CN117245442A - Tooth plate indexing method, indexing device, control system, terminal equipment and media - Google Patents

Abstract

The invention provides a fluted disc indexing method, an indexing device, a control system, terminal equipment and a medium, and relates to the technical field of fluted disc indexing.

Description

Tooth plate indexing method, indexing device, control system, terminal equipment and media

Technical field

The invention relates to the technical field of tooth plate indexing, and specifically to a tooth plate indexing method, an indexing device, a control system, terminal equipment and a medium.

Background technique

At present, my country's manufacturing products are becoming more and more complex, especially products in aerospace, military and other fields that need to process complex curved surfaces, requiring machine tools to have more than five axes of machine tool linkage including two rotary components. Traditional CNC machine tools are no longer able to achieve all-round and multi-angle cutting of complex curved surfaces. Nowadays, five-axis linkage double-oscillating milling heads are often used for all-round and multi-angle machining of complex curved surfaces. Before actual use of the five-axis linkage double pendulum milling head, the working angle of the pendulum body needs to be preset using a standard toothed disc, that is, toothed disc indexing.

The existing indexing method presets a pair of end toothed discs, one of which is a movable toothed disc connected to the pendulum body, and the other is a fixed toothed disc, and this fixed toothed disc is the reference disc. In the process of indexing the tooth plate of the pendulum body, it is necessary to remove the movable tooth plate connected to the pendulum body, and then drive the pendulum body to drive the movable tooth plate to rotate at a preset angle, and then the pendulum body drives the movable tooth plate to move back to the position with the pendulum body. The fixed gear plate meshes again to complete the indexing of the gear plate. When the above method is used to index the toothed disc, the pendulum body needs to be moved out, and then the indexing operation of the moving toothed disc is carried out; the operation of the pendulum body in this indexing process is relatively cumbersome.

Contents of the invention

In view of the above defects or deficiencies in the prior art, the present invention aims to provide a tooth plate indexing method, indexing device, control system, terminal equipment and media.

In a first aspect, the present invention provides a toothed plate indexing method. The toothed plate indexing method is used to adjust the first end toothed disc to the second end toothed disc when the second end toothed disc connected to the pendulum body is not rotated in place. The end toothed disc performs toothed disc indexing correction; the first end toothed disc has a second toothed disc close to the second end toothed disc, and the second end toothed disc includes a second end connected to the pendulum body Ring gear, the second end ring gear can mesh with the second gear plate; the gear plate indexing method includes the following steps:

Receive a first preset angle, the first preset angle being the preset angle of rotation of the pendulum body;

Receive the tooth plate indexing command and control the first end tooth plate to move away from the second end tooth plate;

Control the pendulum body to drive the second end gear ring to rotate at the first preset angle with a first rotating axis, and the direction of the extension line of the first rotating axis is the first direction;

The first end toothed disc is controlled to move in the first direction toward the side close to the second end toothed disc until the second toothed disc meshes with the second end toothed ring to complete toothed disc indexing.

According to the technical solution provided by the present invention, the end of the first end toothed disc close to the second end toothed disc also has a first toothed disc disposed concentrically with the second toothed disc, and the outer diameter of the first toothed disc It is larger than the second toothed disc and has the same number of teeth; the second end toothed disc also includes a first end toothed ring that can mesh with the first toothed disc;

Controlling the first end toothed disc to move in the first direction toward the side close to the second end toothed disc until the second toothed disc meshes with the second end toothed ring includes the following steps:

Control the first end toothed disc to move in the first direction toward the side close to the second end toothed disc until the first end toothed ring meshes with the first toothed disc, and the second end toothed disc The ring is in mesh with said second sprocket.

According to the technical solution provided by the present invention, the first end toothed disc is controlled to move in the first direction toward the side close to the second end toothed disc, until the first end toothed ring and the first toothed disc are The meshing of the disc, and the meshing of the second end gear ring and the second gear disc includes the following steps:

Control the first end toothed disc to move a first preset distance along the first direction toward the side closer to the second end toothed disc;

Obtain the actual rotation angle of the second end ring gear;

When it is determined based on the actual rotation angle that the first end surface can fall into the first tooth gap of the second end gear ring, the first end gear plate is controlled to continue moving to the second end gear plate side to the desired position. The first end ring gear meshes with the first gear plate, and the second end gear ring meshes with the second gear plate; wherein the first end surface is any first end face of the second gear plate. One tooth is close to the end surface of the second end toothed ring. The first tooth gap is the distance between the second ends of two adjacent second teeth of the second end toothed ring. The second end is The end surfaces of adjacent second teeth that are close to each other are close to one end of the first end on the tooth disk side.

According to the technical solution provided by the present invention, after obtaining the actual rotation angle of the second end ring gear, the following steps are further included:

When it is judged based on the actual rotation angle that all the first end surfaces cannot fall into the first tooth gap of the second end ring gear, the second end ring gear is controlled to rotate at a second preset angle, The second preset angle is an angle at which the first tooth can fall into the first tooth gap after rotation.

According to the technical solution provided by the present invention, a first plane is set, the first direction is perpendicular to the first plane, and the endpoints of the two second ends have four first projection points on the first plane, The four first projection points constitute a first coordinate range; the first end surface has four second projection points on the first plane, and the four second projection points constitute a second coordinate range; When it is determined based on the actual rotation angle that the first end surface can fall into the first tooth gap of the second end ring ring or based on the actual rotation angle, it is determined that all the first end surfaces cannot fall into the second end. When the first tooth gap of the ring gear is within the first tooth gap, the following steps are included:

The first coordinate range of the pendulum body after rotation is calculated based on the position of the pendulum body before rotation and the actual rotation angle;

Obtain the second coordinate range;

When it is determined that any of the first coordinate ranges covers the corresponding second coordinate range, the first end surface can fall into the first tooth gap of the second end ring; otherwise, all the first end surfaces Neither end surface can fall into the first tooth gap of the second end toothed ring.

According to the technical solution provided by the present invention, after judging that all the first end faces cannot fall into the first tooth gap of the second end ring gear according to the actual rotation angle, the second end face is controlled to Before the ring gear rotates to the second preset angle, the following steps are also included:

Obtain the number of collisions, which is the number of collisions between the second end relatively close to the first tooth and the first tooth;

Call the ring gear collision and wear database to obtain the wear amount of the end point of the second end; the ring gear collision and wear database is used to characterize the change of the first tooth gap after multiple collisions of the second end ring gear ; The ring gear collision wear database at least includes the number of collisions, and the amount of wear of any of the second end points after multiple collisions;

Obtain a third coordinate range based on the wear amount and the first coordinate range;

When it is determined that none of the third coordinate ranges can cover the corresponding second coordinate range, the second end ring gear is controlled to rotate by the second preset angle.

In a second aspect, the present invention provides an indexing device for the gear plate indexing method as described above, including:

base body;

A swivel component, the swivel component is rotatably located at the center of the base body, and the extension direction of the swivel component is the first direction;

The first end toothed disc is sleeved outside the rotary assembly. One end of the first end toothed disc has a first toothed disc and a second toothed disc arranged concentrically with the same number of teeth. The second toothed disc is smaller than the first toothed disc;

The second end toothed disc is disposed on the side of the first end toothed disc close to the first toothed disc. The second end toothed disc has a second toothed wheel that is sleeved outside the rotary component. an end gear ring, and a first end gear ring that is sleeved outside the second end gear ring. The first end gear ring can mesh with the first gear plate, and the second end gear ring can mesh with the first gear plate. The second toothed disc is meshed; and the first end toothed ring is fixedly connected to the base body, and the first end toothed ring and the second end toothed ring can rotate relative to each other;

A first driving mechanism, the first driving mechanism is located on the side of the first end toothed disc away from the second end toothed disc, and is used to drive the first end toothed disc to reciprocate in the first direction;

The second driving mechanism is located on the side of the second end gear ring away from the first end gear plate, and the second drive mechanism drives the second end gear ring to rotate.

In a third aspect, the present invention provides a control system for the sprocket indexing method as described above, including:

A first acquisition module, the first acquisition module is configured to receive a first preset angle, the first preset angle is the preset angle of rotation of the pendulum body;

A first control module, the first control module is configured to receive a toothed plate indexing instruction and control the first end toothed disc to move in a first direction away from the second end toothed disc;

a second control module, the second control module is configured to control the pendulum body to drive the second end gear ring to rotate at the first preset angle with a first rotating axis, and the extension line direction of the first rotating axis is the first direction;

A third control module, the third control module is configured to control the first end toothed disc to move toward the second end toothed disc along the first direction, to the first end toothed disc and the second end toothed disc. The second end gear ring meshes to complete the gear plate indexing.

In a fourth aspect, the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above is implemented. The steps of the toothed disk indexing method.

In a fifth aspect, the present invention provides a computer-readable storage medium. The computer-readable storage medium has a computer program. When the computer program is executed by a processor, the steps of the sprocket indexing method as described above are implemented.

To sum up, the present invention proposes a toothed plate indexing method, by driving the first end toothed disc to move away from the second end toothed disc until they are separated, and then driving the pendulum body to drive the toothed disc. The second end gear ring rotates a first preset angle, and then drives the first end gear plate to move closer to the second end gear plate until the first end gear plate and the second end gear ring mesh. , thus completing the indexing of the toothed disc. Compared with the prior art, the present invention controls the first end toothed disc to move left and right in the first direction, and the pendulum body only drives the second end toothed ring to rotate. Compared with the pendulum body in the prior art that both moves back and forth and rotates, the indexing work of the pendulum body is reduced.

Description of drawings

Figure 1 is a schematic diagram of the appearance of an indexing device provided by an embodiment of the present invention;

Figure 2 is a cross-sectional view of A-A in Figure 1;

Figure 3 is a schematic flow chart of a tooth plate indexing method provided by an embodiment of the present invention;

Figure 4 is a schematic diagram of the first tooth and the corresponding second tooth when the first midpoint and the second midpoint are on a straight line according to the embodiment of the present invention;

Fig. 5 is a schematic diagram of the first projection point and the second projection point on the first plane when the schematic diagram of the first tooth and the corresponding second tooth is as shown in Fig. 4 according to the embodiment of the present invention;

Figure 6 is a schematic diagram of the first tooth and the corresponding second tooth when the first midpoint and the second midpoint are not in the same straight line according to the embodiment of the present invention;

Fig. 7 is a schematic diagram of the first projection point and the second projection point on the first plane when the schematic diagram of the first tooth and the corresponding second tooth is as shown in Fig. 6 according to the embodiment of the present invention;

Figure 8 is a schematic diagram of the first tooth and the corresponding second tooth when the first coordinate range cannot cover the second coordinate range provided by the embodiment of the present invention;

Fig. 9 is a schematic diagram of the first projection point and the second projection point on the first plane when the schematic diagram of the first tooth and the corresponding second tooth is as shown in Fig. 7 according to the embodiment of the present invention;

Figure 10 is a schematic structural diagram of a terminal device provided by an embodiment of the present invention.

1. Base body; 2. First end toothed disc; 21. First tooth; 211. First end surface; 3. Second end toothed disc; 31. First end toothed ring; 32. Second end toothed ring; 321. Second tooth; 322. Second end; 323. First side wall; 324. Second end face; 41. Piston body; 42. Elastic component; 43. First space; 5. Rotary component; 6. First Plane; 61, abscissa; 62, ordinate; 63, second projection point; 64, first projection point; 7, pendulum; 700, computer system; 701, CPU; 702, ROM; 703, RAM; 704, Bus; 705, I/O interface; 706, input part; 707, output part; 708, storage part; 709, communication part; 710, drive; 711, removable media.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It can be understood that the specific embodiments described here are only used to explain the relevant invention, but not to limit the invention. It should also be noted that, for convenience of description, only the parts related to the invention are shown in the drawings.

It should be noted that, as long as there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

Example 1

Just like the technical issues mentioned in the background art, the present invention proposes an indexing device with a toothed disk indexing method. Please refer to Figures 1 and 2, which includes:

Base body 1;

Rotary component 5. The swivel component 5 is rotatably located at the center of the base body 1. The extension direction of the swivel component 5 is the first direction. Please refer to Figure 2. The first direction is left and right. direction; optionally, the rotary component 5 is a bevel tooth;

The first end toothed disc 2 is sleeved outside the rotary component 5 . One end of the first end toothed disc 2 has a concentrically arranged first toothed disc and a second toothed disc with the same number of teeth. , the outer diameter of the second toothed disc is smaller than the first toothed disc;

The second end toothed disc 3 is disposed on the side of the first end toothed disc 2 close to the first toothed disc. The second end toothed disc 3 has a structure that is sleeved on the rotary component. 5 and a second end gear ring 32 outside the second end gear ring 32, and a first end gear ring 31 sleeved outside the second end gear ring 32. The first end gear ring 31 can mesh with the first gear plate, so The second end gear ring 32 can mesh with the second gear plate; and the first end gear ring 31 is fixedly connected to the base body 1, and the first end gear ring 31 and the second end gear ring 31 are fixedly connected to the base body 1. The ring gear 32 can rotate relatively;

The first driving mechanism is provided on the side of the first end toothed disc 2 away from the second end toothed disc 3 and is used to drive the first end toothed disc 2 to reciprocate along the first direction. move;

The second driving mechanism is provided on the side of the second end gear ring 32 away from the first end gear plate 2, and the second driving mechanism drives the second end gear ring 32 to rotate.

Optionally, as shown in Figure 2, the rotary assembly 5 is provided with a first chamber circumferentially, and the first driving mechanism includes:

Piston body 41. The piston body 41 is located in the first chamber. A sealed first space 43 is formed between one end of the piston body 41 and the inner wall of the first chamber. The piston body 41 is away from the first space. The 43 end is connected to the end of the first end toothed disc 2 away from the second end toothed disc 3;

The elastic component 42 is connected to the end of the piston body 41 away from the first space 43 and is located on the side of the first end gear ring 31 away from the rotary component 5 . The elastic component 42 is away from the The piston body 41 end is in contact with the inner wall of the first chamber;

An oil supply assembly is provided on the left side of the first chamber. When the oil supply assembly is used to supply oil and pressurize the first space 43, it drives the piston body 41 to drive the third space. One end of the toothed disc 2 moves to the right. At this time, the elastic component 42 is in a force-accumulating state. When the oil supply component does not press into the first space, the elastic component 42 is in a force-releasing state, driving all the components. The piston body 41 drives the first end gear plate 2 to move to the left; the leftmost side of the first chamber is provided with a first opening connected to the first space 43, and the oil supply assembly has an oil supply end. , the oil supply end is in sealing communication with the first opening.

The second driving mechanism includes:

a second driving component, the second driving component is used to drive the rotation of the rotary component 5;

The transmission assembly is sleeved outside the rotary assembly 5 and between the rotary assembly 5 and the pendulum body 7 . The second driving assembly can drive the rotary assembly 5 to drive the pendulum body 7 Rotate, thereby driving the second end gear ring 32 to rotate; the second driving mechanism is the conventional driving mechanism of the five-axis linkage double pendulum milling head, which will not be described again here.

Example 2

On the basis of Embodiment 1, the present invention also proposes a toothed plate indexing method. The toothed plate indexing method is used to adjust the first end of the toothed plate when the second end of the toothed plate 3 connected to the pendulum body 7 does not rotate in place. The toothed disc 2 performs toothed disc indexing correction on the second end toothed disc 3; the first end toothed disc 2 has a second toothed disc at an end close to the second end toothed disc 3, and the second end toothed disc 3 3 includes a second end toothed ring 32 connected to the pendulum body 7, and the second end toothed ring 32 can mesh with the second toothed disc; as shown in Figure 3, the toothed disc indexing method includes the following step:

S100. Receive the first preset angle, which is the preset angle at which the pendulum body 7 rotates;

S200. Receive the tooth plate indexing command and control the first end tooth plate 2 to move away from the second end tooth plate 3;

S300. Control the pendulum body 7 to drive the second end gear ring 32 to rotate at the first preset angle with the first rotating axis, and the extension direction of the first rotating axis is the first direction; as shown in Figure 2, The first direction is the left-right direction. After receiving the tooth plate indexing command, the first end toothed disc 2 is controlled to move in the left-right direction away from the second end toothed disc 3 .

S400. Control the first end toothed disc 2 to move along the first direction toward the side close to the second end toothed disc 3 until the second toothed disc meshes with the second end toothed ring 32 to complete the toothing process. Disk indexing.

Wherein, the toothed plate indexing device also includes a controller and an external terminal. Before toothed plate indexing, the first end toothed disc 2 and the second end toothed disc 3 are in a meshing state. When the toothed disc is indexed, The operator can input the first preset angle and generate the tooth plate indexing instruction through the external terminal. The first preset angle is based on the second tooth plate and the teeth on the second end tooth ring 32 . The first preset angle is the angle at which the second end gear ring 32 can still mesh with the second gear plate after rotating the first preset angle; the controller After receiving the tooth plate indexing instruction, a first driving instruction is generated, and the first driving instruction controls the first driving mechanism to drive the first end tooth plate 2 to move to the left and interact with the second end tooth. Disk 3 separates; when the first end toothed disk 2 moves into position, the controller generates a second drive command, and the second drive command controls the second drive mechanism to drive the pendulum body 7 to drive the third The two-end ring gear 32 rotates at the first preset angle with the first rotating axis, which is also the rotating axis of the rotary component 5; when the rotation is in place, the controller generates a third drive command. , the third drive command drives the first drive mechanism to drive the first end toothed wheel 2 to move to the right, so that the second toothed wheel meshes with the second end toothed ring 32, thereby completing the toothed wheel. Graduation. Compared with the prior art, the present invention controls the first end toothed wheel 2 to reciprocate left and right along the first direction, and the pendulum body 7 only drives the second end toothed ring 32 to rotate, which is different from the pendulum in the prior art. Compared with the body 7 which moves back and forth and rotates, the indexing work of the pendulum body 7 is reduced.

In a preferred embodiment, the end of the first end toothed disc 2 close to the second end toothed disc 3 also has a first toothed disc arranged concentrically with the second toothed disc, and the outer surface of the first toothed disc is The diameter is larger than that of the second toothed disc, and both have the same number of teeth; the second end toothed disc 3 also includes a first end toothed ring 31 that can mesh with the first toothed disc;

The control of the first end toothed disc 2 to move closer to the second end toothed disc 3 along the first direction until the first end toothed disc 2 meshes with the second end toothed ring 32 includes the following steps: step:

Control the first end toothed disc 2 to move in the first direction toward the side close to the second end toothed disc 3 until the first end toothed ring 31 meshes with the first toothed disc, and the third The two-end toothed ring 32 is meshed with the second toothed disc.

Wherein, before the tooth plate indexing is performed, the first tooth plate meshes with the first end ring gear 31 , and the second tooth plate meshes with the second end tooth ring 32 ; since the first tooth plate meshes with the second end tooth ring 32 The end gear ring 31 is connected to the base body 1, so when the first driving mechanism drives the first end gear plate 2 to move to the left, the first gear plate and the first end gear ring 31 disengaged. Since the first end toothed disc 2 only moves back and forth, while the first end toothed ring 31 is fixed, neither of them rotates. Therefore, when the first end toothed disc 2 moves to the right, the first end toothed disc 2 moves to the right. The first toothed disc and the first end toothed ring 31 will mesh. If the pendulum body 7 drives the second end toothed ring 32 to rotate at the first preset angle, and there is no error in the rotation angle, then the The second toothed wheel and the second end toothed ring 32 will also mesh.

However, when there is a certain error when the second end toothed ring 32 rotates, since the first end toothed ring 31 is in a fixed position, the first end toothed disc 2 meshed with it will not rotate. When the rotation error of the ring 32 is not too large, the second toothed disc will exert a certain force on the second end toothed ring 32, causing the second end toothed ring 32 to drive the swing 7 to rotate at a certain angle. , to compensate the rotation error of the second end ring gear 32, and finally make the second end ring gear and the second end ring gear 32 mesh equally; therefore, the first end ring gear 31 can be used as a reference ring gear, It provides a reference for the second end ring gear 32 to eliminate error rotation.

In a preferred embodiment, the first end toothed disc 2 is controlled to move toward the second end toothed disc 3 along the first direction until the first end toothed ring 31 is in contact with the third end toothed disc 3 . The meshing of a toothed disc and the meshing of the second end toothed ring 32 with the second toothed disc includes the following steps:

S410. Control the first end toothed disc 2 to move a first preset distance along the first direction toward the side close to the second end toothed disc 3; when the first driving mechanism receives the third driving command Finally, the first end toothed disc 2 is driven to move to the right to the first preset distance. At this time, the first toothed disc and the first end toothed ring 31 are not yet meshed;

S420. Obtain the actual rotation angle of the second end gear ring 32; an angle measuring instrument is provided outside the base body 1, and the angle measuring instrument is used to obtain the actual rotation angle of the rotary component 5. Since the The rotary component 5 drives the pendulum body 7 and the second end gear ring 32 to rotate, so the actual rotation angle of the second end gear ring 32 can be obtained through the angle measuring instrument.

S430. When it is determined according to the actual rotation angle that the first end surface 211 can fall into the first tooth gap of the second end gear ring 32, control the first end gear plate 2 to move toward the second end gear ring 32. The third side continues to move until the first end ring gear 31 meshes with the first gear plate, and the second end gear ring 32 meshes with the second gear plate; wherein, the first end surface 211 is the Any first tooth 21 of the second toothed disc is close to the end surface of the second end toothed disc 3, and the first tooth gap is the third tooth gap between two adjacent second teeth 321 of the second end toothed ring 32. The distance between the two ends 322. The second end 322 is the end of the adjacent second teeth 321 that are close to each other and close to the first end of the toothed disk 2. Wherein, optionally, the cross-sections of the first teeth 21 and the second teeth 321 are trapezoidal. If the first end surface 211 can fall into the first tooth gap, then when the first end toothed disc 2 continues to move to the right from the first preset distance, the second toothed disc and The second end gear ring 32 is meshable.

In a preferred embodiment, after obtaining the actual rotation angle of the second end ring gear 32, the following steps are further included:

S421. When it is judged based on the actual rotation angle that all the first end surfaces 211 cannot fall into the first tooth gap of the second end gear ring 32, then control the second end gear ring 32 to rotate for the third time. Two preset angles, the second preset angle is the angle at which the first tooth 21 can fall into the first tooth gap after rotation.

Wherein, when the first end surface 211 cannot fall into the first tooth gap, if the first end toothed disc 2 moves to the right, the first end surface 211 and the second teeth 321 are close to the The end surface on the 2 side of the first end toothed disc is in contact with each other, and the second toothed disc will not mesh with the second end toothed ring 32. In this scenario, the actual angle of rotation of the second end toothed ring 32 is different from the The error of the first preset angle is relatively large. This error is compensated by driving the second end gear ring 32 again to rotate the second preset angle, so that after rotation, the first end surface 211 can fall into the second preset angle. Within one tooth gap.

In a preferred embodiment, the first plane 6 is set, the first direction is perpendicular to the first plane 6 , and the endpoints of the two second ends 322 have four third planes 6 on the first plane 6 . A projection point 64, four of the first projection points 64 constitute a first coordinate range; the first end surface 211 has four second projection points 63 on the first plane 6, and the four second projection points Point 63 constitutes the second coordinate range;

The second end 322 is the edge of the end surface of the second tooth 321 close to the first tooth 21 , and is a line segment. Therefore, each second end 322 has two ends on the first plane 6 . The first projection point 64 and four first projection points 64 constitute the first coordinate range; the first end surface 211 is a rectangle, so there are four second projection points 64 on the first plane 6 Projection point 63, four second projection points 63 constitute the second coordinate range. Taking the intersection point of the axis of the first end gear plate 2 and the first plane 6 as the origin, the horizontal direction on the first plane 6 is the abscissa 61 and the vertical direction is the ordinate 62 .

When it is determined based on the actual rotation angle that the first end surface 211 can fall into the first tooth gap of the second end gear ring 32 or when it is determined based on the actual rotation angle that all the first end surfaces 211 cannot fall into When the second end gear ring 32 is within the first tooth gap, the following steps are included:

S431. Calculate the first coordinate range of the pendulum body 7 after rotation based on the position of the pendulum body 7 before rotation and the actual rotation angle;

S432. Obtain the second coordinate range;

S433. When it is determined that any of the first coordinate ranges covers the corresponding second coordinate range, the first end surface 211 can fall into the first tooth gap of the second end gear ring 32; otherwise, None of the first end surfaces 211 can fall into the first tooth gap of the second end toothed ring 32 .

Among them, since the first end toothed disc 2 and the second end toothed disc 3 mesh before the pendulum body 7 rotates, the first projection point 64 and the second projection point 63 are at this time. The coordinates of the first plane 6 are fixed, and the second coordinate range is obtained through the four second projection points 63. The second coordinate range always remains unchanged, because the second tooth 321 is in the first plane. The layout on the two-end ring gear 32 is fixed. When the second-end ring gear 32 rotates by the actual rotation angle, the coordinates of the first projection point 64 on the first plane 6 after rotation can be calculated. , obtain the first coordinate range.

When any of the first coordinate ranges can cover the second coordinate range, then any of the first end surfaces 211 can fall into the first tooth gap, including two situations. The first situation is as shown in Figure 4-As shown in Figure 5, the midpoint of the distance between the two first projection points 64 corresponding to the two different second ends 322 is set as the first midpoint, and the distance between the first end surface 211 and the first projection point 64 is set as the first midpoint. The midpoint of the distance between the two second projection points 63 corresponding to the first projection point 64 is set as the second midpoint, and the first midpoint and the second midpoint are on the same straight line, as shown in Figure 5 shown by the dotted line. At this time, the first tooth 21 can just be embedded in the first tooth gap, and the actual angle of rotation of the second end gear ring 32 has no error and is equal to the first set angle. If one of the first teeth 21 can fit into the corresponding first tooth gap, all the first teeth 21 can fit into the third tooth gap according to the layout of the first teeth 21 and the second teeth 321 . Within one tooth gap.

There is also a second situation where the first end surface 211 can fall into the first tooth gap. As shown in Figures 6-7, the first midpoint and the second midpoint are not on the same straight line. , at this time, the first tooth 21 can fall into the first tooth gap. When the first end toothed disc 2 continues to move to the right from the first preset distance, the first tooth 21 Will encounter the first side wall 323 of the second tooth 321, and form a driving force on the first side wall 323. The driving force drives the second end toothed ring 32 to drive the pendulum body 7 to rotate until The first teeth 21 are completely embedded in the first tooth gap to realize the meshing of the second toothed disc and the second end toothed ring 32. This scene is the rotation angle of the second end toothed ring 32. There is a certain error with the first preset angle, and this error can be compensated by the second toothed plate driving the second end toothed ring 32 and the pendulum body 7 to rotate.

Please refer to Figures 8-9. When all the first coordinate ranges cannot cover the corresponding second coordinate ranges, the first end surface 211 will be close to the second teeth 21. The second end surface 324 on the side of the first end gear 2 collides. In this case, the error between the actual angle of rotation of the second end gear 32 and the first preset angle is larger. The end surface 211 collides with the second end surface 324. At this time, the second toothed disc cannot drive the second end ring gear 32 to rotate to compensate for the rotation error of the second end toothed ring 32; the controller directs The second driving mechanism sends a fourth driving command. In response to the fourth driving command, the second driving mechanism drives the pendulum body 7 to drive the second end gear ring 32 to rotate at the second preset angle. , so that the first tooth 21 can fall into the first tooth gap. After each rotation of the second preset angle, step S421 is repeated until the first tooth 21 falls into the first tooth gap. within the tooth gap.

In a preferred embodiment, after it is determined based on the actual rotation angle that all the first end surfaces 211 cannot fall into the first tooth gap of the second end ring gear 32, the third end surface 211 is controlled. Before the two-end ring gear 32 rotates the second preset angle, the following steps are also included:

Obtain the number of collisions, which is the number of collisions between the second end 322 that is relatively close to the first tooth 21 and the first tooth 21;

When the first midpoint and the second midpoint are not on a straight line, the first tooth 21 will collide with the first side wall 323 of the second tooth 321 that is relatively close to it. If there is a collision, the end point of the second end 322 corresponding to the first side wall 323 will be worn, causing the first coordinate range to expand. When the controller determines that the first midpoint and the second midpoint are not on a straight line, the controller will record the number of collisions with the first tooth 21 relatively close to the second end 322, and accumulate The number of collisions is then obtained.

The ring gear collision and wear database is called to obtain the wear amount of the two end points of the second end 322 relatively close to the first tooth 21; the ring gear collision and wear database is used to characterize the second end ring gear 32 The change of the first tooth gap after multiple collisions; the ring gear collision wear database at least includes the number of collisions, and the wear amount of any end point of the second end 322 after multiple collisions;

Among them, the ring gear collision wear database is shown in Table 1:

Table 1

Obtain a third coordinate range based on the wear amount and the first coordinate range;

Optionally, the change in wear amount of each second end 322 endpoint after multiple collisions is the same, and the controller can obtain the number of collisions with the first tooth 21 relatively close to the second end 322, According to Table 1, the wear amount of the two endpoints of the second end 322 after the number of collisions is obtained. According to the wear amount and the first coordinate range, the third coordinate range is obtained. The third coordinate range is obtained. The range is larger than the second coordinate range.

When it is determined that none of the third coordinate ranges can cover the corresponding second coordinate range, the second end gear ring 32 is controlled to rotate by the second preset angle; if the expanded third coordinate range The coordinate range cannot cover the first coordinate range, which means that the first tooth 21 still cannot fall into the expanded first tooth gap, so the second preset angle must be rotated to compensate for the error. However, when it is determined When any of the third coordinate ranges can cover the corresponding second coordinate range, the first end toothed disc 2 is controlled to continue moving to the second end toothed disc 3 to the first end toothed ring 31 The second end gear ring 32 is engaged with the first gear plate, and the second end gear ring 32 is engaged with the second gear plate.

Example 3

On the basis of Embodiment 1 and Embodiment 2, the present invention proposes a control system with a toothed disk indexing method, including:

A first acquisition module, the first acquisition module is configured to receive a first preset angle, the first preset angle is the preset angle at which the pendulum body 7 rotates;

A first control module, the first control module is configured to receive a toothed plate indexing instruction and control the first end toothed disc 2 to move in a first direction away from the second end toothed disc 3;

The second control module is configured to control the pendulum body 7 to drive the second end gear ring 32 to rotate at the first preset angle with the first rotation axis, and the extension line of the first rotation axis The direction is the first direction;

The third control module is configured to control the first end toothed disc 2 to move in the first direction toward the side close to the second end toothed disc 3, to the first end toothed disc 3. 2 meshes with the second end gear ring 32 to complete the gear plate indexing.

In the present invention, the first end toothed disc 2 is driven to move away from the second end toothed disc 3 until they are separated, and then the pendulum body 7 is driven to drive the second end toothed ring 32 to rotate the first predetermined direction. Set the angle, and then drive the first end toothed disc 2 to move closer to the second end toothed disc 3 until the first end toothed disc 2 meshes with the second end toothed ring 32, thus completing the toothed disc. For indexing, compared with the prior art, the present invention controls the first end toothed disc 2 to reciprocate left and right along the first direction, and the pendulum body 7 only drives the second end toothed ring 32 to rotate. Compared with the pendulum body 7 in the pendulum body 7 which both moves back and forth and rotates, the indexing work of the pendulum body 7 is reduced. The system provided by the embodiments of the present invention can implement each process implemented by the above method embodiments, and has corresponding functional modules and beneficial effects. To avoid duplication, they will not be described again here.

Example 4

The present invention proposes a terminal device. As shown in Figure 10, the computer system 700 of the terminal device includes a CPU 701, which can execute various appropriate programs according to the programs stored in the ROM 702 or loaded from the storage part 708 into the RAM 703. actions and processing. In RAM 703, various programs and data required for system operation are also stored. CPU701, ROM702 and RAM703 are connected to each other through bus 704. The I/O interface 705 is also connected to the bus 704, where the CPU 701 is a central processing unit, the ROM 702 is a read-only memory, the RAM 703 is a random access memory, and the I/O interface 705 is an input/output interface. The following components are connected to the I/O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., speakers, etc.; and a storage section 708 including a hard disk, etc. ; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. Driver 710 is also connected to I/O interface 705 as needed. Removable media 711, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive 710 as needed, so that a computer program read therefrom is installed into the storage portion 708 as needed.

In particular, according to embodiments of the present invention, the process described above with reference to flowchart 3 may be implemented as a computer software program. For example, Embodiment 4 of the present invention includes a computer program product including a computer program carried on a computer-readable medium, the computer program including program code for executing the method shown in the flowchart. In such embodiments, the computer program may be downloaded and installed from the network via the communications component, and/or installed from removable media. When this computer program is executed by the CPU 701, the above-mentioned functions defined in the computer system 700 are executed.

Example 5

The present invention also provides a computer-readable medium. The computer-readable medium carries one or more programs. When the one or more programs are executed by an electronic device, the electronic device implements the above embodiments. The tooth plate indexing method.

It should be noted that although several modules or units of equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the disclosed embodiments of the present invention, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided into being embodied by multiple modules or units.

Furthermore, although the various steps of the methods of the present invention are depicted in a specific order in the drawings, this does not require or imply that these steps must be performed in that specific order, or that all of the illustrated steps must be performed to achieve the desired results. result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step for execution, and/or one step may be decomposed into multiple steps for execution, etc. Through the above description of the embodiments, those skilled in the art can easily understand that the example embodiments described here can be implemented by software, or can be implemented by software combined with necessary hardware.

The above description is only an illustration of the preferred embodiments of the present invention and the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to technical solutions formed by a specific combination of the above technical features, but should also cover any combination of the above technical features without departing from the concept of the invention. or other technical solutions formed by any combination of equivalent features. For example, a technical solution is formed by replacing the above features with technical features disclosed in the present invention (but not limited to) with similar functions.

Claims (10)

1. A tooth plate indexing method, characterized in that the tooth plate indexing method is used to adjust the first end tooth plate when the second end tooth plate (3) connected to the pendulum body (7) does not rotate in place. (2) Perform tooth plate indexing correction on the second end toothed disc (3); the first end toothed disc (2) has a second toothed disc close to the second end toothed disc (3), so The second end toothed disc (3) includes a second end toothed ring (32) connected to the pendulum body (7), and the second end toothed ring (32) can mesh with the second toothed disc; The gear plate indexing method includes the following steps: Receive a first preset angle, which is the preset angle at which the pendulum body (7) rotates; Receive the tooth plate indexing command and control the first end tooth plate (2) to move away from the second end tooth plate (3); Control the pendulum body (7) to drive the second end gear ring (32) to rotate at the first preset angle with a first rotating axis, and the direction of the extension line of the first rotating axis is the first direction; Control the first end toothed disc (2) to move along the first direction toward the side close to the second end toothed disc (3), to the second toothed disc and the second end toothed ring (32) Engage to complete the gear plate indexing. 2. The tooth plate indexing method according to claim 1, characterized in that, the end of the first end tooth plate (2) close to the second end tooth plate (3) also has an end with the second tooth plate. A concentrically arranged first toothed disc, the outer diameter of the first toothed disc is larger than the second toothed disc, and both have the same number of teeth; the second end toothed disc (3) also includes a toothed disc that can be connected to the first toothed disc. The first end gear ring (31) that the disc meshes with; The first end toothed disc (2) is controlled to move along the first direction toward the side close to the second end toothed disc (3), to the second toothed disc and the second end toothed ring ( 32) Engagement includes the following steps: Control the first end toothed disc (2) to move along the first direction toward the side close to the second end toothed disc (3), until the first end toothed ring (31) and the first toothed disc meshing, and the second end gear ring (32) meshes with the second gear plate. 3. The tooth plate indexing method according to claim 2, characterized in that the first end tooth plate (2) is controlled to approach the second end tooth plate (3) along the first direction. Moving sideways until the first end gear ring (31) meshes with the first gear plate, and the second end gear ring (32) meshes with the second gear plate includes the following steps: Control the first end toothed disc (2) to move a first preset distance along the first direction toward the side closer to the second end toothed disc (3); Obtain the actual rotation angle of the second end gear ring (32); When it is determined according to the actual rotation angle that the first end surface (211) can fall into the first tooth gap of the second end toothed gear (32), the first end toothed disc (2) is controlled to move toward the third toothed gear. The two-end toothed disc (3) side continues to move until the first-end toothed ring (31) meshes with the first toothed disc, and the second-end toothed ring (32) engages with the second toothed disc; Wherein, the first end surface (211) is an end surface of any first tooth (21) of the second toothed disc close to the second end toothed disc (3), and the first tooth gap is the end surface of the second toothed disc (21). The distance between the second ends (322) of two adjacent second teeth (321) of the two-end toothed ring (32). The second end (322) is where the adjacent second teeth (321) are close to each other. The end surface is close to the end on the side of the first end toothed disc (2). 4. The gear plate indexing method according to claim 3, characterized in that after obtaining the actual rotation angle of the second end gear ring (32), it further includes the following steps: When it is judged based on the actual rotation angle that all the first end surfaces (211) cannot fall into the first tooth gap of the second end ring gear (32), the second end ring gear (32) is controlled 32) Rotate the second preset angle. The second preset angle is the angle at which the first tooth (21) can fall into the first tooth gap after rotation. 5. The tooth plate indexing method according to claim 4, characterized in that a first plane (6) is set, the first direction is perpendicular to the first plane (6), and the two second The end point of the end (322) has four first projection points (64) on the first plane (6), and the four first projection points (64) constitute a first coordinate range; the first end surface (64) 211) There are four second projection points (63) on the first plane (6), and the four second projection points (63) constitute the second coordinate range; the second coordinate range is determined based on the actual rotation angle. When one end face (211) can fall into the first tooth gap of the second end gear ring (32) or based on the actual rotation angle, all of the first end faces (211) cannot fall into the second gear gap. When it is within the first tooth gap of the end ring ring (32), the following steps are included: The first coordinate range of the pendulum body (7) after rotation is calculated based on the position of the pendulum body (7) before rotation and the actual rotation angle; Obtain the second coordinate range; When it is determined that any of the first coordinate ranges covers the corresponding second coordinate range, the first end surface (211) can fall into the first tooth gap of the second end toothed ring (32); Otherwise, all the first end surfaces (211) cannot fall into the first tooth gap of the second end toothed ring (32). 6. The tooth plate indexing method according to claim 5, characterized in that, according to the actual rotation angle, it is determined that all the first end surfaces (211) cannot fall into the second end tooth ring (32). After the first tooth gap is within the first tooth gap, the following steps are also included before controlling the second end gear ring (32) to rotate at a second preset angle: Obtain the number of collisions, which is the number of collisions between the second end (322) that is relatively close to the first tooth (21) and the first tooth (21); The ring gear collision and wear database is called to obtain the wear amount of the end point of the second end (322); the ring gear collision and wear database is used to characterize the second end ring gear (32) after multiple collisions. Changes in the first tooth gap; the ring gear collision wear database at least includes the number of collisions, and the wear amount of any of the second end (322) endpoints after multiple collisions; Obtain a third coordinate range based on the wear amount and the first coordinate range; When it is determined that none of the third coordinate ranges can cover the corresponding second coordinate range, the second end ring gear (32) is controlled to rotate by the second preset angle. 7. An indexing device for the tooth plate indexing method according to any one of claims 2 to 6, characterized in that it includes: Base body (1); Rotating component (5), the rotating component (5) is rotatably provided at the center of the base body (1), and the extending direction of the rotating component (5) is the first direction; A first end toothed disc (2). The first end toothed disc (2) is sleeved outside the rotary component (5). One end of the first end toothed disc (2) has a concentrically arranged third tooth plate with the same number of teeth. A toothed disc and a second toothed disc, the outer diameter of the second toothed disc being smaller than the first toothed disc; The second end toothed disc (3) is located on the side of the first end toothed disc (2) close to the first toothed disc. The second end toothed disc (3) It has a second end gear ring (32) that is sleeved on the outside of the rotary component (5), and a first end gear ring (31) that is sleeved on the outside of the second end gear ring (32). One end gear ring (31) can mesh with the first gear plate, and the second end gear ring (32) can mesh with the second gear plate; and the first end gear ring (31) can mesh with the second gear plate. The base body (1) is fixedly connected, and the first end toothed ring (31) and the second end toothed ring (32) can rotate relatively; The first driving mechanism is located on the side of the first end toothed disc (2) away from the second end toothed disc (3) and is used to drive the first end toothed disc (2) along the edge of the first end toothed disc (2). The first direction moves back and forth; A second driving mechanism, the second driving mechanism is located on the side of the second end gear ring (32) away from the first end gear plate (2), and the second driving mechanism drives the second end gear ring (32). (32) Rotation. 8. A control system for the tooth plate indexing method according to any one of claims 1 to 6, characterized in that it includes: A first acquisition module, the first acquisition module is configured to receive a first preset angle, the first preset angle is the preset angle of rotation of the pendulum body (7); A first control module, the first control module is configured to receive a tooth plate indexing instruction and control the first end tooth plate (2) to move in a first direction away from the second end tooth plate (3) ; The second control module is configured to control the pendulum body (7) to drive the second end gear ring (32) to rotate at the first preset angle with the first rotating shaft. The direction of the extension line is the first direction; A third control module, the third control module is configured to control the first end toothed disc (2) to move in the first direction toward the side closer to the second end toothed disc (3), to the side of the second end toothed disc (3). The one-end toothed disc (2) meshes with the second-end toothed ring (32) to complete the toothed disc indexing. 9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the computer program, the processor implements the claims as claimed in The steps of the tooth plate indexing method described in any one of 1-6. 10. A computer-readable storage medium, the computer-readable storage medium having a computer program, characterized in that, when the computer program is executed by a processor, the sprocket separation method according to any one of claims 1-6 is implemented. steps of the method.