TWI786970B - Gear profile detection method for a medical high-torque gear - Google Patents

Abstract

A gear profile detection method for a medical high-torque gear is provided. The method includes the following steps: actuating a first motor so that a gear is driven to rotate; controlling a first laser scanner to scan the gear along an axle direction, thereby obtaining a first point data; controlling a second laser scanner to scan the gear along a direction perpendicular to the axle direction, thereby obtaining a second point data; using a processing unit to convert the first and second point data into a three-dimensional image file; using the processing unit to compare the overlap between the three-dimensional image file and a standard image file and measure the mismatch therebetween to determine whether the gear is a defective product or a good product accordingly. The three-dimensional image file can be constructed by using merely two laser scanners, thus reducing the number of the required component and increasing detection accuracy.

Description

Gear profile testing method for medical high torque gears

The invention relates to a tooth profile detection method of a gear, in particular to a gear profile detection method of a medical high-torque gear.

In the detection of gears, it is mainly divided into two types: contact type and non-contact type. In terms of contact, such as testing with a probe touching the surface of a gear, there is often a problem of wear.

In terms of non-contact detection, the problem of wear and tear is avoided. For example, Chinese Patent No. CN105783769A provides a three-dimensional profile measurement system for gears based on line laser scanning, including a line laser, a first image sensor, and a line laser. 2. Image sensor, stage, image acquisition card, rotary encoder, stepping motor, terminal with computing function. The gear to be measured is placed on the stage; the line laser is placed directly in front of the gear to be tested; the first image sensor and the second image sensor are respectively placed on both sides of the line laser, and There is an included angle between the lens direction and the optical axis of the line laser; the first image sensor and the second image sensor are electrically connected to the image acquisition card; the rotary encoder is arranged on the stage and connected to the terminal, It is used to record the rotation angle of the gear to be tested; the stepper motor is used to drive the stage to rotate, controlled by the terminal; the image acquisition card is connected to the terminal to control the first image sensor and the second image sensor Simultaneous switching and acquisition; the terminal is used to establish the three-dimensional profile of the gear.

However, in the aforementioned patent case, three devices including the first image sensor, the second image sensor and the line laser are required to jointly establish the three-dimensional profile of the gear, which is not conducive to the simplification of the number of devices.

Therefore, the present inventor proposes a gear profile detection method for a medical high-torque gear, which is used to detect a high-torque gear for medical use. The gear profile detection method for a medical high-torque gear includes: setting the gear in a A detection platform of the first motor, so that the gear rotates around an axis with the actuation of the first motor; controls a first laser scanner to scan the gear along the axis, and obtains a first point of data; controls a The second laser scanner scans the gear perpendicular to the axis to obtain a second point of data; a processing unit according to a scanning path of the first laser scanner and the second laser scanner, and the gear A rotation angle of the first point data and the second point data are converted into a three-dimensional image file; and the processing unit compares the three-dimensional image file with a standard image file; when the three-dimensional image file and the standard image file When the contours of the three-dimensional image file and the standard image file are not coincident, it is judged that there is an error between the three-dimensional image file and the standard image file; The error exists; when the error is greater than a range value, the processing unit determines that the gear is a defective product; when the error is not greater than the range value, or when the error does not exist, the processing unit determines that the gear is a Good product.

Further, after the processing unit determines that the gear is the defective product or the good product as a determination result, the processing unit outputs the determination result through an output unit.

Further, there is a feeding system, the feeding system has a second motor and a turntable combined with the second motor, a feeding device transports the gear to the turntable from a feeding position, and the second motor is activated to make the gear The turntable rotates so that the gear rotates with the turntable to a detection and retrieving position, and a first An arm takes the gear to the detection platform from the detection pick-up position; after the processing unit determines that the gear is the defective product or the good product, the first arm puts the gear back from the detection platform to the detection take-out material position, the second motor is activated again to rotate the turntable, so that the gear rotates correspondingly with the turntable to a position for picking up defective products or a position for picking up good products, and a second arm and a third arm respectively automatically The defective product picking position or the good product picking position moves the gear out from the turntable.

Further, after the fixed point on the turntable rotates from the feeding position with the turntable, it will pass through one of the detecting and picking position, the defective product picking position and the good product picking position, the The pick-up position for defective products and the other pick-up position for good products, and then switch back to the feed position.

Wherein, the type of the error is one or a combination of a single pitch error, an adjacent pitch error, an accumulated pitch error, and a tooth groove yaw error.

Wherein, the range value is between 1 micron and 3 microns.

Wherein, the range value is between 1 micron and 2 microns.

Wherein, the first motor is a servo motor.

Wherein, the 3D image file and the standard image file are both stereolithography (STereoLithography, STL) image files.

Further, after the processing unit determines that the gear is the defective product or the good product as a determination result, the processing unit stores the determination result through a database.

According to the above-mentioned technical characteristics, the following effects can be preferably achieved:

1. With the first laser scanner that scans along the axial direction and the second laser scanner that scans along the vertical axis, only two laser scanners are needed to completely construct a 3D image file, reducing the number of components , Increase detection accuracy.

2. Use non-contact detection to avoid the wear problem of contact detection.

3. After scanning by the first laser scanner and the second laser scanner, a three-dimensional image file is constructed, which is easier to assist engineers in analysis and interpretation.

4. After the processing unit obtains the judgment result, it can output it through the output unit, and store the judgment result in the storage unit, which is convenient for engineering personnel to check immediately, and can also regularly evaluate the factory yield rate, confirm whether the equipment needs to be replaced, and so on.

5. Through the rotation of the turntable, and with the automatic equipment such as the first arm, the second arm and the third arm, the gears can be detected and correctly classified one by one, and it is easy to realize a large number of inspections.

6. Through the arrangement of the feeding position, detection and retrieving position, defective product retrieving position and good product retrieving position, the turntable can receive a gear to be detected every time it rotates 90 degrees. Turning 270 degrees, the gear will be moved out of the turntable, which is convenient to put into the next gear to be tested, and the testing operation can be carried out smoothly.

7. The range value is between 1 micron and 3 microns, and can even be increased to between 1 micron and 2 microns. The detection accuracy is high, ensuring the accuracy of the subsequent application of gears in medical applications.

8. The first motor is a servo motor, with a built-in optical positioning system, which can improve the precision of the gear rotation, thereby increasing the accuracy of the 3D graphics.

9. The 3D graphics and standard graphics use stl graphics, which is convenient for directly comparing the 3D graphics with the standard graphics drawn by engineers.

1: gear

2: First motor

21: Detection platform

3: The first laser scanner

4: Second laser scanner

5: Processing unit

6: Output unit

7: Feeding system

71:Second motor

72: turntable

73: Feeding device

74: First Arm

741: card slot

75:Second Arm

76: Third Arm

8: Database

A: Feed position

B: Detect the reclaiming position

C: pick-up position for defective products

D: Good product pick-up position

[The first figure] is a schematic block diagram of the process of the embodiment of the present invention.

[The second figure] is a system block diagram of the embodiment of the present invention.

[Figure 3] is the first implementation schematic diagram of the embodiment of the present invention, showing that the feeding device transports the gears to the turntable from the feeding position.

[Figure 4] is a top view of the embodiment of the present invention, showing the relative positions of the feed position, detection and retrieving position, defective product retrieving position and good product retrieving position.

[FIG.5] is a partial enlarged view of the embodiment of the present invention, showing the card slot on the first arm.

[Figure 6] is the second implementation schematic diagram of the embodiment of the present invention, showing that the first arm is ready to take the gear to the testing platform.

[Figure 7] is the third schematic diagram of the implementation of the embodiment of the present invention, showing the detection by the first laser scanner and the second laser scanner.

Based on the above-mentioned technical features, the main functions of the gear profile detection method for medical high-torque gears of the present invention will be clearly presented in the following embodiments.

Please refer to the first figure to the third figure, which disclose the gear profile detection method of the high torque gear for medical use according to the embodiment of the present invention, which is used to detect a gear 1 with high torque for medical use. For example, the gear 1 can be For a dental handpiece, but the present invention is not limited thereto. The gear profile detection method of the medical high torque gear is mainly achieved by the following components:

A first motor 2 has a detection platform 21, and the detection platform 21 can rotate around an axis along with the first motor 2 when the first motor 2 is activated. Preferably, the first motor 2 can be a servo motor with a built-in optical positioning system.

A first laser scanner 3 is arranged along the axis and corresponds to the detection platform 21 .

A second laser scanner 4 is arranged perpendicular to the axis and corresponds to the detection platform 21 . In a preferred embodiment of the present invention, the first laser scanner 3 and the second laser scanner 4 are laser scanners of the scanCONTROL series from Micro-Epsilon.

A processing unit 5 is connected to the first motor 2 , the first laser scanner 3 and the second laser scanner 4 by signals. In a preferred embodiment of the present invention, the processing unit 5 selects FUJITSU's PRIMERGY TX2550 M5 vertical server to improve the calculation efficiency and accuracy of subsequent processing.

An output unit 6 is connected to the processing unit 5 for signals. The output unit 6 can be a display, even an alarm, etc., and the present invention is not limited thereto.

A feeding system 7 includes a second motor 71 , a turntable 72 , a feeding device 73 , a first arm 74 , a second arm 75 and a third arm 76 . The first arm 74, the second arm 75, and the third arm 76 each have a card slot 741, but the second arm 75, the third arm 76, and the upper arm are not shown in the drawings. The card slot 741 . The turntable 72 is combined with the second motor 71, and can rotate with the second motor 71 when the second motor 71 is activated, and the processing unit 5 is also connected to the second motor 71, the feeding device 73, the The first arm 74 , the second arm 75 and the third arm 76 .

A database 8 is signally connected to the processing unit 5 . The database 8 can be a physical hard disk, optical disk, flash drive, etc., or even cloud storage space, etc., which is not limited in the present invention.

Please refer to the second figure to the fourth figure, and please match the first figure, the feeding device 73, the first arm 74, the second arm 75 and the third arm 76 are respectively in a feeding position A, a detection The pick-up position B, a defective-product pick-up position C and a good-product pick-up position D are adjacent to the turntable 72 .

In more detail, after the fixed point on the turntable 72 rotates from the feeding position A with the turntable 72, it will pass through the detection and retrieving position B, the defective product retrieving position C and the Good product pick-up position D, and then turn back to the feeding position A. In actual implementation, according to the setting positions of the conveyor belts and boxes at the back end of the factory, the defective product picking position C and the good product picking position D can also be exchanged.

Please refer to the first picture, the fifth picture and the sixth picture, and please match the second picture and the fourth picture. The gear profile detection method of the medical high torque gear includes the following steps:

First, the processing unit 5 controls the feeding device 73 to transport the gear 1 from the feeding position A to the fixed point of the turntable 72, and controls the second motor 71 to actuate to rotate the turntable 72, thereby making the The gear 1 on the fixed point rotates with the turntable 72 to the detection and retrieving position B. At the same time, the latter gear 1 can be transported from the feeding position A to the turntable 72 by the feeding device 73, but only the first gear 1 will be used for illustration below, and the subsequent gear 1 will also follow Carry out the following procedure in sequence.

After the gear 1 reaches the detection and retrieving position B, the processing unit 5 controls the first arm 74 to insert the gear 1 into the slot 741, and rotates the first arm 74, so that the gear 1 is reclaimed from the detection Position B is taken to the detection platform 21 by the first arm 74 . During actual implementation, the card slot 741 may also be provided with a snap button or other structures to prevent the gear 1 from falling off during transportation, or the card slot 741 may be provided at both ends of the first arm 74, but not in the The above implementations are shown in the drawings.

Please refer to the second figure, the fourth figure and the seventh figure, and please match the first figure, after the gear 1 arrives at the detection platform 21 from the detection and retrieving position B, the processing unit 5 controls the first motor 2 to operate, And drive the detection platform 21 to rotate around the axial direction together with the gear 1 .

While the gear 1 rotates around the axis, the processing unit 5 controls and controls the first laser scanner 3 to scan the gear 1 along the axis to obtain a first point data, and controls a second laser The scanner 4 scans the gear 1 perpendicular to the axis to obtain a second point of data.

The processing unit 5 converts the first point data and the second point data according to a scanning path of the first laser scanner 3 and a scanning path of the second laser scanner 4 and a rotation angle of the gear 1 is a 3D image file, the processing unit 5 then compares the 3D image file with a standard image file.

Preferably, both the three-dimensional graphic file and the standard graphic file are stereolithography (STereoLithography, STL) graphic files, and the standard graphic file is, for example, the gear drawn by an engineer 1, so as to directly compare the three-dimensional drawing file with the standard drawing file, and it is easier to assist the engineering personnel in analysis and interpretation.

Since the first motor 2 is a servo motor, the rotation angle of the first motor 2 can be accurately recorded, thereby increasing the accuracy of the three-dimensional image file. In addition, with the first laser scanner 3 scanning along the axis and the second laser scanner 4 scanning perpendicular to the axis, only two laser scanners can be used in a non-contact manner. The complete construction of the three-dimensional image file can increase the detection accuracy and avoid the wear problem of contact detection while reducing the number of components.

When the contours of the three-dimensional image file and the standard image file do not coincide, it is determined that there is an error between the three-dimensional image file and the standard image file. The types of the error are, for example, single pitch error, adjacent pitch error, cumulative tooth Distance error and tooth groove deflection error.

When the error is greater than a range value, the processing unit 5 determines that the gear 1 is a defective product.

When the error is not greater than the range value, or when the three-dimensional image file coincides with the outline of the standard image file without the error, the processing unit 5 determines that the gear 1 is a good product.

Taking a single pitch error as an example, the processing unit 5 judges, for example, on the pitch circle diameter of the gear 1, whether the two adjacent teeth in the three-dimensional image file and the standard image file overlap. The difference in distance between two adjacent teeth on the diameter of the pitch circle is the error.

The range is between 1 micron and 3 microns, preferably between 1 micron and 2 microns. Since the range value can be as low as 1 micron to 2 microns, the detection accuracy is high, ensuring the accuracy of the subsequent use of the gear 1 .

After the processing unit 5 determines that the gear 1 is the defective product or the good product as a determination result, the processing unit 5 outputs the determination result through the output unit 6, and stores the result through the database 8 The result of the judgment is saved, which is convenient for the engineer to check immediately, and can also regularly or irregularly evaluate the factory yield rate, confirm whether the equipment needs to be replaced, and so on.

Simultaneously, the processing unit 5 controls the first arm 74 to return the gear 1 to the detection and retrieving position B from the detection platform 21, and controls the second motor 71 to actuate to rotate the turntable 72, thereby making the fixed point The gear 1 on the top rotates with the turntable 72 to the pick-up position C for defective products.

If the gear 1 is judged as the defective product, the processing unit 5 will control the second arm 75 to remove the gear 1 from the turntable 72; if the gear 1 is judged as the good product, the processing unit 5 will not Control the second arm 75 to act.

The processing unit 5 continues to control the second motor 71 to rotate the turntable 72, regardless of whether the gear 1 is on the fixed point, the fixed point will rotate with the turntable 72 to the good product picking position D.

If the gear 1 is judged as the defective product, since the gear 1 has already been removed, the processing unit 5 does not control the movement of the third arm 76; if the gear 1 is judged as the good product, the processing unit 5 changes Control the third arm 76 to move the gear 1 out of the turntable 72 .

The processing unit 5 continues to control the second motor 71 to rotate the turntable 72 , so that the fixed point turns back to the feeding position A along with the turntable 72 .

Through the arrangement of the feeding position A, the detection and retrieving position B, the defective product retrieving position C and the good product retrieving position D, as well as the first arm 74 , the second arm 75 and the third arm 76 With the matching of automatic equipment, the turntable 72 can receive a gear 1 to be detected every time it rotates 90 degrees, and the gears 1 can be detected and correctly classified one by one.

According to the configuration of the preferred embodiment of the present invention, after each of the gears 1 is detected, it will rotate 270 degrees with the turntable 72 at most, and the gear 1 will be picked up from the defective product picking position C or the good product The position D is moved out of the turntable 72, which is convenient to put the next gear 1 to be tested at the same fixed point, and the detection operation can be carried out smoothly, and it is easy to realize a large number of detections.

Finally, it is specially added that the above steps controlled by the processing unit 5, in addition to being operated by the engineering personnel with control buttons, pull rods, etc., can also be performed at regular intervals, such as controlling the rotation of the turntable 72 every 6 seconds. 90 degrees and so on.

Based on the description of the above-mentioned embodiments, it is possible to fully understand the operation of the present invention, use and the effect that the present invention produces, but the above-mentioned embodiments are only preferred embodiments of the present invention, and should not be used to limit the implementation of the present invention. The scope, that is, the simple equivalent changes and modifications made according to the patent scope of the present invention and the content of the description of the invention, all fall within the scope of the present invention.

1: gear

2: First motor

21: Detection platform

3: The first laser scanner

4: Second laser scanner

71:Second motor

72: turntable

73: Feeding device

74: First Arm

741: card slot

Claims (9)

A method for detecting the gear profile of a medical high-torque gear, which is used to detect a high-torque gear for medical use. The method for detecting the gear profile of a medical high-torque gear includes: a feeding system, the feeding system has a second motor and a combination of On a turntable of the second motor, a feeding device transports the gear to the turntable from a feeding position, and the second motor is activated to rotate the turntable, so that the gear rotates with the turntable to a detection and retrieving position, a first arm takes the gear to a detection platform of a first motor from the detection and retrieving position; the gear is arranged on the detection platform so that the gear rotates around an axial direction with the first motor actuation ; Control a first laser scanner to scan the gear along the axis to obtain a first point of data; control a second laser scanner to scan the gear perpendicular to the axis to obtain a second point of data; The processing unit converts the first point data and the second point data into a three-dimensional image file according to a scanning path of the first laser scanner and a scanning path of the second laser scanner and a rotation angle of the gear ; and the processing unit compares the three-dimensional image file with a standard image file; when the contours of the three-dimensional image file and the standard image file do not coincide, it is judged that there is an error between the three-dimensional image file and the standard image file; When the contours of the three-dimensional image file and the standard image file coincide, it is determined that there is no error between the three-dimensional image file and the standard image file; when the error is greater than a range value, the processing unit determines that the gear is a defective product ; when the error is not greater than the range value, or when the error does not exist, the processing unit determines that the gear is a good product; after the processing unit determines that the gear is the defective product or the good product, the first arm automatically The testing platform Put the gear back to the detection picking position, the second motor is activated again to rotate the turntable, so that the gear rotates with the turntable to a defective product picking position or a good product picking position, and a first Two arms and a third arm respectively move the gear out from the turntable from the defective product picking position or the good product picking position. The gear profile detection method for medical high-torque gears as described in Claim 1, further, after the processing unit determines that the gear is the defective product or the good product as a determination result, the processing unit outputs through an output unit The judgment result. The gear profile detection method for medical high-torque gears as described in claim 1, further, after a fixed point on the turntable rotates from the feeding position with the turntable, it passes through the detection and feeding position sequentially after each rotation of 90 degrees , One of the defective product retrieving position and the good product retrieving position, the other of the defective product retrieving position and the good product retrieving position, and then switch back to the feeding position. The gear profile detection method for medical high-torque gears as described in Claim 1, wherein the type of error is one of single pitch error, adjacent pitch error, cumulative pitch error, and tooth gap yaw error, or its combination. The gear profile testing method for medical high-torque gears according to Claim 4, wherein the range value is between 1 micron and 3 microns. The gear profile testing method for medical high-torque gears as described in Claim 5, wherein the range value is between 1 micron and 2 microns. The gear profile detection method for medical high-torque gears according to claim 1, wherein the first motor is a servo motor. The gear profile detection method for medical high-torque gears as described in claim 1, wherein both the 3D image file and the standard image file are stereolithography (STereoLithography, STL) image files. The gear profile detection method for medical high-torque gears as described in Claim 1, further, after the processing unit determines that the gear is the defective product or the good product as a determination result, the processing unit stores the gear in a database The judgment result.

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