CN111660203B

CN111660203B - Automatic force sense hand feeling grinding device and method for warped end face of small part

Info

Publication number: CN111660203B
Application number: CN202010439309.6A
Authority: CN
Inventors: 刘立君; 李继强; 贾志欣; 张小岩; 霍庆文; 张蜀闽
Original assignee: Ningbo Daxie Development Zone Tianzheng Mould Co ltd; Zhejiang University of Science and Technology ZUST
Current assignee: Ningbo Daxie Development Zone Tianzheng Mould Co ltd; Zhejiang University of Science and Technology ZUST
Priority date: 2020-05-22
Filing date: 2020-05-22
Publication date: 2021-09-24
Anticipated expiration: 2040-05-22
Also published as: CN111660203A

Abstract

The invention relates to the field of grinding processing, in particular to a force sense hand feeling automatic grinding device and method for a small part warping end face. The automatic grinding machine comprises a controller, a workbench (1), a grinding mechanism (2) arranged on the workbench (1), a locking mechanism (3) which is arranged on the workbench (1) and used for locking a workpiece, a displacement mechanism used for driving the locking mechanism (3) to move and a detection mechanism (7) which is arranged on the locking mechanism (3) and used for detecting the force and the moment of the workpiece, wherein the grinding mechanism (2), the locking mechanism (3), the displacement mechanism and the detection mechanism (7) are all electrically connected with the controller. The device and the method can obviously improve the grinding quality and the processing efficiency of the warped section of the small part and protect the health of an operator.

Description

Automatic force sense hand feeling grinding device and method for warped end face of small part

Technical Field

The invention relates to the field of grinding processing, in particular to a force sense hand feeling automatic grinding device and method for a small part warping end face.

Background

In the machining process, grinding is more and more important for machining parts, and the grinding position is higher and higher. The parts subjected to grinding can improve the surface precision grade, so that the parts are better matched, the overall service life of mechanical equipment is prolonged, and the integral precision grade of the machine table is improved. Grinding is adequate for many tasks that are not adequately performed by conventional machining, such as machining of superhard materials, such as tools, diamonds, etc.

The workpiece is ground by using a grinding wheel to remove redundant parts of the part, and a special grinding wheel is selected according to the shape and the material of the part to be processed. Therefore, the grinding machining has a very wide adaptable range, is suitable for metal machining and can also be used for nonmetal; the superhard material can be processed by the grinding processing, and the low-hardness material and the brittle material can also be ground by the grinding processing; the method can be divided into rough grinding, common grinding and precise grinding according to the processing precision; according to the grinding linear velocity, the grinding machine can be divided into low-speed grinding, high-speed grinding, ultrahigh-speed grinding and the like, and the grinding machine corresponds to different grinding speeds. Meanwhile, special grinding can be performed by adding different working conditions to the grinding, such as ultrasonic vibration grinding technology, fine grinding technology and the like.

The application coverage range of the grinding technology is from common civil use to aerospace, the application range is very wide, and the development of the grinding technology cannot be separated in the field of aerospace, computer chips and the like. The development of these techniques for micromachines and precision machining is also closely related to grinding techniques in the future, and therefore the level of the grinding techniques reflects the level of the state industry from the side.

The industrial process is accelerated by 4.0, and the rapid development of the manufacturing industry is stimulated, and the miniaturization and high precision of the processing equipment become development trends. Therefore, the requirements on the grinding precision and the automation degree of the small parts are higher and higher. The traditional grinding mode for small irregular parts is mainly semi-automatic, and workers mainly carry out grinding processing by means of feeling and experience, so that the error range of processing precision is large easily. Meanwhile, during grinding, a large amount of abrasive dust flies out of the grinding wheel and is dispersed in the surrounding environment, so that a severe processing environment is caused, and the health of operators in the environment is threatened.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the device and the method can obviously improve the grinding processing quality and the processing efficiency of the small part warped section and protect the health of an operator.

The technical scheme adopted by the invention is as follows: the utility model provides an automatic grinding device of small-size part warpage terminal surface power sense of feeling, it includes controller, workstation, sets up the grinding mechanism on the workstation, sets up the locking mechanism who is used for locking the work piece on the workstation, is used for driving the displacement mechanism of locking mechanism removal and sets up the detection mechanism who is used for detecting the power and the moment that the work piece received on locking mechanism, grinding mechanism, locking mechanism, displacement mechanism and detection mechanism all are connected with the controller electricity.

The displacement device comprises an X-axis displacement device, a Y-axis displacement device and a Z-axis displacement device, and the X-axis displacement device, the Y-axis displacement device and the Z-axis displacement device are all electrically connected with the controller.

The detection mechanism is a six-dimensional force sensor.

And the locking mechanism is provided with an optical sensor for detecting whether a workpiece is placed in, and the optical sensor is electrically connected with the controller.

A small-sized part warping end face force sense hand feeling automatic grinding method comprises the following steps:

s1, controlling the locking mechanism to lock the workpiece placed in the locking mechanism, and simultaneously acquiring signals detected by the detection mechanism by the controller, wherein the signals comprise an X-axis direction acquisition force signal Fx and an X-axis surrounding moment signal Mx; collecting a force signal Fy in the Y-axis direction and a moment signal My around the Y-axis; collecting a force signal Fz and a torque signal Mz around the Z axis in the Z axis direction;

s2, controlling the displacement mechanism to drive the locking mechanism to move, finishing tool setting work and controlling the displacement mechanism to stop when Fx is not less than Fx1 and My is not less than My1, wherein the Fx1 is a threshold value of force in the X-axis direction of the tool setting position, and the My1 is a threshold value of moment of the tool setting position around the Y-axis;

s3, controlling the displacement mechanism to work to drive the workpiece to be ground, meanwhile, continuously acquiring signals detected by the detection mechanism by the controller, judging that the grinding surface of the workpiece is of the first type when Mx and Mz acquired by the controller are respectively less than or equal to Mxs0 and less than or equal to Mzs0, and then jumping to the step S4; when Mx collected by the controller is less than or equal to-Mxs 0 and Mz is greater than or equal to Mzs0, judging that the grinding surface of the workpiece is of a second type, and then jumping to the step S5; when Mx acquired by the controller is not less than Mxs0 and Mz is not more than-Mzs 0, judging that the grinding surface of the workpiece is of a third type, and jumping to the step S6; mxs0 is a threshold value of moment of the initial grinding around the X axis, and Mzs0 is a threshold value of moment of the initial grinding around the Z axis;

s4, controlling the displacement mechanism to work continuously to drive the workpiece to be ground, finishing grinding when Fx collected by the controller is larger than or equal to Fxs1, Fz is larger than or equal to Fzs1, My is larger than or equal to Mys1, Mx is smaller than or equal to Mxs1, and Mz is smaller than or equal to Mzs1, and controlling the displacement mechanism to drive the workpiece to be separated from the grinding mechanism, wherein Fxs1 is a threshold value for finishing grinding the first-class workpiece and force in the X-axis direction, Fzs1 is a threshold value for finishing grinding the first-class workpiece and force in the Z-axis direction, Mys1 is a threshold value for finishing grinding the first-class workpiece and torque around the Y-axis, Mxs1 is a threshold value for finishing grinding the first-class workpiece and torque around the X-axis, and Mzs1 is a threshold value for finishing grinding the torque around the Z-axis;

s5, controlling the displacement mechanism to work continuously to drive the workpiece to be ground, finishing grinding when the controller acquires that Fx is more than or equal to Fxs2, Fz is more than or equal to Fzs2, My is more than or equal to Mys2, Mx is less than or equal to-Mxs 2, and Mz is more than or equal to Mzs2, and controlling the displacement mechanism to drive the workpiece to be separated from the grinding mechanism, wherein Fxs2 is a threshold value of force in the X-axis direction after the second type of workpiece is ground, Fzs2 is a threshold value of force in the Z-axis direction after the second type of workpiece is ground, Mys2 is a threshold value of moment in the Y-axis direction after the second type of workpiece is ground, Mxs2 is a threshold value of moment in the X-axis direction after the second type of workpiece is ground, and Mzs2 is a threshold value;

s6, controlling the displacement mechanism to work continuously to drive the workpiece to be ground, finishing grinding when Fx collected by the controller is larger than or equal to Fxs3, Fz is larger than or equal to Fzs3, My is larger than or equal to Mys3, Mx is larger than or equal to Mxs3, and Mz is smaller than or equal to-Mzs 3, and controlling the displacement mechanism to drive the workpiece to be separated from the grinding mechanism, wherein Fxs3 is a threshold value of force in the X-axis direction after the third workpiece is ground, Fzs3 is a threshold value of force in the Z-axis direction after the third workpiece is ground, Mys3 is a threshold value of moment around the Y-axis after the third workpiece is ground, Mxs3 is a threshold value of moment around the X-axis after the third workpiece is ground, and Mzs3 is a threshold value of moment around the Z-axis after the third workpiece is ground.

The grinding in the steps S3, S4, S5 and S6 means that the Z-axis displacement device drives the workpiece to move downwards, then the X-axis displacement device feeds the step a, and then the Z-axis displacement device moves upwards at a constant speed to enable the workpiece to contact with the grinding mechanism for grinding.

Compared with the prior art, the invention has the following advantages by adopting the structure and the method: the device and the method can automatically judge the type of the warped end face of the workpiece, then respectively grind the warped end face of the workpiece according to the type of the warped end face of the workpiece, and judge the grinding completion according to different judging conditions.

Drawings

FIG. 1 is a schematic structural diagram of an automatic force sense hand feeling grinding device for a warped end face of a small part according to the invention.

FIG. 2 is a side view of a workpiece to be ground in the small part warped end face force sense hand feeling automatic grinding device.

FIG. 3 is a top view of a first type of workpiece to be ground in the automatic force-sensing hand-feeling grinding device for the warped end face of a small part according to the invention.

Fig. 4 is a top view of a second type of workpiece to be ground in the automatic force-sensing hand-feeling grinding device for the warped end face of the small part.

Fig. 5 is a top view of a third workpiece to be ground in the automatic force-sensing hand-feeling grinding device for the warped end face of the small part.

Fig. 6 is a general direction schematic diagram of the small part warped end face force sense hand feeling automatic grinding device.

As shown in the figure: 1. a work table; 2. a grinding mechanism; 3. a locking mechanism; 4. an X-axis displacement device; 5. a Y-axis displacement device; 6. a Z-axis displacement device; 7. and a detection mechanism.

Detailed Description

The present invention will be further described below by way of specific embodiments, but the present invention is not limited to the following specific embodiments.

The utility model provides an automatic grinding device of small-size part warpage terminal surface force sense feel, includes work piece, controller, workstation 1, grinding mechanism 2, locking mechanism 3, displacement mechanism and detection mechanism 7, wherein:

the workpiece, which is a spherical casting, is required to be ground by the convex end surface of the sphere, and mainly comprises three types, wherein the three types are basically similar in side view, as shown in fig. 2, but different in top view, the first type is shown in fig. 3 in top view, the second type is shown in fig. 4 in top view, the third type is shown in fig. 5 in top view, and the conditions for judging that the grinding is finished are different because of the three types of workpieces.

The workbench 1 comprises two main placement displacement mechanisms, wherein the right side of the workbench is higher and is mainly used for placing the grinding mechanism 2, and the left side of the workbench is lower;

the grinding mechanism 2 mainly comprises a grinding wheel and a motor for driving the grinding wheel to rotate;

the displacement mechanism comprises an X-axis displacement device 4, a Y-axis displacement device 5 and a Z-axis displacement device 6, and the three displacement devices are composed of structures such as a ball screw, a stepping motor, a guide rail and a slide block, so that the linear motion of the workpiece in three different directions can be accurately controlled. The X-axis displacement device 4 is matched with the lead screw through a guide rail to realize accurate control of workpiece grinding feeding amount, the Y-axis displacement device 5 is mainly responsible for controlling uniform contact between a workpiece and a grinding wheel, grinding stability and accuracy are improved, and the Z-axis displacement device 6 controls movement of the workpiece in the vertical direction to realize grinding of the workpiece. The guide rail is used for supporting the working weight of the screw rod sliding block, and the movement mode is back and forth linear movement. In order to reduce the friction between the moving part and the fixed part, steel balls are used between the moving part and the fixed part of the guide rail to reduce the friction, and lubricating oil is added to reduce the friction coefficient between the moving part and the fixed part. The stepping motor is used for driving the screw rod to move, one pulse is fed by a step angle, the rotating speed of the motor is controlled by controlling the input of the pulse, and then the screw rod is accurately controlled to move. The Z-axis displacement device 6 in the vertical direction is provided with a lifting platform, and the lifting platform consists of a lifting motion platform, a transmission screw, a driving motor, a coupler and a fixed base. The lifting motion platform is connected with the screw and the motion guide rail and is used as a reference surface of an X axis and a Y axis. The elevating platform selects four cylindrical guide rails as the movement tracks of the elevating platform, and is fixed on the elevating platform base through interference fit, and lubricating oil is added on the four cylindrical guide rails to reduce abrasion. The up-and-down movement of the lifting platform is provided by a lead screw, and a maximum limiting device is arranged at the top end of the lead screw.

The locking mechanism 3 comprises a clamping cylinder, a clamp moving part, a clamp base and the like. The clamp base is connected with a sliding block on an X shaft through a bolt, the clamping cylinder is connected to the left side of the clamp base through a bolt, the clamp moving part is connected to a guide rail of the clamp base through a sliding block below the clamp moving part to reciprocate, and the photoelectric sensor is arranged on the locking mechanism 3 and used for sensing the placement of a workpiece. And a rubber coating is added at the contact part of the moving part of the clamp and the workpiece, so that the relative displacement between the workpiece and the clamp is prevented, and the flexible fastening of the small part warping section processing is realized. The stroke of the clamping cylinder is 100 mm, the cylinder diameter is 63 mm, the working pressure range is 0.6-12 bar, and the theoretical acting force, the process 1870N and the return stroke 1682N are realized when the air pressure is 6 bar. The starting button is pressed down, and the rear air cylinder pushes the clamp moving piece to be contacted with the workpiece.

The detection mechanism 7 is mainly a six-dimensional force sensor, is positioned at the lower part of the workpiece locking mechanism 3 and is mainly responsible for providing various force and moment information, and the controller receives the feedback information and sets and corrects grinding parameters according to the information to realize the accurate control of the human-simulated grinding process. The six-dimensional force sensor can adopt a six-dimensional force sensor with model number A6D78 produced by Shenzhen measurement and control technology Limited, and mainly comprises a sensor, a signal conditioning device, a data acquisition device, a computer and data processing software running on the computer.

An automatic grinding method for the force sense hand feeling of the warped end face of a small part,

the specific realization principle is as follows:

firstly, when a workpiece is placed into the locking mechanism, the photoelectric sensor senses that the workpiece is placed into the locking mechanism, and the air cylinder pushes the clamp moving part to finish fastening the workpiece. Then the controller controls the Z-axis displacement device to start and move to the middle position; and controlling the X-axis displacement device to feed so that the workpiece is in contact with the grinding wheel and the tool setting is completed after the grinding. After tool setting is completed, the Z-axis displacement device moves downwards to move to a feeding position, the X-axis displacement device is fixed after being fed for a certain amount accurately, and the Z-axis displacement device moves upwards at a constant speed to grind. Meanwhile, the detection mechanism collects force information for humanoid grinding control, and whether grinding is finished or not is judged through the controller. And after the grinding is finished, the Z-axis displacement device of the X-axis displacement device is reset, and the Y-axis displacement device feeds. The air cylinder retracts to the clamp to release and take out the workpiece. And after the grinding is not finished, keeping the X-axis displacement device and the Y-axis displacement device stationary, quickly returning the Z-axis displacement device to a feed position, feeding the X-axis displacement device, feeding the Y-axis displacement device to the motion direction, keeping the Y-axis displacement device stable, moving the Z-axis displacement device upwards at a constant speed, and continuing grinding.

The method comprises the following specific operation steps:

(1) clamping a workpiece: and pressing a start button to place a workpiece into the fixture, wherein after the photoelectric sensor senses that the workpiece is placed into the fixture, the cylinder extends out to push the fixture moving part to move rightwards, and the fixture moving part is contacted and fastened with the workpiece to finish workpiece clamping.

(2) Grinding and tool setting: after the workpiece is clamped, the timer delays for 1S, and the controller controls the Z-axis displacement device to start working and move to a middle position; the controller controls the X-axis displacement device to feed until a workpiece to be ground is contacted with the grinding wheel and ground, and during grinding, a detection mechanism below the clamp collects force and moment signals during grinding and transmits the force and moment signals to the controller to control the X-axis displacement device to stop feeding so as to finish tool setting work, wherein the signals detected by the detection mechanism collected by the controller comprise an X-axis direction collected force signal Fx and an X-axis surrounding moment signal Mx; collecting a force signal Fy in the Y-axis direction and a moment signal My around the Y-axis; collecting a force signal Fz and a torque signal Mz around the Z axis in the Z axis direction; when the Fx collected by the controller is not less than Fx1 and the My is not less than My1, tool setting work is completed, and the displacement mechanism is controlled to stop, wherein the Fx1 is a threshold value of force in the X-axis direction of the tool setting position, the My1 is a threshold value of moment of the tool setting position around the Y-axis, in the specific embodiment, the Fx1 is 1-2N, and the My1 is 0.1-0.2 Nm;

(3) grinding processing and human-simulated hand feeling grinding control: after tool setting is completed, the controller controls the Z-axis displacement device to move downwards, the Z-axis displacement device is separated from a tool setting position and enters a feeding position, the controller controls the X-axis displacement device to accurately feed for 1 mm and then to be fixed, the Z-axis displacement device moves upwards at a constant speed to grind the workpiece and the grinding wheel, and the workpiece and the grinding wheel move to a grinding stop position, at the moment, the controller needs to judge the specific type of the workpiece, and when Mx and Mz acquired by the controller are less than or equal to Mxs0 and less than or equal to Mzs0, the grinding surface of the workpiece is judged to be of a first type; when Mx acquired by the controller is not more than-Mxs 0 and Mz is not less than Mzs0, judging that the grinding surface of the workpiece is of a second type; when Mx acquired by the controller is not less than Mxs0 and Mz is not more than-Mzs 0, judging that the grinding surface of the workpiece is of a third type; wherein Mxs0 is a threshold value of moment around an X axis during initial grinding, Mzs0 is a threshold value of moment around a Z axis during initial grinding, and Mxs0 is 0.1-0.5Nm and Mzs0 is 0.1-0.5Nm in the specific embodiment; in the grinding process, a detection mechanism collects force and torque in the grinding process and sends the force and torque to a controller, the controller judges whether grinding is finished or not, and the judgment conditions are that when the workpiece is a first type of workpiece, the controller collects Fx is more than or equal to Fxs1, Fz is more than or equal to Fzs1, My is more than or equal to Mys1, Mx is less than or equal to Mxs1, and Mz is less than or equal to Mzs1, Fxs1 is a threshold value of force in the X-axis direction of the first type of workpiece after grinding, Fzs1 is a threshold value of force in the Z-axis direction of the first type of workpiece after grinding, Mys1 is a threshold value of torque around the Y-axis of the first type of workpiece after grinding, Mxs1 is a threshold value of torque around the X-axis of the first type of workpiece after grinding, Mzs1 is a threshold value of torque around the Z-axis of the first type of workpiece after grinding, in the specific embodiment, Fxs1 is 10-50N, Fzs1 is 10-50N, Mys1 is 1-5, Mxs1 is 0.1-0.5Nm, and 2. Mzs1 is 0.1.1.1.5 Nm; when the workpiece is a second type of workpiece, finishing grinding when the controller acquires that Fx is not less than Fxs2, Fz is not less than Fzs2, My is not less than Mys2, Mx is not less than-Mxs 2, and Mz is not less than Mzs2, wherein Fxs2 is a threshold value of force in the X-axis direction after the second type of workpiece is ground, Fzs2 is a threshold value of force in the Z-axis direction after the second type of workpiece is ground, Mys2 is a threshold value of moment around the Y axis after the second type of workpiece is ground, Mxs2 is a threshold value of moment around the X axis after the second type of workpiece is ground, Mzs2 is a threshold value of moment around the Z axis after the second type of workpiece is ground, and in the specific embodiment, Fxs2 is 5-25N, Fzs2 is 5-25N, Mys2 is 0.5-3Nm, Mxs2 is 0.5-3Nm, and Mzs2 is 0.5-3 Nm; when the workpiece is a third type workpiece, when the controller collects that Fx is not less than Fxs3, Fz is not less than Fzs3, My is not less than Mys3, Mx is not less than Mxs3 and Mz is not more than-Mzs 3, grinding is completed, wherein Fxs3 is a threshold value of force in the X-axis direction after the grinding of the third type workpiece is completed, Fzs3 is a threshold value of force in the Z-axis direction after the grinding of the third type workpiece is completed, Mys3 is a threshold value of moment around the Y axis after the grinding of the third type workpiece is completed, Mxs3 is a threshold value of moment around the X axis after the grinding of the third type workpiece is completed, Mzs3 is a threshold value of moment around the Z axis after the grinding of the third type workpiece is completed, and in the specific embodiment, Fxs3 is 5-25N, Fzs3 is 5-25N, Mys3 is 0.5-3Nm, Mxs3 is 0.5-3Nm, and Mzs3 is 0.5-3 Nm. If the grinding is finished, the Z-axis displacement device moves to the middle position, meanwhile, the X-axis displacement device retreats 100 mm backwards, and the Y-axis displacement device feeds 1 mm in the feeding direction. And after the X-axis displacement device, the Y-axis displacement device and the Z-axis displacement device move to corresponding positions, the cylinder retracts to the clamp to release, the machined workpiece is taken out, and grinding machining is finished. If the controller judges that grinding is not finished, the X-axis displacement device and the Y-axis displacement device are kept still, the Z-axis displacement device quickly returns to a feed position, the X-axis displacement device feeds, meanwhile, the Y-axis displacement device feeds 1 mm in the moving direction and keeps stable, the Z-axis displacement device moves upwards at a constant speed, the workpiece is ground, and the steps are repeated until the machining is finished.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The grinding method of the automatic grinding device with the force sense and hand feeling of the warped end face of the small part comprises a controller, a workbench (1), a grinding mechanism (2) arranged on the workbench (1), a locking mechanism (3) arranged on the workbench (1) and used for locking a workpiece, a displacement mechanism used for driving the locking mechanism (3) to move and a detection mechanism (7) arranged on the locking mechanism (3) and used for detecting force and moment applied to the workpiece, wherein the grinding mechanism (2), the locking mechanism (3), the displacement mechanism and the detection mechanism (7) are electrically connected with the controller, and the grinding method is characterized by comprising the following steps of:

s4, controlling the displacement mechanism to work continuously to drive the workpiece to be ground, finishing grinding when Fx collected by the controller is larger than or equal to Fxs1, Fz is larger than or equal to Fzs1, My is larger than or equal to Mys1, Mx is smaller than or equal to Mxs1, and Mz is smaller than or equal to Mzs1, and controlling the displacement mechanism to drive the workpiece to be separated from the grinding mechanism, wherein Fxs1 is a threshold value for finishing grinding the first-class workpiece and force in the X-axis direction, Fzs1 is a threshold value for finishing grinding the first-class workpiece and force in the Z-axis direction, Mys1 is a threshold value for finishing grinding the first-class workpiece and torque around the Y-axis, Mxs1 is a threshold value for finishing grinding the first-class workpiece and torque around the X-axis, and Mzs 1;

s5, controlling the displacement mechanism to work continuously to drive the workpiece to be ground, finishing grinding when the controller acquires that Fx is more than or equal to Fxs2, Fz is more than or equal to Fzs2, My is more than or equal to Mys2, Mx is less than or equal to-Mxs 2, and Mz is more than or equal to Mzs2, and controlling the displacement mechanism to drive the workpiece to be separated from the grinding mechanism, wherein Fxs2 is a threshold value of force in the X-axis direction after the second type of workpiece is ground, Fzs2 is a threshold value of force in the Z-axis direction after the second type of workpiece is ground, Mys2 is a threshold value of moment in the Y-axis direction after the second type of workpiece is ground, Mxs2 is a threshold value of moment in the X-axis direction after the second type of workpiece is ground, and Mzs2 is a threshold value of moment in the Z-axis after the second type of workpiece is ground;

2. The grinding method of the automatic grinding device for the warped end face force sense hand feeling of the small parts according to claim 1, wherein the grinding method comprises the following steps: the displacement mechanism comprises an X-axis displacement device (4), a Y-axis displacement device (5) and a Z-axis displacement device (6), and the X-axis displacement device (4), the Y-axis displacement device (5) and the Z-axis displacement device (6) are all electrically connected with the controller.

3. The grinding method of the automatic grinding device for the warped end face force sense hand feeling of the small parts according to claim 1, wherein the grinding method comprises the following steps: the detection mechanism (7) is a six-dimensional force sensor.

4. The grinding method of the automatic grinding device for the warped end face force sense hand feeling of the small parts according to claim 1, wherein the grinding method comprises the following steps: and the locking mechanism (3) is provided with an optical sensor for detecting whether a workpiece is placed in, and the optical sensor is electrically connected with the controller.

5. The grinding method of the automatic grinding device for the warped end face force sense hand feeling of the small parts according to claim 1, wherein the grinding method comprises the following steps: the grinding in the steps S3, S4, S5 and S6 means that the Z-axis displacement device drives the workpiece to move downwards, then the X-axis displacement device feeds the step a, and then the Z-axis displacement device moves upwards at a constant speed to enable the workpiece to contact with the grinding mechanism for grinding.