Gear repair method, device, terminal equipment and computer readable storage medium

Abstract

The application discloses a gear repairing method and device, a terminal equipment and a computer readable storage medium, and belongs to the technical field of gear repairing. The gear repairing method comprises the following steps: linear scanning of a target tooth surface of a to-be-scanned gear along a first scanning path parallel to the dedendum line of the target tooth surface, so as to obtain first scanning data; involute scanning of the target tooth surface along a second scanning path parallel to the involute of the target tooth surface in a direction tangent to the involute base circle of the to-be-scanned gear, so as to obtain second scanning data; roughness diagnosis of the target tooth surface based on the actual profile information of the target tooth surface obtained through scanning and the theoretical profile information corresponding to the target tooth surface, so as to determine a repairing mode of the target tooth surface according to the result of the roughness diagnosis; and repairing processing of the target tooth surface according to the repairing mode. The application provides a gear repairing strategy, so as to improve the precision of gear repairing.

Description

Gear repair methods, apparatus, terminal equipment, and computer-readable storage media Technical Field

[0001] This application belongs to the field of gear repair technology, and in particular relates to a gear repair method, apparatus, terminal equipment and computer-readable storage medium. Background Technology

[0002] As vehicles become more widespread, the proportion of gears used is also gradually increasing.

[0003] Currently, during gear manufacturing, the surface roughness of the gear teeth undergoes rigorous inspection before leaving the factory. If the surface roughness is found to be non-compliant, the gear needs to be repaired to ensure it meets vehicle usage standards. Similarly, gear wear is inevitable during vehicle use. When gears wear to a certain extent, the surface roughness needs to be inspected again, and appropriate repairs are performed based on the inspection results to restore gear performance and ensure it meets vehicle usage standards.

[0004] However, traditional gear repair methods only control the laser beam to scan the tooth surface along a straight line when scanning the gear tooth surface, without considering the influence of the tooth surface curvature on the scanning results. Therefore, problems such as projection effect, field distortion and measurement error may occur, resulting in low accuracy of scanning results, which in turn leads to low precision of tooth surface repair. Summary of the Invention

[0005] The main objective of this application is to provide a gear repair method, apparatus, terminal device, and computer-readable storage medium, aiming to improve the accuracy of gear repair.

[0006] To achieve the above objectives, this application provides a gear repair method, which includes the following steps:

[0007] A first scanning path parallel to the root line of the target tooth surface is used to linearly scan the target tooth surface of the gear to be scanned, thereby obtaining the first scanning data.

[0008] In a direction tangent to the involute base circle of the gear to be scanned, the target tooth surface is scanned along a second scanning path parallel to the involute of the target tooth surface to obtain second scanning data.

[0009] Based on the actual contour information of the target tooth surface obtained by scanning, and the preset theoretical contour information corresponding to the target tooth surface, the roughness diagnosis of the target tooth surface is performed, and the repair mode of the target tooth surface is determined according to the result of the roughness diagnosis. The actual contour information includes the first scan data and the second scan data.

[0010] The target tooth surface is repaired according to the repair mode.

[0011] Optionally, the step of linearly scanning the target tooth surface along a first scanning path parallel to the root line of the target tooth surface to obtain first scanning data includes:

[0012] The laser probe is controlled to perform a linear scan on the target tooth surface of the gear to be scanned along a first scanning path parallel to the root line of the target tooth surface, thereby obtaining first scanning data, wherein the first scanning data is the distance between the laser probe and the scanning point on the first scanning path.

[0013] Optionally, the step of performing involute scanning on the target tooth surface along a second scanning path parallel to the involute of the target tooth surface in a direction tangent to the involute base circle of the gear to be scanned, to obtain second scanning data, includes:

[0014] In a direction tangent to the involute base circle of the gear to be scanned, the laser probe is controlled to perform involute scanning on the target tooth surface along a second scanning path parallel to the involute of the target tooth surface, to obtain second scanning data, wherein the second scanning data is the distance between the laser probe and the scanning point on the second scanning path.

[0015] Optionally, the step of performing roughness diagnosis on the target tooth surface based on the actual contour information of the target tooth surface obtained by scanning and the preset theoretical contour information corresponding to the target tooth surface, and determining the repair mode of the target tooth surface based on the roughness diagnosis result, includes:

[0016] The first difference is obtained by subtracting the second scan data in the actual contour information from the preset second standard distance in the theoretical contour information;

[0017] The average of the sums of the first differences is used to obtain the first result of the roughness diagnosis.

[0018] In response to the first result being less than or equal to a first preset threshold, the repair mode of the target tooth surface is determined to be a mechanical repair mode.

[0019] Optionally, the method further includes:

[0020] In response to the first result being greater than the first preset threshold, the first scan data in the actual contour information is subtracted from the preset first standard distance in the theoretical contour information to obtain a second difference.

[0021] Calculate the root mean square of the first difference and the second difference to obtain the second result of roughness diagnosis;

[0022] In response to the second result being greater than or equal to the second preset threshold, the repair mode of the target tooth surface is determined to be an electrochemical repair mode.

[0023] Optionally, after the step of determining the repair mode of the target tooth surface based on the result of roughness diagnosis, the method further includes:

[0024] The area to be repaired on the target tooth surface is determined based on the results of the roughness diagnosis;

[0025] Assess the repair cost of the area to be repaired, and determine whether the repair cost is less than the preset gear cost;

[0026] If the repair cost is less than the gear cost, then the step of repairing the target tooth surface according to the repair mode is performed;

[0027] If the repair cost is greater than or equal to the gear cost, the gear will be recycled.

[0028] Optionally, the repair mode includes a mechanical repair mode and an electrochemical repair mode, and the step of repairing the target tooth surface according to the repair mode includes:

[0029] When the repair mode is mechanical repair mode, the area to be repaired is thinned and repaired.

[0030] When the repair mode is electrochemical repair mode, the area to be repaired is subjected to thickening repair treatment.

[0031] Furthermore, to achieve the above objectives, this application also provides a gear repair device, which includes the following steps:

[0032] A linear scanning module is used to perform linear scanning on the target tooth surface of the gear to be scanned along a first scanning path parallel to the root line of the target tooth surface, and obtain first scanning data.

[0033] The involute scanning module is used to perform involute scanning on the target tooth surface in a direction tangent to the involute base circle of the gear to be scanned, along a second scanning path parallel to the involute of the target tooth surface, to obtain second scanning data.

[0034] The determination module is used to perform roughness diagnosis on the target tooth surface based on the actual contour information of the target tooth surface obtained by scanning and the preset theoretical contour information corresponding to the target tooth surface, and to determine the repair mode of the target tooth surface according to the result of the roughness diagnosis, wherein the actual contour information includes the first scan data and the second scan data;

[0035] The repair module is used to repair the target tooth surface according to the repair mode.

[0036] In addition, to achieve the above objectives, this application also provides a gear repair device, which includes: a memory, a processor, and a gear repair program stored in the memory and executable on the processor. When the gear repair program of the gear repair device is executed by the processor, it implements the steps of the gear repair method as described above.

[0037] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing a gear repair program, which, when executed by a processor, implements the steps of the gear repair method as described above.

[0038] In this embodiment, the target tooth surface is linearly scanned along a first scanning path parallel to the root line of the target tooth surface to obtain first scanning data. Then, in the direction tangent to the involute base circle of the gear to be scanned, the target tooth surface is scanned along a second scanning path parallel to the involute of the target tooth surface to obtain second scanning data. Based on the actual contour information of the target tooth surface obtained by scanning (i.e., the first scanning data and the second scanning data) and the preset theoretical contour information corresponding to the target tooth surface, the roughness of the target tooth surface is diagnosed. Based on the result of the roughness diagnosis, the repair mode of the target tooth surface is determined, and the target tooth surface is repaired according to the repair mode. The linear scanning method used in this application ensures complete coverage of the gear tooth surface. The involute scanning method is adapted to the involute of the tooth surface and requires scanning perpendicular to the tooth surface, which ensures the accuracy of the scanning results. Thus, compared with the traditional method of obtaining tooth surface contour information by using only linear scanning, the scanning method combined with linear scanning in this application not only ensures the scanning coverage of the tooth surface but also ensures the accuracy of the scanning results, providing more accurate data support for gear repair and thereby improving the precision of gear repair. Attached Figure Description

[0039] Figure 1 is a schematic diagram of the hardware operating environment of the gear repair equipment involved in the embodiment of this application;

[0040] Figure 2 is a flowchart illustrating the steps of the first embodiment of the gear repair method of this application;

[0041] Figure 3 is an overall schematic diagram of the gear scanning scenario involved in an embodiment of the gear repair method of this application;

[0042] Figure 4 is a partial schematic diagram of a gear scanning scene involved in an embodiment of the gear repair method of this application;

[0043] Figure 5 is a schematic diagram of an electrochemical repair scenario involved in an embodiment of the gear repair method of this application;

[0044] Figure 6 is a schematic diagram of the gear repair process involved in an embodiment of the gear repair method of this application;

[0045] Figure 7 is a schematic diagram of the functional modules of an embodiment of the gear repair device of this application.

[0046] Explanation of icon numbers:

[0047] Label Name 1 Scanning Equipment 2 Gear 3 Tooth Surface 4 Electrochemical Repair Device 5 Positive Power Supply 6 Negative Power Supply 11 Laser Probe 21 Tooth Surface 22 Defect Location 41 Conduit 42 Electrochemical Repair Solution 51 Positive Wire 61 Negative Wire surface

[0048] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0050] Referring to Figure 1, Figure 1 is a schematic diagram of the hardware operating environment of the gear repair equipment involved in the embodiment of this application.

[0051] It should be noted that the embodiments of this application relate to gear repair equipment in the field of gear repair technology. Specifically, the gear repair equipment can be a robotic arm, an industrial robot, etc.

[0052] As shown in Figure 1, the gear repair device may include: a processor 1001, such as a CPU; a communication bus 1002; a user interface 1003; a network interface 1004; and a memory 1005. The communication bus 1002 is used to establish communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001. For ease of description, the execution entities of the method steps in each embodiment are omitted below.

[0053] Those skilled in the art will understand that the gear repair equipment structure shown in Figure 1 does not constitute a limitation on the gear repair equipment, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0054] As shown in Figure 1, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a gear repair program.

[0055] In the terminal shown in Figure 1, the network interface 1004 is mainly used to connect to the backend server and communicate with it; the user interface 1003 is mainly used to connect to the client and communicate with it; and the processor 1001 can be used to call the gear repair program stored in the memory 1005 and perform the following operations:

[0056] A first scanning path parallel to the root line of the target tooth surface is used to linearly scan the target tooth surface of the gear to be scanned, thereby obtaining the first scanning data.

[0057] In a direction tangent to the involute base circle of the gear to be scanned, the target tooth surface is scanned along a second scanning path parallel to the involute of the target tooth surface to obtain second scanning data.

[0058] Based on the actual contour information of the target tooth surface obtained by scanning, and the preset theoretical contour information corresponding to the target tooth surface, the roughness diagnosis of the target tooth surface is performed, and the repair mode of the target tooth surface is determined according to the result of the roughness diagnosis. The actual contour information includes the first scan data and the second scan data.

[0059] The target tooth surface is repaired according to the repair mode.

[0060] Further, the operation of linearly scanning the target tooth surface along a first scanning path parallel to the root line of the target tooth surface to obtain the first scanning data includes:

[0061] The laser probe is controlled to perform a linear scan on the target tooth surface of the gear to be scanned along a first scanning path parallel to the root line of the target tooth surface, thereby obtaining first scanning data, wherein the first scanning data is the distance between the laser probe and the scanning point on the first scanning path.

[0062] Further, the operation of performing involute scanning on the target tooth surface along a second scanning path parallel to the involute of the target tooth surface in a direction tangent to the involute base circle of the gear to be scanned, to obtain the second scanning data, includes:

[0063] In a direction tangent to the involute base circle of the gear to be scanned, the laser probe is controlled to perform involute scanning on the target tooth surface along a second scanning path parallel to the involute of the target tooth surface, to obtain second scanning data, wherein the second scanning data is the distance between the laser probe and the scanning point on the second scanning path.

[0064] Furthermore, the operation of performing roughness diagnosis on the target tooth surface based on the actual contour information of the target tooth surface obtained by scanning and the preset theoretical contour information corresponding to the target tooth surface, and determining the repair mode of the target tooth surface based on the roughness diagnosis results, includes:

[0065] The first difference is obtained by subtracting the second scan data in the actual contour information from the preset second standard distance in the theoretical contour information;

[0066] The average of the sums of the first differences is used to obtain the first result of the roughness diagnosis.

[0067] In response to the first result being less than or equal to a first preset threshold, the repair mode of the target tooth surface is determined to be a mechanical repair mode.

[0068] Furthermore, the processor 1001 can also be used to call the gear repair program stored in the memory 1005 and perform the following operations:

[0069] In response to the first result being greater than the first preset threshold, the first scan data in the actual contour information is subtracted from the preset first standard distance in the theoretical contour information to obtain a second difference.

[0070] Calculate the root mean square of the first difference and the second difference to obtain the second result of roughness diagnosis;

[0071] In response to the second result being greater than or equal to the second preset threshold, the repair mode of the target tooth surface is determined to be an electrochemical repair mode.

[0072] Furthermore, after the step of determining the repair mode of the target tooth surface based on the roughness diagnosis result, the processor 1001 can also be used to call the gear repair program stored in the memory 1005 and perform the following operations:

[0073] The area to be repaired on the target tooth surface is determined based on the results of the roughness diagnosis;

[0074] Assess the repair cost of the area to be repaired, and determine whether the repair cost is less than the preset gear cost;

[0075] If the repair cost is less than the gear cost, then the step of repairing the target tooth surface according to the repair mode is performed;

[0076] If the repair cost is greater than or equal to the gear cost, the gear will be recycled.

[0077] Furthermore, the repair mode includes a mechanical repair mode and an electrochemical repair mode, and the operation of repairing the target tooth surface according to the repair mode includes:

[0078] When the repair mode is mechanical repair mode, the area to be repaired is thinned and repaired.

[0079] When the repair mode is electrochemical repair mode, the area to be repaired is subjected to thickening repair treatment.

[0080] Based on the above structure, various embodiments of the gear repair method are proposed.

[0081] Please refer to Figure 2, which is a flowchart illustrating the first embodiment of the gear repair method of this application. It should be noted that although the logical order is shown in the flowchart, in some cases, the gear repair method of this application may execute the steps shown or described in a different order. In this embodiment, the executing device of the gear repair method can be a personal computer, smartphone, or other device, and this is not limited thereto. The gear repair method includes S10 to S20:

[0082] Step S10: Linearly scan the target tooth surface along a first scanning path parallel to the root line of the target tooth surface to obtain the first scanning data.

[0083] It should be noted that during the gear manufacturing process, as shown in Figure 3, which is an overall schematic diagram of the gear scanning scene, the gear 2 will rotate at a constant speed around the shaft. Whenever it passes a tooth surface 21, the scanning device 1 will scan the current tooth surface 21 of the gear 2. Specifically, during the rotation of the gear 1, when each tooth surface 21 reaches a specific position, the gear 1 is controlled to stop for a preset time. It should be understood that this application does not limit the specific length of time the gear stays. This time is the length of time that can complete the scanning task of the currently stopped tooth surface.

[0084] The target tooth surface mentioned above is the tooth surface to be scanned when the gear is stationary. The root line of the target tooth surface refers to the straight line segment or curved line segment where the target tooth surface intersects the cylindrical base of the gear. In other words, the length of the root line of a single tooth surface is finite. Specifically, when the gear is a spur cylindrical tooth, the root line of the tooth surface is a straight line, and when the gear is a helical cylindrical tooth, the root line of the tooth surface is a spiral line.

[0085] The involute of the target tooth surface refers to the tooth profile line on the target tooth surface. Given the limited area of ​​the target tooth surface, the length of the involute of the target tooth surface is also limited.

[0086] For example, as shown in Figure 4, which is a partial schematic diagram of a gear scanning scene, gear 2 in Figure 4 is a spur cylindrical tooth. The intersection line OX of the tooth surface 21 and the cylindrical base of the gear is the root line of the target tooth surface. 0Z and XZ ′ These are the two involutes on the target tooth surface.

[0087] In this embodiment, the scanning device is controlled to perform a linear scan on the target tooth surface along a scanning path (hereinafter referred to as the first scanning path for distinction) that is parallel to the root line of the target tooth surface to obtain scanning data (hereinafter referred to as the first scanning data for distinction). It should be understood that the first scanning path is a path on the target tooth surface that is parallel to the root line. Therefore, the first scanning path can be the root line, and the length of each first scanning path is limited. Moreover, when the gear to be scanned is a spur cylindrical tooth, the first scanning path is a straight line parallel to the root line. When the gear to be scanned is a helical cylindrical tooth, the first scanning path is a spiral line that coincides with or is parallel to the root line.

[0088] It should be noted that this application does not limit the number of first scanning paths on each tooth surface. Any number of first scanning paths can be set according to actual needs, while ensuring tooth surface scanning coverage. It can be understood that the more first scanning paths on a tooth surface, the more comprehensive the collected tooth surface contour information.

[0089] In this embodiment, step S10 includes:

[0090] Step S101: Control the laser probe to perform a linear scan on the target tooth surface of the gear to be scanned along a first scanning path parallel to the root line of the target tooth surface, and obtain first scanning data, wherein the first scanning data is the distance between the laser probe and the scanning point on the first scanning path.

[0091] The scanning device for scanning gears includes a laser probe. When the gear is stationary, the laser probe is controlled to perform a linear scan on the target tooth surface of the gear to be scanned along a first scanning path parallel to the root line of the target tooth surface. The distance between the laser probe and the scanning point on the first scanning path is obtained, and this distance is the first scanning data.

[0092] In a specific implementation, as shown in Figure 4, a relative coordinate system XOZ is established with point O as the origin. This coordinate system includes a horizontal axis in the OX direction and a vertical axis in the OZ direction. The horizontal axis of this coordinate system is a straight line or a helix, and the vertical axis is the involute of the tooth surface. The initial position of the scanning device is fixed in the XOZ coordinate system. When the gear is stationary, the laser probe is controlled to emit a scanning laser along the first scanning path. The laser scans from point O to point X along the first scanning path, then returns to the OZ side and moves a preset distance along the OZ direction (hereinafter referred to as the first preset distance for distinction). It then continues to scan from the OZ side to the XZ along another first scanning path parallel to OX. ′ This process is repeated on the side. It should be understood that the first preset distance can be set according to actual needs to determine the number of first scan paths.

[0093] Step S20: In a direction tangent to the involute base circle of the gear to be scanned, the target tooth surface is scanned along a second scanning path parallel to the involute of the target tooth surface to obtain second scanning data.

[0094] In this embodiment, the scanning device is controlled to perform involute scanning on the target tooth surface along a scanning path (hereinafter referred to as the second scanning path for distinction) parallel to the involute of the target tooth surface, in a direction tangent to the base circle of the involute of the gear to be scanned, to obtain scanning data (hereinafter referred to as the second scanning data for distinction). It should be understood that the second scanning path is a path parallel to the involute on the target tooth surface, so the second scanning path can be an involute, and the length of each second scanning path is finite. In addition, when performing involute scanning on the target tooth surface, the straight line of the laser path of the scanning device is tangent to the base circle of the involute. That is to say, the laser emitted by the scanning device is perpendicular to the target tooth surface, i.e., perpendicular to the tangent of the base circle of the involute.

[0095] It should be noted that this application does not limit the number of second scanning paths on each tooth surface. Any number of second scanning paths can be set according to actual needs, provided that the tooth surface scanning coverage is met. It can be understood that the more second scanning paths on a tooth surface, the more comprehensive the collected tooth surface contour information.

[0096] In this embodiment, step S20 includes:

[0097] Step S201: In the direction tangent to the involute base circle of the gear to be scanned, control the laser probe to perform involute scanning on the target tooth surface along a second scanning path parallel to the involute of the target tooth surface, and obtain second scanning data, wherein the second scanning data is the distance between the laser probe and the scanning point on the second scanning path.

[0098] In this embodiment, when the gear is stationary, the laser probe is controlled to scan the target tooth surface along a second scanning path that is parallel to the involute of the target tooth surface and ensures that the laser beam emitted by the laser probe is perpendicular to the target tooth surface (i.e., in the direction tangent to the base circle of the involute of the gear to be scanned), and the target tooth surface is scanned involutely to obtain the distance between the laser probe and the scanning point on the second scanning path. This distance is the second scanning data.

[0099] In a specific implementation, after scanning each of the first scanning paths on the target tooth surface, the laser beam is scanned from point O to point Z along a second scanning path, maintaining a perpendicularity between the laser beam and the target tooth surface during the scanning process. Then, it returns to point O and moves a preset distance (hereinafter referred to as the second preset distance for distinction) along the OX direction. The laser probe is then controlled again to scan the target tooth surface along another second scanning path, perpendicular to the target tooth surface, and this process is repeated. It should be understood that the number of second scanning paths can be determined by setting the aforementioned second preset distance according to actual needs.

[0100] Step S30: Based on the actual contour information of the target tooth surface obtained by scanning and the preset theoretical contour information corresponding to the target tooth surface, perform roughness diagnosis on the target tooth surface, and determine the repair mode of the target tooth surface according to the roughness diagnosis result, wherein the actual contour information includes the first scan data and the second scan data.

[0101] The repair modes for the target tooth surface include mechanical repair and electrochemical repair. Mechanical repair is used to repair tooth surfaces that are too thick, while electrochemical repair is used to repair tooth surfaces that are too thin. The areas to be repaired refer to the areas on the target tooth surface that are too thick or too thin.

[0102] In this embodiment, based on the actual contour information of the target tooth surface obtained by scanning and the preset theoretical contour information corresponding to the target tooth surface, the roughness of the target tooth surface is diagnosed, and the repair mode of the target tooth surface is determined according to the result of the roughness diagnosis. The actual contour information includes the first scan data and the second scan data, and the theoretical contour information includes the first standard distance and the second standard distance.

[0103] The theoretical scanning distance along the OX direction (i.e., the first standard distance mentioned above) and the theoretical scanning distance along the OZ direction (i.e., the second standard distance mentioned above) are preset. This application does not limit the specific value of the theoretical scanning distance; the theoretical scanning distance can be any distance value that conforms to the gear manufacturing standard.

[0104] In this embodiment, step S30 includes:

[0105] Step S301: Subtract the second scan data in the actual contour information from the preset second standard distance in the theoretical contour information to obtain the first difference.

[0106] In this embodiment, the difference between the second scan data and the preset second standard distance is determined (hereinafter referred to as the first difference for distinction). The first difference is the result obtained by subtracting the second standard distance from the second scan data.

[0107] Step S302: Average the sum of the first differences to obtain the first result of roughness diagnosis.

[0108] In this embodiment, the average of the sum of the first differences is the result of the roughness diagnosis of the target tooth surface (hereinafter referred to as the first result for distinction).

[0109] Step S303: In response to the first result being less than or equal to a first preset threshold, the repair mode of the target tooth surface is determined to be a mechanical repair mode.

[0110] The upper limit of the gear tooth surface thickness is set in advance according to the actual process requirements, namely the first preset threshold mentioned above. The first preset threshold is a negative value. In this application, the first preset threshold is -0.01.

[0111] In this embodiment, when the first result is less than or equal to the first preset threshold, the repair mode of the target tooth surface is determined to be the mechanical repair mode.

[0112] It should be noted that after the laser probe has scanned the target tooth surface along multiple first scanning paths, the distance between each scanning point on each first scanning path and the laser probe is obtained, which is the first scanning data. Each scanning point on the first scanning path corresponds to one first scanning data, which is denoted as ax. iSelect a predetermined number of first target scan points with equal spacing on the target tooth surface from each scan point. Assume the predetermined number is n. Then, store the first scan data corresponding to each of the n scan points into a set X, where X = {ax1, ax2, ..., ax...}. n Similarly, each scan point on the second scan path corresponds to one second scan data point, which is denoted as az. i Select n second target scanning points with equal intervals along the second scanning path, and store the second scanning data corresponding to each of the n scanning points into a set Z, Z = {az1, az2, ..., az...} n In this application, n takes the value 1000.

[0113] In a specific implementation, the first preset threshold is denoted as m, and the second standard distance is denoted as az. p The following formula (hereinafter referred to as the first wear amount formula for distinction) is used to determine whether the target tooth surface is too thick:

[0114]

[0115] Among them, az i This represents the i-th second target scanning point selected on the second scanning path, (az i -az p The distance between the i-th second target scanning point and the laser probe minus the second standard distance, i.e., the first difference, is determined by the above formula. If the first difference is less than or equal to the first preset threshold, the i-th second target scanning point is determined to be too thick, and the mechanical repair mode needs to be selected to repair the tooth surface. If the first difference is greater than the first preset threshold, the target tooth surface is determined not to be too thick.

[0116] In this embodiment, the gear repair method of this application further includes:

[0117] Step A10: In response to the first result being greater than the first preset threshold, the first scan data in the actual contour information is subtracted from the preset first standard distance in the theoretical contour information to obtain a second difference.

[0118] In this embodiment, when the first result is greater than the first preset threshold, the first scan data in the actual contour information is subtracted from the preset first standard distance in the theoretical contour information to obtain the result value (hereinafter referred to as the second difference for distinction).

[0119] Step A20: Calculate the root mean square of the first difference and the second difference to obtain the second result of roughness diagnosis.

[0120] In this embodiment, the root mean square of the first difference and the second difference is calculated, and the resulting value is the roughness diagnosis result (hereinafter referred to as the second result for distinction).

[0121] Step A30: In response to the second result being greater than or equal to the second preset threshold, the repair mode of the target tooth surface is determined to be an electrochemical repair mode.

[0122] The lower limit of the gear tooth surface thickness is set in advance according to the actual process requirements, namely the second preset threshold mentioned above. The second preset threshold is a negative or positive value. The threshold for the gear tooth surface to reach the recycling standard is set in advance according to the actual recycling requirements, namely the third preset threshold mentioned above. In this application, the second preset threshold is 0.01 and the third preset threshold is 0.2. That is, when the wear thickness of the gear tooth surface reaches 0.2, the gear is scrapped.

[0123] In this embodiment, it is determined whether the second result is greater than or equal to the second preset threshold. If so, it indicates that the scanning points corresponding to the first scan data and the second scan data are too thin and can be repaired. Then, the repair mode of the target tooth surface is determined to be the electrochemical repair mode, and the area to be repaired on the target tooth surface is determined to be the scanning points corresponding to the first scan data and the second scan data.

[0124] In one feasible implementation, the second preset threshold is denoted as q, and the first standard distance is denoted as ax. p The following formula (hereinafter referred to as the second wear amount formula for distinction) is used to determine whether the target tooth surface is too thin, that is, to determine whether the repair mode of the target tooth surface is an electrochemical repair mode:

[0125]

[0126] in, The second result indicates that when the second result is greater than or equal to the second preset threshold, the repair mode of the target tooth surface is determined to be the electrochemical repair mode.

[0127] In another feasible implementation, the second preset threshold is denoted as q, the third preset threshold is denoted as p, and the first standard distance is denoted as ax. p The following formula (hereinafter referred to as the second wear amount formula for distinction) is used to determine whether the target tooth surface is too thin and repairable:

[0128]

[0129] Where, ax o This represents the i-th first target scan point selected on the first scan path, (ax i -ax p) represents the distance between the i-th first target scanning point and the laser probe minus the first standard distance, i.e., the first difference; az i This represents the i-th second target scanning point selected on the second scanning path, (az i -az p The distance between the i-th second target scanning point and the laser probe minus the second standard distance, i.e., the second difference, is determined by the formula above. If the root mean square of the first and second differences (i.e., the second result) is greater than or equal to the second preset threshold and less than the third preset threshold, it is determined that the i-th first target scanning point and the i-th second target scanning point are too thin, and the electrochemical repair mode needs to be selected to repair the tooth surface. If the sum of the first and second differences is less than the second preset threshold, it is determined that the current target tooth surface does not have a problem of being too thin; if the root mean square of the first and second differences is greater than or equal to the third preset threshold, it is determined that the current gear is scrapped.

[0130] Step S40: Perform repair treatment on the target tooth surface according to the repair mode.

[0131] In this embodiment, after determining the repair mode of the target tooth surface and the area to be repaired, the area to be repaired is repaired according to the repair mode.

[0132] It should be noted that the target tooth surface can be repaired by controlling an industrial robot or robotic arm. The area to be repaired mentioned above refers to the area on the target tooth surface that is too thick or too thin.

[0133] In this embodiment, the repair mode includes both mechanical repair mode and electrochemical repair mode. Step S40 includes:

[0134] Step S401: When the repair mode is mechanical repair mode, the area to be repaired is thinned and repaired.

[0135] Step S402: When the repair mode is electrochemical repair mode, the area to be repaired is subjected to thickening repair treatment.

[0136] In this embodiment, when an excessively thick area to be repaired is detected on the target tooth surface, the repair mode of the target tooth surface is determined to be mechanical repair mode, and the area to be repaired is thinned and repaired; when an excessively thin area to be repaired is detected on the target tooth surface, the repair mode of the target tooth surface is determined to be electrochemical repair mode, and the area to be repaired is thickened and repaired.

[0137] In a specific implementation, when the current target tooth surface is thicker than the theoretical profile surface, the thickness difference between the target tooth surface and the theoretical profile surface is determined, and a mechanical repair mode is entered to repair the tooth surface. In this mechanical repair mode, the current tooth surface is thinned using a cutting tool, with each cut being 0.01 mm thick, until the cumulative thickness reaches the thickness difference. After repair, the repaired target tooth surface can be scanned again to re-check whether the repair is complete.

[0138] For example, as shown in Figure 5, which is a schematic diagram of an electrochemical repair scenario, assuming that the defect 22 on the tooth surface 21 needs to be electrochemically repaired, the end face of the gear 2 is connected to the negative terminal 6 of the power supply through the negative wire 61, and the electrochemical repair device 4 is connected to the positive terminal 5 of the power supply through the positive wire 51. The conduit 41 of the electrochemical repair device 4 is slowly moved to the coordinate position of the defect 22. After the power is turned on, the electrochemical repair fluid 42 will flow out along the conduit 41 under the action of the power. The defect 22 will absorb the outflowing electrochemical repair fluid 42 onto the metal surface, and further react with the metal surface to make the surface of the defect 22 thicker. After the repair is completed, the repaired target tooth surface can be scanned again, and the repaired target tooth surface can be re-checked to see if it has been repaired in place.

[0139] Thus, this application linearly scans the target tooth surface along a first scanning path parallel to the root line of the target tooth surface to obtain first scanning data. Then, in a direction tangent to the involute base circle of the gear to be scanned, it performs an involute scan along a second scanning path parallel to the involute of the target tooth surface to obtain second scanning data. Based on the actual contour information of the target tooth surface obtained by scanning (i.e., the first and second scanning data) and the preset theoretical contour information corresponding to the target tooth surface, the roughness of the target tooth surface is diagnosed. Based on the result of the roughness diagnosis, the repair mode of the target tooth surface is determined, and the target tooth surface is repaired according to the repair mode. The linear scanning method used in this application ensures complete coverage of the gear tooth surface. The involute scanning method is adapted to the involute of the tooth surface and requires scanning perpendicular to the tooth surface, which ensures the accuracy of the scanning results. Thus, compared with the traditional method of obtaining tooth surface contour information by using only linear scanning, the scanning method combined with linear scanning in this application not only ensures the scanning coverage of the tooth surface but also ensures the accuracy of the scanning results, providing more accurate data support for gear repair and thereby improving the precision of gear repair.

[0140] Furthermore, based on the first embodiment of the gear repair method of this application described above, a second embodiment of the gear repair method of this application is proposed.

[0141] In this embodiment, after step S30, the method further includes:

[0142] Step B10: Determine the area to be repaired on the target tooth surface based on the results of the roughness diagnosis.

[0143] In this embodiment, the area to be repaired on the target tooth surface is determined based on the result of roughness diagnosis. Specifically, in a feasible implementation, the area to be repaired can be determined based on the distance between the scanning point on the target tooth surface and the laser probe. For example, when the distance between the scanning point and the laser probe is less than or equal to a first preset threshold, the scanning point is determined to be too thick and belongs to the area to be repaired. When the distance between the scanning point and the laser probe is greater than or equal to a second preset threshold, the scanning point is determined to be too thin and belongs to the area to be repaired.

[0144] Step B20: Evaluate the repair cost of the area to be repaired and determine whether the repair cost is less than the preset gear cost.

[0145] In this embodiment, the repair cost of the area to be repaired on the target tooth surface can be determined based on the error between the area to be repaired and the theoretical profile surface. Specifically, when the area to be repaired is too thin, the required volume of electrochemical repair fluid is calculated to assess the price cost, and the time required to repair the area is predicted to assess the time cost. When the area to be repaired is too thick, the time required to repair the area is predicted to assess the time cost. After obtaining the repair cost, it is determined whether the repair cost is less than a preset gear cost. This gear cost is the result of multiplying the current price of the new gear by a cost coefficient, where the cost coefficient is greater than or equal to 0.6 and less than or equal to 1.

[0146] Step B30: If the repair cost is less than the gear cost, then perform the step of repairing the target tooth surface according to the repair mode.

[0147] If the repair cost of the area to be repaired is less than the cost of the gear, then the area to be repaired on the target tooth surface will be repaired.

[0148] Step B30: If the repair cost is greater than or equal to the gear cost, then the gear shall be recycled.

[0149] If the repair cost is detected to be greater than or equal to the gear cost, the factory will enter the material recycling mode and recycle the gear.

[0150] In a specific implementation, when the second difference corresponding to each target tooth surface of the gear is detected to be greater than the first preset threshold, and the sum of the first difference and the second difference is less than the second preset threshold, it is determined that the gear meets the factory standard and can be delivered to the customer; furthermore, during the customer's use, after-sales maintenance of the gear will be carried out, and the maintenance mode will be carried out according to the following process;

[0151] Let L be the normal service life of the gear. When the service life of the gear Life < L, the following formula is further used for judgment:

[0152]

[0153] When the wear amount is ≥p, it is recommended to enter the factory material recycling mode, replacing the gear with a new one at a certain discount, and the factory will reuse the recycled gear. When the wear amount is <p, it will enter the electrochemical repair mode. If the gear's service life Life ≥ L, it will enter the over-warranty life judgment stage. When Life < 1.5L, it is recommended to enter the factory material recycling mode when the wear amount is ≥p, and the electrochemical repair mode when the wear amount is <p. When Life ≥ 1.5L, it will enter the cost assessment stage and set the Cost. R Cost of repair N For the cost of the new gears, when Cost R <0.8 Cost N When the wear amount is ≥p, it is recommended to switch to factory material recycling mode; when the wear amount is <p, switch to electrochemical repair mode; when Cost R ≥0.8 Cost N When the gears are in use, the factory enters a material recycling mode, where new gears are replaced at a certain discount, and the factory reuses the recycled gears.

[0154] For example, as shown in Figure 6, which is a schematic diagram of the gear repair process, firstly, each tooth surface of the gear to be repaired is laser-scanned using a scanning device to obtain scanning information, which is then converted into contour information (i.e., the distance between the tooth surface and the laser probe). Next, the roughness of the gear tooth surface is judged, determining whether the first difference corresponding to each first target scanning point is less than or equal to a first preset threshold. If yes, the gear tooth surface is repaired using a mechanical repair mode. If no, the root mean square of the first difference corresponding to each first target scanning point and the second difference corresponding to each second target scanning point is further determined to be greater than or equal to a second preset threshold. If yes, the gear tooth surface is repaired using an electrochemical repair mode. If no, the gear is deemed to meet factory requirements and can be delivered to the customer. During customer use, the vehicle can be returned to the factory for after-sales maintenance at any time. During after-sales maintenance, the gear's service life (Life) is first determined to be greater than or equal to the normal service life (L). If yes, the gear's service life (Life) is further determined to be greater than or equal to 1.5L. If Life is greater than or equal to 1.5L, the repair cost of the current gear is assessed, and the repair cost (Cost) is determined. R Is it greater than or equal to 0.8 Cost? N If Cost R Greater than or equal to 0.8 Cost N If the current gear is not recycled, the factory will perform material recycling processing; additionally, if Life is less than L, Life is less than 1.5L, or Cost is less than L, the factory will perform material recycling processing. R Less than 0.8 Cost N If the wear is greater than or equal to 0.2mm, the current gear will be recycled at the factory. If not, the current gear will be electrochemically repaired.

[0155] Thus, this application improves the utilization rate and service life of the product by assessing the repair cost of the area to be repaired of the gear. When the repair cost is within a preset range, the gear is repaired. When the repair cost is not within the preset range, a recycling mechanism is set up to recycle the current gear.

[0156] In addition, this application also provides a gear repair device.

[0157] Please refer to Figure 7, which is a functional block diagram of an embodiment of the gear repair device of this application. As shown in Figure 7, the gear repair device of this application includes:

[0158] The linear scanning module 10 is used to perform linear scanning on the target tooth surface of the gear to be scanned along a first scanning path parallel to the tooth root line of the target tooth surface, and obtain first scanning data.

[0159] The involute scanning module 20 is used to perform involute scanning on the target tooth surface in a direction tangent to the involute base circle of the gear to be scanned, along a second scanning path parallel to the involute of the target tooth surface, to obtain second scanning data.

[0160] The determination module 30 is used to perform roughness diagnosis on the target tooth surface based on the actual contour information of the target tooth surface obtained by scanning and the preset theoretical contour information corresponding to the target tooth surface, and to determine the repair mode of the target tooth surface according to the result of the roughness diagnosis, wherein the actual contour information includes the first scan data and the second scan data;

[0161] Repair module 40 is used to repair the target tooth surface according to the repair mode.

[0162] Furthermore, the linear scanning module 10 is also used to control the laser probe to perform linear scanning on the target tooth surface of the gear to be scanned along a first scanning path parallel to the root line of the target tooth surface, and obtain first scanning data, wherein the first scanning data is the distance between the laser probe and the scanning point on the first scanning path.

[0163] Furthermore, the involute scanning module 20 is also used to control the laser probe to perform involute scanning on the target tooth surface along a second scanning path parallel to the involute on the target tooth surface in a direction tangent to the involute base circle of the gear to be scanned, thereby obtaining second scanning data, wherein the second scanning data is the distance between the laser probe and the scanning point on the second scanning path.

[0164] Further, module 30 is defined as including:

[0165] The first calculation unit is used to subtract the second scan data in the actual contour information from the preset second standard distance in the theoretical contour information to obtain a first difference.

[0166] The second calculation unit is used to average the sum of the first difference to obtain the first result of roughness diagnosis;

[0167] The first determining unit is configured to determine the repair mode of the target tooth surface as a mechanical repair mode in response to the first result being less than or equal to a first preset threshold.

[0168] Furthermore, the gear repair device of this application also includes:

[0169] The third calculation unit is used to subtract the first scan data in the actual contour information from the preset first standard distance in the theoretical contour information in response to the first result being greater than the first preset threshold, to obtain a second difference.

[0170] The fourth calculation unit is used to calculate the root mean square of the first difference and the second difference to obtain the second result of roughness diagnosis;

[0171] The second determining unit is used to determine the repair mode of the target tooth surface as an electrochemical repair mode in response to the second result being greater than or equal to a second preset threshold.

[0172] Furthermore, the gear repair device of this application also includes:

[0173] The repair area module is used to determine the repair area of ​​the target tooth surface based on the results of roughness diagnosis.

[0174] An evaluation module is used to evaluate the repair cost of the area to be repaired and determine whether the repair cost is less than a preset gear cost.

[0175] The first evaluation result module is used to perform the step of repairing the target tooth surface according to the repair mode if the repair cost is less than the gear cost.

[0176] The second evaluation result module is used to recycle the gear if the repair cost is greater than or equal to the gear cost.

[0177] Furthermore, the repair mode includes a mechanical repair mode and an electrochemical repair mode. The repair module 40 is also used to perform a thinning repair treatment on the area to be repaired when the repair mode is a mechanical repair mode, and to perform a thickening repair treatment on the area to be repaired when the repair mode is an electrochemical repair mode.

[0178] This application also provides a computer storage medium storing a gear repair program, which, when executed by a processor, implements the steps of the gear repair program method as described in any of the above embodiments.

[0179] The specific embodiments of the computer storage medium in this application are basically the same as the embodiments of the gear repair program method described above, and will not be repeated here.

[0180] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the gear repair method of this application as described in any of the above embodiments, which will not be repeated here.

[0181] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0182] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0183] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a gear repair device (which may be a TWS earphone, etc.) to execute the methods described in the various embodiments of this application.

[0184] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A gear repair method, characterized in that, The gear repair method includes the following steps: linearly scanning the target tooth surface along a first scanning path parallel to the root line of the target tooth surface to obtain first scanning data; performing an involute scan on the target tooth surface along a second scanning path parallel to the involute line of the target tooth surface in a direction tangent to the involute base circle of the gear to be scanned to obtain second scanning data; performing roughness diagnosis on the target tooth surface based on the actual contour information of the scanned target tooth surface and the preset theoretical contour information corresponding to the target tooth surface; and determining the repair mode of the target tooth surface based on the roughness diagnosis result, wherein the actual contour information includes the… The steps of: first scan data and second scan data; repairing the target tooth surface according to the repair mode; performing roughness diagnosis on the target tooth surface based on the actual contour information of the target tooth surface obtained by scanning and the preset theoretical contour information corresponding to the target tooth surface, and determining the repair mode of the target tooth surface according to the roughness diagnosis result, include: subtracting the second scan data in the actual contour information from the preset second standard distance in the theoretical contour information to obtain a first difference; averaging the sum of the first difference to obtain a first result of roughness diagnosis; and determining the repair mode of the target tooth surface as a mechanical repair mode in response to the first result being less than or equal to a first preset threshold.

2. The gear repair method as described in claim 1, characterized in that, The step of linearly scanning the target tooth surface along a first scanning path parallel to the root line of the target tooth surface to obtain first scanning data includes: controlling a laser probe to linearly scan the target tooth surface along a first scanning path parallel to the root line of the target tooth surface to obtain first scanning data, wherein the first scanning data is the distance between the laser probe and the scanning point on the first scanning path.

3. The gear repair method as described in claim 2, characterized in that, The step of performing involute scanning on the target tooth surface along a second scanning path parallel to the involute line of the target tooth surface in a direction tangent to the involute base circle of the gear to be scanned, and obtaining second scanning data, includes: controlling a laser probe to perform involute scanning on the target tooth surface along a second scanning path parallel to the involute line of the target tooth surface in a direction tangent to the involute base circle of the gear to be scanned, and obtaining second scanning data, wherein the second scanning data is the distance between the laser probe and the scanning point on the second scanning path.

4. The gear repair method as described in claim 1, characterized in that, The method further includes: in response to the first result being greater than the first preset threshold, subtracting the first scan data in the actual contour information from the preset first standard distance in the theoretical contour information to obtain a second difference; calculating the root mean square of the first difference and the second difference to obtain a second result of roughness diagnosis; and in response to the second result being greater than or equal to the second preset threshold, determining that the repair mode of the target tooth surface is an electrochemical repair mode.

5. The gear repair method as described in claim 1, characterized in that, After the step of determining the repair mode of the target tooth surface based on the roughness diagnosis result, the method further includes: determining the area to be repaired of the target tooth surface based on the roughness diagnosis result; evaluating the repair cost of the area to be repaired, and determining whether the repair cost is less than a preset gear cost; if the repair cost is less than the gear cost, then performing the step of repairing the target tooth surface according to the repair mode; if the repair cost is greater than or equal to the gear cost, then recycling the gear.

6. The gear repair method as described in claim 5, characterized in that, The repair modes include mechanical repair mode and electrochemical repair mode; the step of repairing the target tooth surface according to the repair mode includes: when the repair mode is mechanical repair mode, thinning repair treatment is performed on the area to be repaired; when the repair mode is electrochemical repair mode, thickening repair treatment is performed on the area to be repaired.

7. A gear repair device, characterized in that, The gear repair device includes: a linear scanning module, used to perform linear scanning on the target tooth surface of the gear to be scanned along a first scanning path parallel to the root line of the target tooth surface, to obtain first scanning data; an involute scanning module, used to perform involute scanning on the target tooth surface along a second scanning path parallel to the involute line of the target tooth surface in a direction tangent to the involute base circle of the gear to be scanned, to obtain second scanning data; and a determination module, used to determine the actual contour information of the target tooth surface obtained by scanning, and preset theoretical contour information corresponding to the target tooth surface, based on the theoretical contour information of the target tooth surface. The target tooth surface undergoes roughness diagnosis, and a repair mode is determined based on the roughness diagnosis result. The actual contour information includes the first scan data and the second scan data. The second scan data in the actual contour information is subtracted from a preset second standard distance in the theoretical contour information to obtain a first difference. The sum of the first differences is averaged to obtain a first result of the roughness diagnosis. In response to the first result being less than or equal to a first preset threshold, the repair mode of the target tooth surface is determined to be a mechanical repair mode. A repair module is used to perform repair processing on the target tooth surface according to the repair mode.

8. A gear repair device, characterized in that, The gear repair device includes a memory and a processor, the memory storing a gear repair program that can run on the processor, the gear repair program implementing the steps of the gear repair method as described in any one of claims 1 to 6 when executed by the processor.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a gear repair program, which, when executed by a processor, implements the steps of the gear repair method as described in any one of claims 1 to 6.

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