An odd end face tooth shaft center detection method, a detection device and a readable storage medium

Abstract

The present application relates to the technical field of part detection, in particular to a kind of odd end face tooth shaft center detection method, detection equipment and readable storage medium, wherein, odd end face tooth shaft center detection method includes, based on basic coordinate system, select one tooth slot as first tooth slot;Select the tooth slot at the distance of first tooth slot distance first set value and second set value as second tooth slot and third tooth slot, based on tooth slot center distance, drive detection probe to obtain corresponding second coordinate point and third coordinate point;Select fourth tooth slot, fifth tooth slot and sixth tooth slot relative to first tooth slot, second tooth slot and third tooth slot set distance, and detect coordinate point;Coordinate point is one-to-one corresponding connecting line;Obtain the triangle formed by the projection of connecting line, based on triangle, calculate the center of incircle in triangle, based on the center position of circle, obtain correction axis. Thus it solves the problem that odd end face tooth shaft center existing detection method deviation is larger.

Description

Technical Field

[0001] This invention relates to the field of parts inspection technology, and more specifically, to a method, inspection equipment, and readable storage medium for detecting the center of an odd-numbered end face tooth. Background Technology

[0002] In modern automotive transmission systems, some components are equipped with face gears according to design requirements. These gears are located on one end face of the component and can be categorized as odd-numbered or even-numbered based on the number of teeth. During the production of these parts, the tooth pitch needs to be inspected to verify the product's quality. The inspection process requires measuring the gear's axis.

[0003] The axis position can usually be inspected using a coordinate measuring machine. For even-numbered teeth, the method for calibrating the axis is relatively simple: mark four self-centering points in opposite directions along the circumferential centerline, select two points to form a straight line passing through the center of the circle, and the intersection of the two lines is the axis. However, for odd-numbered teeth, the axis cannot be directly found using the same method as for even-numbered teeth. The number of teeth means the gear is not centrally symmetrical, further making it impossible to select the corresponding tooth for the line passing through the axis. If the intersection point or center obtained by evenly distributing self-centering points across multiple tooth slots and fitting using the perpendicular bisector method or least squares method deviates significantly from the actual axis of the end face teeth, the final measured error values ​​for single tooth pitch and total tooth pitch will be large, failing to accurately reflect product quality and causing product defects. Summary of the Invention

[0004] To address the problem of large deviations in existing methods for detecting the center of an odd-numbered end face tooth shaft, this invention provides a method, equipment, and readable storage medium for detecting the center of an odd-numbered end face tooth shaft.

[0005] One aspect of the present invention provides a method for detecting the center of rotation of an odd-numbered end-face tooth, comprising: detecting an odd-numbered end-face tooth component, the odd-numbered end-face tooth component including a horizontally arranged end face, a central post disposed at the center of the end face, and multiple teeth arranged around the central post, the number of teeth being odd; the method for detecting the center of rotation of an odd-numbered end-face tooth includes: step S1, driving a detection device to establish a basic coordinate system based on the shape of the odd-numbered end-face tooth component and the device coordinate system of the detection device, the origin of the basic coordinate system being located at the center of the end face; step S2, based on the basic coordinate system, selecting one tooth groove in the odd-numbered end-face tooth component as a first tooth groove, and detecting a first coordinate point in the basic coordinate system where the center of the first tooth groove is located, and calculating the tooth groove center distance between the first tooth groove and the coordinate origin based on the first coordinate point; step S3, selecting tooth grooves that are a distance from the first tooth groove that is a distance from a first set value and a second set value as a second tooth groove and a third tooth groove, and driving a detection probe to obtain the corresponding tooth groove center distance based on the tooth groove center distance. Step S4: Based on the number of teeth n, select the fourth and sixth tooth grooves at a distance of (n-1) / 2 relative to the first and third tooth grooves, respectively, and select the fifth tooth groove at a distance of (n+1) / 2 relative to the second tooth groove. Drive the detection probe to detect the fourth, fifth, and sixth coordinate points corresponding to the fourth, fifth, and sixth tooth grooves, respectively, based on the tooth groove center distance. Step S5: Connect the first coordinate point and the fourth coordinate point to obtain the first connecting line, connect the second coordinate point and the fifth coordinate point to obtain the second connecting line, and connect the third coordinate point and the sixth coordinate point to obtain the third connecting line. Step S6: Project the first connecting line, the second connecting line, and the third connecting line into the basic coordinate system, respectively, and obtain the triangle formed by the projection. Calculate the center of the inscribed circle within the triangle based on the triangle, and obtain the correction axis based on the center position.

[0006] In some embodiments, the method further includes step S8, which involves establishing a corrected coordinate system based on the corrected axis as the z-axis and the center position of the circle as the origin of the coordinate system, and repeating steps S2 to S6. During the repetition, the basic coordinate system is replaced by the corrected coordinate system to iteratively obtain the corrected axis.

[0007] In some embodiments, step S8 further includes selecting tooth grooves at the same positions as the first tooth groove to the sixth tooth groove during the process of repeating steps S2 to S6.

[0008] In some embodiments, the detection probe includes a needle body extending vertically and a detection ball disposed at the bottom end of the needle body. The detection ball is capable of detecting and determining the contact state between its outer peripheral surface and the solid. In step S2, the initial contact state between the detection ball and the first tooth groove is recorded. In steps S3 and S4, the contact state of the detection ball is consistent with the initial contact state.

[0009] In some embodiments, step S1 further includes step S11, driving the detection probe of the detection device to detect the end face plane and the central axis of the central column, wherein the central axis of the central column is a first axis; step S12, establishing a basic coordinate system on the end face plane based on the first axis as the z-axis and the end face plane as the xy-axis plane.

[0010] In some embodiments, step S12 further includes establishing the x-axis and y-axis based on the extension direction of the horizontal reference axis of the detection device.

[0011] In some embodiments, the central column is a frustum; step S11 further includes driving the detection device to select at least two spaced planes as detection planes along the vertical direction, driving the detection probe to measure the measurement positions of at least three points at the outer edge of the detection plane, calculating the plane center of each detection plane based on the measurement positions, and calculating the central axis of the central column based on the multiple plane centers.

[0012] In some embodiments, step S11 further includes driving the detection probe to detect the coordinate values ​​of at least three points on the end face of the central column in order to calculate the position of the end face plane.

[0013] A second aspect of this application also provides a detection device, including a drive system, a detection probe, and a control system. The control system is used to execute the odd-numbered end face tooth axis detection method in the above-described technical solution. The control system can control the drive system to control the movement of the detection probe and acquire detection data.

[0014] A third aspect of this application also provides a readable storage medium, including a program or instructions stored on the readable storage medium, wherein when the program or instructions are executed by a processor, the program or instructions implement the steps of the odd-numbered end face tooth axis detection method as described above.

[0015] To address the problem of large deviations in existing detection methods for odd-numbered end face tooth shafts, this invention has the following advantages:

[0016] In the above technical solution, the shape characteristics of odd-numbered end-face gear parts are first utilized. For example, the bell-shaped housing of a three-axis universal joint has a central column at its center. The central axis of the end-face gear is roughly located first, and a basic coordinate system is established for the part using this as the Z-axis. Subsequent operations are then performed based on this basic coordinate system. The xy-axis plane of the basic coordinate system can be any plane, such as the top plane of the central axis, thus establishing a coordinate system based on the part for convenient calculation. Since odd-numbered end-face gears are not centrally symmetrical, each tooth does not actually have a perfectly corresponding tooth. Therefore, three sets of approximately corresponding tooth grooves are selected and connected one by one to form a projected triangle. The inscribed circle of the projected triangle is then used to calculate the correction axis. When measuring the second to fifth tooth grooves, the detection probe is first moved above the theoretical tooth groove position based on the center distance of the tooth grooves of the first tooth groove and the angle calculated theoretically. However, when the probe actually falls and is detected, it may not be located at the correct tooth groove center position, but falls on the side wall of the tooth groove (the side of the tooth). At this time, the probe can be rotated and adjusted according to the origin of the basic coordinate system established in the previous step until it falls to the correct position. Therefore, there will be a slight deviation between the actual detected coordinate point and the theoretical coordinate point. This deviation is used to correct the center axis obtained in the previous step, thereby obtaining the correction axis. Attached Figure Description

[0017] Figure 1 A schematic diagram of an embodiment of a method for detecting the center of rotation of teeth on odd-numbered end faces is shown.

[0018] Figure 2 A schematic diagram of the structure of an odd-numbered end face tooth component according to one embodiment is shown.

[0019] Reference numerals: 1-First tooth groove; 2-Second tooth groove; 3-Third tooth groove; 4-Fourth tooth groove; 5-Fifth tooth groove; 6-Sixth tooth groove; 10-Center post; 20-End face tooth. Detailed Implementation

[0020] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, and are not intended to imply any limitation on the scope of the disclosure.

[0021] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0022] This embodiment discloses a method for detecting the axis of odd-numbered end face teeth, such as... Figure 1 as well as Figure 2As shown, it can include: a method for detecting odd-numbered end-face tooth parts, wherein the odd-numbered end-face tooth parts include a horizontally arranged end face, a central post 10 is arranged at the center of the end face, and multiple teeth are arranged around the central post 10 to form end-face teeth 20, the number of teeth being odd; the method for detecting the axis of odd-numbered end-face teeth includes: step S1, driving the detection device to establish a basic coordinate system based on the shape of the odd-numbered end-face tooth parts and the device coordinate system of the detection device, the origin of the basic coordinate system being located at the center of the end face; step S2, based on the basic coordinate system, selecting one tooth groove in the odd-numbered end-face tooth parts as the first tooth groove 1, and detecting the first coordinate point in the basic coordinate system where the center of the first tooth groove 1 is located, and calculating the tooth groove center distance between the first tooth groove 1 and the coordinate origin based on the first coordinate point; step S3, selecting tooth grooves that are a distance from the first tooth groove 1 by a first set value and a second set value as the second tooth groove 2 and the third tooth groove 3, and driving the detection probe to obtain the second coordinate point corresponding to the second tooth groove 2 based on the tooth groove center distance, so as to And, corresponding to the third coordinate point of the third tooth groove 3; Step S4, based on the number of teeth n, select the fourth tooth groove 4 and the sixth tooth groove 6 at a distance of (n-1) / 2 relative to the first tooth groove 1 and the third tooth groove 3 respectively along the same direction, and select the fifth tooth groove 5 at a distance of (n+1) / 2 relative to the second tooth groove 2, and drive the detection probe to detect the fourth coordinate point, the fifth coordinate point and the sixth coordinate point corresponding to the fourth tooth groove 4, the fifth tooth groove 5 and the sixth tooth groove 6 respectively based on the tooth groove center distance; Step S5, connect the first coordinate point and the fourth coordinate point to obtain the first connecting line, connect the second coordinate point and the fifth coordinate point to obtain the second connecting line, connect the third coordinate point and the sixth coordinate point to obtain the third connecting line; Step S6, project the first connecting line, the second connecting line and the third connecting line into the basic coordinate system respectively, and obtain the triangle formed by the projection, calculate the center of the inscribed circle in the triangle based on the triangle, and obtain the correction axis based on the center position.

[0023] To obtain the axial position of the end face tooth 20, a coordinate measuring machine is usually used to inspect the center position. However, the center of the shaft cannot be found directly by connecting the even-numbered teeth when calibrating an odd number of teeth. Furthermore, the odd number of teeth means that the gear is not centrally symmetrical, which makes it impossible to select the corresponding tooth that passes through the center of the shaft. If the intersection point or circle center obtained by fitting the self-centering points evenly distributed across multiple tooth slots using the perpendicular bisector method or the least squares method deviates significantly from the actual center of the end face tooth 20, the final inspection based on the axis with the large deviation will result in a large value for the individual tooth pitch deviation (the algebraic difference between the actual measured pitch value and the theoretical pitch value of two adjacent tooth surfaces, used to control the smoothness of gear transmission) and the total cumulative tooth pitch deviation (the maximum cumulative deviation within any arc segment on the same side of the gear tooth surface, used to evaluate the cumulative tooth pitch error of the entire circumference, directly affecting the transmission accuracy and motion accuracy of the gear). This will not accurately reflect the product quality, easily lead to misjudgment of product dimensional errors, and result in a low yield rate of the finished product in actual assembly.

[0024] In the above technical solution of this application, the shape characteristics of the odd-numbered end-face tooth parts are first utilized. Since the end-face tooth 20 itself is a ring structure, a relatively easy-to-identify and easy-to-detect rotating structure on the part can be found. A relatively rough central axis is first detected relative to the final result, and a coordinate system based on the part is established. For example, the bell-shaped shell of a three-axis universal joint has a central column 10 at its center. The central axis of the end-face tooth 20 is first found relatively roughly, and a basic coordinate system is established on the part using this as the Z-axis. Subsequent operations are performed based on this basic coordinate system. The xy-axis plane of the basic coordinate system can be selected from any other easily detectable plane located on the part, such as the top plane of the central axis, thereby establishing a coordinate system based on the part for convenient calculation. Figure 2 As shown, the basic coordinate system uses the top surface of the central column 10 as the xy-axis plane. Since the odd-numbered end face teeth 20 are not centrally symmetrical, each tooth does not actually have a perfectly corresponding tooth. Therefore, according to the axis of symmetry, the fourth tooth groove 4 and the sixth tooth groove 6 corresponding to the first tooth groove 1 and the third tooth groove 3 are selected respectively. Due to the odd number of teeth, the first tooth groove 1 and the third tooth groove 3, which are relatively far apart, are selected to find corresponding tooth grooves at equal intervals of (n-1) / 2 in the same direction. As for the middle second tooth groove 2, the tooth groove at a distance of (n+1) / 2 in the same direction is designated as the fifth tooth groove 5. (See attached diagram.) Figure 1Taking a tooth 20 with 37 end face teeth as an example, the distance between the first tooth groove 1 and the fourth tooth groove 4, and the distance between the third tooth groove 3 and the sixth tooth groove 6 are 18 tooth grooves, while the distance between the second tooth groove 2 and the fifth tooth groove 5 is 19 tooth grooves. Three sets of tooth grooves that are approximately corresponding are selected and connected sequentially. The resulting lines all surround the actual central axis. These lines are then used to form projected triangles, and the inscribed circle is calculated based on the projected triangle to correct the axis. The purpose of the projection is that, since these lines are spatial, in reality, each tooth groove may have slight height errors due to dimensional errors. However, the detection results of the detection probe are relatively accurate. Therefore, after forming the lines, these lines may not actually intersect, but may stagger in the height direction, although the height error is small. To form the inscribed circle, the three lines are projected onto a selected plane to ensure that the lines intersect. When measuring the second to fifth tooth grooves 2 to 5, the probe is first moved above the theoretical tooth groove position based on the center distance of the first tooth groove 1 and the theoretically calculated angle. However, when the probe actually falls and is detected, it may not be at the correct center position of the tooth groove, but rather land on the side wall (side of the tooth). In this case, the probe can rotate and adjust according to the origin of the previously established basic coordinate system until it falls to the correct position. Therefore, there will be a slight deviation between the actual detected coordinate point and the theoretical coordinate point. This deviation is used to correct the previously obtained center axis, thereby obtaining the correction axis. When measuring the second to fifth tooth grooves 2 to 5, a coordinate measuring machine can be used for self-centering measurement. That is, through a specific probe and software function, the center position of the measurement point is automatically determined, thereby improving the accuracy and efficiency of the measurement.

[0025] It should be noted that when selecting the second tooth groove 2 and the third tooth groove 3, the tooth grooves can be selected with an angle of approximately 60 degrees and 120 degrees from the first tooth groove 1, respectively. Alternatively, the first to third tooth grooves 3 can be set to be equally spaced, meaning that the number of spaced tooth grooves between two adjacent selected tooth grooves can be the same. Figure 1For example, there are 37 end face teeth 20, where the first tooth groove 1, the second tooth groove 2, and the third tooth groove 3 are all set with a distance of 6 tooth grooves between them. Furthermore, the end face teeth 20 can be divided into two equal parts, and the first to third tooth grooves 3 can be set on one side. The selected three tooth grooves are then used to divide the gear on that side into equal parts. This results in a triangle for calculating the inscribed circle that is closer to an equilateral triangle, and the calculated central axis is more accurate. The detection process can be performed using a high-precision coordinate measuring machine (CMM). This machine has a high-precision transmission system that can stably and accurately drive the detection probe to the predetermined position. The machine can also know the movement position of the detection probe (its coordinate value relative to the machine's coordinate system) and perform calculations based on the detection results. This allows for the calculation of lines or surfaces based on the point positions obtained by the detection probe. Additionally, algorithms can be used to correct the detection results.

[0026] Furthermore, in order to make the detection results more accurate, the odd-numbered end face tooth axis detection method also includes step S8, which establishes a correction coordinate system based on the correction axis as the z-axis and the center position as the origin of the coordinate system, repeating steps S2 to S6, replacing the basic coordinate system with the correction coordinate system during the repetition process, and iteratively obtaining the correction axis.

[0027] By iterating the basic coordinate system repeatedly with the corrected coordinate system, the accuracy of the final result can be effectively improved. Usually, iterations of 2 to 3 times can be selected. Too many iterations will increase the measurement time, reduce efficiency, and have little impact on the correction of the result. Therefore, appropriate iterative calculations can obtain a more accurate axis result.

[0028] In one implementation, in order to reduce the error caused by selecting tooth grooves, step S8 further includes selecting tooth grooves at the same position as the first tooth groove 1 to the sixth tooth groove 6 during the process of repeating steps S2 to S6.

[0029] Furthermore, to improve accuracy, the detection probe includes a needle body extending vertically and a detection ball disposed at the bottom of the needle body. The detection ball can detect and determine the contact state between its outer peripheral surface and the solid. Step S2 also includes recording the initial contact state between the detection ball and the first tooth groove 1. In steps S3 and S4, the contact state of the detection ball is consistent with the initial contact state.

[0030] The outer circumference of the detection ball can detect the contact with the object. Since the tooth groove is actually a V-shaped groove with two adjacent tooth sides on each side, when the detection ball goes deep into the bottom of the groove, both sides of the detection ball can touch the two side walls of the tooth groove. Since the first tooth groove 1 is the selected reference tooth groove, the detection ball can normally touch the two side walls of the tooth groove according to the measurement requirements. This state is the first contact state. In the measurement of the second to sixth tooth grooves 6, the first tooth groove 1 is used as the reference, and the detection ball is driven by the calculated value for detection. Therefore, when the detection ball moves down and touches the tooth groove, it may only touch one side wall of the tooth groove first due to part error. The method of this application is to detect this error. Therefore, it is necessary to control the detection ball to adjust the detection of the second to sixth tooth grooves 6 according to the first contact state, so that they all detect the actual size of the part in the same state of touching the two side walls of the tooth groove, thereby achieving the purpose of correcting the detection axis.

[0031] As a specific implementation, step S1 further includes: step S11, driving the detection probe of the detection device to detect the end face plane and the central axis of the central column 10, the central axis of the central column 10 being the first axis; step S12, establishing a basic coordinate system on the end face plane based on the first axis as the z-axis and the end face plane as the xy-axis plane.

[0032] As shown in the figure, the center post 10 and the end face tooth 20 of the part are coaxially arranged, and the center post 10 has a simple structure and an easily inspectable surface. Therefore, the center post 10 is selected for inspection, thereby establishing a basic coordinate system for the inspection of the end face tooth 20. In addition, step S12 also includes establishing the x-axis and y-axis based on the extension direction of the horizontal reference axis of the inspection equipment.

[0033] For ease of setup, the reference axis of the detection equipment can be selected as the x-axis and y-axis of the established basic coordinate system.

[0034] According to the actual situation, the central column 10 is a frustum; step S11 also includes driving the detection device to select at least two spaced planes as detection planes in the vertical direction, driving the detection probe to measure the measurement positions of at least 3 points at the outer edge of the detection plane, calculating the plane center of each detection plane based on the measurement positions, and calculating the central axis of the central column 10 based on the multiple plane centers.

[0035] By detecting multiple spaced planes, the center points of two planes can be calculated. By connecting two or more center points, a more accurate central axis of the central column 10 can be obtained. When multiple center points cannot be directly connected, an algorithm can be used for fitting to calculate a more accurate central axis.

[0036] In order to detect the planar position and extension direction, step S11 further includes driving the detection probe to detect the coordinate values ​​of at least 3 points on the end face of the central column 10 to calculate the position of the end face plane.

[0037] When performing point detection on the end face of the central column 10, at least 3 points can be selected, preferably 4 points, and an algorithm is used to fit multiple points to establish a more accurate position of the end face of the central column 10.

[0038] The second aspect of this application discloses a detection device, which may include: a drive system, a detection probe, and a control system. The control system is used to execute the odd-numbered end face tooth shaft detection method in the above technical solution. The control system can control the drive system to control the movement of the detection probe and acquire detection data.

[0039] The third aspect of this application discloses a readable storage medium, which may include a program or instructions stored on the readable storage medium, wherein when the program or instructions are executed by a processor, the program or instructions implement the steps of the odd-numbered end face tooth axis detection method as described above.

[0040] Those skilled in the art will understand that the above embodiments are specific examples of implementing this disclosure, and in practical applications, various changes can be made in form and detail without departing from the scope of this disclosure.

Claims

1. A method for detecting the center of rotation of teeth on odd-numbered end faces, characterized in that, For the inspection of odd-numbered end-face toothed parts, the odd-numbered end-face toothed parts include horizontally arranged end faces, a central post is arranged at the center of the end face, and multiple teeth are arranged around the central post, the number of teeth being odd; The method for detecting the center of rotation of odd-numbered end face teeth includes: Step S1: Drive the detection device to establish a basic coordinate system based on the shape of the odd-numbered end face toothed part and the device coordinate system of the detection device. The origin of the basic coordinate system is located at the center of the end face. Step S2: Based on the basic coordinate system, select one tooth groove in the odd-numbered end face tooth parts as the first tooth groove, and detect the first coordinate point in the basic coordinate system where the center position of the first tooth groove is located. Calculate the tooth groove center distance between the first tooth groove and the coordinate origin based on the first coordinate point. Step S3: Select the tooth grooves that are a distance from the first tooth groove and a distance from the first set value and a second set value as the second tooth groove and the third tooth groove, respectively. Based on the tooth groove center distance, drive the detection probe to obtain the second coordinate point corresponding to the second tooth groove and the third coordinate point corresponding to the third tooth groove. Step S4: Based on the number of teeth n, select the fourth and sixth tooth grooves at a distance of (n-1) / 2 relative to the first and third tooth grooves, respectively, along the same direction, and select the fifth tooth groove at a distance of (n+1) / 2 relative to the second tooth groove. Based on the tooth groove center distance, drive the detection probe to detect the fourth, fifth, and sixth coordinate points corresponding to the fourth, fifth, and sixth tooth grooves, respectively. Step S5: Connect the first coordinate point and the fourth coordinate point to obtain the first connection line; connect the second coordinate point and the fifth coordinate point to obtain the second connection line; connect the third coordinate point and the sixth coordinate point to obtain the third connection line. Step S6: Project the first connecting line, the second connecting line, and the third connecting line into the basic coordinate system respectively, and obtain the triangle formed by the projection. Calculate the center of the inscribed circle within the triangle based on the triangle, and obtain the correction axis based on the position of the center.

2. The method for detecting the center of rotation of odd-numbered end face teeth according to claim 1, characterized in that, The method also includes step S8, which establishes a corrected coordinate system with the center position of the circle as the origin of the coordinate system based on the corrected axis as the z-axis, and repeats steps S2 to S6. During the repetition, the basic coordinate system is replaced by the corrected coordinate system to iteratively obtain the corrected axis.

3. The method for detecting the center of rotation of odd-numbered end face teeth according to claim 2, characterized in that, Step S8 further includes selecting tooth grooves at the same position as the first tooth groove to the sixth tooth groove during the process of repeating steps S2 to S6.

4. The method for detecting the center of rotation of odd-numbered end face teeth according to claim 1, characterized in that, The detection probe includes a needle body extending vertically and a detection ball disposed at the bottom end of the needle body. The detection ball can detect and determine the contact state between its outer peripheral surface and the entity. Step S2 also includes recording the initial contact state between the detection ball and the first tooth groove; In steps S3 and S4, the contact state of the detection ball is consistent with the initial contact state.

5. The method for detecting the center of rotation of odd-numbered end face teeth according to claim 4, characterized in that, Step S1 also includes, Step S11: Drive the detection probe of the detection device to detect the end face plane and the central axis of the central column, wherein the central axis of the central column is the first axis; Step S12: Based on the first axis as the z-axis and the end face plane as the xy-axis plane, establish a basic coordinate system on the end face plane.

6. The method for detecting the center of rotation of odd-numbered end face teeth according to claim 5, characterized in that, Step S12 further includes establishing the x-axis and y-axis based on the extension direction of the horizontal reference axis of the detection device.

7. The method for detecting the center of rotation of odd-numbered end face teeth according to claim 6, characterized in that, The central column is a frustum; Step S11 further includes driving the detection device to select at least two spaced planes as detection planes along the vertical direction, driving the detection probe to measure the measurement positions of at least three points at the outer edge of the detection plane, calculating the plane center of each detection plane based on the measurement positions, and calculating the central axis of the central column based on multiple plane centers.

8. The method for detecting the center of rotation of an odd-numbered end face tooth according to claim 6, characterized in that, Step S11 further includes driving the detection probe to detect the coordinate values ​​of at least 3 points on the end face of the central column in order to calculate the position of the end face plane.

9. A testing device, characterized in that, A drive system, a detection probe, and a control system, wherein the control system is used to execute the odd-numbered end face tooth axis detection method according to any one of claims 1-8; The control system can control the drive system to control the movement of the detection probe and acquire detection data.

10. A readable storage medium, characterized in that... ， A readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the odd-numbered end face tooth axis detection method as described in any one of claims 1-8.

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