CN101941170A - Method for grinding interference-free periphery of curve surface of vane - Google Patents

Abstract

The invention discloses a method for grinding an interference-free periphery of a curve surface of a vane. Four-axle-linked grinding equipment and a grinding wheel peripheral arc structure are adopted. The method comprises the following steps of: 1) clamping in a mode that an axis of the vane is along a Z-axis direction; 2) setting an initial swing angle alpha for an axle A; 3) determining a normal grinding radius of a point to be processed; 4) determining a rotation angle beta of a workbench along an axle B; 5) determining a grinding contact point fitting with the vane on the surface of a grinding wheel; 6) linking an axle X, an axle Y, an axle Z and the axle B; and 7) repeating the process, and forming a continuous grinding track to complete the overall grinding. The method has the characteristics of high processing precision and high production efficiency, and is suitable for grinding various materials which are difficult to process and various curve surfaces of vanes without curvature mutations.

Description

A kind of spoon of blade does not have the method for interfering peripheral grinding

Technical field

The invention belongs to field of machining, being specifically related to a kind of spoon of blade does not have the method for interfering peripheral grinding.

Background technology

The special surface configuration of blade has determined the processing technology that it is complicated.Processing of leaves has a variety of technologies available according to processing conditions, and adopting multi-shaft interlocked Cutter Body Processing with Machining Center blade at present is a kind of common methods.Because be subjected to the restriction of cutter, to the blade of difficult-to-machine material, this method operating efficiency is very low; Another kind of processing technology is the CNC sbrasive belt grinding, but the sbrasive belt grinding technology of China also is in developing stage, its shortcoming has: cutting linear velocity is low, life-span in abrasive band short (about 2～4h, often using 1h just can not continue to use), description be not complete, because the elasticity in abrasive band makes the shape and the precision of processing be restricted (precision of present China sbrasive belt grinding is 20～10 μ m) etc.

The advance of numerically control grinder and grinding technique thereof, the particularity of application at home and abroad generally receive publicity.A kind of in the prior art is to adopt the end face after the crushing to carry out grinding with the form of a contact, adopts the equipment of five-axle linkage, adapts to the processing of spoon of blade with the angle of swing bistrique.But the efficient of this processing method can not satisfy development in science and technology to the processing of leaves requirement, and the problem that adopts the circumference of emery wheel grinding to exist grinding to interfere.

Summary of the invention

The object of the present invention is to provide a kind of method that adopts four-axle linked numerical control grinding spoon of blade;

Another object of the present invention is to provide a kind of method for grinding that spoon of blade is carried out efficiently and do not have interference.

Mainly solve the bottleneck of present spoon of blade numerical control grinding technique, overcome in the grinding interfere and grinding efficiency between restriction problem, can not have the still high efficiency correct grinding of finishing spoon of blade under the prerequisite of interfering.

Above-mentioned technical problem of the present invention is mainly solved by following technical proposals: a kind of spoon of blade does not have the method for interfering peripheral grinding, employing has the A axle and does not link, X, Y, the four-axle linked grinding machine equipment of Z, B, it comprises lathe bed, column, emery wheel, workbench, bistrique, numerical control parts and workpiece blade, its structure branch of used emery wheel: the radius at emery wheel central cross-section place, emery wheel outer arc radius, emery wheel axostylus axostyle radius is characterized in that:

Method step:

1), axis of runner blade is along the mode clamping of Z-direction;

2), earlier the A axle is provided with initial pivot angle α for avoiding interfering.Initial pivot angle α depends on the size of the range of work, grinding wheel diameter, emery wheel axostylus axostyle and holder part, and the designing user interactive interface is imported initial pivot angle α value by the engineer in program; Workbench is fixing behind A axle swing α, obtains the unit normal vector of each processing stand and the position vector in lathe coordinate system then, remembers that this initial per unit system vector is n _w(e _X0, e _Y0, e _Z0), the initial position vector is p _w(x _W0, y _W0, z _W0);

3), determine to be processed some normal direction grinding radius.Determine that according to the angle of emery wheel axis and to be processed some method vector normal direction grinding radius is Wherein R is the radius (7) at emery wheel central cross-section place;

4), judge the interference situation of each processing stand, determine the rotation amount of workbench: adopt row cutting method grinding blade around the B axle, with etc. the parameter section line be machining path, grinding machining direction on the blade is perpendicular to axis of runner blade, and the initial grinding tangential direction of point to be processed and machining direction are in first-class parameter cross section; If a certain radius of curvature along initial grinding tangential direction to be processed does not meet the grinding requirement, be axle then with this normal direction, make the tangential direction of grinding rotate a suitable angle and find and can satisfy the grinding cross section that radius of curvature requires, promptly on this section line the radius of curvature at point to be processed place greater than normal direction grinding radius; Make workbench around B axle rotation β angle, make this tangential direction of putting new grinding cross section, satisfy the grinding requirement of this point, then upgrade the position vector and the per unit system vector of this processing stand perpendicular to the emery wheel axis;

5), determine on the wheel face can with the Grinding Contact point of blade match: find on the emery wheel periphery one with upgrade after the consistent Grinding Contact point of processing stand method vector, this Grinding Contact point is overlapped with point to be processed on the blade by the translation of three of X, Y, Z, thus the amount of movement of three of definite X, Y, Z;

6), the utilization numerical control parts implements the four-axle linked of three of X, Y, Z and B axle, realizes not having the interference grinding;

7), each processing stand repeats said process, forms continuous grinding track, finally finishes whole nothings interference grindings of spoon of blade.

The invention has the beneficial effects as follows: provide a kind of effective and easy method for spoon of blade adopts peripheral grinding, realized not having the grinding of interference.This method has made full use of the geometrical feature of being with circular arc periphery wheel face can adapt to the different processing stand method of curved surface vector, carries out grinding with the geometry of the best.The present invention has good processing accuracy, characteristics that production efficiency is high, has improved spoon of blade machining accuracy and surface quality.Be applicable to various difficult-to-machine materials and do not have the grinding of all kinds of spoon of blades of curvature mutation, and provide technical conditions for the combination processing that realizes many bistriques.

Description of drawings

Fig. 1: the critical piece schematic diagram of four-axle linked equipment.

Fig. 2: grinding wheel structure schematic diagram.

Fig. 3: axis of runner blade is along the clamping schematic diagram of Z-direction.

Fig. 4: normal direction grinding radius schematic diagram.

Fig. 5: grinding cross section curve curvature changes schematic diagram.

Fig. 6: spoon of blade does not have the peripheral grinding of interference method block diagram.

Specific implementation method

Embodiment:

In conjunction with Figure of description 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 enforcement of the present invention is specifically addressed.

Among the figure: the radius at 1 lathe bed, 2 columns, 3 emery wheels, 4 workbench, 5 bistriques, 6 numerical control partses, 7 emery wheel central cross-section places, 8 emery wheel outer arc radius, 9 emery wheel axostylus axostyle radiuses, 10 blades, 11 points to be processed, 12 emery wheel axis, 13 to be processed somes method vectors, 14 wheel grindings circle, the minor axis end points place radius of curvature of 15 ellipses, 16 faces of cylinder, the section line of 17 cylinders, 18 elliptical cross section upper threads, initial pivot angle α, B axles rotate the β angle.

As shown in Figure 1, be wherein a kind of version of four-axle linked equipment.Splicing construction before and after lathe bed 1 adopts, external crucible is provided with X on one's body to guide rail, matches with workbench 4 upper rail slide blocks; Back lathe bed is provided with Z to guide rail, matches with column 2 upper rail slide blocks.Column 2 is provided with Y to guide rail, matches with bistrique 5 upper rail slide blocks.Or column 2 is fixed on the lathe bed 1, and design has Z to guide rail on the workbench 4, and workbench 4 can be made X, Z to motion, and bistrique 5 is made Y to motion; Or column 2 is fixed on the lathe bed 1, and column 2 lateral layout have planker, and planker is made Y to motion, and bistrique 5 is made Z to motion on carriage rail, and workbench 4 is made X to motion.Described each X-axis, Y-axis, Z axle all design the servo-drive system that is connected with numerical control parts 6, and design has the mechanism that can do swing of A axle and the rotation of B axle on the workbench 4.Four-axle linked equipment can have other multiple version.

As shown in Figure 2, emery wheel 3 designs have cylindrical to adopt the shape of circular arc periphery, and being beneficial to does not have the grinding of interference.The structure of emery wheel has radius 7, emery wheel outer arc radius 8, the emery wheel axostylus axostyle radius 9 at emery wheel central cross-section place.The concrete parameter of the structure of emery wheel can be chosen according to the curvature of blade.

Embodiment 1:

As Fig. 1, Fig. 3, Fig. 4, Fig. 5, shown in Figure 6, grinding process and principle are described in conjunction with example:

Present embodiment is processed as example with 100mm twisted blade inner arc wheel grinding, is divided into parameter cross sections such as N from blade root to integral shroud along the high direction of leaf, and every section line is divided into M equally distributed processing stand, and the value of M, N is set according to required precision.N has determined the processing line-spacing, the M influence processing amount of feeding.Obtain the data such as coordinate figure, unit normal vector, each point radius of curvature of each processing stand by program.

Step 1: blade 10 axis are along the mode clamping of Z-direction, and leaf root part is away from column and emery wheel, install like this to adapt to the circumference of emery wheel grinding.

Step 2: before the processing, consider that the part such as listrium, integral shroud of blade 10 and anchor clamps may bump with emery wheel axostylus axostyle etc.The initial pivot angle that the A axle is set is avoided collision, the size of determining to depend on the range of work, grinding wheel diameter and emery wheel axostylus axostyle or other parts of initial pivot angle.This pre-pivot angle of User Interface input by program is designated as α.Make panoramic table then after the A axle is rotated counterclockwise α, obtain the initial unit normal vector of each processing stand and the initial position vector in lathe coordinate system, be designated as n respectively _w(e _X0, e _Y0, e _Z0) and p _w(x _W0, y _W0, z _W0).

Step 3: determine point 11 normal direction grinding radiuses to be processed.Determine that according to the emery wheel axis 12 and the angle of to be processed some method vector 13 normal direction grinding radius is

Wherein R is the radius 7 at emery wheel central cross-section place, and this derivation is as follows:

Because the angle of emery wheel axis 12 directions and to be processed some method vector 13 is γ (γ ≠ 90 °), the normal direction grinding radius of emery wheel at the processing stand place is the minor axis end points place radius of curvature 15 of the projection ellipse of wheel grinding circle 14 on to be processed some method vector 13 directions, in order to simplify calculating,, be as normal direction grinding radius with the normal direction grinding radius of maximum ρ _MaxBe normal direction grinding radius, wherein γ is the angle of to be processed some method vector 13 and emery wheel axis 12 (0,0 ,-1):

$\cos \mathrm{\γ}=(\mathrm{0,0},-1)\·\stackrel{\→}{n}=-e_z\⇒\mathrm{\γ}=\mathrm{\π}-\arccos e_z$

Wherein R is the radius of emery wheel central cross-section.

Step 4: judge the interference situation of each processing stand, determine the rotation amount of workbench around the B axle.

Add man-hour, blade 10 clampings are on the workbench 4 of α at pivot angle, emery wheel 3 along etc. the parameter section line be machining path, adopt the processing of row cutting method.Grinding machining direction on the blade is perpendicular to axis of runner blade, and point to be processed 11 initial grinding tangential directions and machining direction are in first-class parameter cross section.The relation of point 11 more to be processed radius of curvature and normal direction grinding radius on the grinding cross section is as normal direction grinding radius ρ _MaxInterfere greater than 11 place's radius of curvature ρ ' times of point to be processed.With near the tiny area the point to be processed 11 abstract be the part on the face of cylinder 16 of ρ ' for radius.With point 11 normal directions to be processed is axle, make the grinding cross section rotate a suitable angle in the tangential direction at this some place, make the section line 17 of cylinder become elliptical cross section upper thread 18 by circle because of rotation, utilize the Changing Pattern of elliptical curvature, find and to satisfy the tangential direction cross section that radius of curvature will be looked for novelty, determine new grinding tangential direction.Workbench 4 drives blades 10 around the revolution of B axle, makes the new tangential direction cross section of this point perpendicular to the emery wheel axis, satisfies the grinding requirement of this point, determines the rotation amount β of workbench 4 around the B axle thus.The method vector after upgrading the position vector and the per unit system vector of each processing stand and judging renewal and the angle of Z axle are to the influence of machining interference problem.

Computational process is as follows:

1) determines the angle of initial grinding cross section tangential direction around the rotation of processing stand method vector Circular section, rotation back line 17 becomes major axis and equals Minor axis equals ρ ' elliptical cross section upper thread 18, and the radius of curvature on new section line then to be processed is the radius of curvature at elliptical cross section upper thread minor axis end points place, that is:

Make ρ and " equal normal direction grinding radius ρ _Max, try to achieve

2) determine the tangential direction τ in initial grinding cross section ₁The unit vector of note processing stand machining direction is Try to achieve the angle of processing stand machining direction vector and normal vector:

$\cos \mathrm{\γ}=e_{x0}\⇒\mathrm{\γ}=\arccos e_{x0}.$

Then make the machining direction unit tangent vector turn over around the unit vector that itself and normal vector multiplication cross obtain

Promptly obtain processing the tangent vector in cross section.According to the hypercomplex number method:

The corresponding hypercomplex number of machining direction vector: Г=0+i

The rotating shaft L of this conversion is (e _X0, e _Y0, e _Z0) * (1,0,0)=(0, e _Z1,-e _Y1), its unit vector is designated as:

The anglec of rotation is θ, represents that then the real hypercomplex number of this rotation is:

${\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000222787300011.png"\; state="\{\{state\}\}">R</figure-callout>}}_1=\cos \frac{\mathrm{\&theta;}}{2}+\sin \frac{\mathrm{\&theta;}}{2}\&CenterDot;l=\cos \frac{\mathrm{\&theta;}}{2}+\left(\frac{e_{z0}}{\sqrt{1-e_{x0}^2}}\sin \frac{\mathrm{\&theta;}}{2}\right)j-\left(\frac{e_{y0}}{\sqrt{1-e_{x0}^2}}\sin \frac{\mathrm{\&theta;}}{2}\right)k$

$R_1^{-1}=\cos \frac{\mathrm{\&theta;}}{2}-\sin \frac{\mathrm{\&theta;}}{2}\&CenterDot;l=\cos \frac{\mathrm{\&theta;}}{2}-\left(\frac{e_{z0}}{\sqrt{1-e_{x0}^2}}\sin \frac{\mathrm{\&theta;}}{2}\right)j+\left(\frac{e_{y0}}{\sqrt{1-e_{x0}^2}}\sin \frac{\mathrm{\&theta;}}{2}\right)k$

Therefore obtain tangent vector Г after the machining direction rotation ₁

${\mathrm{\&Gamma;}}_1={\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HSA00000222787300011.png"\; state="\{\{state\}\}">R</figure-callout>}}_1\mathrm{\&Gamma;}{R}_1^{-1}=\cos \mathrm{\&theta;i}-\sin \mathrm{\&theta;}\&CenterDot;\frac{e_{y0}}{\sqrt{1-e_{x0}^2}}j-\sin \mathrm{\&theta;}\&CenterDot;\frac{e_{z0}}{\sqrt{1-e_{x0}^2}}k$

Abbreviation becomes to contain e _X0, e _Y0, e _Z0Form be

${\mathrm{\&Gamma;}}_1=\sqrt{1-e_{x0}^2}i-\frac{e_{x0}{e}_{y0}}{\sqrt{1-e_{x0}^2}}j-\frac{e_{x0}{e}_{z0}}{\sqrt{1-e_{x0}^2}}k$

Г ₁Corresponding unit vector is ${\mathrm{\&tau;}}_1=(\sqrt{1-e_{x0}^2},-\frac{e_{x0}{e}_{y0}}{\sqrt{1-e_{x0}^2}},-\frac{e_{x0}{e}_{z0}}{\sqrt{1-e_{x0}^2}})$

3) determine the tangent vector τ of new grinding section line at point to be processed place ₂Make τ ₁Rotate around to be processed some method vector

The angle can obtain τ ₂, according to hypercomplex number method Г ₁Winding vector (e _X1, e _Y1e _Z1) rotation

After become Г ₂, represent that the hypercomplex number of this rotation is:

Corresponding unit vector is

4) determine τ ₂Rotate to B axle rotation amount β with the emery wheel axis normal.According to the hypercomplex number method: the unit vector of rotating shaft B is: b=(0, cos α ,-sin α), and then the hypercomplex number around B axle rotation β is expressed as:

${\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="HSA00000222787300021.png"\; state="\{\{state\}\}">R</figure-callout>}}_3=\cos \frac{\mathrm{\&beta;}}{2}+\sin \frac{\mathrm{\&beta;}}{2}\&CenterDot;b=\cos \frac{\mathrm{\&beta;}}{2}+\left(\cos \mathrm{\&alpha;}\sin \frac{\mathrm{\&beta;}}{2}\right)j-\left(\sin \mathrm{\&alpha;}\sin \frac{\mathrm{\&beta;}}{2}\right)k$

$R_3^{-1}=\cos \frac{\mathrm{\&beta;}}{2}-\sin \frac{\mathrm{\&beta;}}{2}\&CenterDot;b=\cos \frac{\mathrm{\&beta;}}{2}-\left(\cos \mathrm{\&alpha;}\sin \frac{\mathrm{\&beta;}}{2}\right)j+\left(\sin \mathrm{\&alpha;}\sin \frac{\mathrm{\&beta;}}{2}\right)k$

${\mathrm{\&Gamma;}}_3={\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="HSA00000222787300021.png"\; state="\{\{state\}\}">R</figure-callout>}}_3{\mathrm{\&Gamma;}}_2{R}_3^{-1}$

Make hypercomplex number Г ₃The coefficient of middle k is zero, obtains the β value.

Step 4: the per unit system vector n that determines point to be processed behind B axle rotation β _W1(e _X1, e _Y1, e _Z1)

With position vector p _W1=(x _W1, y _W1, z _W1).The initial unit normal vector n of processing stand _w(e _X0, e _Y0, e _Z0) and initial position vector p _w(x _W0, y _W0, z _W0) corresponding hypercomplex number is respectively N _w=0+e _X0I+e _Y0J+e _Z0K and P _w=0+x _W0I+y _W0J+z _W0K, then n _wAnd r _wRotate getting of β around the B axle:

${\mathrm{<figure-callout\; id="1"\; label="N\; w"\; filenames="HSA00000222787300011.png"\; state="\{\{state\}\}">N</figure-callout>}}_w=R_3{N}_w{R}_3^{-1}$

${\mathrm{<figure-callout\; id="1"\; label="P\; w"\; filenames="HSA00000222787300011.png"\; state="\{\{state\}\}">P</figure-callout>}}_w=R_3{P}_w{R}_3^{-1}$

Determine the grinding points on the emery wheel periphery, by emery wheel 3 with respect to three translations of X, Y, Z of workbench 4 with Grinding Contact point and processing stand match, determine the translational movement of three of X, Y, Z.

Scope μ ∈ (π, 0],

In, the emery wheel working surface is described as follows:

$\left\{\begin{array}{c}x(\mathrm{\&mu;},\mathrm{\&nu;})=R^{\&prime;}\cos \mathrm{\&mu;}\\ y(\mathrm{\&mu;},\mathrm{\&nu;})=R^{\&prime;}\sin \mathrm{\&mu;}\\ z(\mathrm{\&mu;},\mathrm{\&nu;})=r\sin \mathrm{\&nu;}\end{array}\right.---\left(1\right)$

Wherein: r abrasive wheel grinding wheel arc radius surface, R '=R-r+r cos ν

Arbitrfary point (x (μ on the tool coordinate system medium plain emery wheel working surface then _t, ν _t), y (μ _t, ν _t), z (μ _t, ν _t)) unit normal vector can be expressed as:

$n_T=\frac{r_{\mathrm{\&mu;}}\&times;r_{\mathrm{\&nu;}}}{|r_{\mathrm{\&mu;}}\&times;r_{\mathrm{\&nu;}}|}{|}_{({\mathrm{\&mu;}}_t,{\mathrm{\&nu;}}_t)}$ That is:

n _T＝(cosν _t?cosμ _t，cosν _t?sinμ _t，sinν _t) (2)

Step 5: determine on the wheel face can with the Grinding Contact point of blade match.

According to fitting condition---the unit normal vector of contact point is consistent with to be processed some unit normal vector on the emery wheel working surface, then has:

n _w1·n _t＝-1 (3)

Formula (2) substitution formula (3) is got:

e _x1?cosν _t?cosμ _t+e _y1?cosν _t?sinμ _t+e _z1?sinν _t＝-1 (4)

μ in the formula (4) _tValue is by n _W1At X _MO _MZ _MProjection in the plane and X _MThe angle decision of axle is shown below:

${\mathrm{\&mu;}}_t=\arccos \frac{e_{x1}}{\sqrt{e_{x1}^2+e_{y1}^2}}-\mathrm{\&pi;}---\left(5\right)$

Formula (5) substitution formula (4) is tried to achieve:

${\mathrm{\&nu;}}_t=\arccos e_{z1}-\frac{\mathrm{\&pi;}}{2}---\left(6\right)$

With formula (5), formula (6) substitution formula (1) is calculated the coordinate that can not have the point of interfering match on the emery wheel outer fringe surface with point to be processed.That is the position vector r of contact point in tool coordinate system, _T(x _t, y _t, z _t, 1), each component value is as follows:

$\left\{\begin{array}{c}{x}_t=x({\mathrm{\&mu;}}_t,{\mathrm{\&nu;}}_t)=R^{\&prime;}\cos {\mathrm{\&mu;}}_t=-(R-r)\frac{e_{x1}}{\sqrt{e_{x1}^2+e_{y1}^2}}-{\mathrm{re}}_{x1}\\ y_t=y({\mathrm{\&mu;}}_t,{\mathrm{\&nu;}}_t)=R^{\&prime;}\sin {\mathrm{\&mu;}}_t=-(R-r)\frac{e_{y1}}{\sqrt{e_{x1}^2+e_{y1}^2}}-{\mathrm{re}}_{y1}\\ z_{t=z({\mathrm{\&mu;}}_t,{\mathrm{\&nu;}}_t)=r\sin {\mathrm{\&nu;}}_t=-{\mathrm{<figure-callout\; id="1"\; label="re\; z"\; filenames="HSA00000222787300011.png"\; state="\{\{state\}\}">re</figure-callout>}}_z}\end{array}\right.$

According to the position relation of tool coordinate system and lathe coordinate system, determine the position vector of contact point in lathe coordinate system:

$r_M(x_m,y_m,z_m)=\stackrel{\&RightArrow;}{O_M{O}_T}+r_T$

By

Try to achieve r _M(x _m, y _m, z _m) linear vector be:

r _M(x _m，y _m，z _m，1)＝(x _t，y _t+y _t0，z _t，1)

At last, by translation matrix T _T, with r _MMove to r _WThe position finish match, formula is as follows:

$r_W(x_w,y_w,z_w,1)=r_M\&CenterDot;T_L=r_T\&CenterDot;\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ x_l& y_l& {\mathrm{<figure-callout\; id="1"\; label="z\; l"\; filenames="HSA00000222787300011.png"\; state="\{\{state\}\}">z</figure-callout>}}_l& 1\end{array}\right]$

Try to achieve T _T, determine the translational movement of three of X, Y, Z.

Step 6: adopt device as schematically shown in Figure 1, utilization numerical control parts 6 is implemented the four-axle linked of three of X, Y, Z and B axle, realizes the nothing interference grinding to this point.

Step 7: each processing stand repeats said process, makes M continuous grinding track of some formation on the blade 10, is finally finished whole nothings interference grindings of spoon of blade again by the grinding track on N the face.

A kind of spoon of blade of the present invention does not have the peripheral grinding of interference device and method, moves examination grinding aero-compressor blade on the mill MKH450 that is shaped entirely at product numerical control column.

Specific embodiment of the present invention is that technical pattern of the present invention is illustrated, the technical staff of the technical field of the invention may be to the specific embodiment of foregoing description, make the additional or similar mode of some modifications and replace, but can not depart from the essence spirit of the technology of the present invention innovation scheme or surmount the defined scope of claims.

Claims (1)

1. a spoon of blade does not have the method for interfering peripheral grinding, employing has the A axle and does not link, X, Y, the four-axle linked grinding machine equipment of Z, B, it comprises lathe bed (1), column (2), emery wheel (3), workbench (4), bistrique (5), numerical control parts (6) and workpiece blade (10), it is characterized in that:

Method step:

1), blade (10) axis is along the mode clamping of Z-direction;

2), the A axle is provided with initial pivot angle α.Workbench (4) is fixing behind A axle swing α, obtains the unit normal vector of each processing stand and the position vector in lathe coordinate system then, remembers that this initial per unit system vector is n _w(e _X0, e _Y0, e _Z0), the initial position vector is p _w(x _W0, y _W0, z _W0);

3) determine point to be processed (11) normal direction grinding radius.Determine that according to the emery wheel axis (12) and the angle of to be processed some method vector (13) normal direction grinding radius is

Wherein R is the radius (7) at emery wheel central cross-section place;

4), judge the interference situation of each processing stand, determine the rotation amount of workbench: adopt row cutting method grinding blade (10) around the B axle, with etc. the parameter section line be machining path, grinding machining direction on the blade (10) is perpendicular to blade (10) axis, and grinding tangential direction that point to be processed (11) is initial and machining direction are in first-class parameter cross section;

Make workbench around B axle rotation β angle, make this tangential direction of putting new grinding cross section, satisfy the grinding requirement of this point, then upgrade the position vector and the per unit system vector of this processing stand perpendicular to the emery wheel axis;

5), determine on emery wheel (3) surface can with the Grinding Contact point of blade (10) match: find on emery wheel (3) periphery one with upgrade after the consistent Grinding Contact point of processing stand method vector, this Grinding Contact point is overlapped with point to be processed (11) on the blade by the translation of three of X, Y, Z, thus the amount of movement of three of definite X, Y, Z;

6), utilization numerical control parts (6) implements the four-axle linked of three of X, Y, Z and B axle, realizes not having the interference grinding;

7), each processing stand repeats said process, forms continuous grinding track, finally finishes whole nothings interference grindings of spoon of blade.

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