Method and system for machining and positioning a spiral bevel gear

Abstract

The application discloses a spiral bevel gear machining positioning method and system, and relates to the technical field of spiral gear machining.The method comprises the following steps: a robot carrying a vision system is moved to a machining positioning table, a spiral bevel gear is photographed for the first time to obtain an initial position image; characteristic element key data of the spiral bevel gear is determined according to the initial position image; the spiral bevel gear is milled according to the edge position; the spiral bevel gear is photographed for the second time to detect whether the first current position of the spiral bevel gear is angularly deflected relative to a preset position; after the correction machining is completed, the spiral bevel gear is photographed for the third time to obtain a third position image of the spiral bevel gear; the second current position of the spiral bevel gear after the correction machining is rechecked to detect whether the second current position is angularly deflected relative to the preset position; after the rechecking is qualified, a work station rotation is performed to enter the next helical tooth machining of the spiral bevel gear.The machining precision is significantly improved through the vision positioning, correction and inspection processes.

Description

Technical Field

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

[0002] Spiral bevel gears, also known as spiral bevel gears, are commonly used for motion and power transmission between two intersecting shafts. Bevel gear teeth are arranged on the surface of a cone, with the tooth profile gradually decreasing from the large end to the small end. Bevel gears require forming on the bevel surface during machining. Therefore, the forming tool gear must be aligned with the angle of the bevel surface to effectively produce a high-quality bevel gear.

[0003] Chinese invention patent publication number CN118204810B discloses a quick positioning fixture for milling keyways on spiral bevel gear shafts. The invention employs 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 points of failure, 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. This improves production efficiency, saves adjustment time, and ensures that the gear remains stable when fixed in a fixed position.

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

[0005] In order to overcome the shortcomings of the existing technology, the present invention provides a processing and positioning method and system for spiral bevel gears, which complete the positioning process, correction process and inspection process by utilizing vision. The three processes further improve the processing accuracy of spiral bevel gears.

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

[0007] Step S1: The robot carrying the vision system moves to the processing positioning platform 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 key data of characteristic elements of the spiral bevel gear based on the initial position image, obtaining corresponding monitoring image coordinates, and converting the monitoring image coordinates into machining reference coordinates of the robot;

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

[0010] Step S4: controlling the milling head of the robot to move according to the edge position, and performing 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, through the secondary position image, whether the first current position of the initially processed spiral bevel gear is angularly deflected relative to the preset position;

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

[0014] Step S8: After the 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 if 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 of the extension direction of the first positioning portion and the extension direction of the second positioning portion on the processing positioning platform.

[0020] Furthermore, in step S2, based on the initial position image, key data of characteristic elements of the spiral bevel gear are determined, which 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 points of the spiral bevel gear;

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

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

[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] Furthermore, 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 using the secondary position image specifically includes the following steps:

[0026] Step S 61 : The vision system controls the camera to capture an inspection 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 has not deflected relative to the preset position; otherwise, it is determined that the first current position has deflected relative to the preset position.

[0030] Further, step S 62 The step of 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] Calculating 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 does not undergo angular deflection relative to the preset position, the workstation 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 and positioning system for spiral bevel gears, which adopts the processing and positioning method for spiral bevel gears as described above. The processing and 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 calculations based on 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 reflected in the following aspects:

[0043] The present invention provides a method for processing and positioning a spiral bevel gear, comprising the following steps: a robot carrying a vision system moves to a processing 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; based on 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 vision system are controlled to move to the processing reference coordinates, and the vision 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; based on the edge position, the robot's milling head is controlled to move The milling process is performed on the spiral bevel gear to be processed. After the initial processing is completed, the spiral bevel gear is photographed a second time to obtain a 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 has angular deviation relative to the preset position. If angular deviation has occurred, the spiral bevel gear is corrected by controlling the robot. After the correction process is completed, the spiral bevel gear is photographed three times to obtain 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 correction has angular deviation relative to the preset position. If the recheck is qualified, the workstation is rotated to enter the next helical gear processing. This processing positioning method uses visual technology to achieve high-precision positioning of spiral bevel gears. It involves positioning, correction, and inspection processes. These 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 an 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 process of the spiral bevel gear in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate 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 may 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", "disposed" or "arranged" 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 application, it should be noted that unless specifically defined and limited otherwise, the terms "mount", "connect", "connect", "provide" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0051] Please refer to Figure 1 The embodiment of the present application provides a machining positioning method of a spiral bevel gear, comprising the following steps:

[0052] Step S1: the robot carrying the vision system moves to the machining positioning table of the spiral bevel gear, takes a first picture of the spiral bevel gear to obtain an initial position image of the spiral bevel gear;

[0053] Step S2: according to the initial position image, the characteristic element key data of the spiral bevel gear is determined, and the corresponding monitoring image coordinates are obtained, and the monitoring image coordinates are converted into the machining reference coordinates of the robot;

[0054] Step S3: control the robot and the vision system to move to the machining reference coordinates, and the vision system is used for fine positioning of the edge of the spiral bevel gear to be machined to obtain the accurate 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, and the spiral bevel gear to be machined is milled;

[0056] Step S5: after the initial machining is completed, the spiral bevel gear is taken a second time to obtain a second position image of the spiral bevel gear;

[0057] Step S6: the first current position of the initial machining spiral bevel gear is detected relative to the preset position whether an angle deflection occurs through the second position image;

[0058] Step S7: if the angle deflection occurs, the spiral bevel gear is rectified through the control of the robot;

[0059] Step S8: After the 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 if 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 of the extension direction of the first positioning portion and the extension direction of the second positioning portion on the processing positioning platform.

[0065] For more details, see Figure 2 As shown, in step S2, based on 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 points of the spiral bevel gear;

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

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

[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, whether the first current position of the initially processed spiral bevel gear is angularly deflected relative to the preset position is detected by the secondary position image, specifically comprising the following steps:

[0071] Step S 61 : The vision system controls the camera to capture an inspection 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 has not deflected relative to the preset position; otherwise, it is determined that the first current position has deflected relative to the preset position.

[0075] More specifically, step S 62 The step of 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] Calculating 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 does not undergo angular deflection relative to the preset position, the workstation rotation command is directly executed.

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

[0082] An embodiment of the present invention further provides a processing and positioning system for spiral bevel gears, which adopts the processing and positioning method for spiral bevel gears described above. The processing and 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 calculations based on the key data of the characteristic elements to obtain the machining origin coordinates and rotation angle of the spiral bevel gear;

[0086] The robot compensates the rotation angle for the machining origin coordinate, and then machines the spiral bevel gear.

[0087] The machining positioning system has the same effect as the machining positioning method of the spiral bevel gear, and will not be described in detail here.

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

Claims

1. A method for machining and positioning a spiral bevel gear, characterized in that: The following steps are involved: Step S1: The robot carrying the vision system moves to the processing positioning platform 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 key data of characteristic elements of the spiral bevel gear based on the initial position image, obtaining corresponding monitoring image coordinates, and converting the monitoring image coordinates into machining reference coordinates of the robot; Step S3: Control the robot and the vision system to move to the processing reference coordinates, and use the vision system to precisely locate the edge of the spiral bevel gear to obtain the precise edge position of the spiral bevel gear; Step S4: controlling the milling head of the robot to move according to the edge position, and performing 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, through the secondary position image, whether the first current position of the initially processed spiral bevel gear is angularly deflected relative to the preset position; Step S7: If angular deflection occurs, the spiral bevel gear is corrected by controlling the robot; Step S8: After the 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 if 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 method for processing and positioning a spiral bevel gear according to claim 1, characterized in that: Before step S1, the following steps are also included: 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 of the extension direction of the first positioning portion and the extension direction of the second positioning portion on the processing positioning platform.

3. The processing and positioning method of spiral bevel gear according to claim 1, characterized in that: In step S2, based on the initial position image, key data of 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 points of the spiral bevel gear; Step S 22 : The vision system controls the camera to use a cross-shaped laser light source to illuminate the center point and edge corners of the spiral bevel gear respectively, and captures the camera image; Step S 23 : According to the camera image, obtain the camera image coordinates corresponding to the intersection of the cross-shaped light spot and the adjacent edge of the spiral bevel gear; 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 method for machining and positioning a spiral bevel gear according to claim 3, wherein: 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 using the secondary position image specifically includes the following steps: Step S 61 : The vision system controls the camera to capture an inspection 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 spiral bevel gear at the first current position meet a preset condition; If the preset condition is met, determining that the first current position has 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 The step of 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; Calculating 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, wherein: In step S7, if angle deflection occurs, the spiral bevel gear is corrected by controlling the robot. 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, wherein: In step S6, if the first current position of the spiral bevel gear does not have an angular deflection 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, wherein: 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 includes 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 calculations based on 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 machining origin coordinates.

Images