CN106041740B - A kind of grinding wheel precise dressing automatic tool preset method and device - Google Patents
A kind of grinding wheel precise dressing automatic tool preset method and device Download PDFInfo
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- CN106041740B CN106041740B CN201610588655.4A CN201610588655A CN106041740B CN 106041740 B CN106041740 B CN 106041740B CN 201610588655 A CN201610588655 A CN 201610588655A CN 106041740 B CN106041740 B CN 106041740B
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- grinding wheel
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- peak
- automatic tool
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- 238000000227 grinding Methods 0.000 title claims abstract description 157
- 238000006073 displacement reaction Methods 0.000 claims description 27
- 238000005259 measurement Methods 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims 1
- 238000005296 abrasive Methods 0.000 description 5
- 239000002356 single layer Substances 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000005070 sampling Methods 0.000 description 4
- 239000006061 abrasive grain Substances 0.000 description 3
- 229910001651 emery Inorganic materials 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 239000003082 abrasive agent Substances 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical Effects 0.000 description 1
- 230000002093 peripheral Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B53/00—Devices or means for dressing or conditioning abrasive surfaces
- B24B53/06—Devices or means for dressing or conditioning abrasive surfaces of profiled abrasive wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/18—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the presence of dressing tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
Abstract
The invention discloses a kind of grinding wheel precise dressing automatic tool preset method and devices.Grinding wheel precise dressing automatic tool preset method includes the following steps:Step 1 acquires height of each point relative to sensor zero point on the surface of grinding wheel to be trimmed, with the peak on determination wheel face to be trimmed with sensor;The peak of grinding wheel to be trimmed is turned to the position opposite with trimmer in direction of feed by step 2;Step 3 moves grinding wheel to be trimmed along direction of feed, until the peak of grinding wheel to be trimmed is zero at a distance from trimmer is on direction of feed axis, and using this position as feed starting point.This be actually directly using the peak of grinding wheel to be trimmed be basic point carry out entirely grinding wheel to be trimmed to knife, it is this to knife mode can the peak of accurate realization wheel face carry out to knife, so that grinding wheel to be trimmed is during reconditioning, it is to proceed by feeding from the peak on surface, to improve precision of the grinding wheel to be trimmed to knife.
Description
Technical field
The present invention relates to a kind of grinding wheel precise dressing automatic tool preset method and devices.
Background technology
Currently, it is to ensure the ideal size of grinding wheel, surface profile and pattern that crushing, which is in grinding wheel manufacture and application,
Necessary means, the purpose is to the precision for making wheel face obtain and grinding performances.But for being electroplated and being brazed super-abrasive grinding
For wheel, since wheel face only has single layer abrasive material, the exposed height of abrasive grain is irregular and has grinding wheel often in the fabrication process
Eccentric phenomena, therefore the finishing on single layer abrasive grinding wheel surface then should more be treasured, it is desirable to crushing is sensitiveer to knife, smart to knife
Higher is spent, no consuming excessively it will cause grinding wheel increases production cost.
Crushing presetting cutter method is more, and respectively has feature.It is loaded and is changed using machine tool chief axis(Such as modify power, torque,
Electric current etc.)To the method for knife, it can reflect the situation of tangential Dressing Force during crushing, but be difficult to reflect normal direction Dressing Force
Variation;Using lathe, grinding wheel, workpiece system conduction to the method for knife, sensitivity is higher, but is not suitable for coarseness grinding wheel and non-
Conductive binding agent sand wheel etc.;Using microswitch or optoelectronic switch etc. to the method for knife, because of the exposed height of the abrasive grain of wheel face
It is irregular, so it is difficult to it is highest or minimum to judge to trigger the exposed height of the abrasive grain of microswitch or optoelectronic switch, from
And lead to that the randomness of the presetting cutter method is big, is difficult to obtain grinding wheel cylindrical face peak information, it is low to knife precision.Based on above-mentioned original
Cause, at present in crushing field, manually to knife(It estimates, ear is listened, feel)It is still mainstream, although manually to the operation of knife letter
It is single, practical, but it haves the shortcomings that efficiency is low, precision is low, stability is poor, requires operator's technical merit high.
Chinese patent literature CN 200951522Y disclose a kind of grinding wheel micro-precision finishing tool setting device, including fixation
Testing stand on pedestal, testing stand are in the front of grinding wheel, ultrasonic sensor are fixed with below testing stand, with right
When knife, for grinding wheel in the case of high-speed rotation, using compressed air blow-through grinding wheel surface to be trimmed, while grinding wheel is with constant speed
Tool setting device is approached, ultrasonic sensor acquires ultrasonic signal at this time, and ultrasonic signal is fed back at ultrasonic analysis
Reason device is handled, and to send out interrupt signal to digital control system after determining to knife signal, and is calculated according to present coordinate values
The appearance and size for going out grinding wheel is determined the relative coordinate of grinding wheel and dresser, and is repaiied using this coordinate as feed starting point
Whole operation.But when in the process, grinding wheel reaches tool setting position under the circumference of the high-speed rotation, it is assumed that grinding wheel cylindrical is proper circle,
It is difficult to which whether determining grinding wheel is that also just cannot achieve the accurate of grinding wheel with highest point contact dresser in feed start position
To knife so that the precision of crushing reduces, and is particularly unsuited for single layer abrasive grinding wheel to knife.Meanwhile ultrasonic sensor into
It is easy during row signal acquisition to be influenced by environmental noise, and there are no ripe dry technologies of removing both at home and abroad, thus surpass
The collected ultrasonic signal of sonic sensor has that precision is low, more so that the centering accuracy of grinding wheel.
Invention content
The object of the present invention is to provide a kind of peaks of accurate realization wheel face to carry out the grinding wheel accurate repair to knife
Whole automatic tool preset method, while it is accurate to additionally provide a kind of grinding wheel being exclusively used in implementing the grinding wheel precise dressing automatic tool preset method
Trimming device.
In order to achieve the goal above, the technical solution of medium plain emery wheel precise dressing automatic tool preset method of the present invention is as follows:
Grinding wheel precise dressing automatic tool preset method, includes the following steps:
Step 1, computer-controlled servo motor drive grinding wheel to be trimmed at the uniform velocity to rotate, and simultaneous computer passes through non-contact
Displacement sensor acquires the height and phase information of grinding wheel cylindrical week to be modified upper each point;
Step 2, computer go up at the height and phase information of each point the grinding wheel cylindrical week to be modified sampled
Reason, with the relative altitude of the peak on determination grinding wheel cylindrical surface to be trimmed and phase angle;
Step 3, computer-controlled servo motor drive grinding wheel rotation to be trimmed, make the highest in grinding wheel cylindrical face to be modified
Point turns to the position opposite with microswitch;
Step 4, computer control feeding motor drives grinding wheel to be trimmed to be moved along direction of feed, until grinding wheel to be trimmed
Stop when the peak of excircle is with microswitch contact response, and records the coordinate of grinding wheel to be trimmed currently in feed direction
Position;
Step 5, according to trimmer endpoint and microswitch in feed direction at a distance from, computer control feeds motor
Grinding wheel to be trimmed is driven to reach the peak in grinding wheel cylindrical week to be modified and the endpoint coordinate in feed direction of dresser
Equal position, and using this position as the starting point of crushing feed.
In step 1, the periphery of the measurement direction of non-contact displacement transducer perpendicular to grinding wheel to be modified.
The straight line for crossing the contact of microswitch and the axle center of grinding wheel to be modified is residing for grinding wheel cylindrical week to be modified upper each point
The X-axis or Y-axis of cross shafting.
The contact of microswitch is in the depth of cut direction side of the endpoint of trimmer, and is defined on direction of feed axis
The distance between the response location of position switch and the endpoint of trimmer are to zero distance, and in step 5, feeding motor drives
The distance that grinding wheel to be modified retracts is equal to zero distance.
The technical solution of the grinding wheel precise dressing automatic tool setting device of the present invention is as follows:
Grinding wheel precise dressing automatic tool setting device, including computer and connect thereon for acquiring grinding wheel cylindrical to be trimmed
The non-contact displacement sensor of the elevation information of each point on week, is used for band at the servo motor for driving grinding wheel rotation to be trimmed
The feeding motor of dynamic grinding wheel feeding to be modified, the microswitch that distance is kept fixed for the endpoint with trimmer, calculate equipment
It is useful for the feeding control unit of the feed-disabling motor when grinding wheel to be modified triggers microswitch.
The output end that the measurement direction of non-contact displacement sensor crosses servo motor is centrally disposed and be used for measurement direction
Perpendicular to grinding wheel cylindrical face.
The position of noncontacting proximity sensor is fixed, and the feeding side of the measurement direction of noncontacting proximity sensor and feeding motor
Between have for grinding wheel to be trimmed peak from the test position of noncontacting proximity sensor turn to direction of feed with repair
The test drift angle of the opposite position of whole device.
It further include the workbench for fixing microswitch and trimmer.
Rectilinear direction of the workbench along vertical feed direction is assembled relative to feeding motor guiding movement.
The present invention is acquired on the surface of grinding wheel to be trimmed by the way of each point height using first passing through non-contact displacement sensor,
The peak of wheel face to be trimmed is obtained, is then fed into the peak heavy on direction of feed axis with the endpoint of trimmer
The position of conjunction, this be actually directly using the peak of grinding wheel to be trimmed be basic point carry out entire grinding wheel to be trimmed to knife, this
Kind to knife mode can the peak of accurate realization wheel face carry out to knife so that grinding wheel to be trimmed is during reconditioning
Feeding is proceeded by from the peak on surface, to improve grinding wheel to be trimmed to the precision of knife, also improves crushing
Precision and stability.
Description of the drawings
Fig. 1 is the structural schematic diagram of the grinding wheel precise dressing automatic tool setting device of the present invention.
In figure:1 grinding wheel to be trimmed, 2 servo motors, 3 servo-drivers, 4 laser displacement sensors, the micro- power of 5 piezo-electric crystals
Test module, 6 workbench, 7 trimmers, 8 feeding motors, 9 data acquisition controllers, 10 computers.
Specific implementation mode
The embodiment of medium plain emery wheel precise dressing automatic tool setting device of the present invention:As shown in Figure 1, the device is that a kind of single layer is super
Hard abrasive grinding wheel precise dressing automatic tool setting device, with the surface grinding machine with horizontal spindle and rectangular table of the application device(MM7120)For, it should
Device includes sensor, rotating driving device, feed drive unit, controller, position switch, workbench, and wherein sensor is adopted
With laser displacement sensor 4, the extended line in the displacement measurement direction of the laser displacement sensor 4 by the axle center of grinding machine spindle,
For acquiring the peripheral surface topographical height information of grinding wheel 1 to be trimmed;Position switch is the piezo-electric crystal on workbench 6
Micro- power test module 5, for being reacted when grinding wheel 1 to be tested is with its contact;Rotating driving device is by driving grinding machine spindle
The servo motor 2 of rotation and the servo-driver 3 of control servomotor 2 form, for driving grinding machine spindle to rotate;Feed servo system
Device is feeding motor 8, for driving grinding machine spindle to move up and down;In addition to the micro- power of setting piezo-electric crystal tests mould on workbench 6
Outside block 5, it is also equipped with trimmer 7, to drive the micro- power test module 5 of piezo-electric crystal and trimmer 7 together along vertical feed direction
Horizontal linear movement;Controller is in computer 10 and feeding motor 8, servo-driver 3, laser displacement sensor 4, micro- power
Play the role of the data acquisition controller 9 of data transmission between test module 5.
It is as follows using the grinding wheel presetting cutter method of the device:
(1)Preparation:Grinding wheel 1 to be trimmed is installed on grinding machine spindle, servo motor 2 is installed on grinding machine body, is swashed
The micro- power test module 5 of Optical displacement sensor 4, piezo-electric crystal, trimmer 7, and complete circuit connection, make laser displacement sensor 4,
Micro- power test module 5, servo-driver 3, feeding motor 8 are communicated with computer 10 by data acquisition controller 9, while counted
Program is write on calculation machine 10, rotating speed, the laser displacement sensor 4 of servo motor 2 are set according to grinding wheel outer diameter to be trimmed, granularity etc.
Sample frequency and sampling length.
(2)Dimension angle measures:Determine the height b of the thickness a and trimmer 7 of the micro- power test module of piezo-electric crystal 5(Finishing
Endpoint of the peak, that is, trimmer 7 of device 7 on direction of feed axis), calculate between the two in 1 vertical feed side of grinding wheel to be trimmed
To distance b-a(I.e. on direction of feed axis between the contact and the endpoint of trimmer 7 of the micro- power test module of piezo-electric crystal 5
Distance is to zero distance), as the contact of the micro- power test module of piezo-electric crystal 5 on direction of feed axis and repaiied using distance b-a
Between the endpoint of whole device 7 to zero distance;Measure 4 installation site of laser displacement sensor and micro- 5 installation site of power test module
(Grinding wheel bottom should be for surface grinding machine with horizontal spindle and rectangular table)Between grinding wheel rotation round to be trimmed direction included angle θ,
Survey of the direction of feed of the measurement direction and feeding motor 8 that measure laser displacement sensor 4 in the steering of grinding wheel 1 to be trimmed
Try bias angle theta.
(3)Grinding wheel circumference pattern acquires:Computer 10 is ordered extremely according to pre-set programs by the transmission of data acquisition controller 9
Servo-driver 3 and laser displacement sensor 4, control servomotor 2 drive grinding wheel to be trimmed at the uniform velocity to rotate, laser displacement sensing
Device 4 obtains one week topographical height of grinding wheel cylindrical to be trimmed and phase information, and is conveyed into calculating by data acquisition controller 9
Machine 10.
(4)Data processing:According to granularity, the concentration of grinding wheel 1 to be measured, adopting to laser displacement sensor 4 in the computer 9
Sample data carry out low-pass filtering, are handled using Butterworth digital filter, which has the frequency of most stable passband
Rate response characteristic.Grinding wheel cylindrical macro contours curve to be trimmed is obtained by filtering, and binding test bias angle theta, calculated to be trimmed
In the position in grinding wheel rotation round to be trimmed direction between grinding wheel cylindrical pattern peak position and micro- 5 installation site of power test module
Set the angle φ of angle.
(5)Grinding wheel is circumferentially positioned:10 control servomotor of computer, 2 rotation angle φ, makes grinding wheel cylindrical pattern to be trimmed
Peak grinding wheel bottom, it is corresponding with micro- 5 test zone of power test module.
(6)Grinding wheel is to knife:Computer 10, which controls vertical feed motor, makes grinding wheel to be trimmed to micro- 5 installation position of power test module
Slow decline is set, when grinding wheel to be trimmed contacts the contact of micro- power test module 5, micro- 5 moment of power test module is anti-by electric signal
It feeds 10 system of computer, so that grinding wheel feeding to be trimmed is stopped at once, and record the present coordinate values in grinding wheel vertical feed direction.
(7)Crushing location determination:Computer 10 is according to the thickness a of the height b and micro- power test module 5 of trimmer 7
Difference b-a, control feeding motor drives grinding wheel to be trimmed to move up b-a to trim locations.Grinding wheel cylindrical shape to be trimmed at this time
Looks peak is contour on grinding machine vertical feed direction with 7 outer circle of trimmer, can carry out grinding wheel precise dressing operation.
The device is under the control of computer 10, and feeding motor 8, servo motor 2, laser displacement sensor 4, micro- power are surveyed
Die trial block 5, data acquisition controller 9 etc. work according to pre-set programs, and Simultaneous Sampling Data carries out processing point in computer 10
Analysis is automatically performed single layer abrasive grinding wheel circumferential registration, is radial to knife process, crushing high, efficient, cost to knife precision
It is low.
Another embodiment of medium plain emery wheel precise dressing automatic tool setting device of the present invention:The area of the present embodiment and above-described embodiment
It is not, directly trimmer is arranged in the underface of grinding machine spindle, removes the micro- power test module of piezo-electric crystal, can pass through in this way
After measuring the fixed range between grinding machine spindle and trimmer, by calculating the surface peak of grinding wheel to be trimmed to axle center most
High point height so that grinding wheel to be trimmed, which moves down fixed range-highest point height, can reach tool setting position.
The embodiment of the grinding wheel precise dressing automatic tool preset method of the present invention:This method comprises the following steps:Step 1, meter
Calculation machine control servomotor drives grinding wheel to be trimmed at the uniform velocity to rotate, and simultaneous computer is acquired to be repaired by non-contact displacement sensor
The height and phase information of positive grinding wheel cylindrical week upper each point;
Step 2, computer go up at the height and phase information of each point the grinding wheel cylindrical week to be modified sampled
Reason, with the relative altitude of the peak on determination grinding wheel cylindrical surface to be trimmed and phase angle;
Step 3, computer-controlled servo motor drive grinding wheel rotation to be trimmed, make the highest in grinding wheel cylindrical face to be modified
Point turns to the position opposite with microswitch;
Step 4, computer control feeding motor drives grinding wheel to be trimmed to be moved along direction of feed, until grinding wheel to be trimmed
Stop when the peak of excircle is with microswitch contact response, and records the coordinate of grinding wheel to be trimmed currently in feed direction
Position;
Step 5, according to trimmer endpoint and microswitch in feed direction at a distance from, computer control feeds motor
Grinding wheel to be trimmed is driven to reach the peak in grinding wheel cylindrical week to be modified and the endpoint coordinate in feed direction of dresser
Equal position, and using this position as the starting point of crushing feed.
In addition combined with above-mentioned other embodiment it is found that the presetting cutter method can be implemented as follows:Step 1, with biography
Sensor acquires height of each point relative to sensor zero point on the surface of grinding wheel to be trimmed, on determination wheel face to be trimmed
Peak;The peak of grinding wheel to be trimmed is turned to the position opposite with trimmer in direction of feed by step 2;Step 3,
Grinding wheel to be trimmed is moved along direction of feed, until the peak of grinding wheel to be trimmed is at a distance from trimmer is on direction of feed axis
Zero, and using this position as feed starting point.
Claims (8)
1. grinding wheel precise dressing automatic tool preset method, which is characterized in that include the following steps:
Step 1, computer-controlled servo motor drive grinding wheel to be trimmed at the uniform velocity to rotate, and simultaneous computer passes through non-contact displacement
Sensor acquires the height and phase information of each point on grinding wheel cylindrical circumferential surface to be trimmed;
Step 2, computer handle the height and phase information of each point on the grinding wheel cylindrical circumferential surface to be trimmed that samples,
With the relative altitude of the peak on determination grinding wheel cylindrical circumferential surface to be trimmed and phase angle;
Step 3, computer-controlled servo motor drive grinding wheel rotation to be trimmed, make the peak of grinding wheel cylindrical circumferential surface to be trimmed
Turn to the position opposite with microswitch;
Step 4, computer control feeding motor drives grinding wheel to be trimmed to be moved along direction of feed, until grinding wheel cylindrical to be trimmed
Stop when the peak of circumferential surface is with microswitch contact response, and records the coordinate bit of grinding wheel to be trimmed currently in feed direction
It sets;
Step 5, according to trimmer endpoint and microswitch in feed direction at a distance from, computer control feeding motor drive
Grinding wheel to be trimmed reaches the endpoint of the peak of grinding wheel cylindrical circumferential surface to be trimmed and dresser coordinate phase in feed direction
Deng position, and using this position as the starting point of crushing feed.
2. grinding wheel precise dressing automatic tool preset method according to claim 1, which is characterized in that non-to connect in step 1
Touch outer circumference surface of the measurement direction perpendicular to grinding wheel to be trimmed of displacement sensor.
3. grinding wheel precise dressing automatic tool preset method according to claim 1, which is characterized in that cross the contact of microswitch
Straight line with the axle center of grinding wheel to be trimmed is the X-axis or Y-axis of cross shafting residing for each point on grinding wheel cylindrical circumferential surface to be trimmed.
4. grinding wheel precise dressing automatic tool preset method according to claim 1 or 2 or 3, which is characterized in that microswitch
Contact is in the depth of cut direction side of the endpoint of trimmer, and define the response location of microswitch in feed direction and
The distance between endpoint of trimmer is to zero distance, and in step 5, feeding motor drives the distance that grinding wheel to be trimmed retracts
Equal to zero distance.
5. grinding wheel precise dressing automatic tool setting device, which is characterized in that is connected including computer and thereon is to be repaired for acquiring
The non-contact displacement sensor of the elevation information of each point, the servo for driving grinding wheel rotation to be trimmed on whole grinding wheel cylindrical circumferential surface
Motor, the feeding motor for driving grinding wheel to be trimmed feeding, the fine motion that is kept fixed for the endpoint with trimmer distance are opened
It closes, computer has the feeding control unit for the feed-disabling motor when grinding wheel to be trimmed triggers microswitch, non-contact
The position of displacement sensor is fixed, and is had between the measurement direction of non-contact displacement sensor and the direction of feed for feeding motor
For grinding wheel cylindrical circumferential surface to be trimmed peak from the test position of non-contact displacement sensor turn to direction of feed with repair
The test drift angle of the opposite position of whole device.
6. grinding wheel precise dressing automatic tool setting device according to claim 5, which is characterized in that non-contact displacement sensor
Measurement direction cross servo motor output end it is centrally disposed and be used for measurement direction perpendicular to grinding wheel cylindrical circumferential surface.
7. grinding wheel precise dressing automatic tool setting device according to claim 5 or 6, which is characterized in that further include for solid
Determine the workbench of microswitch and trimmer.
8. grinding wheel precise dressing automatic tool setting device according to claim 7, which is characterized in that workbench is along vertical feed
The rectilinear direction in direction is relative to feeding motor guiding movement assembly.
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CN107263319B (en) * | 2017-05-25 | 2019-11-08 | 郑州磨料磨具磨削研究所有限公司 | One kind tracks method grinding wheel presetting cutter method and system |
CN107571107B (en) * | 2017-10-17 | 2019-03-29 | 南京纽美瑞数控科技有限公司 | A kind of internal grinding replacement grinding wheel exempts from the method for grinding to knife |
CN108581051B (en) * | 2018-04-04 | 2019-09-24 | 浙江机电职业技术学院 | The adaptive sawtooth grinding method of saw blade gear grinding machine based on cloud |
CN110517276A (en) * | 2019-07-12 | 2019-11-29 | 郑州磨料磨具磨削研究所有限公司 | A kind of grinding wheel dressing method and device based on machine vision |
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