A thirteen-degree-of-freedom gear measuring device based on multi-group line structured light orthogonal field

Abstract

The present application relates to a kind of thirteen degrees of freedom gear measuring device based on multiple groups of line structure light orthogonal view field, belong to the field of precision testing technology and instrument.For the problems of high angle sensitivity, low measurement efficiency and poor universality of existing gear measuring device, the device includes platform-rail unit, main and auxiliary measuring head unit and precision rotary table unit.Innovatively, double measuring head cooperative measurement is used, the main measuring head light plane is parallel to the gear axis to obtain involute information, and the auxiliary measuring head light plane is perpendicular to the axis to obtain tooth direction information, which constitutes orthogonal view field to realize data fusion and eliminate measurement blind area.The main and auxiliary measuring head unit both have six degrees of freedom pose adjustment capability, and through motor drive, the precise adjustment of X, Y, Z axis spatial position movement and rotation around three axes is realized, the thirteenth rotational freedom is provided by precision rotary table, and the closed-loop feedback system of linear grating and circular grating is further used to improve measurement accuracy and efficiency, suitable for full-parameter high-precision measurement of various gears.

Description

TECHNICAL FIELD

[0001] The application relates to a thirteen-degree-of-freedom gear measuring device based on a multi-group line structured light orthogonal field, and belongs to the fields of precision testing technology and instruments and high-end equipment. TECHNICAL BACKGROUND

[0002] As a core basic transmission element in the field of mechanical transmission, the performance of a gear directly affects the equipment reliability in key industrial fields such as automobile manufacturing, aerospace and precision machinery. When a structured light is used to measure a gear, due to the influence of the complex curved surface geometry, the measuring device must have strong degree-of-freedom adjustment capability. When the measurement field plane of the structured light probe is measured at a large angle relative to the gear surface, the center of the laser spot will be offset, which will cause problems such as poor fusion precision of the left and right gear surfaces of the multi-group line structured light, and therefore a suitable position and angle of the structured light probe are needed.

[0003] There are mainly two kinds of structured light non-contact measuring devices at present: (1) point structured light non-contact measuring device. The patent CN202011385544.6 has the ability to simultaneously measure the angle information of the measured object around the x, y and z axes, realizing three-degree-of-freedom angle measurement, but has the disadvantages of insufficient angle sensitivity and spot offset. (2) Line structured light non-contact measuring device. The patent CN202211409554.8 divides the continuous light strip into segments through the arc-shaped light transmission slot of the light shield, effectively solving the reflection interference problem in the measurement of complex high-brightness surfaces, but has the disadvantage of low measurement efficiency. The patent CN202011285921.9 realizes rapid angle adjustment through the installation table that can rotate around the gear and drive the camera to rotate, improving the measurement efficiency, but has the disadvantage that it only uses a single probe to measure the gear, and may have limitations for the measurement of complex tooth shapes. The patent CN202323579732.4 uses double probes for measurement, which improves the measurement accuracy of modulus 3-8 gears to IT5 level, but has the disadvantages of only adapting to standard gears with modulus ≤10 and insufficient adaptability to special-shaped gears. In summary, the existing devices still have limitations in terms of angle sensitivity, single-probe efficiency bottleneck and multi-probe system versatility, and there is still no solution that takes into account high precision, high efficiency and multi-type gear adaptation.

[0004] To overcome the above problems, the application discloses a thirteen-degree-of-freedom gear measuring device based on a plurality of line structured light orthogonal fields, comprehensively considers and improves the shortcomings of the previous two types of ways, constructs a plurality of line structured light to build the required orthogonal field of view, and innovatively adopts a thirteen-degree-of-freedom adjusting mechanism as the core of the device, so that the pose of the measuring head in space can be freely adjusted, and gears of different types and different sizes can be measured. In combination with synchronous measurement of a plurality of measuring heads, the measurement efficiency is improved while the measurement accuracy is ensured. In addition, the device builds a full-closed-loop measurement platform to realize real-time feedback of position information and angle information, and further ensures the measurement accuracy and the fusion accuracy of left and right tooth surface data. SUMMARY

[0005] The application provides a thirteen-degree-of-freedom gear measuring device based on a plurality of line structured light orthogonal fields to solve the problems of low efficiency, poor universality and angle sensitivity in the existing gear measuring device.

[0006] The application aims to solve the problems of the existing structured light measuring device and makes a principle innovation, and the basic idea is as follows: 1. From the universality and practicability of the gear optical measuring device, the device with multiple degrees of freedom is designed to measure various types of gears, so the application designs a device with thirteen degrees of freedom. 2. To solve the problems of low measurement efficiency and field coverage of line structured light, the application adopts a main and a vice measuring head for real-time measurement, and the main and vice measuring heads build the measurement field of view with orthogonal light planes. When the main and vice measuring heads measure different tooth surfaces of the gear, the measurement efficiency can be improved, so that fast and multi-angle gear measurement can be realized. When the main and vice measuring heads measure the same tooth surface of the gear, the data collected by them can be mutually compensated, and the integrity and accuracy of the measurement results are improved. 3. To overcome the problem that the structured light device is sensitive to the measurement angle and position, high-precision linear gratings and circular gratings are used to realize real-time feedback of position information and angle information, and servo motors are used to drive the main and vice measuring heads to rotate around X, Y and Z, so that the pose of the main and vice measuring heads can be more accurately controlled.

[0007] To achieve the above purposes and principles, the technical scheme of the application is as follows:

[0008] A thirteen-degree-of-freedom gear measuring device based on a plurality of line structured light orthogonal fields is composed of a platform-rail unit I, a main measuring head unit II, a vice measuring head unit III and a precision rotary table unit IV, and the data of the gear to be measured is obtained through a thirteen-degree-of-freedom gear measuring system based on a plurality of line structured light orthogonal fields.

[0009] The platform-rail unit I provides a solid foundation for the whole device, and the main measuring head unit II and the auxiliary measuring head unit III move in space through the movement of the movable rail on the parallel rails, and the precision of the rail movement is further ensured in real time by the linear grating;

[0010] The main measuring head unit II is installed on the left upper side of the platform-rail unit I, and the auxiliary measuring head unit III is installed on the right upper side of the platform-rail unit I. The main measuring head unit II and the auxiliary measuring head unit III adjust the measurement angle of the measuring head through the motor, so as to obtain effective tooth surface information.

[0011] The precision rotary table unit IV is located at the central position of the platform-rail unit I. The main work of the precision rotary table unit IV is to complete the clamping, positioning and rotation of the gear to be measured.

[0012] The platform-rail unit I includes a platform support, an optical platform, a rail one, a rail two, a moving motor one, a moving motor two, a sliding table one, a horizontal connecting plate one, a sliding table two, a horizontal connecting plate two, a rail three, a linear grating one, a reading head one, a moving motor three, a sliding table three, a vertical connecting plate one, a rail four, a linear grating two, a reading head two, a moving motor four, a sliding table four, a vertical connecting plate two, a linear grating three, a reading head three, a rail five, a moving motor five, a sliding table five, a horizontal connecting plate three, a rail six, a linear grating four, a reading head four, a moving motor six, a sliding table six, a vertical connecting plate three, a rail seven, a linear grating five, a reading head five, a moving motor seven, a sliding table seven, a vertical connecting plate four, a linear grating six, and a reading head six.

[0013] The platform support provides support for the whole unit, and the optical platform is installed on the platform support and fixed by bolts. The rail one and the rail two are connected by bolts on the optical platform, so that the rail one and the rail two are arranged in parallel along the Y-axis direction. The moving motor one and the moving motor two are respectively installed on the rail one and the rail two by bolts. The rail one and the sliding table one constitute a moving pair, and the horizontal connecting plate one is fixed on the sliding table one by bolts. The rail two and the sliding table two constitute a moving pair, and the horizontal connecting plate two is fixed on the sliding table two by bolts. The rail three is connected and installed on the horizontal connecting plate one and the horizontal connecting plate two by bolts at both ends, and the linear grating one is installed on the optical platform by bolts. The sliding table one and the reading head one are connected by bolts, which can feed back the displacement data of the rail three in real time, so as to realize full closed loop adjustment of the position and posture of the main measuring head unit II, improve the measurement accuracy, and drive the horizontal connecting plate one and the horizontal connecting plate two to move synchronously, thereby providing the rail three with a movement freedom F1 in the Y-axis direction.

[0014] The moving motor three is installed on the guide rail three by screw connection, the guide rail three and the sliding table three constitute a moving pair, the sliding table three is fixed with the vertical connecting plate one by screw, and the guide rail four is installed on the vertical connecting plate one by screw connection; the linear grating two is installed on the guide rail three by screw connection, the sliding table three is connected with the reading head two by screw, and displacement data of the guide rail four is fed back in real time, so that full closed loop position and posture adjustment of the main measuring head unit II is realized, the measurement accuracy is improved, the moving motor three drives the screw rod mechanism, the sliding table three moves along the X-axis direction, and then the vertical connecting plate one moves synchronously, and one moving degree of freedom F2 in the X direction is provided for the guide rail four;

[0015] The moving motor four is installed on the guide rail four by screw connection, the guide rail four and the sliding table four constitute a moving pair, the sliding table four is fixed with the vertical connecting plate two by screw, and the main measuring head unit II is installed through the vertical connecting plate two; the linear grating three is installed on the guide rail four by screw connection, the sliding table four is connected with the reading head three by screw, and displacement data of the main measuring head unit II is fed back in real time, so that full closed loop position and posture adjustment of the main measuring head unit II is realized, the moving motor four drives the screw rod mechanism, the sliding table four moves along the Z-axis direction, and then the vertical connecting plate two moves synchronously, and one moving degree of freedom F3 in the Z-axis direction is provided for the main measuring head unit II;

[0016] The degrees of freedom F1, F2 and F3 give the main measuring head unit II the ability to move freely in space, so that the position in space can be accurately and flexibly adjusted, and the closed loop control of the space position of the main measuring head unit II is realized through the linear grating one (Y-axis), the linear grating two (X-axis) and the linear grating three (Z-axis);

[0017] The guide rail five is fixed on the optical platform by screw, the moving motor five is installed on the guide rail five by screw connection, the guide rail five and the sliding table five constitute a moving pair, the sliding table five is fixed with the horizontal connecting plate three by screw connection, the guide rail six is installed on the horizontal connecting plate three by screw connection, the linear grating four is installed on the optical platform by screw connection, the sliding table five is connected with the reading head four by screw, and displacement data of the guide rail six is fed back in real time, so that full closed loop position and posture adjustment of the auxiliary measuring head unit III is realized, the moving motor five drives the screw rod mechanism, the sliding table five moves along the Y-axis direction, and then the horizontal connecting plate three moves synchronously, and one moving degree of freedom F4 in the Y-axis direction is provided for the guide rail six;

[0018] The moving motor six is installed on the guide rail six through bolt connection, the guide rail six and the sliding table six constitute a moving pair, the vertical connecting plate three is fixed on the sliding table six through bolt connection, the guide rail seven is fixed on the vertical connecting plate three through bolt connection, the linear grating five is installed on the guide rail six through bolt connection, the sliding table six is connected with the reading head five through bolt connection, and the displacement data of the guide rail seven is fed back in real time, so that the full closed loop of the position and posture adjustment of the sub-probe unit III is realized, the moving motor six drives the lead screw mechanism, the sliding table six moves along the Z axis, and then the vertical connecting plate three moves synchronously, so that the guide rail seven provides a movement degree F5 in the Z axis;

[0019] The moving motor seven is installed on the guide rail seven through bolt connection, the guide rail seven and the sliding table seven constitute a moving pair, the vertical connecting plate four is fixed on the sliding table seven through bolt connection, and the sub-probe unit III is installed through the vertical connecting plate four; the linear grating six is installed on the guide rail seven through bolt connection, the sliding table seven is connected with the reading head six through bolt connection, the displacement data of the sub-probe unit III is fed back in real time, so that the full closed loop of the position and posture adjustment of the sub-probe unit III is realized, the moving motor seven drives the lead screw mechanism, the sliding table seven moves along the X axis, and then the vertical connecting plate four moves synchronously, so that the sub-probe unit III provides a movement degree F6 in the X axis;

[0020] The degrees of freedom F4, F5 and F6 give the sub-probe unit III the ability to move freely in space, so that the position in space can be accurately and flexibly adjusted, and the closed loop control of the space position of the sub-probe unit III is realized through the linear grating four (Y axis), the linear grating five (Z axis) and the linear grating six (X axis);

[0021] The main probe unit II comprises a support, a probe connecting plate, a rotating motor one, a U-shaped arm base, a U-shaped arm one, a U-shaped arm two, a motor connecting piece, a rotating motor two, a rotating motor three, a probe connecting piece, a main probe and a main probe light plane;

[0022] The support is fixed on two vertical connecting plates by bolts, and a measuring head connecting plate is installed on the support by bolt connection; the first rotary motor is installed on the measuring head connecting plate by bolt connection, and the first rotary motor provides driving force for the main measuring head unit II to rotate around the A-axis through a coupling connected with the U-shaped arm base; the U-shaped arm base is fixed at both ends by bolts to provide support for the subsequent main measuring head installation; a screw rod is used to fix the motor connecting piece between the U-shaped arm I and the U-shaped arm II, and the second rotary motor provides driving force for the U-shaped arm to rotate around the B-axis through a coupling; the third rotary motor is connected with the motor connecting piece through a coupling to provide driving force for the third rotary motor to rotate around the C-axis, and the third rotary motor is connected with the measuring head connecting piece through a coupling, the main measuring head is fixed on the measuring head connecting piece by bolts, and the main measuring head is provided with three rotational degrees of freedom F7, F8 and F9 in space by the driving force provided by the first rotary motor, the second rotary motor and the third rotary motor, so that the main measuring head 2.11 can rotate around the A-axis, the B-axis and the C-axis, and the angle of the main measuring head can be adjusted flexibly in space;

[0023] The main measuring head unit II adjusts the angle of the main measuring head when measuring the gear to be measured, so that the main measuring head light plane emitted by the main measuring head is consistent with the direction of the axis of the gear to be measured, thereby completing the corresponding measurement work;

[0024] The auxiliary measuring head unit III includes a fourth rotary motor, a fifth rotary motor, a sixth rotary motor, an auxiliary measuring head and an auxiliary measuring head light plane;

[0025] The parts layout configuration of the auxiliary measuring head unit III is the same as that of the main measuring head unit II, and the driving modes of the two are consistent;

[0026] The multiple sets of line structured light orthogonal fields are constructed by the main measuring head light plane and the auxiliary measuring head light plane to form two measurement planes perpendicular to each other;

[0027] The auxiliary measuring head light plane is projected on the middle part of the gear to be measured and is perpendicular to the axis direction of the gear to be measured, so that the information of multiple sections of the entire gear to be measured can be obtained at the same time, and the feature of obtaining complete tooth direction information of the measured tooth surface is achieved;

[0028] The main measuring head light plane is projected in the direction consistent with the axis of the gear to be measured, so that the complete tooth profile information of the left and right tooth surfaces, tooth roots and tooth tips of the gear to be measured can be obtained at the same time, and the feature of obtaining complete involute information is achieved;

[0029] The multiple sets of line structured light orthogonal fields can provide reference basis for tooth surface data fusion of the tooth direction information obtained by the main measuring head light plane from the auxiliary measuring head light plane, so that the gear to be measured can be measured by multiple measuring heads with high efficiency while ensuring the measurement accuracy, and the problem of left and right tooth surface data fusion accuracy is solved.

[0030] The driving force provided by the rotary motor four provides the sub-probe unit III with one degree of freedom F of rotation around the D-axis 10 The driving force provided by the rotary motor five provides the sub-probe unit III with one degree of freedom F of rotation around the E-axis 11 The driving force provided by the rotary motor six provides the sub-probe unit III with one degree of freedom F of rotation around the F-axis 12 Thus, the sub-probe is realized to rotate around the D-axis, the E-axis and the F-axis, and finally, the angle of the sub-probe is adjusted when the gear to be measured is measured, so that the plane of the sub-probe light emitted by the sub-probe is projected on the middle part of the gear to be measured and is perpendicular to the axial direction of the gear to be measured, so as to complete the corresponding measurement work;

[0031] The precision rotary table unit IV comprises a rotary table column, a rotary table connecting plate, a rotary table motor, a precision rotary table, a three-jaw chuck connecting plate, a circular grating reading head, a circular grating, a three-jaw chuck and a gear to be measured.

[0032] The rotary table column is installed on the optical platform through screws, and provides stable support for the precision rotary table unit IV; the rotary table connecting plate is installed on the rotary table column through bolts; the precision rotary table is installed on the rotary table connecting plate through bolts; the rotary table motor is connected with the precision rotary table through a shaft coupling, thereby providing the driving force required for the rotation of the rotary table; the precision rotary table is coaxially installed with the three-jaw chuck connecting plate through the positioning hole at the upper end of the precision rotary table; the circular grating reading head is installed on the precision rotary table through bolts; the circular grating is fixed on the three-jaw chuck connecting plate through bolts; during work, the circular grating reading head reads the angle signal, thereby providing real-time high-precision feedback of the rotation angle of the precision rotary table; the three-jaw chuck is fixed on the three-jaw chuck connecting plate through bolts, and the center lines of the three-jaw chuck and the three-jaw chuck connecting plate coincide with each other; the three-jaw chuck is clamped after the gear to be measured is constrained, so that the gear to be measured rotates along the same center axis as the precision rotary table, and thus the linear structured light sensor has an additional degree of freedom F of rotation relative to the gear to be measured 13 ; the fixed degrees of freedom F1, F2, F3, F4, F5, F6, F7, F8, F9, F 10 , F 11 , F 12 remain unchanged, and only the degree of freedom F 13 rotates, thereby reducing the mechanical structure error introduced by the movement of the guide rail and the rotation of the angle, ensuring the stability of the measurement, and finally achieving accurate acquisition of the tooth surface data information of the gear to be measured through the orthogonal visual field formed by the fixed main probe unit II and the sub-probe unit III;

[0033] The measurement system of the thirteen-freedom gear measurement based on the multi-group line structured light orthogonal field of view is composed of a computer, a high-speed synchronous data acquisition system and a servo motor driving and control system; the computer is used for realizing the motor control in the measurement process, receiving and storing the line structured light measurement data, outputting a report and displaying; after the high-speed synchronous data acquisition system acquires the signals of each linear grating and circular grating, the signals are input into the computer; the computer realizes the driving of the servo motor through the servo motor driving and control system;

[0034] The operation steps of the whole device and the measurement system are as follows:

[0035] Step 1: reset all the motor driving guide rails of the device to the grating zero position, i.e. the initial position;

[0036] Step 2: clamp and fix the gear to be measured;

[0037] Step 3: adjust the measurement positions of the main measuring head and the auxiliary measuring head;

[0038] Step 4: adjust the measurement angles of the main measuring head and the auxiliary measuring head according to the surface of the gear to be measured;

[0039] Step 5: based on the full closed loop control of the linear grating, adjust the positions of the main and auxiliary measuring heads according to the distances between the surface of the gear to be measured and the main and auxiliary measuring heads;

[0040] Step 6: based on the full closed loop control of the circular grating, acquire the surface information of the gear to be measured;

[0041] Step 7: after the measurement is completed, fuse the acquired gear tooth surface information data, and the computer outputs the three-dimensional coordinate data of the gear to be measured;

[0042] The beneficial effects of the present application are:

[0043] 1. The present application adopts the main and auxiliary measuring heads to improve the field of view coverage rate of gear measurement, can acquire the tooth surface information at different angles and fuse the left and right tooth surface data, and realizes the improvement of the measurement efficiency and the fusion accuracy.

[0044] 2. The device cooperates with the linear grating and the circular grating and its control system through the servo motor, reduces the introduction problem of the moving guide rail geometric error; can realize the synchronous acquisition of the high-speed synchronous data and the high-speed and high-density point cloud tooth surface data, and can realize the real-time adjustment of the main and auxiliary measuring head poses, so that the device can better meet the needs of dynamic measurement.

[0045] 3. The device of the present application has thirteen degrees of freedom, can flexibly and accurately adjust the position and angle of the measuring head in space, is suitable for the measurement of various types and different sizes of gears, and shows good universality and practicability. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 A thirteen degrees of freedom gear measuring device based on multi-group line structured light orthogonal view field;

[0047] Figure 2 Platform and guide rail unit structure diagram I;

[0048] Figure 3 Platform and guide rail unit structure diagram II;

[0049] Figure 4 Main measuring head unit structure diagram;

[0050] Figure 5 Sub-measuring head unit structure diagram;

[0051] Figure 6 Precision rotary table unit structure diagram;

[0052] Figure 7 A thirteen degrees of freedom gear measuring device based on multi-group line structured light orthogonal view field;

[0053] Figure 8 Measuring flowchart;

[0054] The figure is marked as: I-platform and guide rail unit, II-main probe unit, III-subordinate probe unit, IV-precision rotary table unit, 1.1-platform support, 1.2-optical platform, 1.3-guide rail one, 1.4-guide rail two, 1.5-moving motor one, 1.6-moving motor two, 1.7-sliding table one, 1.8-horizontal connecting plate one, 1.9-sliding table two, 1.10-horizontal connecting plate two, 1.11-guide rail three, 1.12-linear grating one, 1.13-reading head one, 1.14-moving motor three, 1.15-sliding table three, 1.16-vertical connecting plate one, 1.17-guide rail four, 1.18-linear grating two, 1.19-reading head two, 1.20-moving motor four, 1.21-sliding table four, 1.22-vertical connecting plate two, 1.23-linear grating three, 1.24-reading head three, 1.25-guide rail five, 1.26-moving motor five, 1.27-sliding table five, 1.28-horizontal connecting plate three, 1.29-guide rail six, 1.30-linear grating four, 1.31-reading head four, 1.32-moving motor six, 1.33-sliding table six, 1.34-vertical connecting plate three, 1.35-guide rail seven, 1.36-linear grating five, 1.37-reading head five, 1.38-moving motor seven, 1.39-sliding table seven, 1.40-vertical connecting plate four, 1.41-linear grating six, 1.42-reading head six, 2.1-support, 2.2-probe connecting plate, 2.3-rotary motor one, 2.4-U-shaped arm base, 2.5-U-shaped arm one, 2.6-U-shaped arm two, 2.7-motor connecting piece, 2.8-rotary motor two, 2.9-rotary motor three, 2.10-probe connecting piece, 2.11-main probe, 2.12-main probe light plane, 3.1-rotary motor four, 3.2-rotary motor five, 3.3-rotary motor six, 3.4-subordinate probe, 3.5-subordinate probe light plane, 4.1-rotary table stand, 4.2-rotary table connecting plate, 4.3-rotary table motor, 4.4-precision rotary table, 4.5-three-jaw chuck connecting plate, 4.6-circular grating reading head, 4.7-circular grating, 4.8-three-jaw chuck, 4.9-gear to be measured. DETAILED DESCRIPTION

[0055] The present aspect is further illustrated below in conjunction with the drawings and specific embodiments.

[0056] Embodiment: The device of the present application measures the helical gear with normal modulus of 2mm, number of teeth of 28, pressure angle of 20°, helix angle of 15° (right-handed) and tooth width of 20mm.

[0057] As Figure 1As shown, a kind of thirteen degrees of freedom gear measuring device based on multiple groups of line structured light orthogonal view field is composed of platform-guide rail unit I, main measuring head unit II, auxiliary measuring head unit III, precision rotary table unit IV, and the data of gear to be measured are obtained by thirteen degrees of freedom gear measuring system based on multiple groups of line structured light orthogonal view field;The platform-guide rail unit I provides solid foundation for the whole device, the movement of movable guide rail on parallel guide rail is realized, the movement of main measuring head unit II and auxiliary measuring head unit III in space is realized, and the precision of guide rail movement is further guaranteed by real-time feedback of linear grating;The main measuring head unit II is installed on the left upper side of platform-guide rail unit I, the auxiliary measuring head unit III is installed on the right upper side of platform-guide rail unit I, the measurement angle of measuring head is adjusted by motor, so as to obtain effective gear face information;The precision rotary table unit IV is located at the central position of platform-guide rail unit I, and the main work of precision rotary table unit IV is to complete the clamping, positioning and driving rotation of the gear to be measured.

[0058] As Figure 2 、 3As shown, the platform-rail unit I includes a platform support, an optical platform, a rail one, a rail two, a moving motor one, a moving motor two, a sliding table one, a horizontal connecting plate one, a sliding table two, a horizontal connecting plate two, a rail three, a linear grating one, a reading head one, a moving motor three, a sliding table three, a vertical connecting plate one, a rail four, a linear grating two, a reading head two, a moving motor four, a sliding table four, a vertical connecting plate two, a linear grating three, a reading head three, a rail five, a moving motor five, a sliding table five, a horizontal connecting plate three, a rail six, a linear grating four, a reading head four, a moving motor six, a sliding table six, a vertical connecting plate three, a rail seven, a linear grating five, a reading head five, a moving motor seven, a sliding table seven, a vertical connecting plate four, a linear grating six, and a reading head six. The platform support provides support for the entire unit, and the optical platform is mounted on the platform support by bolts. The rail one and the rail two are connected by bolts on the optical platform, so that the rail one and the rail two are arranged in parallel along the Y-axis direction. The moving motor one and the moving motor two are respectively mounted on the rail one and the rail two by bolts. The rail one and the sliding table one constitute a moving pair, and the horizontal connecting plate one is fixed on the sliding table one by bolts. The rail two and the sliding table two constitute a moving pair, and the horizontal connecting plate two is fixed on the sliding table two by bolts. The rail three is mounted on the horizontal connecting plate one and the horizontal connecting plate two by bolts at both ends, and the linear grating one is mounted on the optical platform by bolts. The sliding table one and the reading head one are connected by bolts, which real-time feedback displacement data of the rail three to realize full closed loop of position and attitude adjustment of the main probe unit II, and improve the accuracy of measurement. The moving motor one and the moving motor two respectively drive two groups of screw mechanisms, so that the sliding table one and the sliding table two realize synchronous movement, and then drive the horizontal connecting plate one and the horizontal connecting plate two to realize synchronous movement, thereby providing the rail three with one moving degree of freedom F1 in the Y-axis direction. The moving motor three is mounted on the rail three by bolts, the rail three and the sliding table three constitute a moving pair, the vertical connecting plate one is fixed on the sliding table three by bolts, and the rail four is mounted on the vertical connecting plate one by bolts. The linear grating two is mounted on the rail three by bolts, the sliding table three and the reading head two are connected by bolts, which real-time feedback displacement data of the rail four to realize full closed loop of position and attitude adjustment of the main probe unit II, and improve the accuracy of measurement. The moving motor three drives the screw mechanism to move the sliding table three along the X-axis direction, and then drives the vertical connecting plate one to realize synchronous movement, thereby providing the rail four with one moving degree of freedom F2 in the X-axis direction. The moving motor four is mounted on the rail four by bolts, the rail four and the sliding table four constitute a moving pair, the vertical connecting plate two is fixed on the sliding table four by bolts, and the main probe unit II is mounted on the vertical connecting plate two.The linear grating three is bolted to the guide rail four, the slide table four is bolted to the reading head three, and the displacement data of the main measuring head unit II is fed back in real time to realize the full closed loop of the position and posture adjustment of the main measuring head unit II, the moving motor four drives the screw rod mechanism, the slide table four moves along the Z axis direction, and then drives the vertical connecting plate two to move synchronously, so that the main measuring head unit II provides a moving degree F3 in the Z axis direction.

[0059] The degrees of freedom F1, F2 and F3 give the main measuring head unit II the ability to move freely in space, so that the main measuring head unit II can accurately and flexibly adjust the position in space, and realize the closed loop control of the space position of the main measuring head unit II through the linear grating one (Y axis), the linear grating two (X axis) and the linear grating three (Z axis).

[0060] The guide rail five is bolted to the optical platform, the moving motor five is bolted to the guide rail five, the guide rail five and the slide table five constitute a moving pair, the horizontal connecting plate three is bolted to the slide table five, the guide rail six is bolted to the horizontal connecting plate three, the linear grating four is bolted to the optical platform, the slide table five is bolted to the reading head four, the displacement data of the guide rail six is fed back in real time to realize the full closed loop of the position and posture adjustment of the secondary measuring head unit III, the moving motor five drives the screw rod mechanism, the slide table five moves along the Y axis direction, and then drives the horizontal connecting plate three to move synchronously, so that the guide rail six provides a moving degree F4 in the Y axis direction; the moving motor six is bolted to the guide rail six, the guide rail six and the slide table six constitute a moving pair, the vertical connecting plate three is bolted to the slide table six, the guide rail seven is bolted to the vertical connecting plate three, the linear grating five is bolted to the guide rail six, the slide table six is bolted to the reading head five, the displacement data of the guide rail seven is fed back in real time to realize the full closed loop of the position and posture adjustment of the secondary measuring head unit III, the moving motor six drives the screw rod mechanism, the slide table six moves along the Z axis direction, and then drives the vertical connecting plate three to move synchronously, so that the guide rail seven provides a moving degree F5 in the Z axis direction; the moving motor seven is bolted to the guide rail seven, the guide rail seven and the slide table seven constitute a moving pair, the vertical connecting plate four is bolted to the slide table seven, and the secondary measuring head unit III is installed through the vertical connecting plate four; the linear grating six is bolted to the guide rail seven, the slide table seven is bolted to the reading head six, the displacement data of the secondary measuring head unit III is fed back in real time to realize the full closed loop of the position and posture adjustment of the secondary measuring head unit III, the moving motor seven drives the screw rod mechanism, the slide table seven moves along the X axis direction, and then drives the vertical connecting plate four to move synchronously, so that the secondary measuring head unit III provides a moving degree F6 in the X axis direction.

[0061] The degrees of freedom F4, F5 and F6 endow the sub-probe unit III with the ability to freely move in space, so as to accurately and flexibly adjust the position in space and realize closed-loop control of the spatial position of the sub-probe unit III through the linear grating four (Y-axis), the linear grating five (Z-axis) and the linear grating six (X-axis).

[0062] As shown in Figure 4 Fig. 2, the main probe unit II comprises a support, a probe connecting plate, a rotary motor one, a U-shaped arm base, a U-shaped arm one, a U-shaped arm two, a motor connecting piece, a rotary motor two, a rotary motor three, a probe connecting piece, a main probe and a main probe light plane; the support is fixed on the vertical connecting plate two by bolts, and the probe connecting plate is installed on the support by bolts; the rotary motor one is installed on the probe connecting plate by bolts, and the rotary motor one is connected with the U-shaped arm base through a shaft coupling, so as to provide driving force for the rotation of the main probe unit II around the A-axis; the U-shaped arm base is fixed with the U-shaped arm one and the U-shaped arm two at both ends through bolts, so as to provide support for the subsequent installation of the main probe; the motor connecting piece is fixed between the U-shaped arm one and the U-shaped arm two through a screw rod, and the rotary motor two is connected with the U-shaped arm through a shaft coupling, so as to provide driving force for the rotation of the U-shaped arm around the B-axis; the rotary motor three is connected with the motor connecting piece through a shaft coupling, so as to provide driving force for the rotation of the rotary motor three around the C-axis, and the rotary motor three is connected with the probe connecting piece through a shaft coupling; the main probe is fixed on the probe connecting piece through bolts, and the driving force provided by the rotary motor one, the rotary motor two and the rotary motor three provides three rotational degrees of freedom F7, F8 and F9 for the main probe in space, so that the main probe 2.11 can rotate around the A-axis, the B-axis and the C-axis, and flexibly adjust the angle of the main probe in space; when the main probe unit II measures the gear to be measured, the angle of the main probe is adjusted, so that the main probe light plane emitted by the main probe is consistent with the direction of the axis of the gear to be measured, so as to complete the corresponding measurement work.

[0063] As shown in Figure 5 Fig. 3, the sub-probe unit III comprises a rotary motor four, a rotary motor five, a rotary motor six, a sub-probe and a sub-probe light plane; the parts of the sub-probe unit III are arranged and configured in the same way as the main probe unit II, and the driving modes of the two are consistent.

[0064] The orthogonal view field of the multiple sets of line structured light is composed of two measuring planes which are perpendicular to each other, and the secondary measuring head light plane is projected on the middle part of the gear to be measured and is perpendicular to the axis direction of the gear to be measured, so that the information of multiple sections of the gear to be measured can be obtained simultaneously, and the information of the tooth direction of the measured gear surface is complete; the primary measuring head light plane is projected on the direction consistent with the axis of the gear to be measured, so that the complete tooth profile information of the left and right tooth surfaces, tooth roots and tooth tips of the gear to be measured can be obtained simultaneously, and the information of the involute tooth surface is complete; the orthogonal view field of the multiple sets of line structured light can provide the reference basis for the tooth surface data fusion of the tooth direction information obtained by the primary measuring head light plane based on the involute line information obtained by the secondary measuring head light plane, so that the gear to be measured can be measured with high efficiency and high precision, and the problem of the data fusion precision of the left and right tooth surfaces is solved.

[0065] The driving force provided by the rotary motor four provides the secondary measuring head unit III with one degree of freedom F of rotation around the D axis 10 The driving force provided by the rotary motor five provides the secondary measuring head unit III with one degree of freedom F of rotation around the E axis 11 The driving force provided by the rotary motor six provides the secondary measuring head unit III with one degree of freedom F of rotation around the F axis 12 Thus, the three-axis rotation of the secondary measuring head around the D axis, the E axis and the F axis is realized, and finally, the angle of the secondary measuring head is adjusted when the gear to be measured is measured, so that the secondary measuring head light plane emitted by the secondary measuring head is projected on the middle part of the gear to be measured and is perpendicular to the axis direction of the gear to be measured, so as to complete the corresponding measurement work.

[0066] As shown in Figure 6 The precision rotary table unit IV includes a rotary table column, a rotary table connecting plate, a rotary table motor, a precision rotary table, a three-jaw chuck connecting plate, a circular grating reading head, a circular grating, a three-jaw chuck and a gear to be measured; the rotary table column is installed on the central part of the optical platform by screws to provide stable support for the precision rotary table unit IV; the rotary table connecting plate is installed on the rotary table column by bolt connection; the precision rotary table is installed on the rotary table connecting plate by bolt fixation; the rotary table motor is connected with the precision rotary table through a coupling to provide the driving force required for the rotation of the rotary table; the precision rotary table is coaxially installed with the three-jaw chuck connecting plate through the positioning hole at the upper end of the precision rotary table; the circular grating reading head is installed on the precision rotary table by bolt connection; the circular grating is fixed on the three-jaw chuck connecting plate by bolt connection; during work, the circular grating reading head reads the angle signal during the rotation of the precision rotary table, and then provides real-time high-precision feedback of the rotation angle of the precision rotary table; the three-jaw chuck is fixed on the three-jaw chuck connecting plate by bolt fixation, and the center lines of the three-jaw chuck and the three-jaw chuck connecting plate are coincided with each other; the three-jaw chuck is clamped after the gear to be measured is constrained, and finally the gear to be measured rotates on the same central axis as the precision rotary table, so that the linear structured light sensor has an additional rotation degree of freedom F relative to the gear to be measured. 13By measuring the fixed degrees of freedom F1, F2, F3, F4, F5, F6, F7, F8, F9, and F... 10 F 11 F 12 Remain stationary, only degree of freedom F 13 Rotation reduces mechanical structural errors introduced by the moving guide rail and angular rotation, ensuring measurement stability. Through the orthogonal field of view formed by the fixed main probe unit II and the auxiliary probe unit III, accurate acquisition of data information on the tooth surface of the gear under test is ultimately achieved.

[0067] like Figure 7 As shown, the measurement system for thirteen-degree-of-freedom gear measurement based on multiple sets of orthogonal field of view of line structured light consists of a computer, a high-speed synchronous data acquisition system, and a servo motor drive and control system. The computer is used to control the motor during the measurement process, receive and store line structured light measurement data, and output reports and displays them. The high-speed synchronous data acquisition system acquires the signals of each linear grating and circular grating and inputs them into the computer. The computer drives the servo motor through the servo motor drive and control system.

[0068] The complete measurement process of this device, such as Figure 8 As shown.

[0069] Step 1: Measurement begins. Reset the device by resetting the motor drive rails to the zero position of the grating, i.e., the initial position.

[0070] Specifically, guide rail 3, guide rail 4, main probe unit II, guide rail 6, guide rail 7, auxiliary probe unit III, linear grating 1, linear grating 2, linear grating 3, linear grating 4, linear grating 5, linear grating 6, and circular grating are all restored to their initial positions.

[0071] Step 2: Clamping and fixing the gear to be tested.

[0072] Specifically, the five degrees of freedom of the gear under test are constrained by a three-jaw chuck before clamping, ultimately causing the gear under test to rotate coaxially with the precision turntable.

[0073] Step 3: Adjust the measurement positions of the main probe and the auxiliary probe.

[0074] Specifically, start moving motor one and moving motor two to adjust the position of the main probe in the Y-axis direction, so that the main probe is within 40mm to 80mm of the surface of the gear to be tested. Start moving motor seven to adjust the position of the auxiliary probe in the X-axis direction, so that the auxiliary probe is within 40mm to 80mm of the surface of the gear to be tested.

[0075] Step 4: Adjust the measuring angles of the main probe and the auxiliary probe according to the surface of the gear to be measured.

[0076] Specifically, the start of the rotary motor one, rotary motor two and rotary motor three, adjust the measurement angle of the main probe, so that it emits the main probe light plane, and the main probe light plane is consistent with the axis direction of the gear to be measured; start the rotary motor four, rotary motor five, and rotary motor six to adjust the measurement angle of the secondary probe, so that the secondary probe emits the secondary probe light plane, and the secondary probe light plane is perpendicular to the axis direction of the gear to be measured; the orthogonal field formed by the main probe light plane and the secondary probe light plane is used to complete the measurement of the gear to be measured.

[0077] Step five: full closed loop control based on linear grating, adjust the position of the main and secondary probes according to the distance between the surface of the gear to be measured and the main and secondary probes.

[0078] After adjusting the measurement angle of the main probe and the secondary probe, the position of the main probe and the secondary probe will change, and the measurement position of the main probe and the secondary probe needs to be adjusted again.

[0079] Specifically, start the moving motor one and moving motor two to adjust the position of the main probe in the Y-axis direction, obtain the accurate displacement of the guide rail three in the Y-axis direction through the feedback of linear grating one and the reading of reading head one, so that the main probe is within the range of 40mm to 80mm from the surface of the gear to be measured. Start the moving motor three to adjust the position of the main probe in the X-axis direction, obtain the accurate displacement of the guide rail four in the X-axis direction through the feedback of linear grating two and the reading of reading head two, so that the main probe is aligned with the center of the gear to be measured. Start the moving motor four to adjust the position of the main probe in the Z-axis direction, obtain the accurate displacement of the main probe unit II in the Z-axis direction through the feedback of linear grating three and the reading of reading head three, so that the center position of the main probe is flush with the top height of the surface of the gear to be measured. Start the moving motor five to adjust the position of the secondary probe in the Y-axis direction, obtain the accurate displacement of the guide rail six in the Y-axis direction through the feedback of linear grating four and the reading of reading head four, so that the secondary probe is aligned with the center of the gear to be measured. Start the moving motor six to adjust the position of the secondary probe in the Z-axis direction, obtain the accurate displacement of the guide rail seven in the Z-axis direction through the feedback of linear grating five and the reading of reading head five, so that the center position of the secondary probe is flush with the middle of the gear to be measured. Start the moving motor seven to adjust the position of the secondary probe in the X-axis direction, obtain the accurate displacement of the secondary probe unit III in the X-axis direction through the feedback of linear grating six and the reading of reading head six, so that the secondary probe is within the range of 40mm to 80mm from the surface of the gear to be measured.

[0080] Step six: full closed loop control based on circular grating, obtain the surface information of the gear to be measured.

[0081] Specific to keep the main probe and sub-probe and the measured gear between the measurement distance and the measurement angle is constant, the measured gear tooth surface synchronous measurement, start the motor through the precision turntable turntable drive measured gear rotation, in the measured gear rotation at the same time, the round grating signal trigger probe and sub-probe sampling, in the measured gear rotation 360° stop, can obtain the measured gear in the same tooth surface from the tooth top to the tooth root data information, after the data acquisition is completed, close the turntable motor, make the measured gear stop rotating.

[0082] Seventh step: the end of the measurement, fusion of the measured gear tooth surface information data, computer output measured gear three-dimensional coordinate data.

Claims

1. A 13-DOF gear measuring device based on multiple sets of line structured light orthogonal fields of view, characterized in that: It consists of four parts: platform-guide rail unit I, main probe unit II, auxiliary probe unit III, and precision turntable unit IV. It acquires the data of the gear under test (4.9) through a thirteen-degree-of-freedom gear measurement system with multiple sets of line structured light orthogonal fields of view. The platform-guide rail unit I provides a solid foundation for the entire device. The main probe unit II and the auxiliary probe unit III can move in space through the movement of the movable guide rail on the parallel guide rail, and the accuracy of the guide rail movement is further ensured through real-time feedback of the linear grating. The main probe unit II is installed on the upper left side of the platform-guide rail unit I, and the auxiliary probe unit III is installed on the upper right side of the platform-guide rail unit I. The main probe unit II and the auxiliary probe unit III adjust the measuring angle of the probe through a motor to obtain effective tooth surface information. The precision turntable unit IV is located in the center of the platform-guide rail unit I. The main function of the precision turntable unit IV is to clamp and position the gear (4.9) to be tested and drive the gear (4.9) to be tested to rotate. The platform-guide rail unit I includes a platform support (1.1), an optical platform (1.2), guide rail one (1.3), guide rail two (1.4), moving motor one (1.5), moving motor two (1.6), slide table one (1.7), horizontal connecting plate one (1.8), slide table two (1.9), horizontal connecting plate two (1.10), guide rail three (1.11), linear grating one (1.12), reading head one (1.13), moving motor three (1.14), slide table three (1.15), vertical connecting plate one (1.16), guide rail four (1.17), linear grating two (1.18), reading head two (1.19), moving motor four (1.20), slide table four (1.21), and vertical... Direct connection plate 2 (1.22), linear grating 3 (1.23), reading head 3 (1.24), guide rail 5 (1.25), moving motor 5 (1.26), slide table 5 (1.27), horizontal connection plate 3 (1.28), guide rail 6 (1.29), linear grating 4 (1.30), reading head 4 (1.31), moving motor 6 (1.32), slide table 6 (1.33), vertical connection plate 3 (1.34), guide rail 7 (1.35), linear grating 5 (1.36), reading head 5 (1.37), moving motor 7 (1.38), slide table 7 (1.39), vertical connection plate 4 (1.40), linear grating 6 (1.41), reading head 6 (1.42); The platform support column (1.1) provides support for the entire unit. An optical platform (1.2) is mounted on the platform support column (1.1) and fixed with bolts. Guide rail one (1.3) and guide rail two (1.4) are connected to the optical platform (1.2) with bolts, so that guide rail one (1.3) and guide rail two (1.4) are arranged parallel along the Y-axis. Motion motor one (1.5) and motion motor two (1.6) are respectively mounted on guide rail one (1.3) and guide rail two (1.4) with bolts. Guide rail one (1.3) and slide table one (1.7) form a sliding pair. Horizontal connecting plate one (1.8) is fixed to slide table one (1.7) with bolts. Guide rail two (1.4) and slide table two (1.9) form a sliding pair. Horizontal connecting plate two (1.10) is fixed to slide table two (1.9) with bolts. The two ends of the guide rail three (1.11) are respectively bolted to the horizontal connecting plate one (1.8) and the horizontal connecting plate two (1.10). The linear grating one (1.12) is bolted to the optical platform (1.2). The slide table one (1.7) and the reading head one (1.13) are bolted together to provide real-time feedback of the displacement data of the guide rail three (1.11) in order to realize the full closed loop of the position and attitude adjustment of the main measuring head unit II and improve the accuracy of measurement. The moving motor one (1.5) and the moving motor two (1.6) drive two sets of lead screw mechanisms respectively, so that the slide table one (1.7) and the slide table two (1.9) can move synchronously, thereby driving the horizontal connecting plate one (1.8) and the horizontal connecting plate two (1.10) to move synchronously, providing the guide rail three (1.11) with a degree of freedom of movement F1 in the Y-axis direction. The third moving motor (1.14) is bolted to the third guide rail (1.11). The third guide rail (1.11) and the third slide (1.15) form a moving pair. The first vertical connecting plate (1.16) is bolted to the third slide (1.15). The fourth guide rail (1.17) is bolted to the first vertical connecting plate (1.16). The second linear grating (1.18) is bolted to the third guide rail (1.11). The third slide (1.15) and the second reading head (1.19) are bolted together to provide real-time feedback of the displacement data of the fourth guide rail (1.17) to achieve a closed-loop adjustment of the position and attitude of the main measuring head unit II, thereby improving the accuracy of the measurement. The third moving motor (1.14) drives the lead screw mechanism to make the third slide (1.15) move along the X-axis, thereby driving the first vertical connecting plate (1.16) to move synchronously, providing the fourth guide rail (1.17) with a degree of freedom F2 in the X-direction. The fourth moving motor (1.20) is bolted to the fourth guide rail (1.17). The fourth guide rail (1.17) and the fourth slide (1.21) form a sliding pair. The second vertical connecting plate (1.22) is bolted to the fourth slide (1.21), and the main probe unit II is installed through the second vertical connecting plate (1.22). The third linear grating (1.23) is bolted to the fourth guide rail (1.17). The fourth slide (1.21) and the third reading head (1.24) are bolted together to provide real-time feedback of the displacement data of the main probe unit II, so as to realize the full closed loop of the position and attitude adjustment of the main probe unit II. The fourth moving motor (1.20) drives the lead screw mechanism to make the fourth slide (1.21) move along the Z-axis, thereby driving the second vertical connecting plate (1.22) to move synchronously, providing the main probe unit II with one degree of freedom of movement F3 in the Z-axis direction. The guide rail five (1.25) is fixed to the optical platform (1.2) by bolts. The moving motor five (1.26) is installed on the guide rail five (1.25) by bolts. The guide rail five (1.25) and the slide table five (1.27) form a sliding pair. The horizontal connecting plate three (1.28) is fixed on the slide table five (1.27) by bolts. The guide rail six (1.29) is installed on the horizontal connecting plate three (1.28) by bolts. The linear grating four (1.30) is installed by bolts. Mounted on the optical platform (1.2), the slide table five (1.27) and the reading head four (1.31) are bolted together to provide real-time feedback of the displacement data of the guide rail six (1.29) in order to realize the full closed loop of the position and attitude adjustment of the auxiliary probe unit III. The moving motor five (1.26) drives the lead screw mechanism to make the slide table five (1.27) move along the Y-axis, which in turn drives the horizontal connecting plate three (1.28) to move synchronously, providing the guide rail six (1.29) with a degree of freedom F4 on the Y-axis. The moving motor six (1.32) is bolted to the guide rail six (1.29). The guide rail six (1.29) and the slide table six (1.33) form a sliding pair. The vertical connecting plate three (1.34) is bolted to the slide table six (1.33). The guide rail seven (1.35) is bolted to the vertical connecting plate three (1.34). The linear grating five (1.36) is bolted to the guide rail six (1.29). The slide table six (1.33) and the reading head five (1.37) are bolted together to provide real-time feedback of the displacement data of the guide rail seven (1.35) in order to realize the full closed loop of the position and attitude adjustment of the sub-probe unit III. The moving motor six (1.32) drives the lead screw mechanism to make the slide table six (1.33) move along the Z-axis, thereby driving the vertical connecting plate three (1.34) to move synchronously, providing the guide rail seven (1.35) with a degree of freedom F5 in the Z-axis. The moving motor 7 (1.38) is bolted to the guide rail 7 (1.35). The guide rail 7 (1.35) and the slide table 7 (1.39) form a moving pair. The vertical connecting plate 4 (1.40) is bolted to the slide table 7 (1.39). The sub-probe unit III is installed through the vertical connecting plate 4 (1.40). The linear grating 6 (1.41) is bolted to the guide rail 7 (1.35). The slide table 7 (1.39) and the reading head 6 (1.42) are bolted together to provide real-time feedback of the displacement data of the sub-probe unit III, so as to realize the full closed loop of the position and attitude adjustment of the sub-probe unit III. The moving motor 7 (1.38) drives the lead screw mechanism to make the slide table 7 (1.39) move along the X-axis, thereby driving the vertical connecting plate 4 (1.40) to move synchronously, providing the sub-probe unit III with a degree of freedom F6 in the X-axis direction. The main probe unit II includes a support (2.1), a probe connecting plate (2.2), a rotary motor I (2.3), a U-shaped arm base (2.4), a U-shaped arm I (2.5), a U-shaped arm II (2.6), a motor connector (2.7), a rotary motor II (2.8), a rotary motor III (2.9), a probe connector (2.10), a main probe (2.11), and a main probe optical plane (2.12). The support (2.1) is fixed to the vertical connecting plate (1.22) by bolts, and the probe connecting plate (2.2) is installed on the support (2.1) by bolts; the rotary motor (2.3) is installed on the probe connecting plate (2.2) by bolts, and the rotary motor (2.3) is connected to the U-shaped arm base (2.4) by a coupling, and the rotary motor (2.3) provides the driving force for the main probe unit II to rotate around the A-axis; the two ends of the U-shaped arm base (2.4) are fixed to the U-shaped arm (2.5) and the U-shaped arm (2.6) by bolts, respectively, to provide support for the subsequent installation of the main probe (2.11); the motor is fixed between the U-shaped arm (2.5) and the U-shaped arm (2.6) by screws. Connector (2.7), rotary motor two (2.8) is connected to U-shaped arm (2.6) via coupling, providing driving force for U-shaped arm to rotate around B-axis; rotary motor three (2.9) is connected to motor connector (2.7) via coupling, providing driving force for rotary motor three (2.9) to rotate around C-axis, rotary motor three (2.9) is connected to probe connector (2.10) via coupling, and main probe (2.11) is fixed on probe connector (2.10) by bolts, and the driving force provided by rotary motor one (2.3), rotary motor two (2.8) and rotary motor three (2.9) provides three rotational degrees of freedom F7, F8 and F9 in space for main probe (2.11); The auxiliary probe unit III includes rotary motor four (3.1), rotary motor five (3.2), rotary motor six (3.3), auxiliary probe (3.4), and auxiliary probe optical plane (3.5). The component layout of the auxiliary probe unit III is the same as that of the main probe unit II, and the driving principle of both is the same. The driving force provided by the rotary motor four (3.1) provides the auxiliary probe unit III with one degree of freedom F for rotation about the D-axis. 10 The driving force provided by rotary motor five (3.2) provides the auxiliary probe unit III with one degree of freedom F for rotation about the E-axis. 11 The driving force provided by the rotary motor 6 (3.3) provides the auxiliary probe unit III with one degree of freedom F for rotation about the F axis. 12 ; The precision turntable unit IV includes a turntable column (4.1), a turntable connecting plate (4.2), a turntable motor (4.3), a precision turntable (4.4), a three-jaw chuck connecting plate (4.5), a circular grating reading head (4.6), a circular grating (4.7), a three-jaw chuck (4.8), and a gear to be tested (4.9). The optical platform (1.2) is centrally mounted with a turntable column (4.1) via screws, providing stable support for the precision turntable unit IV. A turntable connecting plate (4.2) is bolted to the turntable column (4.1), and a precision turntable (4.4) is bolted to the turntable connecting plate (4.2). A turntable motor (4.3) is connected to the precision turntable (4.4) via a coupling, providing the driving force required for the turntable's rotation. The precision turntable (4.4) is coaxially mounted with a three-jaw chuck connecting plate (4.5) via its upper positioning hole. A circular grating reading head (4.6) is bolted to the precision turntable (4.4), and the three-jaw chuck connecting plate... A circular grating (4.7) is fixed to the plate (4.5) by bolts. During operation, as the precision turntable (4.4) rotates, the circular grating reading head (4.6) reads the angle signal, thereby providing real-time, high-precision feedback on the rotation angle of the precision turntable (4.4). A three-jaw chuck (4.8) is fixed to the plate (4.5) by bolts, ensuring that their center lines coincide. The three-jaw chuck (4.8) constrains and clamps the gear under test (4.9), ultimately causing the gear under test (4.9) to rotate with the precision turntable (4.4) along the same central axis. Therefore, the line structured light sensor adds a rotational degree of freedom F relative to the gear under test (4.9). 13 .

2. The thirteen-degree-of-freedom gear measuring device based on multiple sets of line structured light orthogonal fields of view as described in claim 1, characterized in that: The degrees of freedom F1, F2, and F3 give the main probe unit II the ability to move freely in space, enabling it to adjust its position in space precisely and flexibly, and to achieve closed-loop control of the spatial position of the main probe unit II through linear grating one (1.12), linear grating two (1.18), and linear grating three (1.23); The degrees of freedom F4, F5, and F6 give the sub-probe unit III the ability to move freely in space, enabling it to adjust its position in space precisely and flexibly, and to achieve closed-loop control of the spatial position of the sub-probe unit III through linear grating four (1.30), linear grating five (1.36), and linear grating six (1.41); The three rotational degrees of freedom F7, F8, and F9 enable the main probe (2.11) to rotate around the A-axis, B-axis, and C-axis, allowing for flexible adjustment of the angle of the main probe (2.11) in space. When measuring the gear (4.9) under test, the main probe unit II adjusts the angle of the main probe (2.11) so that the main probe light plane (2.12) emitted by the main probe (2.11) is projected in a direction consistent with the axis of the gear (4.9) under test, thereby completing the corresponding measurement work; The three degrees of freedom F 10 F 11 F 12 This allows the secondary probe (3.4) to rotate around the D, E, and F axes, and its angle can be flexibly adjusted in space. Finally, when measuring the gear (4.9) to be measured, the angle of the secondary probe (3.4) is adjusted so that the secondary probe light plane (3.5) emitted by the secondary probe (3.4) is projected onto the middle part of the gear (4.9) to be measured and is perpendicular to the axis of the gear (4.9) to complete the corresponding measurement work. By measuring the fixed degrees of freedom F1, F2, F3, F4, F5, F6, F7, F8, F9, F 10 F 11 F 12 Remain stationary, only degree of freedom F 13 Rotation reduces mechanical structural errors introduced by moving guide rails and angular rotation, ensuring measurement stability. Through the orthogonal field of view formed by the fixed main probe unit II and the auxiliary probe unit III, accurate acquisition of tooth surface data information of the gear (4.9) under test is finally achieved.

3. The thirteen-degree-of-freedom gear measuring device based on multiple sets of line structured light orthogonal fields of view as described in claim 1, characterized in that: The multiple sets of line structured light orthogonal fields of view are constructed by the main measuring head light plane (2.12) and the secondary measuring head light plane (3.5) forming two mutually perpendicular measuring planes; The secondary probe's optical plane (3.5) is projected onto the middle of the gear to be tested (4.9) and is perpendicular to the axis of the gear to be tested (4.9). It can simultaneously acquire information from multiple cross sections of the entire gear to be tested (4.9) and has the characteristic of acquiring complete tooth direction information in the measured tooth surface. The main probe light plane (2.12) is projected in the same direction as the axis of the gear (4.9) under test, and can simultaneously acquire complete tooth profile information of multiple tooth surfaces, tooth roots and tooth tips of the gear (4.9) under test, and has the feature of complete involute information of involute tooth surfaces; The multiple sets of line structured light orthogonal fields of view can provide a reference for tooth surface data fusion by obtaining involute information from the secondary probe light plane (3.5) and tooth direction information from the main probe light plane (2.12). This allows multiple probes to measure the gear under test (4.9) with high efficiency while ensuring measurement accuracy, thus solving the problem of left and right tooth surface data fusion accuracy.

4. The thirteen-degree-of-freedom gear measuring device based on multiple sets of line structured light orthogonal fields of view as described in claim 1, characterized in that: The measurement system for thirteen-degree-of-freedom gear measurement based on multiple sets of orthogonal field of view of line structured light consists of a computer, a high-speed synchronous data acquisition system, and a servo motor drive and control system. The computer is used to control the motor during the measurement process, receive and store line structured light measurement data, and output reports and displays. The high-speed synchronous data acquisition system acquires the signals of each linear grating and circular grating (4.7) and inputs them into the computer. The computer drives the servo motor through the servo motor drive and control system. The operation steps of the entire device and measurement system are as follows: Step 1: Reset all motor drive rails of the device to the zero position of the grating, i.e., the initial position; Step 2: Clamping and fixing the gear to be tested (4.9); Step 3: Adjust the measurement positions of the main probe (2.11) and the auxiliary probe (3.4); Step 4: Adjust the measuring angles of the main probe (2.11) and the auxiliary probe (3.4) according to the surface of the gear to be measured (4.9); Step 5: Based on the linear grating, the positions of the main and auxiliary probes are adjusted according to the distance between the surface of the gear under test (4.9) and the main probe (2.11) and the auxiliary probe (3.4); Step 6: Based on the closed-loop control of the circular grating (4.7), obtain the surface information of the gear under test (4.9); Step 7: Measurement complete. The acquired tooth surface information data of the gear under test (4.9) is integrated, and the computer outputs the three-dimensional coordinate data of the gear under test (4.9).

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