CN104385083B - Cup emery wheel variable location basic circle convex surface workpiece grinding processing method - Google Patents

Abstract

The invention discloses and use the cup emery wheel being arranged on 5-shaft linkage numerical control lathe that convex surface workpiece is processed, in the course of processing, the control system output control signal control cup emery wheel of Digit Control Machine Tool makes cup emery wheel process along grinding track, and control system output center point running orbit control signal controls the movement locus of cup emery wheel end face central point, the radius making the location basic circle constituted with the line that cup emery wheel end face central point is the center of circle and point of contact for radius is gradually reduced along with process time and cutting output change, point of contact is made to be always ensured that as wear point non-on abrasive wheel end face；Control system output angle control signal simultaneously, abrasive wheel end face is made to keep tangent contact with processed convex surface all the time by adjusting emery wheel axis of rotation angle, point of contact is positioned on grinding track, and the angle of emery wheel axis of rotation is consistent with the normal vector of the processed convex surface at point of contact.Use this method to not only increase working (machining) efficiency, more improve machining accuracy.

Description

Cup emery wheel variable location basic circle convex surface workpiece grinding processing method

Technical field

The present invention relates to workpiece grinding processing method, be specifically related to convex surface workpiece grinding processing method.

Background technology

Along with the progress of science and technology, the hard brittle material such as engineering ceramics, optical glass is widely used to Aero-Space, life The fields such as thing science and technology, optical engineering.Due to its reason such as high rigidity, high-precision requirement so that their processing is the most tired Difficult.Now the main machining method of application be utilize the point of a knife track of emery wheel come grinding forming and cup emery wheel cross grinding from Processing method by convex surface workpiece.Both approaches can control to add by controlling the distance between two cutter paths The precision of work and surface quality.And the second forming method solves the low efficiency problem of first method, but due to In course of processing medium plain emery wheel serious wear, abrasive wheel end face cannot ensure machining accuracy after anchor point abrasion so that overall Machining accuracy be affected.

Application publication number be 102528663A " point rotating member with straight line-enveloped profile line is the processing of convex function revolving meber Method ", for solve processing convex function revolving body workpieces present in technical problem and provide adding of a kind of variable single voxel Work method, the method is used the periphery of straight-type wheel to carry out grinding, and is mended by the single voxel constantly changed on emery wheel Repay the error caused due to single voxel abrasion, it is ensured that while grinding efficiency, improve grinding accuracy, but the method is only fitted For processing the revolving body workpieces that bus is convex functional curves, it is impossible to processing non-turning body convex surface workpiece, and above-mentioned side Method is only applicable to three-axis numerical control lathe process.

Summary of the invention

It is an object of the invention to overcome the shortcoming of prior art, it is provided that emery wheel is repaiied by a kind of avoiding in the course of processing Whole, improve working (machining) efficiency and more improve the cup emery wheel variable location basic circle convex surface workpiece grinding of machining accuracy and add Work method.

The cup emery wheel variable location basic circle convex surface workpiece grinding processing method of the present invention, it comprises the following steps:

The cup emery wheel being arranged on 5-shaft linkage numerical control lathe is used convex surface workpiece to be processed, in the course of processing The control system output control signal of Digit Control Machine Tool controls cup emery wheel makes cup emery wheel process along grinding track, and controls System output center point running orbit control signal processed controls the movement locus of cup emery wheel end face central point, makes with cup-shaped sand Wheel end face central point is the center of circle and the line of point of contact is that the radius positioning basic circle that radius is constituted along with process time and is cut The amount of cutting change is gradually reduced, and makes point of contact be always ensured that as wear point non-on abrasive wheel end face；Control system output angle simultaneously Control signal, makes abrasive wheel end face keep phase cut-grafting with processed convex surface all the time by adjusting emery wheel axis of rotation angle Touching, point of contact is positioned on grinding track, the normal vector of the processed convex surface at the angle of emery wheel axis of rotation and point of contact Unanimously；

Generating of central point running orbit control signal performs following steps generation to described cup emery wheel end face central point The numerical control order of movement locus: (1) calculates the coordinate under workpiece coordinate system of the point of contact on any one grinding track And the tangent vector coordinate of this point of contact；(2) cup emery wheel end face location base radius change function is utilized, in step (1) In the point of contact coordinate that obtains and the tangent vector coordinate of point of contact, calculate cup emery wheel end face central point at workpiece coordinate system Under coordinate；(3) cup emery wheel end face center point coordinate under workpiece coordinate system is converted into coordinate under Cutter coordinate system, raw The movement locus coordinate data of cup-shaped abrasive wheel end face central point, then carries out post processing generation to movement locus coordinate data Digit Control Machine Tool drives the lathe order of cup emery wheel.

The present invention has the advantage that with good effect:

1. changing according to process time and cutting output in the course of processing, the location base radius gradually variable speed on emery wheel subtracts Few, the moment ensures to position on cup emery wheel end face the precision of basic circle, adds the surface utilization rate of abrasive wheel end face time processing, Avoid the finishing to emery wheel in the course of processing, compare former method, not only increase working (machining) efficiency, more improve and add Work precision.

2. utilize abrasive wheel end face radius change function, determine the position of abrasive wheel end face central point, the wear law of abrasive wheel end face Incorporated among numerical control processing track, make any moment all add using unworn position on abrasive wheel end face to carry out grinding Work, it is to avoid the error that abrasion of grinding wheel causes, expands the effective usable floor area of abrasive wheel end face.

3. processing object is become free convex surface workpiece from revolving body workpieces, expands the range of application of this method.

Accompanying drawing explanation

Fig. 1 is the course of processing signal of the cup emery wheel variable location basic circle convex surface workpiece grinding processing method of the present invention Figure；

Fig. 2 is the schematic diagram of the emery wheel central point algorithm used in the inventive method；

Fig. 3 is that the workpiece coordinate system used in the inventive method is to Cutter coordinate system transition diagram.

Detailed description of the invention

With specific embodiment, the present invention is described in detail below in conjunction with the accompanying drawings.

This patent is based on the processing method that existing patent point rotating member with straight line-enveloped profile line is convex function revolving meber.

This method is the expansion that cup emery wheel lines enveloping becomes single voxel technology, utilizes cup emery wheel transverse plane to complete convex song The grinding of face workpiece, first determines that abrasive wheel end face (i.e. bottom surface) radius is the circle of R1, with the abrasive wheel end face centre of gyration O_CUPFor the center of circle) as location basic circle, as it is shown in figure 1, by adjusting emery wheel axis of rotation A_WAngle make emery wheel edge Grinding track and add man-hour, abrasive wheel end face and curve surface of workpiece are tangential on the some C1 point on the basic circle of emery wheel location (in Article 1 Point of contact on grinding track S1, coordinate is T₁ ^W), and the most important thing is, the location base radius on processing medium plain emery wheel R1 changes the reduction of gradually variable speed along with process time and cutting output, as it is shown in figure 1, location base radius R1 according to Cup emery wheel end face radii loss function R (t) gradually becomes R2 (R1 > R2), and (loss function R (t) is tested by abrasion of grinding wheel Obtaining, t is the grinding time), by this radius change, it is always ensured that location basic circle is non-wear point institute on emery wheel bottom surface Justifying, finally processed workpiece configurations by emery wheel bottom surface.In figure, (coordinate is T to C2 point₂ ^W) it is at Article 2 grinding track Point of contact on S2.

In conjunction with above-mentioned principle, the cup emery wheel variable location basic circle convex surface workpiece grinding processing method of the present invention, it includes Following steps: use the cup emery wheel being arranged on 5-shaft linkage numerical control lathe that convex surface workpiece is processed, in processing During Digit Control Machine Tool control system output control signal control cup emery wheel make cup emery wheel along grinding track process, And control system output center point running orbit control signal control cup emery wheel end face central point movement locus, make with Cup emery wheel end face central point is that the center of circle radius that line is the location basic circle that radius is constituted with point of contact is along with adding man-hour Between and cutting output change be gradually reduced, make point of contact be always ensured that as wear point non-on abrasive wheel end face；Control system is defeated simultaneously Go out angle control signal, make abrasive wheel end face keep phase with processed convex surface all the time by adjusting emery wheel axis of rotation angle Cut-grafting is touched, and point of contact is positioned on grinding track, the method for the processed convex surface at the angle of emery wheel axis of rotation and point of contact Vector is consistent.

In the course of processing, abrasive wheel end face location base radius tapers into according to its abrasion function R (t), makes abrasive wheel end face On grinding points be non-wear point all the time.

As the present invention one preferred embodiment, the generation of central point running orbit control signal performs following steps Generate the numerical control order of the movement locus to described cup emery wheel end face central point: (1) calculates any one grinding track Si (i=1,2,3 ... the coordinate (x under workpiece coordinate system WCS of the point of contact on)^w _c1,y^w _c1,z^w _c1) and this point of contact is tangential Amount coordinate T₁ ^W((t^w _xc1,t^w _yc1,t^w _zc1) it is T₁ ^WUnder WCS (Workpiece Coordinate System) coordinate system Component)；(2) cup emery wheel end face location base radius change function R (t), cutting of obtaining in step (1) are utilized The tangent vector coordinate of contact coordinate and point of contact, calculates cup emery wheel end face central point O_cupUnder workpiece coordinate system WCS Coordinate；(3) by cup emery wheel end face center point coordinate O under workpiece coordinate system WCS_cupIt is converted into Cutter coordinate system MCS Coordinate under (Machine Coordinate System), generates the movement locus number of coordinates of cup emery wheel end face central point According to, then movement locus control signal coordinate data is carried out post processing and generates the lathe life of Digit Control Machine Tool driving cup emery wheel Order.

Described calculating cup emery wheel end face central point O_cupAlgorithm, with a C1 as example, utilizes C1 point at workpiece coordinate system Under coordinate (x^w _c1,y^w _c1,z^w _c1), any one grinding trajectory s1 be at point of contact tangent vector coordinate T₁ ^W(t^w _xc1,t^w _yc1,t^w _zc1) And cup emery wheel end face location base radius R1, calculate now O_cupCoordinate (x under workpiece coordinate system WCS^w _CUP, y^w _CUP,z^w _CUP), specific algorithm is as follows:

x^w _CUPC1=x^w _c1+R(1)*t^w _xc1

y^w _CUPC1=y^w _c1+R(1)*t^w _yc1

z^w _CUPC1=z^w _c1+R(1)*t^w _zc1

Owing to, in the course of processing, abrasive wheel end face radius changes according to radius abrasion function R (t), above formula promote, Obtain any all contacts (x on grinding wheel movement to any one grinding track S2^w,y^w,z^w) time, corresponding O_cupPosition Coordinate calculating formula is:

Cup emery wheel end face central point O corresponding under workpiece coordinate system_cupThe computing formula of position coordinates be:

x^w _CUP=x^w+R(t)*t^w _x

y^w _CUP=y^w+R(t)*t^w _y

z^w _CUP=z^w+R(t)*t^w _z

(x in formula^w,y^w,z^w) it is all contacts any coordinate under workpiece coordinate system on any one grinding track S2；

(t^w _x,t^w _y,t^w _z) it is this any one point of contact tangent vector under workpiece coordinate system；

R (t) is that cup emery wheel positions base radius wear law, and t is the grinding time, and this radius change function is ground by emery wheel Damage test to obtain；

Grinding wheel movement is to arbitrarily all contacts, cup emery wheel end face central point O on grinding track S2_cupUnder workpiece coordinate system Position coordinates is as follows to Cutter coordinate system MCS conversion formula:

$\left[\begin{array}{c}{X^M}_{cup}\\ {Y^M}_{cup}\\ {Z^M}_{cup}\end{array}\right]=\left[\begin{array}{ccc}{\mathrm{cos\α}}_1& {\mathrm{cos\α}}_2& {\mathrm{cos\α}}_3\\ {\mathrm{cos\β}}_1& {\mathrm{cos\β}}_2& {\mathrm{cos\β}}_3\\ {\mathrm{cos\γ}}_1& {\mathrm{cos\γ}}_2& {\mathrm{cos\γ}}_3\end{array}\right]\left[\begin{array}{c}{x^W}_{cup}\\ {y^W}_{cup}\\ {z^W}_{cup}\end{array}\right]+\left[\begin{array}{c}{X^M}_{ow}\\ {Y^M}_{ow}\\ {Z^M}_{ow}\end{array}\right]$

In formula: (x^w _CUP, y^w _CUP, z^w _CUP) it is cup emery wheel end face central point coordinate under workpiece coordinate system；

(X^M _OW,Y^M _OW,Z^M _OW) it is the initial point O of workpiece coordinate system_WCoordinate under Cutter coordinate system MCS；Generally set workpiece coordinate System (WCS) is identical with Cutter coordinate system (MCS) initial point, then [x^M _OW,y^M _OW,z^M _OW]=[0,0,0]

α₁, β₁, γ₁The X of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system WCS_W、Y_WAnd Z_WThe angle of axle；

α₂, β₂, γ₃The Y of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system WCS_W、Y_WAnd Z_WThe angle of axle；

α₃, β₃, γ₃The Z of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system WCS_W、Y_WAnd Z_WThe angle of axle；

As the present invention one preferred embodiment, the generation of angle control signal performs following steps:

Under workpiece coordinate system WCS, the normal vector N of the processed convex surface at calculating point of contact₁ ^W, (N in figure₂ ^WIt is second The normal vector of a point of contact on bar Cutting trajectory)；Then processed convex by point of contact under workpiece coordinate system WCS The normal vector N of curved surface₁ ^W,It is converted into normal vector under Cutter coordinate system MCS, generates emery wheel axis of rotation angle-data, to sand Wheel axis of rotation angle-data carries out post processing, ultimately produces Digit Control Machine Tool processing command code (G code).

Under workpiece coordinate system WCS, any all contacts (x on grinding track S2^w,y^w,z^w) normal vector (n at place^w _x,n^w _y,n^w _z) As follows to Cutter coordinate system MCS conversion formula:

$\left[\begin{array}{c}{n_x}^M\\ {n_y}^M\\ {n_z}^M\end{array}\right]=\left[\begin{array}{ccc}{\mathrm{cos\α}}_1& {\mathrm{cos\α}}_2& {\mathrm{cos\α}}_3\\ {\mathrm{cos\β}}_1& {\mathrm{cos\β}}_2& {\mathrm{cos\β}}_3\\ {\mathrm{cos\γ}}_1& {\mathrm{cos\γ}}_2& {\mathrm{cos\γ}}_3\end{array}\right]\left[\begin{array}{c}{n^w}_x\\ {n^w}_y\\ {n^w}_z\end{array}\right]$

In formula: (n^M _x,n^M _y,n^M _z) it is normal vector (n under workpiece coordinate system WCS^w _x,n^w _y,n^w _z) component under Cutter coordinate system；

α₁, β₁, γ₁The X of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system WCS_W、Y_WAnd Z_WThe angle of axle；

α₂, β₂, γ₂The Y of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system WCS_W、Y_WAnd Z_WThe angle of axle；

α₃, β₃, γ₃The Z of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system WCS_W、Y_WAnd Z_WThe angle of axle.

Embodiment 1

Processing k9 glass pieces, utilizes resinoid bond corundum cup emery wheel, a diameter of 5cm of abrasive wheel end face, grinding wheel graininess For 120#, Five-axis NC Machining Center is processed.Concrete procedure of processing is as follows:

Processing glass pieces quadratic surface, if its expression formula is (under workpiece coordinate system):

The cup emery wheel being arranged on 5-shaft linkage numerical control lathe is used above-mentioned convex surface workpiece to be processed, processed In journey, the control system output control signal of Digit Control Machine Tool makes cup emery wheel process along grinding track to cup emery wheel, and Control system output center point running orbit control signal controls the movement locus of cup emery wheel end face central point, makes with cup-shaped The radius that abrasive wheel end face central point is the center of circle with the line of point of contact is the location basic circle that radius is constituted along with process time and Cutting output change is gradually reduced, and makes point of contact be always ensured that as wear point non-on abrasive wheel end face；Control system output angle simultaneously Degree control signal, makes abrasive wheel end face keep phase cut-grafting with processed convex surface all the time by adjusting emery wheel axis of rotation angle Touching, point of contact is positioned on grinding track, the normal vector of the processed convex surface at the angle of emery wheel axis of rotation and point of contact Unanimously.

Using plane x=2, cut above-mentioned curved surface, obtaining machining locus mathematic(al) representation is:

$\frac{y^2}{9}+\frac{z^2}{4}=\frac{3}{4}---\left(2\right)$

On this machining locus, the expression formula of the unit tangent vector at any point (point of contact) place is:

$\[0,9z,-4y\]/\sqrt{81z^2+16y^2}---\left(3\right)$

On this machining locus, the unit normal vector expression formula at any point is:

$\[\frac{x}{8},\frac{2y}{9},\frac{z}{2}\]/\sqrt{\frac{x^2}{64}+\frac{4y^2}{81}+\frac{z^2}{4}}---\left(4\right)$

If cup emery wheel end face radius abrasion Changing Pattern function is:

R (t)=(0.695-0.0003t) dm (t unit be minute) (5)

With on machining locus (2) a bitAs a example by, it is assumed that now emery wheel machined 5 minutes,

The most now have:

R (5)=0.6935dm

According to formula (3), the unit tangent vector at this point is:

$\left[\begin{array}{ccc}0,& \frac{\sqrt{6}}{2},& -\frac{2\sqrt{3}}{3}\end{array}\right]$

Its unit is turned to: [0,0.728 ,-0.686] (6)

According to formula (4), the unit normal vector at this point is:

[0.3419,0.6447,0.6837]

By x^w=2；z^w=1

R (t)=0.6935

t^w _x=0；t^w _y=0.728；t^w _z=-0.686

Bring cup emery wheel end face central point O under workpiece coordinate system into_cupThe calculating formula of position coordinates:

x^w _CUP=x^w+R(t)*t^w _x

y^w _CUP=y^w+R(t)*t^w _y (7)

z^w _CUP=z^w+R(t)*t^w _z

Cup emery wheel end face central point O can be obtained_cupPosition coordinates:

x^w _CUP=2+0.6935 × 0=2

${y^w}_{CUP}=\frac{3\sqrt{2}}{2}+0.6935\×0.728=2.6262$

z^w _CUP=1+0.6935 × (-0.686)=0.5243

Under workpiece coordinate system, abrasive wheel end face central point O_cupPosition coordinates be

[x^w _CUP,y^w _CUP,z^w _CUP]=(2,2.6262,0.5243)

If workpiece coordinate system (WCS) is identical with Cutter coordinate system (MCS) initial point, then [x^M _OW,y^M _OW,z^M _OW]=[0,0,0]；

If workpiece coordinate system (WCS) and Cutter coordinate system (MCS) each coordinate axes angle are as follows:

α₁=30, β₁=120, γ₁=90

α₂=30, β₂=60, γ₂=90

α₃=90, β₃=90, γ₃=0

Cup emery wheel end face central point O_cupPosition coordinates [x under workpiece coordinate system^w _CUP,y^w _CUP,z^w _CUP] turn to Cutter coordinate system MCS Change:

According to workpiece coordinate system (WCS) and the transition matrix of Cutter coordinate system (MCS):

$\left[\begin{array}{c}{X^M}_{cup}\\ {Y^M}_{cup}\\ {Z^M}_{cup}\end{array}\right]=\left[\begin{array}{ccc}{\mathrm{cos\α}}_1& {\mathrm{cos\α}}_2& {\mathrm{cos\α}}_3\\ {\mathrm{cos\β}}_1& {\mathrm{cos\β}}_2& {\mathrm{cos\β}}_3\\ {\mathrm{cos\γ}}_1& {\mathrm{cos\γ}}_2& {\mathrm{cos\γ}}_3\end{array}\right]\left[\begin{array}{c}{x^W}_{cup}\\ {y^W}_{cup}\\ {z^W}_{cup}\end{array}\right]+\left[\begin{array}{c}{X^M}_{ow}\\ {Y^M}_{ow}\\ {Z^M}_{ow}\end{array}\right]$

Can obtain point (2,2.6262,0.5243) coordinate under Cutter coordinate system under workpiece coordinate system:

$\left[\begin{array}{c}4.006\\ 0.3131\\ 0.5243\end{array}\right]=\left[\begin{array}{ccc}\cos 30& \cos 30& \cos 90\\ \cos 120& \cos 60& \cos 90\\ \cos 90& \cos 90& \cos 0\end{array}\right]\left[\begin{array}{c}2\\ 2.6262\\ 0.5243\end{array}\right]+\left[\begin{array}{c}0\\ 0\\ 0\end{array}\right]$

PointNormal vector [0.3419,0.6447,0.6837] to Cutter coordinate system (MCS) change:

$\left[\begin{array}{c}0.8544\\ 0.1515\\ 0.6837\end{array}\right]=\left[\begin{array}{ccc}cos30& cos30& cos90\\ cos120& \cos 60& \cos 90\\ cos90& cos90& cos0\end{array}\right]\left[\begin{array}{c}0.3419\\ 0.6447\\ 0.6837\end{array}\right]$

Finally give the abrasive wheel end face central point O at this point under Cutter coordinate system_cupCoordinate under Cutter coordinate system (MCS) For:

(4.006,0.3131,0.5243)

Under Cutter coordinate system, the normal vector at this point is:

[0.8544,0.1515,0.6837]

The coordinate of Cutter coordinate system lower grinding wheel end face central point and normal vector, post-treated after be digitally controlled lathe order, Grinding wheel movement is driven when digital control processing.All coordinate points on cutter rail, all through this flow processing, then obtain emery wheel end The trajectory coordinates of face central point, post-treated, finally give the numerical control program driving Digit Control Machine Tool processing.

Through inspection, when not using set position basic circle method, emery wheel processing 32 minutes after, the complete blunt of cutting edge, institute Finished surface, elapses over time, and precision is more and more lower, deviates setting value 0.005mm from initial machining accuracy, expands Big to 0.01mm.When using this set position basic circle method, after emery wheel is 57 minutes process time, monitor workpiece to be machined Surface, machining accuracy is maintained at 0.005mm.

Claims (5)

1. cup emery wheel variable location basic circle convex surface workpiece grinding processing method, it is characterised in that it comprises the following steps:

Use the cup emery wheel being arranged on 5-shaft linkage numerical control lathe that convex surface workpiece is processed, number in the course of processing Control lathe control system output control signal control cup emery wheel makes cup emery wheel along grinding track process, and control be System output center point running orbit control signal controls the movement locus of cup emery wheel end face central point, makes with cup emery wheel end face Central point is that the center of circle radius that line is the location basic circle that radius is constituted with point of contact is along with process time and cutting output change It is gradually reduced, makes point of contact be always ensured that as wear point non-on abrasive wheel end face；Control system output angle control signal simultaneously, Making abrasive wheel end face keep tangent contact with processed convex surface all the time by adjusting emery wheel axis of rotation angle, point of contact is positioned at On grinding track, the angle of emery wheel axis of rotation is consistent with the normal vector of the processed convex surface at point of contact；

Generating of central point running orbit control signal performs following steps generation to described cup emery wheel end face central point The numerical control order of movement locus: (1) calculates the coordinate under workpiece coordinate system of the point of contact on any one grinding track and is somebody's turn to do The tangent vector coordinate of point of contact；(2) utilize cup emery wheel end face location base radius change function, obtain in step (1) Point of contact coordinate and the tangent vector coordinate of point of contact, calculate cup emery wheel end face central point seat under workpiece coordinate system Mark；(3) cup emery wheel end face center point coordinate under workpiece coordinate system is converted into coordinate under Cutter coordinate system, generates cup-shaped sand The movement locus coordinate data of wheel end face central point, then carries out post processing generation Digit Control Machine Tool and drives movement locus coordinate data The lathe order of dynamic cup emery wheel.

Cup emery wheel the most according to claim 1 variable location basic circle convex surface workpiece grinding processing method, its feature exists In:

In workpiece coordinate system lower grinding wheel moves to the cup emery wheel end face that on any one grinding track, all contacts any are corresponding The computing formula of the position coordinates of heart point is:

x^w _CUP=x^w+R(t)*t^w _x

y^w _CUP=y^w+R(t)*t^w _y

z^w _CUP=z^w+R(t)*t^w _z

(x in formula^w,y^w,z^w) it is all contacts any coordinate under workpiece coordinate system on any one grinding track；

(t^w _x,t^w _y,t^w _z) it is this any one point of contact tangent vector under workpiece coordinate system；

R (t) is that cup emery wheel positions base radius wear law, and t is the grinding time, and this radius change function is by abrasion of grinding wheel Test obtains.

Cup emery wheel the most according to claim 2 variable location basic circle convex surface workpiece grinding processing method, its feature exists In:

Grinding wheel movement is sat to all contacts any on grinding track, cup emery wheel end face central point position under workpiece coordinate system Mark as follows to Cutter coordinate system conversion formula:

$\left[\begin{array}{c}{X^M}_{cup}\\ {Y^M}_{cup}\\ {Z^M}_{cup}\end{array}\right]=\left[\begin{array}{ccc}{\mathrm{cos\α}}_1& {\mathrm{cos\α}}_2& {\mathrm{cos\α}}_3\\ {\mathrm{cos\β}}_1& {\mathrm{cos\β}}_2& {\mathrm{cos\β}}_3\\ {\mathrm{cos\γ}}_1& {\mathrm{cos\γ}}_2& {\mathrm{cos\γ}}_3\end{array}\right]\left[\begin{array}{c}{x^W}_{cup}\\ {y^W}_{cup}\\ {z^W}_{cup}\end{array}\right]+\left[\begin{array}{c}{X^M}_{ow}\\ {Y^M}_{ow}\\ {Z^M}_{ow}\end{array}\right]$

In formula: (x^w _CUP, y^w _CUP, z^w _CUP) it is cup emery wheel end face central point coordinate under workpiece coordinate system；

(X^M _OW,Y^M _OW,Z^M _OW) it is the initial point O of workpiece coordinate system_WCoordinate under Cutter coordinate system；If workpiece coordinate system and add work area Mark system initial point is identical, then [x^M _OW,y^M _OW,z^M _OW]=[0,0,0]

α₁, β₁, γ₁The X of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system_W、Y_WAnd Z_WThe angle of axle；

α₂, β₂, γ₃The Y of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system_W、Y_WAnd Z_WThe angle of axle；

α₃, β₃, γ₃The Z of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system_W、Y_WAnd Z_WThe angle of axle.

Cup emery wheel the most according to claim 3 variable location basic circle convex surface workpiece grinding processing method, its feature exists In:

The generation execution following steps of angle control signal:

Under workpiece coordinate system, the normal vector of the processed convex surface at calculating point of contact；Then by contact under workpiece coordinate system The normal vector of the processed convex surface at Dian is converted into normal vector under Cutter coordinate system, generates emery wheel axis of rotation angle-data, Emery wheel axis of rotation angle-data is carried out post processing, ultimately produces Digit Control Machine Tool processing command code.

Cup emery wheel the most according to claim 4 variable location basic circle convex surface workpiece grinding processing method, its feature exists In:

Under workpiece coordinate system, on grinding track, the normal vector at all contacts any is as follows to Cutter coordinate system conversion formula:

$\left[\begin{array}{c}{n_x}^M\\ {n_y}^M\\ {n_z}^M\end{array}\right]=\left[\begin{array}{ccc}{\mathrm{cos\α}}_1& {\mathrm{cos\α}}_2& {\mathrm{cos\α}}_3\\ {\mathrm{cos\β}}_1& {\mathrm{cos\β}}_2& {\mathrm{cos\β}}_3\\ {\mathrm{cos\γ}}_1& {\mathrm{cos\γ}}_2& {\mathrm{cos\γ}}_3\end{array}\right]\left[\begin{array}{c}{n^w}_x\\ {n^w}_y\\ {n^w}_z\end{array}\right]$

In formula: (n^M _x,n^M _y,n^M _z) it is normal vector (n under workpiece coordinate system^w _x,n^w _y,n^w _z) component under Cutter coordinate system；

α₁, β₁, γ₁The X of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system_W、Y_WAnd Z_WThe angle of axle；

α₂, β₂, γ₂The Y of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system_W、Y_WAnd Z_WThe angle of axle；

α₃, β₃, γ₃The Z of------Cutter coordinate system_MAxle is with the X of workpiece coordinate system_W、Y_WAnd Z_WThe angle of axle.