Method for machining a workpiece having two toothings, positioning device for determining a reference rotational angular position of a workpiece, and machine tool having such a positioning device

Abstract

In a method for machining a workpiece (60) having first and second toothings (61, 62), a reference tooth structure of the first toothings (61) is identified. The reference tooth structure is then measured by means of a reference measuring device (140) in order to determine a reference rotational angular position of the workpiece. The second toothings (62) are subsequently machined such that they obtain a rotational angular position which is in a predetermined relationship to the determined reference rotational angular position. A positioning device (100) determines the reference rotational angular position of the workpiece, and the machine tool has the positioning device.

Description

Technical Field

[0001] The present invention relates to a method for machining a workpiece having first and second teeth, a positioning device configured for use in the method, and a machine tool suitable for performing the method. Background Technology

[0002] In transmission structures, workpieces with two or more teeth on a common shaft are sometimes used. Such workpieces are also referred to below as double-toothed parts. These workpieces are commonly used, for example, in electric drives.

[0003] Workpieces are typically pre-machined using soft machining methods and then hardened. Hard finishing is then performed. During hard finishing, the task often involves machining one of two teeth such that it is precisely oriented relative to the other tooth (hereinafter referred to as the reference tooth) in a predetermined manner with respect to its rotational angular position. For example, it is often pre-set that the tooth structure of the tooth to be machined, such as the teeth or backlash, should be precisely flush with a pre-set reference tooth structure of the reference tooth.

[0004] It is known that the rotational angular position of the tooth structure (e.g., tooth tip or backlash) of a tooth is determined using a non-contact centering sensor. The centering sensor can be configured as, for example, an inductive or capacitive sensor. As the workpiece rotates past the centering sensor, the sensor determines the position of the tooth structure in a non-contact manner.

[0005] However, common centering sensors often cannot determine the angular position of the tooth structure with sufficient accuracy to ensure that the two gaps between the two teeth are flush with the desired precision. This is especially true when the teeth have chamfers (i.e., bevels or roundings) at the transition between the tooth surface and the tooth tip. Chamfers make it difficult to identify the orientation of the tooth structure using a centering sensor. Furthermore, it is not always guaranteed that all teeth have the same chamfer.

[0006] DE 10 2017 105 125 U1 discloses a tooth measuring device with two measuring devices. One of the two measuring devices is a probe system, and the other is a non-contact sensor device. The first measuring device is movable along the measuring axis. The second measuring device is movable between two positions relative to the first measuring device in a "back-mounted" arrangement. This document does not address the problem of dual-tooth structures.

[0007] EP 3 518 058 A1 discloses a method for automatically positioning a toothed workpiece having machine-readable, workpiece-specific markings. These markings are detected, and the actual position of the workpiece is determined based on them. The workpiece is then positioned as desired. This document does not address the issue of double-toothed sections. Summary of the Invention

[0008] One objective is to provide a method for machining a workpiece having at least two teeth, the method being able to machine one of the two teeth such that the tooth is precisely oriented relative to the other tooth in a predetermined manner with respect to its rotational angular position. The method should also be able to achieve precise orientation when the tooth has a chamfer.

[0009] The objective is achieved by the method described in an embodiment of the present invention. Further embodiments are proposed in the following description.

[0010] A method for machining a workpiece having first and second teeth is provided. The workpiece is rotatably clamped about a workpiece axis. The method includes:

[0011] At least one reference tooth structure of the first tooth portion is identified using a reference identification device;

[0012] The reference tooth structure is measured using a reference measuring device in order to determine the reference rotation angle position of the workpiece; and

[0013] The second tooth is machined using a machining tool to achieve a rotation angle position that is in a predetermined relationship with a measured reference rotation angle position.

[0014] First, at least one reference tooth structure (e.g., reference tooth or reference backlash) of the first tooth portion (reference tooth portion) is clearly identified. Then, the reference tooth structure is precisely measured. This allows for the rapid and high-precision determination of the reference angular position of the workpiece. Optionally, multiple reference tooth structures of the reference tooth portion can be measured to determine the reference rotation angle position with particular precision. The second tooth portion can now be machined based on the thus-determined reference rotation angle position of the reference tooth portion. This ensures that, through machining, the second tooth portion acquires a rotation angle position that is highly correlated with the determined reference rotation angle position. For example, it can be ensured that, after machining, at least one tooth structure of the second tooth portion is precisely flush with at least one predetermined reference tooth structure of the first tooth portion or has a specific rotation angle difference with that reference tooth structure. Unlike typically, it is not the orientation of the tooth structure of the second tooth portion that determines how the tooth portion is machined, but rather the orientation of the tooth structure of the first tooth portion that plays a decisive role.

[0015] The machining of the second tooth can be performed, for example, by generating machining methods, particularly by grinding, scraping, or honing. In this case, the rolling coupling angle used in the generating machining method is preferably determined using a pre-measured reference rotation angle position of the workpiece. Therefore, instead of determining the rotation angle position of the tooth to be machined as is usually the case, the rolling coupling angle is determined based on the orientation of the reference tooth structure of the pre-measured reference tooth. However, machining methods different from generating machining methods can also be considered, such as contour grinding indexing methods.

[0016] In an advantageous design, the workpiece has at least one mark, and the reference identification device includes a non-contact mark detection device. Thus, the reference tooth structure for identifying at least one of the first tooth portions can include:

[0017] Detecting at least one mark on a workpiece using a mark detection device; and

[0018] Identify at least one reference tooth structure of the first tooth based on the detected markings.

[0019] The marking can be of any type and can be detected non-contactly. For example, the marking can be formed by drilling a hole through a region of the workpiece on the end side, wherein the hole can be blind or continuous. The hole can be open or filled with a filler material. However, the marking can also be formed by engraving, chamfering, embossing, or stamping. Various other types of markings can be considered. Depending on the type of marking, the marking detection device can include, for example, inductive, capacitive, or optical sensors.

[0020] The mark can be placed at any location on the workpiece. In the simplest case, the mark can be placed radially on the end face of the workpiece within the first tooth and directly oriented to the reference tooth structure. However, the mark can also be oriented to a tooth structure of the first tooth that is different from the reference tooth structure. The mark can even be placed at a location on the workpiece that is relatively far from the reference tooth structure, such as on a shaft or in the region of the second tooth. It is sufficient that the orientation of the reference tooth structure can be definitively inferred from the orientation of the mark. High precision is not required when determining the orientation, as only the reference tooth structure needs to be identified based on the mark, and its accurate orientation is determined only in a separate measurement.

[0021] In an advantageous embodiment, the mark detection device has first and second mark sensors, which can be arranged sequentially or adjacent to each other in the circumferential direction of the workpiece. Detecting marks on the workpiece then advantageously includes forming a difference in the signals of the first and second mark sensors, so that the marks can be identified more reliably in this way.

[0022] Alternatively or attached to the marking sensor, the reference identification device can include a first centering sensor that operates non-contactly and a second centering sensor that operates non-contactly. Then, at least one reference tooth structure of the first tooth can be identified using a so-called "best fit" method. The method can include the following steps:

[0023] The rotational angular position of the tooth structure of the first tooth is determined using a first centering sensor;

[0024] The rotational angular position of the tooth structure of the second tooth is determined using a second centering sensor.

[0025] The rotation angle distance between the tooth structure of the first tooth and the tooth structure of the second tooth is determined from the measured rotation angle position, and at least one reference tooth structure of the first tooth is identified by comparing the rotation angle distance with a preset expected distance value.

[0026] In particular, tactile or optical sensors can be used as reference measuring devices for measuring reference tooth structures. Such sensors enable measurements of the reference tooth structure with exceptionally high accuracy. If the reference measuring device includes a tactile sensor, the tactile sensor can particularly have a sensor base and a probe tip. In some embodiments, the probe tip can extend relative to the sensor base to engage with the first tooth in a preferred radial direction of introduction without moving the entire tactile sensor. This is particularly advantageous when the tactile sensor is mounted on a common sensor carrier along with other sensors, especially with the reference identification device. In other embodiments, the entire tactile sensor can be displaced or pivoted relative to the sensor carrier to engage with the first tooth.

[0027] Measurements using tactile sensors can be performed by slightly altering the rotational angular position of the workpiece back and forth, with the probe tip positioned in a region of the tooth surface of a reference tooth structure. The rotational angular position of the workpiece is then determined, at which the probe tip touches either the left or right tooth surface of the reference tooth structure, and an average value is derived therefrom. This can optionally be performed at multiple locations in the tooth surface direction and / or profile direction. However, other tactile or optical methods can also be used to measure the reference tooth structure, as are known in principle from the field of tooth inspection.

[0028] Additionally, it is possible to inspect the first tooth using a non-contact first centering sensor and / or the second tooth using a non-contact second centering sensor during the workpiece's rotation around its axis. This is particularly meaningful when a reference tooth structure is identified based on markings. In particular, this enables the performance of a consistency check.

[0029] Therefore, before measuring the reference tooth structure using the reference measuring device, the first tooth portion can be inspected using a first centering sensor to identify, for example, errors in identifying the reference tooth structure or pre-machining errors of the first tooth portion. In particular, inspecting the first tooth portion using a centering sensor can be used to check whether the expected type of tooth structure (e.g., backlash) is actually located at the position previously determined using the reference identification device. If the expected type of tooth structure is not present at the determined position, an error exists, and the method can be stopped. The first centering sensor can also be used to determine the rotational angular position of the reference tooth structure more accurately than relying solely on markings. The reference tooth structure can then be measured by the reference measuring device in a highly targeted manner and correspondingly at high speed.

[0030] The second centering sensor can be used to inspect the second tooth to identify pre-machining errors. This is particularly useful for identifying workpieces where the planned machining cannot be performed or the desired results cannot be achieved due to excessive pre-machining errors. Furthermore, it can prevent, in extreme cases, damage to the machining tool caused by excessive pre-machining errors when introducing the tool at a rotation angle position determined based on a measured reference rotation angle.

[0031] In an advantageous design, the reference measuring device is mounted on the sensor carrier. Other sensor devices can be mounted on the sensor carrier, particularly at least a portion of the reference identification device, such as a marking sensor and / or one or more centering sensors. This allows for the creation of a compact unit that can move as a whole relative to the workpiece.

[0032] The sensor carrier is movable between a measuring position and a parking position to enable, for example, collision-free loading and unloading of workpieces, or to protect the aforementioned sensor device from the harmful effects of chips and cooling lubricants during workpiece machining. This movement of the sensor carrier can be achieved, in particular, by pivoting about a pivot axis that can extend, for example, perpendicular or parallel to the workpiece axis, or by displacement along a displacement direction that can extend, for example, radially or parallel to the workpiece axis.

[0033] To ensure the maximum possible accuracy in determining the reference angular position, even if the components involved are stretched or distorted due to thermal effects, the method can include: determining the orientation of the sensor carrier with respect to at least one spatial direction at the measurement position. In particular, the orientation of the sensor carrier relative to the workpiece can be determined at the measurement position with respect to one or more of the following spatial directions: a tangential direction extending tangentially to the workpiece; an axial direction extending parallel to the workpiece axis; and a radial direction extending radially relative to the workpiece axis. A corresponding orientation reference device can be provided for this purpose. A feasible orientation reference device will be described in detail below. The determined reference angular position can then be corrected based on the determined orientation of the sensor carrier in space.

[0034] The rotational angular position of the workpiece can differ between the identification and measurement reference tooth structures because the reference identification and measurement devices are not necessarily aligned. The corresponding rotational angular difference can be calibrated using a shaped workpiece, meaning calibration is performed using a workpiece precisely corresponding to the designed workpiece. In this way, the relative rotational angular position of the workpiece during measurement of the reference tooth structure and workpiece machining, as well as the relative rotational angular position of the tool, can be calibrated. Similarly, the angular positions of other sensors can be calibrated using a shaped workpiece.

[0035] The positioning of different sensor devices on a sensor carrier (reference identification device, reference measuring device, etc.) can be achieved using a gauge. This gauge, for example, can geometrically correspond to a workpiece blank, whose geometry is chosen to match that of the workpiece to be machined, but the workpiece blank does not have pre-machined teeth and contains a certain allowance, for example, 0.1 mm, in the direction of the sensor device. The sensor device can then be positioned by bringing it into contact with the gauge.

[0036] The proposed method is equally applicable to both external and internal tooth sections. In particular, the following combinations are feasible:

[0037] Both the first and second teeth are external teeth; in this case, the reference measuring device points inward in the measuring position, that is, in the direction of the workpiece axis, and if a centering sensor is present, the centering sensor also points inward in the measuring position.

[0038] Both the first and second teeth are internal teeth; in this case, the reference measuring device points outward in the measuring position, i.e. away from the workpiece axis, and if a centering sensor is present, the centering sensor also points outward in the measuring position.

[0039] The first tooth is an internal tooth, and the second tooth is an external tooth; in this case, the reference measuring device points outward in the measuring position, and if a centering sensor is present, the first centering sensor points outward in the measuring position, while the second centering sensor points inward.

[0040] The first tooth is an external tooth, and the second tooth is an internal tooth; in this case, the reference measuring device points inward in the measuring position, and if a centering sensor is present, the first centering sensor points inward in the measuring position, while the second centering sensor points outward.

[0041] In a second aspect, the present invention provides a positioning device for determining a reference rotational angular position of a workpiece. The workpiece further has first and second teeth. The positioning device comprises:

[0042] A reference identification device, configured to non-contactly identify at least one reference tooth structure of a first tooth portion; and

[0043] A reference measuring device is configured to measure the reference tooth structure of a first tooth portion identified by a reference identification device, so as to determine the reference rotation angle position of the workpiece.

[0044] The positioning device can be configured specifically for use in the above-described method.

[0045] As already detailed, the reference identification device can include a mark detection device configured for non-contact detection of marks on a workpiece. The mark detection device can have first and second mark sensors, wherein the first and second mark sensors are arranged sequentially or adjacent to each other in the circumferential direction of the workpiece.

[0046] As already detailed, the reference identification device may alternatively or additionally include: a non-contact, first centering sensor for determining the rotational angular position of the tooth structure of the first tooth; and

[0047] A non-contact, second centering sensor is used to determine the rotational angular position of the tooth structure of the second tooth.

[0048] As detailed above, the reference measuring device can include a tactile sensor or an optical sensor. The tactile sensor can have a probe tip that extends relative to the sensor base to engage with the first tooth in a preferred radial direction of introduction. Alternatively or additionally, the tactile sensor can be displaced or pivoted relative to the sensor carrier to engage with the first tooth.

[0049] If the positioning device includes a first and / or a second centering sensor, it is advantageous that the first and / or the second centering sensor are offset relative to the reference measuring device along the circumferential direction of the workpiece. This avoids the need for the positioning device to move between using the centering sensor and using the reference measuring device. Particularly advantageous is that the first and / or the second centering sensor defines a radial measuring direction that extends at an angle to the direction of introduction of the probe tip, wherein preferably both the radial direction of introduction of the probe tip and the radial measuring direction extend parallel to an orthogonal plane relative to the workpiece axis.

[0050] If present, the mark detection device can define a detection direction that differs from the probe tip's introduction direction, for example, extending perpendicular to the probe tip's introduction direction. However, other designs are also feasible, with the precise design depending largely on the location on the workpiece where the mark will be placed.

[0051] As already detailed, the positioning device can have a sensor carrier on which a reference measuring device is mounted. Preferably, at least a portion of the reference identification device is mounted on the sensor carrier. The sensor carrier can be movably connected to the base element so that the sensor carrier can move between a parking position and a measuring position, particularly by pivoting about a pivot axis extending, for example, perpendicular or parallel to the workpiece axis, or by shifting along a displacement direction extending, for example, radially or parallel to the workpiece axis.

[0052] The positioning device can be part of a machine tool used for machining the second tooth. The positioning device can have a workpiece carrier and at least one workpiece spindle disposed thereon, wherein the workpiece spindle is configured to accommodate the workpiece for rotation about a workpiece axis. The machine tool can also have a machine bed. The workpiece carrier can be part of or rigidly connected to the machine bed, or the workpiece carrier can move relative to the machine bed, particularly pivoting about a workpiece carrier axis.

[0053] If the workpiece carrier can move relative to the machine tool bed, and the sensor carrier can be movably connected to the base element, it is advantageous that the base element is located on the machine tool bed, i.e., the positioning device does not move with the workpiece carrier.

[0054] If an orientation reference device is present, then the orientation reference device can have at least one orientation reference target and at least one orientation reference sensor. In this case, it is advantageous that at least one orientation reference target is connected to the workpiece carrier, while at least one orientation reference sensor is connected to the sensor carrier, or at least one orientation reference target is connected to the sensor carrier, while at least one orientation reference sensor is connected to the workpiece carrier.

[0055] Another option is to mount the positioning device, especially the sensor carrier, on the workpiece carrier so that it moves with the workpiece carrier. This has the advantage of enabling the identification and measurement of the reference tooth structure not only when the workpiece carrier is stationary but also during its movement. This minimizes non-productive auxiliary machining time. If the workpiece carrier can pivot relative to the machine bed about its axis, it is advantageous to position the sensor carrier radially on the workpiece carrier in the region between the workpiece carrier axis and the workpiece axis.

[0056] Furthermore, the machine tool can have a tool spindle configured to house a machining tool for rotating about a tool axis. The tool spindle can also have a control device configured to perform the methods described above. Therefore, the controller can be configured to enable the sensor carrier to move, particularly pivot or shift, between a parking position and a measuring position. The controller can also be configured to determine, in the measuring position, the orientation of the sensor carrier relative to the workpiece with respect to at least one spatial direction, particularly the tangential, axial, and / or radial directions mentioned above, using an orientation reference device. The controller can also be configured to shift the probe tip of the tactile sensor relative to the sensor carrier along the introduction direction to introduce the probe tip into the first tooth. Furthermore, the controller can also be configured to measure the first tooth using a first non-contact centering sensor and / or the second tooth using a second non-contact centering sensor before the tactile sensor engages with the first tooth, to avoid pre-machining errors in measuring the second tooth. Attached Figure Description

[0057] Preferred embodiments of the invention are described below with reference to the accompanying drawings. These embodiments are for illustrative purposes only and should be interpreted as non-limiting. The drawings show:

[0058] Figure 1 A schematic perspective view of a finishing machine tool with a positioning device according to a first embodiment, shown in the measurement position;

[0059] Figure 2 A perspective view of the positioning device according to the first embodiment in the parking position is shown;

[0060] Figure 3 A perspective view of the positioning device according to the first embodiment in the measurement position;

[0061] Figure 4 Shown in Figure 3 A magnified view of detail IV in the image;

[0062] Figure 5A top view of the positioning device according to the first embodiment, along with the retracted probe tip, is shown at the measurement position;

[0063] Figure 6 A top view showing the protruding probe tip of the positioning device according to the first embodiment in the measurement position;

[0064] Figure 7 An exemplary flowchart for machining a workpiece is shown;

[0065] Figure 8 A top view of the positioning device according to the second embodiment is shown in the measurement position, with the parking position indicated by dashed lines;

[0066] Figure 9 A side view of the positioning device according to the third embodiment is shown in the measurement position;

[0067] Figure 10 A side view of the positioning device according to the fourth embodiment is shown in the measurement position;

[0068] Figure 11 A top view of the positioning device in the fourth embodiment at the measurement location is shown;

[0069] Figure 12 A top view of the positioning device in the fourth embodiment in the parking position is shown;

[0070] Figure 13 A schematic perspective view of a finishing machine tool with a positioning device according to a fifth embodiment is shown;

[0071] Figure 14 An enlarged view of the positioning device of the fifth embodiment, along with the retracted probe tip, is shown.

[0072] Figure 15 A view showing the fifth embodiment with a protruding probe tip;

[0073] Figure 16 A perspective view of the positioning device according to the sixth embodiment is shown;

[0074] Figure 17 Shown in Figure 16 A magnified view of the details of XVII;

[0075] Figure 18 A perspective view of the positioning device according to the seventh embodiment is shown;

[0076] Figure 19 Shown in Figure 18 A magnified view of the details in XIX;

[0077] Figure 20An exemplary map illustration shows a graph illustrating the time variation curve of the sensor signal of the marker detection device according to the seventh embodiment of the positioning device;

[0078] Figure 21 An exemplary map solution is shown. Figure 20 A graph showing the time variation curve of the difference between the sensor signals in the image;

[0079] Figure 22 A schematic diagram is shown to illustrate the double-tooth section used to demonstrate the "best fit" method;

[0080] Figure 23 A schematic perspective view of the positioning device according to the eighth embodiment in the parking position;

[0081] Figure 24 Shown in Figure 23 A magnified view of detail A in the image;

[0082] Figure 25 Showing the measurement location Figure 23 A schematic side view of the positioning device;

[0083] Figure 26 A schematic top view showing the positioning device in the eighth embodiment at the measurement location;

[0084] Figure 27 A schematic perspective view of the positioning device according to the eighth embodiment, along with an additional orientation reference device, in the parking position;

[0085] Figure 28 A schematic perspective view of the positioning device according to the ninth embodiment in the parking position;

[0086] Figure 29 A schematic perspective view of the positioning device according to the ninth embodiment in the measurement position;

[0087] Figure 30 A schematic side view of the positioning device according to the ninth embodiment in the measuring position is shown, along with a notch for showing the reference measuring device in the pivoted position;

[0088] Figure 31 A schematic side view of the positioning device according to the ninth embodiment in the measuring position, together with a notch for showing the reference measuring device in the pivoting position;

[0089] Figure 32 A schematic perspective view showing the positioning device according to the tenth embodiment in the parking position;

[0090] Figure 33A schematic perspective view of the positioning device according to the tenth embodiment in the measurement position;

[0091] Figure 34 A schematic perspective view of a tooth scraper with a positioning device according to the eleventh embodiment, shown at the measurement position;

[0092] Figure 35 Shown in Figure 34 A magnified view of details in the XXXV area; and

[0093] Figure 36 A schematic perspective view of the positioning device according to the twelfth embodiment is shown in the parking position. Detailed Implementation

[0094] Exemplary structure of a finishing machine tool

[0095] exist Figure 1 The image shows a finishing machine tool for hard finishing gears by grinding. The machine tool has a machine bed 10, on which a tool carrier 20 is movable along the horizontal feed direction X. A Z-slider 21 is movable along the vertical direction Z on the tool carrier 20. A Y-slider 22 is disposed on the Z-slider 21, the Y-slider being able to surround the Z-slider 21. Figure 1 The tool spindle 30 pivots along a horizontal pivot axis that extends parallel to the X-axis (not shown in the diagram), while it can also shift along a displacement direction Y that extends perpendicular to the X-axis and at a set angle to the Z-axis. The Y-slider 22 carries the tool spindle 30, on which a finishing tool 31, in the form of a grinding worm, is clamped. The tool spindle 30 includes a tool spindle driver 32 to drive the grinding worm 31 to rotate about the tool spindle axis.

[0096] A pivotable workpiece carrier 40 in the form of a turret is mounted on the machine tool bed 10. The turret 40 can pivot between multiple rotational positions about a vertical pivot axis C3. The turret carries two workpiece spindles 50, on which workpieces 60 can be clamped respectively. A vertically movable tailstock 52 is mounted on each workpiece spindle on the opposing column 51. Each workpiece spindle 50 can be driven to rotate about the workpiece axis. Figure 1 In the diagram, the visible workpiece spindle 50 has its workpiece axis denoted by C1. The two workpiece spindles are located diagonally opposite each other on the turret 40 (meaning offset by 180° about the pivot axis C3). In this way, one of the two workpiece spindles can be loaded and unloaded, while the workpiece is machined on the other spindle via the grinding worm gear 31. Therefore, undesirable auxiliary machining time is largely avoided. This machine tool design is known, for example, from WO 00 / 035621A1.

[0097] The workpiece 60 has two external teeth. The positioning device 100, which will also be described in detail below, is used to orient the workpiece 60 about its rotational angular position about the workpiece axis C1, such that the larger of the two teeth can engage with the grinding worm 31 without collision, and subsequently machine the tooth such that the tooth occupies a previously determined rotational angular position relative to the other tooth after being machined with high precision.

[0098] The machine tool has a machine tool controller 70, shown only symbolically, which includes multiple control modules 71 and an operation panel 72. Each control module 71 controls the machine tool axis and / or receives signals from sensors. In this example, at least one of the control modules 71 is configured to interact with the sensors of the positioning device 100, which will be described in detail below.

[0099] Workpiece with two external teeth: Positioning device with a horizontal pivot axis

[0100] exist Figures 2 to 6 The image shows the positioning device 100 according to the first embodiment, together with the workpiece 60 clamped on the workpiece spindle 50.

[0101] For example, especially from Figure 2 and Figure 3 As is known in the literature, the workpiece 60 shown here exemplarily has a shaft on which two spur gears of different sizes are formed at different axial positions. The spur gears are integrally formed with the shaft. The smaller of the two spur gears has a first tooth portion 61. This tooth portion is also referred to below as a reference tooth portion. The larger of the two spur gears has a second tooth portion 62. This tooth portion should be machined using a finishing machine tool. In this example, the difference between the teeth portions 61 and 62 lies not only in their tip circle diameters but also in their number of teeth. A spur tooth portion is shown in this example, but it could also be a helical tooth portion. In this example, both teeth portions extend completely around the workpiece axis; however, one or both teeth portions could also be formed, for example, only in sections.

[0102] The workpiece 60 also has markings. In this example, the markings are formed by a drill hole 63, which is formed on the end side in the larger of the two spur gears, in a region radially inward of the second tooth 62 and extends parallel to the workpiece axis C1. However, other types of markings are also contemplated, such as engraving, chamfering, protrusion, color markings, etc. The markings can also be formed at another location on the workpiece. For example, the drill hole can extend diagonally through the shaft, or the shaft can have chamfers. Many other variations are possible.

[0103] The positioning device 100 has a base element 110, which is in Figure 1The sensor carrier 112, which is in the form of a pivot arm, is connected to the machine bed 10 in a precision machining tool. The sensor carrier 112 is fixed to the base element 110 in a parking position around the horizontal axis C5. Figure 2 ) and measurement location ( Figures 3 to 6 It pivots between )

[0104] The sensor carrier 112 carries two centering sensors 121 and 122. The first centering sensor 121 is oriented along the radial measurement direction R onto the reference tooth 61, while the second centering sensor 122 is also oriented along the radial measurement direction R onto the tooth 62 to be machined. The centering sensors 121 and 122 are, for example, common inductive or capacitive gap sensors, which identify whether they are oriented onto the tooth tip or the backlash by measuring the gap. The centering sensors 121 and 122 thus enable rapid inspection of the teeth 61 and 62 and determination of the orientation of all backlashes during workpiece 60 rotation.

[0105] The sensor carrier 112 also carries a marker detection device 130, which in this example consists of a single marker sensor 131 (see...). Figure 4 In this example, the marking sensor 131, similar to the centering sensors 121 and 122, is configured as an inductive or capacitive spacing sensor.

[0106] The marking sensor is oriented onto the end face of the workpiece 60 that forms the drilled hole 63. As the workpiece 60 rotates, the marking sensor 131 records the change in spacing along the marking detection direction M as the drilled hole passes over the marking sensor. Based on this, the machine tool controller 70 can determine the rotation angle of the workpiece 60, at which the drilled hole 63 is flush with the marking sensor 131. Depending on the type and placement of the marking, other marking sensors, such as optical sensors, can also be used. The marking sensor enables the precise identification of the reference tooth structure in the reference tooth section 61, particularly the reference tooth or reference tooth clearance, based on the orientation of the marking.

[0107] Furthermore, the sensor carrier 112 carries a reference measuring device 140 for measuring the reference tooth structure and thus determining the reference rotation angle position of the workpiece 60 with high accuracy. The reference measuring device 140 is radially oriented toward the workpiece axis C1. In this example, the reference measuring device 140 is configured as a tactile sensor. The tactile sensor has: a base connected to the sensor carrier 112; and a probe tip 141, which is capable of retracting relative to the base (see...). Figure 5 ) and the position of the extension (see Figure 6The probe tip 141 can extend and retract between the reference teeth 61 along the introduction direction E without moving the sensor carrier 112. The introduction direction E here corresponds to the radial direction about the workpiece axis C1. However, the reference measuring device 140 can also be configured in another way, for example, as an optical sensor.

[0108] Finally, sensor carrier 112 carries tangential orientation sensor 152. The tangential orientation sensor is oriented onto orientation reference target 151, which is mounted on turret 40 via reference carrier 42. Similar to centering sensors 121, 122 and marker sensor 131, tangential orientation sensor 152 is configured as a spacing sensor. In the measurement position, the spacing sensor measures the distance between tangential orientation sensor 152 and orientation reference target 151 about workpiece 60 along the tangential direction T. The measured distance can correct for measurement errors caused by distortion and length changes in the variable reference rotation angle position due to thermal effects, which cause the reference measuring device 140 to no longer be precisely radially positioned on the workpiece axis C1. This improves the accuracy of the measured reference angle position. Tangential orientation sensor 152 and orientation reference target 151 can also be interchanged.

[0109] Workpiece machining

[0110] Figure 7 Exemplary map illustrations demonstrate the use of Figure 1 A flowchart of a precision machining tool processing workpiece 60.

[0111] In step 301, the workpiece 60 is clamped onto the workpiece spindle 50. In step 302, the sensor carrier 112 is removed from... Figure 2 The parking space was placed Figures 3 to 6 In step 303, the tangential orientation of the sensor carrier 112 is determined using the tangential orientation sensor 152, and a correction value for the reference rotation angle position to be measured is determined therefrom. In step 304, the orientation of the borehole 63 is detected using the mark detection device 130. In step 305, the reference tooth structure is identified based on this.

[0112] In step 306, the two teeth 61 and 62 are inspected using centering sensors 121 and 122. Here, a consistency check is performed: whether the desired tooth structure is located where the reference tooth structure should be according to the markings. Otherwise, the process is stopped and an error message is output. On the other hand, the orientation of the second tooth relative to the first tooth is checked. Here, on the one hand, it is checked whether the tooth structure of the second tooth is flush with the reference tooth structure within acceptable tolerances; on the other hand, pre-machining errors are checked. If the check concludes that the second tooth can be successfully machined, the process continues. Otherwise, the process is stopped, and the workpiece is discarded as an NIO part.

[0113] In step 307, the reference tooth structure is now measured. For this purpose, the workpiece 60 and the workpiece spindle 50 are positioned at a rotation angle where the probe tip 131 can retract into the reference tooth. The reference tooth structure is then measured using methods known in tooth measurement itself, by checking at which rotation angle position of the workpiece the probe tip 131 contacts the right and left tooth surfaces of the reference tooth structure. The reference angular position of the workpiece is determined from this.

[0114] In step 308, the rolling coupling angle between the workpiece 60 and the grinding worm 31 is determined based on this. The sensor carrier 112 moves back to the parking position, and the turret 40 pivots 180° about axis C3 to position the workpiece spindle 50 in the machining position. Now, in step 309, the teeth 62 to be machined on the workpiece 60 are machined using the grinding worm 31. The turret 40 then pivots 180° again and the machined workpiece 60 is removed in step 310. The machined teeth 62 are now precisely oriented relative to the reference teeth 61 in the desired manner.

[0115] Of course, various modifications to this exemplary flowchart can be considered.

[0116] Workpiece with two external teeth: Positioning device with a vertical pivot axis

[0117] exist Figure 8 The image shows a positioning device according to a second embodiment. Components that function similarly or similarly are used in... Figures 1 to 6 The same reference numerals are used in the accompanying drawings. This positioning device is... Figures 1 to 6 The difference in the positioning device is that the sensor carrier 112 cannot pivot about a horizontal axis, but rather about a vertical axis C6 relative to the base element 110. This is particularly advantageous when the workpiece 60 should be clamped such that the larger of the two teeth 61, 62 is positioned above the smaller tooth. It would then be impractical to pivot the sensor carrier 112 about the horizontal axis without collision.

[0118] This is Figure 9The diagram shows that, in Figure 9 The positioning device according to the third embodiment is shown. Components that function similarly or similarly are then reused in… Figures 1 to 6 The same reference numerals are used in the accompanying drawings. Now, with Figure 8 Compared to the previous implementation, workpiece 60 is inverted. The arrangement of different sensor devices on the sensor carrier 112 is adjusted accordingly. It can be seen that the sensor carrier 112 can pivot in and out around the vertical axis C6 without collision.

[0119] Workpiece with two external teeth: Positioning device with linear displacement axis

[0120] Another feasible alternative is to relocate the sensor carrier. This is in... Figures 10 to 12 The diagram shows that the Figures 10 to 12 A positioning device according to a fourth embodiment is shown. The sensor carrier 112 is capable of measuring the position (…). Figure 11 ) and parking location ( Figure 12 The linear displacement V coincides with the introduction direction E of the probe tip 141. However, the retraction and extension movements of the probe tip 141 are also independent of the displacement of the sensor carrier 112.

[0121] Workpiece with two external teeth: Positioning device on turret

[0122] Alternatively, the positioning device can be mounted on the turret 40. This would further minimize non-productive auxiliary processing time. Figures 13 to 15 The diagram illustrates a finishing machine tool having a positioning device according to a fifth embodiment. Components that function similarly or similarly are also present. Figures 1 to 6 The same reference numerals are used in the accompanying drawings. The sensor carrier 112 is fixed to the turret 40 and can be moved vertically relative to the turret. Here, the probe tip 141 can also be introduced radially relative to the workpiece axis C1, that is, it can be introduced horizontally into the reference tooth.

[0123] Marker detection based on formation difference

[0124] exist Figure 16 and 17The diagram illustrates the positioning device according to the sixth embodiment, in which the mark detection device 130 has two mark sensors 131 and 132. These mark sensors are, in this case, inductive or capacitive spacing sensors that measure the distance between the end face of the corresponding sensor and the opposing surface of the workpiece. The spacing sensors output signals displaying the measured spacing. The two mark sensors 131 and 132 are arranged adjacent to each other about the circumference of the workpiece, i.e., sequentially about the radial direction. When the workpiece rotates, the drill hole 63 passes over the outer mark sensor 131, while the inner mark sensor 132 remains unaffected by the drill hole.

[0125] Alternatively, the marker sensors 131 and 132 can also be sequentially arranged about the same radius around the workpiece's circumference. Figure 18 and 19 The diagram illustrates the corresponding seventh embodiment. In this case, the two marker sensors detect the borehole sequentially over time.

[0126] exist Figure 20 The exemplary map illustrates the output signal generated by the sixth embodiment. In this example, the workpiece is clamped with a relatively large axial runout error. Due to the axial runout error, each of the two marking sensors records sinusoidal signals 210, 220, the frequency of which corresponds to the rotational frequency of the workpiece. The signal 210 of the first marking sensor 131 also has a peak 211 generated by passing through the drill hole 63. The peak indicates the rotational angular position in which the drill hole 63 is opposite the marking sensor 131. Because the drill hole 63 has a relatively small diameter, smaller than the active surface of the sensor 131, the signal is relatively small compared to the amplitude of the sinusoidal component. Therefore, the peak is not always easily and definitively detected using common signal processing methods.

[0127] To facilitate clear identification of peak values, the difference between the signals 210 and 220 of the two marker sensors 131 and 132 can be generated. Figure 21 The differential signal is shown. Differential signal 230 now has a peak 231, which is significantly higher than the superimposed residual sine signal and noise. The peak can now be identified, for example, by simple threshold monitoring.

[0128] In the seventh embodiment, the difference in formation causes two peaks with opposite signs, which are sequential in time. These two peaks can also be reliably identified.

[0129] Identifying the reference tooth structure using the "best fit" method

[0130] Instead of relying on markers, the reference tooth structure can be identified using a "best fit" method. This is based on... Figure 22 Let's illustrate with diagrams.

[0131] First, the rotational angular position of the tooth structure of the first tooth 61 is determined using a first centering sensor, and the rotational angular position of the tooth structure of the second tooth 62 is determined using a second centering sensor. Then, the rotational angular distance between the tooth structures of the first tooth 61 and the second tooth 62 is determined. This rotational angular distance is compared with a preset desired distance value. A tooth structure of the first tooth 61 is sought that has an optimal rotational angular distance with any tooth structure of the second tooth 62, corresponding to the preset desired distance value (“best fit”). For example, a tooth backlash of the first tooth 61 is sought that has the minimum rotational angular distance with the tooth backlash of the second tooth 62, i.e., is flush with the tooth backlash of the second tooth 62 as precisely as possible. Figure 22 In the middle, this is tooth gap 301. The tooth gap is approximately perfectly flush with the tooth gap 302 of the second tooth portion 62, and the rotational angular distance between all other tooth gaps of the first tooth portion 61 and the next tooth gap of the second tooth portion 62 is greater than the rotational angular distance used for tooth gap pairs 301 and 302. Thus, tooth gap 301 is identified as the reference tooth gap.

[0132] If the quotient of the number of teeth in the two tooth sections can be reduced, then there exist multiple tooth structures in the first tooth section that, under ideal conditions, have the same angular spacing as the tooth structure in the second tooth section. In other words, if, for example, the first tooth section has kN1 teeth and the second tooth section has kN2 teeth, where k, N1, and N2 are natural numbers greater than 1, and N1 and N2 have no common prime factor other than 1, then theoretically there exist k rotation angles on the workpiece at which the tooth structures of the first and second tooth sections have the same angular spacing. In this case, when determining the "best fit," the deviation of the angular spacing from the expected spacing value can be averaged over k tooth structures with a angular spacing of 2π / k.

[0133] Workpiece with two internal teeth: Positioning device with a horizontal pivot axis

[0134] exist Figures 23 to 27 The positioning device according to the eighth embodiment is shown. Components that function similarly or similarly are also used in... Figures 1 to 6 The same reference numerals are used to denote the same parts. The positioning device in the eighth embodiment is configured to determine the reference rotation angle position of the double-toothed workpiece 60, wherein both the reference tooth 61 and the tooth 62 to be machined are configured as internal teeth.

[0135] Workpiece 60 also carries a mark 63 in the form of a drill hole (see...) Figure 24In this example, the drill hole is formed radially outside the reference tooth 61 and radially inside the tooth 62 to be machined, and extends parallel to the workpiece axis C1.

[0136] The positioning device of the eighth embodiment is constructed substantially similarly to the positioning device of the first embodiment. The positioning device further includes a base element 110, which is connected to the machine bed or workpiece carrier of the finishing machine tool. A sensor carrier 112 in the form of a pivot arm is fixed to this base element 110. The sensor carrier 112 is capable of being positioned relative to the base element 110 around a horizontal pivot axis C5 in a stationary position. Figure 22 , 27 ) and measurement location ( Figure 25 , 26 It pivots between )

[0137] The sensor carrier 112 also carries two centering sensors 121 and 122. The centering sensors are radially outward oriented onto the inward-pointing teeth 61 and 62.

[0138] The sensor carrier 112 also carries a mark detection device 130, which, as in the first embodiment, comprises only a single mark sensor (see [link to first embodiment]). Figures 25 to 27 ).

[0139] Furthermore, the sensor carrier 112 carries a reference measuring device 140, which is again configured as a tactile sensor with a probe tip 141. Compared to the straight probe tip of the first embodiment, the probe tip 141 is angled here. The probe tip has a probe section in the direction of its free end, which is horizontally oriented in the measurement position and provides for radial insertion into the tooth gap of the reference tooth 61. The probe tip also has a connecting section, which is vertically oriented in the measurement position and connects the probe tip to the base of the reference measuring device 140. The connecting section and the probe section are connected to each other via a curved section. To insert the probe tip 141 into the tooth gap of the reference tooth via its probe section, the base of the reference measuring device is mounted on a linear slider 142. The linear slider 142 is capable of linear movement on the sensor carrier 112 along the insertion direction E. The insertion direction extends radially in the measurement position.

[0140] exist Figure 27The accompanying map illustrates optional orientation reference devices. As in the embodiment discussed above, here, the tangential orientation sensor 152 on the sensor carrier 112 and the orientation reference target 151 on the reference carrier 42 work together to determine the orientation of the sensor carrier 112 with respect to a tangential direction extending tangentially to the workpiece 60. The roles of the tangential orientation sensor 152 and the orientation reference target 151 can also be interchanged again, meaning that the tangential orientation sensor can be mounted on the reference carrier, while the orientation reference target can be located on the sensor carrier.

[0141] Identifying the reference tooth structure of the reference tooth portion 61 and determining the reference rotation angle position of the workpiece 60 by measuring the reference tooth structure using a reference measuring device are performed similarly to those in the first embodiment. The tooth portion 62 to be machined can then be machined using a finishing method suitable for machining internal teeth, such as by tooth scraping. For this purpose, the rolling coupling angle can be determined based on the measured reference rotation angle position.

[0142] exist Figures 23 to 27 In this configuration, the inner diameter of the reference tooth 61 is smaller than the inner diameter of the tooth 62 to be machined. Therefore, the sensor carrier 112 can be positioned in the measurement position without any problems or collisions through a simple pivoting motion.

[0143] If the reference tooth 61 should have an inner diameter larger than that of the tooth 62 to be machined, the following considerations must be taken into account: for the sake of accessibility of the machining tool, the tooth 62 to be machined is usually located at the top as always. Therefore, it is no longer feasible to simply pivot the sensor carrier 112 into the measuring position without collision by means of a simple pivot about a horizontal axis. In this case, there are several options. The first option is to provide an additional axis for the positioning device, such as an additional linear displacement axis. For example, the entire sensor carrier 112 can be mounted on a linear slider that is radially displaced on a retainer about the workpiece axis, wherein the retainer is pivotally mounted on a fixed base element 110 about axis C5, or the base element 110 itself can be linearly displaced relative to the machine tool bed. The second option is to mount the sensor carrier 112 on a machine tool element that is already capable of movement via an existing machine tool axis, such as on a tool carrier. This will be explained below according to Figure 34 and 35 Please elaborate. Of course, other options can also be considered.

[0144] Workpiece with two internal teeth: Positioning device with a linear displacement axis

[0145] exist Figures 28 to 31 The positioning device according to the ninth embodiment is shown. Components that function similarly or similarly are also used in... Figures 1 to 6The same reference numerals are used in the accompanying drawings. Similar to the positioning device of the eighth embodiment, the positioning device of the ninth embodiment is also configured to determine the reference rotation angle position of the double-toothed workpiece 60, wherein both the reference tooth 61 and the tooth 62 to be machined are configured as internal teeth.

[0146] Unlike in the eighth embodiment, for this purpose, the sensor carrier 112 can be linearly displaced relative to the base element 110 along the displacement direction V, so as to move the sensor carrier 112 from the parking position ( Figure 28 Move to the measurement position. Figure 29 Two centering sensors 121 and 122, and a marker detection device 130, are then rigidly mounted on the sensor carrier 112. Similarly, a tangential orientation sensor 152 is disposed on or within the sensor carrier 112, which works in conjunction with an orientation reference target (not shown).

[0147] Furthermore, the sensor carrier 112 also supports a reference measuring device 140, which is in the form of a tactile sensor with a curved probe tip 141. To allow the probe tip 141 to engage with the reference teeth 61, the base of the reference measuring device 140 is pivotally connected to the sensor carrier 112. A corresponding pivot axis C7 extends horizontally here. Thus, the reference measuring device 140 can be pivoted out to a position where the probe tip 141 is disengaged from the reference teeth 61. Figure 30 ) and the pivoting position where the probe tip 141 engages with the reference tooth 61 ( Figure 31 Pivoting between ) . Instead of the horizontally extending pivot axis C7, an axis that extends vertically or obliquely in space can also be considered.

[0148] This embodiment can also be modified so that if the upper tooth 62 to be machined has a smaller inner diameter than the reference tooth 61 located below, the sensor carrier 112 can also be placed in the measurement position without collision. In particular, it is conceivable to provide an additional linear displacement axis for this purpose, by means of which the base element 110 can be displaced relative to the machine bed in the radial direction about the workpiece axis.

[0149] Workpieces with external and internal teeth

[0150] exist Figure 32 and 33 The positioning device according to the tenth embodiment is shown. Components that function similarly or similarly are also used in... Figures 1 to 6 The same reference numerals are used in the accompanying drawings. The positioning device is configured to determine the reference rotation angle position of the double-toothed workpiece 60, wherein the reference tooth 61 is the internal tooth and the tooth 62 to be machined is the external tooth.

[0151] The positioning device of the tenth embodiment is constructed very similarly to that of the positioning device of the ninth embodiment. The only significant difference is that the centering sensor 122 is now radially inward oriented in order to measure the tooth 62 to be machined.

[0152] Used in a tooth scraper

[0153] In some embodiments, the positioning device can be mounted on a component of the machine tool that is movable relative to the workpiece via an existing machine tool axis. In particular, the positioning device can be mounted on a movable tool carrier of the machine tool, wherein the tool carrier carries the tool spindle.

[0154] This is Figure 34 and 35 The accompanying drawings illustrate a tooth scraper constructed according to International Patent Application PCT / EP 2020 / 068945 dated July 6, 2020, and equipped with a positioning device according to the eleventh embodiment. The contents of International Patent Application PCT / EP 2020 / 068945 dated July 6, 2020, are incorporated herein by reference.

[0155] The machine tool has a machine bed 310. The machine bed 310 is generally L-shaped in side view and has a horizontal section 311 and a vertical section 312.

[0156] A movable workpiece carrier in the form of a Y-slider 340 is disposed on the horizontal section 311. The Y-slider 340 is movable relative to the machine bed 310 along the Y direction. The Y direction extends horizontally in space. The Y-slider 340 carries a workpiece spindle 50, on which a pre-toothed workpiece 60 is clamped. The workpiece 60 is rotatably driven about the workpiece axis (C-axis) on the workpiece spindle 50. The C-axis extends vertically in space. In this example, the workpiece 60 has two internal teeth, namely a reference tooth 61 and a tooth 62 to be machined disposed above it.

[0157] Z-slider 320 is disposed on the vertical section 312 of the machine tool bed 310. The Z-slider is movable relative to the machine tool bed 310 along the vertical Z direction. A tool carrier in the form of an X-slider 322 is disposed on the Z-slider 320. The X-slider carries the tool spindle 30. The X-slider 322 is movable relative to the Z-slider 320 along the X direction. The X direction extends horizontally in space and is perpendicular to the Y and Z directions. The Z-slider 320 and X-slider 322 together form a cross slider, which enables the tool spindle 30 mounted thereon to be moved along the mutually perpendicular Z and X directions.

[0158] The tool spindle 30 drives the toothed scraper clamped thereon to rotate around the tool axis. Figure 34 and35 In the middle, the scraping tool is obscured by the X slider 322 and is therefore invisible. The tool spindle 30 is capable of pivoting relative to the X slider 322 about a horizontal pivot axis (A axis) extending parallel to the X direction.

[0159] The X-slider 322 also carries a positioning device 100, which in turn... Figure 35 The image is enlarged in size. The positioning device has a base element 110 and a sensor carrier 112 on which it can be displaced along the displacement direction V. The displacement direction V is inclined to the Y and Z directions and extends perpendicular to the X direction. By means of the machine tool axes X, Y, and Z and the displacement axis V, the sensor carrier 112 can be positioned on... Figure 34 and 35 The measurement locations shown are as follows.

[0160] In particular, even if the tooth 62 to be machined has a smaller inner diameter than the reference tooth 61, the sensor carrier 112 can be placed in the measurement position without collision.

[0161] The positioning device 100 is positioned in an area of ​​the X slider 322 that is far enough away from the scraping tool so that the positioning device 100 will not interfere with the machining of the workpiece 60.

[0162] Orientation Reference Device

[0163] In all the embodiments described above, an orientation reference device can be used to determine the spatial orientation of the positioning device relative to the workpiece carrier. Although some embodiments described above show an orientation reference device with only a tangential orientation sensor, the orientation reference device can also have orientation reference sensors with respect to other spatial directions.

[0164] This is Figure 36 The exemplary map solution in the text is shown below. Figure 36 The positioning device according to the twelfth embodiment is shown. Figure 36 The positioning device basically corresponds to the positioning device of the eighth embodiment. The only difference between them is the design of the orientation reference device.

[0165] In this embodiment, the orientation reference device further includes an orientation reference target 151 on a reference carrier 42. The orientation reference target 151 is cuboid or cubic and forms at least three mutually perpendicular reference surfaces. The reference carrier 42 is rigidly connected to a workpiece carrier that carries the workpiece spindle 50. Three orientation reference sensors 152, 153, and 154 are now disposed on the sensor carrier 112, which are oriented to different reference surfaces of the orientation reference target 151 in the measurement position. The first orientation reference sensor 152 forms a tangential orientation sensor. This sensor is tangentially positioned relative to the workpiece on a corresponding reference surface of the orientation reference target 151, wherein the reference surface has a tangentially extending surface normal. The second orientation reference sensor 153 forms an axial orientation sensor. This sensor is oriented parallel to the workpiece axis on a corresponding reference surface of the orientation reference target 151, wherein the reference surface has an axially extending surface normal. The third orientation reference sensor 154 forms a radial orientation sensor. The sensor is radially oriented relative to the workpiece axis onto a corresponding reference surface of the azimuth reference target 151, wherein the reference surface has a radially extending surface normal. Instead of a single azimuth reference target with multiple reference surfaces, multiple azimuth reference targets can also exist, wherein each of these azimuth reference targets forms a corresponding reference surface for one of the measurement directions.

[0166] The roles of the azimuth reference sensors 152, 153, 154 and the azimuth reference target 151 can also be interchanged, meaning that the azimuth reference sensors can be set on the reference carrier, while the azimuth reference target can be located on the sensor carrier.

[0167] The orientation reference sensor is preferably a laser spacing sensor, as is known in the prior art.

[0168] Revise

[0169] While the invention has been described with reference to several embodiments, it is not limited to these embodiments, and numerous modifications are possible. Some modifications have been described above. The invention is not limited to application within the scope of the generating processes exemplarily mentioned above, such as gear grinding or scraping. More precisely, it is also possible to use the invention within the scope of other finishing methods for double-tooth and multi-tooth portions. This can, for example, relate to other generating processes, such as honing, or indexing methods, such as contour grinding. If the sensor carrier is pivotally connected to the base element, the pivot axis can extend not only horizontally or vertically, but also obliquely in space. If the sensor carrier is linearly displaced relative to the base element, the displacement direction can deviate from the direction of introduction of the probe tip, as is the case in some embodiments described above. Displacement directions along curved lines can also be considered. In all embodiments, it is conceivable to use different types of markers instead of drilling, and these markers are placed at different locations as shown. Accordingly, different types of marker sensors adapted to this type of marker can be used, and the marker detection device can be connected to the sensor carrier in different ways. Numerous other modifications are feasible.

[0170] List of reference numerals

[0171] 10 Machine Tool Bed

[0172] 20 tool carriers

[0173] 21Z slider

[0174] 22Y slider

[0175] 30 Tool Spindle

[0176] 31 Grinding worm gear

[0177] 32-tool spindle driver

[0178] 40 turret / workpiece carrier

[0179] 42 Reference Carrier

[0180] 50 workpiece spindle

[0181] 51 pairs of columns

[0182] 52 tails

[0183] 60 workpieces

[0184] 61 First tooth (reference tooth)

[0185] 62. Second tooth section (the tooth to be machined)

[0186] Mark 63 (drill hole)

[0187] 70 machine tool controller

[0188] 71 control module

[0189] 72 Operation Panel

[0190] 100 positioning device

[0191] 110 basic components

[0192] 112 sensor carrier

[0193] 121 First Centering Sensor

[0194] 122 Second centering sensor

[0195] 130 Marker Detection Device

[0196] 131 (First) Marker Sensor

[0197] 132 Second Marker Sensor

[0198] 140 Reference Measurement Device (Tactile Sensor)

[0199] 141 probe tip

[0200] 142 Linear Slider

[0201] 151 azimuth reference target

[0202] 152 Tangential Azimuth Sensor

[0203] 153 Radial Azimuth Sensor

[0204] 154-axis orientation sensor

[0205] 210 The signal of the first marker sensor

[0206] 211 peak

[0207] 220 Second Marker Sensor Signal

[0208] 230 differential signals

[0209] 231 position signal

[0210] 301 Reference Backlash

[0211] 302 Corresponding backlash

[0212] 310 machine tool bed

[0213] 311 Horizontal Section

[0214] 312 Vertical Section

[0215] 320Z slider

[0216] 322X Slider / Tool Carrier

[0217] 340Y slider / workpiece carrier

[0218] C, C1 workpiece axis

[0219] C3 Pivot Axis Tower

[0220] C5 horizontal pivot axis

[0221] C7 Vertical pivot axis

[0222] E Introduction Direction

[0223] M-marking detection device

[0224] R radial measurement direction

[0225] T-tangential direction

[0226] Direction of displacement V

[0227] X, Y, Z linear axes

Claims

1. A method for machining a workpiece (60) having a first tooth (61) and a second tooth (62), wherein the workpiece (60) is rotatably clamped about a workpiece axis (C1), wherein the method comprises: At least one reference tooth structure of the first tooth (61) is identified by means of a non-contact reference identification device; The reference tooth structure is measured using a reference measuring device (140) in order to determine the reference rotation angle position of the workpiece (60); and The second tooth (62) is machined by means of a machining tool (31) so that the second tooth (62) obtains the following rotation angle position, which is in a predetermined relationship with the measured reference rotation angle position.

2. The method according to claim 1, wherein the workpiece (60) has a mark (63), wherein the reference identification device comprises a non-contact mark detection device (130), and wherein, Identifying at least one reference tooth structure of the first tooth portion (61) includes: The mark (63) on the workpiece (60) is detected by means of the mark detection device (130); and At least one reference tooth structure of the first tooth portion (61) is identified based on the detected mark (63).

3. The method according to claim 2, wherein the mark detection device (130) has first and second mark sensors (131, 132), wherein, Detecting the marker (63) includes: forming a signal difference between the first and second marker sensors (131, 132).

4. The method according to claim 1, wherein the reference identification device comprises a non-contact operating first centering sensor (121) and a non-contact operating second centering sensor (122), and wherein, Identifying at least one reference tooth structure of the first tooth portion (61) includes: The rotation angle position of the tooth structure of the first tooth (61) is determined by the first centering sensor (121); The rotation angle position of the tooth structure of the second tooth (62) is determined by means of the second centering sensor (122); The rotational angular distance between the tooth structure of the first tooth section (61) and the tooth structure of the second tooth section (62) is determined from the measured rotational angular positions, and At least one reference tooth structure of the first tooth is identified by comparing the rotation angle pitch with a preset expected pitch value.

5. The method according to any one of claims 1 to 4, wherein the reference measuring device (140) comprises: Tactile sensors; or Optical sensor.

6. The method according to claim 5, The reference measuring device (140) includes a tactile sensor. The tactile sensor has a sensor base and a probe tip (141), and the probe tip (141) extends relative to the sensor base to engage with the first tooth (61) along the introduction direction (E), or the tactile sensor is displaced or pivoted relative to the sensor carrier (112) to engage with the first tooth (61).

7. The method according to any one of claims 1 to 4, wherein the second tooth (62) is machined by a generating machining method, and wherein the rolling coupling angle for the generating machining method is determined using a reference rotation angle position of the workpiece (60) that has been determined in advance.

8. The method according to any one of claims 1 to 4, wherein the method comprises: During the rotation of the workpiece (60) around the workpiece axis (C1), the first tooth (61) is inspected by means of a first centering sensor (121) that works in a non-contact manner and / or the second tooth (62) is inspected by means of a second centering sensor (122) that works in a non-contact manner.

9. The method according to any one of claims 1 to 4, wherein the reference measuring device (140) is disposed on the sensor carrier (112), and wherein the method comprises: The sensor carrier (112) is moved between the parking position and the measurement position.

10. The method according to claim 9, wherein the sensor carrier (112) is moved between a parking position and a measurement position by pivoting about a pivot axis (C5, C6) extending perpendicularly or parallel to the workpiece axis (C1).

11. The method according to claim 9, wherein the sensor carrier (112) is moved between a parking position and a measuring position by displacement in a direction (V) extending radially or parallel to the workpiece axis (C1).

12. The method according to claim 9, wherein at least one additional sensor device is disposed on the sensor carrier (112).

13. The method according to claim 9, wherein the method comprises: The orientation of the sensor carrier (112) with respect to at least one spatial direction is determined at the measurement location by means of an orientation reference device (151, 152, 153, 154); and The measured reference rotation angle position is corrected based on the orientation of the sensor carrier (112).

14. The method according to any one of claims 1 to 4, The first tooth (61) and the second tooth (62) are external teeth; The first tooth (61) and the second tooth (62) are internal teeth; Wherein the first tooth portion (61) is an internal tooth portion, and the second tooth portion (62) is an external tooth portion; or The first tooth (61) is an external tooth, while the second tooth (62) is an internal tooth.

15. A positioning device (100) for determining a reference rotational angular position of a workpiece (60), the workpiece having a workpiece axis (C1) and having a first tooth (61) and a second tooth (62), wherein the positioning device (100) has: A reference identification device, configured to non-contactly identify at least one reference tooth structure of the first tooth portion (61); and A reference measuring device (140) is configured to measure the reference tooth structure of the first tooth (61) identified by the reference identification device, so as to determine the reference rotation angle position of the workpiece (60). a) The reference measuring device (140) includes an optical sensor; or b) The reference measuring device (140) includes a tactile sensor having a sensor base and a probe tip (141), and the reference identification device includes a non-contact first centering sensor (121) for determining the rotational angular position of the tooth structure of the first tooth (61); and a non-contact second centering sensor (122) for determining the rotational angular position of the tooth structure of the second tooth (62).

16. The positioning device (100) according to claim 15, wherein the reference identification device includes a mark detection device (130) configured to detect a mark (63) on the workpiece (60) in a non-contact manner.

17. The positioning device (100) according to claim 16, wherein the mark detection device (130) has first and second mark sensors (131, 132), wherein the first and second mark sensors (131, 132) are arranged sequentially or adjacent to each other in the circumferential direction of the workpiece (60).

18. The positioning device (100) according to claim 15, wherein, in the case where the reference identification device includes a first centering sensor (121) and a second centering sensor (122), the first centering sensor (121) and / or the second centering sensor (122) are offset relative to the reference measuring device (140) along the circumferential direction of the workpiece (60).

19. The positioning device (100) according to claim 15. In the case where the reference measuring device (140) includes a tactile sensor having a sensor base and a probe tip (141), the probe tip (141) is able to extend relative to the sensor base so as to engage with the first tooth (61) along the introduction direction (E).

20. The positioning device (100) according to any one of claims 15 to 19, wherein the positioning device has a sensor carrier (112) on which the reference measuring device (140) is disposed.

21. The positioning device (100) according to claim 20. The reference measuring device (140) includes a tactile sensor. The tactile sensor is displaceable or pivotally mounted on the sensor carrier (112) so that the tactile sensor engages with the first tooth (61).

22. The positioning device (100) according to claim 20, wherein at least a portion of the reference identification device is further disposed on the sensor carrier (112).

23. The positioning device (100) according to claim 20, wherein the sensor carrier (112) is movably connected to the base element (110) so as to move the sensor carrier (112) between a parking position and a measurement position.

24. The positioning device (100) according to claim 23, wherein the sensor carrier (112) is moved between a parking position and a measuring position by pivoting about a pivot axis (C5, C6) extending perpendicularly or parallel to the workpiece axis (C1).

25. The positioning device (100) according to claim 23, wherein the sensor carrier (112) is moved between a parking position and a measuring position by displacement in a direction (V) extending radially or parallel to the axis (C1) of the workpiece.

26. The positioning device (100) according to claim 23, the positioning device further comprising an orientation reference device (151, 152, 153, 154) for determining the orientation of the sensor carrier (112) with respect to at least one spatial direction at the measurement position.

27. A machine tool, the machine tool having: Positioning device (100) according to any one of claims 15 to 26; Workpiece carrier (40); and At least one workpiece spindle (50) is disposed on the workpiece carrier (40) and configured to accommodate the workpiece (60) for rotation about the workpiece axis (C1).

28. The machine tool according to claim 27, The positioning device (100) includes a sensor carrier (112) on which the reference measuring device (140) is mounted. The sensor carrier (112) is movably connected to the base element (110) so that the sensor carrier (112) can move between a parking position and a measurement position. The positioning device (100) includes orientation reference devices (151, 152, 153, 154) for determining the orientation of the sensor carrier (112) with respect to at least one spatial direction at the measurement location. The orientation reference device comprises at least one orientation reference target (151) and at least one orientation reference sensor (152, 153, 154), and The at least one orientation reference target (151) is connected to the workpiece carrier (40), and the at least one orientation reference sensor (152, 153, 154) is connected to the sensor carrier (112), or the at least one orientation reference target (151) is connected to the sensor carrier (112), and the at least one orientation reference sensor (152, 153, 154) is connected to the workpiece carrier (40).

29. The machine tool according to claim 27 or 28, The machine tool has a machine bed (10), wherein the workpiece carrier (40) is movable relative to the machine bed (10). The positioning device (100) includes a sensor carrier (112) on which the reference measuring device (140) is mounted. The sensor carrier (112) is movably connected to the base element (110) so that the sensor carrier (112) can move between a parking position and a measurement position. The basic element (110) is disposed on the machine tool bed (10).

30. The machine tool according to claim 27 or 28, wherein the machine tool includes a machine tool bed (10). The workpiece carrier (40) is pivotable relative to the machine tool bed (10) about the workpiece carrier axis (C3). The positioning device (100) includes a sensor carrier (112) on which the reference measuring device (140) is mounted, and The sensor carrier (112) is disposed on the workpiece carrier (40) in a region radially located between the workpiece carrier axis (C3) and the workpiece axis (C1).

31. The machine tool according to claim 27 or 28, wherein the machine tool comprises: A tool spindle (30), configured to receive a machining tool (31) for rotation about a tool axis; and A control device (70) configured to perform the method according to any one of claims 1 to 14.

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