Mechanical arm driven gear clamping and measuring system and method

Abstract

The invention discloses a mechanical arm driven gear clamping and measuring system and method. The mechanical arm driven gear clamping and measuring system comprises a PC end, a data collecting and processing unit, a measuring fixing platform, a clamping and measuring integrated mechanical arm and a transmission gear platform. The PC end is electrically connected with the data collecting and processing unit, the data collecting and processing unit is electrically connected with the clamping and measuring integrated mechanical arm, and the measuring fixing platform and the transmission gear platform are arranged on one side of the clamping and measuring integrated mechanical arm; a turntable is rotatably mounted on a chassis of the clamping and measuring integrated mechanical arm, a mechanical lower arm is rotatably mounted on the turntable, a mechanical upper arm is rotatably mounted on the mechanical lower arm, a mechanical tail end arm is rotatably mounted on the mechanical upper arm, and a spherical switching structure is rotatably mounted at the tail end of the mechanical tail end arm. And a clamping jaw and a three-dimensional laser sensor are rotationally mounted on the spherical switching structure. The device is compact and reasonable in overall structure and has high automation and environment adaptability, and the online measurement efficiency and the quality control level of a gear production line are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of mechanical manufacturing and precision measurement, and in particular to a gear clamping and measuring system and method driven by a mechanical arm. BACKGROUND

[0002] As a core component in mechanical transmission systems, the geometric size, tooth shape precision and surface quality of gears directly determine the transmission efficiency, running stability and service life of the entire mechanical system. With the development of modern manufacturing towards high precision and intelligentization, especially in the automobile, aviation, mechanical manufacturing and other industries, the quality control of gears is particularly strict. The traditional offline detection is low in efficiency and complex in process, which is difficult to meet the demand of large-scale production, thus promoting the development of efficient and accurate online gear measurement technology.

[0003] The existing gear measurement technology mainly includes mechanical contact measurement and non-contact optical measurement. Although the mechanical contact measurement has high precision, the measurement efficiency is low, and the contact between the probe and the gear surface may cause surface damage, limiting its application in high-speed online detection. The non-contact measurement method uses laser scanning or visual technology to improve the measurement speed and flexibility, but still faces many technical challenges in the actual industrial production environment. The main problems are that the measurement speed and precision cannot be balanced, the precision is easily reduced at high-speed scanning, and high-precision measurement limits the measurement speed, which is difficult to meet the real-time detection demand of the production line. In addition, the existing system has low integration of clamping devices and measuring equipment, which leads to separation of clamping and measuring processes, long switching time and positioning error, affecting the accuracy and stability of the measurement data. At the same time, the complex structure of the gear surface such as various curved surfaces and grooves makes it easy for the laser sensor to produce blind areas or blockages during scanning, resulting in incomplete measurement data and affecting the accuracy of three-dimensional reconstruction. SUMMARY

[0004] The purpose of the present application is to provide a gear clamping and measuring system and method driven by a mechanical arm, which solves the problem that the measurement speed and precision cannot be satisfied simultaneously in the existing online gear detection technology.

[0005] To achieve the above purpose, the following technical solutions are adopted: A gear clamping and measuring system driven by a mechanical arm, comprising a PC end, a data acquisition and processing unit, a measuring fixed platform, a clamping and measuring integrated mechanical arm and a transmission gear platform; The PC end is electrically connected with the data acquisition and processing unit, and the PC end is used to send user instructions to the data acquisition and processing unit and receive data feedback from the data acquisition and processing unit; the data acquisition and processing unit is electrically connected with the clamping and measuring integrated mechanical arm; The measurement fixed platform is used for accommodating the gear to be measured, and the transmission gear platform is used for conveying the gear to be measured to the clamping range of the clamping and measuring integrated mechanical arm; A turntable is rotatably installed on the chassis of the clamping and measuring integrated mechanical arm, a mechanical lower arm is rotatably installed on the turntable, a mechanical upper arm is rotatably installed on the mechanical lower arm, a mechanical end arm is rotatably installed on the mechanical upper arm, a spherical switching structure is rotatably installed at the end of the mechanical end arm, and a clamping jaw and a three-dimensional laser sensor are rotatably installed on the spherical switching structure.

[0006] Further, the clamping and measuring integrated mechanical arm further comprises a base, and the chassis is fixedly installed on the base.

[0007] Further, a first motor is installed on the turntable, the mechanical lower arm is connected to the turntable through a turntable connecting structure, a second motor is installed on the turntable connecting structure, the mechanical upper arm is connected to the mechanical lower arm through a third motor, the mechanical end arm is connected to the mechanical upper arm through a first built-in motor, and the first motor, the second motor, the third motor and the first built-in motor are electrically connected to a data acquisition and processing unit.

[0008] Further, an angle displacement sensor is arranged on each of the first motor, the second motor, the third motor and the first built-in motor, and the angle displacement sensor is electrically connected to the data acquisition and processing unit.

[0009] Further, a second built-in motor is arranged in the spherical switching structure, the second built-in motor is electrically connected to the data acquisition and processing unit, and an angle displacement sensor is arranged on the second built-in motor.

[0010] Further, a hydraulic device is installed on the turntable, the hydraulic device is connected to the mechanical lower arm, and the hydraulic device is electrically connected to the data acquisition and processing unit.

[0011] Further, switching connecting heads are symmetrically installed on both sides of the spherical switching structure, and the clamping jaw and the three-dimensional laser sensor are rotatably connected to the spherical switching structure through the switching connecting heads.

[0012] Further, the measurement fixed platform comprises a measurement platform and an expansion device, and the expansion device is installed on the measurement platform.

[0013] Further, the clamping jaw comprises a jaw base plate, a jaw moving shaft, a jaw connecting rod, a jaw moving beam and a jaw clamping plate, one end of the jaw moving shaft is connected to the spherical switching structure, the other end of the jaw moving shaft passes through the jaw base plate and is connected to the jaw moving beam, one end of the jaw connecting rod is connected to the jaw moving shaft, the other end of the jaw connecting rod is connected to the jaw moving beam, and the jaw clamping plate is installed on the jaw moving beam.

[0014] A gear clamping and measuring method driven by a mechanical arm of the system, comprising: The gear is stably clamped by the clamping jaw, and the clamping and measuring integrated mechanical arm carries the gear from the transmission gear platform to the measurement fixed platform. The gripper and the three-dimensional laser sensor are switched by the spherical switching structure, so that the three-dimensional laser sensor enters the measurement position in a suitable posture; The gripper and the three-dimensional laser sensor are switched by the spherical switching structure, so that the three-dimensional laser sensor enters the measurement position in a suitable posture; The motion trajectory and posture of the gripper and measurement integrated mechanical arm are dynamically adjusted based on the reference distance calibration result by the data acquisition and processing unit, and the three-dimensional laser sensor is used to synchronously collect the three-dimensional profile data of the tooth surface; The three-dimensional profile data of the tooth surface collected by the three-dimensional laser sensor and the motion posture of the gripper and measurement integrated mechanical arm are synchronously transmitted to the data acquisition and processing unit, and the data acquisition and processing unit generates a complete three-dimensional point cloud model of the gear by conversion and splicing, and feeds back to the PC end; After the measurement is completed, the gripper and measurement integrated mechanical arm is switched back to the gripper by the spherical switching structure, the gear is unloaded, and the gripper and measurement integrated mechanical arm is moved to the gear conveying platform according to a preset path, so as to prepare for clamping the next gear.

[0015] Compared with the prior art, the present application has the following beneficial effects: The application provides a gear clamping and measuring system driven by a mechanical arm, which constructs a clear and closely coordinated system architecture by electrically connecting a PC end with a data acquisition and processing unit, electrically connecting the data acquisition and processing unit with a clamping and measuring integrated mechanical arm, and respectively arranging a measuring fixed platform and a transmission gear platform on one side of the clamping and measuring integrated mechanical arm. The PC end serves as a control core and can conveniently send instructions and receive feedback information. The data acquisition and processing unit is responsible for accurately collecting and processing data from the mechanical arm and related measuring devices. The mechanical arm can freely and flexibly clamp and measure, so that each part of the whole system can work efficiently and cooperatively, and the overall operation efficiency and stability of the system are improved. A turntable is rotatably installed on the chassis of the clamping and measuring integrated mechanical arm, a mechanical lower arm is rotatably installed on the turntable, a mechanical upper arm is rotatably installed on the mechanical lower arm, and a mechanical end arm is rotatably installed on the mechanical upper arm, so that the mechanical arm has degrees of freedom in multiple directions and can realize complex and flexible movement in a three-dimensional space, thereby accurately reaching a specified position to clamp and measure gears, and the accuracy and efficiency of operation are greatly improved. A spherical switching structure is rotatably installed at the end of the mechanical end arm, and a gripper and a three-dimensional laser sensor are rotatably installed on the spherical switching structure. The gripper is used for clamping gears to realize material carrying and positioning, and the three-dimensional laser sensor can accurately measure gears to obtain key parameters such as geometric dimensions and shape errors of the gears. Through the spherical switching structure, the gripper and the three-dimensional laser sensor can be switched between each other conveniently and quickly to realize seamless connection of the clamping and measuring functions, and the multifunctionality and practicability of the system are improved. The application combines the six-degree-of-freedom mechanical arm with the spherical switching structure, and cooperates with a motor to realize automatic switching of the gripper and the three-dimensional laser sensor, thereby improving the conversion efficiency of gear clamping and measuring, and avoiding measurement errors and operation delays caused by manual switching in traditional devices. The clamping and measuring integrated mechanical arm of the application adopts a combined structure of multi-stage motor driving and hydraulic device to ensure high precision and stability of the movement of the mechanical arm and improve the accuracy and repeatability of gear clamping and positioning. In cooperation with the real-time data acquisition and processing unit, the system can synchronously collect three-dimensional laser scanning and mechanical arm movement data to improve the accuracy and real-time performance of point cloud reconstruction. The overall structure of the application is compact and reasonable, has high automation and environmental adaptability, improves the online measurement efficiency and quality control level of the gear production line, and meets the precise detection requirements of modern intelligent manufacturing.

[0016] Further, a high-resolution angle displacement sensor is used to collect the posture of each joint of the clamping and measuring integrated mechanical arm in real time, so as to control the best relative posture of the three-dimensional laser sensor when measuring the gear surface, thereby ensuring complete scanning of the three-dimensional profile of the gear tooth surface and reducing blind areas and data loss. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0018] Figure 1 The schematic diagram of the gear clamping and measuring system driven by the mechanical arm of the present application.

[0019] Figure 2 The structural schematic diagram of the clamping and measuring integrated mechanical arm of the present application.

[0020] Figure 3 The end structural schematic diagram of the clamping and measuring integrated mechanical arm of the present application.

[0021] Figure 4 The structural schematic diagram of the end clamping jaw of the clamping and measuring integrated mechanical arm of the present application.

[0022] Figure 5 The schematic diagram of the gear state measurement of the present application.

[0023] Figure 6 The flow chart of the gear clamping and measuring method driven by the mechanical arm of the present application.

[0024] Wherein: 1-PC end, 2-data acquisition and processing unit, 3-measuring platform, 31-expansion device, 4-clamping and measuring integrated mechanical arm, 41-base, 411-bottom plate, 42-rotating disc, 421-hydraulic device, 422-rotating disc connecting structure, 43-mechanical lower arm, 44-mechanical upper arm, 45-spherical switching structure, 451-clamping jaw, 4511-jaw moving shaft, 4512-jaw base plate, 4513-jaw connecting rod, 4514-jaw clamping plate, 4515-jaw moving beam, 452-three-dimensional laser sensor, 453-switching connector, 46-mechanical end arm, 47-first motor, 48-second motor, 49-third motor, 5-gear, 6-conveying gear platform. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, not all. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application claimed, but merely represents selected embodiments of the application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the application without creative labor fall within the scope of the application.

[0027] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0028] In the description of the embodiments of the application, it should be noted that if the terms "upper", "lower", "horizontal", "inner", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, and are merely for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second", and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0029] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0030] In the description of the embodiments of the application, it should also be noted that unless otherwise explicitly specified and limited, if the terms "arrangement", "installation", "connection", "connection" appear, they should be understood in a broad sense, for example, they can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium; can be the communication between two elements inside. For those of ordinary skill in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0031] The application will be further described in detail below in conjunction with the drawings: Referring to Figure 1The application provides a gear clamping and measuring system driven by a mechanical arm, which comprises a PC terminal 1, a data acquisition and processing unit 2, a measuring fixed platform, a clamping and measuring integrated mechanical arm 4 and a transmission gear platform 6, the PC terminal 1 is electrically connected with the data acquisition and processing unit 2, the PC terminal is used for sending a user instruction to the data acquisition and processing unit and receiving data fed back by the data acquisition and processing unit, the data acquisition and processing unit 2 is electrically connected with the clamping and measuring integrated mechanical arm 4, the measuring fixed platform and the transmission gear platform 6 are arranged on one side of the clamping and measuring integrated mechanical arm 4, the measuring fixed platform is used for containing a gear 5 to be measured, and the transmission gear platform 6 is used for conveying the gear 5 to be measured to the clamping range of the clamping and measuring integrated mechanical arm 4.

[0032] As shown in Figure 2 The clamping and measuring integrated mechanical arm 4 comprises a base 41, a chassis 411, a rotating disc 42, a hydraulic device 421, a rotating disc connecting structure 422, a mechanical lower arm 43, a mechanical upper arm 44, a spherical switching structure 45, a mechanical terminal arm 46, a first motor 47, a second motor 48 and a third motor 49. The chassis 411 is fixedly installed on the base 41, the rotating disc 42 is rotatably connected with the chassis 411, the first motor 47 is installed on the rotating disc 42, and the first motor 47 controls the rotating disc 42 to rotate 360° relative to the chassis 411. The mechanical lower arm 43 is connected with the rotating disc 42 through the rotating disc connecting structure 422, the hydraulic device 421 is installed on the rotating disc 42, the hydraulic device 421 is connected with the mechanical lower arm 43, and the hydraulic device 421 stably supports the mechanical lower arm 43 on the rotating disc 42. The second motor 48 is installed on the connecting structure of the rotating disc 42, and the second motor 48 controls the mechanical lower arm 43 to rotate relative to the rotating disc connecting structure 422. The mechanical upper arm 44 is connected with the mechanical lower arm 43 through the third motor 49, and the third motor 49 controls the mechanical upper arm 44 to rotate relative to the mechanical lower arm 43. The mechanical terminal arm 46 is connected with the mechanical upper arm 44 through a first built-in motor, and the mechanical terminal arm 46 can rotate 360° relative to the mechanical upper arm 44 through the first built-in motor. The spherical switching structure 45 is rotatably installed on the mechanical terminal arm 46, a second built-in motor is arranged in the spherical switching structure 45, and the spherical switching structure 45 can rotate 360° relative to the mechanical terminal arm 46 through the second built-in motor. The hydraulic device 421, the first motor 47, the second motor 48, the third motor 49, the first built-in motor and the second built-in motor are electrically connected with the data acquisition and processing unit 2.

[0033] As shown in Figure 3 Switching connecting heads 453 are symmetrically installed on the two sides of the spherical switching structure 45, and clamping jaws 451 and three-dimensional laser sensors 452 are rotatably connected with the spherical switching structure 45 through the switching connecting heads 453, and the clamping jaws 451 and the three-dimensional laser sensors 452 are symmetrically distributed.

[0034] As shown in Figure 4As shown, the clamping jaw 451 comprises a jaw moving shaft 4511, a jaw base plate 4512, a jaw connecting rod 4513, a jaw clamping plate 4514 and a jaw moving beam 4515, one end of the jaw moving shaft 4511 is connected with the spherical switching structure 45, the other end of the jaw moving shaft 4511 passes through the jaw base plate 4512 and is connected with the jaw moving beam 4515, one end of the jaw connecting rod 4513 is connected with the jaw moving shaft 4511, the other end of the jaw connecting rod 4513 is connected with the jaw moving beam 4515, and the jaw clamping plate 4514 is installed on the jaw moving beam 4515. By driving the jaw moving shaft 4511 to drive the jaw connecting rod 4513 and cooperating with the jaw moving beam 4515, the left and right jaw clamping plates 4514 can realize the grabbing of the gear 5.

[0035] As shown in the figure, Figure 5 As shown, the measurement fixed platform comprises a measurement platform 3 and an expansion device 31, and the expansion device 31 is installed on the measurement platform 3. After the integrated clamping and measuring robot 4 completes the grabbing of the gear 5, the PC end 1 sends a command, and the integrated clamping and measuring robot 4 is controlled to move through the data acquisition and processing unit 2, so that the clamping jaw 451 accurately places the gear 5 on the expansion device 31 on the measurement platform 3 to complete the fixing.

[0036] At this time, the spherical switching structure 45 switches the clamping jaw 451 to the three-dimensional laser sensor 452 through the second built-in motor, the PC end 1 sends a command, and the integrated clamping and measuring robot 4 is controlled to move through the data acquisition and processing unit 2, so that the three-dimensional laser sensor 452 can collect the equal-angle full-tooth surface data of the gear 5 to be measured.

[0037] The first motor 47, the second motor 48, the third motor 49, the first built-in motor and the second built-in motor are all provided with high-resolution angle displacement sensors, and the angle displacement sensors are electrically connected with the data acquisition and processing unit 2. The angle displacement sensors can accurately measure the rotation angle of each joint of the integrated clamping and measuring robot 4 and feed back to the data acquisition and processing unit 2. The PC end 1 receives the data transmitted back by the data acquisition and processing unit 2 and synchronously sends a command to control the movement posture of each joint of the integrated clamping and measuring robot 4, so as to clamp and measure the gear 5.

[0038] As shown in the figure, Figure 6 The gear clamping and measuring method driven by the mechanical arm of the application comprises the following steps: S1, the integrated clamping and measuring robot 4 clamps the gear 5 and stably carries it to the measurement fixed platform.

[0039] The clamping jaw 451 realizes the stable clamping of the two jaw clamping plates 4514 on the gear 5 through the cooperation of the jaw base plate 4512, the jaw moving shaft 4511, the jaw connecting rod 4513 and the jaw moving beam 4515, and the integrated clamping and measuring robot 4 places the gear 5 on the expansion device 31 of the measurement fixed platform to complete the fixing under the support of the hydraulic device 421 and the cooperative driving of the motors.

[0040] S2, the clamping and measuring integrated mechanical arm 4 rotates and switches the clamping jaw 451 to the three-dimensional laser sensor 452.

[0041] The second built-in motor of the spherical switching structure 45 is used to realize 360° rotation and switching of the clamping jaw 451 and the three-dimensional laser sensor 452, so as to ensure that the three-dimensional laser sensor 452 enters the measurement position in a suitable posture.

[0042] S3, the clamping and measuring integrated mechanical arm 4 controls the relative position of the three-dimensional laser sensor 452 and the measurement platform 3 to be fixed, and performs reference distance calibration.

[0043] The clamping and measuring integrated mechanical arm 4 ensures that the three-dimensional laser sensor 452 and the measurement platform 3 are relatively stationary through coordinated movement of each joint, and uses a standard reference to calibrate the reference distance, collects the ranging signal of the three-dimensional laser sensor 452, and automatically corrects the reference distance between the three-dimensional laser sensor 452 and the measurement platform 3, thereby eliminating system errors.

[0044] S4, the clamping and measuring integrated mechanical arm 4 performs coordinated movement of multiple joints, and the data acquisition and processing unit 2 adjusts the posture and motion trajectory of the clamping and measuring integrated mechanical arm 4 in real time to collect the three-dimensional profile data of the gear 5.

[0045] The data acquisition and processing unit 2 dynamically adjusts the motion trajectory and posture of the clamping and measuring integrated mechanical arm 4, so as to ensure that the scanning beam of the three-dimensional laser sensor 452 and the surface of the gear 5 maintain the best incident angle. When rotating to a preset angle, the three-dimensional laser sensor 452 pauses and measures the current tooth surface of the gear 5, thereby reducing the shielding and blind area.

[0046] S5, the three-dimensional profile data of the tooth surface and the motion posture of the clamping and measuring integrated mechanical arm 4 are synchronously transmitted and converted and spliced into a complete three-dimensional point cloud model of the gear 5.

[0047] The three-dimensional profile data of the tooth surface collected by the three-dimensional laser sensor 452 and the rotation angle of each joint of the clamping and measuring integrated mechanical arm 4 are synchronously transmitted to the data acquisition and processing unit 2, the polar coordinate data is converted into a Cartesian coordinate system through a coordinate conversion algorithm, the multi-angle profile data is accurately spliced, and the three-dimensional point cloud model of the gear 5 is established.

[0048] S6, data processing and analysis are performed to generate a measurement report and feed back the data results to the PC end 1.

[0049] The data acquisition and processing unit 2 filters, denoises and registers the point cloud data, extracts the key size and topographic features of the gear 5, generates a detailed measurement report containing size deviation, topographic anomaly and quality judgment, and feeds back the measurement results to the PC end 1.

[0050] S7, the clamping and measuring integrated mechanical arm 4 switches the clamping jaw 451, completes the unloading and prepares to clamp the next gear 5 for measurement.

[0051] After completing the measurement, the clamping and measuring integrated mechanical arm 4 switches back to the clamping jaw 451 through the spherical switching structure 4, unloads the gear 5, and moves to the gear transmission platform 6 along the preset path to prepare to clamp the next gear 5, ensuring the continuous and efficient measurement process.

[0052] The above is only a preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gear gripping and measuring system driven by a robotic arm, characterized in that, Includes a PC terminal, a data acquisition and processing unit, a measurement and fixing platform, a clamping and measuring integrated robotic arm, and a transmission gear platform; The PC is electrically connected to the data acquisition and processing unit. The PC is used to send user commands to the data acquisition and processing unit and to receive data from the data acquisition and processing unit. The data acquisition and processing unit is electrically connected to the integrated clamping and measuring robotic arm; The measuring platform is used to hold the gear to be measured, and the gear transfer platform is used to transfer the gear to be measured to the gripping range of the integrated clamping and measuring robotic arm. The integrated clamping and measuring robotic arm has a turntable rotatably mounted on its chassis, a lower robotic arm rotatably mounted on the turntable, an upper robotic arm rotatably mounted on the lower robotic arm, an end effector rotatably mounted on the upper robotic arm, and a spherical switching structure rotatably mounted at the end of the end effector. A gripper and a three-dimensional laser sensor are rotatably mounted on the spherical switching structure.

2. The gear gripping and measuring system driven by a robotic arm according to claim 1, characterized in that, The integrated clamping and measuring robotic arm also includes a base, with the chassis fixedly mounted on the base.

3. The gear gripping and measuring system driven by a robotic arm according to claim 1, characterized in that, A first motor is installed on the turntable. The lower mechanical arm is connected to the turntable via a turntable connection structure. A second motor is installed on the turntable connection structure. The upper mechanical arm is connected to the lower mechanical arm via a third motor. The end mechanical arm is connected to the upper mechanical arm via a first built-in motor. The first motor, the second motor, the third motor, and the first built-in motor are all electrically connected to the data acquisition and processing unit.

4. The gear gripping and measuring system driven by a robotic arm according to claim 3, characterized in that, An angular displacement sensor is installed on the first motor, the second motor, the third motor, and the first built-in motor. The angular displacement sensor is electrically connected to the data acquisition and processing unit.

5. The gear gripping and measuring system driven by a robotic arm according to claim 1, characterized in that, The spherical switching structure is equipped with a second built-in motor, which is electrically connected to the data acquisition and processing unit. An angle displacement sensor is installed on the second built-in motor.

6. The gear gripping and measuring system driven by a robotic arm according to claim 1, characterized in that, A hydraulic device is installed on the turntable, which is connected to the lower arm of the machine and electrically connected to the data acquisition and processing unit.

7. The gear gripping and measuring system driven by a robotic arm according to claim 1, characterized in that, The spherical switching structure has symmetrical switching connectors installed on both sides. The gripper and the three-dimensional laser sensor are rotatably connected to the spherical switching structure through the switching connectors.

8. The gear gripping and measuring system driven by a robotic arm according to claim 1, characterized in that, The measurement platform includes a measurement platform and an expansion device, which is installed on the measurement platform.

9. A gear gripping and measuring system driven by a robotic arm according to claim 1, characterized in that, The gripper includes a gripper base plate, a gripper moving shaft, a gripper connecting rod, a gripper moving beam, and a gripper clamping plate. One end of the gripper moving shaft is connected to a spherical switching structure, and the other end of the gripper moving shaft passes through the gripper base plate and is connected to the gripper moving beam. One end of the gripper connecting rod is connected to the gripper moving shaft, and the other end of the gripper connecting rod is connected to the gripper moving beam. The gripper clamping plate is mounted on the gripper moving beam.

10. A method for gripping and measuring gears driven by a robotic arm according to any one of claims 1 to 9, characterized in that, include: The gear is firmly held by the grippers, and the integrated clamping and measuring robotic arm moves the gear from the transmission gear platform to the measurement and fixing platform. The integrated gripper and measuring robotic arm utilizes a spherical switching structure to achieve rotational switching between the gripper and the 3D laser sensor, ensuring that the 3D laser sensor enters the measurement position in a suitable posture; The clamping and measuring integrated robotic arm controls the three-dimensional laser sensor to fix its relative position with the measuring platform and performs reference distance calibration; The motion trajectory and posture of the integrated clamping and measuring robot are dynamically adjusted by the data acquisition and processing unit based on the benchmark distance calibration results, and the three-dimensional contour data of the tooth surface are collected synchronously by the three-dimensional laser sensor. The three-dimensional contour data of the tooth surface collected by the three-dimensional laser sensor and the motion posture of the clamping and measuring integrated robotic arm are synchronously transmitted to the data acquisition and processing unit. The data acquisition and processing unit generates a complete three-dimensional point cloud model of the gear by conversion and splicing, and feeds it back to the PC. After completing the measurement, the integrated clamping and measuring robotic arm switches back to the gripper via a spherical switching structure, unloads the gear, and moves to the conveying gear platform along a preset path, ready to grip the next gear.

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