CN117245442B - Fluted disc indexing method, indexing device, control system, terminal equipment and medium - Google Patents
Fluted disc indexing method, indexing device, control system, terminal equipment and medium Download PDFInfo
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- CN117245442B CN117245442B CN202311515898.1A CN202311515898A CN117245442B CN 117245442 B CN117245442 B CN 117245442B CN 202311515898 A CN202311515898 A CN 202311515898A CN 117245442 B CN117245442 B CN 117245442B
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- 238000004891 communication Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000003801 milling Methods 0.000 description 3
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- 238000009825 accumulation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q16/00—Equipment for precise positioning of tool or work into particular locations not otherwise provided for
- B23Q16/02—Indexing equipment
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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
Technical Field
The invention relates to the technical field of fluted disc indexing, in particular to a fluted disc indexing method, an indexing device, a control system, terminal equipment and a medium.
Background
At present, the complexity of products in the manufacturing industry in China is higher and higher, and particularly, products in the fields of aerospace, military industry and the like need to process complex curved surfaces, and a machine tool is required to be provided with more than five-axis machine tool linkage comprising two rotary assemblies. The traditional numerical control machine tool can not realize omnibearing multi-angle cutting processing on complex curved surfaces. At present, a five-axis linkage double-pendulum milling head is often adopted in the omnibearing multi-angle machining process of a complex curved surface. Before the five-axis linkage double-pendulum milling head is actually used, the working angle of the pendulum body needs to be preset by utilizing a standard fluted disc, namely fluted disc indexing.
In the existing indexing method, a pair of end tooth plates are preset, one of the end tooth plates is a movable tooth plate connected with a pendulum body, the other end tooth plate is a static tooth plate, and the static tooth plate is a reference plate. In the process of tooth disc indexing of the pendulum body, after the movable tooth disc connected with the pendulum body is removed, the pendulum body is driven to drive the movable tooth disc to rotate by a preset angle, and then the pendulum body drives the movable tooth disc to move back to be meshed with the static tooth disc again, so that tooth disc indexing is completed. When the method is adopted for fluted disc indexing, the pendulum body is required to move and deviate from the fluted disc indexing operation; the operation of the pendulum body in the indexing process is complicated.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings of the prior art, the present invention is directed to a toothed disc indexing method, indexing apparatus, control system, terminal device and medium.
In a first aspect, the present invention provides a toothed disc indexing method, where the toothed disc indexing method is used for performing toothed disc indexing correction on a second end toothed disc connected to a pendulum body when the second end toothed disc is not rotated in place; the first end tooth disc is provided with a second tooth disc close to the second end tooth disc end, the second end tooth disc comprises a second end tooth ring connected with the pendulum body, and the second end tooth ring can be meshed with the second tooth disc; the fluted disc indexing method comprises the following steps:
receiving a first preset angle, wherein the first preset angle is a preset angle for the rotation of the pendulum body;
receiving a fluted disc indexing instruction, and controlling the first end fluted disc to move towards the side far away from the second end fluted disc;
controlling the pendulum body to drive the second end toothed ring to rotate by a first preset angle through a first rotating shaft, wherein the direction of an extension line of the first rotating shaft is a first direction;
and controlling the first end fluted disc to move along the first direction towards the side close to the second end fluted disc until the second fluted disc is meshed with the second end fluted ring, so as to finish fluted disc indexing.
According to the technical scheme provided by the invention, the end, close to the second end fluted disc, of the first end fluted disc is also provided with a first fluted disc which is arranged concentrically with the second fluted disc, the outer diameter of the first fluted disc is larger than that of the second fluted disc, and the teeth number of the first fluted disc and the teeth number of the second fluted disc are the same; the second end gear disk further comprises a first end gear ring which can be meshed with the first gear disk;
the step of controlling the first end tooth disc to move towards the side close to the second end tooth disc along the first direction until the second tooth disc and the second end tooth ring are meshed comprises the following steps:
and controlling the first end tooth disc to move towards the side close to the second end tooth disc along the first direction until the first end tooth ring is meshed with the first tooth disc and the second end tooth ring is meshed with the second tooth disc.
According to the technical scheme provided by the invention, the step of controlling the first end tooth disc to move towards the side close to the second end tooth disc along the first direction until the first end tooth ring is meshed with the first tooth disc, and the step of controlling the second end tooth ring to be meshed with the second tooth disc comprises the following steps:
controlling the first end fluted disc to move a first preset distance along the first direction towards the side close to the second end fluted disc;
Acquiring an actual rotation angle of the second end toothed ring;
when the first end face can fall into the first tooth gap of the second end tooth ring according to the actual rotation angle, the first end tooth disc is controlled to move to the second end tooth disc side continuously until the first end tooth ring is meshed with the first tooth disc, and the second end tooth ring is meshed with the second tooth disc; the first end face is an end face of any first tooth of the second fluted disc, which is close to the second end fluted disc, the first tooth gap is a distance between second ends of two adjacent second teeth of the second end fluted disc, and the second ends are ends of end faces of the adjacent second teeth, which are close to each other, which are close to the first end fluted disc side.
According to the technical scheme provided by the invention, the step of obtaining the actual rotation angle of the second end toothed ring further comprises the following steps:
and when judging that all the first end faces cannot fall into the first tooth gaps of the second end toothed ring according to the actual rotation angle, controlling the second end toothed ring to rotate by a second preset angle, wherein the second preset angle is an angle in which the first teeth can fall into the first tooth gaps after rotation.
According to the technical scheme provided by the invention, a first plane is set, the first direction is perpendicular to the first plane, the endpoints of the two second ends are provided with four first projection points on the first plane, and the four first projection points form a first coordinate range; the first end face is provided with four second projection points on the first plane, and the four second projection points form a second coordinate range; when the first end face is judged to fall into the first tooth gap of the second end toothed ring according to the actual rotation angle or when all the first end faces are judged to not fall into the first tooth gap of the second end toothed ring according to the actual rotation angle, the method comprises the following steps:
calculating a first coordinate range of the pendulum body after rotation according to the position of the pendulum body before rotation and the actual rotation angle;
acquiring the second coordinate range;
when any one of the first coordinate ranges is judged to cover the second coordinate range corresponding to the first coordinate range, the first end face can fall into a first tooth gap of the second end toothed ring; otherwise, all of the first end faces may not fall within the first tooth spaces of the second end ring gear.
According to the technical scheme provided by the invention, after judging that all the first end faces can not fall into the first tooth gaps of the second end toothed ring according to the actual rotation angle, the method further comprises the following steps before controlling the second end toothed ring to rotate by a second preset angle:
acquiring the number of collisions, wherein the number of collisions is the number of collisions between the second end relatively close to the first tooth and the first tooth;
calling a ring gear collision abrasion database to acquire the abrasion loss of the end point of the second end; the ring gear collision wear database is used for representing the change condition of the first tooth gap of the second end ring gear after multiple collisions; the tooth ring collision wear database at least comprises the collision times and the wear amount of any second end point after a plurality of collisions;
obtaining a third coordinate range according to the abrasion loss and the first coordinate range;
and when judging that all the third coordinate ranges can not cover the second coordinate ranges corresponding to the third coordinate ranges, executing control to rotate the second end gear ring by the second preset angle.
In a second aspect, the present invention provides an indexing device for a toothed disc indexing method as described above, comprising:
A base body;
the rotary assembly is rotatably arranged at the center of the base body, and the extending direction of the rotary assembly is a first direction;
the first end fluted disc is sleeved outside the rotary assembly, one end of the first end fluted disc is provided with a first fluted disc and a second fluted disc which are concentrically arranged and have the same tooth number, and the second fluted disc is smaller than the first fluted disc;
the second end tooth disc is arranged on the first end tooth disc and is close to the first tooth disc side, the second end tooth disc is provided with a second end tooth ring sleeved outside the rotary assembly, and a first end tooth ring sleeved outside the second end tooth ring, the first end tooth ring can be meshed with the first tooth disc, and the second end tooth ring can be meshed with the second tooth disc; the first end toothed ring is fixedly connected with the base body, and the first end toothed ring and the second end toothed ring can rotate relatively;
the first driving mechanism is arranged on the side, away from the second end fluted disc, of the first end fluted disc and is used for driving the first end fluted disc to reciprocate along the first direction;
the second driving mechanism is arranged on the side, far away from the first end fluted disc, of the second end toothed ring and drives the second end toothed ring to rotate.
In a third aspect, the present invention provides a control system for a toothed disc indexing method as described above, comprising:
the first acquisition module is configured to receive a first preset angle, and the first preset angle is a preset angle of rotation of the pendulum body;
the first control module is configured to receive a fluted disc indexing instruction and control the first end fluted disc to move along a first direction to a side far away from the second end fluted disc;
the second control module is configured to control the pendulum body to drive the second end toothed ring to rotate by the first preset angle through a first rotating shaft, and the direction of an extension line of the first rotating shaft is the first direction;
and the third control module is configured to control the first end tooth disc to move towards the side close to the second end tooth disc along the first direction until the first end tooth disc is meshed with the second end tooth ring, so as to finish tooth disc indexing.
In a fourth aspect, the present invention provides a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the toothed disc indexing method as described above when the computer program is executed.
In a fifth aspect, the present invention provides a computer readable storage medium having a computer program which, when executed by a processor, performs the steps of a toothed disc indexing method as described above.
In summary, the present invention provides a fluted disc indexing method, in which after the first end fluted disc is driven to move away from the second end fluted disc side until the first end fluted disc and the second end fluted disc are separated from each other, the pendulum body is driven to drive the second end fluted disc to rotate by a first preset angle, and then the first end fluted disc is driven to move towards the side close to the second end fluted disc until the first end fluted disc and the second end fluted disc are meshed with each other, thereby completing fluted disc indexing.
Drawings
FIG. 1 is a schematic view of an indexing device according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of A-A of FIG. 1;
FIG. 3 is a flow chart of a method for indexing a toothed disc according to an embodiment of the present invention;
FIG. 4 is a schematic view of a first tooth and a corresponding second tooth with a first midpoint and a second midpoint in a straight line according to an embodiment of the present invention;
FIG. 5 is a schematic view of a first projection point and a second projection point on a first plane when schematic views of a first tooth and a corresponding second tooth are shown in FIG. 4 according to an embodiment of the present invention;
FIG. 6 is a schematic view of a first tooth and a corresponding second tooth when a first midpoint and a second midpoint are not collinear, as provided by an embodiment of the present invention;
FIG. 7 is a schematic view of a first projection point and a second projection point on a first plane when schematic views of a first tooth and a corresponding second tooth are shown in FIG. 6 according to an embodiment of the present invention;
FIG. 8 is a schematic view of a first tooth and a corresponding second tooth when a first coordinate range provided by an embodiment of the present invention may not cover a second coordinate range;
FIG. 9 is a schematic view of a first projection point and a second projection point on a first plane when schematic views of a first tooth and a corresponding second tooth are shown in FIG. 7 according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
1. A base body; 2. a first end toothed disc; 21. a first tooth; 211. a first end face; 3. a second end toothed disc; 31. a first end ring gear; 32. a second end ring gear; 321. a second tooth; 322. a second end; 323. a first sidewall; 324. a second end face; 41. a piston body; 42. an elastic component; 43. a first space; 5. a swivel assembly; 6. a first plane; 61. an abscissa; 62. an ordinate; 63. a second projection point; 64. a first proxel; 7. a pendulum body; 700. a computer system; 701. a CPU; 702. a ROM; 703. a RAM; 704. a bus; 705. an I/O interface; 706. an input section; 707. an output section; 708. a storage section; 709. a communication section; 710. a driver; 711. removable media.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
As mentioned in the background art, the present invention provides an indexing device with a fluted disc indexing method, please refer to fig. 1 and 2, which includes:
a base body 1;
the rotary assembly 5 is rotatably arranged at the center of the base body 1, and the extending direction of the rotary assembly 5 is a first direction; referring to fig. 2, the first direction is a left-right direction; optionally, the revolving assembly 5 is a bevel gear;
the first end fluted disc 2 is sleeved outside the rotary assembly 5, one end of the first end fluted disc 2 is provided with a first fluted disc and a second fluted disc which are concentrically arranged and have the same tooth number, and the outer diameter of the second fluted disc is smaller than that of the first fluted disc;
The second end tooth disc 3 is arranged on the first end tooth disc 2 and is close to the first tooth disc side, the second end tooth disc 3 is provided with a second end tooth ring 32 sleeved outside the rotary assembly 5 and a first end tooth ring 31 sleeved outside the second end tooth ring 32, the first end tooth ring 31 can be meshed with the first tooth disc, and the second end tooth ring 32 can be meshed with the second tooth disc; the first end toothed ring 31 is fixedly connected with the base body 1, and the first end toothed ring 31 and the second end toothed ring 32 can rotate relatively;
the first driving mechanism is arranged on the side, away from the second end fluted disc 3, of the first end fluted disc 2 and is used for driving the first end fluted disc 2 to reciprocate along the first direction;
the second driving mechanism is arranged on the side, away from the first end fluted disc 2, of the second end toothed ring 32, and drives the second end toothed ring 32 to rotate.
Optionally, as shown in fig. 2, the revolving assembly 5 is circumferentially provided with a first chamber, and the first driving mechanism includes:
the piston body 41 is arranged in the first cavity, a sealed first space 43 is formed between one end of the piston body 41 and the inner wall of the first cavity, and the end, away from the first space 43, of the piston body 41 is connected with the end, away from the second end fluted disc 3, of the first end fluted disc 2;
An elastic component 42, wherein the elastic component 42 is connected with the end, away from the first space 43, of the piston body 41, and is positioned on the side, away from the slewing component 5, of the first end toothed ring 31, and the end, away from the piston body 41, of the elastic component 42 is abutted with the inner wall of the first chamber;
the oil supply assembly is arranged at the left side of the first chamber, and is used for driving the piston body 41 to drive the first end fluted disc 2 to move rightwards when oil is supplied into the first space 43 and is pressed, at the moment, the elastic assembly 42 is in a force accumulation state, and when the oil supply assembly does not press into the first space, the elastic assembly 42 is in a force release state and drives the piston body 41 to drive the first end fluted disc 2 to move leftwards; the leftmost side of the first chamber is provided with a first opening communicated with the first space 43, and the oil supply assembly is provided with an oil supply end, and the oil supply end is communicated with the first opening in a sealing way.
The second driving mechanism includes:
the second driving assembly is used for driving the rotary assembly 5 to rotate;
the transmission assembly is sleeved outside the rotary assembly 5 and arranged between the rotary assembly 5 and the pendulum body 7, and the second driving assembly can drive the rotary assembly 5 to drive the pendulum body 7 to rotate so as to drive the second end gear ring 32 to rotate; the second driving mechanism is a conventional driving mechanism of the five-axis linkage double-pendulum milling head, and is not described herein.
Example 2
On the basis of the embodiment 1, the invention also provides a fluted disc indexing method, which is used for carrying out fluted disc indexing correction on a second end fluted disc 3 connected with a pendulum body 7 by a first end fluted disc 2 when the second end fluted disc 3 is not rotated in place; the end, close to the second end tooth disc 3, of the first end tooth disc 2 is provided with a second tooth disc, the second end tooth disc 3 comprises a second end tooth ring 32 connected with the pendulum body 7, and the second end tooth ring 32 can be meshed with the second tooth disc; as shown in fig. 3, the fluted disc indexing method includes the following steps:
s100, receiving a first preset angle, wherein the first preset angle is a preset angle for the rotation of the pendulum 7;
s200, receiving a fluted disc indexing instruction, and controlling the first end fluted disc 2 to move towards the side far away from the second end fluted disc 3;
s300, controlling the pendulum body 7 to drive the second end toothed ring 32 to rotate by a first preset angle through a first rotating shaft, wherein the direction of an extension line of the first rotating shaft is a first direction; as shown in fig. 2, the first direction is a left-right direction, and after receiving the gear indexing command, the first end gear 2 is controlled to move along the left-right direction to a side far away from the second end gear 3.
S400, controlling the first end tooth disc 2 to move towards the side close to the second end tooth disc 3 along the first direction until the second tooth disc is meshed with the second end tooth ring 32, and completing tooth disc indexing.
The fluted disc indexing device further comprises a controller and an external terminal, before fluted disc indexing, the first end fluted disc 2 and the second end fluted disc 3 are in a meshed state, when the fluted disc indexing is performed, an operator can input a first preset angle and generate fluted disc indexing instructions through the external terminal, the first preset angle is set according to the distribution condition of teeth on the second fluted disc and the second end fluted ring 32, and the first preset angle is an angle which can still be meshed with the second fluted disc after the second end fluted ring 32 rotates by the first preset angle; after receiving the fluted disc indexing instruction, the controller generates a first driving instruction, and the first driving instruction controls the first driving mechanism to drive the first end fluted disc 2 to move leftwards and separate from the second end fluted disc 3; when the first end fluted disc 2 moves in place, the controller generates a second driving instruction, and the second driving instruction controls the second driving mechanism to drive the pendulum body 7 to drive the second end fluted ring 32 to rotate by the first preset angle with the first rotating shaft, and the first rotating shaft is the rotating shaft of the rotating assembly 5; when the gear is rotated in place, the controller generates a third driving instruction, and the third driving instruction drives the first driving mechanism to drive the first end gear disc 2 to move rightwards, so that the second gear disc is meshed with the second end gear ring 32, and gear disc indexing is completed. Compared with the prior art, the invention reduces the indexing work of the pendulum body 7 compared with the reciprocating movement and rotation of the pendulum body 7 in the prior art by controlling the first end fluted disc 2 to reciprocate leftwards and rightwards along the first direction and only driving the second end fluted ring 32 to rotate by the pendulum body 7.
In a preferred embodiment, the end of the first end toothed disc 2, which is close to the second end toothed disc 3, is further provided with a first toothed disc concentrically arranged with the second toothed disc, the outer diameter of the first toothed disc is larger than that of the second toothed disc, and the number of teeth of the first toothed disc and the second toothed disc are the same; the second end tooth disc 3 further comprises a first end tooth ring 31 engageable with the first end tooth disc;
the controlling the first end gear disc 2 to move towards the second end gear disc 3 along the first direction until the first end gear disc 2 and the second end gear ring 32 are engaged comprises the following steps:
the first end tooth disc 2 is controlled to move towards the side close to the second end tooth disc 3 along the first direction until the first end tooth ring 31 is meshed with the first tooth disc, and the second end tooth ring 32 is meshed with the second tooth disc.
Wherein the first toothed disc is engaged with the first end ring gear 31 and the second toothed disc is engaged with the second end ring gear 32 before the toothed disc indexing is performed; since the first end toothed ring 31 is connected to the base body 1, when the first driving mechanism drives the first end toothed disc 2 to move leftwards, the first toothed disc is separated from the first end toothed ring 31, and since the first end toothed disc 2 only moves reciprocally, but the first end toothed ring 31 is fixed and neither is rotated, when the first end toothed disc 2 moves rightwards, the first toothed disc and the first end toothed ring 31 will mesh, and if the pendulum 7 drives the second end toothed ring 32 to rotate by the first preset angle, and if the rotation angle has no error, the second toothed disc and the second end toothed ring 32 will mesh as well.
However, when the second end gear ring 32 rotates, there is a certain error, because the first end gear ring 31 is fixed in position, the first end gear disc 2 meshed with the first end gear ring will not rotate, if the rotation error of the second end gear ring 32 is not too large, the second gear disc will generate a certain acting force on the second end gear ring 32, so that the second end gear ring 32 drives the swing 7 to rotate by a certain angle, to compensate the rotation error of the second end gear ring 32, and finally the second gear disc and the second end gear ring 32 are meshed equally; the first end ring gear 31 serves as a reference ring gear to provide a reference for error-free rotation of the second end ring gear 32.
In a preferred embodiment, said controlling said first end toothed disc 2 to move in said first direction towards the side closer to said second end toothed disc 3 until said first end toothed ring 31 engages with said first toothed disc and said second end toothed ring 32 engages with said second toothed disc comprises the steps of:
s410, controlling the first end fluted disc 2 to move a first preset distance along the first direction towards the side close to the second end fluted disc 3; when the first driving mechanism receives the third driving instruction, the first end gear disc 2 is driven to move rightwards to the first preset distance, and at this time, the first gear disc and the first end gear ring 31 are not meshed yet;
S420, acquiring an actual rotation angle of the second end toothed ring 32; the angle measuring instrument is arranged outside the base body 1 and is used for acquiring the actual rotation angle of the rotary assembly 5, and the rotary assembly 5 drives the pendulum body 7 and the second end toothed ring 32 to rotate, so that the actual rotation angle of the second end toothed ring 32 can be obtained through the angle measuring instrument.
S430, when the first end face 211 is judged to fall into the first tooth gap of the second end toothed ring 32 according to the actual rotation angle, the first end toothed disc 2 is controlled to move towards the second end toothed disc 3 until the first end toothed ring 31 is meshed with the first toothed disc, and the second end toothed ring 32 is meshed with the second toothed disc; the first end surface 211 is an end surface of any one of the first teeth 21 of the second tooth disc, which is close to the second end tooth disc 3, the first tooth gap is a distance between second ends 322 of two adjacent second teeth 321 of the second end tooth ring 32, and the second ends 322 are ends of end surfaces of adjacent second teeth 321, which are close to each other, which are close to the first end tooth disc 2 side. Wherein, optionally, the cross section of the first teeth 21 and the second teeth 321 is trapezoidal. If the first end surface 211 falls within the first tooth gap, the second toothed disc and the second end ring 32 may engage as the first end toothed disc 2 continues to move rightward from the first predetermined distance.
In a preferred embodiment, the step of obtaining the actual rotation angle of the second end ring gear 32 further comprises the steps of:
s421, when it is determined that all the first end surfaces 211 cannot fall into the first tooth gaps of the second end ring gear 32 according to the actual rotation angle, the second end ring gear 32 is controlled to rotate by a second preset angle, and the second preset angle is an angle at which the first teeth 21 can fall into the first tooth gaps after rotation.
When the first end surface 211 cannot fall into the first gear gap, if the first end toothed disc 2 moves rightward, the first end surface 211 and the second teeth 321 abut against the end surface of the first end toothed disc 2, the second toothed disc cannot mesh with the second end toothed ring 32, and in this scenario, the error between the actual rotation angle of the second end toothed ring 32 and the first preset angle is larger, and the error is compensated by driving the second end toothed ring 32 to rotate by the second preset angle again, so that after rotation, the first end surface 211 can fall into the first gear gap.
In a preferred embodiment, a first plane 6 is set, the first direction is perpendicular to the first plane 6, the end points of the two second ends 322 have four first projection points 64 on the first plane 6, and the four first projection points 64 form 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 63 form a second coordinate range;
The second end 322 is an edge of the second tooth 321 near the end face of the first tooth 21, and is a line segment, so each second end 322 has two first projection points 64 on the first plane 6, and four first projection points 64 form the first coordinate range; the first end surface 211 has a rectangular shape, so that the first plane 6 has four second projection points 63, and the four second projection points 63 form the second coordinate range. Taking the intersection point of the axis of the first end fluted disc 2 and the first plane 6 as an origin, the horizontal direction on the first plane 6 is an abscissa 61, and the vertical direction is an ordinate 62.
The step of determining that the first end surface 211 may fall into the first tooth gap of the second end gear ring 32 according to the actual rotation angle or determining that all the first end surfaces 211 may not fall into the first tooth gap of the second end gear ring 32 according to the actual rotation angle includes the following steps:
s431, calculating to obtain a first coordinate range of the pendulum 7 after rotation according to the position of the pendulum 7 before rotation and the actual rotation angle;
s432, acquiring the second coordinate range;
s433, when any one of the first coordinate ranges is judged to cover the second coordinate range corresponding to the first coordinate range, the first end surface 211 can fall into a first gear gap of the second end gear ring 32; otherwise, all of the first end surfaces 211 may not fall within the first tooth spaces of the second end ring gear 32.
Before the pendulum 7 rotates, the first end-toothed disc 2 and the second end-toothed disc 3 are meshed, so that at this time, the coordinates of the first projection point 64 and the second projection point 63 on the first plane 6 are fixed, the second coordinate range is obtained by four second projection points 63, and the second coordinate range is always unchanged, and since the layout of the second teeth 321 on the second end-toothed ring 32 is fixed, after the second end-toothed ring 32 rotates by the actual rotation angle, the coordinates of the first projection point 64 on the first plane 6 after the rotation can be calculated, so as to obtain the first coordinate range.
When any one of the first coordinate ranges may cover the second coordinate range, any one of the first end surfaces 211 may fall into the first tooth gap, including two cases, where, as shown in fig. 4 to 5, a midpoint of a distance between two first projection points 64 corresponding to two different second ends 322 is set to be a first midpoint, a midpoint of a distance between two second projection points 63 corresponding to the first projection points 64 of the first end surface 211 is set to be a second midpoint, and the first midpoint and the second midpoint are on the same straight line, as shown by a dashed line in fig. 5. At this time, the first teeth 21 can be just embedded in the first tooth gaps, and the actual rotation angle of the second end tooth ring 32 is not error, and is equal to the first set angle. If one of the first teeth 21 is just embedded in the corresponding first tooth gap, all the first teeth 21 may be embedded in the first tooth gap according to the layout of the first teeth 21 and the second teeth 321.
The first end surface 211 may fall into the first gear gap and further includes a second condition, as shown in fig. 6-7, where the first midpoint and the second midpoint are not on the same straight line, at this time, the first tooth 21 may fall into the first gear gap, when the first end fluted disc 2 moves from the first preset distance to the right, the first tooth 21 may touch the first side wall 323 of the second tooth 321, a driving force is formed on the first side wall 323, the driving force drives the second end fluted disc 32 to drive the pendulum body 7 to rotate until the first tooth 21 is completely embedded in the first gear gap, so as to achieve engagement between the second fluted disc and the second end fluted disc 32, and a certain error exists between the rotation angle of the second end fluted disc 32 and the first preset angle, and the second end fluted disc 32 and the pendulum body 7 are driven to rotate by the second fluted disc, so that the error can be compensated.
Referring to fig. 8-9, when all the first coordinate ranges cannot cover the second coordinate ranges corresponding to the first coordinate ranges, the first end face 211 collides with the second end face 324 of the second tooth 21 near the first end tooth disc 2, and in this case, the actual angle of rotation of the second end tooth ring 32 and the first preset angle have larger errors, and the first end face 211 collides with the second end face 324, and at this time, the second tooth disc cannot drive the second end tooth ring 32 to rotate to compensate the rotation errors of the second end tooth ring 32; the controller sends a fourth driving instruction to the second driving mechanism, the second driving mechanism responds to the fourth driving instruction, and drives the pendulum body 7 to drive the second end toothed ring 32 to rotate by the second preset angle, so that the first tooth 21 can fall into the first tooth gap, and after rotating once by the second preset angle, step S421 is repeatedly executed until the first tooth 21 falls into the first tooth gap.
In a preferred embodiment, after determining that all the first end surfaces 211 cannot fall into the first backlash of the second end ring 32 according to the actual rotation angle, the method further includes the following steps before controlling the second end ring 32 to rotate by a second preset angle:
obtaining the number of collisions between the second end 322 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 collides with the first sidewall 323 of the second tooth 321 relatively close to the first midpoint, and after multiple collisions, the end point of the second end 322 corresponding to the first sidewall 323 is worn, so that the first coordinate range is enlarged. When the controller determines that the first midpoint and the second midpoint are not on a straight line, the controller records the number of collisions with the first tooth 21 relatively close to the second end 322, and accumulates the number of collisions.
Invoking a ring gear collision abrasion database to acquire abrasion amounts of two endpoints of the second end 322 relatively close to the first tooth 21; the ring gear collision wear database is used for representing the change condition of the first tooth gap of the second end ring gear 32 after a plurality of collisions; the tooth ring collision abrasion database at least comprises the collision times and the abrasion loss of any second end 322 endpoint after a plurality of collisions;
Wherein, the tooth ring collision abrasion database is shown in table 1:
TABLE 1
Obtaining a third coordinate range according to the abrasion loss and the first coordinate range;
alternatively, the wear amount of each end point of the second end 322 after a plurality of collisions is the same, the number of collisions with the first tooth 21 relatively close to the second end 322 may be obtained by the controller, the wear amounts of the two end points of the second end 322 after the number of collisions are obtained according to table 1, and the third coordinate range is obtained according to the wear amounts and the first coordinate range, and the third coordinate range is larger than the second coordinate range.
When all the third coordinate ranges are judged not to cover the second coordinate ranges corresponding to the third coordinate ranges, the second end gear ring 32 is controlled to rotate by the second preset angle; if the expanded third coordinate range does not cover the first coordinate range, it means that the first tooth 21 cannot fall into the expanded first tooth gap, so the second preset angle is rotated to compensate the error, but when any one of the third coordinate ranges is judged to cover the corresponding second coordinate range, the control is performed to continue moving the first end toothed disc 2 to the second end toothed disc 3 until the first end toothed ring 31 is engaged with the first toothed disc, and the second end toothed ring 32 is engaged with the second toothed disc.
Example 3
On the basis of embodiment 1 and embodiment 2, the present invention proposes a control system with a fluted disc indexing method, comprising:
the first acquisition module is configured to receive a first preset angle, and the first preset angle is a preset angle for the rotation of the pendulum body 7;
the first control module is configured to receive a fluted disc indexing instruction and control the first end fluted disc 2 to move along a first direction towards a side far away from the second end fluted disc 3;
the second control module is configured to control the pendulum body 7 to drive the second end toothed ring 32 to rotate by the first preset angle with a first rotation shaft, and the direction of an extension line of the first rotation shaft is the first direction;
and the third control module is configured to control the first end tooth disc 2 to move towards the side close to the second end tooth disc 3 along the first direction until the first end tooth disc 2 is meshed with the second end tooth ring 32, and finish tooth disc indexing.
According to the invention, the first end fluted disc 2 is driven to move to the side far from the second end fluted disc 3 until the first end fluted disc 2 and the second end fluted disc are separated, the pendulum body 7 is driven to drive the second end fluted disc 32 to rotate by a first preset angle, and the first end fluted disc 2 is driven to move to the side close to the second end fluted disc 3 until the first end fluted disc 2 and the second end fluted disc 32 are meshed, so that fluted disc indexing is completed. The system provided by the embodiment of the invention can realize each process realized by the embodiment of the method, has corresponding functional modules and beneficial effects, and is not repeated here.
Example 4
The present invention proposes a terminal device whose computer system 700 includes a CPU701, as shown in fig. 10, which can perform various appropriate actions and processes in accordance with a program stored in a ROM702 or a program loaded from a storage section 708 into a RAM 703. In the RAM703, various programs and data required for the system operation are also stored. The CPU701, ROM702, and RAM703 are connected to each other through a bus 704. The I/O interface 705 is also connected to the bus 704, wherein the CPU701 is a central processing unit, the ROM702 is a read only memory, the RAM703 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, and the like; an output portion 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 708 including a hard disk or the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. The drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read therefrom is mounted into the storage section 708 as necessary.
In particular, the process described above with reference to flowchart 3 may be implemented as a computer software program according to an embodiment of the invention. For example, embodiment 4 of the present invention includes a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowchart. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. When executed by the CPU701, the computer program performs the functions defined above in the present computer system 700.
Example 5
The present invention also provides a computer readable medium carrying one or more programs which, when executed by an electronic device, cause the electronic device to implement the toothed disc indexing method as described in the above embodiments.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with the disclosed embodiments of the invention. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Furthermore, although the steps of the methods of the present invention are depicted in the accompanying drawings in a particular order, this is not required to either imply that the steps must be performed in that particular order, or that all of the illustrated steps be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc. From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware.
The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the invention referred to in the present invention is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.
Claims (8)
1. The fluted disc indexing method is characterized in that the fluted disc indexing method is used for carrying out fluted disc indexing correction on a second end fluted disc (3) connected with a pendulum body (7) by a first end fluted disc (2) when the second end fluted disc (3) is not rotated in place; the first end tooth disc (2) is provided with a second tooth disc close to the second end tooth disc (3), the second end tooth disc (3) comprises a second end tooth ring (32) connected with the pendulum body (7), and the second end tooth ring (32) can be meshed with the second tooth disc; the fluted disc indexing method comprises the following steps:
receiving a first preset angle, wherein the first preset angle is a preset angle for the rotation of the pendulum body (7);
receiving a fluted disc indexing instruction, and controlling the first end fluted disc (2) to move towards the side far away from the second end fluted disc (3);
controlling the pendulum body (7) to drive the second end toothed ring (32) to rotate by a first preset angle through a first rotating shaft, wherein the direction of an extension line of the first rotating shaft is a first direction;
controlling the first end tooth disc (2) to move towards the side close to the second end tooth disc (3) along the first direction until the second tooth disc is meshed with the second end tooth ring (32) to finish tooth disc indexing;
the end, close to the second end tooth disc (3), of the first end tooth disc (2) is also provided with a first tooth disc which is arranged concentrically with the second tooth disc, the outer diameter of the first tooth disc is larger than that of the second tooth disc, and the teeth number of the first tooth disc and the teeth number of the second tooth disc are the same; the second end tooth disc (3) further comprises a first end tooth ring (31) which can be meshed with the first tooth disc;
The step of controlling the first end tooth disc (2) to move towards the side close to the second end tooth disc (3) along the first direction until the second tooth disc is meshed with the second end tooth ring (32) comprises the following steps:
controlling the first end tooth disc (2) to move towards the side close to the second end tooth disc (3) along the first direction until the first end tooth ring (31) is meshed with the first tooth disc and the second end tooth ring (32) is meshed with the second tooth disc;
the step of controlling the first end tooth disc (2) to move towards the side close to the second end tooth disc (3) along the first direction until the first end tooth ring (31) is meshed with the first tooth disc, and the step of controlling the second end tooth ring (32) to be meshed with the second tooth disc comprises the following steps:
controlling the first end fluted disc (2) to move towards the second end fluted disc (3) along the first direction by a first preset distance;
acquiring an actual rotation angle of the second end ring gear (32);
when the first end face (211) can fall into the first tooth gap of the second end tooth ring (32) according to the actual rotation angle, the first end tooth disc (2) is controlled to move towards the second end tooth disc (3) until the first end tooth ring (31) is meshed with the first tooth disc, and the second end tooth ring (32) is meshed with the second tooth disc; the first end face (211) is an end face of any first tooth (21) of the second fluted disc, which is close to the second end fluted disc (3), the first tooth gap is a distance between second ends (322) of two adjacent second teeth (321) of the second end fluted ring (32), and the second ends (322) are one ends of end faces of the adjacent second teeth (321), which are close to each other, which are close to the first end fluted disc (2).
2. The toothed disc indexing method according to claim 1, characterized in that said obtaining the actual rotation angle of the second end ring gear (32) further comprises the steps of:
when all the first end faces (211) are judged to be incapable of falling into the first tooth gaps of the second end toothed ring (32) according to the actual rotation angle, the second end toothed ring (32) is controlled to rotate by a second preset angle, and the second preset angle is an angle at which the first teeth (21) can fall into the first tooth gaps after rotation.
3. A toothed disc indexing method according to claim 2, characterized in that a first plane (6) is set, said first direction being perpendicular to said first plane (6), the end points of two of said second ends (322) having four first projection points (64) on said first plane (6), four of said first projection points (64) constituting a first coordinate range; the first end face (211) has four second projection points (63) on the first plane (6), the four second projection points (63) forming a second coordinate range; when the first end face (211) is judged to fall into the first tooth gap of the second end toothed ring (32) according to the actual rotation angle or when all the first end faces (211) are judged to not fall into the first tooth gap of the second end toothed ring (32) according to the actual rotation angle, the method comprises the following steps:
Calculating a first coordinate range of the pendulum body (7) after rotation according to the position of the pendulum body (7) before rotation and the actual rotation angle;
acquiring the second coordinate range;
when any one of the first coordinate ranges is judged to cover the second coordinate range corresponding to the first coordinate range, the first end face (211) can fall into a first tooth gap of the second end tooth ring (32); otherwise, all of the first end faces (211) may not fall within the first tooth spaces of the second end ring gear (32).
4. A toothed disc indexing method according to claim 3, wherein after determining that all of the first end faces (211) cannot fall within the first tooth spaces of the second end ring gear (32) according to the actual rotation angle, the method further comprises the steps of:
acquiring a number of collisions, the number of collisions being a number of collisions of the second end (322) relatively close to the first tooth (21) with the first tooth (21);
invoking a ring gear collision wear database to obtain the wear amount of the end point of the second end (322); the ring gear collision wear database is used for representing the change condition of the first tooth gap of the second end ring gear (32) after multiple collisions; the ring gear collision wear database comprises at least the number of collisions and the amount of wear of any of the second end (322) endpoints after a number of collisions;
Obtaining a third coordinate range according to the abrasion loss and the first coordinate range;
and when all the third coordinate ranges are judged not to be capable of covering the second coordinate ranges corresponding to the third coordinate ranges, executing control to rotate the second end toothed ring (32) by the second preset angle.
5. An indexing device for a toothed disc indexing method according to any one of claims 1 to 4, comprising:
a base body (1);
the rotary assembly (5) is rotatably arranged at the center of the base body (1), and the extending direction of the rotary assembly (5) is a first direction;
the first end fluted disc (2) is sleeved outside the rotary assembly (5), one end of the first end fluted disc (2) is provided with a first fluted disc and a second fluted disc which are concentrically arranged and have the same tooth number, and the outer diameter of the second fluted disc is smaller than that of the first fluted disc;
the second end tooth disc (3) is arranged on the side, close to the first tooth disc, of the first end tooth disc (2), the second end tooth disc (3) is provided with a second end tooth ring (32) sleeved outside the rotary assembly (5) and a first end tooth ring (31) sleeved outside the second end tooth ring (32), the first end tooth ring (31) can be meshed with the first tooth disc, and the second end tooth ring (32) can be meshed with the second tooth disc; the first end toothed ring (31) is fixedly connected with the base body (1), and the first end toothed ring (31) and the second end toothed ring (32) can rotate relatively;
The first driving mechanism is arranged on the side, away from the second end fluted disc (3), of the first end fluted disc (2) and is used for driving the first end fluted disc (2) to reciprocate along the first direction;
the second driving mechanism is arranged on the side, far away from the first end fluted disc (2), of the second end toothed ring (32), and drives the second end toothed ring (32) to rotate.
6. A control system for a toothed disc indexing method as claimed in any one of claims 1 to 4, comprising:
the first acquisition module is configured to receive a first preset angle, and the first preset angle is a preset angle for the rotation of the pendulum body (7);
the first control module is configured to receive a fluted disc indexing instruction and control the first end fluted disc (2) to move along a first direction towards a side far away from the second end fluted disc (3);
the second control module is configured to control the pendulum body (7) to drive the second end toothed ring (32) to rotate by the first preset angle through a first rotating shaft, and the direction of an extension line of the first rotating shaft is the first direction;
and the third control module is configured to control the first end tooth disc (2) to move towards the side close to the second end tooth disc (3) along the first direction until the first end tooth disc (2) is meshed with the second end tooth ring (32) to finish tooth disc indexing.
7. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the toothed disc indexing method according to any one of claims 1-4 when the computer program is executed.
8. A computer readable storage medium having a computer program, wherein the computer program when executed by a processor implements the steps of the toothed disc indexing method of any one of claims 1 to 4.
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