Machining and positioning method and system for spiral bevel gear

Abstract

The invention discloses a spiral bevel gear machining positioning method and system, and relates to the technical field of spiral gear machining, and the method comprises the steps that a robot carries a visual system to move to a machining positioning table, and the spiral bevel gear is photographed for the first time to obtain an initial position image; determining feature element key data of the spiral bevel gear according to the initial position image; the spiral bevel gear is milled according to the edge position; performing secondary photographing on the spiral bevel gear, and detecting whether the first current position of the spiral bevel gear has angular deflection relative to the preset position; after the correction processing is finished, photographing the spiral bevel gear for three times to obtain a three-time position image of the spiral bevel gear; re-checking whether the second current position of the spiral bevel gear subjected to deviation correction processing has angle deflection relative to the preset position or not; and after reinspection is qualified, the execution station rotates to enter next helical tooth machining of the helical bevel gear. Through visual positioning, deviation correction and inspection processes, the machining precision is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of spiral bevel gear processing, and in particular to a processing positioning method and system for spiral bevel gears. Background Art

[0002] Spiral bevel gears are spiral bevel gears, which are often used for motion and power transmission between two intersecting axes. The teeth of bevel gears are distributed on the surface of a cone, and the tooth shape gradually decreases from the large end to the small end. When processing bevel gears, the gears need to be formed on the bevel surface. Therefore, the tool gear used for forming needs to be aligned with the angle of the bevel surface to effectively process bevel gears of qualified quality.

[0003] A Chinese invention patent with publication number CN118204810B discloses a quick positioning fixture for milling keyways of spiral bevel gear shafts. The invention adopts a simple linkage mechanism to achieve outward expansion and fixation of the spiral bevel gear through the relative movement of the expansion arm and the slot rod. This design does not require complex devices or components, reduces possible failure points, and improves system reliability. Through the adjustable height of the limit structure, the shaft hole and keyway can be quickly positioned according to spiral bevel gears of different heights and diameters, which can improve production efficiency and save adjustment time, thereby ensuring that the gear remains stable when in a fixed position.

[0004] However, the conventional spiral bevel gears mentioned above are positioned by mechanical devices during chamfering. Since the positioning devices are not stable enough during the gear positioning process, it is easy to cause gear offset during the gear processing process, thereby affecting the gear processing accuracy. In addition, positioning by mechanical devices is not only complicated in operation, but also requires replacing corresponding positioning devices for different models of spiral bevel gears, and has poor compatibility. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the present invention provides a processing and positioning method and system for a spiral bevel gear, which completes the positioning process, the deviation correction process and the inspection process by utilizing vision, and the three processes further improve the processing accuracy of the spiral bevel gear.

[0006] In order to solve the above problems, the first object of the present invention is to provide a processing and positioning method for a spiral bevel gear, comprising the following steps:

[0007] Step S1: The robot carries the visual system and moves to the processing positioning table of the spiral bevel gear, and takes a first photo of the spiral bevel gear to obtain an initial position image of the spiral bevel gear;

[0008] Step S2: determining the key data of the characteristic elements of the spiral bevel gear according to the initial position image, obtaining the corresponding monitoring image coordinates, and converting the monitoring image coordinates into the processing reference coordinates of the robot;

[0009] Step S3: Control the robot and the visual system to move to the processing reference coordinates, and use the visual system to precisely locate the edge of the spiral bevel gear to be processed to obtain the precise edge position of the spiral bevel gear;

[0010] Step S4: According to the edge position, the milling head of the robot is controlled to move to perform milling on the spiral bevel gear to be processed;

[0011] Step S5: After the primary processing is completed, the spiral bevel gear is photographed for a second time to obtain a secondary position image of the spiral bevel gear;

[0012] Step S6: Detecting, by means of a secondary position image, whether an angle deviation occurs in the first current position of the initially processed spiral bevel gear relative to a preset position;

[0013] Step S7: If angle deflection occurs, the spiral bevel gear is corrected by controlling the robot;

[0014] Step S8: After the deviation correction process is completed, the spiral bevel gear is photographed three times to obtain three position images of the spiral bevel gear;

[0015] Step S9: Checking the position images three times to see whether the second current position of the spiral bevel gear after the correction process is angularly deflected relative to the preset position;

[0016] Step S 10 : After passing the re-inspection, the workstation rotates to enter the next helical tooth processing of the spiral bevel gear.

[0017] Furthermore, before step S1, the following steps are also included:

[0018] Place the spiral bevel gear on the machining positioning table, and make the first positioning position coincide with the second positioning position according to the predetermined first positioning position on the machining positioning table and the corresponding second positioning position of the spiral bevel gear marked on the drawing;

[0019] The first positioning position is the intersection position of the extension direction of the first positioning portion and the extension direction of the second positioning portion on the processing positioning table.

[0020] Further, in step S2, determining the key data of the characteristic elements of the spiral bevel gear according to the initial position image specifically includes the following steps:

[0021] Step S 21 : The visual system moves to the processing reference coordinates of the center point and edge corner point of the spiral bevel gear;

[0022] Step S 22:The visual system controls the camera to use a cross-shaped laser light source to illuminate the center point and edge corner points of the spiral bevel gear respectively, and captures the camera image;

[0023] Step S 23 : According to the camera image, the camera image coordinates corresponding to the intersection of the cross-shaped light spot and the adjacent edge of the spiral bevel gear are obtained;

[0024] Step S 24 : Convert the camera image coordinates into processing coordinates to obtain the precise center point and edge corner position of the spiral bevel gear.

[0025] Further, in step S6, detecting whether the first current position of the initially processed spiral bevel gear is angularly deflected relative to the preset position by means of the secondary position image specifically comprises the following steps:

[0026] Step S 61 : The visual system controls the camera to capture a detection image of the spiral bevel gear located at the first current position;

[0027] Step S 62 : Identifying the center point of the spiral bevel gear at the first current position from the detection image;

[0028] Step S 63 : Determine whether the center point of the spiral bevel gear and the center point of the detection image meet a preset condition;

[0029] If the preset condition is met, it is determined that the first current position is not deflected relative to the preset position; otherwise, it is determined that the first current position is deflected relative to the preset position.

[0030] Further, step S 62 Among them, identifying the center point of the spiral bevel gear at the first current position from the detection image specifically includes the following sub-steps:

[0031] Identifying a contour graphic of the spiral bevel gear from the detection image;

[0032] Calculate the circumscribed geometric figure corresponding to the contour figure;

[0033] The center point of the circumscribed geometric figure is obtained as the center point of the spiral bevel gear.

[0034] Furthermore, in step S7, if angle deflection occurs, the spiral bevel gear is corrected by controlling the robot, and the correction processing specifically includes the helical angle, pressure angle and height of the spiral teeth.

[0035] Furthermore, in step S6, if the first current position of the spiral bevel gear has no angular deviation relative to the preset position, the station rotation command is directly executed.

[0036] Furthermore, the camera is a 3D laser camera.

[0037] The second object of the present invention is a processing positioning system for spiral bevel gears, which adopts the processing positioning method for spiral bevel gears as described above, and the processing positioning system includes a data acquisition unit, a data transmission unit and a control system, wherein:

[0038] The data acquisition unit is used to collect key data of characteristic elements on the spiral bevel gear;

[0039] The data transmission unit is used to transmit the key data of the characteristic element to the visual system;

[0040] The visual system is used to perform positioning calculation according to the key data of the characteristic elements to obtain the machining origin coordinates and rotation angle of the spiral bevel gear;

[0041] The robot processes the spiral bevel gear after compensating the rotation angle for the machining origin coordinates.

[0042] Compared with the prior art, the present invention has significant advantages and beneficial effects, which are specifically embodied in the following aspects:

[0043] The present invention provides a processing and positioning method for a spiral bevel gear, comprising the following steps: a robot carrying a visual system moves to a processing and positioning platform of the spiral bevel gear, takes a first photograph of the spiral bevel gear to obtain an initial position image of the spiral bevel gear; according to the initial position image, key data of characteristic elements of the spiral bevel gear are determined, and corresponding monitoring image coordinates are obtained, and the monitoring image coordinates are converted into processing reference coordinates of the robot; the robot and the visual system are controlled to move to the processing reference coordinates, and the visual system accurately positions the edge of the spiral bevel gear to be processed, so as to obtain the precise edge position of the spiral bevel gear; according to the edge position, the robot's milling head is controlled to move The spiral bevel gear to be processed is milled; after the initial processing is completed, the spiral bevel gear is photographed twice to obtain the secondary position image of the spiral bevel gear; the secondary position image is used to detect whether the first current position of the initially processed spiral bevel gear is angularly deflected relative to the preset position; if angular deflection occurs, the spiral bevel gear is corrected by controlling the robot; after the correction processing is completed, the spiral bevel gear is photographed three times to obtain the three position images of the spiral bevel gear; the three position images are used to recheck whether the second current position of the spiral bevel gear after the correction processing is angularly deflected relative to the preset position; after the recheck is qualified, the workstation is rotated to enter the next helical gear processing of the spiral bevel gear. This processing positioning method uses visual technology to perform high-precision positioning of spiral bevel gears, involving positioning process, correction process and inspection process, and the three processes work together to ensure high-precision visual positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 Schematic diagram of the process of the processing and positioning method of the spiral bevel gear in the embodiment of the present invention;

[0045] Figure 2 Detailed flowchart of step S2 in an embodiment of the present invention;

[0046] Figure 3 Detailed flowchart of step S6 in an embodiment of the present invention;

[0047] Figure 4 Schematic diagram of the processing of spiral bevel gears in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] It should be noted that when an element is referred to as being "fixed to", "disposed on" or "set on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0050] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "provided with" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] See also Figure 1 As shown, an embodiment of the present invention provides a method for machining and positioning a spiral bevel gear, comprising the following steps:

[0052] Step S1: The robot carries the visual system and moves to the processing positioning table of the spiral bevel gear, and takes a first photo of the spiral bevel gear to obtain an initial position image of the spiral bevel gear;

[0053] Step S2: determining the key data of the characteristic elements of the spiral bevel gear according to the initial position image, obtaining the corresponding monitoring image coordinates, and converting the monitoring image coordinates into the processing reference coordinates of the robot;

[0054] Step S3: Control the robot and the visual system to move to the processing reference coordinates, and use the visual system to precisely locate the edge of the spiral bevel gear to be processed to obtain the precise edge position of the spiral bevel gear;

[0055] Step S4: According to the edge position, the milling head of the robot is controlled to move to perform milling on the spiral bevel gear to be processed;

[0056] Step S5: After the primary processing is completed, the spiral bevel gear is photographed for a second time to obtain a secondary position image of the spiral bevel gear;

[0057] Step S6: Detecting, by means of a secondary position image, whether an angle deviation occurs in the first current position of the initially processed spiral bevel gear relative to a preset position;

[0058] Step S7: If angle deflection occurs, the spiral bevel gear is corrected by controlling the robot;

[0059] Step S8: After the deviation correction process is completed, the spiral bevel gear is photographed three times to obtain three position images of the spiral bevel gear;

[0060] Step S9: Checking the position images three times to see whether the second current position of the spiral bevel gear after the correction process is angularly deflected relative to the preset position;

[0061] Step S 10 : After passing the re-inspection, the workstation rotates to enter the next helical tooth processing of the spiral bevel gear.

[0062] Furthermore, before step S1, the following steps are also included:

[0063] Place the spiral bevel gear on the machining positioning table, and make the first positioning position coincide with the second positioning position according to the predetermined first positioning position on the machining positioning table and the corresponding second positioning position of the spiral bevel gear marked on the drawing;

[0064] The first positioning position is the intersection position of the extension direction of the first positioning portion and the extension direction of the second positioning portion on the processing positioning table.

[0065] For more details, see Figure 2 As shown, in step S2, according to the initial position image, the key data of the characteristic elements of the spiral bevel gear are determined, which specifically includes the following steps:

[0066] Step S 21 : The visual system moves to the processing reference coordinates of the center point and edge corner point of the spiral bevel gear;

[0067] Step S 22 :The visual system controls the camera to use a cross-shaped laser light source to illuminate the center point and edge corner points of the spiral bevel gear respectively, and captures the camera image;

[0068] Step S 23 : According to the camera image, the camera image coordinates corresponding to the intersection of the cross-shaped light spot and the adjacent edge of the spiral bevel gear are obtained;

[0069] Step S 24 : Convert the camera image coordinates into processing coordinates to obtain the precise center point and edge corner position of the spiral bevel gear.

[0070] For more details, see Figure 3 As shown, in step S6, the secondary position image is used to detect whether the first current position of the initially processed spiral bevel gear is angularly deflected relative to the preset position, which specifically includes the following steps:

[0071] Step S 61 : The visual system controls the camera to capture a detection image of the spiral bevel gear located at the first current position;

[0072] Step S 62 : Identifying the center point of the spiral bevel gear at the first current position from the detection image;

[0073] Step S 63 : Determine whether the center point of the spiral bevel gear and the center point of the detection image meet a preset condition;

[0074] If the preset condition is met, it is determined that the first current position is not deflected relative to the preset position; otherwise, it is determined that the first current position is deflected relative to the preset position.

[0075] More specifically, step S 62 Among them, identifying the center point of the spiral bevel gear at the first current position from the detection image specifically includes the following sub-steps:

[0076] Identifying a contour graphic of the spiral bevel gear from the detection image;

[0077] Calculate the circumscribed geometric figure corresponding to the contour figure;

[0078] The center point of the circumscribed geometric figure is obtained as the center point of the spiral bevel gear.

[0079] More specifically, in step S7, if angle deflection occurs, the spiral bevel gear is corrected by controlling the robot, and the correction processing specifically includes the helical angle, pressure angle and height of the spiral teeth.

[0080] More specifically, in step S6, if the first current position of the spiral bevel gear has no angular deviation relative to the preset position, the station rotation command is directly executed.

[0081] More specifically, the camera is a 3D laser camera.

[0082] The embodiment of the present invention further provides a processing positioning system for a spiral bevel gear, which adopts the processing positioning method for a spiral bevel gear described above. The processing positioning system includes a data acquisition unit, a data transmission unit and a control system, wherein:

[0083] The data acquisition unit is used to collect key data of characteristic elements on the spiral bevel gear;

[0084] The data transmission unit is used to transmit the key data of the characteristic element to the visual system;

[0085] The visual system is used to perform positioning calculation according to the key data of the characteristic elements to obtain the machining origin coordinates and rotation angle of the spiral bevel gear;

[0086] The robot processes the spiral bevel gear after compensating the rotation angle for the machining origin coordinates.

[0087] The effect of the processing positioning system in this embodiment is the same as the effect of the processing positioning method of the spiral bevel gear mentioned above, and will not be described in detail here.

[0088] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A method for machining and positioning a spiral bevel gear, characterized in that: The following steps are involved: Step S1: The robot carries the visual system and moves to the processing positioning table of the spiral bevel gear, and takes a first photo of the spiral bevel gear to obtain an initial position image of the spiral bevel gear; Step S2: determining the key data of the characteristic elements of the spiral bevel gear according to the initial position image, obtaining the corresponding monitoring image coordinates, and converting the monitoring image coordinates into the processing reference coordinates of the robot; Step S3: Control the robot and the visual system to move to the processing reference coordinates, and use the visual system to precisely locate the edge of the spiral bevel gear to be processed to obtain the precise edge position of the spiral bevel gear; Step S4: According to the edge position, the milling head of the robot is controlled to move to perform milling on the spiral bevel gear to be processed; Step S5: After the primary processing is completed, the spiral bevel gear is photographed for a second time to obtain a secondary position image of the spiral bevel gear; Step S6: Detecting, by means of a secondary position image, whether an angle deviation occurs in the first current position of the initially processed spiral bevel gear relative to a preset position; Step S7: If angle deflection occurs, the spiral bevel gear is corrected by controlling the robot; Step S8: After the deviation correction process is completed, the spiral bevel gear is photographed three times to obtain three position images of the spiral bevel gear; Step S9: Checking the position images three times to see whether the second current position of the spiral bevel gear after the correction process is angularly deflected relative to the preset position; Step S 10 : After passing the re-inspection, the workstation rotates to enter the next helical tooth processing of the spiral bevel gear.

2. The processing and positioning method of spiral bevel gear according to claim 1, characterized in that: Before step S1, the method further includes: Place the spiral bevel gear on the machining positioning table, and make the first positioning position coincide with the second positioning position according to the predetermined first positioning position on the machining positioning table and the corresponding second positioning position of the spiral bevel gear marked on the drawing; The first positioning position is the intersection position of the extension direction of the first positioning portion and the extension direction of the second positioning portion on the processing positioning table.

3. The processing and positioning method of spiral bevel gear according to claim 1, characterized in that: In step S2, according to the initial position image, the key data of the characteristic elements of the spiral bevel gear are determined, which specifically includes the following steps: Step S 21 : The visual system moves to the processing reference coordinates of the center point and edge corner point of the spiral bevel gear; Step S 22 :The visual system controls the camera to use a cross-shaped laser light source to illuminate the center point and edge corner points of the spiral bevel gear respectively, and captures the camera image; Step S 23 : According to the camera image, the camera image coordinates corresponding to the intersection of the cross-shaped light spot and the adjacent edge of the spiral bevel gear are obtained; Step S 24 : Convert the camera image coordinates into processing coordinates to obtain the precise center point and edge corner position of the spiral bevel gear.

4. The processing and positioning method of spiral bevel gear according to claim 1, characterized in that: In step S6, the secondary position image is used to detect whether the first current position of the initially processed spiral bevel gear is angularly deflected relative to the preset position, which specifically includes the following steps: Step S 61 : The visual system controls the camera to capture a detection image of the spiral bevel gear located at the first current position; Step S 62 : Identifying the center point of the spiral bevel gear at the first current position from the detection image; Step S 63 : Determine whether the center point of the spiral bevel gear and the center point of the detection image meet a preset condition; If the preset condition is met, determining that the first current position is not deflected relative to the preset position; Otherwise, it is determined that the first current position is deflected relative to the preset position.

5. The method for machining and positioning a spiral bevel gear according to claim 4, characterized in that: Step S 62 Among them, identifying the center point of the spiral bevel gear at the first current position from the detection image specifically includes the following sub-steps: Identifying a contour graphic of the spiral bevel gear from the detection image; Calculate the circumscribed geometric figure corresponding to the contour figure; The center point of the circumscribed geometric figure is obtained as the center point of the spiral bevel gear.

6. The method for machining and positioning a spiral bevel gear according to claim 1, characterized in that: In step S7, if angle deflection occurs, the spiral bevel gear is corrected by controlling the robot, and the correction processing specifically includes the helical angle, pressure angle and height of the spiral teeth.

7. The method for machining and positioning a spiral bevel gear according to claim 1, characterized in that: In step S6, if the first current position of the spiral bevel gear has no angular deviation relative to the preset position, the station rotation command is directly executed.

8. The method for machining and positioning a spiral bevel gear according to claim 3, characterized in that: The camera is a 3D laser camera.

9. A processing and positioning system for spiral bevel gears, characterized in that: The processing and positioning method of the spiral bevel gear according to any one of claims 1 to 8 is adopted, wherein the processing and positioning system comprises a data acquisition unit, a data transmission unit and a control system, wherein: The data acquisition unit is used to collect key data of characteristic elements on the spiral bevel gear; The data transmission unit is used to transmit the key data of the characteristic element to the visual system; The visual system is used to perform positioning calculation according to the key data of the characteristic elements to obtain the machining origin coordinates and rotation angle of the spiral bevel gear; The robot processes the spiral bevel gear after compensating the rotation angle for the processing origin coordinates.

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