CN114993202A - Rocker arm type multifunctional medium-small modulus straight-tooth cylindrical gear visual detection device and detection method - Google Patents
Rocker arm type multifunctional medium-small modulus straight-tooth cylindrical gear visual detection device and detection method Download PDFInfo
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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Abstract
The invention discloses a rocker arm type multifunctional middle and small modulus straight toothed spur gear visual detection device and a detection method. The method comprises the following steps: 1) a rocker arm type multifunctional middle and small modulus straight toothed spur gear visual detection device is built. 2) And mounting the spur gear to be measured on a mandrel of the horizontal dividing plate. 3) And adjusting the rocker arm vision measuring system and the lifting platform system to obtain the image of the measured straight toothed spur gear, and uploading the image to the data processing system. 4) And the data processing system processes the image of the measured spur gear to obtain the detection information of the measured spur gear. The invention utilizes the visual measurement technology to measure the medium and small modulus cylindrical gear, can realize the quick, high-precision and analytical measurement report of various error items of the gear, and improves the manufacturing capability of the gear on-line feedback gear machining precision.
Description
Technical Field
The invention relates to the technical field of high-precision detection, in particular to a rocker arm type multifunctional middle and small modulus straight-tooth cylindrical gear visual detection device and a detection method.
Background
The precision of the gear affects its transmission quality and directly affects the working performance, reliability and service life of the machine. The traditional electromechanical gear measuring instrument (such as a gear measuring center, a three-coordinate measuring machine, a gear comprehensive error detector and the like) has the disadvantages of complex structure, high price, time-consuming measurement, high technical requirements on use and maintenance, incapability of obtaining analytical measurement reports and the like, and limits the manufacturing capability of intelligently manufacturing and processing gears for feeding back the processing precision of the gears on line.
The machine vision measurement technology can rapidly measure the gear precision and control the gear machining precision. The rocker arm type multifunctional middle and small modulus straight toothed spur gear visual detection device has the advantages of simple structure, wide measurement range, no need of special measurement tools, strong environmental adaptability, capability of being used in a gear processing field and the like. Because the visual field of the lens is limited, the complete gear image cannot be obtained, the invention utilizes the self-adaptive virtual gear visual measurement technology, breaks through the traditional splicing technology of a gray threshold method, carries out the sub-pixel high-precision positioning technology on the tooth profile edge aiming at the tooth profile involute characteristic, further adopts the sub-pixel splicing technology to construct the virtual measured gear, enlarges the visual field range of the visual image, and realizes the measurement of important overall dimension and various error items of the small and medium modulus cylindrical gear.
In the prior art, some methods adopt a transition zone method transversal Gaussian fitting method to perform sub-pixel positioning, belong to a curved surface fitting method, reduce the detection speed to a certain extent, and do not realize the measurement of the overall dimension of the gear. Some of the industrial cameras adopt a multi-view CCD (charge coupled device), view a measured part by designing rotary extension and retraction, and measure key dimensions such as addendum circle, tooth profile and the like according to the characteristics of the gear.
In summary, the existing gear detection device and the related detection method have disadvantages, and a medium-small modulus cylindrical gear detection device integrating a high-precision, fast-speed and multi-item detection method is still scarce.
Disclosure of Invention
The invention aims to provide a rocker arm type multifunctional middle and small modulus straight toothed spur gear visual detection device which comprises a rocker arm visual measurement system, a lifting platform system, a platform and a data processing system.
The rocker visual measurement system and the lifting platform system are arranged on the platform.
The rocker arm vision measurement system shoots an image of the measured straight spur gear and transmits the image to the data processing system.
And the lifting platform system is used for driving the spur gear to be tested to move up and down and rotate.
And the data processing system processes the image of the measured spur gear to obtain the detection information of the measured spur gear.
Preferably, the rocker visual measurement system comprises a hand wheel of a Z-axis guide rail, a vertical rotary dividing disc, a telecentric lens, an industrial camera, a Z-axis guide rail, an X-axis guide rail slider, a Z-axis guide rail slider, a hand wheel of an X-axis guide rail, a vertical connecting plate and a horizontal connecting plate.
The telecentric lens is connected with the industrial camera.
The telecentric lens is matched with the industrial camera to shoot the image of the measured straight spur gear.
The industrial camera is fixedly installed on one side of the X-axis guide rail sliding block.
The X-axis guide rail slide block can move on the X-axis guide rail.
One side of the X-axis guide rail is fixedly arranged on the horizontal connecting plate.
The horizontal connecting plate is installed on one side of the Z-axis guide rail sliding block.
The Z-axis guide rail slide block can move on the Z-axis guide rail.
The Z-axis guide rail is arranged on the vertical connecting plate.
The vertical connecting plate is arranged on the vertical rotary indexing disc.
The vertical rotary indexing disc can rotate. The vertical rotary dividing disc drives the telecentric lens and the industrial camera to rotate through the Z-axis guide rail and the X-axis guide rail.
And the Z-axis guide rail hand wheel is used for adjusting the moving distance of the Z-axis guide rail slide block on the Z-axis guide rail.
The X-axis guide rail hand wheel is used for adjusting the moving distance of the X-axis guide rail slide block on the X-axis guide rail.
Preferably, the rocker arm vision measuring system further comprises a cushion block.
The cushion block is fixedly arranged on the platform.
The vertical rotary indexing disc is fixedly arranged on the cushion block.
Preferably, the lifting platform system comprises a horizontal dividing disc, a loading lifting platform, a box body, an electric push rod, a stepping motor, a machine body, a motor, a coupler, a bottom plate, a threaded rod, a guide pillar, a sliding block, a top plate and a back plate.
The machine body is fixedly arranged on the platform.
The surface of the machine body is covered with a shell.
The guide post is fixedly arranged on the bottom plate.
And a sliding block on the threaded rod and a sliding block on the guide post are fixedly arranged on one side of the back plate, and the other side of the back plate is fixedly arranged on the loading lifting platform.
And a motor, a coupler, a bottom plate, a threaded rod, a guide pillar, a slide block, a top plate and a back plate are fixedly arranged in the machine body.
The upper end of the machine body is provided with an opening, and the opening is covered by a top plate.
And a threaded rod is fixedly installed between the top plate and the coupler.
And the threaded rod is provided with a sliding block.
And the guide post is provided with a slide block. And the slide block on the guide post is fixedly provided with a loading lifting platform.
The motor drives the sliding block on the threaded rod to move up and down through the coupler.
The slider on the threaded rod drives the slider on the guide pillar to push up through the backplate in the upward movement process, so that the object carrying lifting platform moves upward.
The slider on the threaded rod drives the slider on the guide pillar to push down through the backboard in the downward moving process, so that the loading lifting platform moves downward.
The shell wraps the fuselage.
And an electric push rod is fixedly arranged between the loading lifting platform and the platform.
And a horizontal dividing plate is fixedly installed on the carrying lifting platform.
The electric push rod is matched with the motor to drive the loading lifting platform to move up and down.
And a spindle of the horizontal indexing disc is provided with a spur gear to be measured.
The stepping motor drives the horizontal dividing disc to rotate.
Preferably, the lifting platform system further comprises a position sensor for monitoring the distance between the object carrying lifting platform and the platform.
Preferably, the lifting platform system further comprises a tray, a light source support frame and a light source.
The tray is arranged above the horizontal dividing plate.
And a light source supporting frame is arranged between the tray and the horizontal dividing plate.
The light source support frame is used for supporting a light source.
The light source provides light for the measured straight toothed spur gear.
Preferably, the detected information of the measured spur gear includes gear size information and error information.
The gear size information comprises addendum circle radius, dedendum circle radius, reference circle radius, tooth thickness, tooth pitch, tooth width and common normal length.
The gear error information comprises single pitch deviation, accumulated pitch deviation, total tooth profile deviation, tooth thickness deviation and common normal line length variation.
Preferably, the data processing system comprises an image acquisition module, an image preprocessing module, a gear edge sub-pixel level positioning and monitoring module, an image splicing module and a virtual gear center positioning module.
And the image acquisition module acquires an image of the measured straight toothed spur gear and transmits the image to the image preprocessing module.
The image preprocessing module preprocesses the measured straight toothed spur gear image to obtain a processed gear image, and transmits the processed gear image to the gear edge subpixel level positioning and monitoring module. The preprocessing comprises Gaussian filtering, edge transition zone extraction, gear contour segmentation and gear radial segmentation.
The gear edge sub-pixel level positioning monitoring module positions the tooth profile edge and transmits the gear image with the tooth profile edge positioned to the image splicing module.
The image splicing module is used for rotating, splicing and error homogenizing the gear images.
And the virtual gear center positioning module processes the detected information of the detected straight toothed spur gear.
The method for detecting by using the rocker arm type multifunctional middle and small modulus straight toothed spur gear visual detection device comprises the following steps:
1) a rocker arm type multifunctional visual detection device for the medium-and-small-modulus straight-tooth cylindrical gear is built.
2) And mounting the spur gear to be measured on a mandrel of the horizontal dividing plate.
3) And adjusting the rocker arm vision measuring system and the lifting platform system to obtain the image of the measured straight toothed spur gear, and uploading the image to the data processing system.
When obtaining the tooth width of the gear, the content of adjusting rocking arm vision measurement system, lift platform system includes:
and adjusting a hand wheel of the X-axis guide rail to enable the central axis of the telecentric lens and the central axis of the measured straight-tooth cylindrical gear to be on the same straight line. And adjusting the relative position of the lifting platform system and the telecentric lens to enable the cylindrical surface of the measured straight spur gear to be arranged in the center of the image. And adjusting a hand wheel of the Z-axis guide rail to enable the distance between the cylindrical surface of the measured straight-tooth cylindrical gear and the telecentric lens to reach a preset value.
When obtaining other size information except the tooth width of the gear, the content of adjusting the rocker visual measurement system and the lifting platform system comprises:
and adjusting a hand wheel of the X-axis guide rail to enable the central axis of the telecentric lens and the meshing line of the left end surface and the right end surface of the measured straight-tooth cylindrical gear to be on the same straight line, and enabling the gear teeth of the measured straight-tooth cylindrical gear to be arranged in the center of the image.
And adjusting a hand wheel of the Z-axis guide rail to enable the distance between the cylindrical surface of the measured straight-tooth cylindrical gear and the telecentric lens to reach a preset value.
4) An image preprocessing module of the data processing system carries out filtering and noise reduction on the measured straight toothed spur gear image to obtain a noise-reduced gear image;
5) the image preprocessing module calibrates the pixel equivalent of the gear image by using a calibration plate, then performs least square fitting by using the fixed radius of a standard disc, calibrates the center of the image, and obtains the center (x) of the gear image 0 ，y 0 ) And transmitting the data to a gear edge sub-pixel level positioning monitoring module;
6) the image preprocessing module is used for segmenting a gear image by using a double-threshold method to obtain a gear contour edge transition band with double boundaries and transmitting the gear contour edge transition band to the gear edge sub-pixel level positioning monitoring module;
the gray value g in the transition zone of the gear profile edge is as follows:
(g max -Δg)≤g≤(g min +Δg) (1)
in the formula, g max The maximum gray value of the image; g min Is the minimum gray value of the image; Δ g is a fitting parameter;
7) the image preprocessing module performs radial segmentation on the gear image by using a radius threshold segmentation method, divides the gear image into three parts, namely an addendum, a dedendum and a tooth profile, and determines an effective working area of the gear tooth profile
And transmitting the data to a gear edge sub-pixel level positioning monitoring module; wherein r is d The gear reference circle radius; m' is the gear module; c is the radial bandwidth coefficient;
the tooth crest height coefficient;
root height factor;
8) the gear edge sub-pixel level positioning monitoring module positions the tooth profile edge, and the method comprises the following steps:
8.1) according to the characteristics of an involute, performing equal arc length segmentation from a base circle to an addendum circle, performing segmentation of a segment by using a pressure angle, and constructing a Bertrand gray curved surface to realize tangential and normal discretization segmentation of a gear edge transition zone; wherein the pressure angle alpha of the involute point P i Satisfies the following formula:
tanα i+1 ＝Δs/(r b tanα i )+tanα i (2)
in the formula, r b Is the base circle radius; Δ s is the involute arc length; alpha is alpha i+1 The pressure angle is the pressure angle of the i +1 th involute sectional point;
8.2) carrying out least square fitting on the Bertrand gray curved surface, and calculating the normal offset distance mu of the sub-pixel edge of the i-th section i Sum variance σ i And realizing the tooth profile edge sub-pixel level positioning.
In the formula, parameters
Parameter(s)
Parameter(s)
Parameter(s)
m is the number of pixel points contained in the ith Bertrand gray curved surface section; t is t k 、z k Respectively representing the distance from an upward pixel point of an edge method to a pixel level edge curve and the normal distance from a sub-pixel edge to the pixel level edge curve;
9) rotating, splicing and error homogenizing the gear image by using an image splicing module;
wherein, the coordinates (x, y) of any point on the gear image after rotation are as follows:
x＝x 0 +(x'-x 0 )×cosα-(y'-y 0 )×sinα
y＝y 0 +(x'-x 0 )×sinα+(y'-y 0 )×cosα
wherein, (x ', y') is the coordinates of points on the gear image before transformation; alpha is the difference between the coordinate (x ', y') of the point on the gear image before transformation and the angle of the coordinate (x, y) of the point after rotation; (x) 0 ，y 0 ) Representing reference coordinates;
10) the virtual gear center positioning module obtains gear size information by utilizing least square method circle fitting and radius fitting;
and the virtual gear center positioning module compares the gear detection information with theoretical gear information to obtain gear error information.
The technical effect of the invention is undoubted, and the invention designs a rocker arm type multifunctional middle and small modulus straight-tooth cylindrical gear visual detection device and a detection scheme by utilizing a visual measurement technology aiming at the shooting characteristic of local gear imaging of the middle and small modulus cylindrical gear.
Based on a rocker arm type multifunctional middle and small modulus straight toothed spur gear vision detection device, the hardware of the rocker arm type multifunctional middle and small modulus straight toothed spur gear vision detection device consists of a rocker arm vision measurement system, a lifting platform system and a marble platform, and the posture coordination of the rocker arm vision measurement system and the lifting platform system is utilized to shoot a gear to be detected; the gear image is calculated by a design algorithm through an image acquisition module, an image preprocessing module, a gear edge sub-pixel level positioning detection module, an image splicing module, a virtual gear center positioning module and a gear error item vision measurement module, and important overall dimensions and various gear error items of the small and medium-modulus cylindrical gear are measured.
Compared with the traditional measurement mode, the invention utilizes the visual measurement technology to measure the medium-small modulus cylindrical gear, can realize the quick, high-precision and analytical measurement report of various error items of the gear, and improves the manufacturing capability of feeding back the gear machining precision on line when the gear is machined.
Compared with the existing method for measuring the gear visually, the method for measuring the gear visually comprises the steps of utilizing an image acquisition module, an image preprocessing module, a gear edge sub-pixel level positioning detection module, an image splicing module and a virtual gear center positioning module; a Bertrand gray curved surface model-based sub-pixel edge detection improvement algorithm, a tooth profile characteristic and sub-pixel high-precision positioning technology are adopted to carry out self-adaptive splicing virtual gear visual measurement technology, and a repeated least square method is adopted to approximate theoretical addendum circle radius and center, so that a gear positioning center is determined at high precision, and the measurement precision and the measurement speed are improved.
The device has the advantages of simple structure, wide measurement range, strong environmental adaptability, capability of being used in a gear machining field and the like. The measuring device can realize the detection of key manufacturing parameter sizes of the gears and various error items of the gears, and can also realize the detection of the surface defects of the gears on the basis.
Drawings
FIG. 1 is a schematic view of the overall mechanism;
FIG. 2 is a top view of the swing arm vision measuring system rotated 90;
FIG. 3 is a left side view of the swing arm vision measuring system rotated 90;
FIG. 4 is a schematic view of the interior of the lift platform system;
FIG. 5 is a gear measurement flow chart;
in the figure, a mandrel 0, a tested straight toothed spur gear 1, a tray 2, a light source support frame 3, a light source 4, a horizontal dividing disc 5, a carrying object lifting platform 6, a box body 8, an electric push rod 9, a platform 10, a stepping motor 11, a machine body 12, a motor 12-1, a coupler 12-2, a bottom plate 12-3, a threaded rod 12-4, a guide post 12-5, a sliding block 12-6, a top plate 12-7, a back plate 12-8, a cushion block 13, a hand wheel 14 of a Z-axis guide rail, a vertical rotary dividing disc 15, a telecentric lens 16, an industrial camera 17, a Z-axis guide rail 18, an X-axis guide rail 19, an X-axis guide rail sliding block 20, a Z-axis guide rail sliding block 21 and a hand wheel 22 of the X-axis guide rail.
Detailed Description
The present invention will be further described with reference to the following examples, but it should be understood that the scope of the subject matter described above is not limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1 to 5, the rocker arm type multifunctional middle and small modulus spur gear visual detection device comprises a rocker arm visual measurement system, a lifting platform system, a platform 10 and a data processing system.
The rocker vision measurement system and the lift platform system are mounted on a platform 10.
The rocker arm vision measurement system shoots an image of the measured straight toothed spur gear 1 and transmits the image to the data processing system.
The lifting platform system is used for driving the spur gear 1 to be tested to move up and down and rotate.
And the data processing system processes the image of the measured spur gear 1 to obtain the detection information of the measured spur gear 1.
The rocker visual measurement system comprises a hand wheel 14 of a Z-axis guide rail, a vertical rotary indexing disc 15, a telecentric lens 16, an industrial camera 17, a Z-axis guide rail 18, an X-axis guide rail 19, an X-axis guide rail slide block 20, a Z-axis guide rail slide block 21, a hand wheel 22 of an X-axis guide rail, a vertical connecting plate and a horizontal connecting plate.
The telecentric lens 16 is connected to an industrial camera 17.
And the telecentric lens 16 is matched with the industrial camera 17 to shoot an image of the measured straight spur gear 1.
The industrial camera 17 is fixedly installed at one side of the X-axis rail block 20.
The X-axis guideway slide 20 is movable on the X-axis guideway 19.
One side of the X-axis guide rail 19 is fixedly arranged on the horizontal connecting plate.
The horizontal connecting plate is arranged on one side of the Z-axis guide rail sliding block 21.
The Z-axis rail slide 21 is movable on the Z-axis rail 18.
The Z-axis guide 18 is mounted on a vertical web.
The vertical connecting plate is mounted on a vertical rotary indexing disc 15.
The vertical rotary indexing disc 15 is rotatable. The vertical rotary indexing disc 15 drives the telecentric lens 16 and the industrial camera 17 to rotate through the Z-axis guide rail 18 and the X-axis guide rail 19.
The Z-axis guide rail handwheel 14 is used for adjusting the moving distance of the Z-axis guide rail slide block 21 on the Z-axis guide rail 18.
The X-axis guide rail handwheel 22 is used for adjusting the moving distance of the X-axis guide rail slide block 20 on the X-axis guide rail 19.
The rocker arm vision measuring system also comprises a cushion block 13.
The pad 13 is fixedly mounted on the platform 10.
The vertical rotary indexing disc 15 is fixedly arranged on the cushion block 13.
The lifting platform system comprises a horizontal dividing plate 5, a carrying lifting platform 6, a box body 8, an electric push rod 9, a stepping motor 11, a machine body 12, a motor 12-1, a coupler 12-2, a bottom plate 12-3, a threaded rod 12-4, a guide post 12-5, a sliding block 12-6, a top plate 12-7 and a back plate 12-8.
The fuselage 12 is fixedly mounted on the platform 10.
The surface of the machine body 12 is covered with a shell 8.
The guide post 12-5 is fixedly arranged on the bottom plate 12-3.
One side of the back plate 12-8 is fixedly provided with a slide block 12-6 on the threaded rod 12-4 and a slide block 12-6 on the guide post 12-5, and the other side is fixedly provided with the loading lifting platform 6.
The motor 12-1, the coupler 12-2, the bottom plate 12-3, the threaded rod 12-4, the guide post 12-5, the sliding block 12-6, the top plate 12-7 and the back plate 12-8 are fixedly arranged in the machine body 12.
The upper end of the machine body 12 is open, and the opening is covered by a top plate 12-7.
A threaded rod 12-4 is fixedly arranged between the top plate 12-7 and the coupler 12-2.
The threaded rod 12-4 is provided with a sliding block 12-6.
And a slide block 12-6 is arranged on the guide post 12-5. And a slide block 12-6 on the guide post 12-5 is fixedly provided with a loading lifting platform 6.
The motor 12-1 drives the sliding block 12-6 on the threaded rod 12-4 to move up and down through the coupler 12-2.
During the upward movement of the slide block 12-6 on the threaded rod 12-4, the slide block 12-6 on the guide post 12-5 is driven to push upward through the back plate 12-8, so that the object lifting platform 6 moves upward.
During the downward movement of the slide block 12-6 on the threaded rod 12-4, the slide block 12-6 on the guide post 12-5 is driven to push down through the back plate 12-8, so that the loading lifting platform 6 moves downward.
The housing 8 encloses a fuselage 12.
An electric push rod 9 is fixedly arranged between the loading lifting platform 6 and the platform 10.
And a horizontal dividing plate 5 is fixedly arranged on the carrying object lifting platform 6.
The electric push rod 9 is matched with the motor 12-1 to drive the loading lifting platform 6 to move up and down.
And a spindle 0 of the horizontal dividing plate 5 is provided with a spur gear 1 to be measured.
The stepping motor 11 drives the horizontal dividing disc 5 to rotate.
The lift platform system further comprises a position sensor 7 for monitoring the distance between the load lift platform 6 and the platform 10.
The lifting platform system further comprises a tray 2, a light source support frame 3 and a light source 4.
The tray 2 is mounted above a horizontal indexing plate 5.
And a light source supporting frame 3 is arranged between the tray 2 and the horizontal dividing disc 5.
The light source support frame 3 is used for supporting a light source 4.
The light source 4 provides light for the measured spur gear 1.
The detection information of the measured spur gear 1 comprises gear size information and error information.
The gear size information comprises addendum circle radius, dedendum circle radius, reference circle radius, tooth thickness, tooth pitch, tooth width and common normal length.
The gear error information comprises single pitch deviation, accumulated pitch deviation, total tooth profile deviation, tooth thickness deviation and common normal line length variation.
The data processing system comprises an image acquisition module, an image preprocessing module, a gear edge sub-pixel level positioning and monitoring module, an image splicing module and a virtual gear center positioning module.
The image acquisition module acquires an image of the measured straight toothed spur gear and transmits the image to the image preprocessing module.
The image preprocessing module is used for preprocessing the image of the measured straight toothed spur gear to obtain a processed gear image and transmitting the processed gear image to the gear edge subpixel level positioning and monitoring module. The preprocessing comprises Gaussian filtering, edge transition zone extraction, gear contour segmentation and gear radial segmentation.
The gear edge sub-pixel level positioning and monitoring module positions the tooth profile edge and transmits the gear image with the tooth profile edge positioned to the image splicing module.
The image splicing module is used for rotating, splicing and error homogenizing the gear images.
And the virtual gear center positioning module processes the detected information of the detected straight toothed spur gear 1.
The method for detecting by using the rocker arm type multifunctional middle and small modulus straight toothed spur gear visual detection device comprises the following steps:
1) a rocker arm type multifunctional middle and small modulus straight toothed spur gear visual detection device is built.
2) And (3) mounting the spur gear 1 to be measured on a mandrel 0 of a horizontal dividing plate.
3) And adjusting the rocker arm vision measuring system and the lifting platform system to obtain the measured straight toothed spur gear image, and uploading the image to the data processing system.
When obtaining the tooth width of the gear, the content of adjusting rocking arm vision measurement system, lift platform system includes:
and adjusting a hand wheel 22 of the X-axis guide rail to enable the central axis of the telecentric lens 16 to be in line with the central axis of the measured spur gear 1. And adjusting the relative position of the lifting platform system and the telecentric lens 16 to enable the cylindrical surface of the measured spur gear 1 to be arranged in the center of the image. And adjusting a hand wheel 14 of the Z-axis guide rail to enable the distance between the cylindrical surface of the measured straight spur gear 1 and the telecentric lens 16 to reach a preset value.
When obtaining other size information except the tooth width of the gear, the content of adjusting the rocker visual measurement system and the lifting platform system comprises:
and adjusting a hand wheel 22 of the X-axis guide rail to enable the central axis of the telecentric lens 16 to be in the same straight line with the meshing line of the left end surface and the right end surface of the measured straight-tooth cylindrical gear 1, so that the gear teeth of the measured straight-tooth cylindrical gear 1 are arranged in the center of the image.
And adjusting a hand wheel 14 of the Z-axis guide rail to enable the distance between the cylindrical surface of the measured straight spur gear 1 and the telecentric lens 16 to reach a preset value.
4) An image preprocessing module of the data processing system carries out filtering and noise reduction on the measured straight toothed spur gear image to obtain a noise-reduced gear image;
5) the image preprocessing module calibrates the pixel equivalent of the gear image by using a calibration plate, then performs least square fitting by using the fixed radius of a standard disc, calibrates the center of the image, and obtains the center (x) of the gear image 0 ，y 0 ) And transmitting the data to a gear edge sub-pixel level positioning monitoring module;
6) the image preprocessing module is used for segmenting a gear image by using a double-threshold method to obtain a gear contour edge transition band with double boundaries and transmitting the gear contour edge transition band to the gear edge sub-pixel level positioning monitoring module;
the gray value g in the transition zone of the gear profile edge is as follows:
(g max -Δg)≤g≤(g min +Δg) (1)
in the formula, g max The maximum gray value of the image; g min Is the minimum gray value of the image; delta g is a fitting parameter, and in order to ensure that the curved surface fitting obtains enough information quantity, the delta g is selected to be 30;
7) the image preprocessing module performs radial segmentation on the gear image by using a radius threshold segmentation method, divides the gear image into an addendum part, a dedendum part and a tooth profile part, and defines an effective working area of the gear tooth profile
And transmitting to a gear edge sub-pixel level positioning monitoring module; wherein r is d The gear reference circle radius; m' is the gear module; c is the radial bandwidth coefficient;
the tooth crest height coefficient;
root height factor;
8) the gear edge sub-pixel level positioning and monitoring module positions the tooth profile edge, and the method comprises the following steps:
8.1) according to the characteristics of an involute, performing equal arc length segmentation from a base circle to an addendum circle, performing segmentation of a segment by using a pressure angle, and constructing a Bertrand gray curved surface to realize tangential and normal discretization segmentation of a gear edge transition zone; wherein the pressure angle alpha of the involute point P i Satisfies the following formula:
tanα i+1 ＝Δs/(r b tanα i )+tanα i (2)
in the formula, r b Is the base circle radius; Δ s is the involute arc length; alpha is alpha i+1 The pressure angle is the (i + 1) th involute section point;
8.2) carrying out least square fitting on the Bertrand gray curved surface, and calculating the normal offset distance mu of the sub-pixel edge of the i-th section i Sum variance σ i And realizing the sub-pixel level positioning of the tooth profile edge.
In the formula, parameters
Parameter(s)
Parameter(s)
Parameter(s)
m is the number of pixel points contained in the ith Bertrand gray curved surface segment; t is t k 、z k Respectively representing the distance from an upward pixel point of an edge method to a pixel-level edge curve and the normal distance from a sub-pixel edge to the pixel-level edge curve;
9) rotating, splicing and error homogenizing the gear image by using an image splicing module;
wherein, the coordinates (x, y) of any point on the gear image after rotation are as follows:
x＝x 0 +(x'-x 0 )×cosα-(y'-y 0 )×sinα
y＝y 0 +(x'-x 0 )×sinα+(y'-y 0 )×cosα
wherein, (x ', y') is the coordinates of points on the gear image before transformation; alpha is the difference between the coordinate (x ', y') of the point on the gear image before transformation and the angle of the coordinate (x, y) of the point after rotation; (x) 0 ，y 0 ) Representing reference coordinates;
10) the virtual gear center positioning module obtains gear size information by utilizing least square method circle fitting and radius fitting;
and the virtual gear center positioning module compares the gear detection information with theoretical gear information to obtain gear error information.
Example 2:
a rocker arm type multifunctional middle and small modulus straight toothed spur gear visual detection device is shown in figure 1, and hardware of the rocker arm type multifunctional middle and small modulus straight toothed spur gear visual detection device comprises: a rocker arm vision measurement system and a lifting platform system; the software comprises an image acquisition module, an image preprocessing module, a gear edge sub-pixel level positioning detection module, an image splicing module, a virtual gear center positioning module and a measurement module. The shooting operation process is as follows: before image acquisition, an operator adjusts a hand wheel on a Z-axis guide rail to ensure that a lens arranged on an X-axis guide rail keeps a specified object distance with the end face of a gear to be measured, and a clear image is acquired; and adjusting a hand wheel on the X-axis guide rail pair to enable the gear to be detected to be positioned in the center of the visual field of the lens. The computer sends a signal instruction to the water level dividing disc, the water level dividing disc rotates according to a certain beat, the industrial camera is connected to the computer through a data line, and the continuously shot gear local images are obtained through the acquisition card. After the image acquisition is finished, the computer obtains a complete virtual image of the gear to be detected through the image preprocessing module, the gear edge sub-pixel level positioning detection module and the image splicing module. And measuring the gear image by a virtual gear center positioning module to obtain the tooth top, the tooth root and the attention area of the tooth profile by means of radial segmentation. And finally, measuring key manufacturing parameter sizes of the gear and various error items of the gear.
The invention discloses a linear scanning CCD camera, which has the following model: keynes 500 ten thousand pixel camera CA-H500M; and in cooperation with a telecentric lens CA-LM0307, backlight illumination is used for polishing.
The distance between the telecentric lens and the end face of the gear is as follows: 135mm, focusing is realized; the shooting visual field range of the CCD camera is as follows: 18mm by 15mm, camera resolution is: 7.4X 10 -3 The mm camera detection precision is as follows: 0.022 mm.
The invention adopts the LED backlight source CA-DSW3, and the effective size of the light source is as follows: 63 mm by 40 mm. And the light source controller CA-DC40E is matched to regulate the brightness of the light source.
The invention adopts the following models: the visual image acquisition card of the Pcle-USB380/340 can support various devices running under windows XP, 7, 8 and linux by utilizing a USB3.1 interface.
The invention is shown in figure 5: an operator adjusts the pose of the CCD camera through handwheels on the X-axis guide rail and the Z-axis guide rail; in the shooting process, the horizontal dividing disc is rotated by a control computer at high precision to shoot an optimal gear image, and the image shot by the CCD camera passes through an image collector, an image preprocessing module, a gear edge sub-pixel level positioning detection module, an image splicing module, a virtual gear center positioning module and a measurement module. The image preprocessing adopts a Gaussian filtering noise reduction map; calibrating an image equivalent; calibrating a standard disc; dividing the gear gray level image by using a double threshold value method; and dividing the tooth root, the tooth profile and the tooth top by radial division of the gear, and respectively storing the tooth root, the tooth profile and the tooth top into the array to finish the image preprocessing module. The method comprises the steps of adopting a Bertrand gray curved surface model sub-pixel edge detection improved algorithm to realize gear edge sub-pixel level positioning detection; realizing image splicing by using a sub-pixel positioning edge rotation and error homogenization method; continuously repeating the least square method circle fitting method to approach the theoretical gear tooth crest and determine the virtual gear center positioning; and finally, the edge positioning of the gear, the size of key manufacturing parameters and the measurement of various error items of the gear are realized.
Example 3:
a rocker arm type multifunctional middle and small modulus straight toothed spur gear vision detection device is based on a rocker arm type multifunctional middle and small modulus straight toothed spur gear vision detection device, wherein hardware comprises a rocker arm vision measurement system, a lifting platform system and a marble platform; the software comprises an image acquisition module, an image preprocessing module, a gear edge sub-pixel level positioning detection module, an image splicing module, a virtual gear center positioning module, a parameter measurement module and a gear error project measurement module. The invention can realize the measurement of important external dimensions such as addendum circle radius, dedendum circle radius, reference circle radius, tooth thickness, tooth pitch, tooth width, common normal length and the like of the straight-tooth cylindrical gear parts with middle and small modulus; and the measurement of single pitch deviation, accumulated pitch deviation, total tooth profile deviation, tooth thickness deviation, length variation of a common normal line and the like can also be realized.
The lifting platform system consists of a loading lifting platform 6, a machine body 12, an electric push rod 9, a horizontal dividing plate 5 and a gear 1 to be measured; the marble lifting device is characterized in that a machine body 12 is fixedly arranged above a marble platform 10, a box body 8 is arranged on the surface of the machine body 12, a motor 12-1, a coupler 12-2, a top plate 12-7 and a back plate 12-8 are fixedly arranged in the machine body, a threaded rod 12-4 is fixedly arranged between the top plate and the coupler, a sliding block 12-6 is arranged on one side of the threaded rod and a guide post 12-5, a loading lifting platform 6 is fixedly arranged on one side of the sliding block, and the rotating speed of the motor is controlled to enable the loading lifting platform to move up and down; an electric push rod 9 and a position sensor 7 are fixedly arranged between the lower part of the object carrying lifting platform and the base, the electric push rod is fixedly arranged on the marble platform 10, and when the electric push rod is driven, the electric push rod is matched with a motor 12-1 to lift the object carrying lifting platform, so that the stability of the device is improved, in addition, the position sensor 7 feeds back the distance between the object carrying lifting platform 6 and the working marble platform 10, and the accuracy of the horizontal position of the object carrying lifting platform 6 is improved; a horizontal dividing plate 5 is fixedly arranged above the object lifting platform 6, a computer controls the rotation angle and speed of a stepping motor 11 through a servo control system, and the stepping motor drives the horizontal dividing plate to rotate according to a certain beat; a tray 2 made of transparent materials is arranged above the horizontal dividing disc, a light source 4 is fixedly arranged between the horizontal dividing disc and the tray made of transparent materials and is provided with a light source support 3, and the edge of an image is sharper by adopting blue light backlight projection; the gear 1 to be measured is arranged on the mandrel 0 of the horizontal dividing plate, and accurate center positioning is realized.
One side of the back plate 12-8 is fixedly provided with a slide block 12-6 on the threaded rod 12-4 and a slide block 12-6 on the guide post 12-5, and the other side is fixedly provided with the loading lifting platform 6.
The rocker arm vision measuring system comprises a telecentric lens 16, an industrial camera 17, a telecentric lens and an industrial camera which are connected; cushion block 13 is fixedly installed on marble platform 10, vertical rotary dividing disc 15 is fixedly installed on cushion block 13 of a certain height, Z-axis guide rail 18 is installed on the vertical connecting plate of vertical rotary dividing disc, the horizontal connecting plate is installed on one side of Z-axis guide rail slide block 21, X-axis guide rail 19 is installed on the horizontal connecting plate, and the industrial camera is installed on one side of X-axis guide rail slide block 20. The output interface of the industrial camera is connected with a computer through a data line to finish the acquisition of the digital image. The rocker arm vision measurement system is characterized in that: the method comprises two poses:
1 when the rocker arm is in an XOY plane, as shown in figures 2 and 3, adjusting a hand wheel 22 of an X-axis guide rail to ensure that the central axis of a lens and the central axis of a gear are on the same straight line, and adjusting the relative position of a lifting platform system and the lens of a camera to ensure that the cylindrical surface of the gear is arranged in the center of an image; and a hand wheel 14 of the Z-axis guide rail is adjusted to ensure a specified object distance between the cylindrical surface of the gear and the lens, so that the image is clear, and the tooth width parameter measurement is realized.
2 when the rocker arm is in the YOZ plane, as shown in figure 1, adjusting a hand wheel 22 of the X-axis guide rail to ensure that the central axis of the lens and the meshing line of the left end surface and the right end surface of the gear are on the same straight line as much as possible, and enabling the gear teeth of the gear to be arranged in the center of the image; the handwheel 14 of the Z-axis guide rail is adjusted, the circular end face of the gear and the lens ensure the specified object distance, and the measurement of important external dimensions such as the gear tooth top circle radius, the tooth root circle radius, the reference circle radius, the tooth thickness, the tooth distance, the common normal length and the like is realized; and the measurement of single pitch deviation, accumulated pitch deviation, total tooth profile deviation, tooth thickness deviation, length variation of a common normal line and the like can also be realized.
The processing steps of the image preprocessing module comprise the following steps:
step 1: and acquiring a high-definition gear digital image. Firstly, placing an inner hole of a gear to be measured on a horizontal dividing plate mandrel for installation, and quickly and accurately positioning the center of the gear; then, the measured gear is adjusted to the central position of the visual field of the camera through a horizontal adjusting mechanism, and the object distance between the telecentric lens and the measured gear is adjusted through a Z-axis guide rail, so that the image is clear; the parallel blue light backlight source is matched with the telecentric lens to obtain the local image edge of the sharp gear; the optical signals are converted into the ordered electric signals by the industrial camera, so that the local digital images of the gears are transmitted to the computer and stored in the designated array, and a data source is provided for gear detection.
Step 2: and (4) Gaussian filtering. And (3) carrying out noise processing on the gear local digital image acquired in the step (1) by utilizing Gaussian filtering. The two-dimensional gaussian filter function is:
and step 3: and calibrating a coarse center. Using a standardThe disc calibrates the gear center. Firstly, calibrating the pixel equivalent of an image by using a calibration plate, namely calculating the actual distance ratio of the calibration plate to the image; then, the center of the image is calibrated by performing least squares fit using the fixed radius of the standard disk. Because receive the influence of multiple factors such as calibration disc radius precision, measurement circular arc central angle size, vision sensor and centre of rotation's relative displacement precision, can produce certain calibration error in practice, so are called: "coarse center calibration" by (x) 0 ，y 0 ) And (4) showing.
And 4, step 4: and (5) detecting the pixel level positioning of the gear edge. And (3) segmenting the gear gray level image by using a double-threshold method to obtain a gear contour edge transition zone with double boundaries, wherein the positioning precision reaches 1 pixel. The formula is as follows:
(g max -Δg)≤g≤(g min +Δg)
g max the maximum gray value of the image; g min Is the minimum gray value of the image; and deltag is the selected gray scale range.
And 5: and (5) radially dividing the gear. The local gear image is radially divided by a radius threshold division method, divided into three parts of an addendum, a dedendum and a tooth profile and stored in respective designated arrays.
The method is characterized in that: and (3) defining the effective working area of the gear tooth profile:
according to the gear meshing principle, a gear reference circle is taken as a center to define a range:
wherein r is d The gear reference circle radius; m is a gear module; c is the radial bandwidth coefficient;
the tooth crest height coefficient;
root height coefficient.
The sub-pixel level positioning detection module adopts a sub-pixel edge detection improvement algorithm based on a Bertrand gray level surface model, and the edge detection step comprises the following steps:
step 1: and constructing a Bertrand gray curved surface. According to the characteristics of an involute, equal arc length segmentation is carried out from a base circle to an addendum circle, segmentation is carried out by utilizing a pressure angle, a Bertrand gray curved surface is constructed, and tangential and normal discretization segmentation of a gear edge transition zone is realized. The recurrence formula is:
tanα i+1 ＝Δs/(r b tanα i )+tanα i
α i pressure angle, r, being the involute point P b Is the base circle radius; and deltas is the involute arc length.
Step 2: and (5) positioning tooth profile edge at a sub-pixel level. And calculating the normal offset distance of the sub-pixel edge by utilizing least square fitting on the constructed Bertrand gray curved surface, and realizing the sub-pixel level positioning of the tooth profile edge. The method can identify the gear edge and perform fast and high-precision sub-pixel positioning, and the positioning precision reaches 0.1 mu m. The formula is as follows:
an image stitching module: because the camera lens field of vision is limited, can't shoot the complete gear image, need to construct complete virtual gear, confirm the accurate center of gear measurement, including the following steps:
step 1: the image is rotated. According to the shooting beat, a plurality of continuously shot gear images are obtained, and the horizontal and vertical coordinate values of the sub-pixel edge of the gear are compared with (x) 0 ，y 0 ) Substituted into a coordinate rotation formula
x＝x'+(x'-x 0 )×cos(α'-α 0 )-(y'-y 0 )×sin(α'-α 0 )
y＝y'+(x'-x 0 )×sin(α'-α 0 )+(y'-y 0 )×cos(α'-α 0 )
And realizing digital image rotation.
And 2, step: and (5) image splicing. When shooting is finished, displaying a complete virtual gear digital image after rotation and splicing on a PC display screen;
and 3, step 3: and (5) error homogenization. Because certain calculation errors exist in the fitting process of the computer, the spliced gear images have the condition that the angle is not closed in a minimum range, and on the basis, the cumulative errors of the centers of the gears are homogenized to realize the complete splicing of the local gear images.
Virtual gear center location module, the location step includes:
step 1: and removing the addendum circle sub-pixel edge distortion. The method of claim 6, establishing a full virtual gear. However, when the virtual gear center is determined, it is found that the addendum circle image edge may be distorted due to factors such as burrs, oil stains, and machining errors caused by the divided addendum circle sub-pixel edge, thereby affecting the virtual gear center positioning. Therefore, the least square circle fitting and the radius fitting need to be repeated continuously to approach the theoretical gear tooth crest, so as to determine the actual gear center position.
Step 2: the virtual gear is centrally located. In the fitting process, the interval between the corrected gear tooth top circle radius and the theoretical gear tooth top circle radius is gradually reduced, gear tooth top circle edge coordinate points close to the theoretical gear tooth top circle radius are reserved, when the error between the repeatedly corrected gear tooth top circle radius and the theoretical gear tooth top circle radius is within an allowable range value, actual gear tooth top sub-pixel edge coordinate values close to the theoretical gear tooth top circle are reserved, least square method circle fitting and radius fitting are carried out, and the center and the radius after fitting are the actual gear center and the radius.
And comparing the normal offset with a theoretical gear, and calculating various error items of the medium and small modulus gear, such as single pitch deviation, cumulative total pitch deviation, tooth profile deviation and the like of the measured gear.
Claims (10)
1. Rocking arm formula multi-functional middle and small modulus straight-tooth spur gear visual detection device, its characterized in that: comprises a rocker arm vision measuring system, the lifting platform system, a platform (10) and a data processing system.
The rocker visual measurement system and the lifting platform system are arranged on the platform (10);
the rocker visual measurement system shoots an image of the measured straight toothed spur gear (1) and transmits the image to the data processing system.
The lifting platform system is used for driving the tested straight toothed spur gear (1) to move up and down and rotate;
and the data processing system processes the image of the measured spur gear (1) to obtain the detection information of the measured spur gear (1).
2. The rocker-arm-type multifunctional middle and small modulus straight spur gear visual detection device as claimed in claim 1, wherein: the rocker visual measurement system comprises a hand wheel (14) of a Z-axis guide rail, a vertical rotary dividing disc (15), a telecentric lens (16), an industrial camera (17), a Z-axis guide rail (18), an X-axis guide rail (19), an X-axis guide rail sliding block (20), a Z-axis guide rail sliding block (21), a hand wheel (22) of an X-axis guide rail, a vertical connecting plate and a horizontal connecting plate;
the telecentric lens (16) is connected with an industrial camera (17);
the telecentric lens (16) is matched with the industrial camera (17) to shoot an image of the measured straight-tooth cylindrical gear (1);
the industrial camera (17) is fixedly arranged on one side of the X-axis guide rail sliding block (20);
the X-axis guide rail sliding block (20) can move on the X-axis guide rail (19);
one side of the X-axis guide rail (19) is fixedly arranged on the horizontal connecting plate;
the horizontal connecting plate is arranged on one side of the Z-axis guide rail sliding block (21);
the Z-axis guide rail sliding block (21) can move on the Z-axis guide rail (18);
the Z-axis guide rail (18) is arranged on the vertical connecting plate;
the vertical connecting plate is arranged on the vertical rotary indexing disc (15);
the vertical rotary indexing disc (15) can rotate; the vertical rotary indexing disc (15) drives the telecentric lens (16) and the industrial camera (17) to rotate through a Z-axis guide rail (18) and an X-axis guide rail (19);
the Z-axis guide rail hand wheel (14) is used for adjusting the moving distance of the Z-axis guide rail sliding block (21) on the Z-axis guide rail (18);
the X-axis guide rail hand wheel (22) is used for adjusting the moving distance of the X-axis guide rail sliding block (20) on the X-axis guide rail (19).
3. The rocker-arm-type multifunctional middle and small modulus straight spur gear visual detection device as claimed in claim 1, wherein: the rocker arm vision measuring system also comprises a cushion block (13);
the cushion block (13) is fixedly arranged on the platform (10);
the vertical rotary indexing disc (15) is fixedly arranged on the cushion block (13).
4. The rocker-arm-type multifunctional middle and small modulus straight spur gear visual detection device as claimed in claim 1, wherein: the lifting platform system comprises a horizontal dividing plate (5), a loading lifting platform (6), a box body (8), an electric push rod (9), a stepping motor (11), a machine body (12), a motor (12-1), a coupler (12-2), a bottom plate (12-3), a threaded rod (12-4), a guide pillar (12-5), a sliding block (12-6), a top plate (12-7) and a back plate (12-8);
the machine body (12) is fixedly arranged on the platform (10);
the surface of the machine body (12) is covered with a shell (8);
the guide post (12-5) is fixedly arranged on the bottom plate (12-3);
one side of the back plate (12-8) is fixedly provided with a sliding block (12-6) on the threaded rod (12-4) and a sliding block (12-6) on the guide post (12-5), and the other side of the back plate is fixedly arranged with the loading lifting platform (6);
a motor (12-1), a coupler (12-2), a bottom plate (12-3), a threaded rod (12-4), a guide post (12-5), a sliding block (12-6), a top plate (12-7) and a back plate (12-8) are fixedly arranged in the machine body (12);
the upper end of the machine body (12) is provided with an opening, and the opening is covered by a top plate (12-7);
a threaded rod (12-4) is fixedly arranged between the top plate (12-7) and the coupler (12-2);
a sliding block (12-6) is arranged on the threaded rod (12-4);
a slide block (12-6) is arranged on the guide post (12-5); a slide block (12-6) on the guide post (12-5) is fixedly provided with a loading lifting platform (6);
the motor (12-1) drives the sliding block (12-6) on the threaded rod (12-4) to move up and down through the coupler (12-2);
in the upward movement process of the sliding block (12-6) on the threaded rod (12-4), the sliding block (12-6) on the guide post (12-5) is driven to push upwards through the back plate (12-8), so that the object carrying lifting platform (6) moves upwards;
in the downward movement process of the sliding block (12-6) on the threaded rod (12-4), the sliding block (12-6) on the guide post (12-5) is driven to push down through the back plate (12-8), so that the loading lifting platform (6) moves downward;
the shell (8) wraps the fuselage (12);
an electric push rod (9) is fixedly arranged between the loading lifting platform (6) and the platform (10);
a horizontal dividing plate (5) is fixedly arranged on the object carrying lifting platform (6);
the electric push rod (9) is matched with the motor (12-1) to drive the loading lifting platform (6) to move up and down;
a spindle (0) of the horizontal indexing disc (5) is provided with a spur gear (1) to be measured;
the stepping motor (11) drives the horizontal dividing disc (5) to rotate.
5. The rocker-arm-type multifunctional middle and small modulus straight spur gear visual detection device as claimed in claim 1, wherein: the lifting platform system further comprises a position sensor (7) for monitoring the distance between the object carrying lifting platform (6) and the platform (10).
6. The rocker-arm-type multifunctional middle and small modulus straight spur gear visual detection device as claimed in claim 1, wherein: the lifting platform system also comprises a tray (2), a light source support frame (3) and a light source (4);
the tray (2) is arranged above the horizontal dividing plate (5);
a light source supporting frame (3) is arranged between the tray (2) and the horizontal dividing plate (5);
the light source support frame (3) is used for supporting a light source (4);
and the light source (4) provides light for the measured straight toothed spur gear (1).
7. The rocker-arm-type multifunctional middle and small modulus straight spur gear visual detection device as claimed in claim 1, wherein: the detection information of the detected straight toothed spur gear (1) comprises gear size information and error information;
the gear size information comprises addendum circle radius, dedendum circle radius, reference circle radius, tooth thickness, tooth pitch, tooth width and common normal line length;
the gear error information comprises single pitch deviation, accumulated pitch deviation, total tooth profile deviation, tooth thickness deviation and common normal line length variation.
8. The rocker arm type multifunctional middle and small modulus straight spur gear visual detection device as claimed in claim 1, wherein: the data processing system comprises an image acquisition module, an image preprocessing module, a gear edge sub-pixel level positioning and monitoring module, an image splicing module and a virtual gear center positioning module;
the image acquisition module acquires an image of the measured straight toothed spur gear and transmits the image to the image preprocessing module;
the image preprocessing module is used for preprocessing a measured straight toothed spur gear image to obtain a processed gear image and transmitting the processed gear image to the gear edge subpixel level positioning and monitoring module; the pretreatment comprises Gaussian filtering, edge transition zone extraction, gear contour segmentation and gear radial segmentation;
the gear edge sub-pixel level positioning and monitoring module is used for positioning the tooth profile edge and transmitting the gear image with the tooth profile edge positioned to the image splicing module;
the image splicing module is used for rotating, splicing and error homogenizing the gear images;
and the virtual gear center positioning module processes the detected information of the detected straight toothed spur gear (1).
9. The detection method by using the rocker-arm-type multifunctional middle and small modulus straight toothed spur gear visual detection device as claimed in any one of claims 1 to 8, is characterized by comprising the following steps:
1) building a rocker arm type multifunctional middle and small modulus straight toothed spur gear visual detection device;
2) installing a spur gear (1) to be measured on a mandrel (0) of a horizontal dividing plate;
3) adjusting the rocker arm vision measuring system and the lifting platform system to obtain a measured straight toothed spur gear image, and uploading the image to the data processing system;
4) an image preprocessing module of the data processing system carries out filtering and noise reduction on the measured straight toothed spur gear image to obtain a noise-reduced gear image;
5) the image preprocessing module calibrates the pixel equivalent of the gear image by using a calibration plate, then performs least square fitting by using the fixed radius of a standard disc, calibrates the center of the image, and obtains the center (x) of the gear image 0 ，y 0 ) And transmitting the data to a gear edge sub-pixel level positioning monitoring module;
6) the image preprocessing module is used for segmenting a gear image by using a double-threshold method to obtain a gear contour edge transition band with double boundaries and transmitting the gear contour edge transition band to the gear edge sub-pixel level positioning monitoring module;
the gray value g in the transition zone of the gear profile edge is as follows:
(g max -Δg)≤g≤(g min +Δg) (1)
in the formula, g max The maximum gray value of the image; g min Is the minimum gray value of the image; Δ g is a fitting parameter;
7) the image preprocessing module performs radial segmentation on the gear image by using a radius threshold segmentation method, divides the gear image into an addendum part, a dedendum part and a tooth profile part, and defines an effective working area of the gear tooth profile
And transmitting to a gear edge sub-pixel level positioning monitoring module; it is composed ofIn, r d The gear reference circle radius; m' is the gear module;
the tooth crest height coefficient;
root height factor;
8) the gear edge sub-pixel level positioning and monitoring module positions the tooth profile edge, and the method comprises the following steps:
8.1) according to the characteristics of an involute, performing equal arc length segmentation from a base circle to an addendum circle, performing segmentation of a segment by using a pressure angle, and constructing a Bertrand gray curved surface to realize tangential and normal discretization segmentation of a gear edge transition zone; wherein the pressure angle alpha of the involute point P i Satisfies the following formula:
tanα i+1 ＝Δs/(r b tanα i )+tanα i (2)
in the formula, r b Is the base circle radius; Δ s is the involute arc length; alpha is alpha i+1 The pressure angle is the pressure angle of the i +1 th involute sectional point;
8.2) carrying out least square fitting on the Bertrand gray curved surface, and calculating the normal offset distance mu of the sub-pixel edge of the i-th section i Sum variance σ i And realizing the sub-pixel level positioning of the tooth profile edge.
In the formula, parameters
Parameter(s)
Parameter(s)
Parameter(s)
m is the number of pixel points contained in the ith Bertrand gray curved surface section; t is t k 、z k Respectively representing the distance from an upward pixel point of an edge method to a pixel level edge curve and the normal distance from a sub-pixel edge to the pixel level edge curve;
9) rotating, splicing and error homogenizing the gear image by using an image splicing module;
wherein, the coordinates (x, y) of any point on the gear image after rotation are as follows:
x＝x 0 +(x'-x 0 )×cosα-(y'-y 0 )×sinα
y＝y 0 +(x'-x 0 )×sinα+(y'-y 0 )×cosα
wherein, (x ', y') is the coordinates of points on the gear image before transformation; alpha is the difference between the coordinate (x ', y') of the point on the gear image before transformation and the angle of the coordinate (x, y) of the point after rotation; (x) 0 ，y 0 ) Representing reference coordinates;
10) the virtual gear center positioning module obtains gear size information by utilizing least square method circle fitting and radius fitting;
and the virtual gear center positioning module compares the gear detection information with theoretical gear information to obtain gear error information.
10. The method for detecting by the rocker-arm-type multifunctional middle and small modulus straight toothed spur gear visual detection device as claimed in claim 9, wherein: when obtaining the tooth width of the gear, the content of adjusting the rocker arm vision measuring system and the lifting platform system comprises:
adjusting a hand wheel (22) of the X-axis guide rail to enable the central axis of the telecentric lens (16) and the central axis of the measured straight spur gear (1) to be on the same straight line; adjusting the relative position of the lifting platform system and the telecentric lens (16) to enable the cylindrical surface of the measured straight spur gear (1) to be arranged in the center of the image; adjusting a hand wheel (14) of the Z-axis guide rail to enable the distance between the cylindrical surface of the measured straight-tooth cylindrical gear (1) and the telecentric lens (16) to reach a preset value;
when obtaining other size information except the tooth width of the gear, the content of adjusting the rocker arm vision measuring system and the lifting platform system comprises:
adjusting a hand wheel (22) of the X-axis guide rail to enable the central axis of the telecentric lens (16) and the meshing line of the left end surface and the right end surface of the measured straight-tooth cylindrical gear (1) to be on the same straight line and enable the gear teeth of the measured straight-tooth cylindrical gear (1) to be arranged in the center of the image;
and adjusting a hand wheel (14) of the Z-axis guide rail to enable the distance between the cylindrical surface of the measured straight-tooth cylindrical gear (1) and the telecentric lens (16) to reach a preset value.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115290002A (en) * | 2022-10-10 | 2022-11-04 | 江苏新恒基特种装备股份有限公司 | Device and method for quickly and accurately detecting shape and size of large-diameter multi-corrugated pipe |
| CN117029705A (en) * | 2023-06-27 | 2023-11-10 | 苏州瑞威盛科技有限公司 | Gear bar span measuring system and method based on non-contact 3D vision |
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- 2022-05-25 CN CN202210583491.1A patent/CN114993202A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115290002A (en) * | 2022-10-10 | 2022-11-04 | 江苏新恒基特种装备股份有限公司 | Device and method for quickly and accurately detecting shape and size of large-diameter multi-corrugated pipe |
| CN115290002B (en) * | 2022-10-10 | 2022-12-13 | 江苏新恒基特种装备股份有限公司 | Device and method for quickly and accurately detecting shape and size of large-diameter multi-corrugated pipe |
| CN117029705A (en) * | 2023-06-27 | 2023-11-10 | 苏州瑞威盛科技有限公司 | Gear bar span measuring system and method based on non-contact 3D vision |
| CN117029705B (en) * | 2023-06-27 | 2024-03-22 | 苏州瑞威盛科技有限公司 | Gear bar span measuring system and method based on non-contact 3D vision |
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