CN113029045A - Method and device for acquiring data for calculating gear phase angle and gear phase angle measuring method - Google Patents
Method and device for acquiring data for calculating gear phase angle and gear phase angle measuring method Download PDFInfo
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- CN113029045A CN113029045A CN202110211495.2A CN202110211495A CN113029045A CN 113029045 A CN113029045 A CN 113029045A CN 202110211495 A CN202110211495 A CN 202110211495A CN 113029045 A CN113029045 A CN 113029045A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention relates to a method and a device for acquiring data for calculating a gear phase angle, and a gear phase angle measuring method, wherein the method for acquiring the data comprises the following steps: controlling the gear to rotate, and acquiring gear tooth surface data by using a plurality of line lasers; converting data acquired by each line laser into point cloud data of the gear outline under the same world coordinate system; acquiring a central axis of the gear and a gear top surface plane where the gear top surface is located; data is acquired for a ring of teeth of the gear. The invention can automatically, efficiently and accurately acquire the data for calculating the gear phase angle, and has high detection efficiency and precision.
Description
Technical Field
The invention relates to the technical field of gear detection, in particular to a method and equipment for acquiring data for calculating a gear phase angle and a gear phase angle measuring method.
Background
In the production and manufacture of automobile parts, the machining precision of gears is important. The machining precision of the gears is measured by utilizing the phase angles of the gears, the phase angle deviation of the gears influences the overall functions of the gears, faults such as equipment resonance, gear early wear and the like can be caused, and particularly in the multi-stage gears, the influence of the phase angle deviation among the gears of each stage is more obvious.
The existing automobile manufacturers mainly use a high-precision three-coordinate measuring machine or a special gear instrument to detect various parameters of the gear, and have the problems of high cost of detection equipment, low detection efficiency, low equipment utilization rate, poor compatibility of special gear special equipment and the like.
The phase angle of the gear is a parameter for highly measuring the machining precision of the gear, and how to quickly and effectively detect the phase angle of the gear is a difficult problem in the industry.
Disclosure of Invention
One of the objects of the present invention is to provide a method for acquiring data for calculating a gear phase angle, which can automatically, efficiently and accurately acquire data for calculating a gear phase angle, and which is fast in acquisition speed and high in speed accuracy.
In order to solve the technical problems, the invention provides the following technical scheme for solving the problems:
the present application relates to a method of acquiring data for calculating a gear phase angle, comprising:
controlling the gear to rotate, and collecting gear tooth surface data by using a plurality of line lasers;
converting data acquired by each line laser into point cloud data of the gear outline under the same world coordinate system;
acquiring a central axis of the gear and a gear top surface plane where the gear top surface is located;
data is acquired for a ring of teeth of the gear.
According to the method for acquiring the data, the rotating gear is scanned by the combination of the line lasers, the point cloud data of the outline of the gear is acquired, the line lasers are used for acquiring the data, the speed is high, the gear data can be acquired more densely by selecting the line lasers, the outline of the gear is accurately described, the accuracy of the data is high, the calculation of the phase angle of the gear is assisted accurately, and the method is intelligent, high in automation degree, high in data acquisition speed and high in accuracy.
In the application, data acquired by each line laser is converted into point cloud data of the gear outline under the same world coordinate system, and specifically, conversion is performed by adopting corresponding pre-stored pose input parameters and an ICP transformation matrix.
In this application, obtain the central axis of gear, specifically be:
taking a Z axis under the same coordinate system as a cylindrical axis, and selecting a cylindrical area, wherein the cylindrical area comprises central point cloud data on the inner side wall of a central hole of the gear;
acquiring the central point cloud data;
and establishing a central axis of the gear according to the central point cloud data.
In this application, the gear top plane where the gear top plane of the gear is located is obtained, specifically:
selecting an annular cylindrical area according to the central axis of the gear to obtain an annular top surface plane point of the top surface of the gear;
and fitting a plane equation of the gear top surface by using the annular top surface plane points to obtain a gear top surface plane of the gear top surface.
The present application also relates to a gear phase angle measurement method, characterized by comprising:
controlling the gear to rotate, and collecting gear tooth surface data by using a plurality of line lasers;
converting data acquired by each line laser into point cloud data of the gear outline under the same world coordinate system;
acquiring a central axis of the gear and a gear top surface plane where the gear top surface is located;
acquiring data of a circle of teeth of a gear;
acquiring a reference circle of the gear and an intersection point of the reference circle and tooth surfaces on two sides of each tooth;
acquiring the midpoint of two corresponding intersection points of each tooth;
calculating a phase angle;
the phase angle is an angle between a connecting line between the midpoint and a coordinate origin and a coordinate transverse axis, the coordinate origin is the center of the reference circle, and a coordinate system plane is a two-dimensional plane parallel to the plane of the top surface of the gear.
In this application, the intersection point of the reference circle of the gear and the tooth surface on both sides of each tooth is obtained, specifically:
classifying a circle of teeth by using a clustering algorithm, and identifying each tooth;
and calculating points with the shortest distance from the point clouds on the two side tooth surfaces of each tooth to the curve of the reference circle so as to obtain the intersection point of the two side tooth surfaces of each tooth.
In this application, obtaining the reference circle includes:
the intersection point of the central axis and the plane where the circle of teeth is located is the center of the reference circle;
the radius of the reference circle is preset;
and establishing an equation of the reference circle according to the circle center and the radius, wherein a plane where a curve of the reference circle is located is a plane where the circle of teeth is located.
The invention also relates to a device for acquiring the data for calculating the phase angle of the gear, which can automatically, efficiently and accurately acquire the data for calculating the phase angle of the gear and is helpful for measuring the machining precision of the gear.
In order to solve the technical problems, the invention provides the following technical scheme for solving the problems:
an apparatus for acquiring data for calculating a gear phase angle, comprising:
a frame;
a turntable provided on the frame for providing a rotational force;
the gear positioning table is used for positioning a gear and is positioned on the rotary table;
the line lasers are arranged on the rack and used for collecting gear tooth surface data;
the high-frequency trigger latch circuit board is electrically connected with the circuit of the turntable and the line lasers and is used for synchronously acquiring data acquired by the line lasers and the angle of the turntable;
the data processing center controls the turntable to rotate and each line laser to start scanning, and executes the following operations:
converting data acquired by each line laser into point cloud data of the gear outline under the same world coordinate system;
acquiring a central axis of the gear and a gear top surface plane where the gear top surface is located;
data is acquired for a ring of teeth of the gear.
In the present application, the data processing center, after acquiring data of a circle of teeth of a gear, further performs the following operations:
acquiring a reference circle of the gear and an intersection point of the reference circle and tooth surfaces on two sides of each tooth;
acquiring the midpoint of two corresponding intersection points of each tooth;
calculating a phase angle;
the phase angle is an angle between a connecting line between the midpoint and a coordinate origin and a coordinate transverse axis, the coordinate origin is the center of the reference circle, and a coordinate system plane is a two-dimensional plane parallel to the plane of the top surface of the gear.
In this application, the apparatus further comprises:
a plurality of three-axis precision slides arranged around the turntable;
the manual rotary sliding tables are respectively arranged on the three-axis precision sliding tables, and the line laser devices are respectively and correspondingly arranged on the manual rotary sliding tables;
and the calibrator is used for calibrating the position of each line laser.
In the device, data acquired by each line laser is converted into point cloud data of the gear outline under the same world coordinate system, and specifically, conversion is carried out by adopting corresponding pre-stored pose input parameters and an ICP conversion matrix.
In the equipment of this application, obtain the central axis of gear, specifically be:
taking a Z axis under the same world coordinate system as a cylindrical axis, and selecting a cylindrical area, wherein the cylindrical area comprises central point cloud data on the inner side wall of a central hole of the gear;
acquiring the central point cloud data;
and establishing a central axis of the gear according to the central point cloud data.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments of the present invention or the prior art will be briefly described below, and it is obvious that the drawings described below are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method of acquiring data for calculating a gear phase angle as set forth in the present invention;
FIG. 2 is a flow chart of a method of measuring gear phase angle in accordance with the present invention;
fig. 3 is a schematic diagram of an embodiment of a phase angle in the method for measuring a gear phase angle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
If the gear phase angle is calculated, it is assumed that data (note, phase angle calculation data) of one ring of teeth of the gear used for calculating the gear phase angle needs to be acquired.
The apparatus (not shown) involved herein is capable of fast and accurate acquisition of phase angle calculation data, and mainly includes a gantry, a turntable, a gear positioning stage, a plurality of line lasers, a high frequency trigger latch circuit board, and a data processing center.
The frame is a bearing body for each component in the measuring equipment, and can be designed into a cylindrical shape or a polygonal prism shape and the like.
The turntable is arranged on the frame and can provide rotating force, in the application, a multi-index precise sliding table fixing plate is arranged on the frame, a protective cover with a door opening is arranged above the multi-index precise sliding table fixing plate, the shape of the protective cover is kept the same as that of the frame, and a space for accommodating most parts (such as the turntable, a multi-line laser and the like) in the measuring equipment is formed between the protective cover and the frame so as to protect the parts.
In this application, the revolving stage is the air supporting cavity revolving stage, and it has the function that can acquire turned angle when the controller rotates.
The air-flotation hollow rotary table is provided with a gear positioning table, the gear positioning table is used for positioning the gear to be detected, and the gear to be detected is driven to rotate when the air-flotation hollow rotary table rotates.
In order to collect the outline data of the gear, in the application, a plurality of line lasers are designed to be arranged on a rack and arranged around an air floatation hollow turntable in a surrounding mode, and are used for fully acquiring point cloud data representing the outline of the gear.
In the present application, before data acquisition is performed on the gear, the positions of the plurality of line lasers should be corrected, that is, the relative positions of the line lasers should be acquired to establish a relative spatial coordinate system.
Since the actual measuring range of the line laser is very short, a plurality of line lasers are required to cover the gearwheel and the scanning range of each line laser can fall on the gearwheel, i.e. the sum of the scanning ranges of the plurality of line lasers can cover the entire profile of the gearwheel which needs to be measured.
And establishing a coordinate system for the gear according to the data scanned by the plurality of line lasers.
In the application, one of the line lasers is arranged for scanning the inner wall of the central hole of the gear to obtain the point of a central cylinder formed by the central hole of the gear so as to establish the coordinate system of the gear according to the central cylinder, and the arrangement positions of the other line lasers are set by acquiring data of the left tooth surface and the right tooth surface of the gear.
In this application, adopt five line lasers to gather, one of them is used for scanning gear centre bore inner wall, and other four line lasers are two double-tenth a set ofly, are used for scanning the data of the left flank of tooth and the right flank of tooth respectively.
Of course, the number of the line lasers can be more than five, and the more the number of the line lasers is, the more comprehensive the data of the outline profile of the gear is collected.
In this case, there are more point cloud data than the collected point cloud data, and more resources and processing time may be occupied during data processing, so the number of line lasers may be selected according to actual requirements.
In alternative embodiments, the line laser for scanning the inner wall of the central bore of the gear may not be arranged, but the coordinate system of the gear may be established in other ways.
For example, the direction is determined by a gear top surface plane (see the following description), the circle of the gear top surface determines the position of the circle center, and the like, which is not limited herein. The position correction of the multi-line laser as described above can be performed by a correction method in the related art.
Specifically, the correction may be performed in the following manner.
The measuring equipment further comprises an XYZ three-axis precision sliding table, a manual rotating sliding table and a calibrator.
The number of the XYZ triaxial precision sliding tables and the number of the manual rotating sliding tables are the same as that of the line lasers, for example, five.
Five XYZ three-axis precision sliding tables are arranged at a plurality of mounting positions on the multi-indexing precision sliding table and are arranged around the air floatation hollow rotary table.
A manual rotary sliding table is respectively arranged on the five XYZ three-axis precision sliding tables, and the line laser is arranged on the manual rotary sliding table.
Before measuring the gear to be measured, the calibrator is installed on the gear positioning table, and the position of the sensor is corrected, namely, the relative positions of the five line laser sensors are obtained by scanning the calibrator, and a relative space coordinate system is established.
And then, placing the gear to be measured on a gear positioning table, and manually adjusting the XYZ three-axis precision sliding table and the manual rotating sliding table according to the size and the shape of the gear so as to adjust the position of each line laser and enable the scanning range of each line laser sensor to fall on the gear.
After the position of each line laser is adjusted, the XYZ triaxial precision sliding table and the manual rotating sliding table are respectively locked, and correction is completed.
The calibration of such a line laser sensor is determined well before the gear to be measured is measured.
Thereafter, in actual measurement, if the gear characteristics to be measured (i.e., the gear size and shape) remain unchanged, or the gear size and shape change within a small range but within the range of each line laser, the position of each line laser also remains unchanged.
In this application, measuring equipment still includes high frequency trigger latch circuit board, and its circuit and the equal electricity of a plurality of line laser instrument with the revolving stage are connected for the turned angle of the data of synchronous acquisition each line laser instrument collection and revolving stage.
The high-frequency trigger latch circuit board is used for guaranteeing the working beats of all the line lasers and the rotary table, when the rotary table rotates a preset rotation angle, the line lasers scan a profile on the gear to obtain a corresponding group of point cloud data, and simultaneously lock the current rotation angle and the corresponding scanning data, so that synchronous acquisition is realized, and accurate phase angle calculation is facilitated.
It should be noted that, because each line laser performs rotational scanning on the gear to be measured, before the gear to be measured, each line laser needs to be calibrated (to obtain a pose input parameter) and a corresponding transformation matrix (for example, an ICP transformation matrix obtained by using an ICP algorithm) is obtained after calibration, so as to convert data scanned by each line laser into point cloud data of the gear outline in the same world coordinate system.
After each line laser is corrected and before the phase angle of the gear to be measured, an ICP transformation matrix is calibrated and solved in advance, the pose input parameters and the ICP transformation matrix corresponding to each line laser are prestored, and the pose input parameters and the ICP transformation matrix are directly called when the phase angle of the gear to be measured is measured actually.
FIG. 1 illustrates a method of acquiring data for calculating a gear phase angle using an apparatus as described above.
With reference to fig. 1, a detailed description is given as follows.
S1: and controlling the gear to rotate, and acquiring gear tooth surface data by using a plurality of line lasers.
As described above, the control rotor controls the rotation of the gear, and the gear surface data is collected by the plurality of line lasers.
The turntable is controlled to rotate, the gear can be controlled to rotate, and when the gear is driven by the turntable to rotate by a preset rotating angle, the line laser can scan the gear one by one.
In this application, the data of a line laser scanning gear centre bore inner wall, two liang of remaining four line lasers are a set of, are used for scanning the data of the left flank of a tooth and the right flank of a tooth respectively.
The arrangement of five line lasers in this application can serve the purpose of scanning the entire profile that the gear needs to measure.
S2: and converting the data acquired by each line laser into point cloud data of the gear outline under the same world coordinate system.
In S1, the five line lasers can collect point cloud data of five sets of gears in respective space coordinate systems, which are denoted as { S1, S2, S3, S4, S5} for convenience of description.
In S2, the conversion of the data includes two parts.
And in the first part, pre-stored pose input parameters (marked as { M1, M2, M3, M4 and M5} corresponding to each line laser are called to convert cloud data { S1, S2, S3, S4 and S5} of each point so as to acquire point cloud data under an orthogonal coordinate system of each line laser, marked as { W1, W2, W3, W4 and W5 }.
And in the second part, an ICP transformation matrix (marked as { M1', M2', M3', M4', M5' }) corresponding to each pre-stored line laser is called to convert cloud data of each point { W1, W2, W3, W4 and W5} so as to obtain point cloud data under the same world coordinate system, marked as { C1, C2, C3, C4 and C5}, namely point cloud data of the outline of the spliced gear.
S3: and acquiring the central axis of the gear and the plane of the top surface of the gear on which the top surface of the gear is located.
In order to obtain the point cloud data of a circle of teeth (having a left tooth surface and a right tooth surface) of the gear, firstly, a central axis of the gear and a gear top surface plane S where the gear top surface is located need to be established, so that the point cloud data on the plane where the circle of teeth of the gear is located can be intercepted after the point cloud data is opposite to and parallel to the gear top surface plane S and is translated for a certain distance (for example, height h) along the central axis.
First, how to obtain the central axis of the gear is described.
And fitting an equation for establishing the central axis by using points on a central hole cylinder of the gear to obtain the central axis.
Specifically, the Z axis in the same world coordinate system can be known in S2.
The Z axis is basically consistent with the central axis, so that the Z axis is taken as the central axis of the cylinder, and a cylindrical area is selected, wherein the selected cylindrical area is as large as possible so as to contain central point cloud data on the inner side wall of the central hole of the gear.
The point cloud data on the cylindrical region as above includes partial point cloud data on the gear top surface in addition to the center point cloud data.
Therefore, the data needs to be screened, and only the central point cloud data is reserved.
And establishing an equation of the central axis by using the central point cloud data to acquire the central axis.
How to obtain the gear top surface plane where the gear top surface is located is described as follows.
The central axis of the gear is known as above, and the annular cylindrical region is selected based on the central axis, resulting in point cloud data on the annular top surface of the gear top surface, i.e., an annular top surface plane point.
And fitting a plane equation of the gear top plane BY using the obtained annular top plane points, and recording the plane equation as AX + BY + CZ + D =0 to obtain the gear top plane.
S4: data is acquired for a ring of teeth of the gear.
According to the central axis and the plane of the top surface of the gear, a section AX + BY + CZ + D '=0 is obtained, the section is just right parallel to the plane AX + BY + CZ + D =0 of the top surface of the gear, and the section moves in parallel along the central axis for a distance h, namely | D-D' |/(A)2+B2+C2）1/2。
The point cloud on this plane AX + BY + CZ + D' =0 is the data for one ring of teeth of the gear, see the pattern for one ring of teeth shown in fig. 3.
The data of one ring of teeth of the gear acquired as above is phase angle calculation data.
If the phase angle needs to be calculated, the data processing center can obtain the phase angle after acquiring the phase angle calculation data to form an overall measurement process for calculating the gear phase angle.
The phase angle is defined in many ways, and the calculation of the phase angle by different manufacturers is slightly different according to different requirements on the gear quality.
Referring to fig. 2 and 3, a manner of calculating the phase angle in the present application will be described.
The parts of fig. 2 that are the same as those described in fig. 1 will not be described again here, and only the parts of the calculation of the phase angle after the phase angle calculation data is acquired will be described in detail.
S5: and acquiring a reference circle of the gear and an intersection point of the reference circle and the tooth surfaces on two sides of each tooth.
S51: and acquiring the reference circle of the gear.
As in S4, see fig. 3, data for one ring of teeth of the gear is acquired.
Drawing a reference circle curve of the gear, wherein the reference circle of the gear refers to a circle drawn by taking the circle center of a circle of a plane where a circle of teeth is located as a coordinate and using a preset radius, wherein the preset radius is preset when the gear structure is designed.
Referring to fig. 3, a reference circle curve is plotted.
If one wants to plot a reference circle curve, one needs to know the equation (x-a) of the reference circle2+(y-b)2=r2That is, the center (a, b) of the reference circle and the predetermined radius r need to be known.
In S3, the equation for the center axis has been acquired, and in S4, the equation for the plane in which one circle of teeth lies has been acquired, and therefore the intersection point of the center axis and the plane is the center (a, b) of the reference circle.
Therefore, a reference circle curve is established, and the plane where the reference circle is located is the plane where the circle of teeth are located.
S52: the intersection of the reference circle and the flank of each tooth on both sides is obtained.
Each tooth has a crest and left and right flanks on either side of the crest.
The reference circle can intersect the left flank and the right flank of each tooth, respectively.
In order to accurately acquire the intersection points of all the teeth and the reference circle, in the application, a circle of teeth is firstly classified to identify each tooth, and then the point with the closest distance between the point cloud data on each tooth and the reference circle curve is calculated.
And classifying the point cloud data belonging to one tooth through a clustering algorithm, identifying each tooth, and numbering each tooth, wherein T1, T2.
The clustering algorithm can be implemented by using a clustering algorithm commonly used in the prior art, such as K-Means clustering, mean shift clustering, and the like.
And then, calculating the point with the closest distance between the point cloud data of the left tooth surface and the right tooth surface of each tooth and the reference circle curve, namely the intersection point of the two side tooth surfaces of each tooth and the reference circle.
S6: the midpoint of each tooth is taken at the corresponding two intersection points.
In S52, two intersections of each tooth with the reference circle curve are obtained, for example, the intersections of the tooth T1 with the reference circle curve are P1 and P2, and the midpoint of the two intersections is easily obtained.
S7: the phase angle alpha is calculated.
The phase angle α of a gear is a parameter proposed in the ford motor vehicle's bidding documents, which is measured when the requirements on the gear quality are high.
The calculation and representation of the phase angle α is described below.
The center (a, b) of the reference circle is taken as the origin O, and the coordinate system plane XOY is a two-dimensional plane parallel to the plane of the gear top surface, see fig. 3.
A coordinate system is established for calculating the phase angle alpha.
The X-axis and the Y-axis in the coordinate system may also be arranged rotated by any angle around the origin O.
Referring to fig. 3, the phase angle α is described by taking one of the teeth T1 as an example.
The angle between the line drawn between the midpoint P of tooth T1 and the origin O and the X-axis is called the phase angle α.
Since the midpoint P and origin O coordinates are known and the coordinate system is known, the phase angle α of tooth T1 can be found.
Accordingly, the phase angle of any tooth can be calculated.
In an alternative embodiment, it is also possible to define the angle between a line connecting an intersection point P1 (i.e., the intersection point of the right tooth surface with the curve of the reference circle) or an intersection point P2 (i.e., the intersection point of the left tooth surface with the curve of the reference circle) of one of the tooth surfaces of the denture T1 and the origin O and the X-axis coordinate horizontal axis as the phase angle.
Therefore, the calculation of the phase angle is not limited herein.
In actual use, according to customer requirements, phase angles of a plurality of teeth of the gear can be obtained, and difference processing is carried out on the phase angles so as to grade the phase angles and judge whether the gear meets the customer use requirements.
According to the measuring method provided by the invention, all point cloud data of the gear outline can be acquired after the rotary table rotates for one circle, and the acquisition speed is high; according to the selection of the number of the line lasers, gear outline data with denser point clouds can be collected, and the detection precision can be improved; the measuring method can rapidly calculate the phase angle according to the point cloud data acquired by the line laser, realizes intellectualization and automation, and improves the detection efficiency and the detection precision.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of acquiring data for calculating a gear phase angle, comprising:
controlling the gear to rotate, and collecting gear tooth surface data by using a plurality of line lasers;
converting data acquired by each line laser into point cloud data of the gear outline under the same world coordinate system;
acquiring a central axis of the gear and a gear top surface plane where the gear top surface is located;
data is acquired for a ring of teeth of the gear.
2. The method according to claim 1, characterized in that the data acquired by each line laser is converted into point cloud data of the gear outline under the same world coordinate system, in particular by using corresponding pre-stored pose input parameters and ICP transformation matrix.
3. Method according to claim 1, characterized in that the central axis of the gear is taken, in particular:
taking a Z axis under the same world coordinate system as a cylindrical axis, and selecting a cylindrical area, wherein the cylindrical area comprises central point cloud data on the inner side wall of a central hole of the gear;
acquiring the central point cloud data;
and establishing a central axis of the gear according to the central point cloud data.
4. The method according to claim 1, characterized in that the gear top plane in which the gear top plane is located is obtained by:
selecting an annular cylindrical area according to the central axis of the gear to obtain an annular top surface plane point of the top surface of the gear;
and fitting a plane equation of the gear top surface by using the annular top surface plane points to obtain a gear top surface plane of the gear top surface.
5. A gear phase angle measurement method, characterized by comprising:
controlling the gear to rotate, and collecting gear tooth surface data by using a plurality of line lasers;
converting data acquired by each line laser into point cloud data of the gear outline under the same world coordinate system;
acquiring a central axis of the gear and a gear top surface plane where the gear top surface is located;
acquiring data of a circle of teeth of a gear;
acquiring a reference circle of the gear and an intersection point of the reference circle and tooth surfaces on two sides of each tooth;
acquiring the midpoint of two corresponding intersection points of each tooth;
calculating a phase angle;
the phase angle is an angle between a connecting line between the midpoint and a coordinate origin and a coordinate transverse axis, the coordinate origin is the center of the reference circle, and a coordinate system plane is a two-dimensional plane parallel to the plane of the top surface of the gear.
6. The gear phase angle measurement method according to claim 5, wherein intersection points of the reference circle of the gear and the tooth surfaces on both sides of each tooth are acquired, specifically:
classifying a circle of teeth by using a clustering algorithm, and identifying each tooth;
and calculating points with the shortest distance from the point clouds on the two side tooth surfaces of each tooth to the curve of the reference circle so as to obtain the intersection point of the two side tooth surfaces of each tooth.
7. The gear phase angle measurement method according to claim 6, wherein acquiring the reference circle includes:
the intersection point of the central axis and the plane where the circle of teeth is located is the center of the reference circle;
the radius of the reference circle is preset;
and establishing an equation of the reference circle according to the circle center and the radius, wherein a plane where a curve of the reference circle is located is a plane where the circle of teeth is located.
8. An apparatus for acquiring data for calculating a gear phase angle, comprising:
a frame;
a turntable provided on the frame for providing a rotational force;
the gear positioning table is used for positioning a gear and is positioned on the rotary table;
the line lasers are arranged on the rack and used for collecting gear tooth surface data;
the high-frequency trigger latch circuit board is electrically connected with the circuit of the turntable and the line lasers and is used for synchronously acquiring data acquired by the line lasers and the angle of the turntable;
the data processing center controls the turntable to rotate and each line laser to start scanning, and executes the following operations:
converting data acquired by each line laser into point cloud data of the gear outline under the same world coordinate system;
acquiring a central axis of the gear and a gear top surface plane where the gear top surface is located;
data is acquired for a ring of teeth of the gear.
9. The apparatus of claim 8, wherein the data processing center, after acquiring data for a ring of teeth of a gear, further performs the following:
acquiring a reference circle of the gear and an intersection point of the reference circle and tooth surfaces on two sides of each tooth;
acquiring the midpoint of two corresponding intersection points of each tooth;
calculating a phase angle;
the phase angle is an angle between a connecting line between the midpoint and a coordinate origin and a coordinate transverse axis, the coordinate origin is the center of the reference circle, and a coordinate system plane is a two-dimensional plane parallel to the plane of the top surface of the gear.
10. The apparatus of claim 8, further comprising:
a plurality of three-axis precision slides arranged around the turntable;
the manual rotary sliding tables are respectively arranged on the three-axis precision sliding tables, and the line laser devices are respectively and correspondingly arranged on the manual rotary sliding tables;
and the calibrator is used for calibrating the position of each line laser.
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