CN109093516B

CN109093516B - Workpiece grinding control method, control device, workpiece grinding system and terminal

Info

Publication number: CN109093516B
Application number: CN201811059453.6A
Authority: CN
Inventors: 徐剑
Original assignee: Siemens Factory Automation Engineering Ltd
Current assignee: Siemens Factory Automation Engineering Ltd
Priority date: 2018-09-12
Filing date: 2018-09-12
Publication date: 2019-12-17
Anticipated expiration: 2038-09-12
Also published as: CN109093516A

Abstract

The invention relates to a control method and a control device for workpiece grinding, a system for grinding workpieces and a terminal. The control method comprises the following steps: acquiring a distance from a reference point of a measuring device to each of four sides of a square-bar-shaped workpiece arranged on a rotating table when rotated to face the reference point; acquiring the rotation angle of the rotary table relative to the initial position when the workpiece is ground; calculating an eccentricity amount of the axis of the workpiece with respect to the rotation center of the rotary table surface when grinding the workpiece based on the distance and the rotation angle, the eccentricity amount including a first offset of the axis of the workpiece with respect to the rotation center of the rotary table surface in a first direction in which the side faces the reference point and a second offset in a second direction perpendicular to the first direction; generating a rotation control signal according to the rotation angle; generating a drive signal according to the second offset; and grinding the workpiece using the rotation control signal and the drive signal. The mechanical design of the technical scheme of this application has reduced the whole time of grinding simultaneously comparatively simply.

Description

Workpiece grinding control method, control device, workpiece grinding system and terminal

Technical Field

The application relates to the field of workpiece grinding control. In particular, the present application relates to a control method, a control device, a system for grinding a workpiece, and a terminal.

Background

Among various green energy sources, solar energy is one of renewable energy sources with huge potential prospects, grinding of silicon ingots is one of important production links of polycrystalline and single-crystal power generation plates, and the grinding efficiency of the silicon ingots also directly influences the production cost of silicon wafers.

The existing square rod grinding system generally uses a PLC (programmable logic controller) to control square rod measurement, the sizes of four surfaces are obtained through measurement, the eccentricity of the centers of the four surfaces relative to a grinding center is calculated, a workpiece is integrally moved to the grinding center through a servo system to start grinding, after the grinding of the square rod is completed, the sizes of four corners are measured, the eccentricity of the centers of the four corners relative to the grinding center is calculated, the workpiece is integrally moved to the grinding center through the servo system to start grinding. The method is simple and reliable, and has the defects that a tool clamp is required to perform secondary positioning on a workpiece, two times of measurement are required, the mechanical design is complex, and the whole grinding time is increased.

disclosure of Invention

The embodiment of the application provides a control method and a control device for workpiece grinding, a system for grinding a workpiece, a storage medium and a terminal, and at least solves the problem that in the prior art, the mechanical design is complex and the whole grinding time is long.

according to an aspect of an embodiment of the present application, there is provided a method of controlling grinding of a workpiece, including: acquiring a distance from a reference point of a measuring device to each of four sides of a square-bar-shaped workpiece arranged on a rotating table when the side is rotated to face the reference point; acquiring the rotation angle of the rotary table relative to the initial position when the workpiece is ground; calculating an eccentricity amount of the axis of the workpiece with respect to the rotation center of the rotary table surface when grinding the workpiece based on the distance and the rotation angle, the eccentricity amount including a first offset of the axis of the workpiece with respect to the rotation center of the rotary table surface in a first direction in which the side faces the reference point and a second offset in a second direction perpendicular to the first direction; generating a rotation control signal according to the rotation angle, wherein the rotation control signal is used for controlling the rotary table top to rotate to the rotation angle; generating a driving signal according to the second offset, wherein the driving signal is used for controlling a grinding device for grinding the workpiece to feed to a grinding position corresponding to the rotation angle when the workpiece is ground; and grinding the workpiece using the rotation control signal and the drive signal.

In this way, grinding with the axis of the workpiece as a reference is achieved. Because only measure the distance between side and the benchmark just can calculate the eccentric value of the axis of work piece for the rotation center of revolving stage face under the arbitrary rotation angle during the grinding, just can grind angle and mill face after once measuring, consequently, the technical scheme of this application does not need frock clamp, and mechanical design is simple, does not need the work piece secondary location after the measurement, has reduced whole process time, effectively improves production efficiency.

In an exemplary embodiment, calculating the eccentricity amount of the shaft center of the workpiece with respect to the rotation center of the rotary table top when grinding the workpiece includes: calculating the radius of a circle which is formed by the axis of the workpiece when rotating along with the rotating table top and takes the rotating center of the rotating table top as the center of the circle, and the included angle between the extension line of the connecting line between the axis of the workpiece and the rotating center of the rotating table top and the side surface of the workpiece according to the distance; and calculating the eccentricity according to the radius, the included angle and the rotating angle.

In this way, the eccentric amount between the axis of the workpiece and the rotation center of the rotary table surface at the initial position of the workpiece is determined from the distance, and then the eccentric amount after the rotation angle is calculated from the eccentric amount at the initial position of the workpiece and the rotation angle of the rotary table surface with respect to the initial position at the time of grinding.

In an exemplary embodiment, the radius and included angle are calculated by the following formulas:

β＝arctan(L13/L24)；

wherein R represents a radius, β represents an included angle, the four sides are a first side, a second side adjacent to the first side, a third side opposite to the first side, and a fourth side opposite to the second side, respectively, L13 represents a difference between a distance between the first side rotated to be opposite to the reference point and a distance between the third side rotated to be opposite to the reference point and the reference point, and L24 represents a difference between a distance between the second side rotated to be opposite to the reference point and a distance between the fourth side rotated to be opposite to the reference point and the reference point.

in this way, a specific way of calculating the radius and the included angle is provided to calculate the radius and the included angle from the distance.

In an exemplary embodiment, the amount of eccentricity is calculated by the following formula:

offset_x＝R*cos(β+θ)；

offset_y＝R*sin(β+θ)；

where offset _ y represents a first offset, offset _ x represents a second offset, and θ represents a rotation angle.

In this way, a specific way of calculating the first offset and the second offset is provided to calculate the first offset and the second offset from the radius, the included angle, and the rotation angle.

In an exemplary embodiment, grinding the workpiece using the rotation control signal and the drive signal includes: controlling the rotary table top to rotate to a rotation angle according to the rotation control signal; and controlling the grinding device to move in the second direction by an amount corresponding to the second offset according to the drive signal.

The workpiece grinding is controlled in such a way that the grinding precision is ensured.

In an exemplary embodiment, the control method of grinding a workpiece further includes detecting a grinding allowance for grinding four side surfaces of the workpiece and four corners of the workpiece based on the axis center of the workpiece; judging whether the grinding allowances of the four side surfaces of the grinding workpiece or the four corners of the grinding workpiece are sufficient or not; and if the grinding allowance is insufficient, moving the workpiece to a position where the grinding allowances for grinding the four side surfaces of the workpiece and the four corners of the workpiece are sufficient.

in this way, in the case where one of the grinding margins of the side faces or the corners is insufficient, the grinding margin of the other is used, and for example, if the grinding margin of the corner is found to be insufficient, the target positions of the four side faces are adjusted (the workpiece is adjusted to a new position) to achieve grinding margins for all of the four side faces and the four corners, and vice versa, thereby improving the yield of grinding.

In exemplary embodiments, the rotation angles are 0 °, 90 °, 180 °, or 270 °, respectively, when grinding the four sides of the workpiece.

In this way, control of the grinding of the four sides of the workpiece is achieved.

in the exemplary embodiment, the rotation angles are 45 °, 135 °, 225 °, or 315 °, respectively, when grinding is performed on the four corners of the workpiece.

in this way, the control of the corner grinding of the four corners of the workpiece is achieved.

According to another aspect of the embodiments of the present application, there is provided a control apparatus for workpiece grinding, including: a distance acquisition unit configured to acquire a distance from a reference point of the measuring device to each of four side surfaces of a square-bar-shaped workpiece arranged on the rotating table when rotated to face the reference point; a rotation angle acquisition unit configured to acquire a rotation angle of the rotary table with respect to an initial position when the workpiece is ground; an eccentricity amount determination unit configured to calculate an eccentricity amount of an axis center of the workpiece with respect to a rotation center of the rotary table top at the time of grinding the workpiece, the eccentricity amount including a first deviation of the axis center of the workpiece with respect to the rotation center of the rotary table top in a first direction in which the side faces the reference point and a second deviation in a second direction perpendicular to the first direction, based on the distance and the rotation angle; a rotation control signal generation unit configured to generate a rotation control signal according to the rotation angle, wherein the rotation control signal is used for controlling the rotary table to rotate to the rotation angle; a drive signal generation unit configured to generate a drive signal according to the second offset, wherein the drive signal is used for controlling a grinding position corresponding to the rotation angle when the grinding device for grinding the workpiece is fed to the grinding position for grinding the workpiece; and a grinding control unit configured to grind the workpiece using the rotation control signal and the drive signal.

In this way, grinding with the axis of the workpiece as a reference is achieved. Because only measure the distance between side and the benchmark just can calculate the eccentric value of the rotation center of the axle center of work piece for rotatory mesa under the arbitrary rotation angle during the grinding, just can grind angle and mill face through once measuring, consequently, the technical scheme of this application does not need frock clamp, and mechanical design is simple, does not need the secondary location of work piece after the measurement, has reduced whole process time, effectively improves the production efficiency of device.

β＝arctan(L13/L24)；

offset_x＝R*cos(β+θ)；

offset_y＝R*sin(β+θ)；

In an exemplary embodiment, the control device for workpiece grinding further comprises: a grinding allowance acquisition unit configured to acquire grinding allowances of four side surfaces of the grinding workpiece and four corners of the grinding workpiece detected based on an axis center of the workpiece; a grinding allowance judgment unit configured to judge whether grinding allowances of grinding four side surfaces of the workpiece or four corners of the workpiece are sufficient; and a grinding allowance adjustment unit configured to move the workpiece to a position where grinding allowances for grinding four side surfaces of the workpiece and four corners of the workpiece are sufficient if the grinding allowances are insufficient.

According to another aspect of an embodiment of the present application, there is provided a system for grinding a workpiece, comprising: a rotary table for arranging a square bar-shaped workpiece to be ground; a grinding device configured to grind a workpiece; a measuring device configured to measure a distance between a reference point of the measuring device and each of four sides of the workpiece when rotated to face the reference point; a receiving device configured to receive a rotation angle of the rotary table with respect to an initial position when the workpiece is ground; and a control device of the above workpiece grinding, wherein the distance acquisition unit acquires the distance from the measuring device, and the rotation angle acquisition unit acquires the rotation angle from the receiving device.

in this way, grinding with the axis of the workpiece as a reference is achieved. Because only measure the distance between side and the benchmark just can calculate the eccentric value of the rotation center of the axle center of work piece for rotatory mesa under the arbitrary rotation angle during the grinding, can realize angle and mill flour through once measuring, consequently, the technical scheme of this application does not need frock clamp, and mechanical design is simple, does not need the secondary location of work piece after the measurement, has reduced whole process time, effectively improves the production efficiency of equipment.

According to another aspect of the embodiments of the present application, there is provided a storage medium including a stored computer program, wherein the computer program is executed to control an apparatus in which the storage medium is located to perform the above-mentioned control method for grinding a workpiece.

According to another aspect of the embodiments of the present application, there is provided a terminal including: one or more processors, a memory, and one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, the one or more computer programs performing the above-described method of controlling workpiece grinding.

according to another aspect of the embodiments of the present application, there is provided a processor running a computer program, wherein the computer program is run to execute the above-mentioned method for controlling workpiece grinding.

According to another aspect of embodiments of the present application, there is provided a computer program product, tangibly stored on a computer-readable medium and comprising computer-executable instructions that, when executed, cause at least one processor to perform the above-described method for controlling workpiece grinding

In the embodiment of the application, the eccentric amount of the axis of the workpiece relative to the rotation center of the rotary table surface at any rotation angle during grinding can be calculated by only measuring the distance between the side surface and the reference point, so that grinding is carried out by taking the axis of the workpiece as a reference by adjusting the feeding of the grinding device to the grinding position corresponding to the rotation angle during grinding, and the grinding angle and the grinding surface can be realized by one-time measurement. In the process, a tool clamp is not needed, and the mechanical design is simple; the secondary positioning of the workpiece after measurement is not needed, the production time occupied by the secondary positioning is reduced, the overall processing time is reduced, and the production efficiency of the device is effectively improved.

In addition, since the eccentricity of the four corners with respect to the rotation center during grinding and the eccentricity of the four side surfaces with respect to the rotation center during grinding can be calculated only by performing the measurement corresponding to the side surface, when one of the grinding margins of the side surface or the corner is insufficient, the other grinding margin can be used. For example, if the grinding allowance for the corners is found to be insufficient, the target positions of the four side surfaces are adjusted (the workpiece is adjusted to a new position) to achieve grinding allowances for the four side surfaces and the four corners. This improves the grinding yield.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

Fig. 1 is a flowchart of a control method of workpiece grinding according to an embodiment of the present application;

Fig. 2 is a flowchart of adjusting a grinding allowance of a control method of grinding a workpiece according to an embodiment of the present application;

FIG. 3 is a schematic illustration of the measurement of the distance between a datum point and four sides of a square bar-shaped workpiece according to an embodiment of the present application;

FIG. 4 is a schematic illustration of an eccentricity calculation according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a control apparatus for workpiece grinding according to an embodiment of the present application;

Fig. 6 is a schematic diagram of a control apparatus for workpiece grinding including additional units for adjusting a grinding allowance according to an embodiment of the present application;

FIG. 7 is a schematic view of a system for grinding a workpiece according to an embodiment of the present application; and

Fig. 8 is a side schematic view of a measuring device and a grinding device according to an embodiment of the present application.

Description of reference numerals:

S101 to S117: method step

A: first side of the workpiece

B: second side of the workpiece

C: third side of the workpiece

D: fourth side of the workpiece

M: dotted line

S1, S2, S3: workpieces at different rotation angles

L1: distance between the reference point and the first side surface

L3: distance between the reference point and the third side surface

L13: the difference between the distance between the reference point and the first side surface and the distance between the reference point and the third side surface

L24: the difference between the distance between the reference point and the second side surface and the distance between the reference point and the fourth side surface

o: center of rotation of rotary table top

o': axial center of workpiece

r: the axis of the workpiece is formed in the radius of a circle which is formed when the axis rotates along with the rotary table top and takes the rotary center of the rotary table top as the center of the circle

Beta: included angle between extension line of connecting line between axis of workpiece and rotation center of rotary table top and side surface of workpiece

θ: rotation angle of rotary table relative to initial position during grinding of workpiece

Offset _ y: a first offset of the axis of the workpiece relative to the center of rotation of the rotary table in a first direction laterally opposite the reference point

Offset _ x: a second deviation of the axis of the workpiece from the rotation center of the rotary table in a second direction perpendicular to the first direction

1: system for grinding workpieces

10: workpiece grinding control device

20: workpiece

30: grinding device

40: measuring device

41: measuring probe

50: receiving apparatus

60: rotary table top

101: distance acquisition unit

103: rotation angle acquisition unit

105: eccentricity amount determination unit

107: rotation control signal generating unit

109: drive signal generation unit

111: grinding control unit

113: grinding allowance acquisition unit

115: grinding allowance judging unit

117: grinding allowance adjustment unit

Detailed Description

In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

it should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules or elements is not necessarily limited to those steps or modules or elements expressly listed, but may include other steps or modules or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to an embodiment of the application, a method for controlling workpiece grinding is provided. Fig. 1 is a flowchart of a control method of workpiece grinding according to an embodiment of the present application. As shown in fig. 1, a control method of workpiece grinding according to an embodiment of the present application includes the steps of:

Step S101, a distance between a reference point of the measuring device and each of four sides of the square-bar-shaped workpiece arranged on the rotating table is acquired while rotating to face the reference point. Specifically, the reference point is a point set when the measuring device measures the workpiece, the measuring device is disposed on a guide rail whose extension line passes through the rotary table and is driven by the traverse motor to move on the guide rail, and when the measuring device finds the workpiece, a point on the guide rail can be set as the reference point, such as by recording the current coordinate of the traverse motor and setting the position where the measuring device is located at that time as the reference point. When a square bar-shaped workpiece is placed on a rotary table, the rotary table is brought into contact with the bottom surface of the square of the workpiece, the workpiece is rotated by the rotary table so that one side surface of the workpiece faces a measuring device, the measuring device is moved from a reference point toward the workpiece along a guide rail, when the measuring device comes into contact with the one side surface of the workpiece, the current coordinate of a traverse motor is recorded, the distance between the reference point and the one side surface of the workpiece is obtained based on the difference between the values of the two coordinates, then the measuring device is separated from the workpiece, the other side surface is rotated to the side of the measuring device by the rotation of the rotary table and faces the measuring device, the measuring device is moved into contact with the one side surface of the workpiece, the current coordinate of the traverse motor when the side surface comes into contact with the measuring device is recorded, and the distance between the reference point and the one. Based on the same procedure, the distance between the remaining two sides and the reference point is obtained. As a result, the distance between the reference point and each of the four sides of the workpiece is obtained. However, the method of measuring the distance between the reference point and each of the four sides of the workpiece is not limited thereto, and other methods known in the art, for example, a method of performing image recognition ranging on an image captured by a camera, a laser ranging method, and the like, may be used.

And step S103, acquiring the rotation angle of the rotary table relative to the initial position when the workpiece is ground. In the process of grinding the workpiece, a position of the workpiece before grinding the workpiece is set as an initial position, for example, a position of the workpiece when the measuring device first measures a side surface (e.g., measures a first side surface) of the workpiece is set as the initial position, and an eccentric amount between an axis of the workpiece and a rotation center of the rotary table surface at the initial position can be calculated. The rotation angle of the rotary table with respect to the initial position when grinding the workpiece is input by a user through a receiving device such as a controller or a terminal or is stored in a memory in advance, and when the rotation angle input by the user or the rotation angle stored in advance in the memory is acquired from the receiving device or the memory, the initial position of the workpiece can be used as a rotation start point, and the position of the axis of the workpiece at any rotation angle can be acquired, and therefore, it is necessary to acquire the rotation angle of the rotary table with respect to the initial position when grinding the workpiece.

And step S105, calculating the eccentricity of the axis of the workpiece relative to the rotation center of the rotary table surface when the workpiece is ground according to the distance and the rotation angle, wherein the eccentricity comprises a first deviation of the axis of the workpiece relative to the rotation center of the rotary table surface in a first direction in which the side surface is opposite to the reference point and a second deviation in a second direction perpendicular to the first direction. The square bar-shaped workpiece is arranged on the rotary table top, and when the axis of the workpiece is not coincident with the rotation center of the rotary table top, an eccentric amount is formed between the workpiece and the rotary table top. Since the workpiece and the rotary table surface do not move relative to each other when the workpiece rotates along with the rotary table surface, the relative position between the rotation center of the rotary table surface and the axis of the workpiece is fixed, and the amount indicating the relative position, which can indicate the amount of eccentricity between the axis of the workpiece and the rotation center of the rotary table surface at the initial position, can be calculated from the distance. Then, considering the rotation angle, the eccentric amount of the axis of the workpiece with respect to the rotation center of the rotary table surface at the time of grinding the workpiece can be calculated. Therefore, the eccentric amount of the axis of the workpiece with respect to the rotation center of the rotary table surface at the time of grinding the workpiece is calculated from the distance and the rotation angle. The eccentricity amount is represented by offsets in two directions perpendicular to each other in a two-dimensional plane for controlling the grinding device to move the corresponding eccentricity amount and then grind the workpiece, and thus, a direction in which the measuring device or the reference point is opposed to one of the side surfaces of the workpiece is set to a first direction, that is, a direction in which the side surface is opposed to the reference point is set to a first direction, and a direction perpendicular to the first direction is set to a second direction, whereby the eccentricity amount includes a first offset of the axis of the workpiece in the first direction in which the side surface is opposed to the reference point and a second offset in the second direction perpendicular to the first direction with respect to the rotation center of the rotary table.

And step S107, generating a rotation control signal according to the rotation angle, wherein the rotation control signal is used for controlling the rotary table top to rotate to the rotation angle. And generating a rotation control signal according to the acquired rotation angle to rotate the rotary table to the rotation angle so that the workpiece is ground at a position corresponding to the rotation angle.

And step S109, generating a driving signal according to the second deviation, wherein the driving signal is used for controlling the grinding device for grinding the workpiece to feed to the grinding position corresponding to the rotation angle when the workpiece is ground. Generating a drive signal based on the calculated second offset to drive the grinding device to a grinding position corresponding to the rotation angle when feeding the grinding device to the workpiece, such that the grinding center of the adjustment grinding device corresponds to the axis of the workpiece at the position corresponding to the rotation angle in the second direction. Since the grinding surface of the grinding device is larger than the side surface, there is no need to move the grinding device in the first direction, but this is not limitative, and when the grinding surface is smaller than the side surface, the grinding device may be moved in the first direction and a third direction orthogonal to the first and second directions.

And step S111, grinding the workpiece by using the rotation control signal and the driving signal. By grinding the workpiece using the rotation control signal and the drive signal, the rotation of the rotary table surface is controlled to a rotation angle, and the grinding device is fed to a grinding position corresponding to the rotation angle, thereby compensating for an amount corresponding to the deviation of the grinding center and the axis of the workpiece, and enabling accurate grinding.

In this way, grinding with the axis of the workpiece as a reference is achieved. Because only measure the distance between side and the benchmark just can calculate the eccentric value of the rotation center of the axle center of work piece for rotatory mesa under the arbitrary rotation angle during the grinding, can just realize angle and mill finish through once measuring, consequently, the technical scheme of this application does not need frock clamp, and mechanical design is simple, does not need the work piece secondary location after the measurement, has reduced whole process time, has effectively improved production efficiency.

The square bar-shaped workpiece is arranged on the rotary table top, and when the axis of the workpiece is not coincident with the rotation center of the rotary table top, an eccentric amount is formed between the workpiece and the rotary table top. When the workpiece rotates along with the rotary table top, the workpiece and the rotary table top do not move relatively, so that the relative position between the rotation center of the rotary table top and the axis of the workpiece is fixed, the track of the axis of the workpiece is a circle taking the rotation center of the rotary table top as the center of the circle, and the radius of the track circle and the included angle between the extension line of the connecting line between the axis of the workpiece and the rotation center of the rotary table top and the side face of the workpiece can be calculated according to the measured distance. The radius and included angle can represent the offset of the axis of the workpiece from the center of rotation at the initial position. Therefore, based on the radius and the angle, when the initial position is set and the rotation angle with respect to the initial position is given, it is possible to calculate the amount of eccentricity between the axis of the workpiece and the rotation center of the rotary table after the rotary table has rotated from the initial position by the rotation angle, that is, the amount of eccentricity between the axis of the workpiece and the rotation center of the rotary table at an arbitrary angle.

in this way, the eccentric amount between the axis of the workpiece and the rotation center of the rotary table surface at the initial position of the workpiece is determined from the distance, and then the eccentric amount after rotating by the rotation angle, that is, the eccentric amount between the axis of the workpiece and the rotation center of the rotary table surface at an arbitrary angle is calculated from the eccentric amount at the initial position of the workpiece and the rotation angle of the rotary table surface with respect to the initial position at the time of grinding.

In an exemplary embodiment of the present application, the rotation control signal is used to rotate the rotational table to a rotational angle, thereby rotating the workpiece to the rotational angle. And simultaneously moving the grinding device in a second direction by an amount corresponding to a second offset of the workpiece at the rotation angle according to the driving signal, so that the center of the moved grinding device corresponds to the axis of the rotated workpiece in the second direction.

In an exemplary embodiment of the present application, the control method of grinding a workpiece further includes a method of adjusting a grinding allowance of a face or an angle of the workpiece. Fig. 2 is a flowchart of adjusting a grinding allowance of a control method of grinding a workpiece according to an embodiment of the present application. As shown in fig. 2, the method for controlling the grinding of the workpiece further includes: step S113, detecting grinding allowances of four side surfaces of the grinding workpiece and four corners of the grinding workpiece based on the axis of the workpiece; step S115, judging whether the grinding allowance of four side surfaces of the grinding workpiece or four corners of the grinding workpiece is sufficient; and a step S117 of moving the workpiece to a position where the grinding allowances for grinding the four side faces of the workpiece and the four corners of the workpiece are sufficient if the grinding allowances are insufficient.

In the exemplary embodiment of the present application, a half of a difference between the side length of the square of the workpiece before grinding minus the side length of the square of the qualified workpiece after grinding is a grinding allowance, that is, a standard grinding allowance, of each side when the axis of the workpiece coincides with the rotation center. When the axis of the workpiece does not coincide with the rotation center, the eccentricity between the two is considered. By taking into account the first offset and the second offset of the axis of the workpiece when grinding the four side surfaces of the workpiece and grinding the four corners of the workpiece, it is possible to obtain the grinding margins of the four side surfaces when the axis of the workpiece does not coincide with the rotation center. Based on the same procedure, the grinding allowances of the other two opposite side surfaces when grinding the workpiece and the four corners when grinding the workpiece are calculated. When the grinding allowances of the four sides or the four sides are less than 0, the grinding allowances of the four sides or the four corners of the grinding workpiece are judged to be insufficient, and the workpiece needs to be moved to a new position, so that the grinding allowances of the four sides or the four corners of the grinding workpiece are sufficient.

In the exemplary embodiment of the present application, the eccentricity amounts of the four corners with respect to the rotation center and the eccentricity amounts of the four sides with respect to the rotation center are calculated in one measurement. In other words, the eccentricity between the axis of the workpiece and the rotation center of the rotary table is calculated by one measurement when the four sides and the four corners face the measuring device. Since the center of the surface of the qualified workpiece after grinding is coincident with the center of the corner, if one corner is found to be over against the measuring device, and the second deviation of the axis of the workpiece in the second direction relative to the rotation center of the rotating table is too large, one of two corners adjacent to the center of the workpiece may not be ground, so that the grinding allowance is insufficient, and the grinding allowance of the other corner is too large, and at this time, the target positions of the four surfaces can be adjusted (the workpiece is adjusted to a new position), and the grinding allowances of the four surfaces and the four corners are achieved. In this way, when one of the side surfaces or the corners is not enough, the other grinding allowance is used to achieve that the four side surfaces and the four corners have the grinding allowances, thereby improving the grinding yield.

According to an exemplary embodiment of the present application, there is provided a measuring method of measuring distances between a reference point of a measuring device and four side surfaces of a square-bar-shaped workpiece. Fig. 3 is a schematic diagram of distance measurement between a reference point and four side surfaces of a square-bar-shaped workpiece according to an embodiment of the present application. As shown in fig. 3, a measuring device (not shown) is provided on the left side in the figure, and a square rod-shaped workpiece is provided on the right side in the figure as viewed from the top surface of the square rod-shaped workpiece, wherein a reference point of the measuring device is provided on a broken line M. It should be understood that the position of the dotted line M is merely exemplary in fig. 3, and the dotted line M may be disposed at a closer or more distant distance with respect to the square bar. The three squares S1, S2, S3 in the figure represent the workpiece as viewed from the top surface of the workpiece at three different angles of rotation of the rotary table. S1 represents the case where the first side a of the workpiece faces the measuring device, S2 represents the case where the third side C of the workpiece faces the measuring device, and S3 represents the case where the corner of the workpiece faces the measuring device. The first to fourth sides of the workpiece are denoted by A, B, C and D, respectively. o denotes a rotation center of the rotary table, and o' denotes an axial center of the square bar-shaped workpiece.

a measuring device (not shown) is disposed on the left side of the workpiece and the rotary table, and the measuring device is disposed on a guide rail whose extension line passes through the rotary table and is driven by a traverse motor to move on the guide rail. The extension line of the guide rail of the measuring device is perpendicular to the broken line M in fig. 3, so that the measuring device can be moved along the guide rail closer to or farther from the workpiece when the traverse motor drives the measuring device. Obviously, the extension line of the guide rail does not necessarily pass through the rotation center o of the rotary table, and the rotation center may have a certain distance from the extension line of the guide rail. The relationship between the extension line of the guide rail and the rotation center is not limited as long as the measuring device can contact with four side surfaces of the workpiece when moving along the guide rail and measure the distance between each side surface and the reference point when the side surface faces the measuring device.

The reference point is a point set by the measuring device when the measuring device measures the workpiece, and when the measuring device searches the workpiece, a point on the guide rail can be set as the reference point, for example, by recording the current coordinates of the traverse motor and setting the position of the measuring device at that time as the reference point. For example, the reference point of the measuring device may be the intersection of the dashed line M of fig. 3 and the guide rail. When the square bar-shaped workpiece is placed on the rotary table top, the rotary table top is contacted with the square bottom surface of the workpiece, the workpiece is rotated by the rotating table surface so that one side surface of the workpiece, for example, a first side surface A, faces the measuring device, the measuring device is moved from the reference point to the workpiece along the guide rail, when the measuring device comes into contact with the side surface A of the workpiece, the current coordinates of the traverse motor are recorded, the distance L1 between the reference point and the first side surface of the workpiece is obtained based on the value of the coordinates and the value of the coordinates of the reference point, then, the measuring device is separated from the workpiece, the second side surface B is rotated to one side of the measuring device and faces the measuring device by rotating the rotating table by an angle of 90 degrees in a counterclockwise direction, the traverse motor drives the measuring device to contact with the second side surface B, the current coordinate of the traverse motor is recorded, and the distance between the reference point and the second side surface of the workpiece is obtained based on the value of the coordinate and the value of the coordinate of the reference point. However, the measuring device is separated from the workpiece again, the third side surface C is turned to the measuring device side and faces the measuring device by rotating the rotary table counterclockwise by an angle of 90 °, the traverse motor drives the measuring device to contact the third side surface C, the current coordinate of the traverse motor is recorded, and the distance L3 between the reference point and the third side surface C of the workpiece is obtained based on the value of the coordinate and the value of the coordinate of the reference point. Then, the measuring device is separated from the workpiece, the fourth side surface D is turned to the measuring device side and faces the measuring device by continuing the counterclockwise rotation of the rotating table by an angle of 90 °, the traverse motor drives the measuring device to contact the fourth side surface D, the current coordinate of the traverse motor is recorded, and the distance L4 between the reference point and the fourth side surface D of the workpiece is obtained based on the value of the coordinate and the value of the coordinate of the reference point. As a result, the distance between the reference point and each of the four sides of the workpiece is obtained. As described above, the method of measuring the distance between the reference point and each of the four sides of the workpiece is not limited thereto, and other methods known in the art, for example, a method of performing image recognition ranging on an image photographed by a camera, a laser ranging method, and the like, may be used.

as shown in fig. 3, a difference of the distance from the reference point to the first side a of the workpiece minus the distance from the reference point to the third side C of the workpiece is denoted by L13, and a difference of the distance from the reference point to the second side B of the workpiece minus the distance from the reference point to the fourth side D of the workpiece is denoted by L24. When the initial position of the workpiece is S1 during workpiece grinding, the first deviation of the axis of the workpiece and the rotation center of the rotary table surface in the first direction is L13/2, and the second deviation in the second direction is L24/2; if the grinding device is grinding the second side surface B and the fourth side surface D at this time, the grinding device that grinds the workpiece is controlled to move in the second direction by an amount corresponding to the second deviation, specifically, the grinding device is moved in the downward direction of fig. 3 by an amount corresponding to the second deviation. Therefore, the differences L13/2 and L24/2 are referred to as the amount of face run-out. When the initial position of the workpiece during grinding is S2, the first offset between the axis of the workpiece and the rotation center of the table surface in the first direction is L13/2, and the second offset in the second direction is L24/2, but the first offset and the second offset are opposite to the first offset and the second offset when the initial position is S1. If the grinding device grinds the fourth side D and the second side B at this time, the grinding device that grinds the workpiece is controlled to move in the upward direction of fig. 3 by an amount corresponding to the second deviation. The above is merely an example, the initial position of the workpiece during grinding of the workpiece may be a position where the other side faces the reference point, and both the first offset and the second offset may be determined based on the similar steps described above, and the grinding device may be moved in the second direction by an amount corresponding to the second offset.

When one corner of the workpiece is ground by the grinding device, the amount of eccentricity between the axis o' of the workpiece and the rotation center o of the rotary table is referred to as angular eccentricity. How to calculate the angular eccentricity amount based on the plane eccentricity amount will be discussed below.

According to an exemplary embodiment of the present application, a method of calculating an eccentricity amount between a shaft center of a workpiece and a rotation center of a rotary table is provided. FIG. 4 is a schematic illustration of an eccentricity calculation according to an embodiment of the present application. As shown in fig. 4, the circle in the drawing indicates a circle formed by the axis o ' of the workpiece when the workpiece rotates along with the rotary table surface with the rotation center o of the rotary table surface as the center, R indicates a radius of a locus circle of the axis o ', and β indicates an angle equal to an angle between an extension line of a line connecting the axis o ' of the workpiece at an initial position and the rotation center o of the rotary table surface when the workpiece is ground and a side surface of the workpiece.

Therefore, in the exemplary embodiment, when L13 represents a difference between a distance between the first side when rotated to face the reference point and a distance between the third side when rotated to face the reference point and the reference point, and L24 represents a difference between a distance between the second side when rotated to face the reference point and a distance between the fourth side when rotated to face the reference point and the reference point, the radius and the included angle are calculated by the following formulas:

β＝arctan(L13/L24)；

As shown in fig. 3 or 4, the above calculation process is exemplified on the premise that a coordinate system is established with the rotation center o of the rotary table as the origin of the rectangular coordinate system, the up-down direction (second direction) and the left-right direction (first direction) passing through the origin as the X axis and the Y axis, and the right and downward directions are positive directions of the respective axes.

The initial position is a position of the workpiece when the axial center of the workpiece is at the first quadrant, as indicated by S1 of fig. 3, a first deviation of the axial center of the workpiece from the rotation center of the rotary table surface in the first direction is L13/2 and a second deviation in the second direction is L24/2, both of which are positive values. When L13-L24-N is calculated, thenβ＝45°。

the initial position is that when the axial center of the workpiece is in the second quadrant, the first deviation of the axial center of the workpiece and the rotation center of the rotary table surface in the first direction is L24/2, which is a positive value, and the second deviation in the second direction is-L13/2, which is a negative value. The value L13-L24-N can be calculated from the above formulaβ＝135°。

The initial position is the position of the workpiece when the axial center of the workpiece is at the third quadrant, as indicated by S2 in fig. 3, the first offset of the axial center of the workpiece from the rotation center of the rotary table surface in the first direction is-L13/2, and the second offset in the second direction is-L24/2, both negative values. The value L13-L24-N can be calculated from the above formulaβ＝225°。

When the initial position is that the axial center of the workpiece is in the fourth quadrant, the first deviation of the axial center of the workpiece and the rotation center of the rotary table surface in the first direction is-L24/2, which is a negative value, and the second deviation in the second direction is L13/2, which is a positive value.The value L13-L24-N can be calculated from the above formulaβ＝315°。

Further, when any one of the above 4 β values is calculated, other values may be obtained by rotation, for example, the workpiece is rotated counterclockwise by 90 °, 180 °, and 270 ° from the initial position in the first quadrant, and the initial positions of the workpiece in the second, third, and fourth quadrants are obtained, respectively.

Of course, the values of L13 and L24 are merely for illustration and not for limitation, and L13 and L24 can be measured by placing the workpiece at any position on the rotary table. When the values of L13 and L24 are calculated, the radius R of the locus circle of the axis o 'corresponding to the workpiece at the arbitrary position and the angle β between the side face of the workpiece and the extension line of the line connecting the axis o' of the workpiece at the initial position and the rotation center o of the table surface at the time of grinding the workpiece can be calculated.

In this way, a specific way of calculating the radius and the included angle is provided to calculate the above radius R and the included angle β from the distance.

As shown in fig. 4, offset _ y and offset _ x represent a first offset in a first direction in which the axial center o' of the workpiece faces the reference point sideways with respect to the rotation center o of the rotary table surface in grinding the workpiece and a second offset in a second direction perpendicular to the first direction, and θ represents a rotation angle of the rotary table surface with respect to the initial position.

In an exemplary embodiment, the first and second offsets offset _ y and offset _ x are calculated by the following formulas:

offset_x＝R*cos(β+θ)；

offset_y＝R*sin(β+θ)；

in the above equation, R, β, and θ are known, and therefore, the first offset _ y and the second offset _ x can be calculated.

Next, how to calculate the angular eccentricity amount will be described by taking the position of the upper left-hand center o' of the workpiece in fig. 4 as an initial position, that is, the position of the workpiece indicated by S2 in fig. 3 as an example. At the time, the initial position of the workpiece is that the axis of the workpiece is positionedin the third quadrant, a first deviation of the axis of the workpiece from the rotation center of the rotary table at the initial position in the first direction is-L13/2 and a second deviation in the second direction is-L24/2, both negative values. The value L13-L24-N can be calculated as described aboveβ＝225°。

when the rotation angle theta is 45 degrees, the eccentricity in grinding the angle can be obtained and can be recorded as the eccentricity in grinding the first angle, and at this time,offset_x＝0；

When the rotation angle theta is 135 degrees, the eccentricity in the angle grinding can be obtained and can be recorded as the eccentricity in the second angle grinding, and in this case, offset _ y is 0;

When the rotation angle theta is 225 degrees, the eccentricity at the time of grinding the angle can be obtained and can be written as the eccentricity at the time of grinding the third angle, and at this time,offset_x＝0；

When the rotation angle θ is 315 °, the eccentricity at the time of angle grinding can be obtained, and can be referred to as the eccentricity at the time of grinding the fourth angle, where offset _ y is 0;

Based on a similar method, the initial position of the workpiece can be calculated as the amount of angular eccentricity when the axis center of the workpiece is at the first, second, and fourth boundaries.

The values of the above rotation angles θ, L13, and L24 are merely examples given for the purpose of illustration and simplicity of calculation, and do not limit the present invention. When the L13, the L24 and the theta measured at any position of the workpiece on the rotary table surface take any values, the eccentric amount between the axis of the workpiece and the rotation center of the rotary table surface at any angle can be calculated.

further, in the exemplary embodiment, a difference L13 between the distance between the first side surface when rotated to face the reference point and the distance between the third side surface when rotated to face the reference point and the reference point can be calculated from the first offset _ y and the second offset _ x by the following formula, a difference L24 between the distance between the second side surface when rotated to face the reference point and the distance between the fourth side surface when rotated to face the reference point and the reference point, and θ is a rotation angle of the rotary table rotated from the initial position at the time of grinding the workpiece:

β＝arctan(offset_y/offset_x)-θ；

L13＝2*R*sinβ

L24＝2*R*cosβ

In the exemplary embodiment, the rotation angles θ are 0 °, 90 °, 180 °, or 270 °, respectively, when grinding four sides of the workpiece. The grinding device can grind the side face by rotating 0 degrees, 90 degrees, 180 degrees or 270 degrees.

In the exemplary embodiment, the rotation angles θ are 45 °, 135 °, 225 °, or 315 °, respectively, when grinding the four corners of the workpiece. The angle of the workpiece can be ground by rotating the grinding device by 45 degrees, 135 degrees, 225 degrees or 315 degrees.

According to an embodiment of the present application, a control apparatus for workpiece grinding is provided. Fig. 5 is a schematic diagram of a control device for workpiece grinding according to an embodiment of the present application. As shown in fig. 5, the control device 10 for workpiece grinding includes: a distance acquisition unit 101 configured to acquire a distance from a reference point of the measuring device to each of four side surfaces of the square-bar-shaped workpiece arranged on the rotating table when rotated to face the reference point; a rotation angle acquisition unit 103 configured to acquire a rotation angle of the rotary table with respect to an initial position when the workpiece is ground; an eccentricity amount determination unit 105 configured to calculate an eccentricity amount of the shaft center of the workpiece with respect to the rotation center of the rotary table top at the time of grinding the workpiece, the eccentricity amount including a first deviation of the shaft center of the workpiece with respect to the rotation center of the rotary table top in a first direction in which the side faces the reference point and a second deviation in a second direction perpendicular to the first direction, based on the distance and the rotation angle; a rotation control signal generation unit 107 configured to generate a rotation control signal according to the rotation angle, wherein the rotation control signal is used for controlling the rotation of the rotary table top to the rotation angle; a drive signal generation unit 109 configured to generate a drive signal according to the second offset, wherein the drive signal is used to control a grinding position corresponding to the rotation angle when the grinding device that grinds the workpiece is fed to the grinding position that grinds the workpiece; and a grinding control unit 111 configured to grind the workpiece using the rotation control signal and the drive signal. Since the control device for workpiece grinding corresponds to the control method for workpiece grinding, the above description is omitted.

The control device for workpiece grinding can be implemented by a Simotion motion controller, an S120 servo driver and a servo motor. The motion controller calculates the deviation between the axis of the workpiece and the rotation center of the rotary table based on the lateral movement servo coordinates obtained by measuring the four side surfaces, and further calculates the deviation between the four corners of the workpiece and the rotation center of the rotary table based on the rotation angle of the rotary table relative to the initial position during workpiece grinding, thereby realizing grinding with the workpiece center as the reference. S120 the servo driver controls the servo motor accurately, and the grinding precision is high. The SIMOTION motion controller supports high-level language programming, has high-efficiency and reliable floating point number operation, is convenient to calculate the eccentricity, and in addition, the motor sampling precision of the SIMOTION motion controller is high, the servo positioning is quick and accurate, and the grinding effect and efficiency are improved

In this way, grinding with reference to the center of the workpiece is achieved. Because only measure the distance between side and the benchmark just can calculate the eccentric value of the axis of work piece for the rotation center of revolving stage board under the arbitrary rotation angle during the grinding, can realize angle and mill one, consequently, the technical scheme of this application does not need frock clamp, and mechanical design is simple, does not need the secondary positioning of work piece after the measurement, has reduced whole process time, effectively improves the production efficiency of device.

in an exemplary embodiment of the present application, a control device including an additional unit adjusting a grinding allowance is provided. Fig. 6 is a schematic diagram of a control apparatus for workpiece grinding including an additional unit for adjusting a grinding allowance according to an embodiment of the present application, and as shown in fig. 6, the control apparatus 10 for workpiece grinding further includes: a grinding allowance acquisition unit 113 configured to acquire grinding allowances for grinding four side surfaces of the workpiece and four corners of the workpiece detected based on the axis center of the workpiece; a grinding allowance judgment unit 115 configured to judge whether or not grinding allowances for grinding four side surfaces of the workpiece or four corners of the workpiece are sufficient; and a grinding allowance adjustment unit 117 configured to move the workpiece to a position where grinding allowances for grinding four side surfaces of the workpiece and four corners of the workpiece are sufficient if the grinding allowances are insufficient. Since each unit for adjusting the grinding allowance corresponds to each step for adjusting the grinding allowance included in the control method for grinding a workpiece, the above description is omitted.

in this way, when one of the side faces or corners is not sufficient in grinding margin, the other grinding margin is used, and for example, if the grinding margin of the corner is found to be insufficient, the target positions of the four side faces are adjusted (the workpiece is adjusted to a new position) to achieve grinding margins at the four side faces and the four corners, thereby improving the yield of grinding.

In this way, the eccentricity between the axis of the workpiece at the initial position and the rotation center of the rotary table is determined from the distance, and then the eccentricity after the rotation angle is calculated from the eccentricity at the initial position and the rotation angle of the rotary table with respect to the initial position at the time of grinding.

β＝arctan(L13/L24)；

offset_x＝R*cos(β+θ)；

offset_y＝R*sin(β+θ)；

the above control process of workpiece grinding is performed by the control device of workpiece grinding according to the embodiment of the present application, and the specific process is the same as the above control method of workpiece grinding, and is not described again here.

According to an embodiment of the present application, a system for grinding a workpiece is provided. FIG. 7 is a schematic view of a system for grinding a workpiece according to an embodiment of the present application. As shown in fig. 7, the system 1 for grinding a workpiece includes: the device comprises a rotary table top, a workpiece 20, a grinding device 30, a measuring device 40, a receiving device 50 and a workpiece grinding control device 10.

The rotary table (not shown in the drawings, but hidden by the workpiece 20) is rotated by a rotary motor, which rotates in accordance with a rotation control signal. The workpiece 20 is arranged on a rotary table and has a square-bar shape. As shown in fig. 7, the bottom surface of the workpiece 20 is in contact with the rotary table, and the side surface is opposed to the measuring device 40 and the grinding device 30.

the grinding device 30 is used for grinding the workpiece 20. Specifically, the rotary table top is rotated together with the workpiece 20 disposed thereon by the driving of the rotary motor so that the side surface or the angular turn of the workpiece 20 faces the grinding device 30 so that the workpiece 20 can be ground or chamfered by the grinding device 30. The grinding device 30 is driven by the feed motor to perform the offset movement on the respective guide rails in the second direction by an amount corresponding to the second offset in accordance with the drive signal to correspond to the workpiece 20. Although two grinding devices 30 are shown in the drawing, the number of grinding devices is not limited thereto, and may be 1 or 3 or more. In the exemplary embodiment, grinding device 30 includes a grinding wheel.

the measuring device 40 measures the distance from the reference point to each of the four sides of the workpiece 20 when rotated to face the reference point. The measuring device 40 is located on a guide rail having an extension line passing through the rotary table and driven by a traverse motor so that the measuring device can be moved along the guide rail closer to or farther from the workpiece. The reference point is a point set when the measuring device 40 measures the workpiece 20, and when the measuring device 40 finds the workpiece 20, a point on the guide rail may be set as the reference point, for example, by recording the current coordinates of the traverse motor as the reference point. A square bar-shaped workpiece is placed on a rotary table, the workpiece is rotated by the rotary table so that one side surface of the workpiece 20 faces a measuring device which moves from a reference point toward the workpiece along a guide rail, when the measuring device comes into contact with the side surface of the workpiece, current coordinates of a traverse motor are recorded, a distance between the reference point and the side surface (for example, a first side surface) of the workpiece is obtained based on the value of the coordinates and the value of the coordinates of the reference point, then the measuring device is separated from the workpiece, a second side surface is turned to the side of the measuring device 40 and faces the measuring device 40 by rotating the rotary table counterclockwise by an angle of 90 DEG, the traverse motor drives the measuring device into contact with the second side surface, the current coordinates of the traverse motor are recorded, and a distance between the reference point and the second side surface of the workpiece is obtained based on the value of the. Then, the measuring device is separated from the workpiece again, the third side is turned to the side of the measuring device and faces the measuring device by rotating the rotary table counterclockwise by an angle of 90 °, the traverse motor drives the measuring device to contact the third side, the current coordinate of the traverse motor is recorded, and the distance between the reference point and the third side of the workpiece is obtained based on the value of the coordinate and the value of the coordinate of the reference point. Then, the measuring device is separated from the workpiece, the fourth side is turned to the side of the measuring device 40 and faces the measuring device 40 by rotating the rotary table counterclockwise by an angle of 90 °, the traverse motor drives the measuring device 40 to contact the fourth side, the current coordinate of the traverse motor is recorded, and the distance between the reference point and the fourth side of the workpiece is obtained based on the value of the coordinate and the value of the coordinate of the reference point. As a result, the distance between the reference point and each of the four sides of the workpiece is obtained.

and a receiving device 50 for receiving the rotation angle of the rotary table relative to the initial position when the workpiece is ground. In an exemplary embodiment, the receiving means 50 is an input device adapted to input angle information. In the exemplary embodiment, the receiving device 50 has a display interface to feed back the current state of each motor and various parameters and the like in the workpiece grinding process to the user in time through the display interface.

The control device 10 for workpiece grinding has been described above and will not be described in detail.

Here, the distance acquisition unit of the control device 10 for workpiece grinding acquires the distance from the measuring device 40, and the rotation angle acquisition unit of the control device 10 for workpiece grinding acquires the rotation angle from the receiving device 50.

In this way, grinding with reference to the center of the workpiece is achieved. Because only measure the distance between side and the benchmark just can calculate the eccentric value of the axis of work piece for the rotation center of rotating table board under the arbitrary rotation angle during the grinding, can once measure and just realize angle and mill finish, consequently, the technical scheme of this application does not need frock clamp, and mechanical design is simple, does not need the secondary location of work piece after the measurement, has reduced whole process time, effectively improves the production efficiency of equipment.

Fig. 8 is a side schematic view of a measuring device and a grinding device according to an embodiment of the present application. If 8 shows, the rotary table 60 is driven by the rotary motor to rotate, the rotary table 60 is provided with the workpiece 20, one side of the workpiece 20 is provided with a guide rail which extends through the workpiece 20, the guide rail is provided with the measuring device 40, the measuring device 40 moves back and forth on the guide rail towards the workpiece by the driving of the traverse motor, and after the measuring device 40 searches the workpiece 20, the current coordinate of the traverse motor is recorded and is used as the coordinate of the reference point. The rotating table 60 rotates the square rod-shaped workpiece, and the measuring device 40 can measure the distance from the reference point to each of the four sides of the workpiece 20 when rotated to face the reference point. The measuring device 40 comprises a measuring probe 41. In an exemplary embodiment, the measurement probe is a high-precision limit sensor, and when the measurement probe hits the workpiece, the control system records the coordinates of the current traversing motor encoder, and from the coordinates of the reference point, the distance between the reference point and each side of the workpiece is obtained, as shown at L1 or L3 in fig. 3.

According to another aspect of the embodiments of the present application, there is also provided a storage medium including a stored computer program, wherein the computer program is executed to control an apparatus in which the storage medium is located to execute the above-mentioned control method for grinding a workpiece.

according to another aspect of the embodiments of the present application, there is also provided a processor running a computer program, wherein the computer program is run to execute the above-mentioned control method for workpiece grinding.

according to another aspect of the embodiments of the present application, there is also provided a terminal, including: one or more processors, a memory, and one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, the one or more computer programs performing the above-described method of controlling workpiece grinding.

according to another aspect of embodiments of the present application, there is also provided a computer program product, tangibly stored on a computer-readable medium and comprising computer-executable instructions that, when executed, cause at least one processor to perform the above-described method of controlling workpiece grinding.

The techniques for controlling workpiece grinding according to embodiments of the present application can be implemented in storage media, processors, terminals, and computer program products. In this way, the mechanical design difficulty is reduced while the overall time of grinding is reduced.

In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

in the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units or modules is only one logical division, and there may be other divisions when the actual implementation is performed, for example, a plurality of units or modules or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of modules or units through some interfaces, and may be in an electrical or other form.

The units or modules described as separate parts may or may not be physically separate, and parts displayed as units or modules may or may not be physical units or modules, may be located in one place, or may be distributed on a plurality of network units or modules. Some or all of the units or modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional units or modules in the embodiments of the present application may be integrated into one processing unit or module, or each unit or module may exist alone physically, or two or more units or modules are integrated into one unit or module. The integrated unit or module may be implemented in the form of hardware, or may be implemented in the form of a software functional unit or module.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A method of controlling grinding of a workpiece, comprising:

Acquiring a distance from a reference point of a measuring device to each of four sides of a square-bar-shaped workpiece arranged on a rotating table when the side is rotated to face the reference point;

Acquiring a rotation angle of the rotary table relative to an initial position when the workpiece is ground;

Calculating an eccentricity amount of the axis of the workpiece with respect to the rotation center of the rotary table top when grinding the workpiece, the eccentricity amount including a first offset of the axis of the workpiece with respect to the rotation center of the rotary table top in a first direction in which the side faces the reference point and a second offset in a second direction perpendicular to the first direction, based on the distance and the rotation angle;

Generating a rotation control signal according to the rotation angle, wherein the rotation control signal is used for controlling the rotary table top to rotate to the rotation angle;

Generating a driving signal according to the second offset, wherein the driving signal is used for controlling a grinding device for grinding the workpiece to feed to a grinding position corresponding to the rotation angle when the workpiece is ground; and

grinding the workpiece using the rotation control signal and the drive signal.

2. The control method according to claim 1, wherein calculating an eccentric amount of a shaft center of the workpiece with respect to a rotation center of the rotary table surface when grinding the workpiece includes:

Calculating the radius of a circle which is formed by the axis of the workpiece when rotating along with the rotating table top and takes the rotating center of the rotating table top as the center of the circle, and the included angle between the extension line of the connecting line between the axis of the workpiece and the rotating center of the rotating table top and the side surface of the workpiece according to the distance; and

And calculating the eccentricity according to the radius, the included angle and the rotation angle.

3. the control method according to claim 2, wherein the radius and the included angle are calculated by the following formulas:

β＝arctan(L13/L24)；

Wherein R represents the radius, β represents the included angle, the four sides are respectively a first side, a second side adjacent to the first side, a third side opposite to the first side, and a fourth side opposite to the second side, L13 represents a difference between the distance between the first side when rotated to face the reference point and the distance between the third side when rotated to face the reference point and the reference point, and L24 represents a difference between the distance between the second side when rotated to face the reference point and the distance between the fourth side when rotated to face the reference point and the reference point.

4. The control method according to claim 3, characterized in that the eccentricity amount is calculated by the following formula:

offset_x＝R*cos(β+θ)；

offset_y＝R*sin(β+θ)；

Wherein offset _ y represents the first offset, offset _ x represents the second offset, and θ represents the rotation angle.

5. the control method according to any one of claims 1 to 4, wherein grinding the workpiece using the rotation control signal and the drive signal includes:

Controlling the rotary table top to rotate to the rotation angle according to the rotation control signal; and

Controlling the grinding device to move in the second direction by an amount corresponding to the second offset according to the driving signal.

6. the control method according to claim 5, characterized by further comprising:

detecting grinding allowances for grinding four side surfaces of the workpiece and four corners of the workpiece based on the axis of the workpiece;

Judging whether the grinding allowance for grinding four side surfaces of the workpiece or four corners of the workpiece is sufficient or not; and

and if the grinding allowance is insufficient, moving the workpiece to a position where the grinding allowances for grinding the four side surfaces of the workpiece and for grinding the four corners of the workpiece are sufficient.

7. Control device (10) for grinding a workpiece, characterized by comprising:

a distance acquisition unit (101) configured to acquire a distance between a reference point of the measurement device (40) and each of four side surfaces of a square-bar-shaped workpiece (20) arranged on the rotation table (60) when rotated to face the reference point;

a rotation angle acquisition unit (103) configured to acquire a rotation angle of the rotary table top (60) with respect to an initial position when the workpiece (20) is ground;

An eccentricity amount determination unit (105) configured to calculate, from the distance and the rotation angle, an eccentricity amount of a shaft center (o ') of the workpiece (20) with respect to a rotation center (o) of the rotary table top (60) when grinding the workpiece (20), the eccentricity amount including a first offset of the shaft center (o') of the workpiece (20) with respect to the rotation center (o) of the rotary table top (60) in a first direction in which the side faces the reference point and a second offset in a second direction perpendicular to the first direction;

A rotation control signal generation unit (107) configured to generate a rotation control signal according to the rotation angle, wherein the rotation control signal is used for controlling the rotating table top (60) to rotate to the rotation angle;

A drive signal generation unit (109) configured to generate a drive signal according to the second offset, wherein the drive signal is used for controlling a grinding device (30) for grinding the workpiece to feed to a grinding position corresponding to the rotation angle when the workpiece (20) is ground; and

a grinding control unit (111) configured to grind the workpiece (20) using the rotation control signal and the drive signal.

8. the control device (10) according to claim 7, wherein calculating an eccentric amount of a shaft center of the workpiece with respect to a rotation center of the rotary table surface when grinding the workpiece comprises:

Calculating the radius of a circle which is formed by the axis (o ') of the workpiece and takes the rotation center (o) of the rotary table surface as the center when rotating along with the rotary table surface and the included angle between the extended line of the connecting line between the axis (o') of the workpiece and the rotation center (o) of the rotary table surface and the side surface of the workpiece according to the distance; and

9. The control device (10) according to claim 8, characterized in that the radius and the included angle are calculated by the following formulas:

β＝arctan(L13/L24)；

10. the control device (10) according to claim 9, characterized in that the eccentricity amount is calculated by the following formula:

offset_x＝R*cos(β+θ)；

offset_y＝R*sin(β+θ)；

11. The control device (10) of any one of claims 7 to 10, wherein grinding the workpiece using the rotation control signal and the drive signal comprises:

12. The control device (10) according to claim 11, further comprising:

a grinding allowance acquisition unit (113) configured to acquire grinding allowances for grinding four side surfaces of the workpiece (20) and four corners of the workpiece detected based on an axial center (o') of the workpiece (20);

A grinding allowance judgment unit (115) configured to judge whether the grinding allowance for grinding four side surfaces of the workpiece or four corners of the workpiece is sufficient; and

A grinding allowance adjustment unit (117) configured to move the workpiece (20) to a position where grinding allowances for grinding four side surfaces of the workpiece and four corners of the workpiece are sufficient, if the grinding allowances are insufficient.

13. System (1) for grinding a workpiece, characterized in that it comprises:

a rotary table (60) for arranging a square-bar-shaped workpiece (20) to be ground;

A grinding device (30) configured to grind the workpiece (20);

a measuring device (40) configured to measure a distance between a reference point of the measuring device (40) and each of four sides of the workpiece (20) when rotated to face the reference point;

A receiving device (50) configured to receive a rotation angle of the rotary table top (60) relative to an initial position when the workpiece (20) is ground; and

Control device (10) for workpiece grinding according to one of claims 7 to 12,

wherein the distance acquisition unit (101) acquires the distance from the measurement device (40), and the rotation angle acquisition unit (103) acquires the rotation angle from the reception device (50).

14. Storage medium comprising a stored computer program, characterized in that the computer program controls, when running, an apparatus on which the storage medium is located to perform the control method of any one of claims 1 to 6.

15. Control device for grinding a workpiece, characterized in that the control device comprises a processor and a memory, the memory storing a program, the processor being adapted to run the program, wherein the program is adapted to perform the control method according to any one of claims 1 to 6 when running.

16. A terminal, comprising: one or more processors, a memory, and one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, the one or more computer programs performing the control method of any of claims 1-6.