CN116086284A - Speed reducer return difference measuring method and measuring device based on machine vision - Google Patents
Speed reducer return difference measuring method and measuring device based on machine vision Download PDFInfo
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- CN116086284A CN116086284A CN202310050493.9A CN202310050493A CN116086284A CN 116086284 A CN116086284 A CN 116086284A CN 202310050493 A CN202310050493 A CN 202310050493A CN 116086284 A CN116086284 A CN 116086284A
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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Abstract
The invention provides a speed reducer return difference measuring method based on machine vision and a speed reducer return difference measuring device applying the method, wherein a shell marking pointer is fixed on a shell of a steering engine to be measured, an output shaft marking pointer and a loading arm are arranged on an output shaft of the steering engine to be measured, and the output shaft marking pointer and the loading arm can realize synchronous rotation relative to the axis of the output shaft; based on the same conception, the return difference of a single angle position and a plurality of angle positions of the rotation of the output shaft of the steering engine to be measured is measured respectively, and the angle of the pointer rotation is marked by machine vision measurement. The invention can automatically identify the rotation angle deviation of the output shaft caused by return difference through machine vision, avoid errors possibly caused by manual reading, realize more accurate and rapid measurement of the return difference of the speed reducer and improve the measurement efficiency.
Description
Technical Field
The invention belongs to the technical field of precision transmission system testing technology and equipment, relates to a speed reducer return difference measuring method and device, and particularly relates to a machine vision-based method and device for measuring return difference of a small speed reducer represented by a steering engine.
Background
The speed reducer comprises a parallel shaft gear speed reducer, a planetary gear speed reducer, an RV speed reducer, a cycloidal pin gear speed reducer, a hypoid gear speed reducer, a harmonic speed reducer and the like, is widely applied to modern machinery, is a key component for matching rotation speed and transmitting torque between a prime motor and a working machine or an executing mechanism, and has the performance playing an important role in the overall performance and reliability of the machine. Steering engines are commonly used in applications that control rotational angles or provide high torque, such as model airplane steering, cradle head control, mechanical hand handling, etc. The steering engine structure is compact, mainly comprises steering engine motor, gear reducer, axle, position detector and steering wheel etc. parts, and the steering engine is driven the gear train through steering engine motor and is moved after receiving the signal, and simultaneously by position sensor detection position signal, judge whether reach the target position, fix a position after reaching the target position. The return difference of the steering engine speed reducer has an important influence on the performance of the steering engine.
The return difference is also called the lost quantity, generally refers to the hysteresis quantity of the output shaft on the corner when the input shaft of the motor starts to reversely rotate and the output shaft follows the reverse rotation in the unidirectional transmission process of the transmission device, and different manufacturers can define the return difference differently, but the return difference is a key index reflecting the performance of the speed reducer. In the existing steering engine return difference test, an output shaft is manually rotated by manpower, and return difference of the steering engine is estimated by visual reading according to angle score lines corresponding to the output shaft. The method has the defects of complex operation and low efficiency. At present, there are also professional speed reducer return difference measuring devices, such as: a special return difference tester, a speed reducer comprehensive analyzer and the like. However, the conventional return difference measuring device has the problems of low cost performance, low efficiency and the like.
Therefore, there is a need for a measuring method and a measuring device that effectively reduce the influence of human errors, improve the measuring efficiency, and facilitate batch, rapid and accurate measurement of return differences of small speed reducers represented by steering engines in actual production.
Disclosure of Invention
In view of the above, in order to solve the above-mentioned shortcomings in the prior art, an object of the present invention is to provide a method for measuring return difference of a speed reducer based on machine vision, and a machine vision measuring device for measuring return difference of a speed reducer applying the method.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the single-position return difference measuring method of the speed reducer based on machine vision comprises the following steps of:
step 1: placing a steering engine to be tested, and installing a loading device and a marking pointer;
step 2: according to the torque to be loaded on the steering engine to be tested, selecting weights with proper mass, and controlling the loading device to apply constant torque T to the steering engine to be tested 1 The method comprises the steps of carrying out a first treatment on the surface of the The calculation formula of weight mass is as follows:
wherein M is weight mass, T is torque, g is gravitational acceleration, and l is force arm;
step 3: the image acquisition device acquires images of the steering engine device in a relatively static state after being loaded by weights, and acquires a first position of a shell marking pointer and an output shaft marking pointer;
step 4: according to the torque to be loaded on the steering engine to be tested, selecting weights with proper mass, and controlling the loading device to apply a relative constant torque T to the steering engine to be tested 1 Constant torque T in opposite direction 2 ；
Step 5: the image acquisition device acquires an image of the steering engine device in a relatively static state after being loaded by the weight, and acquires a second position of the shell marking pointer and the output shaft marking pointer;
step 6: obtaining angle information theta by using the position information of the marking pointer collected in the previous steps 2-5 1 And theta 2 Processing the angle information to obtain return difference data of the steering engine at the measuring position。
The method for measuring the return difference of a plurality of positions of the speed reducer based on machine vision comprises the following steps:
step 1: placing a tested steering engine, installing a loading device and a marking pointer, and driving the tested steering engine to a measuring position to prepare for measuring the return difference of the tested steering engine;
step 2: the servo driving device is controlled to apply constant torque T to the steering engine to be tested 1 ；
Step 3: the image acquisition device acquires images of the steering engine device which are in a relatively static state after being loaded by the servo driving device, and acquires a first position of a shell marking pointer and an output shaft marking pointer;
step 4: the servo driving device is controlled to apply a relative constant torque T to the steering engine to be tested 1 Constant torque T in opposite direction 2 ；
Step 5: the image acquisition device acquires images of the steering engine device which are in a relatively static state after being loaded by the servo driving device, and acquires a second position of the shell marking pointer and the output shaft marking pointer;
step 6: obtaining angle information theta by using the position information of the marking pointer collected in the previous steps 2-5 1 And theta 2 Processing the angle information to obtain return difference data of the steering engine at the measuring position;
step 7: driving the steering engine to be measured to rotate the output shaft to the next measuring position;
step 8: repeating the steps 2-7 until the preset measuring positions of the steering engine to be measured are measured, and completing return difference data acquisition of all measuring positions;
step 9: and (3) drawing return difference graphs of different angle measurement positions of the output shaft of the tested steering engine by using the return difference data of the tested steering engine obtained in the previous steps 2-8.
The speed reducer return difference measuring device based on machine vision at least comprises the following components: the device comprises a steering engine to be tested, a bottom plate, a clamp, an image acquisition device, a singlechip, an upper computer, a shell marking pointer and an output shaft marking pointer, and a loading device capable of applying constant torque to the output shaft of the steering engine to be tested; the image acquisition device is connected to the bottom plate.
Furthermore, the shell marking pointer and the output shaft marking pointer are combined to be used, so that the measuring error caused by the fact that the measured steering engine shell is possibly displaced due to the fact that the steering engine shell is not completely clamped by the clamp can be eliminated in the measuring principle; however, if the clamp can ensure complete clamping or the measurement accuracy requirement is not high, the shell indication pointer can be omitted.
Furthermore, the material of the output shaft marking pointer is preferably plastic material, and can be rapidly assembled and disassembled in the center threaded hole of the output shaft of the steering engine to be tested.
Further, one implementation mode of the loading device capable of applying constant torque to the output shaft of the steering engine to be tested is that the weight applies torque to the output shaft of the steering engine to be tested through the fixed pulley fixed on the bottom plate and the loading arm arranged on the output shaft of the steering engine to be tested.
Further, one implementation manner of the loading device capable of applying constant torque to the output shaft of the steering engine to be tested is that the servo driving device applies torque to the output shaft of the steering engine through a transmission belt.
Furthermore, the output shaft marking pointer is installed by a threaded hole in the center of the output shaft of the steering engine to be tested, and the loading device is installed on the outer side of the output shaft of the steering engine to be tested and avoids the threaded hole.
Further, the singlechip detects whether the motor of the steering engine to be detected rotates.
Furthermore, in the loading device, the transmission belt for transmitting torque can be quickly assembled and disassembled on the servo driving device and the steering engine to be tested.
The beneficial effects of the invention are as follows:
the technical scheme provided by the invention can realize more accurate and rapid measurement of the return difference of the speed reducer based on machine vision, and has the beneficial effects that:
1. the machine vision is used for measuring the rotating angle of the marking pointer, so that errors possibly caused by manual reading can be avoided, and the measuring efficiency is improved;
2. the marking pointer is made of materials such as plastics or rubber which can be in interference fit with the central threaded hole of the output shaft of the steering engine to be measured, so that the marking pointer can be quickly assembled and disassembled on the output shaft of the steering engine to be measured, and the measuring efficiency is improved;
3. the marking pointer is separated from the loading device for applying torque to the steering engine to be tested, so that errors caused by fit gaps between the loading device and the output shaft of the steering engine to be tested can be prevented from accumulating in return difference measurement values;
4. the marking pointer is made of plastic or rubber materials and can be in interference fit with the central threaded hole of the output shaft of the steering engine to be measured, so that errors caused by fit gaps between the marking pointer and the central threaded hole of the output shaft of the steering engine to be measured can be prevented from accumulating in return difference measurement values;
5. by using the two marking pointers at different positions, the measuring error caused by the fact that the tested steering engine shell is possibly displaced due to the fact that the tested steering engine shell is not completely clamped by the clamp can be eliminated in the measuring principle;
6. the special loading device is used, so that the problems that the consistency of a measurement result is poor and the torque is not easy to control caused by rotating an output shaft of a steering engine to be measured by a hand can be avoided;
7. the singlechip can detect whether the motor of the steering engine to be measured rotates or not and give an alarm, so that the steering engine to be measured is prevented from being reversely driven due to the torque on the output shaft of the steering engine to be measured in the process of measuring the return difference, and the measurement return difference is prevented from being larger;
8. by combining with other prior art, the simultaneous measurement of various characteristic data of the speed reducer on the same machine vision instrument can be realized, so that the effects of better evaluating the service performance of the speed reducer and analyzing the error source of the speed reducer are achieved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a machine vision-based single-point return difference measurement device for a speed reducer;
FIG. 2 is a schematic diagram of a machine vision based multi-point return difference measurement device for a speed reducer;
fig. 3 is a schematic diagram of winding of the weight in the single-point return difference measuring device of the speed reducer on the basis of machine vision on the load of the steering engine to be measured;
FIG. 4 is a schematic diagram of the operation of the machine vision based multi-point return difference measurement device of the speed reducer;
FIG. 5 is a global schematic diagram of machine vision image processing in example 2;
FIG. 6 is a partial schematic view of machine vision image processing in example 2;
FIG. 7 is a partial schematic view of the machine vision image processing of example 2;
FIG. 8 is a flow chart of a machine vision based single point return difference measurement method for a decelerator;
FIG. 9 is a flow chart of a machine vision based retarder multipoint return difference measurement method;
fig. 10 is a schematic diagram of the return difference curve obtained by measuring the return difference every 10 ° in one rotation of the output shaft of the steering engine to be tested in example 2.
The reference numerals are as follows: 1. the image acquisition device, the output shaft marking pointer, the shell marking pointer, the measured steering engine, the fixture, the base plate, the loading arm and the like are respectively arranged at the positions of the front end and the rear end of the image acquisition device, wherein the output shaft marking pointer, the shell marking pointer, the measured steering engine, the fixture, the base plate, the loading arm and the like are respectively arranged at the positions of the front end and the rear end of the image acquisition device, 8, a fixed pulley, 9, a small belt wheel, 10, a driving belt, 11, a large belt wheel, 12, a servo driving device, 13, a singlechip, 14, an upper computer, 15 and weights.
Detailed Description
The following examples are given to provide a further clear, complete and detailed description of the advantages, features and embodiments of the invention in conjunction with the accompanying drawings. The present embodiment is a preferred embodiment based on the technical scheme of the present invention, and is a non-limiting description, illustration and explanation of the present invention, but the scope of the present invention is not limited to the following embodiments.
The return difference measuring method based on machine vision provided by the invention is divided into a single-point return difference measuring method and a multi-point return difference measuring method. The return difference measurement of a single point is to measure the return difference of a single angle position of the rotation of the output shaft of the steering engine 4 to be measured; the multipoint return difference measuring method is to measure the return differences of a plurality of angle positions of the rotation of the output shaft of the steering engine 4 to be measured; the two return difference measuring methods can conveniently measure the return difference simply and complexly, and meet most of demands in practical application. The single-point return difference measuring device is shown in fig. 1, the multi-point return difference measuring device is shown in fig. 2, the working principle of the multi-point return difference measuring device is shown in fig. 3, the working principle of the single-point return difference measuring device is similar to that of the multi-point return difference measuring device in terms of the working principle, and the main difference of the device is the implementation mode of the loading device.
Example 1
Based on the above description, the invention provides a single-point return difference measuring method of a speed reducer based on machine vision, which comprises the following steps:
step 1: the steering engine 4 to be tested is placed, the loading device and the marking pointer are installed, the marking pointer comprises a shell marking pointer 3 and an output shaft marking pointer 2, and the relative positions of the marking pointer and the shell marking pointer are shown in figure 1;
step 2: according to the torque to be loaded on the steering engine 4 to be tested, a weight 15 with proper mass is selected, and the loading arm 7 is controlled to apply a constant torque T to the steering engine 4 to be tested 1 The method comprises the steps of carrying out a first treatment on the surface of the The calculation formula of the mass of the weight 15 is as follows:
wherein: m, weight 15 mass; t-torque; g-gravitational acceleration; l-arm of force;
step 3: the image acquisition device 1 acquires images of the steering engine device in a relatively static state after being loaded by the weight 15, and acquires the first positions of the shell marking pointer 3 and the output shaft marking pointer 2, as shown in fig. 6;
step 4: according to the torque to be loaded on the steering engine 4 to be tested, a weight 15 with proper mass is selected, and a loading device is controlled to apply a relative constant torque T to the steering engine 4 to be tested 1 Constant torque T in opposite direction 2 ；
Step 5: the image acquisition device 1 acquires images of the steering engine device in a relatively static state after being loaded by the weight 15, and acquires the second positions of the shell marking pointer 3 and the output shaft marking pointer 2, as shown in fig. 7;
step 6: the upper computer 14 obtains the angle information θ by using the position information of the indication pointer collected in the previous steps 2 to 5 1 And theta 2 Processing the angle information to obtain return difference data of the steering engine at the measuring position; the calculation formula of the return difference is as follows:
Wherein: r-return difference;
fig. 8 is a flowchart of the single point return difference measurement method.
It should be noted that, for the single-point return difference measuring device of the speed reducer, the requirements of applying two torques in opposite directions through the weights 15 in the step 2 and the step 4 are to be achieved, reference may be made to a relatively convenient implementation manner in fig. 3 in which the relative positions of the weights 15 are not changed, and the requirement of applying the torques may also be achieved by changing the installation positions of the weights 15. The weight can also be replaced by other mass blocks which can be used for loading. These are simple reasoning and alternatives to the patent of the invention.
Example 2
The invention provides a machine vision-based multi-point return difference measuring method of a speed reducer, which comprises the following steps:
step 1: placing a steering engine 4 to be measured, installing a loading device and a marking pointer, driving the steering engine 4 to be measured to a measuring position to prepare for measuring the return difference of the steering engine 4 to be measured, wherein the relative position is shown in figure 2;
step 2: the servo driving device 12 is controlled to apply constant torque T to the steering engine 4 to be tested 1 ；
Step 3: as shown in fig. 5, the image acquisition device 1 acquires an image of the steering engine device in a relatively stationary state after being loaded by the servo drive device 12, and acquires the first positions of the housing indicating pointer 3 and the output shaft indicating pointer 2, as shown in fig. 6;
step 4: the servo driving device 12 is controlled to apply a relatively constant torque to the steering engine 4 to be testedT 1 Constant torque T in opposite direction 2 ；
Step 5: as shown in fig. 5, the image acquisition device 1 acquires an image of the steering engine device in a relatively static state after being loaded by the servo driving device 12, and acquires the second positions of the housing indicating pointer 3 and the output shaft indicating pointer 2, as shown in fig. 7;
step 6: the upper computer 14 obtains the angle information θ by using the position information of the indication pointer collected in the previous steps 2 to 5 1 And theta 2 Processing the angle information to obtain return difference data of the steering engine at the measuring position;
step 7: driving the steering engine 4 to be tested to rotate the output shaft to the next measuring position;
step 8: repeating the steps 2-7 until the preset measuring positions of the steering engine 4 to be measured are measured, and completing return difference data acquisition of all the measuring positions;
step 9: and (3) drawing a return difference curve chart of the measured positions of different angles of the output shaft of the measured steering engine 4 by using the return difference data of the measured steering engine 4 obtained in the previous steps 2-8, as shown in fig. 10.
Fig. 9 is a flowchart of the above-mentioned multipoint return difference measuring method.
In step 7 and step 8, when the output shaft of the steering engine 4 to be tested rotates by an angle of 0-360 °, the rotation angle can be equal each time or unequal each time. The rotation angle measured each time is selected according to an integer obtained by evenly dividing 360 degrees, and return difference data are measured each 10 degrees to obtain a return difference curve chart of 36 positions as shown in fig. 10; the return difference between certain angle positions can be densely measured according to actual conditions, different weights are applied to the degree of density of the measuring points according to the importance degree of the working range, and the method is simple in reasoning.
In step 7, when the tested steering engine 4 is driven to rotate by a certain angle, the servo driving device 12 is controlled by the single chip 13 to rotate by the same angle.
In order to apply the two methods, the invention provides a machine vision measuring device for the return difference of a speed reducer, which respectively applies the two methods, and the device at least comprises the following components except for the components of a common return difference measuring device: the device comprises a bottom plate 6, a clamp 5, an image acquisition device 1, a singlechip 13, an upper computer 14, a shell marking pointer 3, an output shaft marking pointer 2 and a loading device capable of applying constant torque to an output shaft of a steering engine.
Fig. 1 is a schematic structural diagram of a machine vision measuring device for single-point return difference of a speed reducer by applying the method. The image acquisition device 1, the clamp 5 and the fixed pulley 8 are arranged on the bottom plate 6, the steering engine 4 to be measured is clamped by the clamp 5, the shell marking pointer 3 is fixed on the shell of the steering engine 4 to be measured, the output shaft marking pointer 2 and the loading arm 7 are arranged on the output shaft of the steering engine 4 to be measured, and the output shaft marking pointer 2 and the loading arm 7 can synchronously rotate relative to the axis of the output shaft.
Fig. 2 is a schematic structural diagram of a machine vision measuring device for multipoint return difference of a speed reducer by applying the method. The image acquisition device 1 and the clamp 5 are arranged on the bottom plate 6, the steering engine 4 to be tested and the servo driving device 12 are clamped by the clamp 5, the shell marking pointer 3 is fixed on the shell of the steering engine 4 to be tested, the output shaft marking pointer 2 and the small belt pulley 9 are arranged on the output shaft of the steering engine 4 to be tested, the large belt pulley 11 is arranged on the output shaft of the servo driving device 12, and the transmission belt 10 is fixed on the small belt pulley 9 and the large belt pulley 11.
In the components of the machine vision measuring device for reducing the return difference of the speed reducer by the method, the image acquisition device 1 is usually formed by an industrial camera, a lens, a camera bracket and the like, and in special cases, a common camera, a mobile phone camera, a computer camera, a video recorder, a video camera and the like can be used as the image acquisition device 1. After the image acquisition device 1 acquires the image information, the image information is transmitted to the host computer 14, and the host computer 14 performs processing calculation. In practical use, the image capturing device 1 may need a light source to be used in combination to achieve better image capturing effect, where the light source may be a structured light source in the form of a stripe, a grid, a lattice, or a parallel light illumination source coaxial with the lens.
Further, in the components of the machine vision measuring device for return difference of the speed reducer applying the method, the range of the image acquired by the image acquisition device 1 is shown in fig. 5. It should be noted that: as shown in fig. 5, the length of the output shaft indicating pointer 2 should be large enough to avoid the error in recognition of the output shaft indicating pointer 2 by machine vision at different measuring points due to overlapping of devices.
Furthermore, in the component parts of the machine vision measuring device for the return difference of the speed reducer by using the method, the material of the output shaft marking pointer 2 is a plastic material, and the device can be rapidly assembled and disassembled in the center threaded hole of the output shaft of the steering engine 4 to be measured, and is in interference fit with the center threaded hole of the output shaft, so that the aim of synchronous rotation with the output shaft is fulfilled. The function of the output shaft indicating pointer 2 for indicating the position information can also be realized by a disc with a scribing line which can be installed on the output shaft. These are simply inferences of the method of the present invention and such variations and modifications are within the scope of the claimed invention.
Further, in the components of the machine vision measuring device for return difference of the speed reducer by the method, the function of the shell marking pointer 3 is to avoid: the shell of the steering engine 4 to be tested is stressed to displace because the shell is possibly not completely clamped by the clamp 5, so that the output shaft marking pointer 2 is displaced, and the measurement error is caused. However, if the clamp 5 is able to ensure complete clamping or the measurement accuracy is not required, the housing index pointer 3 may be omitted, which is a simple reasoning of the method of the invention.
Furthermore, in the component parts of the machine vision measuring device of the single-point return difference of the speed reducer applying the method, the loading arm 7 is arranged at the outer side of the output shaft of the steering engine 4 to be measured, and a threaded hole in the center of the output shaft is reserved for installing the marking pointer; the gravity of the weight 15 acts on the loading arm 7 through the fixed pulley 8, and the loading arm 7 transmits torque to act on the output shaft of the steering engine 4 to be tested.
Further, in the components of the machine vision measuring device for return difference of the speed reducer by using the method, the singlechip 13 can detect: whether the steering engine 4 to be tested is driven by the torque applied by the loading device and generates a current signal. In the process of applying torque by the loading device, if the singlechip 13 detects that the tested steering engine 4 generates a current signal, an alarm is given to indicate that the torque applied at the moment is unsuitable. The encoder can also be arranged on the output shaft of the steering engine 4 to be tested, and whether the motor of the steering engine 4 to be tested rotates or not can be detected through the encoder, which is the simple reasoning of the method of the invention.
Further, the belt 10 is installed in two ways in the components of the machine vision measuring device for multipoint return difference of the speed reducer using the method. The installation mode is as follows: the transmission belt 10 is fixed on the small belt pulley 9 and the large belt pulley 11, so that the same torque requirement can be realized, the moment arm is reduced, the tangential force is increased, and the belt pulleys can be the same according to the actual situation. Another mounting method can also be adopted: the transmission belt 10 is directly arranged on the output shafts of the steering engine 4 to be tested and the servo driving device 12, and the purpose of applying torque can also be realized. These are simply reasoning about the method of the invention, and the invention is subject to various changes and modifications depending on the actual situation, which are all within the scope of the invention as claimed.
Furthermore, in the components of the machine vision measuring device of the multipoint return difference of the speed reducer applying the method, the transmission belt 10 can be quickly assembled and disassembled on the servo driving device 12 and the steering engine 4 to be measured. The belt 10 may be tensioned by adjusting the center distance or by using a tensioning wheel.
It should be noted that the structure shown in fig. 1 and 2 is only one embodiment of the machine vision-based retarder return difference measuring device to which the above method can be applied, and in practical instrument design, not all the movement mechanisms in fig. 1 and 2 need to be designed, nor do they have to be designed according to the external shapes and assembly relationships shown in fig. 1 and 2. These are simply reasoning about the method of the invention, and the invention is subject to various changes and modifications depending on the actual situation, which are all within the scope of the invention as claimed.
In summary, the invention takes the common steering engine as an example for research, the application range of the obtained return difference measuring method and measuring device comprises other types of speed reducers, and the machine vision-based measuring method and measuring device are adopted, so that the influence of human error can be effectively reduced, the measuring efficiency is improved, and the return difference batch, quick and accurate measurement of small speed reducers represented by the steering engine in actual production is facilitated.
The foregoing has outlined and described the features, principles, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are merely illustrative of the principles of the present invention, and that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The single-position return difference measuring method of the speed reducer based on machine vision is characterized by comprising the following steps of:
step 1: placing a steering engine to be tested, and installing a loading device and a marking pointer;
step 2: according to the torque to be loaded on the steering engine to be tested, selecting weights with proper mass, and controlling the loading device to apply constant torque T to the steering engine to be tested 1 The method comprises the steps of carrying out a first treatment on the surface of the The calculation formula of weight mass is as follows:
wherein M is weight mass, T is torque, g is gravitational acceleration, and l is force arm;
step 3: the image acquisition device acquires images of the steering engine device in a relatively static state after being loaded by weights, and acquires a first position of a shell marking pointer and an output shaft marking pointer;
step 4: according to the torque to be loaded on the steering engine to be tested, selecting weights with proper mass, and controlling the loading device to apply a relative constant torque T to the steering engine to be tested 1 Constant torque T in opposite direction 2 ；
Step 5: the image acquisition device acquires an image of the steering engine device in a relatively static state after being loaded by the weight, and acquires a second position of the shell marking pointer and the output shaft marking pointer;
step 6: obtaining angle information theta by using the position information of the marking pointer collected in the previous steps 2-5 1 And theta 2 And processing the angle information to obtain return difference data of the steering engine at the measuring position.
2. The method for measuring the return difference of a plurality of positions of the speed reducer based on machine vision is characterized by comprising the following steps of:
step 1: placing a tested steering engine, installing a loading device and a marking pointer, and driving the tested steering engine to a measuring position to prepare for measuring the return difference of the tested steering engine;
step 2: the servo driving device is controlled to apply constant torque T to the steering engine to be tested 1 ；
Step 3: the image acquisition device acquires images of the steering engine device which are in a relatively static state after being loaded by the servo driving device, and acquires a first position of a shell marking pointer and an output shaft marking pointer;
step 4: the servo driving device is controlled to apply a relative constant torque T to the steering engine to be tested 1 Constant torque T in opposite direction 2 ；
Step 5: the image acquisition device acquires images of the steering engine device which are in a relatively static state after being loaded by the servo driving device, and acquires a second position of the shell marking pointer and the output shaft marking pointer;
step 6: obtaining angle information theta by using the position information of the marking pointer collected in the previous steps 2-5 1 And theta 2 Processing the angle information to obtain return difference data of the steering engine at the measuring position;
step 7: driving the steering engine to be measured to rotate the output shaft to the next measuring position;
step 8: repeating the steps 2-7 until the preset measuring positions of the steering engine to be measured are measured, and completing return difference data acquisition of all measuring positions;
step 9: and (3) drawing return difference graphs of different angle measurement positions of the output shaft of the tested steering engine by using the return difference data of the tested steering engine obtained in the previous steps 2-8.
3. A machine vision based retarder return difference measuring device implementing the method of claim 1 or 2, characterized by comprising at least the following components: the device comprises a steering engine to be tested, a bottom plate, a clamp, an image acquisition device, a singlechip, an upper computer, a shell marking pointer and an output shaft marking pointer, and a loading device capable of applying constant torque to the output shaft of the steering engine to be tested; the image acquisition device is connected to the bottom plate.
4. The machine vision based retarder return difference measuring device of claim 3, wherein the use of the housing indicator in combination with the output shaft indicator eliminates measurement errors in the measurement principle that may be caused by displacement of the tested steering engine housing due to the force not being completely clamped by the clamp; however, if the clamp can ensure complete clamping or the measurement accuracy requirement is not high, the shell indication pointer can be omitted.
5. The machine vision-based speed reducer return difference measuring device according to claim 3, wherein the material of the output shaft indicating pointer is preferably a plastic material, and the device can be quickly assembled and disassembled in a central threaded hole of the output shaft of the steering engine to be measured.
6. A machine vision based retarder return difference measuring device as claimed in claim 3, characterized in that one way of realizing the loading means for applying a constant torque to the output shaft of the steering engine under test is that the weight applies a torque to the output shaft of the steering engine under test via a fixed pulley fixed to the base plate and a loading arm mounted on the output shaft of the steering engine under test.
7. A machine vision based retarder return difference measuring device as claimed in claim 3, characterized in that one way of realizing the loading means for applying a constant torque to the output shaft of the steering engine under test is that the servo drive means applies a torque to the output shaft of the steering engine via a drive belt.
8. The machine vision-based speed reducer return difference measuring device according to claim 3, wherein the output shaft indicating pointer is installed by a threaded hole in the center of the output shaft of the steering engine to be measured, and the loading device is installed on the outer side of the output shaft of the steering engine to be measured and avoids the threaded hole.
9. The machine vision-based speed reducer return difference measuring device according to claim 3, wherein the single chip microcomputer detects whether a motor of the steering engine to be measured rotates.
10. The machine vision-based speed reducer return difference measuring device according to claim 7, wherein the torque transmission belt in the loading device can be quickly assembled and disassembled on the servo driving device and the steering engine to be measured.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116295126A (en) * | 2023-05-19 | 2023-06-23 | 天津海翼科技有限公司 | Rudder blade angle calibration system and calibration method of underwater glider |
| CN116734774A (en) * | 2023-08-09 | 2023-09-12 | 合肥安迅精密技术有限公司 | Method and system for testing and compensating rotation precision of R axis to Z axis of mounting head |
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2023
- 2023-02-01 CN CN202310050493.9A patent/CN116086284A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116295126A (en) * | 2023-05-19 | 2023-06-23 | 天津海翼科技有限公司 | Rudder blade angle calibration system and calibration method of underwater glider |
| CN116734774A (en) * | 2023-08-09 | 2023-09-12 | 合肥安迅精密技术有限公司 | Method and system for testing and compensating rotation precision of R axis to Z axis of mounting head |
| CN116734774B (en) * | 2023-08-09 | 2023-11-28 | 合肥安迅精密技术有限公司 | Method and system for testing and compensating rotation precision of R axis to Z axis of mounting head |
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