by a pneumatic valve.
5. The grinding tool module 2 is driven by the robot 1 in the machining process, grinding is started in the set cutting-in angle direction according to the generated machining track, meanwhile, the pneumatic device 7 supplies air to the air cylinder 26 through specified air pressure, the piston of the air cylinder 26 pushes the grinding tool module 2 to move forwards, the circular arc of the head of the profiling 23 is guaranteed to be always tightly attached to the tooth surface of the gear tooth in the grinding process, instantaneous position compensation is carried out on machining track errors of the robot, and the fixed length distance between the cutter 22 and the tooth profile is achieved. When finishing the grinding of a gear tooth, the robot drives the grinding tool to cut out at a preset cutting angle, the gas exchange valve reversely supplies gas to the cylinder 26, the cylinder piston retracts, and the gear tooth top over-cutting and the position interference between the cutter and the gear tooth in the cutter withdrawing process are prevented.
6. After a certain number of gear teeth are ground, the error is accumulated and increased, the cylinder adjustment is not enough to compensate the generated accumulated error, the tool setting gauge 24 is adopted to measure the relative position of the grinding tool module 2 and the gear workpiece 5 at regular time, the measured data is transmitted back to the computer module 6 to be processed, the computer module 6 transmits the processed position correction data information to the robot controller, the robot controller drives the robot to drive the grinding tool module 2 to correct the relative position of the grinding tool module 2 and the gear workpiece 5, and therefore the grinding precision of the gear tooth profile transition fillet is guaranteed.
7. After finishing one gear tooth by grinding, the positioner module 24 rotates by a gear tooth indexing angle, the same program is repeatedly run, the grinding of the gear tooth profile transition fillet is sequentially carried out until the last gear tooth, and the processing of the whole gear tooth profile transition fillet is finished.
The whole grinding process is shown in fig. 9.
The equipment and the method for automatically grinding the tooth profile fillet of the precision gear by the robot can realize automatic grinding of the tooth profile transition fillet of the gear. The method comprises the steps of extracting and dispersing a gear tooth profile curve, planning a machining track, generating a track program which can be recognized by a robot, adopting a calibration method of a grinding tool coordinate system, a calibration method of a workpiece coordinate system, a fixed-length structure grinding method based on the size of a gear tooth profile fillet and a forming cutter grinding mode of the shape of the gear tooth profile fillet, carrying out instantaneous position compensation on the feed motion track error of the robot in the grinding process by utilizing an air cylinder, carrying out relative position detection on the grinding tool and a gear workpiece at regular time in the grinding process by using a tool setting gauge, and carrying out position offset compensation to avoid the influence on the machining quality. The equipment and the method provided by the invention are low in cost, good in adaptability and strong in flexibility, and the problem of automatic grinding of the transition fillet of the gear tooth profile is well solved.

Claims (10)

1. The utility model provides an equipment of automatic grinding precision gear profile fillet of robot which characterized in that includes: the gear workpiece positioning device comprises a robot module, a grinding tool module, a workbench module and a positioner module, wherein the positioner module for bearing a gear workpiece is arranged on the workbench module, the robot module is arranged on one side of the workbench module, and the grinding tool module is arranged on an end effector of the robot module; the grinding processing tool module comprises a pneumatic engraving and milling machine 1, a forming cutter, a profiling mold, a tool setting gauge, an XY-horizontal sliding table, a cylinder, a first L-shaped connecting plate, a second L-shaped connecting plate and a connecting plate, wherein the forming cutter is installed at the front end of the pneumatic engraving and milling machine, and the pneumatic engraving and milling machine is connected with the upper plate surface of the XY-horizontal sliding table through a clamp and the first L-shaped connecting plate; the XY-horizontal sliding table is used as a position adjusting device of the explorator and is connected with the explorator through a connecting plate, and the tool setting gauge is arranged on the same side of the explorator; the air cylinder is arranged on an end effector of the robot module through a second L-shaped connecting plate; the piston of the cylinder is connected with the first L-shaped connecting plate.
2. The robot-automated precision gear tooth profile radius grinding apparatus of claim 1, wherein: the system also comprises a computer module and a pneumatic device module, wherein the computer module is in bidirectional communication connection with a robot controller in the robot module through a communication interface, and a data input end of the computer module receives workpiece position data measured by the tool setting gauge; the data output end of the computer module sends the corrected workpiece position data to a robot controller in the robot module; the pneumatic device module provides air source for the pneumatic engraving and milling machine and the air cylinder.
3. The robot-automated precision gear tooth profile radius grinding apparatus of claim 1, wherein: the profiling main body is formed by combining two plate-shaped isosceles trapezoid structures with different gradients, the head of the profiling is of an arc structure, the central angle of the arc is an arc greater than 180 degrees and abuts against the tooth profile surface of the gear workpiece, and the tail of the profiling is provided with two connecting holes and is installed on the lower plate surface of the XY-horizontal sliding table through a connecting plate.
4. The robot-automated precision gear tooth profile radius grinding apparatus of claim 3, wherein: the center of the arc of the upper end surface of the head of the explorator is provided with a conical positioning center hole.
5. The robot-automated precision gear tooth profile radius grinding apparatus of claim 1, wherein: the rotation axis of the forming cutter is collinear with the axis of the arc of the head of the profiling mold to form a fixed-length structure.
6. The process method for automatically grinding the rounded angle of the tooth profile of the precision gear by the robot according to claim 1, which is characterized by comprising the following steps:
1) extracting and dispersing a gear tooth profile curve, and planning a machining track to generate a track program which can be recognized by a robot;
2) carrying out tool setting operation to make the rotary axis of the forming tool collinear with the arc axis of the head of the explorator;
3) calibrating a coordinate system of the grinding tool and a coordinate system of the workpiece;
4) the method comprises the steps of grinding a fixed-length structure based on the size of a gear tooth profile fillet and grinding a forming cutter based on the shape of the gear tooth profile fillet to realize the grinding processing of the gear workpiece tooth profile fillet;
5) carrying out instantaneous position compensation on the feeding motion track error of the robot in the grinding process by adopting an air cylinder;
6) the tool setting gauge is adopted to measure the relative position of the grinding tool and the gear workpiece at regular time in the grinding process, data processing is carried out through a computer, and the robot module realizes grinding position offset compensation and avoids the influence on the processing quality.
7. The process method for automatically grinding the tooth profile round angle of the precision gear by the robot according to claim 6, wherein the processing track planning in the step 1) comprises the following steps:
101) adopting a feeding track grinding processing mode of cutting in and out at a specified angle, taking an axial middle symmetrical plane of a gear groove of the processing gear as an interface, enabling the upper surface of the explorator to be parallel to the end surface of the gear tooth of the gear, and enabling the rotation angle of the explorator to be zero when the middle symmetrical line of the explorator 3 is superposed with the interface;
102) the upper surface of the profiling is parallel to the end face of the gear tooth of the gear in the grinding process, the profiling is cut in at one side of the interface at a specified angle, and simultaneously rotates around the rotation axis in the grinding feed motion process to reduce the cut-in angle until the interface, and at the moment, the rotation angle value of the profiling is changed to be zero; when the other side tooth profile of the machining interface is ground, the master form rotates in the opposite direction around the rotation axis, and the other tooth profile is cut at a predetermined cutting angle.
8. The process method for automatically grinding the rounded angle of the tooth profile of the precision gear by the robot as claimed in claim 6, wherein the tool setting operation in the step 2) comprises the following steps: the XY-horizontal sliding table is adopted to adjust the position of the explorator in the X-axis and Y-axis directions in the horizontal plane; the profiling is connected with the lower plate surface of the XY-horizontal sliding table through a connecting plate, and the lower plate surface of the horizontal sliding table moves along the X axis and the Y axis by adjusting the spiral micrometer on the XY-horizontal sliding table to drive the profiling mounted on the horizontal sliding table to move, so that the adjustment of the rotation axis of the forming cutter and the arc axis of the head part of the profiling are collinear.
9. The process method for automatically grinding the rounded corner of the tooth profile of the precision gear by the robot according to claim 6, wherein the grinding method for the fixed-length structure in the step 4) comprises the following steps: the rotary axis of the forming tool is coaxial with the circle center of the circular arc at the head of the profiling mold, the arc distance between the rotary axis of the forming tool and the working part of the circular arc at the head of the profiling mold in grinding is equal, the distance between the tool and the tooth profile line in the grinding process is constant, quantitative removal is realized, and the size requirement of the transition fillet of the tooth profile of the gear after grinding is met.
10. The process method for automatically grinding the tooth profile fillet of the precision gear by the robot according to claim 6, wherein the step 5) adopts a cylinder to perform instantaneous position compensation on the feeding motion track error of the robot in the grinding process, and specifically comprises the following steps: set for suitable air supply pressure and let in the cylinder, ejecting forward through the cylinder piston makes profiling head circular arc and gear tooth profile face in close contact with all the time in the abrasive machining process, realizes carrying out instantaneous position control compensation to robot movement track error, cooperates with the scale structure, guarantees that the distance between shaping cutter and the profile line is invariable, satisfies the profile transition fillet size uniformity requirement after abrasive machining.
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