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

Abstract

This application discloses a method, system, electronic device, and medium for measuring the grinding force of spiral bevel gears. The method obtains the measured forces in the X, Y, and Z directions using a fixed force gauge. Based on these measured forces, the installation angle of the fixed force gauge is determined. Based on the installation angle, a target coordinate transformation matrix is ​​determined between the fixed force gauge and the grinding machine tool axis. Based on the measured forces in the X, Y, and Z directions and the target coordinate transformation matrix, the axial and radial force components of the grinding machine tool axis are calculated. Based on these axial and radial force components, tool setting is performed between the spiral bevel gear workpiece and the grinding wheel tool. The target relative position between the grinding wheel tool and the grinding machine workpiece axis is obtained. Based on the target relative position, the cutting force component and the normal force component of the grinding force are calculated. This application can improve the accuracy of grinding force measurement for spiral bevel gears.

Description

Technical Field

[0001] This application relates to the field of grinding force measurement technology, and in particular to a method, system, electronic device and medium for measuring the grinding force of a spiral bevel gear. Background Technology

[0002] Spiral bevel gears are characterized by high stability, high load-bearing capacity, and low noise, and are widely used in important defense industries such as aerospace, new energy vehicles, and tanks, as well as in high-end civilian manufacturing. Grinding is a crucial step in manufacturing high-performance spiral bevel gears, directly determining their final tooth profile accuracy and performance. However, spiral bevel gears have the most complex tooth profiles among gears, and their manufacturing process involves complex machine tool adjustments and multi-axis linkages. This makes it difficult to directly apply common grinding force measurement methods (such as those for planar rectangular and cylindrical workpieces) to the grinding force measurement of spiral bevel gears.

[0003] Currently, force gauges can be divided into two types: fixed force gauges and rotary force gauges. Fixed force gauges are less expensive and more economical. In existing solutions, fixed force gauges are mainly used to measure grinding forces on simple rectangular planar workpieces. However, in the grinding process of spiral bevel gears, because the tool axis and workpiece axis intersect at an angle, the three-dimensional force components of the fixed force gauge cannot accurately reflect the actual forces acting on the tool and workpiece. Furthermore, it is difficult to ensure that the coordinate system of the fixed force gauge coincides with the machine tool coordinate system during installation, thus failing to meet the requirements for accurate measurement of spiral bevel gear grinding forces. While rotary force gauges can record the axial and radial force components, they need to be installed separately on the machine tool tool axis and the gear workpiece spindle to obtain the force state of the tool and workpiece axes. This method requires multiple installations, which can easily lead to installation errors. In addition, rotary force gauges are expensive and have complex tooling structures.

[0004] In summary, due to the complex end face shape of spiral bevel gears and the mutually tilting motion axis posture during the grinding process, 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] This application aims to provide a method, system, electronic device, and medium for measuring the grinding force of spiral bevel gears, which can improve the accuracy of grinding force measurement of spiral bevel gears.

[0006] In a first aspect, embodiments of this application provide a method for measuring the grinding force of a spiral bevel gear, applied in a grinding force measuring device for spiral bevel gears. The grinding force measuring device includes a grinding machine tool workpiece shaft, a spiral bevel gear workpiece, a straight-line arc-shaped cover plate, a tooling base, and a fixed force gauge. The spiral bevel gear workpiece is fixed to the fixed force gauge via the straight-line arc-shaped cover plate. The fixed force gauge is fixed to the tooling base via bolts. The tooling base is connected to the grinding machine tool workpiece shaft via bolts. The method includes:

[0007] After the grinding force measuring device of the spiral bevel gear is installed, the measured forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece under the tilted state of the workpiece shaft of the gear grinding machine are obtained by the fixed force gauge, and the installation angle of the fixed force gauge is determined based on the measured forces in the X, Y and Z directions.

[0008] Based on the installation angle, the target coordinate transformation matrix between the fixed force gauge and the gear grinding machine tool axis is determined, wherein the gear grinding machine tool axis is used to mount the grinding wheel tool;

[0009] Based on the measured forces in the X, Y, and Z directions and the target coordinate transformation matrix, the axial force components and radial force components of the gear grinding machine tool shaft are calculated.

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

[0011] After tool setting is completed, the target relative position between the grinding wheel tool and the workpiece axis of the gear grinding machine is obtained;

[0012] Based on the relative position of the target, calculate the cutting force component and the normal force component of the grinding force.

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

[0014] This method, after installing the grinding force measuring device for the spiral bevel gear, uses a fixed force gauge to acquire the measured forces in the X, Y, and Z directions caused by the gravity of the spiral bevel gear workpiece under the inclined state of the grinding machine workpiece axis. Based on the acquired measured forces in the X, Y, and Z directions, the installation angle of the fixed force gauge is determined. Based on the installation angle, the target coordinate transformation matrix between the fixed force gauge and the grinding machine tool axis is determined, where the grinding machine tool axis is used to mount the grinding wheel tool. Based on the measured forces in the X, Y, and Z directions and the target coordinate transformation matrix, the axial and radial force components of the grinding machine tool axis are calculated. Based on the axial and radial force components, tool setting between the spiral bevel gear workpiece and the grinding wheel tool is completed. After tool setting, the target relative position between the grinding wheel tool and the grinding machine workpiece axis is acquired. Based on the target relative position, the cutting force component and the normal force component of the grinding force are calculated. Thus, the force conversion requirements between the intersecting gear workpiece shaft and the tool shaft can be achieved through the target coordinate transformation matrix. Furthermore, by installing a single grinding force measuring device for spiral bevel gears, the axial and radial force components of the grinding machine tool shaft can be measured, improving the efficiency of grinding force measurement. Precise tool setting between the spiral bevel gear workpiece and the grinding wheel is also considered. After precise tool setting, the cutting force component and normal force component of the grinding force are calculated based on the relative positions of the targets, effectively improving the accuracy of grinding force measurement for spiral bevel gears. Therefore, this method overcomes the problem of the measured force component not corresponding to the actual grinding force caused by the multi-axis tilting and rotating motion of the machine tool during spiral bevel gear grinding. This method not only improves the accuracy of 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 the spiral bevel gear further includes a rocking table shaft, and determining the installation angle of the fixed force gauge based on the measured forces in the X, Y, and Z directions includes:

[0016]

[0017] Where θ represents the installation angle of the fixed force gauge, and F x F represents the measured force in the X direction. y F represents the measured force in the Y direction. z β represents the measured force in the Z direction, and β represents the rotation angle of the rocking table axis.

[0018] In some embodiments, determining the target coordinate transformation matrix between the fixed force gauge and the gear grinding machine tool axis based on the installation angle includes:

[0019] The rotation angle of the workpiece axis of the gear grinding machine tool, the rotation angle of the rocking table axis, and the first relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool are obtained.

[0020] Based on the rotation angle of the rocking table axis and the first relative position, a first coordinate transformation matrix between the rocking table axis and the tool axis of the gear grinding machine is determined;

[0021] Based on the rotation angle of the workpiece axis of the gear grinding machine, determine the second coordinate transformation matrix between the workpiece axis of the gear grinding machine and the rocking table axis;

[0022] Based on the installation angle, determine the third coordinate transformation matrix between the workpiece axis of the gear grinding machine and the fixed force gauge;

[0023] Multiply the first coordinate transformation matrix, the second coordinate transformation matrix, and the third coordinate transformation matrix to obtain the target coordinate transformation matrix between the fixed force gauge and the tool axis of the gear grinding machine.

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

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

[0026] The positions of the X-axis, Y-axis, and Z-axis of the adjusted gear grinding machine are obtained, and the position vectors of the X-axis, Y-axis, and Z-axis of the adjusted gear grinding machine are multiplied by the radial force component to obtain the vector multiplication result;

[0027] If the result of the vector multiplication is greater than zero, then 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.

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

[0029] If the result of the vector multiplication is equal to zero, the position of the Z-axis of the gear grinding machine is 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, thus completing the tool setting between the spiral bevel gear workpiece and the grinding wheel tool.

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

[0031] Calculate the cutting speed vector of the grinding wheel tool based on the relative position of the target;

[0032] Based on the cutting speed vector, calculate the cutting force component and the normal force component of the grinding force.

[0033] In some implementations, calculating the cutting speed vector of the grinding wheel tool based on the target relative position includes:

[0034]

[0035] Among them, V c This represents the cutting speed vector of the grinding wheel tool, where n represents the rotational speed of the grinding wheel tool, and R... g The radius of the grinding wheel tool is represented by X, X represents the position in the X direction of the relative position of the target, and Y represents the position in the Y direction of the relative position of the target.

[0036] In some embodiments, calculating the cutting force component and the normal force component of the grinding force based on the cutting speed vector includes:

[0037] Based on the cutting speed vector, the cutting force component of the grinding force is calculated as follows:

[0038]

[0039] Based on the cutting force component of the grinding force, the normal force component of the grinding force is calculated as follows:

[0040]

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

[0042] Secondly, this application also provides a grinding force measurement system for spiral bevel gears, applied in a grinding force measurement device for spiral bevel gears. The grinding force measurement device for spiral bevel gears includes a grinding machine tool workpiece shaft, a spiral bevel gear workpiece, a straight-line arc cover plate, a tooling base, and a fixed force gauge. The spiral bevel gear workpiece is fixed to the fixed force gauge via the straight-line arc cover plate. The fixed force gauge is fixed to the tooling base via bolts. The tooling base is connected to the grinding machine tool workpiece shaft via bolts. The system includes:

[0043] The first data determination unit is used to, after the grinding force measuring device of the spiral bevel gear is installed, acquire the measured forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece under the tilted state of the workpiece shaft of the gear grinding machine tool through the fixed force gauge, and determine the installation angle of the fixed force gauge based on the acquired measured forces in the X, Y and Z directions.

[0044] The second data determination unit is used to determine the target coordinate transformation matrix between the fixed force gauge and the gear grinding machine tool cutter axis based on the installation angle, wherein the gear grinding machine tool cutter axis is used to mount the grinding wheel tool;

[0045] The force component calculation unit is used to calculate the axial force component and radial force component of the gear grinding machine tool shaft based on the measured forces in the X, Y and Z directions and the target coordinate transformation matrix.

[0046] The tool setting completion unit is used to complete 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] The relative position acquisition unit is used to acquire the target relative position between the grinding wheel tool and the workpiece axis of the gear grinding machine after tool setting is completed;

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

[0049] Thirdly, embodiments of this application also provide an electronic device, including at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, the instructions being executed by the at least one control processor to enable the at least one control processor to perform a grinding force measurement method for a spiral bevel gear as described above.

[0050] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform a grinding force measurement method for a spiral bevel gear as described above.

[0051] It is understood that the beneficial effects of the second to fourth aspects compared with the related technologies are the same as the beneficial effects of the first aspect compared with the related technologies. Please refer to the relevant description in the first aspect above, which will not be repeated here. Attached Figure Description

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

[0053] Figure 1 This is a schematic flowchart of an embodiment of the grinding force measurement method for spiral bevel gears provided in this application;

[0054] Figure 2 This is a schematic diagram of the tooling connection system in the preferred embodiment of the grinding force measurement method for spiral bevel gears provided in this application;

[0055] Figure 3 This is a schematic diagram of the tooling base in the preferred embodiment of the grinding force measurement method for spiral bevel gears provided in this application;

[0056] Figure 4 This is a schematic diagram of the structure of the straight arc cover plate in the preferred embodiment of the grinding force measurement method for spiral bevel gears provided in this application;

[0057] Figure 5 This is a schematic diagram of the motion axes of the gear grinding machine in the preferred embodiment of the grinding force measurement method for spiral bevel gears provided in this application;

[0058] Figure 6 This is a schematic diagram showing the relationship between the three-dimensional components of a fixed force gauge and the installation angle θ in the preferred embodiment of the grinding force measurement method for spiral bevel gears provided in this application, under an inclined posture.

[0059] Figure 7 This is a coordinate system schematic diagram of the grinding force measurement process of a spiral bevel gear in the preferred embodiment of the grinding force measurement method for spiral bevel gears provided in this application;

[0060] Figure 8 This is a flowchart illustrating the control strategy of the machine tool motion axis during the tool setting process in the preferred embodiment of the grinding force measurement method for spiral bevel gears provided in this application.

[0061] Figure 9This is a schematic diagram of an embodiment of the grinding force measurement system for spiral bevel gears provided in this application;

[0062] Figure 10 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application;

[0063] Label Explanation:

[0064] 101. Gear grinding machine; 102. Spiral bevel gear workpiece; 103. One-line arc cover plate; 104. Tooling base; 105. Fixed force gauge. Detailed Implementation

[0065] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0066] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

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

[0068] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with 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 such as aerospace, new energy vehicles, and tanks, as well as in high-end civilian manufacturing. Grinding is a crucial step in manufacturing high-performance spiral bevel gears, directly determining their final tooth profile accuracy and performance. However, spiral bevel gears have the most complex tooth profiles among gears, and their manufacturing process involves complex machine tool adjustments and multi-axis linkages. This makes it difficult to directly apply common grinding force measurement methods (such as those for planar rectangular and cylindrical workpieces) to the grinding force measurement of spiral bevel gears.

[0070] Currently, force gauges can be divided into two types: fixed force gauges and rotary force gauges. Fixed force gauges are less expensive and more economical. In existing solutions, fixed force gauges are mainly used to measure grinding forces on simple rectangular planar workpieces. However, in the grinding process of spiral bevel gears, because the tool axis and workpiece axis intersect at an angle, the three-dimensional force components of the fixed force gauge cannot accurately reflect the actual forces acting on the tool and workpiece. Furthermore, it is difficult to ensure that the coordinate system of the fixed force gauge coincides with the machine tool coordinate system during installation, thus failing to meet the requirements for accurate measurement of spiral bevel gear grinding forces. While rotary force gauges can record the axial and radial force components, they need to be installed separately on the machine tool tool axis and the gear workpiece spindle to obtain the force state of the tool and workpiece axes. This method requires multiple installations, which can easily lead to installation errors. In addition, rotary force gauges are expensive and have complex tooling structures.

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

[0072] To address the aforementioned problem of difficulty in achieving real-time and accurate measurement of grinding force for spiral bevel gears, this application proposes a method, system, electronic device, and medium for measuring the grinding force of spiral bevel gears.

[0073] Reference Figure 1 This application provides a method for measuring the grinding force of a spiral bevel gear. This method is applied to a grinding force measuring device for spiral bevel gears. The device includes a grinding machine workpiece shaft, a spiral bevel gear workpiece 102, a straight arc-shaped cover plate 103, a fixture base 104, and a fixed force gauge 105. The spiral bevel gear workpiece 102 is fixed to the fixed force gauge 105 via the straight arc-shaped cover plate 103. The fixed force gauge 105 is fixed to the fixture base 104 via bolts. The fixture base 104 is connected to the grinding machine workpiece shaft via bolts. The method includes the following steps:

[0074] Step S100: After installing the grinding force measuring device for the spiral bevel gear, the measuring forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece 102 under the tilted state of the workpiece shaft of the gear grinding machine are obtained by the fixed force gauge 105, and the installation angle of the fixed force gauge 105 is determined based on the obtained measuring forces in the X, Y and Z directions.

[0075] Step S200: Based on the installation angle, determine the target coordinate transformation matrix between the fixed force gauge 105 and the gear grinding machine tool axis, wherein the gear grinding machine tool axis is used to mount the grinding wheel tool;

[0076] Step S300: Based on the measured forces in the X, Y and Z directions and the target coordinate transformation matrix, calculate the axial force components and radial force components of the gear grinding machine tool shaft;

[0077] Step S400: Based on the axial force component and the radial force component, complete the tool setting between the spiral bevel gear workpiece 102 and the grinding wheel tool;

[0078] Step S500: After tool setting is completed, obtain the target relative position between the grinding wheel tool and the workpiece axis of the gear grinding machine.

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

[0080] In this embodiment, after the grinding force measuring device for the spiral bevel gear is installed, the measured forces in the X, Y, and Z directions caused by the gravity of the spiral bevel gear workpiece 102 under the inclined state of the workpiece shaft of the grinding machine tool are obtained by a fixed force gauge 105. Based on the measured forces in the X, Y, and Z directions, the installation angle of the fixed force gauge 105 is determined. Based on the installation angle, the target coordinate transformation matrix between the fixed force gauge 105 and the grinding machine tool shaft is determined, wherein the grinding machine tool shaft is used to install the grinding wheel tool. Based on the measured forces in the X, Y, and Z directions and the target coordinate transformation matrix, the axial force component and radial force component of the grinding machine tool shaft are calculated. Based on the axial force component and radial force component, the tool setting between the spiral bevel gear workpiece 102 and the grinding wheel tool is completed. After the tool setting is completed, the target relative position between the grinding wheel tool and the grinding machine tool workpiece shaft is obtained. Based on the target relative position, the cutting force component and the normal force component of the grinding force are calculated. Thus, the force conversion requirements between the intersecting gear workpiece shaft and the tool shaft can be achieved through the target coordinate transformation matrix. Furthermore, by installing a grinding force measuring device for a single spiral bevel gear, the axial and radial force components of the grinding machine tool shaft can be measured, improving the efficiency of grinding force measurement. Precise tool setting between the spiral bevel gear workpiece 102 and the grinding wheel tool is also considered. After precise tool setting, the cutting force component and normal force component of the grinding force are calculated based on the relative positions of the targets, effectively improving the accuracy of spiral bevel gear grinding force measurement.

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

[0082] The measured forces in the X, Y, and Z directions obtained by the fixed force gauge 105 are subject to changes in value due to the influence of the self-weight of the spiral bevel gear workpiece 102 and the tilt of the workpiece shaft plane of the gear grinding machine. After the reading on the panel of the fixed force gauge 105 stabilizes, the signal data on the fixed force gauge 105 can be read, thus obtaining the measured forces in the X, Y, and Z directions obtained by the fixed force gauge 105.

[0083] The above-mentioned tool setting between the spiral bevel gear workpiece 102 and the grinding wheel tool is based on the axial force component and the radial force component. It can be achieved by judging the contact between the grinding wheel tool and the two sides of the tooth groove of the spiral bevel gear workpiece 102 in real time based on the axial force component and the radial force component, so as to make full contact between the grinding wheel tool surface and the two sides of the tooth groove of the spiral bevel gear workpiece 102, thereby completing the tool setting between the spiral bevel gear workpiece 102 and the grinding wheel tool.

[0084] The above-mentioned acquisition of the target relative position between the grinding wheel tool and the workpiece axis of the gear grinding machine after tool setting can be achieved by directly reading the target relative position between the grinding wheel tool and the workpiece axis of the gear grinding machine from the visualization panel of the machine tool after tool setting. The target relative position includes the position coordinates in the X, Y and Z directions.

[0085] In some embodiments, the grinding force measuring device for spiral bevel gears further includes a rocking table shaft, which determines the installation angle of the fixed force gauge based on the measured forces in the X, Y, and Z directions, including:

[0086]

[0087] Where θ represents the installation angle of the fixed force gauge 105, and F x F represents the measured force in the X direction. y F represents the measured force in the Y direction. z β represents the measured force in the Z direction, and β represents the rotation angle of the rocking table axis.

[0088] In some implementations, the target coordinate transformation matrix between the fixed force gauge 105 and the gear grinding machine tool axis is determined based on the installation angle, including:

[0089] Obtain the rotation angle of the workpiece axis of the gear grinding machine, the rotation angle of the rocker table axis, and the first relative position between the grinding wheel and the workpiece axis of the gear grinding machine;

[0090] Based on the rotation angle of the rocking table axis and the first relative position, determine the first coordinate transformation matrix between the rocking table axis and the tool axis of the gear grinding machine.

[0091] Based on the rotation angle of the workpiece axis of the gear grinding machine, determine the second coordinate transformation matrix between the workpiece axis and the rocking table axis of the gear grinding machine;

[0092] Based on the installation angle, determine the third coordinate transformation matrix between the workpiece axis of the gear grinding machine and the fixed force gauge 105;

[0093] Multiply the first coordinate transformation matrix, the second coordinate transformation matrix, and the third coordinate transformation matrix to obtain the target coordinate transformation matrix between the fixed force gauge 105 and the tool axis of the gear grinding machine.

[0094] In this embodiment, a first coordinate transformation matrix between the rocking table axis and the gear grinding machine tool axis is determined based on the rotation angle of the rocking table axis and the first relative position; a second coordinate transformation matrix between the gear grinding machine workpiece axis and the rocking table axis is determined based on the rotation angle of the gear grinding machine workpiece axis; and a third coordinate transformation matrix between the gear grinding machine workpiece axis and the fixed force gauge 105 is determined based on the installation angle. The first, second, and third coordinate transformation matrices are then multiplied to obtain the target coordinate transformation matrix between the fixed force gauge 105 and the gear grinding machine tool axis. Thus, by multiplying multiple coordinate transformation matrices, the target coordinate transformation matrix between the fixed force gauge 105 and the gear grinding machine tool axis is obtained, fulfilling the force conversion requirements between the intersecting gear grinding machine workpiece axis and gear grinding machine tool axis. Furthermore, only one clamping is required to calculate the axial and radial force components of the gear grinding machine tool axis, avoiding the need for multiple clamping and repeated adjustments of the fixed force gauge 105.

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

[0096] Adjust the positions of the X, Y, and Z axes of the gear grinding machine 101, as well as the rotation angle of the workpiece axis of the gear grinding machine;

[0097] The positions of the X-axis, Y-axis and Z-axis of the adjusted gear grinding machine 101 are obtained, and the position vectors of the X-axis, Y-axis and Z-axis of the adjusted gear grinding machine 101 are multiplied by the radial force component to obtain the vector multiplication result;

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

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

[0100] If the result of vector multiplication is 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, thus completing the tool setting between the spiral bevel gear workpiece 102 and the grinding wheel tool.

[0101] In this embodiment, the positions of the X, Y, and Z axes of the gear grinding machine 101 and the rotation angle of the workpiece axis of the gear grinding machine are adjusted; the adjusted positions of the X, Y, and Z axes of the gear grinding machine 101 are obtained, and the position vectors of the adjusted X, Y, and Z axes of the gear grinding machine 101 are multiplied by the radial force component to obtain the 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 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, thus completing the tool setting 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 precisely set, which effectively avoids the errors caused by manual operation and visual inspection, reduces the difficulty of setting the complex tooth shape of the spiral bevel gear, and lays a good data foundation for the accurate calculation of the cutting force component and normal force component of the grinding force in the later stage.

[0102] In some implementations, the cutting force component and the normal force component of the grinding force are calculated based on the relative position of the target, including:

[0103] Calculate the cutting speed vector of the grinding wheel tool based on the relative position of the target;

[0104] Based on the cutting speed vector, calculate the cutting force component and the normal force component of the grinding force.

[0105] In this embodiment, the cutting speed vector of the grinding wheel tool is calculated based on the target's relative position; then, the cutting force component and the normal force component of the grinding force are calculated based on the cutting speed vector. Since the target's relative position is obtained after tool setting, a precise target relative position can be obtained. Based on this precise target relative position, accurate cutting force and normal force components can be calculated, effectively improving the accuracy of grinding force measurement for spiral bevel gears.

[0106] In some implementations, the cutting speed vector of the grinding wheel tool is calculated based on the relative position of the target, including:

[0107]

[0108] Among them, V c This represents the cutting speed vector of the grinding wheel tool, where n represents the rotational speed of the grinding wheel tool, and R... g The radius of the grinding wheel tool is represented by X, which represents the position of the target in the X direction, and Y represents the position of the target in the Y direction.

[0109] In some implementations, the cutting force component and the normal force component of the grinding force are calculated based on the cutting speed vector, including:

[0110] Based on the cutting speed vector, the cutting force components of the grinding force are calculated as follows:

[0111]

[0112] Based on the cutting force component of the grinding force, the normal force component of the grinding force is calculated as follows:

[0113]

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

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

[0116] Spiral bevel gears are characterized by high stability, high load-bearing capacity, and low noise, and are widely used in important defense industries such as aerospace, new energy vehicles, and tanks, as well as in high-end civilian manufacturing. Grinding is a crucial step in the manufacturing of high-performance spiral bevel gears, directly determining the final tooth profile accuracy and working performance. Grinding force is an important evaluation parameter for the grinding process, interrelated with numerous outputs, such as wheel wear, surface roughness, and grinding burns. Currently, accurate measurement of grinding force has become a key control indicator in the online monitoring stage of intelligent manufacturing. Therefore, accurate measurement technology of spiral bevel gear grinding force is an important requirement for the intelligent manufacturing of high-end spiral bevel gears, possessing significant meaning and economic value.

[0117] However, spiral bevel gears have the most complex tooth profiles among gears, and their manufacturing process involves complex machine tool adjustments and multi-axis linkages. This makes it difficult to directly apply common grinding force measurement methods (for planar rectangular workpieces and cylindrical workpieces) to the grinding force measurement of spiral bevel gears. Current force gauges can be divided into two types: fixed force gauges (105) and rotary force gauges. Among them, the fixed force gauge (105) is cheaper and more economical. In existing solutions, the fixed force gauge (105) is mainly used for measuring the grinding force of simple rectangular planar workpieces. However, during the grinding process of spiral bevel gears, because the tool axis and workpiece axis rotate and intersect in an inclined manner, the three-dimensional force components of the fixed force gauge (105) cannot accurately reflect the actual force on the tool and workpiece. Furthermore, it is difficult to ensure that the coordinate system of the fixed force gauge (105) coincides with the machine tool coordinate system during installation, thus failing to meet the requirements for accurate measurement of the grinding force of spiral bevel gears. While rotary force gauges can record the components of axial and radial forces, they need to be installed separately on the machine tool cutter spindle and the gear workpiece spindle to obtain the force state of these spindles. This method requires multiple installations, which can easily lead to installation errors. Furthermore, rotary force gauges are expensive and have complex tooling structures.

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

[0119] To address the aforementioned problems, this embodiment proposes a method for accurately measuring the grinding force of spiral bevel gears. The method includes a tooling connection system (i.e., a grinding force measuring device for spiral bevel gears), installation orientation calibration of a fixed force gauge 105, tool-workpiece force state conversion, an accurate tool setting method based on real-time data from the force gauge, and a grinding force measurement method.

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

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

[0122] The fixed force gauge 105 is fixed to the workpiece shaft of the gear grinding machine tool by bolt connection with the tooling base 104. Figure 3As shown, the fixture base 104 is disc-shaped. The lower part of the fixture base 104 is fixed to the workpiece shaft of the gear grinding machine by bolts, and the upper part of the fixture base 104 is connected to the fixed force gauge 105 by bolts. Positioning holes are also provided on the outer periphery of the upper end of the fixture base 104 to align the rectangular fixed force gauge 105 with the center of the workpiece shaft of the gear grinding machine.

[0123] The spiral bevel gear workpiece 102 is connected to the fixed force gauge 105 by clamping it with a straight arc-shaped cover plate 103. To avoid interference between the grinding wheel and the spiral bevel gear workpiece 102, the cover plate is designed as a straight arc-shaped cover plate 103, as shown below. Figure 4 As shown, the spiral bevel gear workpiece 102 is fixed to the fixed force gauge 105 by bolt connection using a straight arc-shaped cover plate 103. Simultaneously, a compensation offset method is used to position the two bolt holes on the straight arc-shaped cover plate 103, ensuring that the centerline of the spiral bevel gear workpiece 102 coincides with the centerline of the fixed force gauge 105.

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

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

[0126] The motion axes of a gear grinding machine, such as Figure 5 As shown, axis A is the workpiece rotation axis of gear grinding machine 101, axis B is the rocker table rotation axis of gear grinding machine 101, and X, Y and Z are the linear motion cycles of gear grinding machine 101, used to control the spatial position of the cutting tool.

[0127] The rotation angle of the workpiece axis A of the gear grinding machine is set to 0, and the rotation angle of the rocker table axis B is set to β. In this embodiment, β can be taken as 30°. The specific rotation angle setting can be changed according to the actual situation, and this embodiment does not impose specific limitations. Under the influence of the self-weight of the spiral bevel gear workpiece 102 and the inclination of the workpiece axis plane of the gear grinding machine, the values ​​of the fixed force gauge 105 in the X, Y, and Z directions will change. After the reading on the panel of the fixed force gauge 105 stabilizes, the signal data on the fixed force gauge 105 is read, and the signal interference caused by the inherent vibration of the machine tool is removed by using the Fourier filter method. The magnitudes of the measured forces in the X, Y, and Z directions of the fixed force gauge 105 are recorded respectively and denoted as F. xF y and F z .

[0128] Next, via F x F y and F z This is used to calibrate the installation angle θ of the fixed force gauge 105. For example... Figure 6 As shown, under the tilting action of the rocker arm B, the component of the self-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 value of F can be obtained by reading the value of Gcosβ. z The self-weight of the spiral bevel gear workpiece 102 is calculated as follows:

[0129]

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

[0131]

[0132] Step 3: After calibrating the installation orientation of the fixed force gauge 105, the three-dimensional force components (i.e., F) of the fixed force gauge 105 can be established. x F y and F z 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 force gauge 105. M The coordinate system S of the gear grinding machine tool axis O The coordinate system S of the workpiece axis A of the gear grinding machine. A The coordinate system S of the rocking table axis B B Among them, S M The origin of the coordinate system is fixed at the center of the fixed force gauge 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 at 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 rocking table axis B.

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

[0135]

[0136] M in the formula BO Represents coordinate system S B and coordinate system S O The coordinate transformation matrix between the two axes (i.e., the first coordinate transformation matrix) is mainly influenced by the rotation angle β of the rocker axis B and the positions X, Y, and Z of the machine tool motion axes (i.e., the first relative positions of the grinding wheel tool and the workpiece axis of the gear grinding machine). It can be expressed as:

[0137]

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

[0139]

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

[0141]

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

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

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

[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 represented as:

[0147]

[0148] Step 4: Using the real-time data measured by the fixed force gauge 105 and the force component conversion system proposed in Step 3, determine the contact condition between the grinding wheel and the two sides of the spiral bevel gear tooth groove, establish the control strategy for the machine tool's motion axis, achieve precise tool setting before spiral bevel gear grinding, and provide the feed position and angle reference parameters for the machine tool's motion axis during the spiral bevel gear grinding process. Specifically:

[0149] The tooth groove position of the spiral bevel gear workpiece 102, perpendicular to the "I-shaped" 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 tooth groove number is marked as position 0.

[0150] Based on the root cone angle in the design parameters of the spiral bevel gear workpiece 102, rotate the B-axis rocker to that angle. Adjust the positions of the X and Y axes of the gear grinding machine 101 and the angle of the workpiece axis A of the gear grinding machine so that the grinding wheel is directly above the tooth groove of the No. 0 spiral bevel gear workpiece 102, and adjust the Z-axis coordinate to be close to the top of 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] By continuously adjusting the Z-axis coordinate of the spindle of the gear grinding machine 101 to gradually approach the tooth groove position of the spiral bevel gear workpiece 102, until a clear excitation signal appears on the panel of the fixed force gauge 105, it indicates that contact has occurred between the grinding wheel tool and the tooth groove of the spiral bevel gear workpiece 102.

[0152] The control strategy for machine tool motion axes during tool setting is as follows: Figure 8 As shown. F x F y and F z Transformed into the axial force component F of the gear grinding machine tool shaft a and radial force component F r Next, the values ​​read from the fixed force gauge 105 are analyzed as follows:

[0153] If R·F appears r If the value is greater than 0, it indicates that the inner side of the grinding wheel tool is in contact with the convex surface of the spiral bevel gear. Therefore, the angle of axis A needs to be reduced until ||F||. a || = 0; here, ||F a || represents the magnitude of the vector. If R·F appears... rIf the value is less than 0, it indicates that the outer side of the grinding wheel tool is in contact with the concave surface of the spiral bevel gear. Therefore, the angle of axis A needs to be increased until ||F||. a || = 0; if R·F appears r In the case where = 0, it is determined that the A-axis rotation position of the grinding wheel tool is exactly at the center of the tooth groove. Therefore, the Z-coordinate of the machine tool spindle is adjusted (position set to add 1μm) until ||F|| is satisfied. a ||>0 and ||F r ‖ = 0 indicates that the grinding wheel tool face and both sides of the tooth groove of the spiral bevel gear workpiece 102 have made full contact, thus completing the initial tool setting process. At this point, data is read from the machine tool's visualization panel at the machine tool's motion platform position, recording the target position and rotation angle after tool setting, i.e., the target relative positions X, Y, and Z of the grinding wheel tool and the workpiece axis of the gear grinding machine, and the rotation angle of the workpiece axis A of the gear grinding machine.

[0154] Step 5: After tool setting, input any spiral bevel gear grinding test parameters (e.g., grinding wheel speed, feed rate, and depth of cut) to grind the spiral bevel gear tooth grooves to be machined, and simultaneously record the data F from the fixed force gauge 105. x F y and F z Following the method described in step 3, the force component F of the grinding wheel tool is obtained. xo F yo and F zo .

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

[0156]

[0157] Among them, V c This represents the cutting speed vector of the grinding wheel tool, where n represents the rotational speed of the grinding wheel tool, and R... g Let F represent the radius of the grinding wheel, X represent the position in the X direction relative to the target, and Y represent the position in the Y direction relative to the target. Then, the cutting force component F of the grinding force... c It is the component of the resultant force vector of the grinding wheel and cutting 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 represented as:

[0160]

[0161] Among them, F cF represents the cutting force component of the grinding force. xO F represents the force component of the grinding wheel tool in the X-axis direction. yO F represents the force component of the grinding wheel tool in the Y-axis direction. zO V represents the force component of the grinding wheel tool in the Z-axis direction. c The cutting speed vector of the grinding wheel tool, ||V c || represents the magnitude of the cutting velocity vector, F n This represents the normal force component of the grinding force.

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

[0163] Using the above method, only a fixed force gauge 105 is needed to achieve real-time and accurate measurement of the grinding force of spiral bevel gears 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 spiral bevel gears.

[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 difficulties in measuring grinding force caused by the complex multi-axis tilting and rotating motion of spiral bevel gear grinding. This method can be achieved using only a common fixed force gauge 105, with low requirements for the orientation of the initial installation, avoiding dependence on expensive rotary force gauges, and has the advantages of low cost, simple structure and convenient tooling.

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

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

[0168] Reference Figure 9This application provides a grinding force measurement system for spiral bevel gears. This system can be applied to a grinding force measuring device for spiral bevel gears. The grinding force measuring device for spiral bevel gears includes a grinding machine workpiece shaft, a spiral bevel gear workpiece 102, a straight arc cover plate 103, a tooling base 104, and a fixed force gauge 105. The spiral bevel gear workpiece 102 is fixed to the fixed force gauge 105 via the straight arc cover plate 103. The fixed force gauge 105 is fixed to the tooling base 104 via bolts. The tooling base 104 is connected to the grinding machine workpiece shaft via 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 measured forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece 102 under the tilted state of the workpiece shaft of the gear grinding machine tool after the grinding force measuring device of the spiral bevel gear is installed, and to determine the installation angle of the fixed force measuring unit 105 based on the measured forces in the X, Y and Z directions.

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

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

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

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

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

[0175] It should be noted that since the grinding force measurement system for spiral bevel gears in this embodiment is based on the same inventive concept as the grinding force measurement method for spiral bevel gears described above, the corresponding content in the method embodiment is also applicable to this system embodiment, and will not be described in detail here.

[0176] Reference Figure 10This application also provides an electronic device, which includes:

[0177] At least one memory;

[0178] At least one processor;

[0179] At least one program;

[0180] The program is stored in memory, and the processor executes at least one program to implement the grinding force measurement method for spiral bevel gears described above in this disclosure.

[0181] This electronic device can be any smart terminal, including mobile phones, tablets, personal digital assistants (PDAs), and in-vehicle computers.

[0182] The electronic devices according to embodiments of this application will now be described in detail.

[0183] The processor 1600 can be implemented using a general-purpose central processing unit (CPU), microprocessor, 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 this disclosure.

[0184] The memory 1700 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1700 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1700 and is called by the processor 1600 to execute the grinding force measurement method for spiral bevel gears according to the embodiments of this disclosure.

[0185] The input / output interface 1800 is used to implement information input and output.

[0186] The communication interface 1900 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0187] Bus 2000 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, memory 1700, input / output interface 1800 and communication interface 1900 are connected to each other within the device via bus 2000.

[0189] This disclosure also provides a storage medium, which is a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the above-described method for measuring the grinding force of a spiral bevel gear.

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

[0191] The embodiments described in this disclosure are for the purpose of more clearly illustrating the technical solutions of this disclosure and do not constitute a limitation on the technical solutions provided by this disclosure. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by this disclosure are also applicable to similar technical problems.

[0192] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this disclosure, and may include more or fewer steps than shown, or combine certain steps, or different steps.

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

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

[0195] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0196] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0197] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

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

[0199] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0200] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes multiple instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. The embodiments of this application have been described in detail above with reference to the accompanying drawings, but this application is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of this application.

[0201] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A method for measuring the grinding force of a spiral bevel gear, characterized in that, A grinding force measuring device for spiral bevel gears includes a grinding machine workpiece shaft, a spiral bevel gear workpiece, a straight arc cover plate, a fixture base, and a fixed force gauge. The spiral bevel gear workpiece is fixed to the fixed force gauge via the straight arc cover plate. The fixed force gauge is fixed to the fixture base via bolts. The fixture base is bolted to the grinding machine workpiece shaft. The method includes: After the grinding force measuring device of the spiral bevel gear is installed, the measured forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece under the tilted state of the workpiece shaft of the gear grinding machine are obtained by the fixed force gauge, and the installation angle of the fixed force gauge is determined based on the measured forces in the X, Y and Z directions. Based on the installation angle, the target coordinate transformation matrix between the fixed force gauge and the gear grinding machine tool axis is determined, wherein the gear grinding machine tool axis is used to mount the grinding wheel tool; Based on the measured forces in the X, Y, and Z directions and the target coordinate transformation matrix, the axial force components and radial force components of the gear grinding machine tool shaft are calculated. Based on the axial force component and the radial force component, the tool setting between the spiral bevel gear workpiece and the grinding wheel tool is completed; After tool setting is completed, the target relative position between the grinding wheel tool and the workpiece axis of the gear grinding machine is obtained; Based on the relative position of the target, calculate the cutting force component and the normal force component of the grinding force.

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 the spiral bevel gear also includes a rocking table shaft. The step of determining the installation angle of the fixed force gauge based on the measured forces in the X, Y, and Z directions includes: Where θ represents the installation angle of the fixed force gauge, and F x F represents the measured force in the X direction. y F represents the measured force in the Y direction. z β represents the measured force in the Z direction, and β represents the rotation angle of the rocking table axis.

3. The method for measuring the grinding force of a spiral bevel gear according to claim 2, characterized in that, The determination of the target coordinate transformation matrix between the fixed force gauge and the gear grinding machine tool axis based on the installation angle includes: The rotation angle of the workpiece axis of the gear grinding machine tool, the rotation angle of the rocking table axis, and the first relative position of the grinding wheel tool and the workpiece axis of the gear grinding machine tool are obtained. Based on the rotation angle of the rocking table axis and the first relative position, a first coordinate transformation matrix between the rocking table axis and the tool axis of the gear grinding machine is determined; Based on the rotation angle of the workpiece axis of the gear grinding machine, determine the second coordinate transformation matrix between the workpiece axis of the gear grinding machine and the rocking table axis; Based on the installation angle, determine the third coordinate transformation matrix between the workpiece axis of the gear grinding machine and the fixed force gauge; Multiply the first coordinate transformation matrix, the second coordinate transformation matrix, and the third coordinate transformation matrix to obtain the target coordinate transformation matrix between the fixed force gauge 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 process of setting the tool between the spiral bevel gear workpiece and the grinding wheel cutter based on the axial force component and the radial force component includes: Adjust the positions of the X, Y, and Z axes of the gear grinding machine and the rotation angle of the workpiece axis of the gear grinding machine; The positions of the X-axis, Y-axis, and Z-axis of the adjusted gear grinding machine are obtained, and the position vectors of the X-axis, Y-axis, and Z-axis of the adjusted gear grinding machine are multiplied by the radial force component to obtain the vector multiplication result; If the result of the vector multiplication is greater than zero, then 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 result of the vector multiplication is less than zero, then increase the rotation angle of the workpiece axis of the gear grinding machine until the modulus of the axial force component is equal to zero; If the result of the vector multiplication is equal to zero, the position of the Z-axis of the gear grinding machine is 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, thus completing the tool setting 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 and the normal force component of the grinding force based on the relative position of the target includes: Calculate the cutting speed vector of the grinding wheel tool based on the relative position of the target; Based on the cutting speed vector, calculate the cutting force component and the normal force component of the grinding force.

6. The method for measuring the grinding force of a spiral bevel gear according to claim 5, characterized in that, Based on the relative position of the target, the cutting speed vector of the grinding wheel tool is calculated, including: Among them, V c This represents the cutting speed vector of the grinding wheel tool, where n represents the rotational speed of the grinding wheel tool, and R... g The radius of the grinding wheel tool is represented by X, X represents the position in the X direction of the relative position of the target, and Y represents the position in the Y direction of the relative position of the target.

7. The method for measuring the grinding force of a spiral bevel gear according to claim 5, characterized in that, The step of calculating the cutting force component and the normal force component of the grinding force based on the cutting speed vector includes: Based on the cutting speed vector, the cutting force component of the grinding force is calculated as follows: Based on the cutting force component of the grinding force, the normal force component of the grinding force is calculated as follows: Among them, F c F represents the cutting force component of the grinding force. xO F represents the force component of the grinding wheel tool in the X-axis direction. yO F represents the force component of the grinding wheel tool in the Y-axis direction. zO V represents the force component of the grinding wheel tool in the Z-axis direction. c The vector representing the cutting speed of the grinding wheel tool, ||V c || represents the magnitude of the cutting speed vector, F n This represents the normal force component of the grinding force.

8. A grinding force measurement system for spiral bevel gears, characterized in that, A grinding force measuring device for spiral bevel gears includes a grinding machine workpiece shaft, a spiral bevel gear workpiece, a straight arc-shaped cover plate, a fixture base, and a fixed force gauge. The spiral bevel gear workpiece is fixed to the fixed force gauge via the straight arc-shaped cover plate. The fixed force gauge is fixed to the fixture base via bolts. The fixture base is bolted to the grinding machine workpiece shaft. The system includes: The first data determination unit is used to, after the grinding force measuring device of the spiral bevel gear is installed, acquire the measured forces in the X, Y and Z directions caused by the gravity of the spiral bevel gear workpiece under the tilted state of the workpiece shaft of the gear grinding machine tool through the fixed force gauge, and determine the installation angle of the fixed force gauge based on the acquired measured forces in the X, Y and Z directions. The second data determination unit is used to determine the target coordinate transformation matrix between the fixed force gauge and the gear grinding machine tool cutter axis based on the installation angle, wherein the gear grinding machine tool cutter axis is used to mount the grinding wheel tool; The force component calculation unit is used to calculate the axial force component and radial force component of the gear grinding machine tool shaft based on the measured forces in the X, Y and Z directions and the target coordinate transformation matrix. The tool setting completion unit is used to complete 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; The relative position acquisition unit is used to acquire the target relative position between the grinding wheel tool and the workpiece axis of the gear grinding machine after tool setting is completed; The grinding force calculation unit is used to calculate the cutting force component and the normal force component of the grinding force based on the relative position of the target.

9. An electronic device, characterized in that, It includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform 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 for causing a computer to perform the grinding force measurement method for spiral bevel gears as described in any one of claims 1 to 7.

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