CN115446673A

CN115446673A - Ice skate grinding machine and ice skate grinding control method

Info

Publication number: CN115446673A
Application number: CN202211108886.2A
Authority: CN
Inventors: 程海鹏; 严飞; 李波; 钱文池; 潘江涛
Original assignee: Xiangyang Huake Equipment Manufacturing Engineering Research Institute Co ltd; XY-HUST ADVANCED MANUFACTURING ENGINEERING RESEARCH INSTITUTE; Hubei University of Arts and Science
Current assignee: Xiangyang Huake Equipment Manufacturing Engineering Research Institute Co ltd; XY-HUST ADVANCED MANUFACTURING ENGINEERING RESEARCH INSTITUTE; Hubei University of Arts and Science
Priority date: 2022-09-13
Filing date: 2022-09-13
Publication date: 2022-12-09

Abstract

The invention discloses an ice skate grinding machine and an ice skate grinding control method, wherein the ice skate grinding machine comprises a rack, an X-axis movement module, a Y-axis movement module, a Z-axis movement module, an ice skate clamp, a grinding assembly and a laser measuring head, wherein the X-axis movement module is movably arranged on a vertical frame of the rack along the X axial direction; the Y-axis movement module is movably arranged on the table top of the rack along the Y-axis direction; the Z-axis movement module is movably arranged on the X-axis movement module along the Z-axis direction; the ice skate fixture is arranged on the Y-axis movement module; the polishing assembly comprises a motor spindle and a polishing grinding wheel, the motor spindle is rotatably arranged on the Z-axis motion module along the Z-axis direction, and the polishing grinding wheel is arranged on the motor spindle; the laser measuring head is arranged on the Z-axis movement module and used for measuring the parameters of a fitting curve before grinding, the parameters of a fitting curve after grinding and the diameter of a grinding wheel for grinding the blade to be ground. The problems that the grinding efficiency is gradually reduced and the grinding quality is uneven due to the fact that the grinding wheel polishes the ice skate at a constant rotating speed in the existing ice skate grinding machine tool are solved.

Description

Ice skate grinding machine and ice skate grinding control method

Technical Field

The invention relates to the technical field of ice skate blade grinding, in particular to an ice skate blade grinding machine and an ice skate blade grinding control method.

Background

Ice and snow motion is walked into in people's the life gradually, wherein the ice is gone up the motion and is all not left the use of skates, and skates are after using a period, its blade can become blunt, just need grind again this moment, make it resume original shape, present study to skates lapping machine tool is uneven, wherein, the emery wheel of polishing of skates grinding machine tool polishes with invariable rotational speed usually, and the emery wheel of polishing belongs to the consumptive product again, can reduce along with the increase of the number of times of polishing and gradual loss, just it can reduce just to mean the linear speed of polishing of emery wheel, thereby lead to the problem that efficiency of polishing reduces and the quality of polishing is uneven.

Disclosure of Invention

The invention mainly aims to provide an ice skate grinding machine and an ice skate grinding control method, and aims to solve the problems that grinding efficiency is gradually reduced and grinding quality is uneven due to the fact that a grinding wheel grinds an ice skate at a constant rotating speed in an existing ice skate grinding machine tool.

In order to achieve the above object, the present invention provides an ice skate grinding machine comprising:

a frame;

the X-axis movement module is movably arranged on the vertical frame of the rack along the X-axis direction;

the Y-axis movement module is movably arranged on the table top of the rack along the Y-axis direction;

the Z-axis movement module is movably arranged on the X-axis movement module along the Z axis;

the ice skate clamp is arranged on the Y-axis movement module and used for clamping and positioning the blade to be polished of the ice skate;

the polishing assembly comprises a motor spindle and a polishing grinding wheel, the motor spindle is rotatably arranged on the Z-axis movement module along the Z-axis direction, and the polishing grinding wheel is arranged on the motor spindle and used for polishing the blade to be polished; and (c) a second step of,

and the laser measuring head is arranged on the Z-axis movement module and used for measuring the parameters of the pre-grinding fitting curve and the post-grinding fitting curve of the blade to be polished and the diameter of the grinding wheel of the polishing grinding wheel.

Optionally, an installation cover is arranged on the Z-axis movement module, the installation cover penetrates along the Z-axis direction to form an installation cavity, the polishing assembly comprises a driving motor, the driving motor is arranged in the installation cover, and the laser measuring head is arranged on the outer side wall of the installation cover;

the drive motor includes the motor spindle.

Optionally, the laser measuring head is arranged on the outer side wall of the mounting cover, which is far away from the Z-axis movement module.

Optionally, the Y-axis movement module comprises a fixed platform, and the ice blade clamp is detachably disposed on the fixed platform.

Optionally, the Y-axis movement module is connected to the table top of the rack through a lead screw slider mechanism; and/or the presence of a gas in the atmosphere,

the X-axis movement module is connected to a vertical frame of the rack through a lead screw sliding block mechanism; and/or the presence of a gas in the atmosphere,

and the Z-axis motion module is connected to the X-axis motion module through a lead screw slider mechanism.

In order to achieve the above object, the method for controlling grinding of an ice blade provided by the present invention is applied to the above ice blade grinding machine, wherein a clamping position, a position to be ground, an initial position, a standby position, and a final position are formed on the ice blade grinding machine, and the method for controlling grinding of an ice blade is characterized by comprising the following steps:

s1, acquiring a tool setting instruction;

s2, controlling an X-axis movement module, a Y-axis movement module and a Z-axis movement module to act according to the tool setting instruction so as to drive the ice skate fixture to the position to be ground and drive the grinding wheel to the standby position;

s3, obtaining pre-grinding fitting curve parameters of the blade to be polished, and calculating polishing allowance according to the pre-grinding fitting curve parameters and target fitting curve parameters;

s4, determining the motion tracks of the grinding wheel and the ice skate clamp according to the target fitting curve parameters, determining the single feed amount according to the grinding allowance, and calculating the target rotating speed of the motor spindle according to the actual diameter of the grinding wheel and the preset linear speed;

s5, controlling the motor spindle to rotate at the target rotating speed, and simultaneously controlling the X-axis movement module, the Y-axis movement module and the Z-axis movement module to move according to the movement track and the single feed amount so as to drive the grinding wheel to grind the blade to be ground and then move to the final position;

s6, acquiring parameters of a ground fitting curve of the knife edge to be ground after grinding;

s7, calculating a machining error amount according to the ground fitting curve parameters and the target fitting curve parameters;

s8, if the machining error amount is larger than a preset error amount, repeating the flow from the step S1 to the step S7 until the machining error amount is smaller than the preset error amount;

s9, controlling the X-axis movement control module, the Y-axis movement control module and the Z-axis movement control module to move so as to drive the ice skate fixture to the clamping position and drive the grinding wheel to the initial position.

Optionally, when the grinding allowance is in a first preset range, the single feeding amount is correspondingly selected as a first feeding amount;

when the grinding allowance is in a second preset range, the single feeding amount is correspondingly selected as a second feeding amount;

when the grinding allowance is in a third preset range, the single feeding amount is correspondingly selected as a third feeding amount;

wherein the first feed amount is greater than the second feed amount;

the second feed amount is greater than the third feed amount.

Optionally, the step of obtaining the pre-sharpening fitting curve parameters of the blade to be sharpened comprises the following steps:

s31, controlling an X-axis movement module to act so that the laser measuring head is driven to the end point position from the standby position, and obtaining coordinate values of a plurality of measuring point positions on the to-be-polished cutting edge;

and S32, fitting a pre-grinding fitting curve of the to-be-polished cutting edge by adopting a B spline curve according to the coordinate values of the plurality of measurement point positions.

Optionally, the coordinate values of the multiple measurement point locations include a coordinate value of a point with the maximum curvature and a coordinate value of a sharp point;

the step of fitting a pre-grinding fitting curve of the to-be-ground cutting edge by adopting a B spline curve according to the coordinate values of the plurality of measurement point positions comprises the following steps:

s321, obtaining the coordinate value of the point with the maximum curvature and the coordinate value of the sharp point;

s322, dividing the coordinate values of the plurality of measuring point positions into a plurality of coordinate value set sets according to the coordinate value of the point with the maximum curvature and the coordinate value of the sharp point;

s323, fitting a fitting curve segment before grinding by adopting a B spline curve according to each coordinate value set;

and S324, obtaining the pre-grinding fitting curve according to the plurality of pre-grinding fitting curve segments.

Optionally, the obtaining of the post-grinding fitting curve parameter of the to-be-ground cutting edge after grinding comprises the following steps:

s61, controlling the X-axis movement module and the Y-axis movement module to act so that the laser measuring head is driven to the standby position from the end point position, and obtaining coordinate values of a plurality of measuring point positions on the to-be-polished cutting edge;

and S62, fitting a post-grinding fitting curve parameter of the to-be-polished cutting edge by adopting a B spline curve according to the coordinate values of the plurality of measurement point positions.

According to the technical scheme provided by the invention, the laser measuring head can measure the fitted curve parameter before grinding through the linkage of the X-axis movement module, the axis movement module and the axis movement module to determine the grinding allowance, the X-axis movement module, the axis movement module and the Z-axis movement module are linked to drive the grinding wheel to grind the blade to be ground, the laser measuring head is used for measuring the fitted curve parameter after grinding to judge whether the grinding is qualified or not, if the grinding is unqualified, the grinding is repeated, and after each grinding, the rotating speed of the motor spindle can be regulated and controlled through the current grinding wheel diameter feedback of the grinding wheel obtained by the laser measuring head, so that the linear speed of the grinding surface of the grinding wheel is kept relatively constant, the grinding efficiency is ensured, the grinding quality of the ice skate after grinding in multiple batches is controlled, the whole grinding process can be performed fully automatically without manual participation, and the grinding precision is ensured.

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 described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an ice skate grinding machine provided by the present invention;

FIG. 2 is a schematic view of the ice blade clamp of FIG. 1 from a first perspective;

FIG. 3 is a schematic diagram of the ice blade clamp (not including the adjustment lever) of FIG. 1 from a second perspective;

FIG. 4 is a flowchart illustrating steps of a method for controlling grinding of an ice blade according to the present invention;

FIG. 5 is a flowchart of a refinement step of step S3 in FIG. 4;

fig. 6 is a flowchart of a refinement step of step S32 in fig. 5.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name(s)
				100	Ice skate blade grinding machine	521	Threaded rod segment
1	Rack	522	Locking nut
				2	X-axis motion module	53	Pressing plate
3	Y-axis motion module	53a	Abdication through hole
				31	Fixed platform	531	Hinged pressing block
4	Z-axis motion module	54	Jacking rod
				41	Mounting cover	6	Polishing assembly
5	Ice skate fixture	61	Driving motor
				51	Mounting seat	62	Grinding wheel
511	Adapter plate	7	Laser probe
				512	Mounting rack	8	Screw rod sliding block mechanism
512a	Limiting through groove	200	Ice skate blade
				513	Limit stop block	210	Knife rest
513a	Mounting through hole	220	Blade
				52	Compressing rod	230	To-be-polished knife edge

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

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

It should be noted that, if directional indication is involved in the embodiment of the present invention, the directional indication is only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Ice and snow motion comes in people's life gradually, wherein the ice is gone up the use that the motion all can not leave the skates, and the skates is after using a period, its blade can become dull, just need grind again this moment, make its shape that resumes originally, present study to skates lapping machine tool is uneven, wherein, the emery wheel of polishing of skates grinding machine grinds with invariable rotational speed usually, and the emery wheel of polishing belongs to the consumer again, can reduce along with the increase of the number of times of polishing and gradual loss, just also mean that the speed of polishing of emery wheel can reduce, thereby lead to the problem that efficiency of polishing reduces and the quality of polishing is uneven.

In view of this, the present invention provides an ice blade grinding machine and an ice blade grinding control method, and aims to solve the problems of gradual reduction in grinding efficiency and uneven grinding quality caused by grinding an ice blade by a grinding wheel at a constant rotation speed in the existing ice blade grinding machine tool, wherein fig. 1 to 3 are schematic structural diagrams of an embodiment of the ice blade grinding machine provided by the present invention, and fig. 4 to 6 are flow charts of steps of the grinding control method provided by the present invention.

Referring to fig. 1, the skates grinding machine 100 includes a frame 1, an X-axis movement module 2, a Y-axis movement module 3, a Z-axis movement module 4, a skates clamp 5, a grinding assembly 6 and a laser probe 7, wherein the X-axis movement module 2 is movably disposed on a vertical frame of the frame 1 along an X-axis direction; the Y-axis movement module 3 is movably arranged on the table top of the rack 1 along the Y-axis direction; the Z-axis motion module 4 is movably arranged on the X-axis motion module 2 along the Z-axis direction; the ice skate clamp 5 is arranged on the Y-axis movement module 3 and used for clamping and positioning a blade 230 to be polished of the ice skate 200; the grinding component 6 comprises a motor spindle and a grinding wheel 62, the motor spindle is rotatably arranged on the Z-axis motion module 4 along the Z-axis direction, and the grinding wheel 62 is arranged on the motor spindle and is used for grinding the blade 230 to be ground; the laser measuring head 7 is arranged on the Z-axis movement module 4 and is used for measuring the parameters of the pre-grinding fit curve and the post-grinding fit curve of the to-be-ground cutting edge 230 and the diameter of the grinding wheel 62 of the grinding wheel.

According to the technical scheme provided by the invention, the laser measuring head 7 can measure the fitted curve parameter before grinding through the linkage of the X-axis movement module 2, the axis movement module and the axis movement module to determine the grinding allowance, the X-axis movement module 2, the axis movement module and the Z-axis movement module 4 are linked to drive the grinding wheel 62 to grind the blade 230 to be ground, the laser measuring head 7 is used for measuring the fitted curve parameter after grinding to judge whether the grinding is qualified or not, if the grinding is unqualified, the grinding is repeated, and after each grinding is finished, the rotating speed of the motor spindle can be regulated and controlled through the current grinding wheel diameter of the grinding wheel 62 obtained by the laser measuring head 7, so that the linear speed of the grinding surface of the grinding wheel 62 is kept relatively constant, the grinding efficiency is ensured, the grinding quality of the ice skate 200 after multiple batches of grinding is controlled, meanwhile, the whole grinding process can be carried out fully automatically, manual participation is not needed, and the grinding precision is ensured.

It should be noted that the target fitting curve parameter may be obtained by scanning the overall shape of the blade of the ice blade by the laser measuring head 7, or may be obtained by directly calling data stored in the control storage unit of the ice blade grinding machine 100.

Because the laser measuring head 7 and the polishing assembly 6 are both arranged on the Z-axis movement module 4, the Z-axis movement module 4 is required to have more installation positions, and in order to ensure the installation of the laser measuring head 7 and the polishing assembly 6 without increasing the size of the Z-axis movement module 4, please refer to fig. 1, in this embodiment, an installation cover 41 is arranged on the Z-axis movement module 4, the installation cover 41 penetrates through along the Z-axis direction to form an installation cavity, the polishing assembly 6 includes a driving motor 61, the driving motor 61 is arranged in the installation cover 41, and the laser measuring head 7 is arranged on the outer side wall of the installation cover 41; the drive motor 61 includes the motor spindle. Through the arrangement of the mounting cover 41, the driving motor 61 is not affected, and meanwhile, a mounting position can be provided for the laser measuring head 7, so that the Z-axis movement module 4 is ensured to be as small as possible, and the ice skate blade grinding machine 100 is beneficial to miniaturization and light weight.

Further, referring to fig. 1, in the embodiment, the laser measuring head 7 is disposed on the outer side wall of the mounting cover 41 away from the Z-axis movement module 4, so that when the laser measuring head 7 moves above the blade 230 to be polished for scanning, the polishing grinding wheel 62 cannot mistakenly touch the blade 230 to be polished, and the safety measurement of the laser measuring head 7 is ensured.

In this embodiment, the Y-axis moving module 3 includes a fixing platform 31, and the ice blade clamp 5 is detachably disposed on the fixing platform 31. Through the mode of can dismantling the connection, can be after polishing convenient other skates anchor clamps 5 of replacement, guaranteed the commonality and the machining efficiency of skates grinding machine 100.

The Y-axis movement module 3 is movably arranged on the table top of the rack 1 in various ways, and specifically, the Y-axis movement module 3 is connected to the table top of the rack 1 through a screw rod sliding block mechanism 8;

the X-axis movement module 2 is movably arranged on the vertical frame of the rack 1 in various ways, and specifically, the X-axis movement module 2 is connected to the vertical frame of the rack 1 through a screw rod sliding block mechanism 8;

the Z-axis motion module 4 is movably arranged on the X-axis motion module 2 in various ways, and specifically, the Z-axis motion module 4 is connected to the X-axis motion module 2 through a lead screw slider mechanism 8;

it should be noted that, according to the three parallel technical features, "the Y-direction movement module is connected to the table top of the frame 1 through the lead screw slider mechanism 8", "the X-axis movement module 2 is connected to the stand of the frame 1 through the lead screw slider mechanism 8", and "the Z-axis movement module 4 is connected to the X-axis movement module 2 through the lead screw slider mechanism 8", one of them may be selected, two of them may be selected, or they may be set simultaneously, and obviously, the effect of the simultaneous setting is the best, and the lead screw slider mechanism 8 is adopted to ensure the smooth control drive of the X-axis movement module 2, the Y-axis movement module 3, and the Z-axis movement module 4, so that the linkage of the X-axis movement module 2, the Y-axis movement module 3, and the Z-axis movement module 4 is improved, that is the polishing efficiency is also improved.

It is understood that the lead screw slider mechanism 8 is a conventional technical means in the art, and the embodiment of the present invention is not described in detail herein.

The structure of the ice skate fixture 5 may have various forms, specifically, referring to fig. 2, in this embodiment, the ice skate fixture 5 includes an installation seat 51, a pressing rod 52, a pressing plate 53 and a tightening rod 54, the installation seat 51 is configured to be disposed on the fixed platform 31, a left-right through limiting through groove 512a is formed on an upper end surface of the installation seat 51, and the limiting through groove 512a is configured to accommodate the tool holder 210 of the ice skate 200, so that the blade 220 of the ice skate 200 is attached to the upper end surface of the installation seat 51; the pressing rod 52 extends up and down and is arranged on the fixed platform 31, a locking part is arranged on the pressing rod 52, and the up-down position of the locking part is adjustable; the pressing plate 53 extends in the front-back direction, the front end of the pressing plate 53 is used for pressing the blade 220 of the ice skate 200, the middle part of the pressing plate 53 can be movably arranged on the pressing rod 52 in the up-down direction, and the locking part is abutted to the pressing plate 53 downwards; the tightening rod 54 extends vertically, the tightening rod 54 is connected to the rear end of the pressing plate 53 through a threaded connection structure, and the lower end of the tightening rod 54 is used for abutting against the fixed platform 31.

In the technical scheme provided by the invention, the blade 220 of the ice skate 200 is pressed to the mounting seat 51 by the pressing plate 53, so that the blade 230 to be ground of the ice skate 200 can extend out of the mounting seat 51, so that the grinding wheel 62 can grind the blade, and meanwhile, the limiting through groove 512a can accommodate the tool rest 210 of the ice skate 200, so as to achieve the effect of assisting in positioning the blade 230 to be ground by limiting the movement of the tool rest 210, thereby improving the grinding precision; moreover, the up-down position of the locking part is adjustable, and the tightening rod 54 is connected to the pressing plate 53 through a threaded connection structure, so that when the ice skate clamp 5 clamps the blades 220 of the ice skates 200 with different thickness specifications, the front end of the pressing plate 53 can be pressed to the blades 220 of the ice skate 200 in a horizontal and downward state through the matching adjustment of the locking part and the tightening rod 54, the blades 220 of the ice skate 200 are prevented from being crushed, and the universality of the ice skate clamp 5 is improved; meanwhile, as the locking part is tightly pressed downwards to the middle part of the pressing plate 53, the pressing force arm at the front end of the pressing plate 53 can be shortened, so that the pressing pressure of the pressing rod 54 and the fixed platform 31 can be more directly transmitted to the blade 220 of the ice skate 200, and the connecting pressure of the threaded connection structure of the pressing rod 54 and the pressing plate 53 is reduced; moreover, the mode of jacking the pressing plate 53 by the jacking rod 54 can reduce the production, use and maintenance costs of the ice skate fixture 5.

It should be noted that there are various specific forms of the locking portion, and there are also various ways to realize the up-down position adjustment of the locking portion, which is not limited in this embodiment.

In this embodiment, a plurality of mounting grooves penetrating through the fixing platform 31 in the left and right directions are formed, a mounting block is formed at the lower end of the pressing rod 52, the mounting block is disposed in the rotation mounting groove, and the position in the left and right directions can be adjusted by adjusting the position of the mounting block in the mounting groove, so that the position of the pressing rod 52 can be adjusted, and the clamping position of the blade 220 pressing the ice skate 200 can be changed, thereby being suitable for clamping and positioning the ice skates 200 with various length specifications.

Since the blades 220 of the ice blade 200 have a certain length, in order to more stably clamp the ice blade 200, referring to fig. 2, in this embodiment, the mounting seats 51, the pressing members, the pressing plates 53, and the tightening rods 54 form two sets of tightening sets in a one-to-one correspondence manner, and the tightening sets are arranged at intervals in the left-right direction. By arranging two groups of the pressing groups, the clamping point positions of the ice skate 200 are increased, so that the pressing pressure of the pressing plate 53 is reduced, and the ice skate 200 can be clamped more effectively.

The specific forms of the locking portion are various, and the manner of adjusting the vertical position of the locking portion is also various, specifically, referring to fig. 2, in this embodiment, a yielding through hole 53a which is through up and down is formed in the middle of the pressing plate 53; the pressing rod 52 comprises a threaded rod section 521, and the threaded rod section 521 passes through the abdicating through hole 53a; the locking portion comprises a locking nut 522, which locking nut 522 is connected to the threaded rod section 521 and abuts down to the pressure plate 53. The position of the locking nut 522 on the threaded rod section 521 can be accurately adjusted by screwing the locking nut 522, and then the pressing force of the locking nut 522 on the pressing plate 53 is adjusted.

It can be understood that the positions of the blades 200 with different lengths and specifications to be clamped on the mounting seat 51 are different, and need to be changed according to the length and specification of the blade 200 itself, and in order to better cope with the blades 200 with different lengths and specifications, please refer to fig. 2, in this embodiment, the abdicating through holes 53a are arranged in a long shape along the front and back directions. Through being microscler setting abdication through-hole 53a makes clamp plate 53 is in the position of compressing tightly the fore-and-aft direction of pole 52 is adjustable, and the cooperation is adjusted clamp plate 53's orientation, can with clamp plate 53's front end is adjusted to the position that needs are pressed from both sides tightly, has improved skates anchor clamps 5's commonality and centre gripping stability.

Since the thickness and size of the blades 220 of the skates 200 with different specifications are different, it is difficult to ensure that the pressing surface of the pressing plate 53 can be uniformly pressed onto the blades 220 of the skates 200, and in order to ensure that the blades 220 are stably clamped and the blades 220 are not damaged by excessive local pressure, referring to fig. 2, in this embodiment, a hinged pressing block 531 is arranged on the lower end surface of the front end of the pressing plate 53, and the hinged pressing block 531 is rotatably arranged along the left-right axis. When the blades 220 of the ice skate 200 with different thicknesses are handled, the blades 220 of the ice skate 200 can be attached to each other through the self-adaptive rotation of the hinged pressing block 531, so that the blades 220 are prevented from being crushed.

Referring to fig. 2, in the embodiment, the mounting base 51 includes an adapter plate 511 and a mounting bracket 512, the limiting through groove 512a is formed on an upper end surface of the mounting bracket 512, the adapter plate 511 is disposed on the fixed platform 31, and the mounting bracket 512 is detachably connected to the adapter plate 511. The adapter plate 511 and the mounting frame 512 are separately arranged on the mounting base 51, so that the manufacturing difficulty of the mounting base 51 is reduced, and the replacement cost of the mounting frame 512 is reduced.

Since the grinding wheel 62 applies a friction stress to the ice blade 200 in a left-right direction when grinding the blade 230 of the ice blade 200 to be ground, in order to prevent the ice blade 200 from deviating under the action of the friction stress, referring to fig. 3, in this embodiment, a limit stopper 513 is disposed at an opening of one side end of the limit through groove 512 a. The limit stopper 513 can abut against one end of the ice blade 200, so that the ice blade 200 is prevented from shifting in the left-right direction, the grinding precision is ensured, and meanwhile, the opening at the other end of the limit through groove 512a is not blocked, so that the ice blade 200 can be placed in and taken out. It should be noted that the limit stopper 513 is located on one side of the limit through groove 512a, which is opposite to the rotation tangential direction of the grinding wheel 62.

Further, since the lengths of the skates 200 with different specifications are different, in order to clamp and position the skates 200 with various specifications to a preferred clamping position in the middle of the mounting seat 51, referring to fig. 3, in the present embodiment, a mounting through hole 513a penetrating from left to right is formed on the limit stopper 513 corresponding to the limit through groove 512 a; the ice skate blade clamp 5 further comprises an adjusting rod, wherein the adjusting rod penetrates through the mounting through hole 513a, and the position of the adjusting rod along the left-right direction is adjustable, so that the adjusting rod can extend into the limiting through groove 512a and is abutted to the blade carrier 210 of the ice skate blade 200. The length of the adjusting rod extending into the limiting through groove 512a is changed by adjusting the position of the adjusting rod in the left-right direction of the limiting through groove 512a, so that the position of the ice skate 200 on the mounting seat 51 is changed, the ice skate 200 is abutted to the optimal clamping position, the pressing efficiency of the pressing plate 53 is ensured, and the universality of the ice skate clamp 5 is improved.

There are various ways in which the position of the adjusting rod along the left-right direction can be adjusted, specifically, in this embodiment, the adjusting rod is connected to the mounting through hole 513a through a threaded connection pair, and the position of the adjusting rod can be adjusted by screwing the adjusting rod.

It is understood that the X axis is a left-right direction, the Y axis is a front-rear direction, and the Z axis is an up-down direction.

In addition, the present invention further provides a method for controlling grinding of an ice blade, which is used for the ice blade grinding machine 100, wherein a position to be ground, a standby position and a terminal position are formed on the ice blade grinding machine 100, please refer to fig. 4, and the method for controlling grinding of an ice blade includes the following steps:

s1, acquiring a tool setting instruction;

s2, controlling the X-axis movement module 2, the Y-axis movement module 3 and the Z-axis movement module 4 to act according to the tool setting instruction so as to drive the ice skate clamp 5 to a position to be ground and drive the grinding wheel 62 to the position to be ground;

s3, obtaining pre-grinding fitting curve parameters of the blade 230 to be ground, and calculating grinding allowance according to the pre-grinding fitting curve parameters and target fitting curve parameters;

s4, determining the motion tracks of the grinding wheel 62 and the ice skate clamp 5 according to the target fitting curve parameters, determining the single feed amount according to the grinding allowance, and calculating the target rotating speed of the motor spindle according to the actual grinding wheel diameter and the preset linear speed of the grinding wheel 62;

s5, controlling the motor spindle to rotate at the target rotating speed, and controlling the X-axis motion module 2, the Y-axis motion module 3 and the Z-axis motion module 4 to act according to the motion track and the single feeding quantity so as to drive the grinding wheel 62 to grind the blade 230 to be ground and then move to an end point position;

s6, obtaining parameters of a ground fit curve of the to-be-ground cutting edge 230 after grinding;

and S9, controlling the X-axis motion control module 2, the Y-axis motion control module 3 and the Z-axis motion control module 4 to move so as to drive the ice skate clamp 5 to a clamping position and drive the grinding wheel 62 to an initial position.

Firstly, through the linkage of the X-axis motion module 2, the axis motion module and the axis motion module, the laser probe 7 can measure the fitting curve parameter before grinding to determine the grinding allowance, and then through the linkage of the X-axis motion module 2, the axis motion module and the Z-axis motion module 4, the grinding wheel 62 is driven to grind the blade 230 to be ground, and then the laser probe 7 is used for measuring the fitting curve parameter after grinding to judge whether the grinding is qualified or not, if the grinding is unqualified, the grinding is repeated, and after each grinding is finished, the rotating speed of the motor spindle can be regulated and controlled through the current grinding wheel diameter feedback of the grinding wheel 62 obtained by the laser probe 7, so that the linear speed of the grinding surface of the grinding wheel 62 is kept relatively constant, the grinding efficiency is ensured, and the grinding quality of the ice skate 200 after multi-batch grinding is controlled; meanwhile, a tool setting instruction is required to be acquired before each time of circular grinding, the tool setting instruction can be made manually to monitor the rest grinding allowance in real time, whether grinding is continued or not is confirmed manually, the situation that after grinding is carried out for a single time, the fitting curve parameter is smaller than the target fitting curve parameter is avoided, and grinding precision is guaranteed.

It should be noted that there are various ways to obtain the pre-grinding fitting curve parameters of the blade 230 to be ground and to obtain the post-grinding fitting curve parameters of the blade 230 to be ground, and a contact measurement method or a non-contact measurement method may be adopted, and the specific obtaining method is not limited in this embodiment; the target fitting curve parameters can be obtained by scanning the overall appearance of the blade of the standard ice skate by the laser measuring head 7, or can be obtained by directly calling data stored in a control storage unit of the ice skate grinding machine 100; it can be understood that the grinding wheel 62 can only move in the X-axis direction and the Z-axis direction, but cannot move in the Y-axis direction, so that when some users need the curved blade of the ice skate, the grinding processing of the curved blade of the ice skate can be completed by controlling the Y-axis movement module 3 to properly feed and retract according to the grinding position of the grinding wheel 62; the clamping position is a position where the Y-axis movement module 3 is far away from the X-axis movement module 2 so as to facilitate an operator to disassemble and assemble the ice skate, the position to be ground is located below the X-axis movement module 2 so as to facilitate the Z-axis movement module 4 to drive the grinding wheel 62 downwards to grind the blade 230 to be ground, the initial position is a position where the Z-axis movement module 4 is located at a high point of the X-axis movement module 2, the standby position refers to a position where one side end of the grinding wheel 62 in the left and right directions of the blade 230 to be ground can be in contact with and grind the blade 230 to be ground under the driving of the X-axis movement module 2 at any time, the end position is a position where the grinding wheel 62 finishes grinding the blade 230 to be ground, and the end position and the standby position are respectively located on the left and right sides of the blade 230 to be ground.

Further, in this embodiment, when the polishing allowance is within a first preset range, the feeding amount is selected as a first feeding amount correspondingly; when the grinding allowance is in a second preset range, the feeding amount is correspondingly selected as a second feeding amount; when the grinding allowance is in a third preset range, the feeding amount is correspondingly selected as a third feeding amount; wherein the first feed amount is greater than the second feed amount; the second feed amount is greater than the third feed amount. In this way, the grinding allowance can be divided into three preset grinding ranges to perform rough grinding, fine grinding and polishing operations at the first feeding amount, the second feeding amount and the third feeding amount respectively, so that the grinding allowance can be accurately and stably eliminated; meanwhile, it can be understood that a tool setting instruction needs to be acquired before each time of circular grinding, the tool setting instruction can be made manually to monitor the remaining grinding allowance in real time, and the single feeding amount can be modified manually, so that the grinding amount of the grinding wheel 62 can be adjusted and controlled flexibly each time.

The method for obtaining the parameters of the fitted curve before grinding of the blade 230 to be ground can be realized by a contact measurement method or a non-contact measurement method, please refer to fig. 5, specifically, in another embodiment, 8, the method for controlling grinding of an ice skate blade according to claim 6, wherein the step of obtaining the parameters of the fitted curve before grinding of the blade 230 to be ground includes the following steps:

s31, controlling the X-axis motion module 2 to move, so that the laser measuring head 7 is driven from the standby position to the end position, and obtaining coordinate values of a plurality of measuring point positions on the cutting edge 230 to be polished;

s32, fitting a pre-grinding fitting curve of the to-be-ground cutting edge 230 by adopting a B spline curve according to the coordinate values of the plurality of measurement point positions;

by adopting the B-spline curve fitting method, invalid coordinates in the coordinates of the measurement point positions can be eliminated, the overall parameters of a fitting curve are not influenced, and the fitting accuracy is higher.

In the spline curve fitting process, a given data point set often cannot be fitted directly by using a spline curve, and needs to be divided into different curve segments according to data point characteristics for fitting respectively, while the ice skate arc is mostly composed of two arcs, and the connection point of the two arcs is the lowest point of the ice skate arc, so that data is preprocessed first to determine the segmented connection point of the fitted curve segment, please refer to fig. 6, in the embodiment, the coordinate values of the plurality of measurement point locations include the coordinate value of the point with the maximum curvature and the coordinate value of the sharp point;

the step of fitting a pre-grinding fitting curve of the to-be-ground cutting edge 230 by using a B-spline curve according to the coordinate values of the plurality of measurement point positions comprises the following steps:

s322, dividing the coordinate values of the plurality of measurement point positions into a plurality of coordinate value set sets according to the coordinate value of the maximum curvature point and the coordinate value of the cusp;

s324, obtaining the pre-grinding fitting curve according to the plurality of pre-grinding fitting curve segments;

by analyzing the maximum curvature point and the sharp point, the points can be used as segmentation points to divide the arc line of the blade 230 to be polished into a plurality of arc line segments, arc line fitting is respectively performed on coordinates in the arc line segments to a collection set, and finally, the optimal control point is determined to complete B-spline fitting; it is understood that the maximum curvature point means a smooth connection point of two circular arcs, and the cusp means a cross connection point of two circular arcs, and the maximum curvature point and the cusp are set to meet personal practical requirements of users.

There are various ways to obtain the parameters of the post-grinding fitting curve of the blade 230 to be ground, which can be implemented by using a contact measurement method or a non-contact measurement method, specifically, in another embodiment, the step of obtaining the parameters of the post-grinding fitting curve of the blade 230 to be ground after grinding includes the following steps:

s61, controlling the X-axis movement module 2 and the Y-axis movement module 3 to move, so that the laser measuring head 7 is driven to the standby position from the end position, and coordinate values of a plurality of measuring point positions on the to-be-polished cutting edge 230 are obtained;

s62, fitting a post-grinding fitting curve parameter of the to-be-ground cutting edge 230 by adopting a B spline curve according to the coordinate values of the plurality of measurement point positions;

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents made by the contents of the present specification and drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. An ice skate blade grinder, comprising:

a frame;

the polishing assembly comprises a motor spindle and a polishing grinding wheel, the motor spindle is rotatably arranged on the Z-axis movement module along the Z-axis direction, and the polishing grinding wheel is arranged on the motor spindle and is used for polishing the blade to be polished; and the number of the first and second groups,

2. The ice skate blade grinding machine of claim 1, wherein a mounting cover is arranged on the Z-axis movement module, the mounting cover penetrates along the Z-axis direction to form a mounting cavity, the grinding assembly comprises a driving motor, the driving motor is arranged in the mounting cover, and the laser measuring head is arranged on the outer side wall of the mounting cover;

the driving motor comprises the motor spindle.

3. The ice skate blade grinder of claim 2, wherein said laser probe is disposed on an outer side wall of said mounting cup distal from said Z-axis movement module.

4. The ice blade grinding machine of claim 1 wherein said Y-axis motion module includes a fixed platform, said ice blade clamp being removably mounted to said fixed platform.

5. The skate grinder of claim 1, wherein the Y-axis motion module is connected to the top of the stand by a lead screw slider mechanism; and/or the presence of a gas in the gas,

the X-axis movement module is connected to a vertical frame of the rack through a lead screw sliding block mechanism; and/or the presence of a gas in the gas,

6. An ice blade grinding control method for the ice blade grinding machine according to any one of claims 1 to 5, wherein a clamping position, a to-be-ground position, an initial position, a standby position and an end position are formed on the ice blade grinding machine, and the ice blade grinding control method comprises the following steps:

s1, acquiring a tool setting instruction;

s4, determining the motion tracks of the grinding wheel and the ice skate clamp according to the target fitting curve parameters, determining the single feed amount according to the grinding allowance, and calculating the target rotating speed of the motor spindle according to the actual grinding wheel diameter of the grinding wheel and the preset linear speed;

s5, controlling the motor spindle to rotate at the target rotating speed, and controlling the X-axis motion module, the Y-axis motion module and the Z-axis motion module to act according to the motion trail and the single feeding quantity so as to drive the grinding wheel to grind the blade to be ground and then move to the end point position;

s6, acquiring ground fit curve parameters of the to-be-ground cutting edge after grinding;

and S9, controlling the X-axis movement control module, the Y-axis movement control module and the Z-axis movement control module to move so as to drive the ice skate clamp to the clamping position and drive the grinding wheel to the initial position.

7. The ice skate blade grinding control method of claim 6 wherein when the grinding allowance is within a first preset range, the single feed amount is selected as a first feed amount;

wherein the first feed amount is greater than the second feed amount;

the second feed amount is greater than the third feed amount.

8. The skate blade sharpening control method of claim 6, wherein said step of obtaining pre-sharpening fit curve parameters for the blade edge to be sharpened comprises the steps of:

9. The ice skate blade grinding control method of claim 8 wherein said coordinate values of said plurality of measurement point locations include coordinate values of a point of maximum curvature and coordinate values of a point;

and S324, obtaining the fitting curve before grinding according to the plurality of fitting curve sections before grinding.

10. The ice skate blade grinding control method of claim 6 wherein said obtaining post-grinding fit curve parameters of the blade to be ground after grinding comprises the steps of: