CN110064799B - A kind of wire gear numerical control gear grinding machine and wire gear grinding processing method - Google Patents

Abstract

The invention discloses a wire gear numerical control gear grinding machine and a wire gear grinding processing method. The wire gear numerical control gear grinding machine includes a bed, a column, a grinding wheel spindle box, a grinding wheel dressing device, a workpiece clamping mechanism, and an indexing plate , a rotary table and a numerical control system; the wire gear grinding method makes the wire gear workpiece to be processed mesh with the forming grinding wheel and rotate synchronously at a specified axis crossing angle, while the wire gear workpiece to be processed is rotated at a specified The relative feed motion is carried out in the direction, so as to realize the machining process of the profiled grinding wheel grinding the wire gear workpiece. The wire gear numerical control gear grinding machine and the wire gear grinding method of the present invention simplify the grinding process of the wire gear, improve the grinding efficiency and processing accuracy of the wire gear, and expand its applicable scope at the same time, and can be used for grinding Machining of cylindrical wire gears, conical wire gears and other types of helical gears.

Description

A kind of wire gear numerical control gear grinding machine and wire gear grinding processing method

technical field

The invention relates to the field of gear processing equipment and a gear processing method, in particular to a wire gear numerical control gear grinding machine and a wire gear grinding method.

Background technique

The wire gear is a new type of gear based on the principle of space conjugate curve meshing. The wire gear pair is transmitted in a point-contact manner. In order to further improve the load-bearing capacity and service life of the wire gear, it is necessary to heat-treat the wire gear after milling. In order to efficiently finish the tooth surface of the heat-treated wire gear, it is necessary to grind the wire gear.

Different from traditional involute spur gears and spiral bevel gears, the tooth meshing lines of linear gears include cylindrical helix and conical helix. Therefore, it is currently used for grinding involute spur gears and spiral bevel gears. The gear grinding machine cannot adapt to the grinding of different types of wire gears. Although the six-axis machining center can meet the motion requirements of different types of wire gears during grinding, the processing cost is high. Therefore, combined with the structural characteristics of wire gears, the present invention proposes A CNC gear grinding machine for wire gears and a grinding method for wire gears are disclosed. The wire gear numerical control gear grinding machine and the wire gear grinding method of the present invention simplify the wire gear grinding process, improve the wire gear grinding efficiency and processing accuracy, and at the same time have a wide range of applications and can be ground. Cylindrical wire gears, conical wire gears and other types of helical gears.

Contents of the invention

In order to solve the problems existing in the existing gear grinding equipment and gear grinding method when grinding wire gears, the present invention provides a wire gear numerical control wheel gear grinding machine and a wire gear grinding method that can realize four-axis linkage, The grinding processing action of the wire gear is simplified, the processing accuracy and processing efficiency of the wire gear are improved, and the processing cost is reduced.

The object of the present invention is achieved at least by one of the following technical solutions:

A numerical control gear grinding machine for wire gears, comprising a bed, a column, a grinding wheel spindle box, a grinding wheel dressing device, a workpiece clamping mechanism, an indexing plate, a rotary table and a numerical control system, characterized in that: the bed is fixedly installed with A column, the vertical direction of the column is provided with a Z-axis guide rail and a driving device moving along the Z-axis direction, the grinding wheel headstock is installed on the Z-axis guide rail and moves along the Z-axis guide rail, and the bed is provided with an X-axis guide rail, an X-direction mobile base slidingly matched with the X-axis guide rail, and a driving device for driving the X-direction mobile base to reciprocate along the X-axis guide rail; the X-direction mobile base is provided with a Y-axis guide rail, and The Y-direction mobile base that is slidingly matched with the Y-axis guide rail, and the driving device that drives the Y-direction mobile base to reciprocate along the Y-axis guide rail; the grinding wheel dressing device is installed on the Y-direction mobile base; One end of the rotary table is connected to the Y-direction mobile base through a rotating mechanism that rotates around the B axis, and the B axis is parallel to the Y-axis guide rail; the index plate is fixed in the middle of the rotary table and It can rotate around the C-axis perpendicular to the plane where the rotary table is located; the workpiece clamping mechanism is installed on the indexing turntable for clamping and driving the workpiece to rotate along the A-axis perpendicular to the C-axis. The numerical control system is electrically connected with the grinding wheel spindle box, each driving device, the rotating mechanism, the indexing plate and the grinding wheel dressing device respectively.

Further, the workpiece clamping mechanism includes a chuck and a top tailstock oppositely arranged, the chuck is used to clamp the workpiece, the top tailstock is used to assist in clamping the workpiece, and the chuck is driven by a servo motor Rotate around the A axis.

Further, the chuck is driven by the servo motor to rotate around its own axis A, and the numerical control system is used to respectively control the X-axis servo motor to drive the X-direction mobile base to move along the X-axis direction, and the Y-axis servo motor to drive the Y axis. The moving base moves along the Y-axis, and the Z-axis servo motor drives the grinding wheel spindle to move along the Z-axis, realizing the four-axis linkage of A-axis rotation, X-axis movement, Y-axis movement, and Z-axis movement.

Further, when the gear to be processed is clamped, the rotary table is adjusted to rotate a certain angle around the B axis, and the index plate is adjusted to make the workpiece clamping device rotate a certain angle around the C axis, so that the axis of the grinding wheel and the line The included angle of the gear axis is a design value, and the rotation of the rotary table around the B axis and the rotation of the index disk around the C axis are independent motions or linked with other motion mechanisms.

Further, the index plate is provided with a T-shaped slot that drives the workpiece to move in the radial direction, and is used for the installation and adjustment of the chuck and the center tailstock.

Further, the numerical control system realizes the modification of the grinding wheel by controlling the relative movement of the Y-direction mobile base and the grinding wheel headstock.

Further, the forming grinding wheel is installed on the grinding wheel handle, and the grinding wheel handle is installed on the grinding wheel spindle, and the tool setting probe mechanism is also installed on the column, which is used for positioning and tool setting at the beginning of the grinding process.

A grinding method for wire gears, comprising the steps of:

S1: Determine the parameters of the wire gear to be ground: the wire gear mainly includes two types: cylindrical wire gear and conical wire gear. Helical line, in the coordinate system o _j -x _j y _j z _j , the general mathematical expression of the meshing line of the wire gear teeth is:

时，线齿轮轮齿啮合线是圆锥螺旋线，In the formula, θ _j is the semi-cone vertex angle of the tooth meshing line of the wire gear. When θ _j = 0, the tooth meshing line of the wire gear is a cylindrical helix. When

, the meshing line of the wire gear teeth is a conical helix,

k _j is the rotation direction parameter, when k _j =1, the tooth meshing line is left-handed, when k _j =-1, the gear tooth meshing line is right-handed,

n _j is the helical parameter of the wire gear meshing line, t _j is the parameter variable of the wire gear meshing line equation, t _js ≤t _j ≤t _je ; t _js is the initial meshing point, t _je is the terminal meshing point;

S2: Determine the parameters of the forming grinding wheel: the tooth surface of the wire gear is obtained by sweeping an arc generatrix along the tangential direction of the tooth meshing line. The cross-sectional profile of the grinding wheel is consistent with the shape of the tooth profile of the wire gear. At the same time, the height of the effective part of the profile of the shaped grinding wheel should be greater than the maximum tooth height of the processed wire gear, and the width of the grinding wheel should be smaller than the minimum tooth groove width of the processed wire gear, so as to avoid grinding wheel The non-working side interferes with the gear tooth surface of the processed line;

使得待磨削的圆柱线齿轮的轴线与成形砂轮轴线的夹角为α，其中α为圆柱线齿轮轮齿啮合线的螺旋角，圆锥线齿轮在装夹的时候，利用卡盘和顶尖尾座将待磨削加工的圆锥线齿轮装夹固定，根据圆锥线齿轮轮齿啮合线参数确定旋转工作台绕B轴转过的角度β，然后根据圆锥线齿轮轮齿啮合线的半圆锥顶角确定分度盘转过的角度θ，使得待磨削加工的圆锥线齿轮的母线与水平X轴方向平行；S3: Determine the clamping method of the linear gear: when clamping the cylindrical linear gear, use the chuck and the top tailstock to clamp and fix the cylindrical linear gear to be processed, and determine the rotation of the rotary table according to the parameters of the cylindrical linear gear tooth meshing line. The angle γ that the B-axis rotates is taken as

Make the angle between the axis of the cylindrical wire gear to be ground and the axis of the forming grinding wheel be α, where α is the helix angle of the tooth meshing line of the cylindrical wire gear. When the conical wire gear is clamped, use the chuck and the top tailstock Clamp and fix the conical gear to be ground, determine the angle β of the rotating table around the B axis according to the parameters of the conical gear tooth meshing line, and then determine it according to the semi-cone vertex angle of the conical gear tooth meshing line The angle θ that the indexing plate rotates makes the generatrix of the conical gear to be ground parallel to the horizontal X-axis direction;

S4: Determine the movement form of the forming grinding wheel and the wire gear to be processed: when grinding the wire gear, the wire gear workpiece to be processed and the forming grinding wheel are in a meshing state and rotate synchronously at a specified axis crossing angle, while the wire gear to be processed The gear workpiece performs relative feed motion in a specified direction, so as to realize the processing process of grinding the wire gear workpiece by the forming grinding wheel, and the wire gear workpiece to be ground rotates around its own axis and moves along the transverse horizontal direction during the grinding process The rule is:

Among them, φ _j is the angle that the wire gear rotates around its own axis during grinding, and the unit is degree,

_xj is the distance that the linear gear moves along the x-axis during grinding, in millimeters,

n _j is the helical parameter of the wire gear meshing line,

t _j is the parameter variable.

Furthermore, when grinding wire gears with the same tooth profile radius, the same shaped grinding wheel is used for grinding, which greatly improves the versatility of the shaped grinding wheel.

Compared with the prior art, the wire gear CNC gear grinding machine and the wire gear grinding method of the present invention simplify the wire gear grinding process, improve the wire gear grinding efficiency and processing accuracy, and expand its Scope of application, it can be used for grinding cylindrical wire gears, conical wire gears and other types of helical gears.

Description of drawings

Fig. 1 is a schematic structural diagram of a numerically controlled gear grinding machine for machining hard-tooth surface gears according to an embodiment of the present invention.

Fig. 2 is a flow chart of the grinding method of the embodiment of the present invention.

Fig. 3 is a schematic diagram of the grinding process of the cylindrical wire gear according to the embodiment of the present invention.

Fig. 4 is a schematic diagram of another direction of grinding and processing a cylindrical linear gear according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of the grinding process of the conical gear according to the embodiment of the present invention.

Fig. 6 is a schematic diagram of another direction of grinding and machining of a conical gear according to an embodiment of the present invention.

In the picture:

1. Column, 2. Tool setting probe mechanism, 3. Top tailstock, 4. Z-axis guide rail, 5. Grinding wheel dressing device, 6. X-axis guide rail, 7. Bed, 8. Y-axis guide rail, 9. Rotation Workbench, 10. Indexing disc, 11. Chuck, 12. Grinding wheel grip, 13. Grinding wheel spindle box, 14. Cylindrical gear, 15. Cylindrical gear processing grinding wheel, 16. Conical gear, 17. Conical wire Grinding wheel for gear machining.

Detailed ways

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only Part of the embodiments of the present invention and all other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of the present invention.

As shown in Figure 1, this embodiment is a CNC gear grinding machine for processing hard-tooth surface gears, including a bed 7, a column 1, a grinding wheel headstock 13, a grinding wheel dressing device 5, a chuck 11, and a top tailstock 3 , Indexing plate 10, rotary table 9 and numerical control system.

A column 1 is fixedly installed on the bed 7, and the vertical direction of the column 1 is provided with a Z-axis guide rail 4 and a driving device moving along the Z-axis direction, and the grinding wheel headstock 13 is installed on the Z-axis guide rail 4 Move along the Z-axis guide rail 4, the bed 7 is provided with an X-axis guide rail 6, an X-direction mobile base slidingly matched with the X-axis guide rail 6, and drives the X-direction mobile base to reciprocate along the X-axis guide rail 6 A moving drive device; the X-direction mobile base is provided with a Y-axis guide rail 8, a Y-direction mobile base that slides with the Y-axis guide rail 8, and drives the Y-direction mobile base along the Y-axis guide rail 8 reciprocating driving device; the grinding wheel dressing device 5 is installed on the Y-direction mobile base; one end of the rotary table 9 is connected with the Y-direction mobile base through a rotating mechanism that rotates around the B axis, and rotates The table 9 can be rotated around the B-axis through the rotating mechanism, and the B-axis is parallel to the Y-axis guide rail 8; the index plate 10 is fixed in the middle of the rotary table 9 and can rotate around the vertical axis The C-axis of the plane where 9 is located rotates; the workpiece clamping mechanism is installed on the indexing turntable 10 for clamping and driving the workpiece to rotate along the A-axis perpendicular to the C-axis; the numerical control system is respectively connected with the The grinding wheel spindle box, each driving device, the rotating mechanism, the indexing plate, and the grinding wheel dressing device are electrically connected.

In this embodiment, the numerical control system respectively controls the chuck 11 to rotate around the A-axis under the drive of the servo motor, the X-axis guide rail 6 drives the workpiece to move along the X-axis direction under the drive of the servo motor, and the Y-axis guide rail 8 is driven by the servo motor. The workpiece is driven to move along the Y-axis direction under the drive of the servo motor, and the Z-axis guide rail 4 drives the grinding wheel headstock 13 to move along the Z-axis direction under the drive of the servo motor. The gear grinding machine can realize A-axis rotation, X-axis movement, and Y-axis movement. , Z-axis movement of the four-axis linkage.

In this embodiment, when the gear to be processed is clamped, the rotary table 9 is adjusted so that the workpiece to be processed rotates through a specific angle around the B axis, and the index plate 10 is adjusted to rotate the gear to be processed through a specific angle around the C axis. The angle between the axis of the grinding wheel and the axis of the gear to be ground is the design value, and the rotation of the rotary table around the B axis and the rotation of the indexing disc around the C axis do not have to be consistent with the rotation of the A axis, the movement of the X axis, and the movement of the Y axis. , Z-axis movement of these four axes to achieve linkage. In this embodiment, the index plate 10 has a T-shaped groove that is driven to grind and move in the radial direction, and is used to complete the installation and adjustment of the chuck 11 and the top tailstock 3. The grinding wheel dressing device is installed on the On the above-mentioned Y-direction mobile base, the modification of the grinding wheel is realized by controlling the relative movement between the Y-direction mobile base and the spindle box. The grinding wheel is installed on the grinding wheel handle 12, and the grinding wheel handle 12 is installed on the grinding wheel spindle. A tool setting probe mechanism 2 is also installed on it, which is used for positioning and tool setting at the beginning of the grinding process.

14. Cylindrical wire gear, 15. Cylindrical wire gear processing grinding wheel, 16. Conical wire gear, 17. Conical wire gear processing grinding wheel.

As shown in Fig. 2, a kind of wire gear grinding processing method comprises steps:

S1: Determine the parameters of the wire gear to be ground: the wire gear mainly includes two forms of cylindrical wire gear 14 and conical wire gear 16, wherein the tooth meshing line of cylindrical wire gear is a cylindrical helical line, and the tooth meshing line of conical wire gear is is a conical helix, in the coordinate system o _j -x _j y _j z _j , the general mathematical expression of the wire gear tooth meshing line is:

时，线齿轮轮齿啮合线是圆锥螺旋线，In the formula, θ _j is the semi-cone vertex angle of the tooth meshing line of the wire gear. When θ _j = 0, the tooth meshing line of the wire gear is a cylindrical helix. When

, the meshing line of the wire gear teeth is a conical helix,

k _j is the rotation direction parameter, when k _j =1, the tooth meshing line is left-handed, when k _j =-1, the gear tooth meshing line is right-handed,

n _j is the helical parameter of the wire gear meshing line, t _j is the parameter variable of the wire gear meshing line equation, t _js ≤t _j ≤t _je ; t _js is the initial meshing point, t _je is the terminal meshing point.

S2: Determine the parameters of the forming grinding wheel: the tooth surface of the wire gear can be regarded as a circular arc generatrix swept along the tangential direction of the tooth meshing line. Above, the cross-sectional profile of the formed grinding wheel is consistent with the shape of the tooth profile of the wire gear, and at the same time, the height of the effective part of the cross-sectional profile of the formed grinding wheel should be greater than the maximum tooth height of the processed line gear, and the width of the grinding wheel should be smaller than the minimum tooth space width of the processed line gear , to avoid interference between the non-working side of the grinding wheel and the gear tooth surface of the processed line.

使得待磨削的圆柱线齿轮的轴线与圆柱线齿轮加工砂轮15的轴线的夹角为α，其中α为圆柱线齿轮轮齿啮合线的螺旋角(如图3和图4所示)；圆锥线齿轮在装夹的时候，利用卡盘和顶尖尾座将待磨削加工的圆锥线齿轮装夹固定，安装圆锥线齿轮加工砂轮17，根据圆锥线齿轮轮齿啮合线参数确定旋转工作台绕B轴转过的角度β，然后根据圆锥线齿轮轮齿啮合线的半圆锥顶角确定分度盘转过的角度θ，使得待磨削加工的圆锥线齿轮的母线与水平X轴方向平行，(如图5和图6所示)。S3: Determine the clamping method of the linear gear: when the cylindrical linear gear is clamped, use the chuck and the top tailstock to clamp and fix the cylindrical linear gear to be processed, and determine the rotary table according to the meshing line parameters of the cylindrical linear gear The angle γ rotated around the B axis is generally taken as

Make the angle between the axis of the cylindrical wire gear to be ground and the axis of the cylindrical wire gear processing grinding wheel 15 be α, where α is the helix angle of the meshing line of the cylindrical wire gear teeth (as shown in Figure 3 and Figure 4); When the wire gear is clamped, use the chuck and the top tailstock to clamp and fix the conical wire gear to be ground, install the conical wire gear processing grinding wheel 17, and determine the rotation of the rotary table according to the parameters of the conical wire gear meshing line parameters. The angle β rotated by the B axis, and then the angle θ rotated by the index plate is determined according to the semi-cone vertex angle of the conical gear tooth meshing line, so that the generatrix of the conical gear to be ground is parallel to the horizontal X-axis direction, (As shown in Figure 5 and Figure 6).

S4: Determine the movement form of the forming grinding wheel and the wire gear to be processed: when grinding the wire gear, the wire gear workpiece to be processed and the forming grinding wheel are in a meshing state and rotate synchronously at a specified axis crossing angle, while the wire gear to be processed The gear workpiece performs relative feed motion in a specified direction, so as to realize the processing process of forming the grinding wheel to grind the wire gear workpiece, and the wire gear to be ground rotates around its own axis and moves horizontally along the horizontal direction during the grinding process yes:

Among them, φ _j is the angle that the wire gear rotates around its own axis during grinding, and the unit is degree,

_xj is the distance that the linear gear moves along the x-axis during grinding, in millimeters,

n _j is the helical parameter of the wire gear meshing line,

t _j is the parameter variable.

The wire gear grinding method makes the wire gear workpiece to be processed and the forming grinding wheel in a meshing state and rotate synchronously at a specified axis crossing angle, and at the same time, the wire gear workpiece to be processed performs relative feed motion in a specified direction, thereby The processing process of grinding the wire gear workpiece by the forming grinding wheel is realized.

Aiming at the tooth surface forming principle of wire gears, the present invention proposes a wire gear CNC gear grinding machine and a wire gear grinding method, which simplifies the processing process of wire gears and can realize the grinding of cylindrical wire gears and conical wire gears It has the advantages of high grinding efficiency, high grinding precision and wide application range.

The above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (9)

1. The utility model provides a line gear numerical control gear grinding machine, includes lathe bed, stand, emery wheel headstock, emery wheel trimming device, work piece fixture, graduated disk, rotary worktable and numerical control system, its characterized in that: the grinding wheel spindle box is arranged on the Z-axis guide rail and moves along the Z-axis guide rail, the lathe bed is provided with an X-axis guide rail, an X-direction moving machine seat in sliding fit with the X-axis guide rail and a driving device for driving the X-direction moving machine seat to reciprocate along the X-axis guide rail; the X-direction moving machine seat is provided with a Y-axis guide rail, a Y-direction moving machine seat which is in sliding fit with the Y-axis guide rail, and a driving device which drives the Y-direction moving machine seat to reciprocate along the Y-axis guide rail; the grinding wheel dressing device is arranged on the Y-direction movable base; one end of the rotary workbench is connected with the Y-direction movable machine seat through a rotating mechanism rotating around a B axis, and the B axis is parallel to the Y-axis guide rail; the dividing plate is fixed in the middle of the rotary workbench and can rotate around a C axis perpendicular to the plane of the rotary workbench; the workpiece clamping mechanism is arranged on the dividing disc and used for clamping and driving a workpiece to rotate along an A axis perpendicular to a C axis, and the numerical control system is electrically connected with the grinding wheel spindle box, each driving device, the rotating mechanism, the dividing disc and the grinding wheel trimming device respectively.

2. The wire-gear numerical control gear grinding machine according to claim 1, wherein: the workpiece clamping mechanism comprises a chuck and a center tailstock which are oppositely arranged, the chuck is used for clamping a workpiece, the center tailstock is used for assisting in clamping the workpiece, and the chuck rotates around the A axis under the driving of a servo motor.

3. The wire-gear numerical control gear grinding machine according to claim 2, characterized in that: the chuck rotates around an axis A of the chuck under the drive of the servo motor, and the numerical control system is used for respectively controlling the X-axis servo motor to drive the X-direction moving machine seat to move along the X-axis direction, the Y-axis servo motor to drive the Y-direction moving machine seat to move along the Y-axis direction and the Z-axis servo motor to drive the grinding wheel spindle box to move along the Z-axis direction, so that four-axis linkage of A-axis rotation, X-axis movement, Y-axis movement and Z-axis movement is realized.

4. The wire-gear numerical control gear grinding machine according to claim 1, wherein: when the wire gear to be processed is clamped, the rotary workbench is adjusted to rotate around the B shaft by a certain angle, the index plate is adjusted to enable the workpiece clamping mechanism to rotate around the C shaft by a certain angle, the included angle between the axis of the grinding wheel and the axis of the wire gear is a design value, and the rotary workbench rotates around the B shaft and the index plate rotates around the C shaft to independently move or are linked with other moving mechanisms.

5. The wire-gear numerical control gear grinding machine according to claim 2, characterized in that: the indexing disc is provided with a T-shaped groove for driving the workpiece to move along the radial direction and used for mounting and adjusting the chuck and the center tailstock.

6. The wire-gear numerical control gear grinding machine according to claim 1, wherein: the numerical control system realizes the modification of the grinding wheel by controlling the relative movement of the Y-direction moving base and the grinding wheel spindle box.

7. The wire-gear numerical control gear grinding machine according to claim 1, wherein: the grinding wheel is arranged on the grinding wheel handle, the grinding wheel handle is arranged on the grinding wheel spindle, and meanwhile, the upright post is also provided with a tool setting and measuring head mechanism for positioning and tool setting at the beginning of grinding processing.

8. A grinding processing method of a wire gear comprises the following steps:

s1: determining parameters of a wire gear to be ground: the wire gear mainly comprises a cylindrical wire gear and a conical wire gear, wherein the meshing line of the gear teeth of the cylindrical wire gear is a cylindrical spiral line, the meshing line of the gear teeth of the conical wire gear is a conical spiral line, and the wire gear is arranged in a coordinate system o _j -x _j y _j z _j The general mathematical expression of the wire gear tooth meshing line is:

in theta _j For meshing wire of wire gear teethAngle of semicircle cone, when theta _j When=0, the meshing line of the wire gear teeth is a cylindrical spiral line, when

When the wire gear tooth meshing line is a conical spiral line,

k _j is the rotation direction parameter, when k _j When=1, the tooth meshing line is left-handed, k _j When the gear is in the range of = -1, the gear tooth meshing line is in the right-hand rotation,

n _j is the spiral parameter of a meshing line of a line gear, t _j Is the parameter of a line gear meshing line equation, t _js ≤t _j ≤t _je ；t _js To the initial engagement point, t _je Is a terminal engagement point;

s2: determining parameters of the forming grinding wheel: the tooth surface of the line gear is obtained by sweeping an arc generatrix along the tangential direction of a gear tooth meshing line, when the formed grinding wheel grinds the line gear, the cross section profile of the formed grinding wheel is consistent with the tooth profile shape of the line gear on the normal cross section of the gear tooth meshing line of the line gear, meanwhile, the effective part height of the cross section profile of the formed grinding wheel is larger than the full height of the maximum tooth of the line gear to be processed, the width of the grinding wheel is smaller than the minimum tooth groove width of the line gear to be processed, and the interference between the non-working side of the grinding wheel and the tooth surface of the line gear to be processed is avoided;

s3: determining a clamping mode of the wire gear: when the cylindrical wire gear is clamped, the cylindrical wire gear to be processed is clamped and fixed by utilizing the chuck and the center tailstock, and the rotating angle gamma of the rotary workbench around the B axis is determined according to the meshing line parameters of the gear teeth of the cylindrical wire gear, and the angle gamma is taken

The included angle between the axis of the cylindrical wire gear to be ground and the axis of the forming grinding wheel is alpha, wherein alpha is the helix angle of the meshing line of the gear teeth of the cylindrical wire gear, the conical wire gear to be ground is clamped and fixed by utilizing a chuck and a tip tailstock when the conical wire gear is clamped, the angle beta of the rotary workbench rotating around the axis B is determined according to the parameters of the meshing line of the gear teeth of the conical wire gear, and then the angle beta of the rotary workbench rotating around the axis B is determined according to the semi-conical top of the meshing line of the gear teeth of the conical wire gearThe angle theta rotated by the index plate is determined, so that the generatrix of the conical line gear to be ground is parallel to the horizontal X-axis direction;

s4: determining the movement forms of the forming grinding wheel and the wire gear to be processed: when the wire gear is ground, the wire gear workpiece to be machined and the forming grinding wheel are in an engaged state and synchronously rotate at a specified shaft crossing angle, and meanwhile, the wire gear workpiece to be machined performs relative feeding movement in a specified direction, so that the machining process of the wire gear workpiece by the forming grinding wheel is realized, and the rule that the wire gear workpiece to be ground rotates around the axis of the wire gear workpiece to be ground and moves along the transverse horizontal direction in the grinding process is as follows:

wherein phi is _j Is the angle of rotation of the wire gear around the axis of the wire gear during grinding, the unit is degree,

x _j the distance that the line gear moves in the x-axis direction during grinding processing is in millimeters,

n _j is the spiral parameter of the wire gear mesh wire,

t _j is a parameter.

9. The wire gear grinding method according to claim 8, wherein: when the line gears with the same tooth profile radius are ground, the same forming grinding wheel is used for grinding, so that the universality of the forming grinding wheel is greatly improved.

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