Method and system for measuring grinding force of spiral bevel gear, electronic equipment and medium

Abstract

The invention discloses a spiral bevel gear grinding force measuring method and system, electronic equipment and a medium, and the method comprises the steps: obtaining the measuring force in the X, Y and Z directions through a fixed dynamometer, and determining the installation angle of the fixed dynamometer according to the obtained measuring force in the X, Y and Z directions; based on the installation angle, determining a target coordinate transformation matrix between the fixed dynamometer and the gear grinding machine tool cutter shaft; calculating an axial stress component and a radial stress component of the cutter shaft of the gear grinding machine tool according to the measured measuring forces in the X, Y and Z directions and the target coordinate transformation matrix; tool setting between the spiral bevel gear workpiece and the grinding wheel tool is completed based on the axial stress component and the radial stress component; the target relative position of the grinding wheel tool and the gear grinding machine tool workpiece shaft is obtained; and according to the target relative position, the cutting force component of the grinding force and the normal force component of the grinding force are calculated. The precision of grinding force measurement of the spiral bevel gear can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of grinding force measurement, and in particular to a method, system, electronic equipment and medium for measuring the grinding force of a spiral bevel gear. Background Art

[0002] Spiral bevel gears are characterized by high stability, high load-bearing capacity and low noise, and are widely used in important defense industries and civilian high-end manufacturing fields such as aviation, new energy vehicles and tanks. Spiral bevel gear grinding is an important part of the manufacturing of high-performance spiral bevel gears, which directly determines the final tooth profile accuracy and working performance of spiral bevel gears. However, spiral bevel gears are gears with the most complex tooth profiles, and their processing and manufacturing process involves complex machine tool adjustments and multi-axis linkage. This makes it difficult to directly apply common grinding force measurement schemes (such as grinding force measurement schemes for flat rectangular workpieces and cylindrical workpieces) to the grinding force measurement of spiral bevel gears.

[0003] At present, dynamometers can be divided into two types: fixed dynamometers and rotary dynamometers. Among them, fixed dynamometers are relatively cheap and economical. In the existing scheme, fixed dynamometers are mainly used to measure the grinding force of simple rectangular plane workpieces. However, during the grinding process of spiral bevel gears, since the tool axis and the workpiece axis rotate and intersect in an inclined manner, the three-dimensional force components of the fixed dynamometer cannot accurately reflect the actual forces on the tool and the workpiece. In addition, it is difficult to ensure that the coordinate system of the fixed dynamometer coincides with the coordinate system of the machine tool when installing it, so it cannot meet the requirements for accurate measurement of the grinding force of spiral bevel gears. Although the rotary dynamometer can record the components of axial force and radial force, it needs to be installed on the machine tool tool axis and the gear workpiece spindle respectively to obtain the force state of the tool axis and the workpiece axis. This method requires multiple installations, which is prone to installation errors. In addition, the rotary dynamometer is expensive and has a complex tooling structure.

[0004] In summary, due to the complex gear end face morphology of spiral bevel gears and the mutually inclined motion axis postures during the grinding process, the existing grinding force measurement schemes are difficult to achieve real-time and accurate measurement of the grinding force of spiral bevel gears. Summary of the invention

[0005] The present application aims to propose a method, system, electronic equipment and medium for measuring the grinding force of spiral bevel gears, which can improve the accuracy of the grinding force measurement of spiral bevel gears.

[0006] In a first aspect, an embodiment of the present application provides a method for measuring the grinding force of a spiral bevel gear, which is applied to a grinding force measuring device for a spiral bevel gear, wherein the grinding force measuring device for a spiral bevel gear comprises a gear grinding machine workpiece shaft, a spiral bevel gear workpiece, a straight arc cover plate, a tooling base, and a fixed dynamometer, wherein the spiral bevel gear workpiece is fixed to the fixed dynamometer via the straight arc cover plate, the fixed dynamometer is fixed to the tooling base via bolt connection, and the tooling base is connected to the gear grinding machine workpiece shaft via bolts, and the method comprises:

[0007] After the grinding force measuring device of the spiral bevel gear is installed, the measurement forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece when the workpiece axis of the gear grinding machine tool is tilted are obtained by the fixed dynamometer, and the installation angle of the fixed dynamometer is determined according to the obtained measurement forces in the X, Y and Z directions;

[0008] Based on the installation angle, determining a target coordinate transformation matrix between the fixed dynamometer and a gear grinding machine tool tool axis, wherein the gear grinding machine tool tool axis is used to install a grinding wheel tool;

[0009] Calculating the axial force component and the radial force component of the tool shaft of the gear grinding machine tool according to the measured forces in the three directions of X, Y and Z and the target coordinate transformation matrix;

[0010] Based on the axial force component and the radial force component, completing tool alignment between the spiral bevel gear workpiece and the grinding wheel tool;

[0011] After completing the tool setting, obtaining the target relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool;

[0012] A cutting force component of the grinding force and a normal force component of the grinding force are calculated according to the target relative position.

[0013] Compared with the prior art, the first aspect of the present application has the following beneficial effects:

[0014] After the grinding force measuring device of the spiral bevel gear is installed, the method obtains the measurement forces in the three directions of X, Y and Z caused by the gravity of the spiral bevel gear workpiece when the workpiece axis of the gear grinding machine is tilted by using a fixed dynamometer, and determines the installation angle of the fixed dynamometer according to the obtained measurement forces in the three directions of X, Y and Z; based on the installation angle, determines the target coordinate transformation matrix between the fixed dynamometer and the tool axis of the gear grinding machine, wherein the tool axis of the gear grinding machine is used to install the grinding wheel tool; according to the measured measurement forces in the three directions of X, Y and Z and the target coordinate transformation matrix, calculates the axial force component and the radial force component of the tool axis of the gear grinding machine; based on the axial force component and the radial force component, completes the tool alignment between the spiral bevel gear workpiece and the grinding wheel tool; after completing the tool alignment, obtains the target relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine; and calculates the cutting force component and the normal force component of the grinding force according to the target relative position. In this way, the force conversion requirements between the intersecting gear workpiece axis and the tool axis can be realized through the target coordinate transformation matrix, and the axial force component and radial force component of the tool axis of the gear grinding machine tool can be measured by installing the grinding force measurement device of the spiral bevel gear once, thereby improving the grinding force measurement efficiency. The precise tool alignment between the spiral bevel gear workpiece and the grinding wheel tool is also considered. After the precise tool alignment, the cutting force component and the normal force component of the grinding force are calculated according to the target relative position, thereby effectively improving the accuracy of the grinding force measurement of the spiral bevel gear. Therefore, this method overcomes the problem that the measured force component and the actual grinding force are difficult to correspond to each other during the grinding of the spiral bevel gear due to the multi-axis tilting and rotating motion of the machine tool. This method not only improves the accuracy of the grinding force measurement, but also has the advantages of low cost, simple structure and easy installation.

[0015] In some embodiments, the grinding force measuring device for spiral bevel gears further includes a cradle shaft, and determining the installation angle of the fixed dynamometer according to the measured forces in the three directions of X, Y and Z obtained includes:

[0016]

[0017] Wherein, θ represents the installation angle of the fixed dynamometer, F x Indicates the measured force in the X direction, F y Indicates the measured force in the Y direction, F z represents the measured force in the Z direction, and β represents the rotation angle of the cradle axis.

[0018] In some embodiments, determining a target coordinate transformation matrix between the fixed dynamometer and a tool axis of a gear grinding machine based on the installation angle comprises:

[0019] Acquire the rotation angle of the workpiece axis of the gear grinding machine tool, the rotation angle of the cradle axis, and the first relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool;

[0020] Determining a first coordinate transformation matrix between the cradle shaft and the gear grinding machine tool tool shaft according to the rotation angle of the cradle shaft and the first relative position;

[0021] Determining a second coordinate transformation matrix between the workpiece axis of the gear grinding machine tool and the cradle axis according to the rotation angle of the workpiece axis of the gear grinding machine tool;

[0022] Determining a third coordinate transformation matrix between the gear grinding machine workpiece axis and the fixed dynamometer according to the installation angle;

[0023] The first coordinate transformation matrix, the second coordinate transformation matrix and the third coordinate transformation matrix are matrix-multiplied to obtain a target coordinate transformation matrix between the fixed dynamometer and the tool axis of the gear grinding machine.

[0024] In some embodiments, the step of completing the tool alignment between the spiral bevel gear workpiece and the grinding wheel tool based on the axial force component and the radial force component includes:

[0025] Adjust the positions of the X-axis, Y-axis and Z-axis of the gear grinding machine and the rotation angle of the workpiece axis of the gear grinding machine;

[0026] Acquire the positions of the X-axis, Y-axis and Z-axis of the gear grinding machine after adjustment, and multiply the position vectors of the X-axis, Y-axis and Z-axis of the gear grinding machine after adjustment by the radial force component to obtain a vector multiplication result;

[0027] If the vector multiplication result is greater than zero, reducing the rotation angle of the workpiece axis of the gear grinding machine tool until the modulus of the axial force component is equal to zero;

[0028] If the vector multiplication result is less than zero, increasing the rotation angle of the workpiece axis of the gear grinding machine tool until the modulus length of the axial force component is equal to zero;

[0029] If the vector multiplication result is equal to zero, continue to adjust the position of the Z axis of the gear grinding machine until the modulus of the axial force component is greater than zero and the modulus of the radial force component is equal to zero, thereby completing the tool alignment between the spiral bevel gear workpiece and the grinding wheel tool.

[0030] In some embodiments, calculating the cutting force component of the grinding force and the normal force component of the grinding force according to the target relative position includes:

[0031] Calculating the cutting speed vector of the grinding wheel tool according to the target relative position;

[0032] A cutting force component of the grinding force and a normal force component of the grinding force are calculated based on the cutting velocity vector.

[0033] In some embodiments, calculating the cutting speed vector of the grinding wheel tool according to the target relative position includes:

[0034]

[0035] Among them, V c represents the cutting speed vector of the grinding wheel tool, n represents the rotation speed of the grinding wheel tool, R g represents the radius of the grinding wheel tool, X represents the X-direction position of the target relative position, and Y represents the Y-direction position of the target relative position.

[0036] In some embodiments, calculating the cutting force component of the grinding force and the normal force component of the grinding force according to the cutting velocity vector comprises:

[0037] According to the cutting velocity vector, the cutting force component of the grinding force is calculated as:

[0038]

[0039] According to the cutting force component of the grinding force, the normal force component of the grinding force is calculated as:

[0040]

[0041] Among them, F c represents the cutting force component of the grinding force, F xO Indicates the force component of the grinding wheel tool in the X-axis direction, F yO Indicates the force component of the grinding wheel tool in the Y-axis direction, F zO Indicates the force component of the grinding wheel tool in the Z-axis direction, V c represents the cutting velocity vector of the grinding wheel tool, ||V c || represents the modulus of the cutting velocity vector, F n represents the normal force component of the grinding force.

[0042] In a second aspect, an embodiment of the present application further provides a grinding force measurement system for a spiral bevel gear, which is applied to a grinding force measurement device for a spiral bevel gear, wherein the grinding force measurement device for a spiral bevel gear comprises a gear grinding machine workpiece shaft, a spiral bevel gear workpiece, a straight arc cover plate, a tooling base, and a fixed dynamometer, wherein the spiral bevel gear workpiece is fixed to the fixed dynamometer via the straight arc cover plate, and the fixed dynamometer is fixed to the tooling base via bolt connection, and the tooling base is connected to the gear grinding machine workpiece shaft via bolts, and the system comprises:

[0043] a first data determination unit, for obtaining, by means of the fixed dynamometer, measurement forces in three directions, X, Y and Z, caused by the gravity of the spiral bevel gear workpiece when the workpiece axis of the gear grinding machine tool is tilted, after the grinding force measurement device of the spiral bevel gear is installed, and determining an installation angle of the fixed dynamometer according to the obtained measurement forces in three directions, X, Y and Z;

[0044] A second data determination unit is used to determine a target coordinate transformation matrix between the fixed dynamometer and a tool shaft of a gear grinding machine based on the installation angle, wherein the tool shaft of the gear grinding machine is used to install a grinding wheel tool;

[0045] A force component calculation unit, used for calculating the axial force component and the radial force component of the tool shaft of the gear grinding machine tool according to the measured forces in the three directions of X, Y and Z and the target coordinate transformation matrix;

[0046] A tool setting completion unit, used for completing the tool setting between the spiral bevel gear workpiece and the grinding wheel tool based on the axial force component and the radial force component;

[0047] A relative position acquisition unit, used for acquiring a target relative position between the grinding wheel tool and the workpiece axis of the gear grinding machine tool after tool setting is completed;

[0048] The grinding force calculation unit is used to calculate the cutting force component of the grinding force and the normal force component of the grinding force according to the target relative position.

[0049] In a third aspect, an embodiment of the present application further provides an electronic device comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute a grinding force measurement method for a spiral bevel gear as described above.

[0050] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the grinding force measurement method of a spiral bevel gear as described above.

[0051] It can be understood that the beneficial effects of the second to fourth aspects compared with the related art are the same as the beneficial effects of the first aspect compared with the related art. Please refer to the relevant description in the first aspect, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0053] Figure 1 It is a schematic flow chart of an embodiment of a method for measuring the grinding force of a spiral bevel gear provided by the present application;

[0054] Figure 2 It is a structural schematic diagram of a tooling connection system in a preferred embodiment of the method for measuring the grinding force of spiral bevel gears provided in the present application;

[0055] Figure 3 It is a structural schematic diagram of a tooling base in a best embodiment of the method for measuring the grinding force of spiral bevel gears provided in the present application;

[0056] Figure 4 It is a structural schematic diagram of a straight arc cover plate in a preferred embodiment of the method for measuring the grinding force of spiral bevel gears provided by the present application;

[0057] Figure 5 is a schematic diagram of various motion axes of a gear grinding machine in a preferred embodiment of the method for measuring the grinding force of a spiral bevel gear provided by the present application;

[0058] Figure 6 It is a schematic diagram of the relationship between the three-dimensional components of a fixed dynamometer and the installation angle θ in an inclined posture in the best embodiment of the grinding force measurement method of a spiral bevel gear provided by the present application;

[0059] Figure 7 It is a schematic diagram of a coordinate system for measuring the grinding force of a spiral bevel gear in the best embodiment of the method for measuring the grinding force of a spiral bevel gear provided by the present application;

[0060] Figure 8 It is a flow chart of the control strategy of the machine tool motion axis in the tool setting process in the best embodiment of the spiral bevel gear grinding force measurement method provided by the present application;

[0061] Fig. 9is a structural schematic diagram of an embodiment of a grinding force measurement system for spiral bevel gears provided by the present application;

[0062] Fig.10 is a schematic structural diagram of an embodiment of an electronic device provided by the present application;

[0063] Description of labels:

[0064] 101. Gear grinding machine; 102. Spiral bevel gear workpiece; 103. I-shaped arc cover plate; 104. Tooling base; 105. Fixed dynamometer. DETAILED DESCRIPTION

[0065] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0066] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0067] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0068] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0069] Spiral bevel gears are characterized by high stability, high load-bearing capacity and low noise, and are widely used in important defense industries and civilian high-end manufacturing fields such as aviation, new energy vehicles and tanks. Spiral bevel gear grinding is an important part of the manufacturing of high-performance spiral bevel gears, which directly determines the final tooth profile accuracy and working performance of spiral bevel gears. However, spiral bevel gears are gears with the most complex tooth profiles, and their processing and manufacturing process involves complex machine tool adjustments and multi-axis linkage. This makes it difficult to directly apply common grinding force measurement schemes (such as grinding force measurement schemes for flat rectangular workpieces and cylindrical workpieces) to the grinding force measurement of spiral bevel gears.

[0070] At present, dynamometers can be divided into two types: fixed dynamometers and rotary dynamometers. Among them, fixed dynamometers are relatively cheap and economical. In the existing scheme, fixed dynamometers are mainly used to measure the grinding force of simple rectangular plane workpieces. However, during the grinding process of spiral bevel gears, since the tool axis and the workpiece axis rotate and intersect in an inclined manner, the three-dimensional force components of the fixed dynamometer cannot accurately reflect the actual forces on the tool and the workpiece. In addition, it is difficult to ensure that the coordinate system of the fixed dynamometer coincides with the coordinate system of the machine tool when installing it, so it cannot meet the requirements for accurate measurement of the grinding force of spiral bevel gears. Although the rotary dynamometer can record the components of axial force and radial force, it needs to be installed on the machine tool tool axis and the gear workpiece spindle respectively to obtain the force state of the tool axis and the workpiece axis. This method requires multiple installations, which is prone to installation errors. In addition, the rotary dynamometer is expensive and has a complex tooling structure.

[0071] In summary, due to the complex gear end face morphology of spiral bevel gears and the mutually inclined motion axis postures during the grinding process, the existing grinding force measurement schemes are difficult to achieve real-time and accurate measurement of the grinding force of spiral bevel gears.

[0072] In order to solve the above-mentioned problem of difficulty in achieving real-time and accurate measurement of the grinding force of spiral bevel gears, the present application proposes a method, system, electronic equipment and medium for measuring the grinding force of spiral bevel gears.

[0073] Reference Figure 1 The embodiment of the present application provides a method for measuring the grinding force of a spiral bevel gear. The method is applied to a device for measuring the grinding force of a spiral bevel gear. The device for measuring the grinding force of a spiral bevel gear comprises a gear grinding machine workpiece shaft, a spiral bevel gear workpiece 102, a straight arc cover plate 103, a tooling base 104 and a fixed dynamometer 105. The spiral bevel gear workpiece 102 is fixed to the fixed dynamometer 105 through the straight arc cover plate 103. The fixed dynamometer 105 is fixed to the tooling base 104 through bolt connection. The tooling base 104 is connected to the gear grinding machine workpiece shaft through bolts. The method comprises the following steps:

[0074] Step S100, after the spiral bevel gear grinding force measuring device is installed, the measurement forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece 102 in the tilted state of the workpiece axis of the gear grinding machine are obtained by the fixed dynamometer 105, and the installation angle of the fixed dynamometer 105 is determined according to the obtained measurement forces in the X, Y and Z directions;

[0075] Step S200, based on the installation angle, determining the target coordinate transformation matrix between the fixed dynamometer 105 and the gear grinding machine tool tool axis, wherein the gear grinding machine tool tool axis is used to install the grinding wheel tool;

[0076] Step S300, calculating the axial force component and radial force component of the tool shaft of the gear grinding machine tool according to the measured forces in the three directions of X, Y and Z and the target coordinate transformation matrix;

[0077] Step S400: completing tool alignment between the spiral bevel gear workpiece 102 and the grinding wheel tool based on the axial force component and the radial force component;

[0078] Step S500, after completing the tool setting, obtaining the target relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool;

[0079] Step S600: Calculate the cutting force component of the grinding force and the normal force component of the grinding force according to the target relative position.

[0080] In this embodiment, after the grinding force measuring device of the spiral bevel gear is installed, the measurement forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece 102 when the workpiece axis of the gear grinding machine is tilted are obtained through the fixed dynamometer 105, and the installation angle of the fixed dynamometer 105 is determined according to the obtained measurement forces in the X, Y and Z directions; based on the installation angle, the target coordinate transformation matrix between the fixed dynamometer 105 and the tool axis of the gear grinding machine is determined, wherein the tool axis of the gear grinding machine is used to install the grinding wheel tool; based on the measured measurement forces in the X, Y and Z directions and the target coordinate transformation matrix, the axial force component and the radial force component of the tool axis of the gear grinding machine are calculated; based on the axial force component and the radial force component, the tool alignment between the spiral bevel gear workpiece 102 and the grinding wheel tool is completed; after the tool alignment is completed, the target relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine is obtained; based on the target relative position, the cutting force component of the grinding force and the normal force component of the grinding force are calculated. In this way, the force conversion requirements between the intersecting gear workpiece axis and the tool axis can be realized through the target coordinate transformation matrix, and the axial force component and radial force component of the tool axis of the gear grinding machine can be measured by installing the grinding force measurement device of the spiral bevel gear once, thereby improving the grinding force measurement efficiency. The precise tool alignment between the spiral bevel gear workpiece 102 and the grinding wheel tool is also considered. After the precise tool alignment, the cutting force component and the normal force component of the grinding force are calculated according to the target relative position, thereby effectively improving the accuracy of the grinding force measurement of the spiral bevel gear.

[0081] The straight arc cover plate 103 may be designed to have a straight arc cover plate 103 , which can avoid interference between the grinding wheel tool and the spiral bevel gear workpiece 102 .

[0082] The measurement forces in the three directions of X, Y and Z measured by the fixed dynamometer 105 are obtained as mentioned above. Due to the influence of the deadweight of the spiral bevel gear workpiece 102 and the inclination of the workpiece axis plane of the gear grinding machine, the values ​​of the three directions of X, Y and Z of the fixed dynamometer 105 will change. After the panel reading of the fixed dynamometer 105 is stable, the signal data on the fixed dynamometer 105 is read, and the measurement forces in the three directions of X, Y and Z measured by the fixed dynamometer 105 can be obtained.

[0083] The above-mentioned method of completing the tool alignment between the spiral bevel gear workpiece 102 and the grinding wheel tool based on the axial force component and the radial force component can be based on the axial force component and the radial force component to judge the contact status of the grinding wheel tool with both sides of the tooth groove of the spiral bevel gear workpiece 102 in real time, so as to make the grinding wheel tool surface and the surfaces on both sides of the tooth groove of the spiral bevel gear workpiece 102 fully contact, so as to complete the tool alignment between the spiral bevel gear workpiece 102 and the grinding wheel tool.

[0084] The target relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool is obtained after the tool setting is completed. The target relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool can be directly read from the visualization panel of the machine tool after the tool setting is completed. The target relative position includes position coordinates in three directions: X, Y and Z.

[0085] In some embodiments, the grinding force measuring device for spiral bevel gears further includes a cradle shaft, and the installation angle of the fixed dynamometer is determined according to the measured forces in the three directions of X, Y and Z, including:

[0086]

[0087] Wherein, θ represents the installation angle of the fixed dynamometer 105, F x Indicates the measured force in the X direction, F y Indicates the measured force in the Y direction, F z It represents the measured force in the Z direction, and β represents the rotation angle of the cradle axis.

[0088] In some embodiments, based on the installation angle, determining the target coordinate transformation matrix between the fixed dynamometer 105 and the tool axis of the gear grinding machine includes:

[0089] Obtaining the rotation angle of the gear grinding machine workpiece axis, the rotation angle of the cradle axis, and the first relative position of the grinding wheel tool and the gear grinding machine workpiece axis;

[0090] Determine a first coordinate transformation matrix between the cradle shaft and the gear grinding machine tool tool shaft according to the rotation angle of the cradle shaft and the first relative position;

[0091] According to the rotation angle of the workpiece axis of the gear grinding machine tool, a second coordinate transformation matrix between the workpiece axis of the gear grinding machine tool and the cradle axis is determined;

[0092] According to the installation angle, a third coordinate transformation matrix between the gear grinding machine workpiece axis and the fixed dynamometer 105 is determined;

[0093] The first coordinate transformation matrix, the second coordinate transformation matrix and the third coordinate transformation matrix are matrix-multiplied to obtain a target coordinate transformation matrix between the fixed dynamometer 105 and the tool axis of the gear grinding machine.

[0094] In this embodiment, the first coordinate transformation matrix between the cradle shaft and the gear grinding machine tool shaft is determined according to the rotation angle and the first relative position of the cradle shaft; the second coordinate transformation matrix between the gear grinding machine tool workpiece shaft and the cradle shaft is determined according to the rotation angle of the gear grinding machine tool workpiece shaft; the third coordinate transformation matrix between the gear grinding machine tool workpiece shaft and the fixed dynamometer 105 is determined according to the installation angle; the first coordinate transformation matrix, the second coordinate transformation matrix and the third coordinate transformation matrix are matrix-multiplied to obtain the target coordinate transformation matrix between the fixed dynamometer 105 and the gear grinding machine tool shaft. In this way, the target coordinate transformation matrix between the fixed dynamometer 105 and the gear grinding machine tool shaft is obtained by multiplying multiple coordinate transformation matrices, and the force conversion requirements between the intersecting gear grinding machine tool workpiece shaft and the gear grinding machine tool shaft are realized. And only one clamping is needed to realize the calculation of the axial force component and the radial force component of the gear grinding machine tool shaft in the later stage, avoiding the operation of multiple clamping and repeated adjustment of the fixed dynamometer 105.

[0095] In some embodiments, based on the axial force component and the radial force component, the tool alignment between the spiral bevel gear workpiece 102 and the grinding wheel tool is completed, including:

[0096] Adjusting the positions of the X-axis, Y-axis and Z-axis of the gear grinding machine 101 and the rotation angle of the workpiece axis of the gear grinding machine;

[0097] Obtaining the adjusted positions of the X-axis, Y-axis and Z-axis of the gear grinding machine 101, and multiplying the adjusted position vectors of the X-axis, Y-axis and Z-axis of the gear grinding machine 101 with the radial force component to obtain a vector multiplication result;

[0098] If the vector multiplication result is greater than zero, the rotation angle of the workpiece axis of the gear grinding machine is reduced until the modulus length of the axial force component is equal to zero;

[0099] If the vector multiplication result is less than zero, the rotation angle of the workpiece axis of the gear grinding machine tool is increased until the modulus length of the axial force component is equal to zero;

[0100] If the vector multiplication result is equal to zero, continue to adjust the position of the Z axis of the gear grinding machine 101 until the modulus of the axial force component is greater than zero and the modulus of the radial force component is equal to zero, completing the tool alignment between the spiral bevel gear workpiece 102 and the grinding wheel tool.

[0101] In this embodiment, the positions of the X-axis, Y-axis and Z-axis of the gear grinding machine 101 and the rotation angle of the workpiece axis of the gear grinding machine are adjusted; the positions of the adjusted X-axis, Y-axis and Z-axis of the gear grinding machine 101 are obtained, and the position vectors of the adjusted X-axis, Y-axis and Z-axis of the gear grinding machine 101 are multiplied by the radial force component to obtain a vector multiplication result; if the vector multiplication result is greater than zero, the rotation angle of the workpiece axis of the gear grinding machine is reduced until the modulus of the axial force component is equal to zero; if the vector multiplication result is less than zero, the rotation angle of the workpiece axis of the gear grinding machine is increased until the modulus of the axial force component is equal to zero; if the vector multiplication result is equal to zero, the position of the Z-axis of the gear grinding machine 101 is continuously adjusted until the modulus of the axial force component is greater than zero and the modulus of the radial force component is equal to zero, thereby completing the tool alignment between the spiral bevel gear workpiece 102 and the grinding wheel tool. In this way, by continuously adjusting the position of the gear grinding machine 101 and the rotation angle of the workpiece axis of the gear grinding machine, the spiral bevel gear workpiece 102 and the grinding wheel tool can be accurately aligned, effectively avoiding errors caused by manual operation and visual inspection, reducing the difficulty of aligning the complex tooth shape of the spiral bevel gear, and laying a good data foundation for the subsequent calculation of the accurate cutting force component of the grinding force and the normal force component of the grinding force.

[0102] In some embodiments, calculating the cutting force component of the grinding force and the normal force component of the grinding force according to the target relative position includes:

[0103] According to the relative position of the target, the cutting speed vector of the grinding wheel tool is calculated;

[0104] According to the cutting velocity vector, the cutting force component of the grinding force and the normal force component of the grinding force are calculated.

[0105] In this embodiment, the cutting speed vector of the grinding wheel tool is calculated according to the target relative position; the cutting force component of the grinding force and the normal force component of the grinding force are calculated according to the cutting speed vector. Since the target relative position is obtained after the tool setting is completed, the accurate target relative position can be obtained. Then, according to the accurate target relative position, the accurate cutting force component and the normal force component can be calculated, which effectively improves the accuracy of the grinding force measurement of the spiral bevel gear.

[0106] In some embodiments, calculating the cutting speed vector of the grinding wheel tool according to the target relative position includes:

[0107]

[0108] Among them, V c represents the cutting speed vector of the grinding wheel tool, n represents the rotation speed of the grinding wheel tool, R g Indicates the radius of the grinding wheel tool, X indicates the X-direction position of the target relative position, and Y indicates the Y-direction position of the target relative position.

[0109] In some embodiments, calculating the cutting force component of the grinding force and the normal force component of the grinding force according to the cutting velocity vector comprises:

[0110] According to the cutting velocity vector, the cutting force component of the grinding force is calculated as:

[0111]

[0112] According to the cutting force component of the grinding force, the normal force component of the grinding force is calculated as:

[0113]

[0114] Among them, F c represents the cutting force component of the grinding force, F xO Indicates the force component of the grinding wheel tool in the X-axis direction, F yO Indicates the force component of the grinding wheel tool in the Y-axis direction, F zO Indicates the force component of the grinding wheel tool in the Z-axis direction, V c represents the cutting speed vector of the grinding wheel tool, ||V c || represents the modulus of the cutting velocity vector, F n Represents the normal force component of the grinding force.

[0115] To facilitate understanding by those skilled in the art, a set of best embodiments is provided below:

[0116] Spiral bevel gears have the characteristics of high stability, high load-bearing capacity and low noise. They are widely used in important defense industries and civilian high-end manufacturing fields such as aviation, new energy vehicles and tanks. Spiral bevel gear grinding is an important link in the manufacture of high-performance spiral bevel gears, which directly determines the final tooth profile accuracy and working performance of spiral bevel gears. Grinding force is an important evaluation parameter for measuring the grinding process, and is interrelated with many outputs in the grinding process, such as grinding wheel wear, surface roughness and grinding burns. At present, accurate measurement of grinding force has become a key control indicator for online monitoring in intelligent manufacturing. It can be seen that the accurate measurement technology of spiral bevel gear grinding force is an important requirement for the intelligent manufacturing of high-end spiral bevel gears, and it has important significance and economic value.

[0117] However, spiral bevel gears are gears with the most complex tooth shapes, and their manufacturing process involves complex machine tool adjustments and multi-axis linkage. This makes it difficult to directly apply common grinding force measurement schemes (for planar rectangular workpieces and cylindrical workpieces) to the measurement of spiral bevel gear grinding forces. Current dynamometers can be divided into two types: fixed dynamometers 105 and rotating dynamometers. Among them, the price of fixed dynamometers 105 is relatively low and economical. In the existing scheme, fixed dynamometers 105 are mainly used for grinding force measurement of simple rectangular planar workpieces. However, during the grinding process of spiral bevel gears, since the tool axis and the workpiece axis rotate and intersect in an inclined manner, the three-dimensional force components of the fixed dynamometer 105 cannot accurately reflect the actual forces on the tool and the workpiece. In addition, when the fixed dynamometer 105 is installed, it is difficult to ensure that its coordinate system coincides with the machine tool coordinate system, so it cannot meet the requirements for accurate measurement of the grinding force of spiral bevel gears. Although the rotary dynamometer can record the components of axial force and radial force, it needs to be installed on the machine tool tool shaft and the gear workpiece spindle respectively to obtain the force state of the tool shaft and the workpiece shaft. This method requires multiple installations and is prone to installation errors. In addition, the rotary dynamometer is expensive and the tooling structure is complex.

[0118] In summary, due to the complex gear end face morphology of spiral bevel gears and the mutually inclined motion axis postures during the grinding process, the existing grinding force measurement schemes are difficult to achieve real-time and accurate measurement of the grinding force of spiral bevel gears.

[0119] To solve the above-mentioned problems, this embodiment proposes a method for accurately measuring the grinding force of spiral bevel gears, which includes a tooling connection system (i.e., a grinding force measuring device for spiral bevel gears), installation orientation calibration of a fixed dynamometer 105, tool-workpiece force state conversion, an accurate tool alignment method based on real-time data of a measuring meter, and a grinding force measurement method.

[0120] Step 1: Install the grinding force measuring device for spiral bevel gears.

[0121] First, this embodiment establishes a tooling connection system between the spiral bevel gear workpiece 102, the fixed dynamometer 105 and the workpiece shaft of the gear grinding machine (i.e., a grinding force measuring device for spiral bevel gears). Figure 2 The auxiliary connecting parts also include: a tooling base 104 and a straight arc cover plate 103. The installation of the grinding force measuring device of the spiral bevel gear mainly considers the alignment of the three center lines of the gear grinding machine workpiece axis, the fixed dynamometer 105 and the spiral bevel gear workpiece 102.

[0122] The fixed dynamometer 105 is fixed on the workpiece shaft of the gear grinding machine by means of a tooling base 104 through bolt connection. Figure 3As shown, the tooling base 104 is set in a disc shape, the lower part of the tooling base 104 is fixed on the workpiece shaft of the gear grinding machine by bolt connection, and the upper part of the tooling base 104 is connected to the fixed dynamometer 105 by bolt connection. Positioning holes are also set on the periphery of the upper end of the tooling base 104, so that the rectangular fixed dynamometer 105 is aligned with the center of the workpiece shaft of the gear grinding machine.

[0123] The spiral bevel gear workpiece 102 is connected to the fixed dynamometer 105 by clamping the straight arc cover plate 103. In order to avoid interference between the grinding wheel tool and the spiral bevel gear workpiece 102, the shape of the cover plate is designed to be a straight arc cover plate 103, such as Figure 4 As shown. By bolt connection, the straight arc cover plate 103 fixes the spiral bevel gear workpiece 102 on the fixed dynamometer 105. At the same time, the position of the two bolt holes on the straight arc cover plate 103 is set by compensating for offset, so as to ensure that the center line of the spiral bevel gear workpiece 102 and the center line of the fixed dynamometer 105 coincide.

[0124] In particular, the fixed dynamometer 105 can be placed arbitrarily during installation, and the deflection of the three-axis components of the fixed dynamometer 105 relative to the workpiece axis coordinate system of the gear grinding machine tool will be given in step 2.

[0125] Step 2: After completing the installation of the fixed dynamometer 105, it is necessary to calibrate the installation orientation of the fixed dynamometer 105, which is represented by the installation angle θ. This represents the inherent deflection angle between the coordinate system of the fixed dynamometer 105 and the coordinate system of the gear grinding machine 101 during the installation process, and is the key parameter of the force component conversion system in step 3.

[0126] The various motion axes of the gear grinding machine are as follows Figure 5 As shown, the A axis is the workpiece rotation axis of the gear grinding machine 101, the B axis is the cradle rotation axis of the gear grinding machine 101, and X, Y and Z are the linear motion circles of the gear grinding machine 101, which are used to control the spatial position of the tool.

[0127] The rotation angle of the gear grinding machine workpiece axis A is set to 0, and the rotation angle of the cradle axis B is set to β. In this embodiment, β can be set to 30°. The specific rotation angle setting can be changed according to actual conditions, and this embodiment does not impose specific restrictions. Under the influence of the self-weight of the spiral bevel gear workpiece 102 and the inclination of the plane of the gear grinding machine workpiece axis, the values ​​of the X, Y and Z directions of the fixed dynamometer 105 will change. After the panel reading of the fixed dynamometer 105 is stable, the signal data on the fixed dynamometer 105 is read, and the Fourier filtering method is used to remove the signal interference caused by the inherent vibration of the machine tool. The magnitude of the measured force in the X, Y and Z directions of the fixed dynamometer 105 is recorded respectively, and recorded as F x, F y and F z .

[0128] Next, through F x , F y and F z , to calibrate the installation angle θ of the fixed dynamometer 105. Figure 6 As shown in the figure, under the tilting action of the cradle axis B, the component of the weight G of the spiral bevel gear workpiece 102 perpendicular to the plane of the workpiece axis A of the gear grinding machine is Gcosβ. Therefore, the F z The self-weight of the spiral bevel gear workpiece 102 is calculated as:

[0129]

[0130] The gravity component in the plane A of the workpiece axis of the gear grinding machine can be expressed as F z tanβ. Due to the existence of the installation angle θ of the fixed dynamometer 105, the gravity component along the plane of the workpiece axis A of the gear grinding machine can be further decomposed into F x and F y According to the relationship of force decomposition, the installation angle θ of the fixed dynamometer 105 can be determined as:

[0131]

[0132] Step 3: After calibrating the installation orientation of the fixed dynamometer 105, the three-dimensional force components (i.e., F x , F y and F z ) and the force component conversion system between the workpiece axis and the tool axis of the gear grinding machine.

[0133] Establish as Figure 7 The four coordinate systems shown are the coordinate system S of the fixed dynamometer 105 and M , the coordinate system S of the tool axis of the gear grinding machine O , the coordinate system S of the workpiece axis A of the gear grinding machine A , coordinate system S of cradle axis B B Among them, S M The origin of the coordinate system is fixed to the center of the fixed dynamometer 105, S O The origin of the coordinate system is fixed at the center of the grinding wheel tool, S A The origin of the coordinate system is fixed to the center of the workpiece axis A of the gear grinding machine, S B The origin of the coordinate system is fixed at the center of the cradle axis B.

[0134] M MO is the coordinate system S M and coordinate system S OThe coordinate transformation matrix between (i.e., the target coordinate transformation matrix) can be expressed as:

[0135]

[0136] M in the formula BO Represents the coordinate system S B and coordinate system S O The coordinate transformation matrix between (i.e., the first coordinate transformation matrix), the main influencing parameters are the rotation angle β of the cradle axis B and the positions X, Y, and Z of the machine tool motion axis (i.e., the first relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool), can be expressed as:

[0137]

[0138] M AB Represents the coordinate system S A and coordinate system S B The coordinate transformation matrix between (i.e., the second coordinate transformation matrix), the influencing parameter is the rotation angle α of the workpiece axis A of the gear grinding machine, which can be expressed as:

[0139]

[0140] M MA Represents the coordinate system S M and coordinate system S A The coordinate transformation matrix between (i.e., the third coordinate transformation matrix), the influencing parameter is the installation angle θ of the fixed dynamometer 105, which can be expressed as:

[0141]

[0142] The force components in the workpiece axis coordinate system of the gear grinding machine can be determined as:

[0143] [F xA ,F yA ,F zA ] T =M AM [F x ,F y ,F z ]

[0144] The force components in the tool axis coordinate system of the gear grinding machine can be determined as:

[0145] [F xO ,F yO ,F zO ] T =M OM [F x ,F y ,F z ]

[0146] Axial force component F of the tool shaft of a gear grinding machine a and radial force component F r It can be expressed as:

[0147]

[0148] Step 4: Use the data measured in real time by the fixed dynamometer 105 and the force component conversion system proposed in step 3 to determine the contact between the grinding wheel tool and both sides of the spiral bevel gear tooth groove, establish a control strategy for the machine tool motion axis, achieve accurate tool setting before spiral bevel gear grinding, and provide the feed position and angle reference parameters of the machine tool motion axis for the spiral bevel gear grinding process. Specifically:

[0149] The tooth groove position of the spiral bevel gear workpiece 102 perpendicular to the "slotted" cover plate is selected as the tool setting target to avoid interference between the grinding wheel tool and the spiral bevel gear workpiece 102. The serial number of the tooth groove is marked as position 0.

[0150] According to the root cone angle in the design parameters of the spiral bevel gear workpiece 102, rotate the B-axis cradle to this angle. Adjust the positions of the X-axis and Y-axis of the gear grinding machine 101 and the angle of the A-axis of the gear grinding machine workpiece, so that the grinding wheel tool is located directly above the tooth groove of the No. 0 spiral bevel gear workpiece 102, and adjust the Z-axis coordinate to make it close to the tooth groove. Read the X, Y and Z axis values ​​on the machine panel at this time and record them as the position vector R = [x0, y0, z0].

[0151] The Z-axis coordinate of the main shaft of the gear grinding machine 101 is continuously adjusted to gradually approach the tooth groove position of the No. 0 spiral bevel gear workpiece 102 until an obvious excitation signal appears on the panel of the fixed dynamometer 105, indicating that contact occurs between the grinding wheel tool and the No. 0 tooth groove of the spiral bevel gear workpiece 102.

[0152] The control strategy of the machine tool motion axis during the tool setting process is as follows: Figure 8 As shown. x , F y and F z Transformed into the axial force component F of the tool axis of the gear grinding machine a , and radial force component F r Next, read the value on the fixed dynamometer 105 to perform the following analysis:

[0153] If R·F appears r >0, it is judged that the inner side of the grinding wheel tool is in contact with the convex surface of the spiral bevel gear, and the angle of the A axis needs to be reduced until ‖F a ‖=0; here ‖F a ‖ represents the modulus of the vector. r<0, it is judged that the outer side of the grinding wheel tool is in contact with the concave surface of the spiral bevel gear, and the angle of the A axis needs to be increased until ‖F a ‖=0; if R·F appears r = 0, it is judged that the A-axis rotation position of the grinding wheel tool is exactly at the center of the tooth groove, so the Z coordinate of the machine tool spindle is adjusted (the position is set to add 1μm) until both ‖F a ‖>0 and ‖F r ‖=0, which means that the grinding wheel tool surface and the surfaces on both sides of the tooth groove of the spiral bevel gear workpiece 102 have been fully in contact, that is, the initial tool setting link has been completed. At this time, at the position of the machine tool motion platform, data is read from the visual panel of the machine tool to record the target position and rotation angle after the tool setting is completed, that is, the target relative position X, Y and Z of the grinding wheel tool and the gear grinding machine workpiece axis, and the rotation angle of the gear grinding machine workpiece axis A.

[0154] Step 5: After the tool setting is completed, input any spiral bevel gear grinding test parameters (such as grinding wheel speed, feed speed and cutting depth) to grind the spiral bevel gear tooth groove to be processed, and record the data F of the fixed dynamometer 105 at the same time. x , F y and F z , decompose according to step 3 to obtain the force component F of the grinding wheel tool xo , F yo and F zo .

[0155] According to the position coordinates X and Y obtained in step 4, the cutting speed vector of the grinding wheel tool can be obtained as:

[0156]

[0157] Among them, V c represents the cutting speed vector of the grinding wheel tool, n represents the rotation speed of the grinding wheel tool, R g represents the radius of the grinding wheel tool, X represents the X-direction position in the target relative position, and Y represents the Y-direction position in the target relative position. Then the cutting force component F of the grinding force c It is the component of the resultant force vector of the grinding wheel tool along the cutting speed vector of the grinding wheel, that is:

[0158]

[0159] Normal force component F of grinding force n It can be expressed as:

[0160]

[0161] Among them, F crepresents the cutting force component of the grinding force, F xO Indicates the force component of the grinding wheel tool in the X-axis direction, F yO Indicates the force component of the grinding wheel tool in the Y-axis direction, F zO Indicates the force component of the grinding wheel tool in the Z-axis direction, V c represents the cutting velocity vector of the grinding wheel tool, ||V c || represents the modulus of the cutting velocity vector, F n Represents the normal force component of the grinding force.

[0162] After completing a set of processing parameters, modify the spiral bevel gear grinding parameters, and control the A-axis to rotate 360 / N angle at the same time, and change to the position of the next tooth groove for processing. Here N represents the total number of tooth grooves of the spiral bevel gear.

[0163] Through the above method, only a fixed dynamometer 105 is needed to achieve real-time and accurate measurement of the grinding force of the spiral bevel gear under different processing parameters, while avoiding the influence of factors such as multi-axis deflection and tool setting difficulties on the measurement accuracy of the grinding force of the spiral bevel gear.

[0164] Compared with the prior art, the technical solution of this embodiment has the following advantages:

[0165] (1) The technical solution of this embodiment can accurately measure the grinding force of spiral bevel gears, overcoming the difficulty of grinding force measurement caused by the complex multi-axis tilting rotation motion form of spiral bevel gear grinding. This method can be implemented by using only an ordinary fixed dynamometer 105, has low requirements for the orientation of the initial installation, avoids dependence on expensive rotary dynamometers, and has the advantages of low cost, simple structure and convenient tooling.

[0166] (2) The technical solution of this embodiment can meet the requirements of force conversion between the intersecting gear workpiece axis and tool axis. With only one clamping, the axial force component and radial force component of the tool axis and the gear workpiece axis during the spiral bevel gear grinding process can be measured simultaneously, avoiding multiple clamping and repeated adjustment operations.

[0167] (3) The technical solution of this embodiment also takes into account the precise tool alignment between the tool and the spiral bevel gear workpiece 102. Through real-time measurement and force conversion of the dynamometer, a multi-axis motion precise control strategy for the tool alignment process before spiral bevel gear grinding is proposed. This strategy can conveniently and effectively avoid the errors caused by manual operation and visual inspection, effectively reduce the difficulty of tool alignment for complex tooth shapes of spiral bevel gears, and effectively improve the measurement accuracy of grinding force.

[0168] Reference Fig. 9The embodiment of the present application provides a grinding force measurement system for a spiral bevel gear, which can be applied to a grinding force measurement device for a spiral bevel gear. The grinding force measurement device for a spiral bevel gear includes a gear grinding machine workpiece shaft, a spiral bevel gear workpiece 102, a straight arc cover plate 103, a tooling base 104 and a fixed dynamometer 105. The spiral bevel gear workpiece 102 is fixed to the fixed dynamometer 105 through the straight arc cover plate 103. The fixed dynamometer 105 is fixed to the tooling base 104 through bolt connection. The tooling base 104 is connected to the gear grinding machine workpiece shaft through bolts. The system includes a first data determination unit 100, a second data determination unit 200, a force component calculation unit 300, a tool setting completion unit 400, a relative position acquisition unit 500 and a grinding force calculation unit 600, wherein:

[0169] The first data determination unit 100 is used to obtain the measurement forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece 102 in the tilted state of the workpiece axis of the gear grinding machine through the fixed dynamometer 105 after the grinding force measurement device of the spiral bevel gear is installed, and determine the installation angle of the fixed dynamometer 105 according to the obtained measurement forces in the X, Y and Z directions;

[0170] A second data determination unit 200 is used to determine a target coordinate transformation matrix between the fixed dynamometer 105 and a tool axis of a gear grinding machine based on the installation angle, wherein the tool axis of the gear grinding machine is used to install a grinding wheel tool;

[0171] A force component calculation unit 300 is used to calculate the axial force component and the radial force component of the tool shaft of the gear grinding machine tool according to the measured forces in the three directions of X, Y and Z and the target coordinate transformation matrix;

[0172] The tool setting completion unit 400 is used to complete the tool setting between the spiral bevel gear workpiece 102 and the grinding wheel tool based on the axial force component and the radial force component;

[0173] The relative position acquisition unit 500 is used to acquire the target relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool after the tool setting is completed;

[0174] The grinding force calculation unit 600 is used to calculate the cutting force component of the grinding force and the normal force component of the grinding force according to the target relative position.

[0175] It should be noted that since the grinding force measurement system of a spiral bevel gear in this embodiment and the grinding force measurement method of a spiral bevel gear mentioned above are based on the same inventive concept, the corresponding contents in the method embodiment are also applicable to the system embodiment and will not be described in detail here.

[0176] Reference Fig.10The embodiment of the present application further provides an electronic device, the electronic device comprising:

[0177] at least one memory;

[0178] at least one processor;

[0179] at least one program;

[0180] The programs are stored in the memory, and the processor executes at least one program to implement the grinding force measurement method of the spiral bevel gear implemented in the present disclosure.

[0181] The electronic device may be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a vehicle-mounted computer, etc.

[0182] The electronic device according to the embodiment of the present application is described in detail below.

[0183] The processor 1600 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present disclosure;

[0184] The memory 1700 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1700 can store an operating system and other application programs. When the technical solution provided in the embodiments of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1700, and the processor 1600 calls and executes the grinding force measurement method of the spiral bevel gear in the embodiment of the present disclosure.

[0185] Input / output interface 1800, used to implement information input and output;

[0186] The communication interface 1900 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0187] Bus 2000 , which transmits information between various components of the device (e.g., processor 1600 , memory 1700 , input / output interface 1800 , and communication interface 1900 );

[0188] The processor 1600 , the memory 1700 , the input / output interface 1800 , and the communication interface 1900 are connected to each other in communication within the device via the bus 2000 .

[0189] The embodiment of the present disclosure also provides a storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned grinding force measurement method of the spiral bevel gear.

[0190] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0191] The embodiments described in the embodiments of the present disclosure are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0192] Those skilled in the art will appreciate that the technical solutions shown in the figures do not limit the embodiments of the present disclosure and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0193] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0194] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0195] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0196] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0197] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0198] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0199] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0200] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable an electronic device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store programs. The above is a detailed description of the embodiments of the present application in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Within the scope of knowledge possessed by ordinary technicians in the relevant technical field, various changes can be made without departing from the purpose of the present application.

[0201] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A method for measuring the grinding force of a spiral bevel gear, characterized in that: In a grinding force measuring device applied to a spiral bevel gear, the grinding force measuring device comprises a gear grinding machine workpiece shaft, a spiral bevel gear workpiece, a straight arc cover plate, a tooling base and a fixed dynamometer, the spiral bevel gear workpiece is fixed to the fixed dynamometer through the straight arc cover plate, the fixed dynamometer is fixed to the tooling base through bolt connection, the tooling base is connected to the gear grinding machine workpiece shaft through bolts, and the method comprises: After the grinding force measuring device of the spiral bevel gear is installed, the measurement forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece when the workpiece axis of the gear grinding machine tool is tilted are obtained by the fixed dynamometer, and the installation angle of the fixed dynamometer is determined according to the obtained measurement forces in the X, Y and Z directions; Based on the installation angle, determining a target coordinate transformation matrix between the fixed dynamometer and a gear grinding machine tool tool axis, wherein the gear grinding machine tool tool axis is used to install a grinding wheel tool; Calculating the axial force component and the radial force component of the tool shaft of the gear grinding machine tool according to the measured forces in the three directions of X, Y and Z and the target coordinate transformation matrix; Based on the axial force component and the radial force component, completing tool alignment between the spiral bevel gear workpiece and the grinding wheel tool; After completing the tool setting, obtaining the target relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool; A cutting force component of the grinding force and a normal force component of the grinding force are calculated according to the target relative position.

2. The method for measuring the grinding force of a spiral bevel gear according to claim 1, characterized in that: The grinding force measuring device for spiral bevel gears also includes a cradle shaft, and the installation angle of the fixed dynamometer is determined according to the measured forces in the three directions of X, Y and Z, including: Wherein, θ represents the installation angle of the fixed dynamometer, F x Indicates the measured force in the X direction, F y Indicates the measured force in the Y direction, F z represents the measured force in the Z direction, and β represents the rotation angle of the cradle axis.

3. The method for measuring the grinding force of a spiral bevel gear according to claim 2, characterized in that: The step of determining a target coordinate transformation matrix between the fixed dynamometer and the tool axis of the gear grinding machine based on the installation angle comprises: Acquire the rotation angle of the workpiece axis of the gear grinding machine tool, the rotation angle of the cradle axis, and the first relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool; Determining a first coordinate transformation matrix between the cradle shaft and the gear grinding machine tool tool shaft according to the rotation angle of the cradle shaft and the first relative position; Determining a second coordinate transformation matrix between the workpiece axis of the gear grinding machine tool and the cradle axis according to the rotation angle of the workpiece axis of the gear grinding machine tool; Determining a third coordinate transformation matrix between the gear grinding machine workpiece axis and the fixed dynamometer according to the installation angle; The first coordinate transformation matrix, the second coordinate transformation matrix and the third coordinate transformation matrix are matrix-multiplied to obtain a target coordinate transformation matrix between the fixed dynamometer and the tool axis of the gear grinding machine.

4. The method for measuring the grinding force of a spiral bevel gear according to claim 1, characterized in that: The method of completing the tool alignment between the spiral bevel gear workpiece and the grinding wheel tool based on the axial force component and the radial force component includes: Adjust the positions of the X-axis, Y-axis and Z-axis of the gear grinding machine and the rotation angle of the workpiece axis of the gear grinding machine; Acquire the positions of the X-axis, Y-axis and Z-axis of the gear grinding machine after adjustment, and multiply the position vectors of the X-axis, Y-axis and Z-axis of the gear grinding machine after adjustment by the radial force component to obtain a vector multiplication result; If the vector multiplication result is greater than zero, reducing the rotation angle of the workpiece axis of the gear grinding machine tool until the modulus length of the axial force component is equal to zero; If the vector multiplication result is less than zero, increasing the rotation angle of the workpiece axis of the gear grinding machine tool until the modulus length of the axial force component is equal to zero; If the vector multiplication result is equal to zero, continue to adjust the position of the Z axis of the gear grinding machine until the modulus of the axial force component is greater than zero and the modulus of the radial force component is equal to zero, thereby completing the tool alignment between the spiral bevel gear workpiece and the grinding wheel tool.

5. The method for measuring the grinding force of a spiral bevel gear according to claim 1, characterized in that: The step of calculating the cutting force component of the grinding force and the normal force component of the grinding force according to the target relative position comprises: Calculating the cutting speed vector of the grinding wheel tool according to the target relative position; A cutting force component of the grinding force and a normal force component of the grinding force are calculated based on the cutting velocity vector.

6. The method for measuring the grinding force of a spiral bevel gear according to claim 5, characterized in that: Calculating the cutting speed vector of the grinding wheel tool according to the target relative position includes: Among them, V c represents the cutting speed vector of the grinding wheel tool, n represents the rotation speed of the grinding wheel tool, R g represents the radius of the grinding wheel tool, X represents the X-direction position of the target relative position, and Y represents the Y-direction position of the target relative position.

7. The method for measuring the grinding force of a spiral bevel gear according to claim 5, characterized in that: Calculating the cutting force component of the grinding force and the normal force component of the grinding force according to the cutting speed vector comprises: According to the cutting velocity vector, the cutting force component of the grinding force is calculated as: According to the cutting force component of the grinding force, the normal force component of the grinding force is calculated as: Among them, F c represents the cutting force component of the grinding force, F xO Indicates the force component of the grinding wheel tool in the X-axis direction, F yO Indicates the force component of the grinding wheel tool in the Y-axis direction, F zO Indicates the force component of the grinding wheel tool in the Z-axis direction, V c represents the cutting velocity vector of the grinding wheel tool, ||V c || represents the modulus of the cutting velocity vector, F n represents the normal force component of the grinding force.

8. A grinding force measurement system for spiral bevel gears, characterized in that: In a grinding force measuring device applied to a spiral bevel gear, the grinding force measuring device of the spiral bevel gear comprises a gear grinding machine workpiece shaft, a spiral bevel gear workpiece, a straight arc cover plate, a tooling base and a fixed dynamometer, the spiral bevel gear workpiece is fixed to the fixed dynamometer through the straight arc cover plate, the fixed dynamometer is fixed to the tooling base through bolt connection, the tooling base is connected to the gear grinding machine workpiece shaft through bolts, and the system comprises: a first data determination unit, for obtaining, by means of the fixed dynamometer, measurement forces in three directions, X, Y and Z, caused by the gravity of the spiral bevel gear workpiece when the workpiece axis of the gear grinding machine tool is tilted, after the grinding force measurement device of the spiral bevel gear is installed, and determining an installation angle of the fixed dynamometer according to the obtained measurement forces in three directions, X, Y and Z; A second data determination unit is used to determine a target coordinate transformation matrix between the fixed dynamometer and a tool shaft of a gear grinding machine based on the installation angle, wherein the tool shaft of the gear grinding machine is used to install a grinding wheel tool; A force component calculation unit, used for calculating the axial force component and the radial force component of the tool shaft of the gear grinding machine tool according to the measured forces in the three directions of X, Y and Z and the target coordinate transformation matrix; A tool setting completion unit, used for completing the tool setting between the spiral bevel gear workpiece and the grinding wheel tool based on the axial force component and the radial force component; A relative position acquisition unit, used for acquiring a target relative position between the grinding wheel tool and the workpiece axis of the gear grinding machine tool after tool setting is completed; The grinding force calculation unit is used to calculate the cutting force component of the grinding force and the normal force component of the grinding force according to the target relative position.

9. An electronic device, characterized in that: It comprises at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the grinding force measurement method for spiral bevel gears as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the grinding force measurement method for a spiral bevel gear according to any one of claims 1 to 7.

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