Gear high-temperature deformation measurement system and measurement method

Abstract

The application provides a gear high-temperature deformation measurement system, comprising: a high-temperature test platform module, comprising a main shaft for mounting and driving a workpiece to be measured; further comprising an encoder for measuring the rotation angle of the main shaft; the workpiece to be measured is a standard cylinder or a gear to be measured; a multi-sensor measurement module comprising a plurality of sensors for acquiring profile measurement data and axial height measurement data of the standard cylinder and the gear to be measured by laser in a non-contact manner; a data acquisition and control module connected with the plurality of sensors and the encoder signal, for synchronously triggering the acquisition of the rotation angle measurement data, the profile measurement data and the axial height measurement data of the standard cylinder and the gear to be measured respectively; a data processing and fusion module connected with the data acquisition and control module signal, for fusing the collected measurement data of the gear to be measured based on the spatial external parameters of each sensor, and then obtaining the accurate deformation of the gear to be measured from the three-dimensional topographic point cloud.

Description

Technical Field

[0001] This invention relates to the field of precision measurement technology, specifically to a gear high-temperature deformation measurement system and method. Background Technology

[0002] As a core precision transmission component in a transmission system, the dynamic meshing accuracy and service reliability of gears directly determine the performance of the entire transmission system. In equipment such as aircraft, spacecraft, and submarines, gears, as transmission components, are typically subjected to high-temperature conditions. Under high-temperature environments, gears deform due to thermal expansion, leading to poor gear meshing.

[0003] Poor gear meshing can lead to disastrous consequences. On the one hand, poor gear meshing deteriorates the transmission smoothness and efficiency of equipment, thus affecting its overall performance. On the other hand, poor gear meshing drastically alters the load distribution on the gear teeth, causing abnormally high stress concentrations in localized areas. Under the repeated action of the alternating loads inherent in equipment operation, these stress concentration areas become focal points for the accumulation of micro-damage. This accumulation induces microcracks, which gradually expand under cyclic stress, eventually leading to failure modes such as tooth fracture or severe tooth surface spalling. This results in the complete loss of gear transmission function, potentially causing equipment downtime or even catastrophic accidents.

[0004] Therefore, there is a need to provide a device and method for detecting gear thermal deformation, which can perform non-contact and accurate measurement of the deformation of gears caused by thermal expansion under high temperature conditions. Summary of the Invention

[0005] This invention aims to overcome the shortcomings of the prior art and provide a gear thermal deformation detection device and method to achieve non-contact and accurate measurement of gear deformation caused by thermal expansion in high-temperature environments.

[0006] In a first aspect, this application provides a gear high-temperature deformation measurement system, comprising: The high-temperature test platform module includes a spindle with a support platform for mounting and driving the workpiece to be tested, so that the workpiece to be tested rotates under a set high-temperature environment; it also includes an encoder for measuring the rotation angle of the spindle to obtain the rotation angle measurement data of the workpiece to be tested; the workpiece to be tested is a standard cylinder for calibration or a gear to be tested. The multi-sensor measurement module includes multiple sensors for acquiring contour measurement data and axial height measurement data of a standard cylinder and a gear under test in a non-contact manner using lasers; the multiple sensors include at least two lateral laser contour sensors and a top laser rangefinder; The data acquisition and control module is connected to the signals of the multiple sensors and encoders, and is used to synchronously trigger the acquisition of rotation angle measurement data, contour measurement data, and axial height measurement data of a standard cylinder, as well as synchronously trigger the acquisition of rotation angle measurement data, contour measurement data, and axial height measurement data of the gear under test. The data processing and fusion module is signal-connected to the data acquisition and control module. It is used to calibrate the spatial external parameters of each sensor relative to the rotation center of the main shaft based on the measurement data of the acquired standard cylinder, and to fuse the measurement data of the gear under test based on the spatial external parameters of each sensor to generate a three-dimensional topographic point cloud of the gear under test under high temperature environment. The deformation of the gear under test is obtained based on the obtained three-dimensional topographic point cloud.

[0007] Secondly, this application provides a method for measuring high-temperature deformation of gears. This method is based on the measurement system described in the first aspect and includes the following steps: Calibration steps for the ambient temperature measurement system: At ambient temperature, install a standard cylinder on the spindle, drive the standard cylinder to rotate, and use multiple sensors to acquire measurement data; based on the measurement data, calibrate the spatial extrinsic parameters of each sensor relative to the coordinate system of the spindle rotation center and the offset of the spindle rotation center; High-temperature gear test data acquisition steps: Install the gear to be tested on the spindle and heat it to the target high temperature. Drive the gear to be tested to rotate. Use a lateral laser profile sensor to acquire the profile measurement data of the gear to be tested. Use a top laser rangefinder to acquire the height measurement data of the gear to be tested. Use the data acquisition and control module to synchronously acquire the encoder measurement data and the measurement data of each sensor at different rotation angles. 3D point cloud generation steps: Using the calibrated spatial extrinsic parameters of the sensors, the measurement data of the gear under test at the target high temperature acquired by each sensor is converted to the coordinate system of the spindle rotation center. After rotational motion compensation, the three-dimensional topography point cloud of the gear under test at the target high temperature is finally fused to generate the three-dimensional topography point cloud. Deformation analysis steps: Based on the three-dimensional topographic point cloud of the gear under test at the target high temperature, combined with the room temperature design model of the gear under test, the deformation of the gear under test is obtained. The measurement system and method provided in this application can place the gear under test in a controllable high temperature environment, and through multi-sensor fusion and precision calibration, realize accurate, non-contact, and fully automatic measurement of the three-dimensional topography of the gear under high temperature, thereby achieving accurate measurement of the high temperature deformation of the gear.

[0008] The measurement system and method provided in this application decouple the spatial parameter calibration of the sensor from the real-time measurement of the gear under test in terms of timing and physical state: by first calibrating the spatial parameters of the laser sensor at room temperature to establish a stable measurement benchmark, and then directly acquiring the morphology of the gear under test in a high-temperature environment, the influence of the high-temperature environment on the calibration process is avoided, ensuring the accuracy of high-temperature measurement; by combining dual-side laser scanning with top fixed-point laser measurement, and with 360° rotation scanning, the full coverage acquisition of the three-dimensional morphology of the entire tooth surface and top surface under test is achieved, further ensuring the accuracy of high-temperature measurement.

[0009] The measurement system and method provided in this application are not only applicable to gears, but can also be extended to the deformation measurement of other rotating parts at high temperatures. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the overall structure of the gear high-temperature deformation measurement system provided in an embodiment of the present invention.

[0011] Figure 2 for Figure 1 Another view of the structure shown.

[0012] Figure 3 This is a structural block diagram of the gear high-temperature deformation measurement system according to an embodiment of the present invention.

[0013] Figure 4 for Figure 1 A structural diagram of the support platform and fixed brackets.

[0014] Figure 5 for Figure 1 A schematic diagram of the high-temperature test platform components.

[0015] Figure 6 for Figure 5 Another view of the structure shown.

[0016] Figure 7 for Figure 6 A sectional view along the P1-P1 direction.

[0017] Figure 8 Set the gear to be tested at Figure 7 A schematic diagram of the circular platform.

[0018] Figure 9 for Figure 7 Exploded view of the structure shown.

[0019] Figure 10 for Figure 8 Exploded view of the structure shown.

[0020] Figure 11 For standard cylinders set at Figure 7 A schematic diagram of the circular platform.

[0021] Figure 12 A flowchart of a gear high-temperature deformation measurement method provided in an embodiment of this application.

[0022] Reference numerals: 100: High-temperature test platform module; 101: Support base; 101a: Through hole; 102: High-temperature test platform component; 112: Circular platform; 113: Key shaft; 120: Spindle; 130: Drive system; 131: Servo motor; 132: Encoder; 135: Fixture; 140: High-temperature furnace body; 141: Left half of the furnace body; 142: Right half of the furnace body; 143: Furnace cover; 150: Guide rail; 160: Slider; 145: Heating element; 146: Thermocouple; 200: Multi-sensor measurement module; 210: Lateral laser profile sensor; 211: First lateral laser profile sensor; 212: Second lateral laser profile sensor; 230: Top laser rangefinder; 240: Fixture; 250: Fixing bracket; 300: Data acquisition and control module; 400: Data processing and fusion module; 500: Gear under test; 600: Standard cylinder. Detailed Implementation

[0023] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0024] In the description of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, 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 on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] It is understood that the high-precision measurement described in the embodiments of this application means that the measurement results are highly consistent and the average value of the measurement results is very close to the true value.

[0027] This application provides a gear high-temperature deformation measurement system. It should be noted that, for ease of description, the "gear high-temperature deformation measurement system" will be simply referred to as the "measurement system" below.

[0028] Please see Figures 1 to 3 ,as well as Figures 5 to 10 The measurement system provided in this application includes a high-temperature test platform module 100, a multi-sensor measurement module 200, a data acquisition and control module 300, and a data processing and fusion module 400.

[0029] The high-temperature test platform module 100 includes a spindle 120 with a support platform 112 for mounting and driving the workpiece to be tested, so that the workpiece to be tested rotates under a set high-temperature environment; it also includes an encoder 132 for measuring the rotation angle of the spindle 120 to obtain the rotation angle measurement data of the workpiece to be tested; the workpiece to be tested is a standard cylinder 600 for calibration or a gear 500 to be tested. The multi-sensor measurement module 200 includes multiple sensors for acquiring contour measurement data and axial height measurement data of a standard cylinder 600 and a gear 500 under test in a non-contact manner using lasers; the multiple sensors include at least two lateral laser contour sensors 210 and a top laser rangefinder 230. The data acquisition and control module 300 is connected to the signals of the multiple sensors and encoders, and is used to synchronously trigger the acquisition of rotation angle measurement data, contour measurement data, and axial height measurement data of the standard cylinder 600, as well as synchronously trigger the acquisition of rotation angle measurement data, contour measurement data, and axial height measurement data of the gear under test 500. The data processing and fusion module 400 is signal-connected to the data acquisition and control module. It is used to calibrate the spatial external parameters of each sensor relative to the rotation center of the main shaft 120 based on the measurement data of the acquired standard cylinder 600, and to fuse the measurement data of the gear under test 500 based on the spatial external parameters of each sensor to generate a three-dimensional topographic point cloud of the gear under test 500 under high temperature environment. The deformation of the gear under test is obtained based on the obtained three-dimensional topographic point cloud.

[0030] It is understood that the at least two lateral laser profile sensors 210 are used to acquire profile measurement data of the gear 500 under test; and the top laser rangefinder 230 is used to acquire axial height measurement data of the gear 500 under test.

[0031] It is understood that the rotation center of spindle 120 is the same as the spindle rotation center. The spindle rotation center is a point located on the spindle rotation center.

[0032] Each sensor corresponds to a set of sensor extrinsic parameters. The spatial extrinsic parameters of the sensor relative to the spindle rotation center (referred to as the sensor's spatial extrinsic parameters) refer to the spatial transformation parameters when transforming the sensor coordinate system to the spindle rotation center coordinate system. These include spatial position transformation parameters, specifically translation vectors, and spatial attitude transformation parameters, also specifically translation vectors.

[0033] The multi-source data includes contour measurement data, axial height measurement data, and rotation angle measurement data of the gear 500 under test, as well as sensor measurement data.

[0034] In some embodiments, please refer to Figure 4 The high-temperature test platform module 100 includes: A support base 101, wherein a through hole 101a is provided in the middle of the support base 101; The spindle 120 is rotatably disposed in the through hole 101a. The top of the spindle 120 is provided with a support platform 112 for mounting the workpiece to be measured. The spindle 120 is fixedly connected to the support platform 112. The drive system 130 is located below the support base 101 and is connected to the bottom of the spindle 120 for driving the spindle 120 to rotate precisely. The high-temperature furnace body 140 is set on the support base 101 and can cover the support platform 112 and the workpiece to be tested, so as to provide a high-temperature environment.

[0035] It is understood that the drive system 130 is connected to the spindle 120, and the spindle 120 is fixedly connected to the support platform 112. When the gear 500 to be tested is installed on the support platform 112 and the spindle 120 rotates at the first angular velocity, the spindle 120 will drive the support platform 112 and the gear 500 to be tested to rotate synchronously at the first angular velocity.

[0036] For example, please refer to Figure 1 , Figure 2 and Figure 5 The high-temperature test platform module 100 includes a support base 101 and a high-temperature test platform assembly 102. The high-temperature test platform assembly 102 includes a support platform 113, a spindle 120, a drive system 130, and a high-temperature furnace body 140. The bottom of the spindle 120 is connected to the output shaft of the drive system 130 via a keyway.

[0037] For example, the support base 101 is a rigid platform with a precision through hole 101a machined in the center. The support base 101 can be made of natural granite or Invar steel with a low coefficient of thermal expansion. The spindle 120 is mounted in the through hole 101a by a high-precision bearing, so that the spindle 120 can rotate freely relative to the support base 101.

[0038] In some embodiments, the high-temperature furnace body 140 has a window for serving as a pathway for the laser emitted by the sensor.

[0039] In some embodiments, the support platform 112 and the spindle 120 can be an integrated design. In other embodiments, the support platform 112 has a standard Morse taper hole or precision shaft hole at its center and is equipped with a detachable key shaft for circumferentially positioning the support platform 112 on the spindle 120.

[0040] For example, the upper surface of the support platform 112 is ultra-precision ground to achieve a flatness better than 1 micrometer and a perpendicularity to the rotation center line of the spindle 120 better than 2 arcseconds. The support platform 112 can be disc-shaped.

[0041] In some embodiments, please continue reading Figures 1 to 3 ,as well as Figures 5 to 10 The high-temperature furnace body 140 is an openable furnace body structure composed of at least two furnace body parts spliced ​​together, and is installed on the support base 101 via guide rails 150 and sliders 160; the at least two furnace body parts move horizontally to achieve opening and closing; the support platform 112 has a detachable key shaft 113 at its center, which is used to cooperate with the keyway at the bottom of the workpiece to achieve circumferential positioning; the data acquisition and control module 300 is signal-connected to the high-temperature furnace body 140 and is used to control the operation of the high-temperature furnace body 140.

[0042] In the above embodiments, the openable furnace body design facilitates quick assembly and disassembly of the gear to be tested, and the entire measurement process is automatically completed by program control, which is highly efficient and has good repeatability.

[0043] Understandably, please refer to Figure 7 , Figure 8 and Figure 11 The support platform 112 has a central shaft hole, inside which is fitted a detachable key shaft 113 for engaging with the keyway at the bottom of the gear 500 or the standard cylinder 600 to achieve circumferential positioning and synchronous rotation. The standard cylinder 600 is used to calibrate the spatial extrinsic parameters of the sensor.

[0044] Understandably, please continue reading. Figures 1 to 3 ,as well as Figures 5 to 10The high-temperature furnace body 140 has a split structure. It can be opened and closed by moving along the guide rail 150, which facilitates the installation and fixing of the gear to be tested 500 on the support platform 112, and can heat and keep the gear to be tested 500 at the set temperature.

[0045] For example, please refer to Figure 1 and Figure 5 The high-temperature furnace body 140 has a split-opening structure, consisting of a left half 141 and a right half 142. The bottoms of the left and right halves 141 and 142 are mounted on linear guide rails 150 pre-set on the support base 101 via sliders 160. The separation and closing of the left and right halves along the guide rails 150 can be achieved manually or electrically. The high-temperature furnace body 140 also includes a furnace cover 143. The furnace cover 143 can be an integral structure or a separate structure.

[0046] For example, please refer to Figure 1 , Figure 2 and Figure 3 The inner wall of the high-temperature furnace body 140 is embedded with a heating element 145 and a thermocouple 146. The heating element 145 is used to convert electrical energy into heat energy. For example, the heating element 145 can be a silicon molybdenum rod. The thermocouple 146 is used to measure temperature.

[0047] In some embodiments, please continue reading Figures 1 to 3 ,as well as Figures 5 to 10 The drive system 130 includes a servo motor 131 equipped with an encoder 132; the servo motor 131 is mounted on the bottom of the support base 101 via a fixing bracket 135, and the output shaft of the servo motor 131 is coaxially connected to the bottom of the spindle 120 via a keyway; the encoder 132 is used to measure the rotation angle of the spindle 120; the data acquisition and control module 300 is signal-connected to the servo motor 131 and is used to control the operation of the servo motor 131.

[0048] For example, encoder 132 is disposed on the output shaft of servo motor 131. Servo motor 131 may be a direct-drive torque motor. Encoder 132 may be a high-resolution absolute rotary encoder. Encoder 132 may be a high-resolution absolute rotary encoder with a resolution of more than 2 lines per revolution. The zero point position of encoder 132 strictly corresponds to specific angular positioning marks, such as keyways, on support platform 112.

[0049] It is understood that the drive system 130 is connected to the spindle 120, and the spindle 120 is fixedly connected to the support platform 112. When the gear 500 to be tested is set on the support platform 112, and the spindle 120 rotates at a first angular velocity, the spindle 120 will drive the support platform 112 and the gear 500 to be tested to rotate synchronously at the first angular velocity. Therefore, the encoder 132 measuring the rotation angle of the spindle 120 is equivalent to the encoder 132 measuring the rotation angle of the gear 500 to be tested.

[0050] In some embodiments, please continue reading Figures 1 to 3 ,as well as Figures 5 to 10 The two lateral laser profile sensors are symmetrically arranged on both sides of the rotation center line of the main shaft 120. The laser emitting surfaces of the lateral laser profile sensors are perpendicular to or intersect the axis region of the main shaft 120 at a fixed angle. The laser beam direction of the top laser rangefinder is parallel to the axis of the main shaft 120 and points towards the support platform 112.

[0051] For example, the two lateral laser profile sensors 210 are a first lateral laser profile sensor 211 and a second lateral laser profile sensor 212.

[0052] It is understood that the two lateral laser profile sensors 210 are used to acquire profile measurement data of the gear 500 under test; the top laser rangefinder 230 is used to acquire axial height measurement data of the gear 500 under test. The laser beam of the top laser rangefinder is parallel to the axis of the main shaft 120 and points towards the support platform 112, so that the laser beam of the top laser rangefinder can be incident on the upper surface of the standard cylinder or the gear under test mounted on the support platform 112.

[0053] In some embodiments, the data acquisition and control module 300 is used to: acquire and store the measurement data of the encoder 132, which is the real-time rotation angle data of the output shaft of the servo motor 131, the main shaft 120, and the gear 500 under test; it is also used to acquire and store the measurement data of the lateral laser profile sensor 210 and the top laser rangefinder 230; it is also used to control the operation of the main shaft 120 (start / stop, rotational angular velocity, rotational direction) and control the operation of the high-temperature furnace body 140 (heating, heat preservation, and cooling).

[0054] Please see Figure 1 The support base 101 is provided with a fixed bracket 250 for mounting the lateral laser profile sensor 210 and the top laser rangefinder 230. For example, the fixed bracket 250 is a portal frame bracket, which includes a plurality of columns disposed on the support base 101 and a crossbeam disposed between the columns.

[0055] For example, the lateral laser profile sensor 210 can be a blue laser line scan sensor (such as the Keyence LJ-X8000 series) to reduce high-temperature thermal radiation interference. The lateral laser profile sensor 210 can be fixed to the column of the mounting bracket 250 by the fastener 240 to avoid the influence of heat conduction.

[0056] The top laser rangefinder 230 can be a high-precision, high-sampling-rate white light confocal displacement sensor (such as the Micro-Epsilon confocal DT series). The top laser rangefinder 230 can be vertically mounted on the crossbeam of the fixed bracket 250 via the fixing member 240, with the laser beam parallel to the spindle rotation center line. The top laser rangefinder 230 is used to directly and accurately measure the absolute height change of the upper end face or tooth tip of the gear under test.

[0057] For example, the data acquisition and control module 300 can be an industrial computer with a built-in data acquisition card. Specifically, the data acquisition and control module 300 can be based on a PXIe architecture and include a motion control card, a multi-functional synchronous data acquisition card, and a temperature control module.

[0058] Specifically, the data acquisition and control module 300 is used to send motion commands to the servo motor 131 and receive real-time angle θ fed back by the encoder 132 set on the servo motor 131; it synchronously triggers two lateral laser contour sensors 210 and a top laser rangefinder 230 to acquire data, wherein the data acquired by the lateral laser contour sensors 210 is a contour line point set {x,z}, and the data acquired by the top laser rangefinder 230 is a single-point distance d. All acquired data (angle θ, contour line point set {x,z}, and single-point distance d) are timestamped or angle-tagged to ensure synchronization.

[0059] Specifically, when the encoder 132 reaches a specific angular position (e.g., the measured angle increases by 0.1°), the data acquisition and control module 300 sends a synchronous trigger signal to ensure that the angle θ and the sensor measurement data are strictly one-to-one in timing, and the synchronization timing error is less than 1 microsecond.

[0060] In some embodiments, the data processing and fusion module 400 is equipped with a high-performance workstation, runs customized measurement software, and integrates calibration, measurement, point cloud processing, and deformation analysis algorithms.

[0061] Please see Figure 12 This application also provides a method for measuring high-temperature deformation of gears based on the above-mentioned measurement system, referred to as the measurement method, which includes the following steps.

[0062] Step 810, Calibration steps of the ambient temperature measurement system: At ambient temperature, a standard cylinder is installed on the spindle, the standard cylinder is driven to rotate, and multiple sensors are used to acquire measurement data; based on the measurement data, the spatial extrinsic parameters of each sensor relative to the coordinate system of the spindle rotation center and the offset of the spindle rotation center are calibrated. Step 820, High-Temperature Gear Data Acquisition Steps: Install the gear under test on the spindle and heat it to the target high temperature. Drive the gear under test to rotate. Use a lateral laser profile sensor to acquire the profile measurement data of the gear under test and use a top laser rangefinder to acquire the height measurement data of the gear under test. Use the data acquisition and control module to synchronously acquire the encoder measurement data and the measurement data of each sensor at different rotation angles. Step 830, 3D point cloud generation step: Using the calibrated spatial extrinsic parameters of the sensors, the measurement data of the gear under test at the target high temperature acquired by each sensor is converted to the coordinate system of the spindle rotation center. After rotational motion compensation, the 3D topography point cloud of the gear under test at the target high temperature is finally fused and generated. Step 840, Deformation Analysis Step: Based on the three-dimensional topographic point cloud of the gear under test at the target high temperature, combined with the room temperature design model of the gear under test, the deformation of the gear under test is obtained.

[0063] This step can utilize other methods in the prior art to obtain a three-dimensional topographic point cloud using a lateral laser contour sensor and a top laser rangefinder. Then, the deformation is determined based on the coordinates of the three-dimensional topographic point cloud. To further improve the accuracy of the determination, this embodiment provides a specific method, as follows: In this embodiment, multiple coordinate systems are involved, including the sensor coordinate system, the spindle rotation center point coordinate system, and the workpiece coordinate system. The definitions of each coordinate system are given below.

[0064] The coordinate system {S} of the spindle rotation center point, or simply the {S} system, is defined as follows: origin Located at the intersection of the upper surface of the support platform 112 and the rotation center line of the main shaft; Axis: Coincides with the rotation center line of the main spindle, with its positive direction perpendicular to the upper surface of the platform and pointing upwards; Plane: Coincides with the upper surface of the support platform 112; Axial direction: Consistent with the center line direction of the locating keyway on the support platform 112. Origin These are the coordinates of the origin of the theoretically defined coordinate system {S}, which is the coordinate system at the center of rotation of the principal axis. The {S} system is fixed in space. A plane is a physical mounting reference surface.

[0065] It should be noted that, for descriptive purposes, the first lateral laser profile sensor 211 will be referred to as sensor M1; the second lateral laser profile sensor 212 will be referred to as sensor M2; and the top laser rangefinder 230 will be referred to as sensor D1. The coordinate system of sensor M1 will be called the sensor coordinate system {M1}, or simply the {M1} system; the coordinate system of sensor M1 will be called the sensor coordinate system {M2}, or simply the {M2} system; the coordinate system of sensor D1 will be called the sensor coordinate system {D1}, or simply the {D1} system; and the coordinate system of the workpiece to be measured will be called the gear coordinate system {P}, or simply the {P} system.

[0066] The sensor coordinate system {M1} is defined as: origin The optical center of sensor M1 (the midpoint of the line connecting the laser emission point and the optical center of the camera). Axis: Along the laser measurement direction, pointing towards the workpiece to be measured; Axis: Along the laser line direction (sensor scanning direction); Axis: Determined by the right-hand rule ( ).

[0067] The sensor coordinate system {M2} is defined as follows: origin The optical center of sensor M1 (the midpoint of the line connecting the laser emission point and the optical center of the camera). Axis: Along the laser measurement direction, pointing towards the workpiece to be measured; Axis: Along the laser line direction (sensor scanning direction); Axis: Determined by the right-hand rule ( ).

[0068] The sensor coordinate system {D1} is defined as: origin : The laser emission point of sensor D1; Axis: Along the direction of the laser beam from sensor D1, pointing towards the workpiece to be measured.

[0069] The coordinate system {P} of the workpiece to be measured is defined as: origin : Defined at the center point of the design reference end face of the workpiece to be measured; Axis: Coincides with the design axis of the workpiece to be measured, with the positive direction upward. X p -Y p Plane: Parallel to the design reference end face of the workpiece to be measured. Under ideal installation conditions, the {P} system and the {S} system completely coincide at room temperature. The design reference end face is the lower end face of the workpiece to be measured. Under room temperature installation conditions, the design makes... and coincide.

[0070] It should be noted that in this embodiment, when the workpiece under test is subjected to thermal deformation, the {P} system serves as a reference frame fixed to the ideal design model of the workpiece. Relative to the {S} system, the origin of the {P} system remains unchanged due to installation constraints, but the actual workpiece under test deforms relative to the {P} system. The installation constraints refer to the lower end face of the workpiece under test contacting the upper surface of the support platform.

[0071] Step 810, Calibration steps of the room temperature measurement system: At room temperature, a standard cylinder is installed on the spindle, the standard cylinder is driven to rotate, and multiple sensors are used to acquire measurement data; based on the measurement data, the spatial extrinsic parameters of each sensor relative to the coordinate system of the spindle rotation center and the offset of the spindle rotation center are calibrated.

[0072] It is understandable that the spindle rotation center offset refers to the projected coordinates of the spindle rotation center on the upper surface of the support platform 112 in the {S} system. .

[0073] The relationship between (Xc, Yc) and Os(0, 0) is: O is the origin. s (0,0) is the origin coordinate of the theoretically defined coordinate system {S} of the spindle rotation center point; (Xc, Yc) are the projected coordinates of the actual measured spindle rotation center on the upper surface of the support platform 112. (Xc, Yc) quantifies the offset of the actual spindle rotation center relative to the theoretical origin Os(0, 0). One of the purposes of calibration is to accurately find this offset, thereby unifying the measurement data of all sensors to a precise coordinate system based on the actual spindle rotation center.

[0074] It is understandable that the spatial extrinsic parameters of a sensor refer to the spatial transformation parameters used to convert the sensor's coordinate system to the {S} system.

[0075] Spatial extrinsic parameters of sensor M1 . For rotation matrix, It is a translation vector. This refers to the spatial extrinsic parameters used to convert the {M1} system to the {S} system, specifically the spatial extrinsic parameters of sensor M1 relative to the rotation center of the main shaft. More specifically, the rotation matrix... The translation vector represents the spatial attitude transformation parameters when the {M1} frame is transformed into the {S} frame. The spatial position transformation parameters characterize the transformation of the {M1} system to the {S} system.

[0076] Spatial extrinsic parameters of sensor M2 . For rotation matrix, It is a translation vector. This refers to the spatial extrinsic parameters used to convert the {M2} system to the {S} system, specifically the spatial extrinsic parameters of sensor M2 relative to the rotation center of the main shaft. More specifically, the rotation matrix... The spatial attitude transformation parameters, translation vectors, represent the transformation from the {M2} frame to the {S} frame. The spatial position transformation parameters characterize the transformation from the {M2} system to the {S} system.

[0077] Spatial extrinsic parameters of sensor D1 . This is the spatial extrinsic parameter used to convert the {D1} system to the {S} system, specifically the axial height transformation parameter.

[0078] In some embodiments, the step of driving the standard cylinder to rotate and acquiring measurement data using multiple sensors includes: The standard cylinder is driven to rotate at least one revolution around the main axis rotation center line, and at multiple equally spaced angular positions during the rotation process, the contour measurement data of each lateral laser contour sensor and the height measurement data of the top laser rangefinder are simultaneously triggered and collected. The contour measurement data is two-dimensional contour line data along the axial direction of the standard cylinder.

[0079] For example, the step of calibrating the spatial parameters of sensors M1 and M2 includes: using a known precise radius... A high-precision standard cylinder 600 is mounted on the support platform 112, ensuring that the lower end face of the standard cylinder 600 is in close contact with the upper surface of the support platform 112. The measurement system is then activated, and at room temperature, the spindle 120 is controlled to rotate the standard cylinder 600 at a uniform speed of 360°. It can be understood that the 360° circumferential angle of the spindle 120 is divided into... Divide into equal parts, with each division having an equal angle. The spindle 120 rotates by one angle from its initial position. Encoder 132 records one rotation angle At the same time, encoder 132 triggers each sensor to collect data once. The rotation angle for the encoder 132 during the i-th trigger recording is specifically the total rotation angle of the spindle 120 based on its initial position. . .

[0080] For example, the step of calibrating the spatial parameters of sensor D1 includes: preparing multiple high-precision standard cylinders 600 with known precise axial heights and different axial heights, for example, preparing... A known precise axial height ,in And axial height , ... Each is a high-precision standard cylinder 600, and the height of each axis is different. The standard cylinder 600 is subjected to the following steps: The standard cylinder 600 is mounted on the support platform 112, ensuring that the lower end face of the standard cylinder 600 is in close contact with the upper surface of the support platform 112; the measurement system is started, and the spindle 120 is controlled to rotate the standard cylinder 600 at a uniform speed of 360° at room temperature. It can be understood that the 360° circumferential angle of the spindle is divided into... Divide into equal parts, with each division having an equal angle. The spindle 120 rotates by one angle from its initial position. Encoder 132 records one rotation angle At the same time, encoder 132 triggers each sensor to collect data once; The rotation angle for the encoder 132 during the i-th trigger recording is specifically the total rotation angle of the spindle 120 based on its initial position. . .

[0081] For example, M1, the set of contour points of a standard cylinder measured: ; In the formula: Represents the set of contour points. Represents the outline points, Indicates the coordinates of the contour points in the {M1} system; This indicates that the spindle rotates to a rotation angle of 120 degrees. At that time, the j-th point among the M contour points measured by sensor M1.

[0082] Sensor M2 measures the set of contour points of a standard cylinder: ; In the formula: Represents the set of contour points. Represents the outline points, Indicates the coordinates of the contour points in the {M2} system; This indicates that the spindle rotates to a rotation angle of 120 degrees. At that time, the kth point among the L contour points measured by sensor M2.

[0083] Sensor D1 measures the set of points at the top of a standard cylinder: ; In the formula, Indicates the first A set of top points of a standard cylinder Indicates the first The top point of a standard cylinder This indicates that the spindle 120 has rotated to the specified rotation angle. The first time sensor D1 measures the time under {D1}. The axial height of a standard cylinder. The sensor D1 measures the axial height of {D1}. The axial height of a standard cylinder, specifically the distance from the laser emission point to the laser incident point. The distance between the top points of a standard cylinder.

[0084] In some embodiments, the step of calibrating the spatial extrinsic parameters of each sensor relative to the coordinate system of the spindle rotation center and the offset of the spindle rotation center based on the measurement data includes: Based on the contour measurement data of a standard cylinder obtained by various lateral laser contour sensors at room temperature, a transformation model from the coordinate system of each lateral laser contour sensor to the coordinate system of the spindle rotation center is established. Combined with the known radius geometric constraints of the standard cylinder, a nonlinear least squares optimization problem is constructed and solved to obtain the spatial extrinsic parameters of each lateral laser contour sensor and the position offset of the spindle rotation center. The spatial extrinsic parameters of the lateral laser contour sensors include rotation matrix parameters and translation vector parameters. Based on the axial height measurement data of a standard cylinder obtained by a top laser rangefinder at room temperature, a transformation model is established from the axial height of the coordinate system based on the top laser rangefinder to the axial height of the coordinate system based on the main shaft rotation center. Combined with the known axial height geometric constraints of the standard cylinder, the spatial extrinsic parameters of the top laser rangefinder are obtained. The spatial extrinsic parameters of the top laser rangefinder are the distance from the origin of the coordinate system of the top laser rangefinder to a specific reference plane of the coordinate system of the main shaft rotation center, and the specific reference plane is the upper end face of the support platform.

[0085] In some embodiments, the step of establishing a transformation model from the coordinate system of each lateral laser contour sensor to the coordinate system of the main spindle rotation center includes: Establish the first transformation model, and transform the points under the coordinate system {M1} of sensor M1. Transformed to the {S} system; the first transformation model is: (Formula 1) In the formula: For point The corresponding points in the {S} system; = ; For rotation matrix, It is a translation vector; Establish a second transformation model, and transform the points under the coordinate system {M2} of sensor M2. Transform to the {S} system; the second transformation model is: (Formula 2) In the formula: For point The corresponding points in the {S} system; = ; For rotation matrix, It is a translation vector; In some embodiments, the step of constructing and solving a nonlinear least-squares optimization problem by combining the known radius geometric constraints of a standard cylinder to obtain the spatial extrinsic parameters of each lateral laser profile sensor and the offset of the spindle rotation center position includes: For all contour points measured by sensor M1, in the {S} system, the lateral surface of a standard cylinder satisfies the following equation: (Formula 3) in, , Let {S} be the coordinates of each point in the contour point set measured by sensor M1 in the {S} system. It is the offset of the spindle rotation center position, and also the coordinate of the spindle rotation center; The known radius of a standard cylinder of 600; Substituting Equation 1 into Equation 3, we establish a nonlinear least-squares problem for all contour points measured by sensor M1: ; In the formula: the optimization variable is the rotation matrix. Translation vector , Spindle rotation center coordinates ; The rotation matrix is ​​parameterized using unit quaternions, and the solution is iteratively obtained using the Ceres Solver or Levenberg-Marquardt algorithm until convergence; at this point, the center of rotation of the principal axis is obtained. Spatial extrinsic parameters of sensor M1 ; For all contour points measured by sensor M2, in the {S} system, the lateral surface of a standard cylinder satisfies the following equation: (Formula 4) in, , Let {S} be the coordinates of each point in the contour point set measured by sensor M2 in the {S} system; It is the offset of the spindle rotation center position, and also the coordinate of the spindle rotation center; The known radius of a standard cylinder of 600; Substituting Equation 2 into Equation 4, we establish a nonlinear least-squares problem for all contour points measured by sensor M2: ; In the formula: the optimization variable is the rotation matrix. Translation vector , Spindle rotation center coordinates ; The rotation matrix is ​​parameterized using unit quaternions, and the solution is iteratively obtained using the Ceres Solver or Levenberg-Marquardt algorithm until convergence; at this point, the center of rotation of the principal axis is obtained. Spatial extrinsic parameters of sensor M2 .

[0086] In some embodiments, the step of establishing a transformation model from the axial height of the coordinate system based on the top laser rangefinder to the axial height of the coordinate system based on the principal axis rotation center, and combining this with the known axial height geometric constraints of a standard cylinder to obtain the spatial extrinsic parameters of the top laser rangefinder, includes: Establish a nonlinear least squares problem for all top points measured by sensor D1, and solve for the optimization variable D: ; In the formula: the optimization variable is D; The axial height measurement data obtained by sensor D1 measuring the nth standard cylinder is the raw reading obtained by sensor D1 measuring the nth standard cylinder. is the known axial height of the nth standard cylinder, which is the distance from the top point of the nth standard cylinder to the upper surface of the support platform 112; D is the spatial extrinsic parameter of the sensor D1 to be determined, which is also the distance from the laser emission point of the sensor D1 to the upper surface of the support platform 112. The residual is measured for the nth standard cylinder; This represents the total number of standard cylinders used during the calibration of the spatial parameters of sensor D1.

[0087] Step 820, High-Temperature Gear Data Acquisition Steps: Install the gear under test on the spindle and heat it to the target high temperature. Drive the gear under test to rotate. Use a lateral laser profile sensor to acquire the profile measurement data of the gear under test and use a top laser rangefinder to acquire the height measurement data of the gear under test. Use the data acquisition and control module to synchronously acquire the encoder measurement data and the measurement data of each sensor at different rotation angles.

[0088] Step 830, 3D point cloud generation step: Using the calibrated spatial extrinsic parameters of the sensors, the measurement data of the gear under test at the target high temperature acquired by each sensor is converted to the coordinate system of the spindle rotation center. After rotational motion compensation, the 3D topographic point cloud of the gear under test at the target high temperature is finally fused and generated.

[0089] In some embodiments, the step of converting the measurement data of the gear under test at the target high temperature acquired by each sensor to the coordinate system of the spindle rotation center using the calibrated spatial extrinsic parameters of the sensors, and finally fusing them to generate a three-dimensional topographic point cloud of the gear under test at the target high temperature after rotational motion compensation, includes: For each lateral laser profile sensor, the rotation angle will be... For each data point in the contour measurement data below, the following processing is performed: Based on the corresponding calibrated spatial extrinsic parameters, the coordinates of the data points are... Coordinates transformed to the coordinate system of the spindle rotation center Based on coordinates Combined with rotation around the main axis center line The rotation matrix is ​​used to obtain the coordinates of the gear in the coordinate system under test. ;in Indicates the first The rotation angle of the gear under test based on the initial position is used during the first data acquisition. For the top laser rangefinder, rotate the angle For each data point in the axial height measurement data below, the following processing is performed: Based on the calibrated corresponding spatial extrinsic parameters, the axial height of the data point is calculated based on the origin of the coordinate system of the top laser rangefinder. Transform to the axial height of a specific reference plane based on the coordinate system of the spindle rotation center. Based on axial height Combined with rotation around the main axis center line The rotation matrix is ​​used to obtain the axial height in the coordinate system of the gear under test. ; Integrate all rotation angles coordinates of the gear under test in the coordinate system and axial height The three-dimensional topographic point cloud of the gear under test at the target high temperature was obtained.

[0090] In some embodiments, the coordinates of the data points are determined based on the corresponding calibrated spatial extrinsic parameters. Coordinates transformed to the coordinate system of the spindle rotation center The steps include: For the rotation angle in the {M1} system of sensor M1 The measurement points below are transformed into the {S} system using the following formula; ; In the formula: Rotation angle in the {M1} system obtained by sensor M1 The coordinates of the contour points of the gear to be tested. for The corresponding point has coordinates in the {S} system; The spatial extrinsic parameters of the calibrated sensor M1.

[0091] For the rotation angle in the {M2} system of sensor M2 The coordinates of the measured points are converted to the {S} system using the following formula; ; In the formula: Rotation angle in the {M2} system obtained by sensor M2 The coordinates of the contour points of the gear to be tested. for The corresponding point has coordinates in the {S} system; The spatial extrinsic parameters of the calibrated sensor M2.

[0092] Understandably, when the sensor is M1, = When the sensor is M2, = .

[0093] In some embodiments, the coordinate-based Combined with rotation around the main axis center line The rotation matrix is ​​used to obtain the coordinates of the gear in the coordinate system under test. The steps include: Anti-rotation compensation processing steps: ; in, The center line of rotation about the principal axis is Axis rotation Matrix; ,in yes The height of the point relative to the upper surface of the support platform 112; for The coordinates of point {S} are obtained after inverse rotation compensation; In the above formula, the rotation matrix The mathematical expression is: ; The steps for mapping the coordinates obtained after inverse rotation compensation to the coordinate system {P} of the gear under test are as follows: ; In the formula, for The distance from the point to the design reference surface of the gear under test is the height of the lower end face of the gear under test.

[0094] The above steps are used to counteract the rotational motion of the gear under test. This is equivalent to the coordinates of the point in the {S} system when the gear under test is at the zero-degree reference position.

[0095] Understandable The reason is as follows: By definition, the {P} system coincides with the {S} system when installed at room temperature; at high temperatures, the position of the lower end face of the gear under test remains unchanged due to mechanical constraints, meaning the origin of the {P} system does not translate relative to the {S} system; therefore, for the measurement points (i.e., contour points) of sensors M1 and M2, the above-mentioned reverse rotation compensation steps yield... It is directly the coordinate system in {P}.

[0096] In some embodiments, the axial height of the data points based on the origin of the coordinate system of the top laser rangefinder is... Transform to the axial height of a specific reference plane based on the coordinate system of the spindle rotation center. The steps include: = + ; In the formula: Rotation angle in the {D1} frame obtained by sensor D1 The axial height measurement data of the top point of the gear under test is the original measurement data of D1; The spatial extrinsic parameter of the calibrated sensor D1 is the distance from the origin of the coordinate system of sensor D1 to a specific reference plane of the coordinate system of the spindle rotation center, where the specific reference plane is the distance from the upper surface of the support platform. Rotation angle The axial height of the gear under test based on the upper end face of the support platform; In some embodiments, the axial height-based Combined with rotation around the main axis center line The rotation matrix is ​​used to obtain the axial height in the coordinate system of the gear under test. The steps include: Anti-rotation compensation processing steps: ; in, The center line of rotation about the principal axis is Axis rotation Matrix; Rotation angle The axial height of the gear under test based on the upper end face of the support platform; for The axial height obtained after reverse rotation compensation; In the above formula, the rotation matrix The mathematical expression is: ; The step of transforming the coordinates obtained after reverse rotation compensation to the axial height based on the lower end face of the gear under test is as follows: ; In the formula: Rotation angle The axial height of the lower measuring point from the lower end face of the gear under test.

[0097] In some embodiments, the step of obtaining the deformation of the gear under test based on the three-dimensional topographic point cloud of the gear under test at the target high temperature, combined with the room temperature design model of the gear under test, includes: The three-dimensional topographic point cloud of the gear under test at the target high temperature is registered and compared with the design model of the gear under test at room temperature. The deformation of the gear under test is calculated. The deformation includes one or more of the following: tooth profile deviation, tooth direction deviation, tooth pitch deviation, and overall thermal deformation field.

[0098] For example, the 3D topographic point cloud of the gear under test at the target high-temperature temperature and the 3D CAD design model of the gear under test at room temperature are obtained and imported into the analysis software. The 3D CAD design model of the gear under test at room temperature is modeled with the lower end face as the reference. Since the point cloud and the CAD model share the same {P} system definition, no complex initial registration is required, and they can be directly compared. The normal distance from each point in the point cloud to the theoretical surface of its corresponding CAD model is calculated, and this distance is the thermal deformation of that point. A positive value of thermal deformation indicates that the gear under test has undergone expansion, and a negative value indicates that the gear under test has undergone contraction deformation.

[0099] This embodiment fully demonstrates the entire process from hardware configuration, coordinate system definition, calibration algorithm to high-temperature measurement through detailed mathematical derivation and specific examples. In particular, it provides specific rotation matrix, translation vector values, and step-by-step calculation processes, making the technical solution completely feasible.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A gear high-temperature deformation measurement system, characterized in that, include: The high-temperature testing platform module includes a spindle with a support platform for mounting and driving the workpiece under test, causing the workpiece to rotate within a set high-temperature environment; It includes an encoder for measuring the rotation angle of the spindle to obtain rotation angle measurement data of the workpiece under test; the workpiece under test is a standard cylinder for calibration or a gear under test. The multi-sensor measurement module includes multiple sensors for acquiring contour measurement data and axial height measurement data of a standard cylinder and a gear under test in a non-contact manner using lasers; the multiple sensors include at least two lateral laser contour sensors and a top laser rangefinder; The data acquisition and control module is connected to the signals of the multiple sensors and encoders, and is used to synchronously trigger the acquisition of rotation angle measurement data, contour measurement data, and axial height measurement data of a standard cylinder, as well as synchronously trigger the acquisition of rotation angle measurement data, contour measurement data, and axial height measurement data of the gear under test. The data processing and fusion module is signal-connected to the data acquisition and control module. It is used to calibrate the spatial external parameters of each sensor relative to the rotation center of the main shaft based on the measurement data of the acquired standard cylinder, and to fuse the measurement data of the gear under test based on the spatial external parameters of each sensor to generate a three-dimensional topographic point cloud of the gear under test under high temperature environment. The deformation of the gear under test is obtained based on the obtained three-dimensional topographic point cloud.

2. The system according to claim 1, characterized in that, The high-temperature test platform module includes: A support base, wherein a through hole is provided in the middle of the support base; The spindle is rotatably disposed in the through hole, and the top of the spindle is provided with a support platform for mounting the workpiece to be measured, and the spindle is fixedly connected to the support platform; The drive system, located below the support base and connected to the bottom drive of the spindle, is used to drive the spindle to rotate precisely. A high-temperature furnace body is set on a support base and can cover the support platform and the workpiece to be tested, in order to provide a high-temperature environment.

3. The system according to claim 2, characterized in that, The high-temperature furnace body is an openable furnace body structure composed of at least two furnace body parts spliced ​​together, and is installed on a support base via guide rails and sliders; the at least two furnace body parts move horizontally to achieve opening and closing; the support platform has a detachable key shaft at its center, which is used to cooperate with the keyway at the bottom of the workpiece to achieve circumferential positioning; the data acquisition and control module is connected to the high-temperature furnace body signal and is used to control the operation of the high-temperature furnace body.

4. The system according to claim 2, characterized in that, The drive system includes a servo motor equipped with an encoder; the servo motor is mounted on the bottom of the support base via a mounting bracket, and the output shaft of the servo motor is coaxially connected to the bottom of the spindle via a keyway; the encoder is used to measure the rotation angle of the spindle; the data acquisition and control module is connected to the servo motor signal and is used to control the operation of the servo motor.

5. The system according to claim 1, characterized in that, The two lateral laser profile sensors are symmetrically arranged on both sides of the spindle rotation center line. The laser emitting surfaces of the lateral laser profile sensors are perpendicular to or intersect the axis region of the spindle at a fixed angle. The laser beam direction of the top laser rangefinder is parallel to the axis of the spindle and points towards the support platform.

6. A method for measuring high-temperature deformation of gears, characterized in that, The measurement method is implemented based on the measurement system according to any one of claims 1 to 5, and includes: Calibration steps for the ambient temperature measurement system: At ambient temperature, install a standard cylinder on the spindle, drive the standard cylinder to rotate, and use multiple sensors to acquire measurement data; based on the measurement data, calibrate the spatial extrinsic parameters of each sensor relative to the coordinate system of the spindle rotation center and the offset of the spindle rotation center; High-temperature gear test data acquisition steps: Install the gear to be tested on the spindle and heat it to the target high temperature. Drive the gear to be tested to rotate. Use a lateral laser profile sensor to acquire the profile measurement data of the gear to be tested. Use a top laser rangefinder to acquire the height measurement data of the gear to be tested. Use the data acquisition and control module to synchronously acquire the encoder measurement data and the measurement data of each sensor at different rotation angles. 3D point cloud generation steps: Using the calibrated spatial extrinsic parameters of the sensors, the measurement data of the gear under test at the target high temperature acquired by each sensor is converted to the coordinate system of the spindle rotation center. After rotational motion compensation, the three-dimensional topography point cloud of the gear under test at the target high temperature is finally fused to generate the three-dimensional topography point cloud. Deformation analysis steps: Based on the three-dimensional topographic point cloud of the gear under test at the target high temperature, combined with the room temperature design model of the gear under test, the deformation of the gear under test is obtained.

7. The measurement method according to claim 6, characterized in that, The step of driving the standard cylinder to rotate and acquiring measurement data using multiple sensors includes: The standard cylinder is driven to rotate at least one revolution around the main axis rotation center line, and at multiple equally spaced angular positions during the rotation process, the contour measurement data of each lateral laser contour sensor and the height measurement data of the top laser rangefinder are simultaneously triggered and collected. The contour measurement data is two-dimensional contour line data along the axial direction of the standard cylinder.

8. The measurement method according to claim 6, characterized in that, The step of calibrating the spatial extrinsic parameters of each sensor relative to the coordinate system of the spindle rotation center and the offset of the spindle rotation center based on the measurement data includes: Based on the contour measurement data of a standard cylinder obtained by various lateral laser contour sensors at room temperature, a transformation model from the coordinate system of each lateral laser contour sensor to the coordinate system of the spindle rotation center is established. Combined with the known radius geometric constraints of the standard cylinder, a nonlinear least squares optimization problem is constructed and solved to obtain the spatial extrinsic parameters of each lateral laser contour sensor and the position offset of the spindle rotation center. The spatial extrinsic parameters of the lateral laser contour sensors include rotation matrix parameters and translation vector parameters. Based on the axial height measurement data of a standard cylinder obtained by a top laser rangefinder at room temperature, a transformation model is established from the axial height of the coordinate system based on the top laser rangefinder to the axial height of the coordinate system based on the main shaft rotation center. Combined with the known axial height geometric constraints of the standard cylinder, the spatial extrinsic parameters of the top laser rangefinder are obtained. The spatial extrinsic parameters of the top laser rangefinder are the distance from the origin of the coordinate system of the top laser rangefinder to a specific reference plane of the coordinate system of the main shaft rotation center, and the specific reference plane is the upper end face of the support platform.

9. The measurement method according to claim 6, characterized in that, The step of using the calibrated spatial extrinsic parameters of the sensors to convert the measurement data of the gear under test at the target high temperature acquired by each sensor to the coordinate system of the spindle rotation center, and after rotational motion compensation, finally fusing them to generate a three-dimensional topographic point cloud of the gear under test at the target high temperature includes: For each lateral laser profile sensor, the rotation angle will be... For each data point in the contour measurement data below, the following processing is performed: Based on the corresponding calibrated spatial extrinsic parameters, the coordinates of the data points are... Coordinates transformed to the coordinate system of the spindle rotation center Based on coordinates Combined with rotation around the main axis center line The rotation matrix is ​​used to obtain the coordinates of the gear in the coordinate system under test. ;in Indicates the first The rotation angle of the gear under test based on the initial position is used during the first data acquisition. For the top laser rangefinder, rotate the angle For each data point in the axial height measurement data below, the following processing is performed: Based on the calibrated corresponding spatial extrinsic parameters, the axial height of the data point is calculated based on the origin of the coordinate system of the top laser rangefinder. Transform to the axial height of a specific reference plane based on the coordinate system of the spindle rotation center. Based on axial height Combined with rotation around the main axis center line The rotation matrix is ​​used to obtain the axial height in the coordinate system of the gear under test. ; Integrate all rotation angles coordinates of the gear under test in the coordinate system and axial height The three-dimensional topographic point cloud of the gear under test at the target high temperature was obtained.

10. The measurement method according to claim 6, characterized in that, The step of obtaining the deformation of the gear under test based on the three-dimensional topographic point cloud of the gear under test at the target high temperature, combined with the room temperature design model of the gear under test, includes: The three-dimensional topographic point cloud of the gear under test at the target high temperature is registered and compared with the design model of the gear under test at room temperature. The deformation of the gear under test is calculated. The deformation includes one or more of the following: tooth profile deviation, tooth direction deviation, tooth pitch deviation, and overall thermal deformation field.

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