Concentric circle laser-based bevel gear modeling and deviation measurement method and device
Patent Information
- Application Number
- CN202511522465.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-23
- Publication Date
- 2026-01-23
Smart Images
Figure CN121383845A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of gear precision measurement, in particular to a bevel gear modeling and deviation measurement method and device based on concentric circle laser. BACKGROUND
[0002] Traditional bevel gear measurement mostly adopts contact type measurement means such as coordinate measuring machine and gear measuring center to extract tooth surface data through a probe; a non-contact method such as linear laser needs to cooperate with a rotary table for scanning sampling and modeling. These methods have many limitations, and the measurement speed is slow, which is difficult to meet the rhythm and demand of modern industrial rapid production. The existing method has complex measurement system structure, cumbersome operation, and large data processing difficulty, and has many limitations, which is not conducive to rapid and convenient application and promotion in industrial production site. Because the existing method whether contact or non-contact needs to collect tooth surface data of the bevel gear through rotation, the sampling time is long, and a large amount of time is needed to measure a gear, which is not conducive to mass detection of bevel gears. SUMMARY
[0003] The present application provides a bevel gear modeling and deviation measurement method and device based on concentric circle laser, which is used to solve the problem of slow measurement speed of bevel gear measurement in the related art.
[0004] The first aspect of the present application provides a bevel gear modeling and deviation measurement method based on concentric circle laser, which comprises: constructing a concentric circle laser three-dimensional model according to laser profile data of the concentric circle laser irradiated on the tooth surface of the bevel gear, and obtaining a three-dimensional point cloud data set of corresponding laser profile points; determining a tooth surface point data set of a laser layer corresponding to the concentric circle laser three-dimensional model by layering analysis on radial distances of each point in the three-dimensional point cloud data set to a center axis of the bevel gear; performing surface fitting on point data of each laser layer according to the tooth surface point data set, obtaining a spatial surface model of the laser layer, and combining spatial surface models of all laser layers to generate a bevel gear three-dimensional model; measuring tooth surface geometric deviation of the bevel gear by extracting tooth surface related feature data from the bevel gear three-dimensional model; determining a precision grade of the bevel gear according to the tooth surface geometric deviation and a preset gear precision evaluation criterion.
[0005] Optionally, in the first implementation manner of the first aspect of the present application, the step of constructing a concentric circle laser three-dimensional model according to laser profile data of the concentric circle laser irradiated on the tooth surface of the bevel gear, and obtaining a three-dimensional point cloud data set of corresponding laser profile points comprises: The m laser circles are irradiated on the bevel gear tooth surface by a concentric laser instrument at a preset interval to generate a laser profile image with m laser layers; wherein, m is an integer greater than or equal to 1; The laser profile image is collected by a binocular camera, and the laser profile data of the m laser circles is processed to construct a corresponding concentric laser three-dimensional model; The point data coordinate information on the laser profile image is extracted by three-dimensional solving of the concentric laser three-dimensional model to obtain a three-dimensional point cloud data set.
[0006] Optionally, in the second implementation manner of the first aspect of the present application, the step of determining the tooth surface point data set of the laser layer corresponding to the concentric laser three-dimensional model by layering analysis of the radial distance of each point in the three-dimensional point cloud data set to the center axis of the bevel gear, comprises: The three-dimensional point cloud data set is layered according to the laser layer, and the radial distance of each point in the point data of each laser layer to the center axis of the bevel gear is determined to generate the radial distance distribution information of the corresponding points of each laser layer; The point data of each laser layer is interval divided according to the radial distance distribution information to determine the points between the maximum radial distance and the minimum radial distance as the tooth surface point data; The tooth surface point data set of the m laser layers of the corresponding tooth surface of the bevel gear is determined by clustering analysis of the tooth surface point data of each laser layer.
[0007] Optionally, in the third implementation manner of the first aspect of the present application, the step of fitting the point data of each laser layer according to the tooth surface point data set to obtain the spatial surface model of the laser layer, and combining the spatial surface models of all laser layers to generate a bevel gear three-dimensional model, comprises: The point data of the m laser layers of each tooth surface is fitted to the surface, the point data of the m laser layers is calculated to the surface function based on the least square method, and the spatial surface model of the corresponding tooth surface is generated; The spatial surface models corresponding to all tooth surfaces are spliced based on a preset spatial registration rule; The multi-tooth surface spatial surface model after splicing is restructured to generate a bevel gear three-dimensional model.
[0008] Optionally, in the fourth implementation manner of the first aspect of the present application, the tooth surface geometric deviation includes tooth profile deviation, and the step of measuring the tooth surface geometric deviation of the bevel gear by extracting tooth surface related feature data from the bevel gear three-dimensional model, comprises: The profile cross-section data of the target tooth surface is extracted from the bevel gear three-dimensional model, and the involute profile point set of the actual tooth profile of the tooth surface is determined based on the profile cross-section data; According to the theoretical tooth profile calculation rule of the bevel gear design parameter, a theoretical tooth profile point set corresponding to the involute profile point set is generated; By least square registration of the actual tooth profile point set and the theoretical tooth profile point set, a tooth profile deviation value of each registration point position is obtained by calculating the Euclidean distance between the registration points; By difference calculation of the maximum value and the minimum value in the tooth profile deviation value, a total tooth profile deviation corresponding to the target tooth surface is obtained.
[0009] Optionally, in the fifth implementation manner of the first aspect of the present application, the tooth surface geometric deviation includes a tooth pitch deviation, and the step of measuring the tooth surface geometric deviation of the bevel gear by extracting the tooth surface related feature data from the three-dimensional model of the bevel gear further includes: The center line of the target tooth surface is determined according to the average values of the left and right involute profiles of the tooth surface large end of the target tooth surface; Two intersection points of the corresponding center lines of the adjacent tooth surfaces on the reference circle are determined, and the actual tooth pitch is determined by calculating the arc length of the circular arc of the two intersection points on the reference circle; The tooth pitch deviation is determined according to the difference between the actual tooth pitch and the theoretical tooth pitch.
[0010] Optionally, in the sixth implementation manner of the first aspect of the present application, the tooth surface geometric deviation includes a tooth direction deviation, and the step of measuring the tooth surface geometric deviation of the bevel gear by extracting the tooth surface related feature data from the three-dimensional model of the bevel gear further includes: All space points of the target tooth surface at the reference circle height position are extracted from the three-dimensional model of the bevel gear to generate an actual tooth direction line point set of the target tooth surface; The space Euclidean distance between two points is calculated by traversing all two-point combinations in the actual tooth direction line point set; The tooth direction deviation corresponding to the target tooth surface is determined based on the maximum space Euclidean distance.
[0011] The second aspect of the present application provides a bevel gear modeling and deviation measurement device based on concentric circle laser, which is used to realize the bevel gear modeling and deviation measurement method based on concentric circle laser, and includes: The construction module is used to construct a concentric circle laser three-dimensional model according to the laser profile data of the concentric circle laser irradiated on the tooth surface of the bevel gear, and obtain a three-dimensional point cloud data set of corresponding laser profile points; The analysis module is used to determine a tooth surface point data set of the laser layer corresponding to the concentric circle laser three-dimensional model by layer analysis of the radial distance of each point in the three-dimensional point cloud data set to the center axis of the bevel gear; The generating module is configured to perform surface fitting on the point data of each laser layer according to the tooth surface point data set, obtain a spatial surface model of the laser layer, and combine the spatial surface models of all the laser layers to generate a bevel gear three-dimensional model; The measuring module is configured to measure the tooth surface geometric deviation of the bevel gear by extracting tooth surface related feature data from the bevel gear three-dimensional model. The determining module is configured to determine the precision level of the bevel gear according to the tooth surface geometric deviation and a preset gear precision evaluation criterion.
[0012] The third aspect of the embodiments of the present application provides an electronic device, including a memory and a processor, wherein the processor is configured to execute a computer program stored in the memory, and when the processor executes the computer program, each step of the bevel gear modeling and deviation measurement method based on concentric circle laser provided in the first aspect of the embodiments of the present application is implemented.
[0013] The fourth aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, each step of the bevel gear modeling and deviation measurement method based on concentric circle laser provided in the first aspect of the embodiments of the present application is implemented.
[0014] According to the bevel gear modeling and deviation measurement method and device based on concentric circle laser provided in the embodiments of the present application, the concentric circle laser three-dimensional model is constructed according to the laser profile data of the concentric circle laser irradiated on the tooth surface of the bevel gear, and the three-dimensional point cloud data set corresponding to the laser profile points is obtained. The tooth surface point data set corresponding to the laser layer of the concentric circle laser three-dimensional model is determined by layering analysis on the radial distance of each point in the three-dimensional point cloud data set to the center axis of the bevel gear. The spatial surface model of the laser layer is obtained by performing surface fitting on the point data of each laser layer according to the tooth surface point data set, and the bevel gear three-dimensional model is generated by combining the spatial surface models of all the laser layers. The tooth surface geometric deviation of the bevel gear is measured by extracting tooth surface related feature data from the bevel gear three-dimensional model. The precision level of the bevel gear is determined according to the tooth surface geometric deviation and a preset gear precision evaluation criterion. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 A bevel gear machine vision system device schematic diagram based on concentric circle laser is provided for the embodiments of the present application. Figure 2 A flowchart of the bevel gear modeling and deviation measurement method based on concentric circle laser provided for the embodiments of the present application is provided. Figure 3 A program module schematic diagram of the bevel gear modeling and deviation measurement device based on concentric circle laser provided for the embodiments of the present application is provided. Figure 4 A structural schematic diagram of an electronic device is provided for the embodiments of the present application. DETAILED DESCRIPTION
[0016] To make the purposes, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.
[0017] As Figure 1 A device diagram of a bevel gear machine vision system based on concentric circle laser is provided for the embodiments of the present application. The device adopts a structural framework constructed based on binocular vision and concentric circle laser measurement principle, and is composed of a binocular camera 1, a concentric circle laser instrument 2, a support 3 and a base 4. It constitutes a non-contact detection platform with spatial reconstruction capability. The whole device is installed on a rigid platform to ensure that the spatial relationship between all modules remains stable during the measurement process. Among them, the concentric circle laser module is used to emit a circular laser ring with multiple fixed intervals in the axial direction downward, so that multiple laser circles cover the entire tooth surface at equal intervals from the big end tooth top to the small end tooth top of the gear, forming multiple layers of laser profile lines. The concentric circle laser source is fixedly installed on the upper part of the device and is vertically aligned with the supporting structure below the gear. The binocular camera module is composed of a left camera and a right camera, which are respectively arranged on both sides of the laser module to collect images of the irradiated gear at a certain angle of view. The two cameras form a stereo vision system, which can synchronously shoot the profile images of the same laser irradiation area from two angles of view for subsequent three-dimensional reconstruction. The measured bevel gear is fixed through a clamp installed on a motorized turntable, and the orientation and positioning have been completed before collection. The whole device structure is constructed based on a stable support platform, and the installation positions of each component are strictly calibrated to ensure the consistency and registration accuracy of image acquisition and laser irradiation in three-dimensional space. The design of the system device ensures that the image acquisition and three-dimensional point data acquisition of multiple laser layers can be completed by only changing the laser irradiation and binocular camera angle of view without rotating the gear, thereby supporting the subsequent tooth surface classification, modeling and deviation calculation process. It is an integrated, high-precision and non-contact three-dimensional measurement platform for bevel gears.
[0018] In order to solve the problem of slow measurement speed of bevel gear measurement in the related art, the embodiments of the present application provide a bevel gear modeling and deviation measurement method based on concentric circle laser, as Figure 2 A flowchart of a bevel gear modeling and deviation measurement method based on concentric circle laser is provided for the embodiments. The bevel gear modeling and deviation measurement method based on concentric circle laser comprises the following steps: Step 110, constructing a concentric circle laser three-dimensional model according to the laser profile data of the bevel gear tooth surface irradiated by the concentric circle laser, and obtaining a three-dimensional point cloud data set corresponding to the laser profile points.
[0019] Specifically, based on the laser profile formed by the concentric circle laser irradiating on the bevel gear tooth surface, the image information of the laser irradiation area is obtained by binocular camera acquisition, and combined with the known laser layer spacing, binocular vision geometric parameters and other data, a concentric circle laser three-dimensional model is constructed. Through image registration and parallax calculation, the three-dimensional point position of the laser irradiation point in the space coordinate system is obtained, the three-dimensional modeling of the laser profile is realized, and the three-dimensional point data corresponding to each laser circle is extracted to form a structured point cloud data set.
[0020] In an optional embodiment of the present embodiment, the step of constructing a concentric circle laser three-dimensional model according to the laser profile data of the bevel gear tooth surface irradiated by the concentric circle laser, and obtaining a three-dimensional point cloud data set corresponding to the laser profile points, comprises: irradiating m laser circles on the bevel gear tooth surface based on a preset interval by controlling the concentric circle laser instrument to generate a laser profile image with m laser layers; wherein m is an integer greater than or equal to 1; acquiring the laser profile image by binocular camera and processing the laser profile data of the m laser circles to construct the corresponding concentric circle laser three-dimensional model; extracting the point data coordinate information on the laser profile image by three-dimensional calculation of the concentric circle laser three-dimensional model to obtain the three-dimensional point cloud data set.
[0021] Specifically, in the present embodiment, in order to realize high-precision modeling of the bevel gear tooth surface, first, a plurality of laser circles are irradiated to the gear surface by the concentric circle laser instrument, and the position relationship of each circle in the axial direction is controlled to form a series of regular laser profile images on the tooth surface. The concentric circle laser is installed above the system, and a plurality of circular ring light beams are emitted by adjusting the emission parameters, and the laser forms a concentric circle array perpendicular to the bevel gear axis in space. Each laser circle corresponds to a specific height of the gear in the axial direction, and the spacing between the circles is distributed according to the preset distance, irradiating from the large end of the gear tooth to the small end direction in turn to form a group of laser stripes uniformly distributed along the tooth surface. The m laser circles represent m laser layers formed on the entire tooth surface, and each laser profile corresponds to a geometric cross section, and the value of m determines the layering precision of the tooth surface modeling, for example, m is 10, which means that the tooth surface is divided into 10 laser layers at equal intervals, and the preset distance can be calculated based on the number of laser layers according to the tooth circle diameter and the tooth circle cone angle, and the corresponding calculation formula is h=da / (m×tan ), wherein h is the laser circle height information, i.e. the preset distance, da is the tooth circle diameter, is the addendum cone angle. Then, the irradiation result is synchronously imaged by a binocular camera system, which is composed of two industrial cameras with a baseline. The left and right images are obtained by imaging the same laser irradiation area from different angles. The principle of binocular vision is based on the human vision model. By taking the same target from two viewpoints, the depth information of the point can be calculated by matching the position difference of the corresponding laser contour points in the two images. Each laser point in the contour image appears at different positions in the two views. By extracting and matching the pixel coordinates of the same laser points in the left and right images using image processing algorithms, the parallax relationship between the point pairs can be established. Combined with the known baseline length and camera internal and external parameters of the binocular camera, the spatial three-dimensional coordinate values can be calculated using the triangulation formula. The position of each laser point output by this process is a laser ranging point, and its X, Y and Z coordinates are converted from the parallax. For example, when the horizontal coordinates of the laser stripe in the left and right images differ by d pixels, the depth Z value of the point in space can be obtained by combining the focal length and imaging scale factor of the camera. By sequentially processing m layers of laser stripe images, the three-dimensional laser contour data corresponding to the m layers of laser can be obtained. After completing the three-dimensional coordinate extraction, all three-dimensional point data calculated from the laser stripes need to be structured and integrated to construct a complete concentric circle laser three-dimensional model. This model is represented in space as a set of point sets distributed at the same height along the Z-axis direction. Each point set is in the form of a circular ring, and the overall reflects the spatial topography of the bevel gear tooth surface at different heights. Each laser layer corresponds to a section layer in the model, which can clearly describe the curvature characteristics of the tooth surface at that height. For example, in the large end addendum area of the bevel gear, the radius of the laser circle is the largest, and the corresponding point cloud surface is also relatively flat; while in the small end area, the circle radius decreases, the surface shrinks, and a complete conical profile is formed.
[0022] Step 120, by layering analysis of the radial distance of each point in the three-dimensional point cloud data set to the center axis of the bevel gear, the tooth surface point data set of the laser layer corresponding to the concentric circle laser three-dimensional model is determined.
[0023] Specifically, the radial distance between each point and the center axis of the bevel gear is calculated using the obtained three-dimensional point cloud data. According to the hierarchical structure of the concentric circle laser model, the point cloud data is layered according to the laser layer number, and the radial distance of each layer point set is statistically analyzed. By judging the interval between the farthest and nearest points from the center axis in each layer, the addendum, dedendum and intermediate tooth surface regions are determined, respectively, and then the point data in the tooth surface range in each layer is extracted, and the tooth surface points of multiple levels are angle clustered to construct a complete three-dimensional tooth surface point data cluster corresponding to each tooth surface of the gear.
[0024] In an optional implementation of the embodiment, the step of determining the tooth surface point data set of the laser layer corresponding to the concentric circle laser three-dimensional model by layering the radial distance of each point in the three-dimensional point cloud data set to the center axis of the bevel gear comprises: layering the three-dimensional point cloud data set according to the laser layer, determining the radial distance of each point in the point data of each laser layer to the center axis of the bevel gear, and generating the radial distance distribution information of the corresponding points of each laser layer; dividing the point data of each laser layer into intervals according to the radial distance distribution information, determining the points between the maximum radial distance and the minimum radial distance as the tooth surface point data, and determining the tooth surface point data set of m laser layers corresponding to the tooth surface of the bevel gear by clustering analysis on the tooth surface point data of each laser layer.
[0025] Specifically, in the present embodiment, in order to extract an accurate set of tooth surface points from three-dimensional point cloud data, it is first necessary to group the original point cloud by laser layer, i.e. to divide all point data according to laser layer number in the order of the layers at which the laser was emitted, each layer corresponding to a set of spatial points on a vertical slice of the bevel gear tooth surface. This process relies on the layer sequence information recorded when the laser is collected, each laser circle being assigned a unique number when emitted, and each point in the point cloud can then be identified by its source layer, thereby forming a point set structure of m independent laser layers. After completing the laser layer division, the point data in each laser layer is calculated for geometric quantities, the key being to calculate the radial distance of each point to the center axis of the bevel gear. The center axis is the rotational symmetry axis of the gear, which can be defined in space as the Z-axis direction passing through the gear coordinate origin and perpendicular to the tooth surface reference plane. The radial distance is the shortest distance from a spatial point to the axis, which can be obtained by calculating the square sum of the lateral coordinate components of the point and then taking the square root, for example, if the point coordinates are (x, y, z), the radial distance is V(x2+y2). Summarizing the radial distances of all points in the laser layer, the radial distance distribution information of the layer can be obtained, i.e. the geometric distribution law of the points in the layer from inside to outside on the axial symmetry plane. Arranging these distribution information in order of laser layer number can not only determine the expansion range of the tooth surface in different layers, but also distinguish the spatial position relationship between the tooth surface and the non-tooth surface area. According to the obtained radial distance distribution results, interval division is performed in each laser layer. By analyzing the maximum and minimum values of the radial distances of all points in the layer, the point cloud can be divided into three regions: the outermost points corresponding to the maximum radial distance, representing the addendum region; the innermost points corresponding to the minimum radial distance, representing the dedendum region; and a continuous set of points between the two, which are the tooth surface point data. This discrimination method combines the geometric knowledge of bevel gear structure, because on each layer, the tooth surface is essentially in the transition region between the addendum and the dedendum, which constitutes the effective meshing surface in gear transmission. Extracting the tooth surface region points can effectively eliminate the dedendum or background noise points, thereby retaining the effective data for modeling and fitting. In order to aggregate the points distributed in different laser layers but on the same tooth surface into a complete tooth surface data set, clustering analysis is performed on the tooth surface point data. This process analyzes the clustering characteristics of the tooth surface points in different layers in the polar angle direction (i.e. the rotation angle around the Z-axis), uses the number of gear teeth as the clustering number, and uses angle interval division or spatial distance threshold to classify the tooth surface points of each layer. Taking the point data of m laser layers as an example, after polar coordinate conversion, the angle value distribution of the tooth surface points of each layer exhibits periodic characteristics, and the clustering algorithm accordingly transversely splices the points belonging to the same tooth surface, forming a complete tooth surface point cloud data set spanning m layers. This set describes the actual topography of a tooth surface from the addendum to the dedendum at multiple spatial heights, providing accurate and structurally clear geometric input data for subsequent curve modeling and deviation analysis.
[0026] Step 130, according to the tooth surface point data set, the point data of each laser layer is surface fitted to obtain the spatial surface model of the laser layer, and the spatial surface models of all laser layers are combined to generate a bevel gear three-dimensional model.
[0027] Specifically, based on the constructed multi-layer tooth surface point data set, the spatial surface fitting processing is performed on each tooth surface. The fitting method usually adopts the least square algorithm, and a continuous and smooth three-dimensional surface structure is generated by fitting the overall profile of each layer of laser data points. The surface models of all tooth surfaces are combined according to the tooth number and installation angle parameters of the gear, and are registered and spliced in the three-dimensional coordinate system to finally generate a complete three-dimensional geometric model of the bevel gear.
[0028] In an alternative embodiment of the present embodiment, the step of generating a bevel gear three-dimensional model according to the tooth surface point data set, the point data of each laser layer is surface fitted to obtain the spatial surface model of the laser layer, and the spatial surface models of all laser layers are combined, including: surface fitting the point data of each tooth surface m laser layer, calculating the point data of m laser layer based on the least square method to generate the spatial surface model of the corresponding tooth surface; based on the preset spatial registration rule, the spatial surface models corresponding to all tooth surfaces are spliced; the multi-tooth surface spatial surface model after splicing is restructured to generate a bevel gear three-dimensional model.
[0029] Specifically, in the present embodiment, after extracting the point data set of each tooth surface m laser layers, in order to obtain the continuous spatial expression of the bevel gear tooth surface, the set needs to be subjected to surface fitting processing. Each tooth surface is composed of a plurality of laser layers of different heights, and the point cloud thereof is regularly distributed in space but has discreteness in the three-dimensional coordinate system, so the points need to be fitted into a continuous mathematical model for subsequent geometric calculation. The fitting process adopts least squares method to calculate the surface function, and the least squares method is a mathematical optimization method, which aims to obtain the optimal surface parameters in the sense that the sum of squares of the perpendicular distances between all input points and the fitted surface is minimized. Specifically, for each tooth surface, the m-layer point data thereof constitutes a dense but irregularly distributed point set, a quadratic surface, a polynomial surface or a B-spline surface can be selected as the function model, the coordinates of each point are substituted into the surface equation, and the undetermined coefficients in the equation are solved to minimize the sum of squares of all fitting residuals. After fitting is completed, the obtained spatial surface model represents the geometric appearance of each tooth surface in the three-dimensional space, but is limited to a single tooth surface. If a complete bevel gear model is to be constructed, all tooth surface model needs to be spliced and combined according to the correct spatial relationship. For this purpose, spatial registration rules need to be introduced, which means that a plurality of independent spatial entities are subjected to coordinate transformation according to certain geometric constraints, so as to be correctly connected in a unified coordinate system. The bevel gear tooth surfaces are arranged in a circular arrangement, so the registration rules can be determined by the number of teeth, the tooth slot angle interval, the reference axis position and other parameters of the gear. The specific method is to take the Z-axis as the axis of rotational symmetry, and rotate each tooth surface model according to the tooth slot angle to arrange all tooth surfaces in a circle. For example, if the gear has 20 teeth, each tooth surface needs to be rotated by 18 degrees around the Z-axis, and the affine transformation of rotation around the axis is applied in the transformation matrix, so that the spatial registration of a single tooth surface is completed. After the registration of all tooth surfaces is completed, the independent surfaces have formed a closed ring arrangement in the three-dimensional space. In order to form a complete three-dimensional model of the bevel gear, the plurality of surface models need to be subjected to structural reorganization. Structural reorganization means that the separated surfaces are subjected to boundary processing and geometric fusion to form a topologically continuous complete body model.
[0030] Step 140, measuring the tooth surface geometric deviation of the bevel gear by extracting tooth surface related feature data from the three-dimensional model of the bevel gear.
[0031] Specifically, by extracting feature data from the generated three-dimensional bevel gear model, the tooth profile line, the tooth direction line, the pitch point and other structural geometric information at the target tooth surface are obtained. According to the theoretical design parameters of the bevel gear, a theoretical geometric model is established, and the actual extracted feature data is calculated with the theoretical model to obtain a plurality of geometric deviation values including tooth profile deviation, tooth pitch deviation and tooth direction deviation. These deviations are directly derived from the topographic difference between the actual model and the ideal model, and reflect the manufacturing error or assembly deviation and other factors.
[0032] In an optional implementation of the embodiment, the step of measuring the tooth surface geometric deviation of the bevel gear by extracting tooth surface related feature data from the three-dimensional model of the bevel gear includes: extracting profile section data of the target tooth surface from the three-dimensional model of the bevel gear, and determining an involute profile point set of the actual tooth profile of the tooth surface based on the profile section data; generating a theoretical tooth profile point set corresponding to the involute profile point set according to the theoretical tooth profile calculation rule of the design parameters of the bevel gear; obtaining the tooth profile deviation value of each registration point position by performing least squares registration on the actual tooth profile point set and the theoretical tooth profile point set, and calculating the Euclidean distance between the registration points; and obtaining the total tooth profile deviation corresponding to the target tooth surface by calculating the difference between the maximum value and the minimum value in the tooth profile deviation value.
[0033] Specifically, in the embodiment, in order to obtain the tooth profile deviation of the target tooth surface of the bevel gear, the profile section data of the tooth surface is extracted from the three-dimensional model of the bevel gear which has been constructed. The profile section refers to a spatial curve obtained by cutting the target tooth surface along the vertical direction thereof, and has the characteristics of reflecting the profile topography of the tooth surface. The section position is generally selected at the large end surface in the addendum direction or near the reference circle to ensure that the extracted profile should theoretically be in the form of an involute. By setting the intersection of the section plane and the tooth surface, the intersection line of the plane and the tooth surface model is obtained by using the geometric clipping method, and a set of ordered spatial coordinate points is obtained, which is called an actual tooth profile point set. The curve formed by the actual tooth profile point set represents the actual geometric profile of the target tooth surface in space. After obtaining the actual tooth profile point set, the corresponding theoretical tooth profile point set is calculated according to the design parameters of the bevel gear. The theoretical tooth profile is the ideal tooth profile, and for the bevel gear, the tooth profile is a spatial involute generated along the addendum conical surface, and the projection thereof can be simplified to a two-dimensional involute. Based on the known parameters such as gear modulus, number of teeth, and pressure angle, a two-dimensional coordinate sequence of the theoretical tooth profile point set is generated by calculating the polar angle and radius of the theoretical addendum and dedendum positions, and if necessary, the coordinate transformation is performed to map the theoretical tooth profile point set to the three-dimensional space plane where the target section is located, so that the theoretical tooth profile point set and the actual tooth profile point set have comparability. After obtaining the theoretical tooth profile point set, the two sets of point data are registered, which means that the two sets of point data are aligned by geometric transformation so as to be in a unified coordinate system, and the point-by-point difference calculation is facilitated. The registration process adopts least squares method for rigid transformation fitting, that is, under the condition of ensuring the geometric shape between the point sets, the total distance square sum between the theoretical tooth profile point set and the actual tooth profile point set is minimized by rotation and translation transformation. After the registration is completed, the spatial Euclidean distance between each pair of points is the tooth profile deviation value at the position, and the difference between the maximum value and the minimum value is calculated by statistical analysis on the Euclidean distances between all the registration points, so as to obtain the total tooth profile deviation corresponding to the target tooth surface. The total tooth profile deviation is one of the core indicators for evaluating the tooth profile accuracy, and represents the deviation degree of the actual tooth profile relative to the theoretical tooth profile in the overall profile shape.
[0034] In an alternative embodiment of the present application, the step of measuring the tooth surface geometric deviation of the bevel gear by extracting the tooth surface related feature data from the three-dimensional model of the bevel gear further comprises: determining the center line of the target tooth surface according to the average value of the left and right involute profiles of the large end of the target tooth surface; determining two intersection points of the corresponding center lines of the adjacent tooth surfaces on the reference circle, and determining the actual pitch by calculating the arc length of the circular arc of the two intersection points on the reference circle; and determining the pitch deviation according to the difference between the actual pitch and the theoretical pitch.
[0035] Specifically, in the present embodiment, the tooth pitch deviation of the target tooth surface is obtained by extracting the left and right involute profiles at the large end of the tooth surface in the established bevel gear three-dimensional model. The large end is the large diameter end of the bevel gear near the addendum, which has the maximum width of the tooth surface area and best reflects the distribution state of the tooth profile. The left and right involute profiles correspond to the two side boundaries of the tooth surface, respectively, representing the two meshing surfaces of the tooth profile in gear transmission. By taking a plane along the axial direction of the tooth surface, the intersection of the cross section and the tooth surface model is obtained, that is, two space curves are extracted, and coordinate resampling is performed on them to obtain the point set sequence of the left and right boundaries. In the space coordinate system, the two point sets are processed one by one, and the average value of the coordinates of each pair of corresponding points is calculated, so as to obtain the center point sequence located in the middle of the two profiles. This group of center points constitutes the center line of the tooth surface. The center line represents the geometric center axis of the tooth surface in the axial symmetric direction in space, and is used to describe the position of the tooth surface in the circumferential direction, which is the basic data for calculating the tooth pitch. After the center line is determined, its spatial projection point at the height position of the reference circle needs to be further located. The reference circle refers to the reference circle used for tooth pitch calculation in bevel gear design, and its radius is determined by the module and the number of teeth. In the three-dimensional coordinate system, the reference circle corresponds to a fixed height conical section plane, and by intersecting the tooth surface center line with the plane, the spatial intersection point of the center line at the reference circle can be extracted. For any two adjacent tooth surfaces, after the above operations are performed, the three-dimensional coordinates of the two center points on the reference circle height plane can be obtained. Since the bevel gear tooth surface is arranged at equal intervals according to the circumferential angle, the two points form an arc on the reference circle. By converting the two points into polar coordinates, calculating the polar angle difference between the two points and the center axis of the bevel gear, and combining the radius of the reference circle, the arc length of the segment can be calculated by the circular arc length formula, which is the actual tooth pitch of the adjacent tooth surfaces. After obtaining the actual tooth pitch, it is compared with the theoretical tooth pitch preset in the design parameters, and the tooth pitch deviation can be obtained. The theoretical tooth pitch refers to the circular arc distance that should be possessed between adjacent teeth in ideal gear design, which is determined by the circumference length of the reference circle and the number of teeth. By calculating the difference between the actual tooth pitch and the theoretical tooth pitch, the tooth pitch error of the tooth pair can be obtained. If the difference is positive, it means that the distance between the two teeth is too large; if it is negative, it means that it is too small. The deviation values of multiple tooth pairs are counted, which can be used to analyze the periodic error of gear machining, tool eccentricity or turntable gap, and the maximum tooth pitch deviation value can also be used for precision grade determination. The acquisition of the tooth pitch deviation not only provides a quantitative basis for the accuracy of the gear pitch, but also provides key data support for subsequent assembly interference detection, tooth engagement simulation or process compensation.
[0036] In an optional implementation of the embodiment, the step of measuring the tooth surface geometric deviation of the bevel gear by extracting the tooth surface related feature data from the three-dimensional model of the bevel gear further includes: extracting all spatial points of the target tooth surface at the height position of the reference circle from the three-dimensional model of the bevel gear to generate a set of actual tooth trace points of the target tooth surface; calculating the spatial Euclidean distance between two points by traversing all two-point combinations in the set of actual tooth trace points; and determining the tooth trace deviation corresponding to the target tooth surface based on the maximum spatial Euclidean distance.
[0037] Specifically, in the present embodiment, firstly, a set of spatial points of the tooth surface at the height position of the reference circle of the bevel gear are extracted from the three-dimensional model of the bevel gear. The height position of the reference circle refers to the axial position corresponding to the design reference circle radius, which represents the reference layer of tooth profile calculation and meshing relationship in the gear structure. In the structure of the bevel gear, the tooth surface presents a conical feature, so the tooth surface section at the height position is a spatial curved surface with an inclination angle extending in the conical direction. By extracting a plurality of points distributed along the tooth direction at the height position, an actual tooth direction line of the tooth surface can be obtained. The extraction process depends on the conical angle parameter of the bevel gear, which defines the inclination direction of the tooth surface relative to the axis. According to the conical angle, a section plane consistent with the inclination direction of the tooth surface is constructed and intersected with the tooth surface model, so as to extract a set of spatial point coordinates on the intersection line, and finally form the actual tooth direction line point set. Each point in the point set is located on the spatial curved surface of the tooth surface and is distributed along the tooth height direction, which is a key set for describing the longitudinal linear feature of the tooth surface. After obtaining the actual tooth direction line point set, it is necessary to perform geometric analysis to judge the linear error of the tooth surface in the tooth direction. The error sources may include machining tool path deviation, angle deviation or thermal deformation, etc., and these errors are finally reflected in the tooth direction line as the position deviation or curvature change of the points. In order to quantify the deviation, all point pairs in the point set need to be traversed to calculate the spatial Euclidean distance between them. By performing this calculation on all possible point pairs in the point set, a distance sequence containing all distance values can be obtained. This process can reveal the overall morphology of the tooth direction line in space. If the machining precision of the tooth surface is high, the point set will be approximately collinear, and the maximum distance value will be close to the theoretical tooth height; if there is a zigzag or deformation, the distance will deviate from the theoretical value. Finally, the maximum value of the Euclidean distance between all calculated point pairs is selected as the tooth direction deviation of the target tooth surface in the tooth direction. The maximum distance value represents the geometric stretching degree between the farthest two points in the tooth direction line, reflecting the maximum nonlinear deviation of the tooth surface in the axial direction. The tooth direction deviation is usually closely related to the smooth meshing performance of the gear, and a large deviation will lead to meshing impact, increased noise or reduced transmission efficiency, so the value plays an important role in precision evaluation. For example, under the condition that the theoretical tooth direction line length should be 10.00 mm, if the maximum point pair distance reaches 10.25 mm, it means that there is a tooth direction deviation of 0.25 mm. This analysis can not only be used for precision grade division, but also further guide parameter compensation or jig correction in the machining process, providing effective data support for high-precision bevel gear manufacturing.
[0038] Step 150, determining the precision grade of the bevel gear according to the tooth surface geometric deviation and the preset gear precision evaluation criterion.
[0039] Specifically, according to the measured geometric deviation values of various types, and in combination with the gear accuracy evaluation criteria defined in the national or industry standards, the accuracy grade of the bevel gear is determined. In the evaluation process, first, the three types of geometric deviation values extracted, i.e., the total deviation of the tooth profile, the total deviation of the tooth pitch, and the deviation of the tooth trace, are compared with the corresponding standard limits. Each deviation corresponds to multiple grade threshold intervals, for example, if Fa is less than a certain threshold, it is a first-grade accuracy, otherwise, it is a second or third grade. The system independently compares the three deviation values through a logical judgment module, and takes the worst item in the evaluation results as the final gear accuracy grade to ensure that the overall actual error is completely reflected.
[0040] According to the bevel gear modeling and deviation measurement method based on concentric circle laser provided in the scheme, a concentric circle laser three-dimensional model is constructed according to laser profile data of a bevel gear tooth surface, and a three-dimensional point cloud data set of laser profile points is obtained; by layering analyzing the radial distance of each point in the three-dimensional point cloud data set to the center axis of the bevel gear, the tooth surface point data set corresponding to the laser layer is determined; the point data of each laser layer is fitted according to the tooth surface point data set, the spatial surface model of the laser layer is obtained, and all the spatial surface models of the laser layers are combined to generate a bevel gear three-dimensional model; by extracting tooth surface related feature data from the bevel gear three-dimensional model, the tooth surface geometric deviation of the bevel gear is measured; and according to a preset gear accuracy evaluation criterion, the accuracy grade of the bevel gear is determined. Through the scheme, the problem of incomplete bevel gear accuracy measurement and low work efficiency can be solved, and the work efficiency of bevel gear accuracy measurement is improved.
[0041] Figure 3 A bevel gear modeling and deviation measurement device based on concentric circle laser is provided for the embodiments of the present application. The bevel gear modeling and deviation measurement device based on concentric circle laser can be used to implement the bevel gear modeling and deviation measurement method based on concentric circle laser in the foregoing embodiments. As shown in the figure, the bevel gear modeling and deviation measurement device based on concentric circle laser mainly includes: Figure 3 The construction module 10 is configured to construct a concentric circle laser three-dimensional model according to laser profile data of the concentric circle laser irradiated on the tooth surface of the bevel gear, and obtain a three-dimensional point cloud data set of corresponding laser profile points. The analysis module 20 is configured to layering analyze the radial distance of each point in the three-dimensional point cloud data set to the center axis of the bevel gear, and determine the tooth surface point data set of the laser layer corresponding to the concentric circle laser three-dimensional model. The generation module 30 is configured to fit the point data of each laser layer according to the tooth surface point data set, obtain the spatial surface model of the laser layer, and combine the spatial surface models of all the laser layers to generate a bevel gear three-dimensional model. The measurement module 40 is configured to extract tooth surface related feature data from the bevel gear three-dimensional model, and measure the tooth surface geometric deviation of the bevel gear. The determining module 50 is configured to determine the accuracy grade of the bevel gear according to the tooth surface geometric deviation and a preset gear accuracy evaluation criterion.
[0042] In an optional implementation of the embodiment, the constructing module is specifically configured to: irradiate m laser circles on the tooth surface of the bevel gear based on a preset interval by controlling the concentric laser instrument to generate a laser profile image with m laser layers; wherein m is an integer greater than or equal to 1; collect the laser profile image by the binocular camera, and process the laser profile data of the m laser circles to construct a corresponding concentric laser three-dimensional model; and extract the point data coordinate information on the laser profile image by performing three-dimensional calculation on the concentric laser three-dimensional model to obtain a three-dimensional point cloud data set.
[0043] In an optional implementation of the embodiment, the analyzing module is specifically configured to: divide the three-dimensional point cloud data set according to the laser layers, and determine the radial distance of each point in the point data of each laser layer to the center axis of the bevel gear to generate the radial distance distribution information of the corresponding points of each laser layer; divide the point data of each laser layer according to the interval based on the radial distance distribution information, and determine the points between the maximum radial distance and the minimum radial distance as the tooth surface point data; and determine the tooth surface point data set of the m laser layers of the corresponding tooth surface of the bevel gear by performing clustering analysis on the tooth surface point data of each laser layer.
[0044] In an optional implementation of the embodiment, the generating module is specifically configured to: perform surface fitting on the point data of the m laser layers of each tooth surface, perform surface function calculation on the point data of the m laser layers based on the least square method to generate a spatial surface model of the corresponding tooth surface; splice the spatial surface models of all tooth surfaces based on a preset spatial registration rule; and perform structural reorganization on the multi-tooth surface spatial surface model after splicing to generate a three-dimensional model of the bevel gear.
[0045] In an optional implementation of the embodiment, the measuring module is specifically configured to: extract the profile cross-section data of the target tooth surface according to the three-dimensional model of the bevel gear, and determine the involute profile point set of the actual tooth profile of the tooth surface based on the profile cross-section data; generate the theoretical tooth profile point set corresponding to the involute profile point set according to the theoretical tooth profile calculation rule of the bevel gear design parameters; perform least square method registration on the actual tooth profile point set and the theoretical tooth profile point set, calculate the Euclidean distance between the registration points to obtain the tooth profile deviation value of each registration point position; and calculate the difference between the maximum value and the minimum value in the tooth profile deviation value to obtain the total tooth profile deviation of the target tooth surface.
[0046] In an optional implementation of the embodiment, the measuring module is specifically further configured to: determine the center line of the target tooth surface according to the average value of the left and right involute profiles of the large end of the target tooth surface; determine two intersection points of the corresponding center lines of adjacent tooth surfaces on the reference circle, and determine the actual pitch by calculating the arc length of the circular arc of the two intersection points on the reference circle; and determine the pitch deviation according to the difference between the actual pitch and the theoretical pitch.
[0047] In an optional implementation of the embodiment, the measuring module is specifically further configured to: extract all spatial points of the target tooth surface at the reference circle height position from the bevel gear three-dimensional model to generate a point set of the actual tooth direction line of the target tooth surface; calculate the spatial Euclidean distance between two points by traversing all two-point combinations in the point set of the actual tooth direction line; and determine the tooth direction deviation of the target tooth surface based on the maximum spatial Euclidean distance.
[0048] According to the bevel gear modeling and deviation measuring device based on concentric circle laser provided in the application, the concentric circle laser three-dimensional model is constructed according to the laser profile data of the tooth surface of the bevel gear, and the three-dimensional point cloud data set of the laser profile points is obtained; the tooth surface point data set of the corresponding laser layer is determined by performing layered analysis on the radial distance of each point in the three-dimensional point cloud data set to the center axis of the bevel gear; the spatial surface model of each laser layer is obtained by performing surface fitting on the point data of each laser layer according to the tooth surface point data set, and the spatial surface models of all laser layers are combined to generate the three-dimensional model of the bevel gear; the tooth surface geometric deviation of the bevel gear is measured by extracting the tooth surface related feature data from the three-dimensional model of the bevel gear; and the precision grade of the bevel gear is determined according to the preset gear precision evaluation criterion. The application can solve the problems of incomplete bevel gear precision measurement and low work efficiency, and improve the work efficiency of bevel gear precision measurement.
[0049] According to the bevel gear modeling and deviation measuring device based on concentric circle laser provided in the application, Figure 4 An electronic device is provided for the embodiment of the application. The electronic device can be used to implement the bevel gear modeling and deviation measuring method based on concentric circle laser in the foregoing embodiments, and mainly includes: The memory 401, the processor 402, and the computer program 403 stored in the memory 401 and executable on the processor 402 are communicatively connected. When the processor 402 executes the computer program 403, the bevel gear modeling and deviation measuring method based on concentric circle laser in the foregoing embodiments is implemented. The number of processors can be one or more.
[0050] The memory 401 can be a high-speed random access memory (RAM) memory, and can also be a non-volatile memory such as a disk memory. The memory 401 is used to store executable program codes, and the processor 402 is coupled to the memory 401.
[0051] Further, the embodiment of the present application further provides a computer readable storage medium, which can be arranged in the electronic device in the above-mentioned embodiments, and the computer readable storage medium can be the memory in the above-mentioned embodiments. Figure 4
[0052] The computer readable storage medium stores a computer program, and the program is executed by the processor to implement the bevel gear modeling and deviation measurement method based on the concentric circle laser in the above-mentioned embodiments. Further, the computer readable storage medium can also be a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk or an optical disk, and various media that can store program codes.
[0053] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-mentioned system, device and unit can refer to the corresponding processes in the above-mentioned method embodiments, and will not be described here.
[0054] The integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The above-mentioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.
[0055] The above-described embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A method for modeling and measuring the deviation of bevel gears based on concentric circle lasers, characterized in that, include: Concentric circle laser 3D model is constructed based on the laser contour data of concentric circle laser irradiation on the tooth surface of bevel gear, and the corresponding 3D point cloud dataset of laser contour points is obtained. By performing a layered analysis of the radial distance from each point in the three-dimensional point cloud dataset to the central axis of the bevel gear, the tooth surface point dataset corresponding to the laser layer of the concentric circle laser three-dimensional model is determined. Based on the tooth surface point dataset, surface fitting is performed on the point data of each laser layer to obtain the spatial surface model of the laser layer, and the spatial surface models of all laser layers are combined to generate a three-dimensional model of the bevel gear. By extracting tooth surface-related feature data from the three-dimensional model of the bevel gear, the geometric deviation of the tooth surface of the bevel gear is measured. The accuracy grade of the bevel gear is determined based on the tooth surface geometric deviation and the preset gear accuracy evaluation criteria.
2. The method for modeling and measuring deviations of bevel gears based on concentric circle lasers according to claim 1, characterized in that, The steps of constructing a concentric circular laser 3D model based on the laser contour data of the concentric circular laser irradiation on the bevel gear tooth surface, and obtaining the corresponding 3D point cloud dataset of the laser contour points, include: By controlling a concentric circle laser instrument to irradiate m laser circles onto the tooth surface of a bevel gear at a preset interval, a laser contour image with m laser layers is generated; where m is an integer greater than or equal to 1. The laser contour images are acquired by a binocular camera, and the laser contour data of the m laser circles are processed to construct the corresponding concentric circle laser 3D model. By performing three-dimensional calculations on the concentric circle laser three-dimensional model, the coordinate information of point data on the laser contour image is extracted to obtain a three-dimensional point cloud dataset.
3. The method for modeling and measuring deviations of bevel gears based on concentric circle lasers according to claim 2, characterized in that, The step of determining the tooth surface point dataset corresponding to the laser layer of the concentric circle laser 3D model by performing layered analysis on the radial distance from each point in the 3D point cloud dataset to the central axis of the bevel gear includes: The three-dimensional point cloud dataset is divided into layers according to the laser layer, and the radial distance from each point in the point data of each laser layer to the central axis of the bevel gear is determined, thereby generating radial distance distribution information of corresponding points in each laser layer; Based on the radial distance distribution information, the point data of each laser layer are divided into intervals, and the points between the maximum and minimum radial distances are determined as tooth surface point data. By performing cluster analysis on the tooth surface point data of each laser layer, the set of tooth surface point data of m laser layers corresponding to the tooth surface of the bevel gear is determined.
4. The method for modeling and measuring deviations of bevel gears based on concentric circle lasers according to claim 3, characterized in that, The step of performing surface fitting on the point data of each laser layer based on the tooth surface point dataset to obtain the spatial surface model of the laser layer, and combining the spatial surface models of all laser layers to generate a three-dimensional model of the bevel gear includes: Surface fitting is performed on the point data of m laser layers on each tooth surface. The surface function is calculated on the point data of the m laser layers based on the least squares method to generate the spatial surface model of the corresponding tooth surface. Based on the preset spatial registration rules, all spatial surface models corresponding to the tooth surfaces are spliced together; The assembled multi-tooth surface spatial curved model is structurally reorganized to generate a three-dimensional model of a bevel gear.
5. The method for modeling and measuring deviations of bevel gears based on concentric circle lasers according to claim 1, characterized in that, The tooth surface geometric deviation includes tooth profile deviation. The step of measuring the tooth surface geometric deviation of the bevel gear by extracting tooth surface-related feature data from the three-dimensional model of the bevel gear includes: Based on the three-dimensional model of the bevel gear, the contour section data of the target tooth surface is extracted, and the involute contour point set of the actual tooth profile is determined based on the contour section data. Based on the theoretical tooth profile calculation rules of the bevel gear design parameters, a theoretical tooth profile point set corresponding to the involute profile point set is generated; By registering the actual tooth profile point set with the theoretical tooth profile point set using the least squares method, and by calculating the Euclidean distance between the registration points, the tooth profile deviation value at each registration point position is obtained. The total tooth profile deviation corresponding to the target tooth surface is obtained by calculating the difference between the maximum and minimum values of the tooth profile deviation.
6. The method for modeling and measuring deviations of bevel gears based on concentric circle lasers according to claim 5, characterized in that, The tooth surface geometric deviation includes tooth pitch deviation. The step of measuring the tooth surface geometric deviation of the bevel gear by extracting tooth surface-related feature data from the three-dimensional model of the bevel gear further includes: The centerline of the target tooth surface is determined based on the average value of the two involute profiles on the left and right sides of the large end of the target tooth surface. Determine the two intersection points of the corresponding center lines of adjacent tooth surfaces on the pitch circle, and determine the actual tooth pitch by calculating the arc length of the two intersection points on the pitch circle; The tooth pitch deviation is determined based on the difference between the actual tooth pitch and the theoretical tooth pitch.
7. The method for modeling and measuring deviations of bevel gears based on concentric circle lasers according to claim 6, characterized in that, The tooth surface geometric deviation includes tooth direction deviation. The step of measuring the tooth surface geometric deviation of the bevel gear by extracting tooth surface-related feature data from the three-dimensional model of the bevel gear further includes: Based on the three-dimensional model of the bevel gear, extract all spatial points at the pitch circle height position of the target tooth surface to generate the actual tooth direction line point set of the target tooth surface; The spatial Euclidean distance between two points is calculated by traversing all pairs of points in the actual tooth line point set. The tooth orientation deviation corresponding to the target tooth surface is determined based on the maximum spatial Euclidean distance.
8. A bevel gear modeling and deviation measurement device based on concentric circle laser, characterized in that, The concentric circle laser-based bevel gear modeling and deviation measurement device is used to implement the concentric circle laser-based bevel gear modeling and deviation measurement method. The concentric circle laser-based bevel gear modeling and deviation measurement device includes: The module is used to construct a three-dimensional model of a concentric laser based on the laser contour data of the concentric laser irradiating the tooth surface of a bevel gear, and to obtain a three-dimensional point cloud dataset of the corresponding laser contour points. The analysis module is used to determine the tooth surface point dataset of the laser layer corresponding to the concentric circle laser 3D model by performing layered analysis on the radial distance from each point in the 3D point cloud dataset to the central axis of the bevel gear. The generation module is used to perform surface fitting on the point data of each laser layer according to the tooth surface point dataset, obtain the spatial surface model of the laser layer, and combine the spatial surface models of all laser layers to generate a three-dimensional model of the bevel gear. The measurement module is used to measure the geometric deviation of the bevel gear tooth surface by extracting tooth surface-related feature data from the three-dimensional model of the bevel gear. The determination module is used to determine the accuracy grade of the bevel gear based on the tooth surface geometric deviation and the preset gear accuracy evaluation criteria.
9. An electronic device, characterized in that, Includes memory and processor, of which: The processor is used to execute computer programs stored in the memory; When the processor executes the computer program, it implements the steps in the method for modeling and measuring deviations of bevel gears based on concentric circle lasers as described in any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps in the method for modeling and measuring deviations of bevel gears based on concentric circle lasers as described in any one of claims 1 to 7.