CN114603404A - Method, apparatus and computer readable medium for grinding workpiece - Google Patents

Method, apparatus and computer readable medium for grinding workpiece Download PDF

Info

Publication number
CN114603404A
CN114603404A CN202210275094.8A CN202210275094A CN114603404A CN 114603404 A CN114603404 A CN 114603404A CN 202210275094 A CN202210275094 A CN 202210275094A CN 114603404 A CN114603404 A CN 114603404A
Authority
CN
China
Prior art keywords
driving shaft
shaft
workpiece
grinding
mapping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210275094.8A
Other languages
Chinese (zh)
Other versions
CN114603404B (en
Inventor
秦立彬
段刚
顾向清
武坤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Ltd China
Original Assignee
Siemens Ltd China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Ltd China filed Critical Siemens Ltd China
Priority to CN202210275094.8A priority Critical patent/CN114603404B/en
Publication of CN114603404A publication Critical patent/CN114603404A/en
Application granted granted Critical
Publication of CN114603404B publication Critical patent/CN114603404B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/60—Rotation of whole images or parts thereof
    • G06T3/608—Rotation of whole images or parts thereof by skew deformation, e.g. two-pass or three-pass rotation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Quality & Reliability (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

The invention provides a method, a device and a computer readable medium for grinding a workpiece, wherein the method comprises the following steps: acquiring an initial contour of a workpiece before grinding and a target contour needing to be ground; generating a motion position mapping of a master shaft and a slave shaft for grinding the workpiece according to the initial contour and the target contour; the system comprises a driving shaft, a driven shaft, a grinding tool, a shaft rotating shaft and a shaft rotating shaft, wherein the driving shaft is used for representing a shaft moving towards the workpiece of the grinding tool for grinding the workpiece, the motion position mapping comprises at least two driving shaft position information of the driving shaft, and each rotating angle of the driven shaft corresponds to one driving shaft position information; and controlling a grinding tool on the driving shaft to grind the workpiece according to the movement position mapping of the driving shaft, so that the driving shaft moves to the position of the driving shaft corresponding to an angle when the driven shaft rotates to the angle. The scheme can reduce the impact force generated between the grinding tool and the workpiece.

Description

Method, apparatus and computer readable medium for grinding workpiece
Technical Field
The invention relates to the technical field of mechanical control, in particular to a workpiece grinding method, a workpiece grinding device and a computer readable medium.
Background
Grinding is a material-removing machining method that cuts the surface of a workpiece using a grinding tool such as a grinding wheel rotating at high speed, and is widely used in the machine manufacturing industry.
However, the grinding process gradually changes the outer contour of the workpiece. Therefore, in actual grinding, grinding is usually performed by setting a feeding amount according to the outer contour of the workpiece, and the feeding manner is easy to generate large impact between the grinding tool and the workpiece, thereby causing damage to the workpiece and equipment.
Disclosure of Invention
The invention provides a method, an apparatus and a computer-readable medium for grinding a workpiece, which can reduce the impact force generated between a grinding tool and the workpiece.
In a first aspect, an embodiment of the present invention provides a workpiece grinding method, including:
acquiring an initial contour of a workpiece before grinding and a target contour needing to be ground;
generating a motion position mapping of a master shaft and a slave shaft for grinding a workpiece according to the initial contour and the target contour; the system comprises a driving shaft, a driven shaft, a grinding tool and a control module, wherein the driving shaft is used for representing a shaft which moves towards the direction of a workpiece of the grinding tool for grinding the workpiece, the driven shaft is used for representing a shaft which drives the workpiece to rotate, the movement position mapping comprises at least two driving shaft position information of the driving shaft, and each rotation angle of the driven shaft corresponds to one driving shaft position information;
and controlling a grinding tool on the driving shaft to grind the workpiece according to the movement position mapping of the driving shaft and the driven shaft, so that the driving shaft moves to the position of the driving shaft corresponding to an angle when the driven shaft rotates to the angle.
In one possible implementation, the step of generating a motion position map of a master-slave axis for grinding a workpiece according to the initial profile and the target profile includes:
determining a first driving shaft position coordinate of a grinding tool of the driving shaft for starting grinding operation according to the initial profile;
determining a second driving shaft position coordinate of the grinding tool of the driving shaft for stopping the grinding operation according to the target profile;
determining at least one third drive shaft position coordinate located between the first drive shaft position coordinate and the second drive shaft position coordinate;
and respectively determining the position coordinates of the first driving shaft, the second driving shaft and the third driving shaft corresponding to the rotation angles of the driven shafts according to the change of the rotation angles of the driven shafts.
In a possible implementation manner, the step of controlling the grinding tool on the driving shaft to perform the grinding operation on the workpiece according to the movement position mapping of the driving shaft and the driven shaft comprises the following steps:
aiming at every two adjacent rotation angles in the motion position mapping, determining N rotation angles and driving shaft position information corresponding to the N rotation angles by using a least square method between the two adjacent rotation angles; the difference value between any two of the determined N rotation angles is not greater than a preset angle threshold value; n is a positive integer;
updating the movement position mapping by using each determined rotation angle and the corresponding driving shaft position information;
and controlling the spiral feeding of the driving shaft by utilizing the updated motion position mapping so that the grinding tool on the driving shaft continuously grinds the workpiece on the driven shaft.
In a possible implementation manner, before controlling the grinding tool on the main driving shaft to perform a grinding operation on the workpiece according to the movement position mapping of the main driven shaft, the method further includes:
acquiring a multiplying power adjustment mapping of the driven shaft driving the workpiece to rotate so as to adjust the rotating speed of the driven shaft according to the multiplying power adjustment mapping when the driven shaft rotates to a corresponding angle; the multiplying power adjustment mapping at least comprises a group of mapping relations, and each group of mapping relations comprises a rotation angle of a driven shaft and a rotation speed multiplying power value corresponding to the rotation angle.
In one possible implementation manner, after controlling the grinding tool on the driving shaft to perform a grinding operation on the workpiece according to the movement position map of the main driven shaft, the method further includes:
carrying out contour detection on the ground workpiece, and determining an error value between the ground workpiece and the target contour;
generating an error compensation map for correcting the ground workpiece according to the error value; the error compensation mapping comprises at least one correction rotating angle of the driven shaft, wherein the correction rotating angle needs to be subjected to grinding correction, and each correction rotating angle corresponds to an error compensation amount needing to be subjected to grinding correction;
and controlling the motion of the driving shaft and the driven shaft according to the error compensation mapping so that the grinding tool on the driving shaft carries out grinding correction on the workpiece on the driven shaft.
In a second aspect, an embodiment of the present invention provides an apparatus for grinding a workpiece, including: the device comprises a contour acquisition module, a mapping generation module and a grinding operation module;
the profile acquisition module is configured to acquire an initial profile of the workpiece before grinding and a target profile to be ground;
the mapping generation module is configured to generate a motion position mapping of a main shaft and a slave shaft for grinding a workpiece according to the initial contour and the target contour acquired by the contour acquisition module; the system comprises a driving shaft, a driven shaft, a grinding tool and a control module, wherein the driving shaft is used for representing a shaft which moves towards the direction of a workpiece of the grinding tool for grinding the workpiece, the driven shaft is used for representing a shaft which drives the workpiece to rotate, the movement position mapping comprises at least two driving shaft position information of the driving shaft, and each rotation angle of the driven shaft corresponds to one driving shaft position information;
and the grinding operation module is configured to control a grinding tool on the driving shaft to grind the workpiece according to the movement position mapping of the driving shaft obtained by the mapping generation module, so that the driving shaft moves to the position of the driving shaft corresponding to an angle when the driven shaft rotates to the angle.
In one possible implementation, the map generating module, when generating the motion position map of the main driven shaft for grinding the workpiece according to the initial profile and the target profile, is configured to perform the following operations:
determining a first driving shaft position coordinate of a grinding tool of the driving shaft for starting grinding operation according to the initial profile;
determining a second driving shaft position coordinate of the grinding tool of the driving shaft for stopping the grinding operation according to the target profile;
determining at least one third drive shaft position coordinate located between the first drive shaft position coordinate and the second drive shaft position coordinate;
and respectively determining the position coordinates of the first driving shaft, the second driving shaft and the third driving shaft corresponding to the rotation angles of the driven shafts according to the change of the rotation angles of the driven shafts.
In one possible implementation manner, when the grinding operation module controls the grinding tool on the driving shaft to carry out a grinding operation on the workpiece according to the movement position mapping of the driving shaft, the grinding operation module is configured to carry out the following operations:
aiming at every two adjacent rotation angles in the motion position mapping, determining N rotation angles and driving shaft position information corresponding to the N rotation angles by using a least square method between the two adjacent rotation angles; the difference value between any two of the determined N rotation angles is not greater than a preset angle threshold value; n is a positive integer;
updating the movement position mapping by using each determined rotation angle and the corresponding driving shaft position information;
and controlling the spiral feeding of the driving shaft by utilizing the updated motion position mapping so that the grinding tool on the driving shaft continuously grinds the workpiece on the driven shaft.
In one possible implementation, the method further includes: a driven shaft rotating speed adjusting module; the driven shaft rotating speed adjusting module is configured to execute the following operations before controlling a grinding tool on the driving shaft to grind the workpiece according to the movement position mapping of the driving shaft:
acquiring a multiplying power adjustment mapping of the driven shaft driving the workpiece to rotate so as to adjust the rotating speed of the driven shaft according to the multiplying power adjustment mapping when the driven shaft rotates to a corresponding angle; the magnification adjustment mapping at least comprises a group of mapping relations, and each group of mapping relations comprises a rotation angle of a driven shaft and a rotation speed magnification value corresponding to the rotation angle.
In one possible implementation, the method further includes: a detection and correction module; the detection correction module is configured to execute the following operations after controlling the grinding tool on the main driving shaft to grind the workpiece according to the movement position mapping of the main driving shaft:
carrying out contour detection on the ground workpiece, and determining an error value between the ground workpiece and the target contour;
generating an error compensation map for correcting the ground workpiece according to the error value; the error compensation mapping comprises at least one correction rotating angle of the driven shaft, wherein the correction rotating angle needs to be subjected to grinding correction, and each correction rotating angle corresponds to an error compensation amount needing to be subjected to grinding correction;
and controlling the motion of the driving shaft and the driven shaft according to the error compensation mapping so that the grinding tool on the driving shaft carries out grinding correction on the workpiece on the driven shaft.
In a third aspect, an embodiment of the present invention further provides a computing device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method of any of the first aspects.
In a fourth aspect, the present invention also provides a computer-readable medium, on which computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute the method according to any one of the first aspect.
In a fifth aspect, the present invention further provides a computer program product, which includes a computer program that, when executed by a processor, implements the method of any one of the first aspects.
According to the technical scheme, when the workpiece is ground, the initial contour of the workpiece before grinding and the target contour needing to be ground can be obtained firstly, and then the movement position mapping of the main shaft and the auxiliary shaft for grinding the workpiece is generated according to the initial contour and the target contour, so that the grinding tool on the driving shaft can be controlled to grind the workpiece according to the movement position mapping. The generated motion position mapping comprises at least two driving shaft position information, and each rotation angle of the driven shaft corresponds to one driving shaft position information. Therefore, the grinding amount of the workpiece is distributed on the whole workpiece outline by reasonably configuring the movement position mapping, so that the impact force generated between the workpiece and the grinding tool can be reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method of grinding a workpiece according to one embodiment of the present invention;
FIG. 2 is a flowchart of a method for generating a motion location map according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method of grinding a workpiece according to one embodiment of the present invention;
FIG. 4 is a schematic view of an apparatus for grinding a workpiece according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a computing device provided by an embodiment of the invention.
List of reference numerals
101: acquiring an initial profile of a workpiece before grinding and a target profile to be ground
102: generating a master-slave axis motion position map for grinding a workpiece from the initial profile and the target profile
103: controlling a grinding tool on the driving shaft to grind the workpiece according to the movement position mapping of the driving shaft and the driven shaft so that the driving shaft moves to the position of the driving shaft corresponding to an angle when the driven shaft rotates to the angle
201: determining the first main shaft position coordinate of the grinding tool of the main shaft for starting grinding operation according to the initial profile
202: determining second main shaft position coordinates of grinding tool of main shaft for stopping grinding operation according to target profile
203: determining at least one third drive shaft position coordinate between the first drive shaft position coordinate and the second drive shaft position coordinate
204: respectively determining the position coordinates of the first driving shaft, the second driving shaft and the rotation angles of the driven shafts corresponding to the position coordinates of the third driving shafts according to the change of the rotation angles of the driven shafts
301: aiming at every two adjacent rotation angles in the motion position mapping, N rotation angles and the position information of the driving shaft corresponding to the N rotation angles are determined between the two adjacent rotation angles by utilizing a least square method
302: updating the movement position mapping by using each determined rotation angle and the corresponding driving shaft position information
303: controlling the spiral feeding of the driving shaft by utilizing the updated motion position mapping so as to enable the grinding tool on the driving shaft to continuously grind the workpiece on the driven shaft
401: the contour acquisition module 402: the mapping generation module 403: grinding operation module
501: the memory 502: the processor 500: computing device
100: method 400 for grinding a workpiece: grinding device for workpiece
Detailed Description
As described above, grinding is a machining method for removing material, and refers to a machining method for removing excess material from the surface of a workpiece using a grinding tool such as a grinding wheel rotating at high speed. The method is applied to finish machining, and has wide application in the mechanical manufacturing industry due to the characteristics of less machining amount, high precision and the like.
Since the outer contour of the workpiece is constantly changed during the grinding process, the grinding program is usually constantly modified for a workpiece according to the grinding progress, which is a frequently programmed manner and is very labor-intensive. For example, rough grinding, semi-finish grinding and finish grinding require grinding programs to be generated according to the outer contour of the workpiece respectively. Even for the same grinding procedure, a fixed feeding amount is given, and the feeding mode easily causes huge impact between the grinding tool and the workpiece, such as severe vibration of a machine tool, breakage of a grinding wheel and the like, and causes great loss and potential safety hazard.
Based on the above, in the embodiment of the invention, the spiral feeding is realized during grinding through the motion relationship between the workpiece and the grinding wheel, and the grinding amount is uniformly distributed on the whole workpiece profile, so that the impact between the workpiece and the grinding tool caused during feeding is reduced.
As shown in fig. 1, the present invention provides a method 100 of grinding a workpiece, which may include the steps of:
step 101: acquiring an initial contour of a workpiece before grinding and a target contour needing to be ground;
step 102: generating a motion position mapping of a master shaft and a slave shaft for grinding the workpiece according to the initial contour and the target contour; the system comprises a driving shaft, a driven shaft, a grinding tool and a workpiece, wherein the driving shaft is used for representing a shaft which moves towards the direction of the workpiece by the grinding tool for grinding the workpiece, the driven shaft is used for representing a shaft for driving the workpiece to rotate, the movement position mapping comprises at least two driving shaft position information of the driving shaft, and each rotation angle of the driven shaft corresponds to one driving shaft position information;
step 103: and controlling a grinding tool on the driving shaft to grind the workpiece according to the movement position mapping of the driving shaft, so that the driving shaft moves to the position of the driving shaft corresponding to an angle when the driven shaft rotates to the angle.
In the embodiment of the invention, when a workpiece is ground, an initial profile of the workpiece before grinding and a target profile required to be ground can be obtained firstly, and then a movement position mapping of a main shaft and a secondary shaft for grinding the workpiece is generated according to the initial profile and the target profile, so that the grinding tool on the driving shaft can be controlled to grind the workpiece according to the movement position mapping. The generated motion position mapping comprises at least two pieces of driving shaft position information, and each rotation angle of the driven shaft corresponds to one piece of driving shaft position information. Therefore, the grinding amount of the workpiece is distributed on the whole workpiece outline by reasonably configuring the movement position mapping, so that the impact force generated between the workpiece and the grinding tool can be reduced. In addition, the scheme can simplify the grinding procedure of the workpiece, and the rough grinding and the accurate grinding of the workpiece can be completed by utilizing the same procedure.
The steps in FIG. 1 are described below with reference to specific examples.
First, in step 101, an initial profile of a workpiece before grinding and a target profile to be ground are obtained.
In this step, the initial contour of the workpiece before grinding and the target contour to be ground are determined. For example, before non-grinding, the coordinate information, shape, etc. of the outer edge of the workpiece, and the shape, outer edge coordinate information, etc. of the workpiece after it is required to be ground. The feeding amount of the workpiece to be ground at each angle can be determined, so that the workpiece can be precisely ground by accurately setting the feeding amount.
Then, in step 102, a master-slave axis motion position map for grinding the workpiece is generated according to the initial contour and the target contour.
In this step, a motion position map of a master-slave axis for grinding the workpiece is generated in consideration of the acquired initial contour and target contour of the workpiece. The driving shaft drives a grinding tool for grinding a workpiece to horizontally move towards the workpiece, and the driven shaft drives the workpiece to rotate. It should be noted that the motion position map includes the driving shaft position information of at least two driving shafts, and each rotation angle of the driven shaft corresponds to one driving shaft position information. Each rotation angle of the driven shaft corresponds to position information of one driving shaft, so that when the driven shaft rotates to any angle, the driving shafts can correspondingly move to a feeding amount, and grinding operation on a workpiece can be achieved.
In one possible implementation, as shown in fig. 2, when generating a motion position map of the main driven shaft for grinding the workpiece according to the initial profile and the target profile, step 102 may be implemented by:
step 201: determining a first driving shaft position coordinate of a grinding tool of the driving shaft for starting grinding operation according to the initial profile;
step 202: determining a second driving shaft position coordinate of the grinding tool of the driving shaft for stopping the grinding operation according to the target profile;
step 203: determining at least one third driving shaft position coordinate between the first driving shaft position coordinate and the second driving shaft position coordinate;
step 204: and respectively determining the position coordinates of the first driving shaft, the second driving shaft and the rotation angles of the driven shafts corresponding to the position coordinates of the third driving shafts according to the change of the rotation angles of the driven shafts.
In the embodiment of the invention, when the movement position mapping between the main shaft and the auxiliary shaft is generated, a first driving shaft position coordinate of a grinding tool driven by the driving shaft for starting a grinding operation can be determined according to the initial profile, and a second driving shaft position coordinate of the grinding tool driven by the driving shaft for terminating the grinding operation can be determined according to the target profile. And then, at least one third driving shaft position coordinate can be determined between the first driving shaft position coordinate and the second driving shaft position, and the first driving shaft position coordinate, the second driving shaft position coordinate and the rotating angle corresponding to each third driving shaft position coordinate can be respectively determined further according to the change of the driven shaft rotating angle.
Since the main axis runs in the horizontal direction, the use is considered to identify coordinates. For example, according to the initial profile of the workpiece, the edge coordinate of one end of the workpiece, which faces the grinding tool, is [100], that is, the position coordinate of a first driving shaft at which the grinding tool starts to perform a grinding operation is [100 ]; according to the target profile of the workpiece, the edge coordinate of the end, facing the grinding tool, of the workpiece is [75], namely the position coordinate of a second driving shaft of the grinding tool for finishing the grinding operation is [75 ]. Then further third active axis position coordinates can be determined between the coordinates [100] to [75], such as [95], [93], [92], [87], [82], [78], [76], etc. The coordinates of the desired movement of the drive shafts are then mapped to a plurality of angles of rotation of the driven shafts. For example, when the rotation angle of the driven shaft is 1 degree, the target position to which the driving shaft moves is [100 ]; when the rotation angle of the driven shaft is 100 degrees, the position to be moved by the driving shaft is [98 ]. That is, during the process of rotating the driven shaft from 1 degree to 100 degrees, the driving shaft needs to move from the position of the coordinate [100] to the position of the coordinate [98] sequentially, and the grinding operation on the workpiece is continuously realized in the process.
For example, in one possible implementation, the table of the generated motion position map may be as shown in table 1 below:
TABLE 1 motion position mapping table
Driving axis coordinate value Angle value of driven shaft
100 1
100 2
99.9912096 3
99.9912096 4
99.982491 5
99.9736287 6
99.9560478 7
99.9472574 8
99.9384669 9
99.9208861 10
99.9033052 11
99.8857243 12
…… ……
95 360
From the above table, it can be known that the amount of motion of the driving shaft can be uniformly distributed at each angle, that is, the feeding amount of the driving shaft is uniformly distributed at each angle of rotation of the driven shaft. For example, in the above table 1, the feeding amounts 5 are uniformly distributed on 360 angles of the driven shaft, instead of feeding all the feeding amounts 5 to the grinding tool at a time for grinding, so that a large impact force is not generated between the workpiece and the grinding tool, and mechanical losses such as vibration of the machine tool and chipping of the grinding tool are not easily caused. And the safety of operators is greatly guaranteed because no large impact force exists between the workpiece and the grinding tool.
Finally, in step 103, the grinding tool on the driving shaft is controlled to grind the workpiece according to the motion position mapping of the driving shaft and the driven shaft, so that the driving shaft moves to the position of the driving shaft corresponding to an angle when the driven shaft rotates to the angle.
In the step, after the movement position mapping of the main driven shaft is obtained, the driving shaft and the driven shaft can be controlled to move according to the relation in the movement position mapping, and even if the driven shaft rotates to an angle, the driving shaft can just move to the position of the driving shaft corresponding to the angle in the movement position mapping, so that the grinding operation of the workpiece is realized in the engineering.
Of course, since the mapping relationship of discrete points is given in the motion position mapping, if the difference between two adjacent discrete points is large, it will inevitably cause the driving shaft to be intermittent during the motion, which is obviously not a good workpiece processing state. Therefore, it is considered that the motion position map generated in step 102 is subjected to smoothing processing, so that the master shaft can be spirally fed when moving according to the motion position map, even if the master shaft can be continuously moved, so that mechanical vibration and mechanical damage due to frequent motion stop of the master shaft can be reduced.
In one possible implementation, as shown in fig. 3, step 103 may be implemented by controlling the grinding tool on the driving shaft to perform a grinding operation on the workpiece according to the motion position map of the driving shaft and the driven shaft, and includes the following steps:
step 301: aiming at every two adjacent rotation angles in the motion position mapping, determining N rotation angles and driving shaft position information respectively corresponding to the N rotation angles between the two adjacent rotation angles by using a least square method; the difference value between any two of the determined N rotation angles is not greater than a preset angle threshold value; n is a positive integer;
step 302: updating the mapping of the movement position by using each determined rotation angle and the corresponding position information of the driving shaft;
step 303: and controlling the spiral feeding of the driving shaft by utilizing the updated motion position mapping so that the grinding tool on the driving shaft continuously grinds the workpiece on the driven shaft.
In the embodiment of the invention, when the grinding tool on the driving shaft is controlled to grind the workpiece, firstly, for every two adjacent rotation angles in the movement position mapping, the least square method is used for determining N rotation angles between the two adjacent rotation angles and the rotation shaft position information respectively corresponding to the N rotation angles, and then the movement position mapping can be updated by using each determined rotation angle and the corresponding driving shaft position information. And further, the updated motion position mapping can be utilized to control the spiral feeding of the driving shaft, so that the grinding tool on the driving shaft can continuously grind the workpiece on the driven shaft.
In determining each rotation angle by the least square method, an appropriate angle threshold value may be set, and then the difference between any two of the N determined rotation angles is not greater than the preset angle threshold value. So set for rationally as the angle threshold, can realize the spiral feed of driving shaft, avoid the frequent start-stop of driving shaft.
For example, in the movement position map, the drive shaft position information corresponding to the determined angles such as the driven shaft A, B, C, D, E, F, G is a, b, c, d, e, f, and g, respectively. Then more driven shaft angles can be determined by the least square method between the angle A and the angle B, such as A1, A2, A3, A4 and A5, and A < { A1, A2, A3, A4 and A5} < B, and the corresponding driving shaft position information can also obtain a1, a2, A3, a4 and a5, and a < { a1, a2, A3, a4 and a5} < B. Therefore, more driven shaft angles can be determined between any two driven shaft angles, and further more driving shaft position information can be obtained between any two driving shaft positions. Therefore, as long as the difference value between the position information of any two driving shafts is small enough, the spiral feeding of the driving shafts can be realized, and the workpiece is continuously ground.
Of course, since the rotation angles of the driven shafts and the position information of the driving shafts are in one-to-one correspondence, in a possible implementation manner, step 301 may also determine, for every two adjacent driving shaft position information in the motion position map, N driving shaft position information and driven shaft rotation angles corresponding to the N driving shaft position information respectively between the two adjacent driving shaft positions by using a least square method; and determining the difference value between any two driving shaft position information in the N pieces of driving shaft position information, wherein the difference value is not more than a preset position threshold value. And further updating the mapping of the movement position by utilizing the determined position information of each driving shaft and the corresponding rotating angle, and controlling the spiral feeding of the driving shaft to grind the workpiece.
In practical applications, it is often encountered that the workpiece has different curvatures at different angles. For example, at angle a corresponds to a large circle, and at angle B corresponds to a small circle. Therefore, in order to ensure that the workpieces driven by the driven shaft have the same linear speed, the rotation speed of the workpieces can be adjusted at different angles. For example, in one possible implementation manner, before the grinding tool on the driving shaft is controlled to perform a grinding operation on the workpiece according to the motion position map of the primary shaft and the secondary shaft in step 103, a magnification adjustment map of the driven shaft driving the workpiece to rotate is obtained, so that the rotation speed of the driven shaft is adjusted according to the magnification adjustment map when the driven shaft rotates to a corresponding angle. The magnification adjustment mapping is obtained by evaluating the profile of the workpiece, and may include at least one set of mapping relationships, each set of mapping relationships including a rotation angle of the driven shaft and a rotation speed magnification value corresponding to the rotation angle.
That is, the driven axis can be controlled to rotate according to the value in the magnification adjustment map, based on the magnification adjustment map configured in advance. For example, in order to ensure the linear velocity is consistent, if the angle a corresponds to a great circle, the rotation speed needs to be reduced to ensure the consistent linear velocity, and therefore, the rotation speed multiple value corresponding to the angle a should be a value greater than 0 and less than 1. For another example, if the angle B corresponds to a small circle, the rotation speed needs to be increased to ensure the consistency of the linear speed, so the rotation speed multiple value corresponding to the angle B should be a value greater than 1. So, through adjusting the rotational speed of driven shaft according to multiplying power adjustment mapping to can guarantee that the driven shaft has unanimous linear velocity, in order to realize the coupling grinding operation with the driving shaft.
In actual machining, there are errors due to grinding environment and mechanical structure. Therefore, after the grinding tool on the driving shaft is further controlled to grind the workpiece according to the motion position map of the main shaft and the auxiliary shaft in step 103, the precision of the ground workpiece can be detected, and then the workpiece can be further corrected according to the error. For example, in one possible implementation, the method further includes the following steps:
carrying out contour detection on the ground workpiece, and determining an error value between the ground workpiece and a target contour;
generating an error compensation map for correcting the ground workpiece according to the error value; the error compensation mapping comprises at least one correction rotating angle of the driven shaft, wherein the grinding correction is required, and each correction rotating angle corresponds to an error compensation amount required to be ground and corrected;
and controlling the motion of the driving shaft and the driven shaft according to the error compensation mapping so that the grinding tool on the driving shaft carries out grinding correction on the workpiece on the driven shaft.
In the embodiment of the invention, after the grinding operation is performed on the workpiece, the profile of the ground workpiece can be further detected, an error value between the profile and a target profile is determined, and then an error compensation map for correcting the ground workpiece is generated according to the error value. Further, the motion of the driving shaft and the driven shaft can be controlled according to the error compensation mapping, so that the grinding tool on the driving shaft can grind and correct the workpiece on the driven shaft. The error compensation map comprises at least one correction rotation angle of the driven shaft, which needs to be subjected to grinding correction, and each correction rotation angle corresponds to an error compensation amount needing to be subjected to grinding correction.
That is, what the amount of error is indicated in the error compensation map is in addition to the angle at which the workpiece needs to be compensated for, i.e., at which rotational angle the workpiece has an error compared with between the target profiles. Therefore, the workpiece is subjected to precision detection, the error compensation amount and the driven shaft rotation angle are determined, and the workpiece is further subjected to grinding correction again by using the obtained error compensation mapping, so that the machining precision of the workpiece can be improved.
In another possible implementation, the method for grinding a workpiece may further include the steps of:
step 1: determining the guide types of a driving shaft and a driven shaft;
in this step, the types of guidance of the driving shaft and the driven shaft may be set. For example, a pilot type a and a pilot type B may be provided, where the pilot type a corresponds to rough machining and the pilot type corresponds to finish machining. Different processing parameters can be set for the guide type A and the guide type B respectively to realize different degrees of processing.
And 2, step: acquiring a motion position mapping of a main driven shaft;
and step 3: smoothing the motion position mapping by using a smoothing function and/or a smoothing instruction;
and 4, step 4: acquiring magnification adjustment mapping, and adjusting the rotating speed of the driven shaft;
and 5: activating the grinding tool to pre-run the grinding tool;
step 6: controlling a grinding tool on the driving shaft to move to a position for processing a workpiece on the driven shaft, and activating a coupling function of a driving shaft and a driven shaft so that the driving shaft drives the driven shaft to operate;
and 7: controlling a driving shaft to grind the workpiece according to the movement position mapping, and adjusting the rotating speed of a driven shaft according to the magnification adjustment mapping;
and 8: after finishing the grinding operation for N times, closing the master-slave coupling function to avoid driving the driven shaft to operate when the grinding tool is removed;
and step 9: carrying out precision detection on the ground workpiece;
step 10: generating error compensation mapping according to the error result obtained by detection;
step 11: and carrying out the grinding operation again on the workpiece according to the error compensation mapping. The above-described steps 7 to 10 are performed as a motion position mapping loop with the error compensation map.
Step 12: and finishing the grinding operation after the ground workpiece meets the precision requirement.
As shown in fig. 4, the present invention provides an apparatus 400 for grinding a workpiece, the apparatus comprising: a contour acquisition module 401, a mapping generation module 402 and a grinding operation module 403;
a contour acquisition module 401 configured to acquire an initial contour of the workpiece before grinding and a target contour to be ground;
a mapping generation module 402 configured to generate a motion position mapping of a master axis and a slave axis for grinding a workpiece according to the initial profile and the target profile acquired by the profile acquisition module 401; the system comprises a driving shaft, a driven shaft, a grinding tool and a workpiece, wherein the driving shaft is used for representing a shaft which moves towards the direction of the workpiece by the grinding tool for grinding the workpiece, the driven shaft is used for representing a shaft for driving the workpiece to rotate, the movement position mapping comprises at least two driving shaft position information of the driving shaft, and each rotation angle of the driven shaft corresponds to one driving shaft position information;
and a grinding operation module 403 configured to control a grinding tool on the driving shaft to perform a grinding operation on the workpiece according to the movement position map of the driving shaft and the driven shaft obtained by the mapping generation module 402, so that the driving shaft moves to the position of the driving shaft corresponding to an angle when the driven shaft rotates to the angle.
In one possible implementation, the map generating module 402, when generating the motion position map of the master axis for grinding the workpiece from the initial profile and the target profile, is configured to perform the following operations:
determining a first driving shaft position coordinate of a grinding tool of the driving shaft for starting grinding operation according to the initial profile;
determining a second driving shaft position coordinate of the grinding tool of the driving shaft for stopping the grinding operation according to the target profile;
determining at least one third driving shaft position coordinate between the first driving shaft position coordinate and the second driving shaft position coordinate;
and respectively determining the position coordinates of the first driving shaft, the second driving shaft and the rotation angles of the driven shafts corresponding to the position coordinates of the third driving shafts according to the change of the rotation angles of the driven shafts.
In one possible implementation, the grinding operation module 403 is configured to perform the following operations when controlling the grinding tool on the driving shaft to perform a grinding operation on the workpiece according to the motion position map of the driving shaft and the driven shaft:
aiming at every two adjacent rotation angles in the motion position mapping, determining N rotation angles and driving shaft position information corresponding to the N rotation angles by using a least square method between the two adjacent rotation angles; the difference value between any two of the determined N rotation angles is not greater than a preset angle threshold value; n is a positive integer;
updating the movement position mapping by using each determined rotation angle and the corresponding driving shaft position information;
and controlling the spiral feeding of the driving shaft by utilizing the updated motion position mapping so that the grinding tool on the driving shaft continuously grinds the workpiece on the driven shaft.
In one possible implementation, the apparatus further includes: a driven shaft rotating speed adjusting module; the driven shaft rotating speed adjusting module is configured to execute the following operations before controlling a grinding tool on a driving shaft to grind a workpiece according to the movement position mapping of the main shaft and the auxiliary shaft:
acquiring a multiplying power adjustment mapping of the driven shaft driving workpiece to rotate so as to adjust the rotating speed of the driven shaft according to the multiplying power adjustment mapping when the driven shaft rotates to a corresponding angle; the multiplying power adjustment mapping at least comprises a group of mapping relations, and each group of mapping relations comprises a rotation angle of a driven shaft and a rotation speed multiplying power value corresponding to the rotation angle.
In one possible implementation, the apparatus further includes: a detection and correction module; the detection correction module is configured to execute the following operations after controlling the grinding tool on the driving shaft to grind the workpiece according to the movement position mapping of the main shaft and the auxiliary shaft:
carrying out contour detection on the ground workpiece, and determining an error value between the ground workpiece and a target contour;
generating an error compensation mapping for correcting the ground workpiece according to the error value; the error compensation mapping comprises at least one correction rotating angle of the driven shaft, wherein the grinding correction is required, and each correction rotating angle corresponds to an error compensation amount required to be ground and corrected;
and controlling the motion of the driving shaft and the driven shaft according to the error compensation mapping so that the grinding tool on the driving shaft carries out grinding correction on the workpiece on the driven shaft.
As shown in FIG. 5, an embodiment of the invention also provides a computing device 500, comprising: at least one memory 501 and at least one processor 502;
at least one memory 501 for storing a machine readable program;
at least one processor 502, coupled to the at least one memory 501, is configured to invoke a machine readable program to perform the method 100 for grinding a workpiece provided by any of the embodiments described above.
The present invention also provides a computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform a method 100 of grinding a workpiece as provided by any of the embodiments described above. The present invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method 100 of grinding a workpiece as described above. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the embodiments described above.
It should be noted that not all steps and modules in the above flow and device structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together. The grinding device of the workpiece and the grinding method of the workpiece are based on the same inventive concept.
In the above embodiments, the hardware module may be implemented mechanically or electrically. For example, a hardware module may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. A hardware module may also include programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.

Claims (13)

1. A method of grinding a workpiece, comprising:
acquiring an initial contour of a workpiece before grinding and a target contour needing to be ground;
generating a motion position mapping of a master shaft and a slave shaft for grinding a workpiece according to the initial contour and the target contour; the system comprises a driving shaft, a driven shaft, a grinding tool and a control module, wherein the driving shaft is used for representing a shaft which moves towards the direction of a workpiece of the grinding tool for grinding the workpiece, the driven shaft is used for representing a shaft which drives the workpiece to rotate, the movement position mapping comprises at least two driving shaft position information of the driving shaft, and each rotation angle of the driven shaft corresponds to one driving shaft position information;
and controlling a grinding tool on the driving shaft to grind the workpiece according to the movement position mapping of the driving shaft and the driven shaft, so that the driving shaft moves to the position of the driving shaft corresponding to an angle when the driven shaft rotates to the angle.
2. The method of claim 1, wherein the step of generating a master-slave axis motion position map for grinding the workpiece from the initial profile and the target profile comprises:
determining a first driving shaft position coordinate of a grinding tool of the driving shaft for starting grinding operation according to the initial profile;
determining a second driving shaft position coordinate of the grinding tool of the driving shaft for stopping the grinding operation according to the target profile;
determining at least one third drive shaft position coordinate located between the first drive shaft position coordinate and the second drive shaft position coordinate;
and respectively determining the position coordinates of the first driving shaft, the second driving shaft and the third driving shaft corresponding to the rotation angles of the driven shafts according to the change of the rotation angles of the driven shafts.
3. The method of claim 1, wherein the step of controlling the grinding tool on the drive shaft to perform a grinding operation on the workpiece according to the motion position map of the master shaft comprises:
aiming at every two adjacent rotation angles in the motion position mapping, determining N rotation angles and driving shaft position information corresponding to the N rotation angles by using a least square method between the two adjacent rotation angles; the difference value between any two of the determined N rotation angles is not greater than a preset angle threshold value; n is a positive integer;
updating the movement position mapping by using each determined rotation angle and the corresponding driving shaft position information;
and controlling the spiral feeding of the driving shaft by utilizing the updated motion position mapping so that the grinding tool on the driving shaft continuously grinds the workpiece on the driven shaft.
4. The method of claim 1, wherein before controlling the grinding tool on the drive shaft to perform a grinding operation on the workpiece according to the motion position map of the master shaft, further comprising:
acquiring a multiplying power adjustment mapping of the driven shaft driving the workpiece to rotate so as to adjust the rotating speed of the driven shaft according to the multiplying power adjustment mapping when the driven shaft rotates to a corresponding angle; the magnification adjustment mapping at least comprises a group of mapping relations, and each group of mapping relations comprises a rotation angle of a driven shaft and a rotation speed magnification value corresponding to the rotation angle.
5. The method of any one of claims 1 to 4, further comprising, after controlling the grinding tool on the drive shaft to perform a grinding operation on the workpiece according to the map of the positions of movement of the master and slave shafts:
carrying out contour detection on the ground workpiece, and determining an error value between the ground workpiece and the target contour;
generating an error compensation map for correcting the ground workpiece according to the error value; the error compensation mapping comprises at least one correction rotating angle of the driven shaft, wherein the correction rotating angle needs to be subjected to grinding correction, and each correction rotating angle corresponds to an error compensation amount needing to be subjected to grinding correction;
and controlling the motion of the driving shaft and the driven shaft according to the error compensation mapping so that the grinding tool on the driving shaft carries out grinding correction on the workpiece on the driven shaft.
6. An apparatus for grinding a workpiece, comprising: the device comprises a contour acquisition module, a mapping generation module and a grinding operation module;
the profile acquisition module is configured to acquire an initial profile of the workpiece before grinding and a target profile required to be ground;
the mapping generation module is configured to generate a motion position mapping of a main shaft and a slave shaft for grinding a workpiece according to the initial contour and the target contour acquired by the contour acquisition module; the system comprises a driving shaft, a driven shaft, a grinding tool and a control module, wherein the driving shaft is used for representing a shaft which moves towards the direction of a workpiece of the grinding tool for grinding the workpiece, the driven shaft is used for representing a shaft which drives the workpiece to rotate, the movement position mapping comprises at least two driving shaft position information of the driving shaft, and each rotation angle of the driven shaft corresponds to one driving shaft position information;
and the grinding operation module is configured to control a grinding tool on the driving shaft to grind the workpiece according to the movement position mapping of the driving shaft obtained by the mapping generation module, so that the driving shaft moves to the position of the driving shaft corresponding to an angle when the driven shaft rotates to the angle.
7. The apparatus of claim 6, wherein the map generation module, in generating a motion position map of a master axis for grinding a workpiece from the initial and target profiles, is configured to:
determining a first driving shaft position coordinate of a grinding tool of the driving shaft for starting grinding operation according to the initial profile;
determining a second driving shaft position coordinate of the grinding tool of the driving shaft for stopping the grinding operation according to the target profile;
determining at least one third drive shaft position coordinate located between the first drive shaft position coordinate and the second drive shaft position coordinate;
and respectively determining the position coordinates of the first driving shaft, the second driving shaft and the third driving shaft corresponding to the rotation angles of the driven shafts according to the change of the rotation angles of the driven shafts.
8. The apparatus of claim 6, wherein the grinding operation module, when controlling the grinding tool on the main drive shaft to perform the grinding operation on the workpiece according to the movement position map of the main driven shaft, is configured to perform the following operations:
aiming at every two adjacent rotation angles in the motion position mapping, determining N rotation angles and driving shaft position information corresponding to the N rotation angles by using a least square method between the two adjacent rotation angles; the difference value between any two of the determined N rotation angles is not greater than a preset angle threshold value; n is a positive integer;
updating the movement position mapping by using each determined rotation angle and the corresponding driving shaft position information;
and controlling the spiral feeding of the driving shaft by utilizing the updated motion position mapping so that the grinding tool on the driving shaft continuously grinds the workpiece on the driven shaft.
9. The apparatus of claim 6, further comprising: a driven shaft rotating speed adjusting module; the driven shaft rotating speed adjusting module is configured to execute the following operations before controlling a grinding tool on the driving shaft to grind the workpiece according to the movement position mapping of the driving shaft:
acquiring a multiplying power adjustment mapping of the driven shaft driving the workpiece to rotate so as to adjust the rotating speed of the driven shaft according to the multiplying power adjustment mapping when the driven shaft rotates to a corresponding angle; the magnification adjustment mapping at least comprises a group of mapping relations, and each group of mapping relations comprises a rotation angle of a driven shaft and a rotation speed magnification value corresponding to the rotation angle.
10. The apparatus of any of claims 6 to 9, further comprising: a detection and correction module; the detection correction module is configured to execute the following operations after controlling the grinding tool on the main driving shaft to grind the workpiece according to the movement position mapping of the main driving shaft:
carrying out contour detection on the ground workpiece, and determining an error value between the ground workpiece and the target contour;
generating an error compensation map for correcting the ground workpiece according to the error value; the error compensation mapping comprises at least one correction rotating angle of the driven shaft, wherein the correction rotating angle needs to be subjected to grinding correction, and each correction rotating angle corresponds to an error compensation amount needing to be subjected to grinding correction;
and controlling the motion of the driving shaft and the driven shaft according to the error compensation mapping so that the grinding tool on the driving shaft carries out grinding correction on the workpiece on the driven shaft.
11. A computing device, comprising: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor, configured to invoke the machine readable program, to perform the method of any of claims 1 to 5.
12. Computer readable medium, characterized in that it has stored thereon computer instructions which, when executed by a processor, cause the processor to carry out the method of any one of claims 1 to 5.
13. Computer program product comprising a computer program, characterized in that the computer program realizes the method of any of claims 1 to 5 when executed by a processor.
CN202210275094.8A 2022-03-18 2022-03-18 Method and device for grinding workpiece and computer readable medium Active CN114603404B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210275094.8A CN114603404B (en) 2022-03-18 2022-03-18 Method and device for grinding workpiece and computer readable medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210275094.8A CN114603404B (en) 2022-03-18 2022-03-18 Method and device for grinding workpiece and computer readable medium

Publications (2)

Publication Number Publication Date
CN114603404A true CN114603404A (en) 2022-06-10
CN114603404B CN114603404B (en) 2024-02-06

Family

ID=81864165

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210275094.8A Active CN114603404B (en) 2022-03-18 2022-03-18 Method and device for grinding workpiece and computer readable medium

Country Status (1)

Country Link
CN (1) CN114603404B (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3405585A1 (en) * 1983-02-16 1984-10-11 Innse Innocenti Santeustacchio S.p.A., Brescia Grinding machine
US4873793A (en) * 1986-09-22 1989-10-17 Toyoda-Koki Kabushiki-Kaisha Numerically controlled machine tool
JPH0243150U (en) * 1988-09-19 1990-03-26
JPH0557564A (en) * 1991-08-30 1993-03-09 Ntn Corp Machining method of thin-walled ring work
JPH09251311A (en) * 1996-03-18 1997-09-22 Nippei Toyama Corp Grinding device for nonround body
US20190163161A1 (en) * 2017-11-27 2019-05-30 Fanuc Corporation Machine tool controller
US20210283740A1 (en) * 2017-12-12 2021-09-16 Fives Landis Limited Machine tools and methods of operation thereof

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3405585A1 (en) * 1983-02-16 1984-10-11 Innse Innocenti Santeustacchio S.p.A., Brescia Grinding machine
US4873793A (en) * 1986-09-22 1989-10-17 Toyoda-Koki Kabushiki-Kaisha Numerically controlled machine tool
JPH0243150U (en) * 1988-09-19 1990-03-26
JPH0557564A (en) * 1991-08-30 1993-03-09 Ntn Corp Machining method of thin-walled ring work
JPH09251311A (en) * 1996-03-18 1997-09-22 Nippei Toyama Corp Grinding device for nonround body
US20190163161A1 (en) * 2017-11-27 2019-05-30 Fanuc Corporation Machine tool controller
US20210283740A1 (en) * 2017-12-12 2021-09-16 Fives Landis Limited Machine tools and methods of operation thereof

Also Published As

Publication number Publication date
CN114603404B (en) 2024-02-06

Similar Documents

Publication Publication Date Title
CN108732989B (en) Control device for machine tool for performing swing cutting
CN100470422C (en) Controller for electric motor
CN104096889B (en) A kind of aerial blade processing method based on error compensation
KR940003150B1 (en) Method of correcting misalignment of a workpiece on numerically controlled machine tool
JPH04250965A (en) Method for circumferentially cutting radially non-circular work
EP1736278B1 (en) Grinding method
US6732009B2 (en) Machining error correction method adapted for numerically controlled machine tool and grinding machine using the same
KR101503186B1 (en) Grinding plate and grinding method
EP3677972A1 (en) Method and apparatus for machining parts with variable stiffness
US9849547B2 (en) Manufacturing apparatus and manufacturing method for manufacturing less unbalanced blower blade
JP3490534B2 (en) Non-circular workpiece grinding method and apparatus
JPH05301154A (en) Grinding method for noncircular work and its device
WO2013005590A1 (en) Grinding disc and grinding method
WO2010134532A1 (en) Numerical control device
CN114603404B (en) Method and device for grinding workpiece and computer readable medium
US20180364678A1 (en) Computer readable information recording medium, evaluation method, and control device
KR102182826B1 (en) Method for Compensating Vertical Angle Error by Thermal Deformation of Machine Tool and Numerical Control Apparatus
JP2019145032A (en) Numerical control device
JP3286689B2 (en) Processing device and processing method
KR101271222B1 (en) CNC lathe
CN101859124A (en) Program control method of pentahedron of numerical control plano milling machine
EP3447592B1 (en) Milling machine feed rate control
CN108705684B (en) Five-axis stone bridge cutting machine three-dimensional machining circular saw pose acquisition method
CN109483321B (en) Method for adjusting rotating speed of spindle motor, storage medium and intelligent terminal
JP4581858B2 (en) Machine tool controller that reciprocates the tool in synchronization with the rotation of the spindle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant