CN-121972731-A - Ball gear processing method, device, equipment, medium and machine tool

CN121972731ACN 121972731 ACN121972731 ACN 121972731ACN-121972731-A

Abstract

The application discloses a ball gear processing method, a device, equipment, a medium and a machine tool, wherein the method comprises the steps of constructing a ball gear shaft section involute profile equation of a target ball gear; the method comprises the steps of constructing a grinding wheel shaft section involute profile equation of a grinding wheel according to the ball gear shaft section involute profile equation, wherein the involute profile of the ball gear shaft section of a target ball gear is identical to the involute profile of the grinding wheel shaft section, planning a processing path of the grinding wheel, determining initial processing parameters according to a tooth surface equation and the processing path of the grinding wheel, processing according to the initial processing parameters to obtain a middle ball gear, obtaining a tooth surface error between a tooth surface of the middle ball gear and a theoretical tooth surface of the target ball gear, and performing error back-tuning processing on the middle ball gear according to the tooth surface error to obtain the target ball gear. The application can realize the precise machining of the ball gear.

Inventors

HE HAIYU
ZHOU YUANSHENG
TANG JINYUAN
WANG QIANG

Assignees

中南大学

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (10)

1. A method of processing a ball gear, comprising: Constructing a ball gear shaft section involute profile equation of the target ball gear; constructing an involute profile equation of the section of the grinding wheel shaft of the grinding wheel according to the involute profile equation of the section of the ball gear shaft, wherein the involute profile of the section of the ball gear shaft of the target ball gear is identical to the involute profile of the section of the grinding wheel shaft; planning a processing path of the grinding wheel; determining initial machining parameters according to the tooth surface equation of the grinding wheel and the machining path; and processing according to the initial processing parameters to obtain an intermediate ball gear, obtaining a tooth surface error between the tooth surface of the intermediate ball gear and the theoretical tooth surface of the target ball gear, and performing error back-tuning processing on the intermediate ball gear according to the tooth surface error to obtain the target ball gear.
2. The method according to claim 1, wherein the step of obtaining a tooth surface error between the tooth surface of the intermediate ball gear and a theoretical tooth surface of the target ball gear, and performing an error back-tuning process on the intermediate ball gear according to the tooth surface error, to obtain the target ball gear, comprises: Performing on-machine measurement on the intermediate ball gear to obtain a first tooth surface error between the tooth surface of the intermediate ball gear and the theoretical tooth surface of the target ball gear; Under the condition that the first tooth surface error is larger than a first threshold value, based on a reverse adjustment optimization model, processing an intermediate ball gear according to the initial processing parameter and the first tooth surface error, and jumping to the intermediate ball gear for on-machine measurement to obtain a first tooth surface error between the tooth surface of the intermediate ball gear and the theoretical tooth surface of the target ball gear; And determining the intermediate ball gear as the target ball gear in a case where the first tooth surface error is less than or equal to the first threshold value.
3. The method according to claim 1, wherein the step of obtaining a tooth surface error between the tooth surface of the intermediate ball gear and a theoretical tooth surface of the target ball gear, and performing an error back-tuning process on the intermediate ball gear according to the tooth surface error, to obtain the target ball gear, comprises: performing topology measurement on the intermediate ball gear to obtain a second tooth surface error between the tooth surface of the intermediate ball gear and the theoretical tooth surface of the target ball gear; Under the condition that the second tooth surface error is larger than a second threshold value, based on a reverse adjustment optimization model, processing an intermediate ball gear according to the initial processing parameter and the second tooth surface error, and jumping to the on-machine measurement of the intermediate ball gear to obtain a second tooth surface error between the tooth surface of the intermediate ball gear and the theoretical tooth surface of the target ball gear; And determining the intermediate ball gear as the target ball gear in a case where the second tooth surface error is less than or equal to the second threshold value.
4. The method of processing a ball gear according to claim 1, wherein the grinding wheel is a finger-shaped grinding wheel, and the involute profile of the cross section of the ball gear shaft is identical to the involute profile of the cross section of the end shaft of the finger-shaped grinding wheel.
5. The method of claim 1 or 4, wherein the grinding wheel shaft section involute profile equation is constrained by the expression: ; Wherein r c represents an involute profile equation of a section of the grinding wheel shaft, r bs is a base circle radius of an involute, θ 0s is an angle parameter of an intersection point of the involute and the base circle, θ s is an involute gear surface parameter, and r is a spherical gear pitch circle radius.
6. The ball gear machining method according to claim 1, wherein the machining path of the grinding wheel is constrained by the following expression: ; Wherein θ is a circumferential parameter of the grinding wheel rotating around the ball gear, k is an interval tooth number of a tooth slot to be processed relative to a middle tooth slot, z is a ball gear tooth number, r oc represents a position of an origin o c of a grinding wheel coordinate system, and r oc represents a position of a grinding wheel coordinate axis y c .
7. A ball gear machining apparatus, comprising: the first construction module is used for constructing a ball gear shaft section involute profile equation of the target ball gear; The second construction module is used for constructing an involute profile equation of the section of the grinding wheel shaft according to the involute profile equation of the section of the ball gear shaft, wherein the involute profile of the section of the ball gear shaft of the target ball gear is identical to the involute profile of the section of the grinding wheel shaft; the planning module is used for planning the processing path of the grinding wheel; The determining module is used for determining initial processing parameters according to the tooth surface equation of the grinding wheel and the processing path; And the processing module is used for processing according to the initial processing parameters to obtain an intermediate ball gear, acquiring a tooth surface error between the tooth surface of the intermediate ball gear and the theoretical tooth surface of the target ball gear, and performing error back-tuning processing on the intermediate ball gear according to the tooth surface error to obtain the target ball gear.
8. A machine tool comprising a machine tool body and a controller for performing the ball gear machining method according to any one of claims 1 to 6.
9. An electronic device comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, performs the steps of the ball gear machining method of any one of claims 1 to 6.
10. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the ball gear machining method according to any one of claims 1 to 6.

Description

Ball gear processing method, device, equipment, medium and machine tool Technical Field The application relates to the technical field of machining, in particular to a ball gear machining method, a device, equipment, a medium and a machine tool. Background Ball gear birth source the requirement of multi-degree-of-freedom transmission. In emerging fields of robots, bionic machinery, vector propulsion and the like, conventional gears can only rotate around a single shaft, in order to realize multidirectional movement, ball gears are researched in academia and industry, the ball gears can remarkably simplify joint structures, and more complex smart movement is realized with fewer parts and more compact size. However, the ball gear belongs to a novel gear, and the existing domestic and foreign numerical control machine tools lack a special closed-loop manufacturing module for the ball gear, so that the precision machining of the ball gear is difficult to realize. Disclosure of Invention The application aims to provide a ball gear machining method, a device, equipment, a medium and a machine tool, which can realize the precise machining of a ball gear. According to an embodiment of the first aspect of the present application, a ball gear processing method includes: Constructing a ball gear shaft section involute profile equation of the target ball gear; constructing an involute profile equation of the section of the grinding wheel shaft of the grinding wheel according to the involute profile equation of the section of the ball gear shaft, wherein the involute profile of the section of the ball gear shaft of the target ball gear is identical to the involute profile of the section of the grinding wheel shaft; planning a processing path of the grinding wheel; determining initial machining parameters according to the tooth surface equation of the grinding wheel and the machining path; and processing according to the initial processing parameters to obtain an intermediate ball gear, obtaining a tooth surface error between the tooth surface of the intermediate ball gear and the theoretical tooth surface of the target ball gear, and performing error back-tuning processing on the intermediate ball gear according to the tooth surface error to obtain the target ball gear. According to a second aspect of the present application, a ball gear machining apparatus includes: the first construction module is used for constructing a ball gear shaft section involute profile equation of the target ball gear; The second construction module is used for constructing an involute profile equation of the section of the grinding wheel shaft according to the involute profile equation of the section of the ball gear shaft, wherein the involute profile of the section of the ball gear shaft of the target ball gear is identical to the involute profile of the section of the grinding wheel shaft; the planning module is used for planning the processing path of the grinding wheel; The determining module is used for determining initial processing parameters according to the tooth surface equation of the grinding wheel and the processing path; And the processing module is used for processing according to the initial processing parameters to obtain an intermediate ball gear, acquiring a tooth surface error between the tooth surface of the intermediate ball gear and the theoretical tooth surface of the target ball gear, and performing error back-tuning processing on the intermediate ball gear according to the tooth surface error to obtain the target ball gear. A machine tool according to an embodiment of a third aspect of the present application includes a machine tool body and a controller for performing the ball gear machining method according to the embodiment of the first aspect described above. An electronic device according to an embodiment of a fourth aspect of the present application comprises a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the ball gear machining method as in any of the embodiments of the first aspect described above. According to a fifth aspect of the present application, there is provided a computer-readable storage medium storing computer-executable instructions for performing the ball gear machining method according to the first aspect of the present application. In addition, the error detection is carried out on the intermediate ball gear obtained by preliminary processing to obtain the tooth surface error between the tooth surface of the intermediate ball gear and the theoretical tooth surface of the target ball gear, and then the error inverse adjustment correction is carried out based on the obtained tooth surface error, so that the target ball gear can be obtained by precise processing, and the intelligent manufacturing is realized. Additional features and advantages of the application will be set forth in the descrip