CN211824298U - Synchronous belt tooth profile detection system based on laser triangulation method - Google Patents
Synchronous belt tooth profile detection system based on laser triangulation method Download PDFInfo
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- CN211824298U CN211824298U CN202020693597.3U CN202020693597U CN211824298U CN 211824298 U CN211824298 U CN 211824298U CN 202020693597 U CN202020693597 U CN 202020693597U CN 211824298 U CN211824298 U CN 211824298U
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Abstract
The utility model discloses a hold-in range profile of tooth detecting system based on laser triangulation method, it includes microcontroller, with microcontroller pass through AD converter signal intercommunication's laser displacement sensor, with microcontroller through the industrial computer that communication interface realized signal intercommunication, with the servo motor control system of industrial computer circuit intercommunication and advance/move back tape motor control system, receive servo motor control system control and drive the servo motor that hold-in range removed, advance/move back tape motor control system control and realize that the hold-in range advances to take or move back the area advance/move back tape motor, detect advance/move back tape motor motion stroke's stroke sensor and with the LCD and the keyboard of industrial computer circuit intercommunication, stroke sensor with microcontroller circuit connects. The utility model discloses can effectual measurement hold-in range the change degree of taking the tooth profile of tooth in the operation process, judge whether accord with the quality requirement, judge the manufacturing quality to the hold-in range and provide reliable judgement foundation.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to a hold-in range makes and detects technical field, especially relates to a hold-in range profile of tooth detecting system based on laser triangulation method.
[ background of the invention ]
The synchronous belt is an important part of power transmission, the requirements of China on the production process of the synchronous belt are more and more strict, and all indexes of the synchronous belt are required to meet the national standard GB 12734-2003. Because the synchronous belt is mainly made of synthetic rubber and belongs to flexible texture, when the transmission speed, the applied tension force and the like of the synchronous belt are changed, the center distance length and the tooth profile of the synchronous belt are changed accordingly. If various indexes in a transmission state do not meet the national standard, the conditions of increasing transmission noise and accelerating abrasion can occur, and the service life of the synchronous belt can be greatly shortened. At present, the main domestic research point is still in testing the static parameters of the synchronous belt, is still in a weak link in the aspect of tooth profile measurement of the synchronous belt, and has positive significance for improving a synchronous belt manufacturing die and a manufacturing process for manufacturing the synchronous belt.
[ Utility model ] content
The utility model discloses a main aim at provides a hold-in range profile of tooth detecting system based on laser triangulation method, can effectual measurement hold-in range at the change degree of taking the tooth profile of tooth of operation in-process, judge whether accord with the quality requirement, judge to the manufacturing quality of hold-in range and provide reliable judgement foundation.
The utility model discloses a following technical scheme realizes above-mentioned purpose: synchronous belt tooth profile detection system based on laser triangulation method, which comprises
The microcontroller is responsible for the operation control of the system and the acquisition and processing of external signals;
the laser displacement sensor is in signal communication with the microcontroller through an A/D converter and is used for acquiring tooth profile data of the synchronous belt;
the industrial personal computer is in signal communication with the microcontroller through a communication interface;
a servo motor control system;
the servo motor is controlled by the servo motor control system to drive the synchronous belt to be detected to carry out rotary transmission;
a tape advance/retreat motor control system;
the belt feeding/withdrawing motor is controlled by the belt feeding/withdrawing motor control system to drive the synchronous belt to realize belt feeding or withdrawing, and a stroke sensor is used for acquiring the belt feeding/withdrawing stroke of the synchronous belt;
the travel sensor is in signal communication with the microcontroller;
the industrial personal computer is in circuit connection with the servo motor control system and the belt feeding/withdrawing motor control system, and is also connected with a liquid crystal display and a keyboard.
Furthermore, the microcontroller is also in circuit connection with an external input signal and a limit signal, wherein the external input signal comprises a start control signal and an emergency stop control signal of the input system.
Furthermore, the microcontroller is responsible for the signal of gathering including laser displacement sensor output signal, the pulse signal and the external input signal of stroke sensor output, also simultaneously with the industrial computer carries out serial communication, receives the control command that the industrial computer sent, according to the driving piece operation or the stop that command control corresponds.
Further, the laser displacement sensor comprises a CCD or a high-sensitivity photoelectric position sensor PSD and a conversion circuit; the laser displacement sensor converts the acquisition result into digital quantity through the analog-to-digital (D) converter and transmits the digital quantity to the industrial personal computer through the microcontroller.
Further, the servo motor control system controls the rotating speed and the steering of the servo motor according to a control instruction sent by the industrial personal computer.
Furthermore, a driving synchronous belt wheel which rotates synchronously is arranged on an output main shaft of the servo motor; the belt feeding/withdrawing motor drives a driven synchronous belt wheel to perform horizontal linear motion, and the driving synchronous belt wheel is connected with the driven synchronous belt wheel in a rotating transmission mode through a synchronous belt to be detected.
Further, the industrial personal computer inputs parameters of the synchronous belt to be detected through the liquid crystal display and the keyboard, wherein the parameters comprise the length of a pitch of the synchronous belt to be detected, the parameters of the synchronous belt tooth shape, the rotating speed and the steering direction of the servo motor, and the belt feeding distance and the belt withdrawing distance of the synchronous belt.
Furthermore, the laser displacement sensor comprises a first acquisition sensor for detecting profile information of the upper surface of the synchronous belt and a second acquisition sensor for detecting profile information of the lower surface of the synchronous belt.
Compared with the prior art, the utility model discloses hold-in range profile of tooth detecting system based on laser triangulation lies in: the acquisition of the tooth form of the synchronous belt is realized based on a laser triangulation method, the automatic detection of the tooth form of the synchronous belt is realized by comparing the tooth form of the synchronous belt with the tooth form of a standard synchronous belt, and the method has positive significance for improving a manufacturing die of the synchronous belt and improving the manufacturing process of manufacturing the synchronous belt; the measuring system adopts two sensors positioned on the upper surface and the lower surface of the synchronous belt to acquire surface profile data of the synchronous belt, then carries out data smoothing treatment on original data, and then carries out strong local weighted regression to finish data fitting, thereby improving fitting precision and realizing high-precision restoration of the tooth profile of the synchronous belt; the measuring range of the laser displacement sensor is +/-10 mm, the measured value error of the tooth height of the detected synchronous belt is within +/-0.01 mm under the condition of controlling the rotating speed of the servo motor to be 1-3 rpm, the high-precision synchronous belt tooth shape detection is realized, and the detection result is scientific and reasonable and has high reliability.
[ description of the drawings ]
Fig. 1 is a schematic frame diagram of a system according to an embodiment of the present invention;
fig. 2 is a flow chart illustrating the recovery principle of the synchronous belt tooth profile in the embodiment of the present invention.
[ detailed description ] embodiments
The first embodiment is as follows:
referring to fig. 1, the present embodiment is a synchronous belt tooth profile detection system 100 based on a laser triangulation method, which includes a microcontroller, a laser displacement sensor in signal communication with the microcontroller through an a/D converter, an industrial personal computer in signal communication with the microcontroller through a communication interface, a servo motor control system and a belt feeding/retracting motor control system in circuit communication with the industrial personal computer, a servo motor driver in circuit communication with the servo motor control system, a servo motor controlled by the servo motor driver and driving a synchronous belt to move, a belt feeding/retracting motor driver in circuit connection with the belt feeding/retracting motor control system, a belt feeding/retracting motor controlled by the belt feeding/retracting motor driver, a stroke sensor for detecting a movement stroke of the belt feeding/retracting motor, and a liquid crystal display and a keyboard in circuit communication with the industrial personal computer, the travel sensor is connected with the microcontroller circuit.
The microcontroller is also in circuit connection with an external input signal and a limit signal.
The microcontroller is mainly responsible for operation control of the system and acquisition and processing of external signals. The collected signals comprise laser displacement sensor output signals, pulse signals output by a stroke sensor and external input signals, and are communicated with the industrial personal computer through a serial port, control instructions sent by the industrial personal computer are received, and corresponding equipment is controlled to run or stop according to the instructions.
The laser displacement sensor comprises a CCD or a high-sensitivity photoelectric position sensor PSD and a conversion circuit. The laser displacement sensor is a sensor using laser as a measuring means, has the advantages of high measuring precision and real-time measurement, and is widely used for measuring complex workpieces. In the system, the system is mainly responsible for acquiring the data of the height and the depth of the toothed teeth of the synchronous belt. The detection principle of laser displacement sensor is laser triangulation method, laser emitter beats laser to the testee, the testee can produce corresponding reflection laser, reflection laser finally can form the facula on the detector photosurface, when the testee surface changes, the facula displacement that the detector received also changes thereupon, the position according to the formation of image of detector facula, and the distance between laser and the camera, thereby calculate the change volume on object surface, then convert the digital quantity into through the AD converter, and transmit for the industrial computer through microcontroller. The laser displacement sensor comprises a first acquisition sensor for detecting profile information of the upper surface of the synchronous belt and a second acquisition sensor for detecting profile information of the lower surface of the synchronous belt.
The servo motor control system can also be called as a servo motor speed regulation and position control system and is used as a driving motor when measuring the tooth profile of the synchronous belt; the servo motor mainly provides operation power for the driving shaft system, and the rotating speed and the steering of the servo motor are controlled according to a control command sent by the industrial personal computer.
The belt feeding/withdrawing motor control system is mainly used for controlling the synchronous belt to feed and withdraw, and measuring the belt feeding and withdrawing strokes through the stroke sensor.
The external input signals mainly comprise control signals of starting, sudden stopping and the like of an input system.
The industrial personal computer realizes man-machine interaction through the liquid crystal display and the keyboard and comprises functional modules of control of a driving motor, receiving and storage of synchronous belt measurement data, tooth profile reconstruction, report printing and the like.
The embodiment also provides a measurement method of the synchronous belt tooth profile detection system based on the laser triangulation method, which comprises the following steps:
(1) setting parameters: the method comprises the length of a pitch of a synchronous belt to be detected, the length range of the tooth form of the synchronous belt to be detected, the rotating speed and the steering direction of a servo motor, the belt feeding distance and the belt withdrawing distance;
(2) the industrial personal computer sends the synchronous belt feeding and withdrawing distance data to the microcontroller through the communication interface, and starts the belt feeding/withdrawing control system to control the belt feeding of the belt feeding/withdrawing motor;
(3) the microcontroller detects the belt feeding distance in real time through a stroke sensor and simultaneously detects a limit signal and an external input signal; when the belt feeding stroke exceeds the maximum stroke allowed by the system, triggering a limit signal, and sending an alarm instruction to the industrial personal computer by the microcontroller; the industrial personal computer stops the measurement and displays alarm information on a display; when the microcontroller detects that an external input signal exists, the external input signal is converted into a control command and sent to the industrial personal computer, and the industrial personal computer controls corresponding system action according to the control command;
(4) when the belt feeding distance detected by the microcontroller is consistent with the set belt feeding distance, stopping belt feeding and sending a belt feeding completion instruction to the industrial personal computer;
(5) the industrial personal computer controls a servo motor control system to control a servo motor to drive a synchronous belt to move according to a set rotating speed and a set rotating direction, and the servo motor control system reads stroke information of the servo motor fed back by a photoelectric encoder in the servo motor;
(6) the microcontroller controls the A/D converter to acquire synchronous toothed data through the laser displacement sensor and stores the data into a storage module of the microcontroller;
(7) when the servo motor stroke read by the industrial personal computer is consistent with the length of the tooth form of the synchronous belt; stopping the servo motor from running, and sending an instruction for stopping collecting synchronous belt tooth profile data to the microcontroller;
(8) after receiving a data acquisition stopping instruction sent by the industrial personal computer, the microcontroller stops data acquisition and transmits acquired synchronous belt tooth profile data to the industrial personal computer;
(9) the industrial personal computer restores the tooth shape of the synchronous belt by applying an internal program data processing algorithm according to the received tooth shape data of the synchronous belt, displays the measured tooth shape graph of the synchronous belt on a display, and compares the acquired tooth shape data of the synchronous belt with standard data to judge whether the tooth shape graph is qualified or not;
(10) the industrial personal computer sends a tape withdrawing instruction to the tape feeding/withdrawing motor control system, and the tape feeding/withdrawing motor withdraws the tape; meanwhile, the industrial personal computer sends a command for detecting the tape withdrawing distance to the microcontroller;
(11) the microcontroller detects the tape withdrawing distance in real time through the stroke sensor, stops withdrawing the tape when the tape withdrawing distance detected by the microcontroller is consistent with the set tape withdrawing distance, sends a tape withdrawing completion instruction to the industrial personal computer, and finishes the detection.
Referring to fig. 2, the step (9) of recovering the tooth profile of the synchronous belt includes the following steps:
91) the industrial personal computer carries out coarse error data processing on the acquired synchronous toothed data;
92) adopting sliding mean filtering to further process the data;
93) and fitting the data by adopting a strong local weighted regression algorithm to obtain a synchronous belt tooth-shaped structure graph. In the algorithm, x is calculated for each point in the dataiAll points x within its windowkAnd k is 1,2, Λ, n, and a weight w of each point in the window width is obtained by using a weight functionk(xi) Using weighted least squares on xiD-order polynomial fitting is carried out to obtain a fitting value
After the estimated value is calculated, usingiwk(xi) Replace the original weight wk(xi) Calculating again to obtain new fitting value, and calculating for multiple times to obtain final fitting value
iAccording to
When the measured value has a large error from the estimated value, the weight of the point to the estimated value should be small, so thatiThe value is selected to be smaller, and conversely, when the error value is smaller, the value is selected to be smalleriThe value is large. Locally weighted regression using only wk(xi) Obtaining a fitting value
Strong local weighted regression using wk(xi) Andiwk(xi) Performing multiple iterations to obtain the final fitting value
The strong local weighted regression algorithm in the step 93) comprises the following steps:
931) calculating the value y to be fitted by using a weighted least square methodiD order polynomial regression coefficient
Is determined by the estimated value of (c),
is the minimum value of a weighted polynomial of order d, where,
thereby obtaining a smoothed fitting point
At point xiThe fitting value of (a), wherein,
932) let B be a 4-th power weight function defined by:
the difference operation is performed on the measured value and the estimated value,
eifor the difference between the two data, S is | eiMedian of | defines:
k＝B(ekv (6S)); (formula 5)
933) At each measuring point (x)i,yi) To treat withiWk(xi) Replace the original weight Wk(xi) Then, the weighted least square method is used again to perform d-order polynomial fitting to calculate new
A value;
934) repeatedly executing the steps 933) and 934) for T times to obtain
Is the final fit value.
In FIG. 2, r is the collected data point xiThe number of times.
The synchronous belt tooth profile detection system based on the laser triangulation method realizes acquisition of the synchronous belt tooth profile based on the laser triangulation method, realizes automatic detection of the synchronous belt tooth profile by comparing with a standard synchronous belt tooth profile, and has positive significance for improving a synchronous belt manufacturing die and improving a manufacturing process for manufacturing the synchronous belt; the measuring system adopts two sensors positioned on the upper surface and the lower surface of the synchronous belt to acquire surface profile data of the synchronous belt, then carries out data smoothing treatment on original data, and then carries out strong local weighted regression to finish data fitting, thereby improving fitting precision and realizing high-precision restoration of the tooth profile of the synchronous belt; the measuring range of the laser displacement sensor is +/-10 mm, the measured value error of the tooth height of the detected synchronous belt is within +/-0.01 mm under the condition of controlling the rotating speed of the servo motor to be 1-3 rpm, the high-precision synchronous belt tooth shape detection is realized, and the detection result is scientific and reasonable and has high reliability.
What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.
Claims (8)
1. The utility model provides a hold-in range profile of tooth detecting system based on laser triangulation, its characterized in that: which comprises
The microcontroller is responsible for the operation control of the system and the acquisition and processing of external signals;
the laser displacement sensor is in signal communication with the microcontroller through an A/D converter and is used for acquiring tooth profile data of the synchronous belt;
the industrial personal computer is in signal communication with the microcontroller through a communication interface;
a servo motor control system;
the servo motor is controlled by the servo motor control system to drive the synchronous belt to be detected to carry out rotary transmission;
a tape advance/retreat motor control system;
the belt feeding/withdrawing motor is controlled by the belt feeding/withdrawing motor control system to drive the synchronous belt to realize belt feeding or withdrawing, and a stroke sensor is used for acquiring the belt feeding/withdrawing stroke of the synchronous belt;
the travel sensor is in signal communication with the microcontroller;
the industrial personal computer is in circuit connection with the servo motor control system and the belt feeding/withdrawing motor control system, and is also connected with a liquid crystal display and a keyboard.
2. The laser triangulation based synchronous belt tooth profile detection system as recited in claim 1, wherein: the microcontroller is also in circuit connection with an external input signal and a limit signal, wherein the external input signal comprises a start control signal and an emergency stop control signal of an input system.
3. The laser triangulation based synchronous belt tooth profile detection system as recited in claim 1, wherein: the microcontroller is responsible for the signal of gathering including laser displacement sensor output signal, the pulse signal and the external input signal of stroke sensor output, simultaneously also with the industrial computer carries out serial communication, receives the control command that the industrial computer sent, according to the driving piece operation or the stop that command control corresponds.
4. The laser triangulation based synchronous belt tooth profile detection system as recited in claim 1, wherein: the laser displacement sensor comprises a CCD or a high-sensitivity photoelectric position sensor PSD and a conversion circuit; the laser displacement sensor converts the acquisition result into digital quantity through the analog-to-digital (D) converter and transmits the digital quantity to the industrial personal computer through the microcontroller.
5. The laser triangulation based synchronous belt tooth profile detection system as recited in claim 1, wherein: and the servo motor control system controls the rotating speed and the steering of the servo motor according to a control instruction sent by the industrial personal computer.
6. The laser triangulation based synchronous belt tooth profile detection system as recited in claim 1, wherein: a driving synchronous belt wheel which synchronously rotates is arranged on an output main shaft of the servo motor; the belt feeding/withdrawing motor drives a driven synchronous belt wheel to perform horizontal linear motion, and the driving synchronous belt wheel is connected with the driven synchronous belt wheel in a rotating transmission mode through a synchronous belt to be detected.
7. The laser triangulation based synchronous belt tooth profile detection system as recited in claim 1, wherein: the industrial personal computer inputs parameters of the synchronous belt to be detected through the liquid crystal display and the keyboard, wherein the parameters comprise the pitch length of the synchronous belt to be detected, the synchronous belt tooth shape parameters, the rotating speed and the steering direction of the servo motor, and the belt feeding distance and the belt withdrawing distance of the synchronous belt.
8. The laser triangulation based synchronous belt tooth profile detection system as recited in claim 1, wherein: the laser displacement sensor comprises a first acquisition sensor for detecting profile information of the upper surface of the synchronous belt and a second acquisition sensor for detecting profile information of the lower surface of the synchronous belt.
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