CN114485466A - Planetary gear tooth profile machining error measuring device and self-adaptive on-machine measuring method - Google Patents
Planetary gear tooth profile machining error measuring device and self-adaptive on-machine measuring method Download PDFInfo
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- CN114485466A CN114485466A CN202210091665.2A CN202210091665A CN114485466A CN 114485466 A CN114485466 A CN 114485466A CN 202210091665 A CN202210091665 A CN 202210091665A CN 114485466 A CN114485466 A CN 114485466A
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- 238000003754 machining Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005259 measurement Methods 0.000 claims abstract description 24
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- 238000012805 post-processing Methods 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
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- 230000000630 rising effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 11
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- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 8
- 238000013016 damping Methods 0.000 description 7
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- 238000003384 imaging method Methods 0.000 description 4
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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
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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
- G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
Abstract
The invention provides a device for measuring the tooth profile processing error of a planet wheel and a self-adaptive on-machine measuring method, belonging to the field of on-machine detection of the planet wheel. The problem of current planet wheel profile of tooth error in processing be difficult for realizing on-machine measurement, influence processingquality and production efficiency is solved. The detection device is characterized in that: the height-adjustable vibration reduction foot pad is connected with the first platform, the second platform is connected with the first platform and the third platform through screw rod transmission, the third platform is connected with the rotating platform through a vibration reduction ring, the rotating platform is connected with the telescopic column, the telescopic column is connected with the fourth platform, the fourth platform is connected with the mounting platform through screw rod transmission, and the structured light measuring head is axially mounted and connected with the measuring head elevation angle control motor and the fourth hand wheel. The measuring device is mainly used for measuring the tooth profile machining error of the planet wheel, and has the advantages that the position of the structured light measuring head can be adjusted in a self-adaptive mode within a certain range to measure accurately, meanwhile, a user can achieve flexible manual adjustment, and finally, the tooth profile machining error of the planet wheel and related dimension parameters can be read visually and accurately on a user terminal microcomputer. The measuring device is simple and convenient to operate.
Description
Technical Field
The invention belongs to the field of planet wheel detection, and particularly relates to a planet wheel tooth profile machining error measuring device and a self-adaptive on-machine measuring method.
Background
The method for measuring the machining error of the tooth shape of the planetary wheel can be divided into a contact type measuring method and a non-contact type measuring method, and the contact type measuring method mainly has the defects that the measuring method is too complicated, and mechanical parts of a measuring device are easy to wear, so that the requirement for quick measurement on line is difficult to meet. The non-contact measurement method mainly has the advantages of convenient measurement, high measurement precision, easy realization of quick on-machine measurement of the machining error of the tooth form of the planet wheel and more conformity to the detection requirement of the advanced manufacturing industry. Common three-dimensional non-contact measurement methods for mechanical parts mainly include laser scanning methods based on optical triangles, image measurement methods based on machine vision, and three-dimensional imaging measurement technologies based on structured light. The three-dimensional imaging measurement technology based on the structured light has the basic principle that the coded image is projected to the surface of a measured object, and the position and depth information of the measured object is obtained through the distortion of the returned coded image.
The planetary gear transmission is widely applied to various mechanical devices, the manufacturing precision of the planetary gear plays a crucial role in the stability, accuracy, high reliability and long service life of the planetary gear train transmission, and the development of the advanced manufacturing industry also puts higher requirements on the production quality and the production efficiency of the planetary gear. Therefore, in the field of planet wheel manufacturing, the measurement of the processing error of the tooth profile of the planet wheel and the rapid and accurate detection of other parameters are very important.
Disclosure of Invention
The invention provides a self-adaptive on-machine measuring method of a planet wheel tooth profile machining error measuring device, which aims to solve the problems that the on-machine measurement is difficult to realize and the machining quality and the production efficiency are influenced in the existing planet wheel tooth profile machining error.
In order to achieve the purpose, the invention adopts the following technical scheme: a planetary gear tooth profile machining error measuring device is characterized in that a height-adjustable vibration reduction foot pad is connected with a first platform, a second platform is connected with the first platform in a sliding mode, a first nut is connected with the second platform, a third platform is connected with the second platform in a sliding mode, a second nut is connected with a third platform, the third platform is connected with a vibration reduction ring through a vibration reduction ring mounting seat, the vibration reduction ring is connected with a rotary platform, the rotary platform is connected with a telescopic column, a grating ruler is mounted on a second section column of the telescopic column, the telescopic column is connected with a fourth platform, the mounting platform is connected with the fourth platform in a sliding mode, the third nut is connected with the fourth platform, a measuring head elevation angle control motor is connected with a mounting platform support, and a structural optical measuring head is axially mounted and axially connected with a measuring head elevation angle control motor and a fourth hand wheel.
Furthermore, the first lead screw mounting seat is connected with the first platform, the first lead screw is connected with the first lead screw mounting seat, and the first hand wheel is connected with the first lead screw.
Furthermore, the second platform is connected with the first platform sliding groove in a sliding mode through a second platform bottom surface sliding rail, and the first lead screw is matched with the first nut.
Furthermore, the second lead screw mounting base is connected with the second platform, the second lead screw is connected with the second lead screw mounting base, and the second hand wheel is connected with the second lead screw.
Furthermore, the third platform is connected with the sliding rail on the top surface of the second platform in a sliding mode through a third platform sliding block groove, and the second lead screw is matched with the second nut.
Furthermore, the third lead screw control motor is connected with the mounting table, the third lead screw is connected with the third lead screw control motor, and the third hand wheel is connected with the third lead screw.
Furthermore, the fourth platform is provided with a limiting groove, the mounting platform is in sliding connection with a sliding groove of the fourth platform through a mounting platform sliding rail, and the third lead screw is matched with the third screw nut through the limiting groove.
Furthermore, the motor controller is connected with the telescopic column, and data signals of the telescopic column, the control motor of the rotary platform, the third lead screw control motor and the measuring head elevation angle control motor are connected into the motor controller through data lines.
Furthermore, the data signals of the motor controller, the grating ruler and the structured light measuring head are accessed into a user terminal microcomputer through a data line.
A self-adaptive on-machine measuring method of a planet wheel tooth profile machining error measuring device comprises the following steps:
the method comprises the following steps: resetting the gear hobbing machine, and returning the planet wheel to be tested to the position to be tested; the data signals of the motor controller, the grating ruler and the structured light measuring head are accessed into a user terminal microcomputer through a data line; adjusting the height-adjustable vibration-reduction foot pad to enable the first platform to be stably placed on the workbench, and rotating the first hand wheel and the second hand wheel to adjust the second platform to a proper plane position, so that the planet wheel to be measured can form an image in the visual field of the structured light measuring head; the user terminal microcomputer collects images shot by the structured light measuring head, motor control signals in the motor controller are calculated by using a self-adaptive control algorithm, the control motor of the rotary platform and the telescopic column, the third lead screw control motor and the measuring head elevation angle control motor are made to be self-adaptive adjusted, the structured light measuring head is quickly positioned to a proper measuring position of the planet wheel to be measured, and the planet wheel to be measured can be imaged properly and clearly.
Step two: calibrating the structured light measuring head, and locking the measuring position of the structured light measuring head; projecting and shooting a planet wheel to be measured by a structured light measuring head, and collecting data; and controlling the rotating platform of the to-be-measured planet wheel of the gear hobbing machine to stably rotate for 3 times respectively, rotating the position of the to-be-measured planet wheel for 90 degrees each time, pausing for a period of time after each rotation, and shooting the to-be-measured planet wheel by the projection of the structured light measuring head to collect data.
Step three: the method comprises the steps of controlling a telescopic column of a measuring device to rise for a proper distance, projecting and shooting a planet wheel shaft by a structured light measuring head to obtain point cloud data of the measuring device, fitting the point cloud data by using a three-dimensional model accurately measured by the planet wheel shaft, calculating the position of a rotation axis of a planet wheel to be measured, and completing calibration of a detection system on the rotation axis of the planet wheel to be measured by combining the rising data of the telescopic column recorded by a grating ruler.
Step four: on a user terminal microcomputer, coordinate system unification is carried out on three-dimensional point cloud data of all to-be-detected planet wheels under different rotation angles by utilizing calibration data of a rotation axis of the to-be-detected planet wheels, rough splicing of the point cloud data is completed, fine splicing of the point cloud of the to-be-detected planet wheels is achieved by utilizing a closest point iterative algorithm (ICP), the fine-spliced point cloud data is led into point cloud processing software for post-processing, finally error comparison is carried out on the point cloud processing software and a three-dimensional model designed by the to-be-detected planet wheels, and detection results of tooth profile errors and other dimension parameters of the to-be-detected planet wheels are obtained through calculation.
Step five: recording the measurement result; the measuring device is reset.
Compared with the prior art, the planetary gear tooth profile machining error detection device has the beneficial effects that the problems that the machining quality and the production efficiency are influenced because the machining error of the existing planetary gear tooth profile is not easy to realize on-machine measurement are solved. The invention is used for the structured light three-dimensional scanning of the planet wheel and the reconstruction of a three-dimensional model thereof, so as to realize the quick on-machine measurement of the tooth profile processing error of the planet wheel, and further achieve the purpose of improving the production efficiency and the production quality of the planet wheel. The measuring device is based on the structured light three-dimensional reconstruction principle, the coded image is projected to the surface of the measured object, the distortion of the returned coded image is analyzed, and the position and depth information of the measured object is obtained, so that the measurement of the tooth profile data of the planet wheel is realized. The measuring method combines a turntable calibration technology, a point cloud splicing technology and a point cloud data processing technology to reconstruct the three-dimensional structure of the planet wheel. The stable rotation through the planet wheel revolving stage that awaits measuring realizes detecting the coverage on planet wheel surface, and planet wheel profile of tooth processing error measuring device provides 5 degrees of freedom adjustment spaces of structured light gauge head, can accurately adjust the measurement visual angle of structured light gauge head to the realization is to the complete clear projection of the planet wheel that awaits measuring and shoot. The planet wheel surface structure is obtained by adopting a structured light three-dimensional structured light measuring technology, and the method has the advantages of high measurement speed, high accuracy and convenience in operation. The self-adaptive control algorithm is combined, the self-adaptive adjustment of the position of the structured light measuring head in a certain range can be realized by controlling the motor, so that the imaging of the detected target is quickly and accurately adjusted, and finally the imaging is proper and clear. By combining the turntable calibration technology and the point cloud processing technology, complete and accurate splicing and post-processing of cloud data of each point can be realized, so that a complete three-dimensional structure of the tooth form of the planetary wheel to be measured is reconstructed. Compared with the traditional planet wheel tooth profile processing error measurement method, the method can achieve faster and more accurate planet wheel tooth profile parameter measurement of the planet wheel to be measured, and can meet the requirements of fast reconstruction and on-machine measurement of a planet wheel tooth profile three-dimensional structure in industrial production and work research. Compared with other planet wheel measuring methods, the method has the advantages that the measurement parameters are not easy to obtain quickly and accurately due to the operation complexity and the easy abrasion of the measuring tool in the non-contact planet wheel measurement, and the system calibration complexity of the existing line laser scanning method and other structured light three-dimensional reconstruction methods is avoided. The invention improves the defects correspondingly, so that the measuring method is simpler and more accurate, and is more suitable for the requirement of on-machine measurement of the tooth form of the planet wheel.
Drawings
FIG. 1 is a flow chart of a self-adaptive on-machine measurement method for a tooth profile machining error of a planet wheel according to the invention;
FIG. 2 is a schematic structural diagram of a planetary gear tooth profile machining error measuring device according to the present invention;
FIG. 3 is a schematic diagram of a system for measuring the machining error of the tooth form of the planet wheel according to the present invention;
FIG. 4 is a schematic structural view of a second platform of the planetary gear tooth profile machining error measuring device of the present invention;
FIG. 5 is a schematic structural view of a third platform of the planetary gear tooth profile machining error measuring device of the present invention;
1-height-adjustable vibration-damping foot pad, 2-first platform, 3-second platform, 4-second lead screw mounting seat, 5-second lead screw, 6-third platform, 7-vibration-damping ring, 8-first lead screw, 9-first lead screw mounting seat, 10-first hand wheel, 11-second hand wheel, 12-rotating platform, 13-telescopic column, 14-grating ruler, 15-fourth platform, 16-third hand wheel, 17-third lead screw, 18-third nut, 19-fourth hand wheel, 20-structured light measuring head, 21-measuring head elevation angle control motor, 22-mounting platform, 23-third lead screw control motor, 24-motor controller, 25-user terminal microcomputer, 26-planet wheel shaft, 27-planet wheel to be measured, 28-first screw, 29-second screw and 30-damping ring mounting seat.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1-5 to illustrate the present embodiment, in a planetary gear tooth profile machining error measuring apparatus, an adjustable height vibration-damping foot pad 1 is connected to a first platform 2, a second platform 3 is connected to the first platform 2 in a sliding manner, a first nut 28 is connected to the second platform 3, a third platform 6 is connected to the second platform 3 in a sliding manner, a second nut 29 is connected to the third platform 6, the third platform 6 is connected to a vibration-damping ring 7 through a vibration-damping ring mounting base 30, the vibration-damping ring 7 is connected to a rotary platform 12, the rotary platform 12 is connected to a telescopic column 13, a grating ruler 14 is mounted on a second section column of the telescopic column 13, the telescopic column 13 is connected to a fourth platform 15, the mounting platform 22 is connected to the fourth platform 15 in a sliding manner, the third nut 18 is connected to the fourth platform 15, and a probe elevation control motor 21 is connected to a mounting base of the mounting platform 22, the structured light measuring head 20 is axially installed and axially connected with the measuring head elevation angle control motor 21 and the fourth hand wheel 19.
The position can be adjusted through the vice motion of lead screw between the part that this embodiment passes through sliding rail connection, realizes the rotation of structure light gauge head through the installation axle of gauge head to angle of adjustment realizes the fastening between the part through gasket and nut. The first lead screw mounting seat 9 is connected with the first platform 2, the first lead screw 8 is connected with the first lead screw mounting seat 9, the first hand wheel 10 is connected with the first lead screw 8, the second platform 3 is connected with the first platform 2 sliding groove in a sliding way through the sliding rail at the bottom surface of the second platform 3, the first lead screw 8 is matched with the first screw nut 28, the second lead screw mounting seat 4 is connected with the second platform 3, the second lead screw 5 is connected with the second lead screw mounting seat 4, the second hand wheel 11 is connected with the second lead screw 5, the third platform 6 is connected with the sliding rail at the top surface of the second platform 3 in a sliding way through the sliding block 6 groove of the third platform 6, the second lead screw 5 is matched with the second screw nut 29, the third lead screw control motor 23 is connected with the mounting platform 22, the third lead screw 17 is connected with the third lead screw control motor 23, and the third hand wheel 16 is connected with the third lead screw 17, the fourth platform 15 has a limit slot, the mounting platform 22 is slidably connected with the sliding slot of the fourth platform 15 through a slide rail of the mounting platform 22, the third screw 17 is matched with the third screw 18 through the limit slot, the motor controller 24 is connected with the telescopic column 13, data signals of the telescopic column 13, the control motor of the rotary platform 12, the third screw control motor 23 and the measuring head elevation angle control motor 21 are accessed into the motor controller 24 through data lines, and data signals of the motor controller 24, the grating ruler 14 and the structured light measuring head 20 are accessed into the user terminal microcomputer 25 through data lines.
The embodiment is a self-adaptive on-machine measuring method of a planetary gear tooth profile machining error measuring device, which comprises the following steps:
the method comprises the following steps: the gear hobbing machine is reset, and the planet wheel 27 to be tested returns to the position to be tested; the data signals of the motor controller 24, the grating ruler 14 and the structured light measuring head 20 are accessed to a user terminal microcomputer 25 through data lines; adjusting the height-adjustable vibration-reduction foot pad 1 to enable the first platform 2 to be stably placed on the workbench, and rotating the first hand wheel 10 and the second hand wheel 11 to adjust the second platform 3 to a proper plane position, so that the planet wheel 27 to be measured can form an image in the view field of the structured light measuring head 20; the user terminal microcomputer 25 collects the image shot by the structured light measuring head 20, and calculates a motor control signal in the motor controller 24 by using a self-adaptive control algorithm, so that the control motor of the rotary platform 12 and the telescopic column 13, the third lead screw control motor 23 and the measuring head elevation angle control motor 21 perform self-adaptive adjustment, the structured light measuring head 20 is quickly positioned to a proper measuring position of the planet wheel 27 to be measured, and the planet wheel 27 to be measured can be imaged properly and clearly.
Step two: calibrating the structured light probe 20, and locking the measurement position of the structured light probe 20; the structured light measuring head 20 projects and shoots the planet wheel 27 to be measured, and data are collected; the revolving stage of the planet wheel 27 that controls the gear hobbing machine to be measured steadily rotates 3 times respectively, all makes the planet wheel 27 position that awaits measuring rotate 90 degrees at every turn, pauses for a period after rotatory at every turn, and the projection of structured light gauge head 20 shoots the planet wheel 27 that awaits measuring, collects data.
Step three: the telescopic column 13 of the measuring device is controlled to be lifted for a proper distance, the structured light measuring head 20 projects and shoots the planet wheel shaft 26 to obtain point cloud data of the point cloud data, a three-dimensional model accurately measured by the planet wheel shaft 26 is used for fitting the point cloud data and calculating the position of the rotating axis of the planet wheel 27 to be measured, and the calibration of the detection system on the rotating axis of the planet wheel 27 to be measured is completed by combining the lifting data of the telescopic column 13 recorded by the grating ruler 14.
Step four: on the user terminal microcomputer 25, coordinate system unification is carried out on all three-dimensional point cloud data of the planet wheel 27 to be detected under different rotation angles by using calibration data of the rotation axis of the planet wheel 27 to be detected, rough splicing of the point cloud data is completed, fine splicing of the point cloud of the planet wheel to be detected is realized by using a closest point iterative algorithm (ICP), the fine spliced point cloud data is led into point cloud processing software for post-processing, finally, error comparison is carried out on the fine spliced point cloud data and a three-dimensional model designed by the planet wheel 27 to be detected, and detection results of tooth profile errors and other dimension parameters of the planet wheel 27 to be detected are obtained through calculation.
Step five: recording the measurement result; the measuring device is reset.
This planet wheel three-dimensional detection device adopts structured light three-dimensional reconstruction technique to realize the three-dimensional point cloud information acquisition of the planet wheel 27 that awaits measuring, realizes the three-dimensional reconstruction and the detection of planet wheel 27 that awaits measuring through point cloud aftertreatment software. The structured light measuring head 20 adopted by the detection device is an integrated product of a structured light projector and a shooting camera, not only can the synchronous triggering of the projector and the shooting camera be automatically realized, but also the self-calibration of the camera and the projector can be realized after the system is initialized, and the generation and burning of the coded pattern of the structured light, the point cloud post-processing and the three-dimensional reconstruction or detection can be realized on a user terminal microcomputer 25. The detection device is based on the structured light three-dimensional reconstruction principle, the coded image is projected to the surface of the measured object, the distortion of the returned coded image is analyzed, and the position and depth information of the measured object is obtained, so that the non-contact detection of the three-dimensional surface of the planet wheel is realized. The precision of the measuring system depends on the calibration of the projector and the camera and the calibration of the rotating platform of the planet wheel 27 to be measured. The three-dimensional reconstruction precision of the planet wheel to be detected can be increased by properly increasing the shooting times of the structured light measuring head 20, the detection method adopts the point cloud collection mode of rotating the planet wheel 27 to be detected for 4 times, rotating 90 degrees every time to collect multi-view point cloud information of the planet wheel 27 to be detected, and then splicing the cloud data of each point according to the calibration data of the planet wheel 27 to be detected, and the formula is as follows:
where S is the camera coordinate system, R1Is a rotary table coordinate system before the rotary table of the planet wheel 27 to be measured rotates once,R2is a rotating table coordinate system after the rotating table 3 rotates once,SP1the structured light measuring head 20 collects point cloud data of the planet wheel 27 to be measured before one rotation,SP1the structured light measuring head 20 collects point cloud data of the planet wheel 27 to be measured after one rotation, T is a conversion matrix, and if the one-time rotation angle of the rotating table of the planet wheel 27 to be measured is θ (θ is 90 degrees), the following formula is provided:
and after the point cloud data are spliced, the point cloud of the planet wheel to be detected is precisely spliced by using a closest point iterative algorithm (ICP), the precisely spliced point cloud data are imported into point cloud processing software for post-processing, and finally the error comparison is carried out with a three-dimensional model designed by the planet wheel 27 to be detected, so that the comprehensive detection result of the planet wheel 27 to be detected is rapidly and accurately obtained.
The three-dimensional planet wheel detection device and the self-adaptive on-machine measurement method thereof provided by the invention are introduced in detail, and the principles and the implementation mode of the invention are explained by applying the examples so as to help understand the method and the core idea of the invention; it is obvious to those skilled in the art that changes may be made in the embodiments and applications of the invention in accordance with the spirit of the invention, and therefore the description should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a planet wheel profile of tooth machining error measuring device which characterized in that: the height-adjustable vibration reduction foot pad (1) is connected with a first platform (2), a second platform (3) is connected with the first platform (2) in a sliding manner, a first screw (28) is connected with the second platform (3), a third platform (6) is connected with the second platform (3) in a sliding manner, a second screw (29) is connected with the third platform (6), the third platform (6) is connected with a vibration reduction ring (7) through a vibration reduction ring mounting seat (30), the vibration reduction ring (7) is connected with a rotary platform (12), the rotary platform (12) is connected with a telescopic column (13), a grating ruler (14) is installed on the second section column of the telescopic column (13), the telescopic column (13) is connected with a fourth platform (15), a mounting table (22) is connected with the fourth platform (15) in a sliding manner, and a third screw (18) is connected with the fourth platform (15), the measuring head elevation angle control motor (21) is connected with the mounting table (22) support, and the structured light measuring head (20) is axially mounted and axially connected with the measuring head elevation angle control motor (21) and the fourth hand wheel (19).
2. The planet wheel tooth profile machining error measuring device of claim 1, characterized in that: first lead screw mount pad (9) link to each other with first platform (2), first lead screw (8) link to each other with first lead screw mount pad (9), first hand wheel (10) link to each other with first lead screw (8).
3. The device for measuring the machining error of the tooth form of the planet wheel as claimed in claim 1, wherein: the second platform (3) is in sliding connection with the sliding groove of the first platform (2) through a sliding rail on the bottom surface of the second platform (3), and the first lead screw (8) is matched with the first screw nut (28).
4. The planet wheel tooth profile machining error measuring device of claim 1, characterized in that: the second lead screw mounting seat (4) and the second platform (3) are connected, the second lead screw (5) is connected with the second lead screw mounting seat (4), and the second hand wheel (11) is connected with the second lead screw (5).
5. The planet wheel tooth profile machining error measuring device of claim 1, characterized in that: the third platform (6) is in sliding connection with a sliding rail on the top surface of the second platform (3) through a sliding block groove of the third platform (6), and the second lead screw (5) is matched with the second screw nut (29).
6. The planet wheel tooth profile machining error measuring device of claim 1, characterized in that: the third lead screw control motor (23) is connected with the mounting table (22), the third lead screw (17) is connected with the third lead screw control motor (23), and the third hand wheel (16) is connected with the third lead screw (17).
7. The planet wheel tooth profile machining error measuring device of claim 1, characterized in that: fourth platform (15) has a spacing groove, mount table (22) pass through mount table (22) slide rail and fourth platform (15) spout sliding connection, third lead screw (17) cooperate through spacing groove and third screw (18).
8. The planet wheel tooth profile machining error measuring device of claim 1, characterized in that: the motor controller (24) is connected with the telescopic column (13), and data signals of the telescopic column (13), the control motor of the rotary platform (12), the third lead screw control motor (23) and the measuring head elevation angle control motor (21) are connected into the motor controller (24) through data lines.
9. The planetary gear tooth profile machining error measuring device according to claim 1, wherein data signals of the motor controller (24), the grating ruler (14) and the structured light measuring head (20) are connected to a user terminal microcomputer (25) through data lines.
10. The self-adaptive on-machine measuring method of the planetary gear tooth profile machining error measuring device according to claim 1, characterized in that: it comprises the following steps:
the method comprises the following steps: the gear hobbing machine is reset, and the planet wheel (27) to be tested returns to the position to be tested; data signals of the motor controller (24), the grating ruler (14) and the structured light measuring head (20) are accessed into a user terminal microcomputer (25) through data lines; adjusting the height-adjustable vibration-reduction foot pad (1) to enable the first platform (2) to be stably arranged on the workbench, rotating the first hand wheel (10) and the second hand wheel (11) to adjust the second platform (3) to a proper plane position, and enabling the planet wheel (27) to be detected to form an image in the visual field of the structured light measuring head (20); the user terminal microcomputer (25) collects images shot by the structured light measuring head (20), a motor control signal in the motor controller (24) is calculated by using a self-adaptive control algorithm, so that the control motor of the rotary platform (12) and the telescopic column (13), the third screw control motor (23) and the measuring head elevation angle control motor (21) are adjusted in a self-adaptive mode, the structured light measuring head (20) is quickly positioned to the appropriate measuring position of the planet wheel (27) to be measured, and the planet wheel (27) to be measured can be imaged appropriately and clearly at the moment.
Step two: calibrating the structured light probe (20), and locking the measurement position of the structured light probe (20); the structured light measuring head (20) projects and shoots a planet wheel (27) to be measured, and data are collected; the rotating platform for controlling the gear hobbing machine to-be-measured planet wheel (27) rotates 3 times stably, the position of the to-be-measured planet wheel (27) rotates 90 degrees every time, the rotation is stopped for a period of time every time, the projection of the structured light measuring head (20) shoots the to-be-measured planet wheel (27), and data are collected.
Step three: the method comprises the steps of controlling a telescopic column (13) of a measuring device to rise for a proper distance, projecting and shooting a planet wheel shaft (26) by a structured light measuring head (20) to obtain point cloud data of the measuring device, fitting the point cloud data by using a three-dimensional model accurately measured by the planet wheel shaft (26), calculating the position of a rotating axis of a planet wheel (27) to be measured, and completing calibration of a detection system on the rotating axis of the planet wheel (27) to be measured by combining the rising data of the telescopic column (13) recorded by a grating ruler (14).
Step four: on a user terminal microcomputer (25), coordinate system unification is carried out on three-dimensional point cloud data of all to-be-detected planet wheels (27) under different rotation angles by using calibration data of rotation axes of the to-be-detected planet wheels (27), rough splicing of the point cloud data is completed, fine splicing of the point cloud of the to-be-detected planet wheels (27) is achieved by using a closest point iterative algorithm (ICP), the fine spliced point cloud data is led into point cloud processing software to be subjected to post-processing, finally error comparison is carried out on the fine spliced point cloud data and a three-dimensional model designed for the to-be-detected planet wheels (27), and detection results of tooth errors and other dimension parameters of the to-be-detected planet wheels (27) are obtained through calculation.
Step five: recording the measurement result; the measuring device is reset.
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