Spiral bevel gear grinding system deformation error compensation method and system and electronic equipment

Abstract

The invention discloses a spiral bevel gear grinding system deformation error compensation method and system and electronic equipment. According to the method, multiple times of grinding machining are conducted on a spiral bevel gear workpiece through a spiral bevel gear grinding system, and the spiral bevel gear grinding system comprises a laser distance measuring sensor and a force sensor; acquiring first data in each grinding process through a laser ranging sensor, and acquiring second data in each grinding process through a force sensor; according to the first data, grinding wheel abrasion loss and grinding system deformation are calculated; calculating a target normal force of the spiral bevel gear grinding system based on the second data; based on the target normal force and the grinding system deformation, the cutting rigidity and the grinding system rigidity are calculated; and according to the cutting rigidity, the rigidity of the grinding system and the abrasion loss of the grinding wheel, deformation error compensation of the spiral bevel gear grinding system is conducted. The rigidity of the grinding system can be accurately measured, so that intelligent compensation of the deformation error of the spiral bevel gear grinding system is realized.

Description

Technical Field

[0001] The present application relates to the technical field of gear processing, and in particular to a method, system and electronic equipment for compensating deformation errors of a spiral bevel gear grinding system. Background Art

[0002] Spiral bevel gears are key parts of high-end equipment transmission systems and are widely used in important fields such as aircraft, helicopters, and new energy vehicles. Spiral bevel gear grinding is usually the last finishing process, which directly determines the geometric accuracy and service performance of spiral bevel gears. In order to adapt to the development trend of intelligent manufacturing, it is urgent to develop online monitoring and intelligent control strategies for spiral bevel gear grinding to further improve its manufacturing accuracy and efficiency.

[0003] The deformation of the grinding system caused by the grinding force is an important reason for residual allowance and affecting manufacturing accuracy, and necessary machine tool motion compensation is required. The deformation of the grinding system is directly related to the stiffness of the grinding system. The existing scheme is mainly achieved by measuring the static stiffness of the machine tool spindle and combining it with the monitoring of the machine tool spindle power. The grinding process of spiral bevel gears is very complicated. In order to adapt to different tooth profile parameters, the motion axis of the machine tool needs to make multiple parameter adjustments to form a mutually inclined posture. The static stiffness of the machine tool measured in the standard position cannot reflect the stiffness changes of the machine tool under various adjustments. In addition, the spindle power of the machine tool is mainly related to the cutting force and is a scalar, which makes it difficult to reflect the normal force under the tilted motion axis posture of the machine tool. Therefore, the existing scheme has the problem of insufficient accuracy when applied to the measurement of spiral bevel gear grinding stiffness.

[0004] In summary, due to the complex gear end face morphology of the spiral bevel gear and the mutually inclined motion axis posture during the grinding process, the existing technical solutions are difficult to accurately and in real time reflect the dynamic changes in the stiffness of the spiral bevel gear grinding system, and therefore it is difficult to achieve intelligent compensation for deformation errors. Summary of the invention

[0005] The present application aims to propose a method, system and electronic equipment for compensating the deformation error of a spiral bevel gear grinding system, which can accurately measure the stiffness of the grinding system, thereby realizing intelligent compensation of the deformation error of the spiral bevel gear grinding system.

[0006] In a first aspect, an embodiment of the present application provides a method for compensating deformation errors of a spiral bevel gear grinding system, the method comprising:

[0007] Performing multiple grinding processes on a spiral bevel gear workpiece by a spiral bevel gear grinding system, wherein the spiral bevel gear grinding system includes a laser distance sensor and a force sensor;

[0008] Acquire first data in each grinding process by using the laser distance measuring sensor, and acquire second data in each grinding process by using the force sensor;

[0009] Calculating the grinding wheel wear and grinding system deformation according to the first data;

[0010] Based on the second data, calculating a target normal force of the spiral bevel gear grinding system;

[0011] Calculating cutting stiffness and grinding system stiffness based on the target normal force and the grinding system deformation;

[0012] According to the cutting rigidity, the grinding system rigidity and the grinding wheel wear, deformation error compensation of the spiral bevel gear grinding system is performed.

[0013] Compared with the prior art, the first aspect of the present application has the following beneficial effects:

[0014] The method performs multiple grinding processes on a spiral bevel gear workpiece through a spiral bevel gear grinding system, wherein the spiral bevel gear grinding system includes a laser distance sensor and a force sensor; first data in each grinding process is obtained through the laser distance sensor, and second data in each grinding process is obtained through the force sensor; according to the first data, the wear amount of the grinding wheel and the deformation amount of the grinding system are calculated; based on the second data, the target normal force of the spiral bevel gear grinding system is calculated; based on the target normal force and the deformation amount of the grinding system, the cutting stiffness and the grinding system stiffness are calculated; according to the cutting stiffness, the grinding system stiffness and the grinding wheel wear amount, the deformation error of the spiral bevel gear grinding system is compensated. In this way, data can be measured in real time through laser ranging sensors and force sensors, and then the cutting stiffness and grinding system stiffness are calculated based on the real-time measured data, realizing real-time measurement of the grinding system stiffness, and can reflect in real time the influence of factors such as grinding wheel wear, machine tool deformation and grinding contact state on the system stiffness, without the need to repeatedly disassemble the spiral bevel gear workpiece and grinding wheel tool, thereby effectively improving the measurement accuracy and convenience of the spiral bevel gear grinding system stiffness, and finally, according to the precise cutting stiffness, grinding system stiffness and grinding wheel wear, the deformation error of the spiral bevel gear grinding system is compensated, realizing the intelligent compensation of the deformation error of the spiral bevel gear grinding system, while effectively improving the manufacturing accuracy and efficiency.

[0015] In some embodiments, the step of acquiring first data during each grinding process by using the laser ranging sensor, and acquiring second data during each grinding process by using the force sensor, comprises:

[0016] Acquire the tooth surface distances before the first grinding process, after the first grinding process, and after the second grinding process by using the laser distance measuring sensor, and use the tooth surface distances as first data;

[0017] A first grinding force in the first grinding process and a second grinding force in the second grinding process are acquired through the force sensor, and the first grinding force and the second grinding force are used as second data.

[0018] In some embodiments, calculating the grinding wheel wear amount and the grinding system deformation amount according to the first data includes:

[0019] Calculating a first residual stock after the first grinding process and a second residual stock after the second grinding process according to the first data;

[0020] Based on the first residual stock and the second residual stock, the grinding wheel wear amount and the grinding system deformation amount are calculated.

[0021] In some embodiments, the calculating the grinding wheel wear amount and the grinding system deformation amount based on the first residual amount and the second residual amount includes:

[0022] Preset cutting depth;

[0023] Calculating the amount of grinding wheel wear according to the cutting depth and the second residual amount;

[0024] The deformation of the grinding system is calculated according to the cutting depth, the first residual stock and the grinding wheel wear.

[0025] In some embodiments, transforming the second data into a target normal force of the spiral bevel gear grinding system comprises:

[0026] transforming the first grinding force in the second data into a first normal force of the spiral bevel gear grinding system;

[0027] transforming the second grinding force in the second data into a second normal force of the spiral bevel gear grinding system;

[0028] The first normal force and the second normal force are summed and averaged to obtain a target normal force of the spiral bevel gear grinding system.

[0029] In some embodiments, the calculating the cutting stiffness and the grinding system stiffness based on the target normal force and the grinding system deformation comprises:

[0030] Calculating the ratio of the target normal force and the first residual stock to obtain cutting stiffness;

[0031] The target normal force and the deformation of the grinding system are ratio-calculated to obtain the stiffness of the grinding system.

[0032] In some embodiments, the deformation error compensation of the spiral bevel gear grinding system is performed according to the cutting stiffness, the grinding system stiffness and the grinding wheel wear, including:

[0033] According to the cutting rigidity, the grinding system rigidity and the grinding wheel wear, the corrected machine tool command cutting depth is calculated as:

[0034]

[0035] Among them, a infeed Indicates the corrected machine tool instruction cutting depth, k c represents the cutting stiffness, a p Indicates the cutting depth, k e represents the grinding system stiffness, δ s Indicates the amount of wear of the grinding wheel;

[0036] According to the corrected machine tool command cutting depth, the deformation error compensation of the spiral bevel gear grinding system is performed.

[0037] In a second aspect, an embodiment of the present application further provides a spiral bevel gear grinding system deformation error compensation system, the system comprising:

[0038] A grinding unit, used for performing multiple grinding processes on a spiral bevel gear workpiece through a spiral bevel gear grinding system, wherein the spiral bevel gear grinding system includes a laser distance sensor and a force sensor;

[0039] A data acquisition unit, used to acquire first data in each grinding process through the laser ranging sensor, and to acquire second data in each grinding process through the force sensor;

[0040] A first calculation unit, used for calculating the wear amount of the grinding wheel and the deformation amount of the grinding system according to the first data;

[0041] a second calculation unit, configured to calculate a target normal force of the spiral bevel gear grinding system based on the second data;

[0042] a third calculation unit, configured to calculate cutting stiffness and grinding system stiffness based on the target normal force and the grinding system deformation;

[0043] The deformation error compensation unit is used to compensate for the deformation error of the spiral bevel gear grinding system according to the cutting stiffness, the grinding system stiffness and the grinding wheel wear.

[0044] In a third aspect, an embodiment of the present application also provides an electronic device comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute a deformation error compensation method for a spiral bevel gear grinding system as described above.

[0045] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute a deformation error compensation method for a spiral bevel gear grinding system as described above.

[0046] It can be understood that the beneficial effects of the second to fourth aspects compared with the related art are the same as the beneficial effects of the first aspect compared with the related art. Please refer to the relevant description in the first aspect, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0048] Figure 1 is a schematic structural diagram of a spiral bevel gear grinding system provided by the present application;

[0049] Figure 2 It is a schematic flow chart of an embodiment of a method for compensating a deformation error of a spiral bevel gear grinding system provided by the present application;

[0050] Figure 3 It is a schematic diagram of the relationship between the deformation amount and the residual amount of the grinding system in two grinding operations in the best embodiment of the deformation error compensation method of the spiral bevel gear grinding system provided by the present application;

[0051] Figure 4 It is a schematic diagram of the force component of the measured resultant force along the normal direction of the spiral bevel gear grinding system in the best embodiment of the deformation error compensation method of the spiral bevel gear grinding system provided by the present application;

[0052] Figure 5 It is a structural schematic diagram of an embodiment of a deformation error compensation system for a spiral bevel gear grinding system provided by the present application;

[0053] Figure 6 is a schematic structural diagram of an embodiment of an electronic device provided by the present application;

[0054] Description of labels:

[0055] 101. Spiral bevel gear grinding machine; 102. Laser distance sensor; 103. Force sensor; 104. Spiral bevel gear workpiece; 105. Grinding wheel tool. DETAILED DESCRIPTION

[0056] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0057] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0058] It should also be understood that the references to "one embodiment" or "some embodiments" described in the specification of the embodiments of the present application mean that one or more embodiments of the embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0059] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0060] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0061] First, some nouns involved in this application are analyzed:

[0062] Laser ranging sensor: a device that uses laser technology for measurement and is widely used in industrial automation, robot navigation, building measurement and other fields.

[0063] Force sensor: A force sensor is a device that converts the magnitude of force into a related electrical signal. Force is the direct cause of changes in the movement of matter. Force sensors can detect mechanical quantities such as tension, pulling force, pressure, weight, torque, internal stress and strain. Specific devices include metal strain gauges, pressure sensors, etc., which have become indispensable core components in power equipment, engineering machinery, various machine tools and industrial automation systems.

[0064] Cutting depth: It is the vertical distance between the machined surface and the surface to be machined when cutting a workpiece.

[0065] Grinding: It is a mechanical processing method to remove materials. It refers to the processing method of using abrasives and grinding tools to remove excess materials on the workpiece. Grinding is one of the most widely used material removal methods.

[0066] Spiral bevel gears are key parts of high-end equipment transmission systems and are widely used in important fields such as aircraft, helicopters, and new energy vehicles. Spiral bevel gear grinding is usually the last finishing process, which directly determines the geometric accuracy and service performance of spiral bevel gears. In order to adapt to the development trend of intelligent manufacturing, it is urgent to develop online monitoring and intelligent control strategies for spiral bevel gear grinding to further improve its manufacturing accuracy and efficiency.

[0067] The deformation of the grinding system caused by the grinding force is an important reason for residual allowance and affecting manufacturing accuracy, and necessary machine tool motion compensation is required. The deformation of the grinding system is directly related to the stiffness of the grinding system. The existing scheme is mainly achieved by measuring the static stiffness of the machine tool spindle and combining it with the monitoring of the machine tool spindle power. The grinding process of spiral bevel gears is very complicated. In order to adapt to different tooth profile parameters, the motion axis of the machine tool needs to make multiple parameter adjustments to form a mutually inclined posture. The static stiffness of the machine tool measured in the standard position cannot reflect the stiffness changes of the machine tool under various adjustments. In addition, the spindle power of the machine tool is mainly related to the cutting force and is a scalar, which makes it difficult to reflect the normal force under the tilted motion axis posture of the machine tool. Therefore, the existing scheme has the problem of insufficient accuracy when applied to the measurement of spiral bevel gear grinding stiffness.

[0068] In summary, due to the complex gear end face morphology of the spiral bevel gear and the mutually inclined motion axis posture during the grinding process, the existing technical solutions are difficult to accurately and in real time reflect the dynamic changes in the stiffness of the spiral bevel gear grinding system, and therefore it is difficult to achieve intelligent compensation for deformation errors.

[0069] In order to solve the above-mentioned problems of insufficient accuracy in measuring the grinding stiffness of spiral bevel gears and difficulty in realizing intelligent compensation of deformation errors, the present application proposes a deformation error compensation method, system and electronic equipment for a spiral bevel gear grinding system.

[0070] Reference Figure 1 The spiral bevel gear grinding system includes a spiral bevel gear grinding machine 101, a laser distance sensor 102, a force sensor 103 and a spiral bevel gear workpiece 104. Specifically:

[0071] The force sensor 103 and the laser distance sensor 102 are installed on the spiral bevel gear grinding machine 101. Figure 1 As shown, the laser distance sensor 102 is installed on the tool spindle of the spiral bevel gear grinding machine 101, and the laser lens of the laser distance sensor 102 is vertically downward. The force sensor 103 is connected to the spindle of the spiral bevel gear workpiece 104, and the force sensor 103 is placed in the middle part of the spiral bevel gear workpiece 104 and the workpiece axis, and the installation angle of the force sensor 103 is adjusted so that the F on the force sensor 103 Y The signal direction coincides with the direction of the cradle axis B.

[0072] Reference Figure 2 The embodiment of the present application provides a method for compensating deformation errors of a spiral bevel gear grinding system, the method comprising the following steps:

[0073] Step S100, performing multiple grinding processes on the spiral bevel gear workpiece by a spiral bevel gear grinding system, wherein the spiral bevel gear grinding system includes a laser distance sensor and a force sensor;

[0074] Step S200, obtaining first data during each grinding process by using a laser distance measuring sensor, and obtaining second data during each grinding process by using a force sensor;

[0075] Step S300, calculating the grinding wheel wear amount and the grinding system deformation amount according to the first data;

[0076] Step S400, calculating the target normal force of the spiral bevel gear grinding system based on the second data;

[0077] Step S500, calculating the cutting stiffness and the grinding system stiffness based on the target normal force and the grinding system deformation;

[0078] Step S600: Compensate for the deformation error of the spiral bevel gear grinding system according to the cutting stiffness, the grinding system stiffness and the grinding wheel wear.

[0079] In this embodiment, the spiral bevel gear workpiece 104 is subjected to multiple grinding processes by a spiral bevel gear grinding system, and the spiral bevel gear grinding system includes a laser ranging sensor 102 and a force sensor 103; the first data in each grinding process is obtained by the laser ranging sensor 102, and the second data in each grinding process is obtained by the force sensor 103; according to the first data, the grinding wheel wear and the grinding system deformation are calculated; based on the second data, the target normal force of the spiral bevel gear grinding system is calculated; based on the target normal force and the grinding system deformation, the cutting stiffness and the grinding system stiffness are calculated; according to the cutting stiffness, the grinding system stiffness and the grinding wheel wear, the deformation error of the spiral bevel gear grinding system is compensated. In this way, data can be measured in real time through the laser ranging sensor 102 and the force sensor 103, and then the cutting stiffness and the grinding system stiffness are calculated based on the real-time measured data, thereby realizing real-time measurement of the grinding system stiffness, and can reflect in real time the influence of factors such as grinding wheel wear, machine tool deformation and grinding contact state on the system stiffness, without the need to repeatedly disassemble the spiral bevel gear workpiece 104 and the grinding wheel tool 105, thereby effectively improving the measurement accuracy and convenience of the spiral bevel gear grinding system stiffness, and finally, according to the precise cutting stiffness, grinding system stiffness and grinding wheel wear, the deformation error of the spiral bevel gear grinding system is compensated, thereby realizing intelligent compensation of the deformation error of the spiral bevel gear grinding system and effectively improving manufacturing accuracy and efficiency.

[0080] The aforementioned multiple grinding processes on the spiral bevel gear workpiece 104 may be grinding processes without dwell time and grinding processes with full dwell time.

[0081] The first data obtained in each grinding process by the laser ranging sensor 102 may be obtained by the laser ranging sensor 102 from the distance of the tooth surface to be processed or the distance of the processed tooth surface in each grinding process, and the obtained tooth surface distance is used as the first data.

[0082] The second data obtained in each grinding process by the force sensor 103 may be obtained by the force sensor 103 in each grinding process in the X, Y and Z directions, and the grinding force is used as the second data.

[0083] Based on the second data, the target normal force of the spiral bevel gear grinding system is calculated. Due to the inclination of the spiral bevel gear motion axis, the data of the force sensor 103 needs to be further converted into the normal force of the spiral bevel gear grinding system. Therefore, the second data in each grinding process is converted into the normal force of the spiral bevel gear grinding system to obtain multiple normal forces; then the multiple normal forces are summed, and the summed results are averaged to obtain the target normal force of the spiral bevel gear grinding system.

[0084] The above-mentioned deformation error compensation of the spiral bevel gear grinding system based on the cutting stiffness, the grinding system stiffness and the grinding wheel wear can be performed by first calculating the deformation error compensation value (i.e., the corrected machine tool command cutting depth) based on the cutting stiffness, the grinding system stiffness and the grinding wheel wear; and then performing the deformation error compensation of the spiral bevel gear grinding system based on the deformation error compensation value.

[0085] In some embodiments, obtaining first data during each grinding process by using the laser distance sensor 102, and obtaining second data during each grinding process by using the force sensor 103, include:

[0086] The tooth surface distances before the first grinding process, after the first grinding process, and after the second grinding process are acquired by the laser distance measuring sensor 102, and the tooth surface distances are used as the first data;

[0087] The first grinding force in the first grinding process and the second grinding force in the second grinding process are acquired through the force sensor 103 , and the first grinding force and the second grinding force are used as second data.

[0088] In this embodiment, the tooth surface distances before the first grinding process, after the first grinding process, and after the second grinding process are obtained by the laser distance sensor 102, and the tooth surface distances are used as the first data; the first grinding force during the first grinding process and the second grinding force during the second grinding process are obtained by the force sensor 103, and the first grinding force and the second grinding force are used as the second data. In this way, relatively accurate data can be obtained in real time through the laser distance sensor 102 and the force sensor 103, laying a good data foundation for the subsequent calculation of accurate grinding system stiffness.

[0089] In some implementations, calculating the grinding wheel wear amount and the grinding system deformation amount according to the first data includes:

[0090] Calculating a first residual stock after the first grinding process and a second residual stock after the second grinding process according to the first data;

[0091] Based on the first residual stock and the second residual stock, the grinding wheel wear and the grinding system deformation are calculated.

[0092] In this embodiment, due to the deformation of the spiral bevel gear grinding system and the wear of the grinding wheel tool 105, the grinding wheel tool 105 will not reach the preset cutting depth, and a machining allowance residue will be formed after the tool is retracted. Therefore, the first allowance residue after the first grinding process and the second allowance residue after the second grinding process are calculated according to the first data; then, based on the first allowance residue and the second allowance residue, the grinding wheel wear amount and the grinding system deformation amount are calculated. In this way, by considering the machining allowance residue, the accurate grinding wheel wear amount and the grinding system deformation amount can be calculated, which lays a good data foundation for the later calculation of the accurate grinding system stiffness.

[0093] In some embodiments, calculating the grinding wheel wear amount and the grinding system deformation amount based on the first residual amount and the second residual amount includes:

[0094] Preset cutting depth;

[0095] Calculate the grinding wheel wear based on the cutting depth and the second stock residue;

[0096] The deformation of the grinding system is calculated based on the cutting depth, the first stock remaining and the grinding wheel wear.

[0097] In this embodiment, the grinding wheel wear is calculated according to the cutting depth and the second residual stock; the grinding system deformation is calculated according to the cutting depth, the first residual stock and the grinding wheel wear. Both the grinding wheel wear and the grinding system deformation take the residual stock into consideration, so more accurate grinding wheel wear and grinding system deformation can be calculated, laying a good data foundation for the subsequent calculation of accurate grinding system stiffness.

[0098] In some embodiments, calculating a target normal force of the spiral bevel gear grinding system based on the second data includes:

[0099] transforming the first grinding force in the second data into a first normal force of the spiral bevel gear grinding system;

[0100] transforming the second grinding force in the second data into a second normal force of the spiral bevel gear grinding system;

[0101] The first normal force and the second normal force are summed and averaged to obtain the target normal force of the spiral bevel gear grinding system.

[0102] In this embodiment, due to the inclination of the spiral bevel gear motion axis, the data of the force sensor 103 needs to be further converted into the normal force of the spiral bevel gear grinding system. By converting the first grinding force in the second data into the first normal force of the spiral bevel gear grinding system; then converting the second grinding force in the second data into the second normal force of the spiral bevel gear grinding system; then summing and averaging the first normal force and the second normal force, the target normal force of the spiral bevel gear grinding system is obtained. In this way, the target normal force of the spiral bevel gear grinding system obtained can lay a good data foundation for the subsequent calculation of the precise grinding system stiffness.

[0103] In some embodiments, calculating the cutting stiffness and the grinding system stiffness based on the target normal force and the grinding system deformation includes:

[0104] The target normal force and the first residual stock are ratio-calculated to obtain the cutting stiffness;

[0105] The stiffness of the grinding system is obtained by calculating the ratio of the target normal force and the deformation of the grinding system.

[0106] In this embodiment, the cutting stiffness is obtained by calculating the ratio of the target normal force and the first residual stock; the grinding system stiffness is obtained by calculating the ratio of the target normal force and the grinding system deformation. In this way, relatively accurate cutting stiffness and grinding system stiffness can be obtained, which lays a good data foundation for the later calculation of the deformation error compensation amount of the spiral bevel gear grinding system.

[0107] In some embodiments, the deformation error compensation of the spiral bevel gear grinding system is performed according to the cutting stiffness, the grinding system stiffness and the grinding wheel wear, including:

[0108] According to the cutting stiffness, grinding system stiffness and grinding wheel wear, the corrected machine tool command cutting depth is calculated as:

[0109]

[0110] Among them, a infeed Indicates the corrected machine tool instruction cutting depth, k c represents cutting stiffness, a p Indicates the cutting depth, k e represents the grinding system stiffness, δ s Indicates the amount of grinding wheel wear;

[0111] The deformation error compensation of spiral bevel gear grinding system is carried out according to the corrected cutting depth of machine tool instruction.

[0112] In this embodiment, since the cutting stiffness, grinding system stiffness and grinding wheel wear are relatively accurate, the calculated corrected machine tool instruction cutting depth is also relatively accurate. According to the accurately calculated corrected machine tool instruction cutting depth, the deformation error compensation of the spiral bevel gear grinding system is performed, which realizes the intelligent compensation of the deformation error of the spiral bevel gear grinding system and effectively improves the manufacturing accuracy and efficiency.

[0113] To facilitate understanding by those skilled in the art, a set of best embodiments is provided below:

[0114] Spiral bevel gears are key parts of high-end equipment transmission systems and are widely used in important fields such as aircraft, helicopters, and new energy vehicles. Spiral bevel gear grinding is usually the last finishing process, which directly determines the geometric accuracy and service performance of spiral bevel gears. In order to adapt to the development trend of intelligent manufacturing, it is urgent to develop online monitoring and intelligent control strategies for spiral bevel gear grinding to further improve its manufacturing accuracy and efficiency.

[0115] The deformation of the grinding system caused by the grinding force is an important reason for residual allowance and affecting manufacturing accuracy, and necessary machine tool motion compensation is required. The deformation of the grinding system is directly related to the stiffness of the grinding system. The existing scheme is mainly achieved by measuring the static stiffness of the machine tool spindle and combining it with the monitoring of the machine tool spindle power. The grinding process of spiral bevel gears is very complicated. In order to adapt to different tooth profile parameters, the motion axis of the machine tool needs to make multiple parameter adjustments to form a mutually inclined posture. The static stiffness of the machine tool measured in the standard position cannot reflect the stiffness changes of the machine tool under various adjustments. In addition, the spindle power of the machine tool is mainly related to the cutting force and is a scalar, which makes it difficult to reflect the normal force under the tilted motion axis posture of the machine tool. Therefore, the existing scheme has the problem of insufficient accuracy when applied to the measurement of spiral bevel gear grinding stiffness.

[0116] In summary, due to the complex gear end face morphology of the spiral bevel gear and the mutually inclined motion axis posture during the grinding process, the existing technical solutions are difficult to accurately and in real time reflect the dynamic changes in the stiffness of the spiral bevel gear grinding system, and therefore it is difficult to achieve intelligent compensation for deformation errors.

[0117] To solve the above problems, this embodiment proposes a technical solution suitable for real-time measurement of the stiffness of a spiral bevel gear grinding system and deformation error compensation of a spiral bevel gear grinding system, which can realize intelligent compensation of deformation errors. The technical solution of this embodiment specifically includes the following steps:

[0118] Step 1: Install the laser distance sensor 102 and the force sensor 103 in the spiral bevel gear grinding system.

[0119] First, the force sensor 103 and the laser distance sensor 102 are installed on the spiral bevel gear grinding machine 101. Figure 1As shown, the laser distance sensor 102 is installed on the tool spindle of the spiral bevel gear grinding machine 101, and the laser lens of the laser distance sensor 102 is vertically downward. The force sensor 103 is connected to the spindle of the spiral bevel gear workpiece 104, and the force sensor 103 is placed in the middle part of the spiral bevel gear workpiece 104 and the workpiece axis, and the installation angle of the force sensor 103 is adjusted so that the F on the force sensor 103 Y The signal direction coincides with the direction of the cradle axis B.

[0120] Step 2: Use a two-step method to obtain data from the laser distance sensor 102 and the force sensor 103.

[0121] The spiral bevel gear grinding machine 101 is operated to perform two grinding processes. The first grinding process is a grinding process without residence, and the second grinding process is a grinding process with full residence. The values ​​{S 1 ,S 2 ,S 3} (i.e., the first data), and the data of the force sensor 103 obtained by recording the two grinding processes in full {F x1 ,F y1 ,F z1} and {F x2 ,F y2 ,F z2}(ie the second data).

[0122] The specific operations for data acquisition are:

[0123] After the laser distance sensor 102 and the force sensor 103 are installed in the spiral bevel gear grinding system, the spiral bevel gear grinding machine 101 is operated to perform two grinding operations. In the first grinding operation, the dwell time of the spiral bevel gear grinding is set to 0 seconds, that is, when the grinding wheel tool 105 is fed to the specified cutting depth position, the tool retraction operation is directly performed. The machine tool instruction cutting depth of the spiral bevel gear grinding machine 101 is set to a p , you can take a p =30μm. Before grinding, align the spot of the laser distance sensor 102 with the to-be-machined tooth surface of the spiral bevel gear workpiece 104, record the position coordinates [X, Y, Z] of the machine tool motion axis at this time, use the laser distance sensor 102 to record the distance of the to-be-machined tooth surface, and record the distance as S 1 During the grinding process, after an obvious grinding force excitation signal appears, the force sensor 103 is used to record the grinding force throughout the process, and the grinding force signals in three directions are recorded as {F x1 ,F y1 ,F z1After grinding is completed, the motion axis of the spiral bevel gear grinding machine 101 is adjusted to the [X, Y, Z] position, and the laser distance sensor 102 is used to record the distance of the processed tooth surface again, and the distance is recorded as S 2 .

[0124] During the second grinding operation, the full dwell mode is adopted to set the machine tool command cutting depth of the spiral bevel gear grinding machine 101 to a. p During the grinding process, the force sensor 103 is used to record the data signal of the grinding force throughout the whole process, and the grinding force signals in three directions are recorded as {F x2 ,F y2 ,F z2 When the grinding force signal gradually decreases to close to 0, the tool is manually retracted. After grinding is completed, the motion axis of the spiral bevel gear grinding machine 101 is adjusted to the [X, Y, Z] position, and the distance of the processed tooth surface is measured again using the laser distance sensor 102, and the distance is recorded as S 3 .

[0125] Step 3: Process the data of the laser distance sensor 102 to obtain the grinding wheel wear amount and the grinding system deformation amount.

[0126] Due to the deformation of the spiral bevel gear grinding system and the wear of the grinding wheel tool 105, the grinding wheel tool 105 will not reach the preset cutting depth a. p , which will form a residual machining allowance after the tool is retracted. Based on the data S of the laser distance sensor 102 1 and S 2 , the residual stock δ of the first grinding operation can be obtained 1 , calculated as:

[0127] δ 1 =S 2 -S 1 (1)

[0128] Based on the data S of the laser distance sensor 102 2 and S 3 , the residual stock δ of the second grinding operation can be obtained 2 , calculated as:

[0129] δ 2 =S 3 -S 2 (2)

[0130] like Figure 3 As shown, Figure 3 (a) is a schematic diagram of the first grinding operation. Figure 3(b) is a schematic diagram of the second grinding operation. In the first grinding operation, the grinding wheel tool 105 does not stay, and the preset feed depth a p The wear amount of the grinding wheel δ s , Grinding system deformation δ w and the residual δ 1 In the second grinding operation, the grinding wheel cutter 105 completely removes the material after a long dwell time, and the preset feed depth a p Grinding wheel wear δ s and the residual δ 2 Therefore, the grinding wheel wear amount δ s It can be calculated as follows:

[0131] δ s =a p -δ 2 (3)

[0132] Grinding system deformation δ w It can be calculated as follows:

[0133] δ w =a p -δ s -δ 1 (4)

[0134] Step 4: transform the data of the force sensor 103 into the normal force of the spiral bevel gear grinding system, and calculate the cutting stiffness and the grinding system stiffness by combining the grinding wheel wear and grinding system deformation obtained in step 3.

[0135] Due to the inclination of the spiral bevel gear motion axis, the data of the force sensor 103 needs to be further converted into the normal force of the spiral bevel gear grinding system. Figure 4 The force decomposition relationship shown in the figure is the normal force F of the spiral bevel gear grinding system. n The data of the force sensor 103 {F x ,F y ,F z} can be expressed as:

[0136]

[0137] Among them, θ means that the inclination angle of the cradle B is consistent with the root cone angle of the spiral bevel gear, and represents the rotation angle of the platform A of the spiral bevel gear workpiece 104. The data of the force sensor 103 {F x1 ,F y1 ,F z1} and {F x2 ,F y2 ,F z2} is substituted into formula (5) for calculation, and the result is low-pass filtered. The normal force data in the stable stage is selected and recorded as F n1 and F n2 . n1 and F n2 The sum is calculated and the average value is taken to obtain the final normal force data P (i.e. the target normal force) of the spiral bevel gear grinding system. The calculation formula is:

[0138]

[0139] Cutting stiffness k c Represents the ratio of the normal force of the grinding system to the actual cutting depth. Here the actual cutting depth is equal to the residual stock of the first grinding operation δ 1 Equivalent, so k c It can be calculated as follows:

[0140]

[0141] The grinding system stiffness k e It can be calculated as follows:

[0142]

[0143] Step 5: According to the calculated cutting stiffness, grinding system stiffness and grinding wheel wear, the preset machine tool command cutting depth is compensated and corrected to realize the intelligent compensation of the deformation error of the spiral bevel gear grinding system.

[0144] First, determine the preset machine tool instruction cutting depth a according to the machining allowance p , multiply the machine tool command cutting depth by the cutting stiffness to get the actual cutting depth a p The normal force at the time of grinding is calculated. According to the normal force and the stiffness of the spiral bevel gear grinding system, the deformation of the spiral bevel gear grinding system can be calculated. By compensating the deformation of the spiral bevel gear grinding system and the wear of the grinding wheel, the corrected machine tool instruction cutting depth a can be obtained. infeed , expressed as:

[0145]

[0146] Among them, a infeed Indicates the corrected machine tool instruction cutting depth, k c represents cutting stiffness, a p Indicates the cutting depth, k e represents the grinding system stiffness, δ s Indicates the amount of grinding wheel wear.

[0147] Compared with the prior art, the technical solution of this embodiment has the following advantages:

[0148] 1) The technical solution of this embodiment can adapt to the complex posture adjustment of the motion axis of the spiral bevel gear machine tool, and realize the on-machine measurement of the stiffness of the spiral bevel gear grinding system. It can reflect the influence of factors such as grinding wheel wear, machine tool deformation and grinding contact state on the system stiffness in real time, without repeatedly disassembling the spiral bevel gear workpiece 104 and the grinding wheel tool 105, thereby effectively improving the measurement accuracy and convenience of the stiffness of the spiral bevel gear grinding system.

[0149] 2) The technical solution of this embodiment is based on the precise measurement of the rigidity of the grinding system, and proposes a motion compensation method for the deformation of the grinding system. This method can accurately control the relative position between the grinding wheel and the workpiece, reduce the residual machining allowance, thereby effectively improving the manufacturing accuracy and efficiency, and reducing the manufacturing cost.

[0150] Reference Figure 5 The embodiment of the present application further provides a spiral bevel gear grinding system deformation error compensation system, the system includes a grinding unit 100, a data acquisition unit 200, a first calculation unit 300, a second calculation unit 400, a third calculation unit 500 and a deformation error compensation unit 600, wherein:

[0151] A grinding unit 100 is used to perform multiple grinding processes on a spiral bevel gear workpiece 104 through a spiral bevel gear grinding system, wherein the spiral bevel gear grinding system includes a laser distance sensor 102 and a force sensor 103;

[0152] The data acquisition unit 200 is used to acquire first data in each grinding process through the laser distance sensor 102, and to acquire second data in each grinding process through the force sensor 103;

[0153] The first calculation unit 300 is used to calculate the grinding wheel wear amount and the grinding system deformation amount according to the first data;

[0154] A second calculation unit 400 is used to calculate a target normal force of the spiral bevel gear grinding system based on the second data;

[0155] A third calculation unit 500 is used to calculate the cutting stiffness and the grinding system stiffness based on the target normal force and the grinding system deformation;

[0156] The deformation error compensation unit 600 is used to compensate for the deformation error of the spiral bevel gear grinding system according to the cutting stiffness, the grinding system stiffness and the grinding wheel wear.

[0157] In this embodiment, the grinding processing unit 100 of this system performs multiple grinding processes on the spiral bevel gear workpiece 104 through a spiral bevel gear grinding system, and the spiral bevel gear grinding system includes a laser ranging sensor and a force sensor; the data acquisition unit 200 acquires the first data in each grinding process through the laser ranging sensor, and acquires the second data in each grinding process through the force sensor; the first calculation unit 300 calculates the grinding wheel wear and the grinding system deformation according to the first data; the second calculation unit 400 calculates the target normal force of the spiral bevel gear grinding system based on the second data; the third calculation unit 500 calculates the cutting stiffness and the grinding system stiffness based on the target normal force and the grinding system deformation; the deformation error compensation unit 600 performs deformation error compensation of the spiral bevel gear grinding system according to the cutting stiffness, the grinding system stiffness and the grinding wheel wear. In this way, data can be measured in real time through the laser ranging sensor and the force sensor, and then the cutting stiffness and the grinding system stiffness are calculated based on the real-time measured data, thereby realizing real-time measurement of the grinding system stiffness, and can reflect in real time the influence of factors such as grinding wheel wear, machine tool deformation and grinding contact state on the system stiffness, without the need to repeatedly disassemble the spiral bevel gear workpiece 104 and the grinding wheel tool 105, thereby effectively improving the measurement accuracy and convenience of the spiral bevel gear grinding system stiffness, and finally, according to the precise cutting stiffness, grinding system stiffness and grinding wheel wear, the deformation error of the spiral bevel gear grinding system is compensated, thereby realizing intelligent compensation of the deformation error of the spiral bevel gear grinding system, and effectively improving manufacturing accuracy and efficiency.

[0158] In some implementations, the data acquisition unit 200 may be specifically used to:

[0159] The tooth surface distances before the first grinding process, after the first grinding process, and after the second grinding process are acquired by the laser distance measuring sensor 102, and the tooth surface distances are used as the first data;

[0160] The first grinding force in the first grinding process and the second grinding force in the second grinding process are acquired through the force sensor 103 , and the first grinding force and the second grinding force are used as second data.

[0161] In some implementations, the first computing unit 300 may be specifically configured to:

[0162] Calculating a first residual stock after the first grinding process and a second residual stock after the second grinding process according to the first data;

[0163] Based on the first residual stock and the second residual stock, the grinding wheel wear and the grinding system deformation are calculated.

[0164] In some implementations, the first computing unit 300 may be specifically configured to:

[0165] Preset cutting depth;

[0166] Calculate the grinding wheel wear based on the cutting depth and the second stock residue;

[0167] The deformation of the grinding system is calculated based on the cutting depth, the first stock remaining and the grinding wheel wear.

[0168] In some implementations, the second computing unit 400 may be specifically configured to:

[0169] transforming the first grinding force in the second data into a first normal force of the spiral bevel gear grinding system;

[0170] transforming the second grinding force in the second data into a second normal force of the spiral bevel gear grinding system;

[0171] The first normal force and the second normal force are summed and averaged to obtain the target normal force of the spiral bevel gear grinding system.

[0172] In some implementations, the third computing unit 500 may be specifically configured to:

[0173] The target normal force and the first residual stock are ratio-calculated to obtain the cutting stiffness;

[0174] The stiffness of the grinding system is obtained by calculating the ratio of the target normal force and the deformation of the grinding system.

[0175] In some implementations, the deformation error compensation unit 600 may be specifically used to:

[0176] According to the cutting stiffness, grinding system stiffness and grinding wheel wear, the corrected machine tool command cutting depth is calculated as:

[0177]

[0178] Among them, a infeed Indicates the corrected machine tool instruction cutting depth, k c represents cutting stiffness, a p Indicates the cutting depth, k e represents the grinding system stiffness, δ s Indicates the amount of grinding wheel wear;

[0179] The deformation error compensation of spiral bevel gear grinding system is carried out according to the corrected cutting depth of machine tool instruction.

[0180] It should be noted that since the spiral bevel gear grinding system deformation error compensation system in this embodiment and the above-mentioned spiral bevel gear grinding system deformation error compensation method are based on the same inventive concept, the corresponding contents in the method embodiment are also applicable to the system embodiment and will not be described in detail here.

[0181] Reference Figure 6 The embodiment of the present application further provides an electronic device, the electronic device comprising:

[0182] at least one memory;

[0183] at least one processor;

[0184] at least one program;

[0185] The programs are stored in the memory, and the processor executes at least one program to implement the above-mentioned spiral bevel gear grinding system deformation error compensation method implemented in the present disclosure.

[0186] The electronic device may be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a vehicle-mounted computer, etc.

[0187] The electronic device according to the embodiment of the present application is described in detail below.

[0188] The processor 1600 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present disclosure;

[0189] The memory 1700 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1700 can store an operating system and other application programs. When the technical solution provided in the embodiments of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1700, and the processor 1600 calls and executes the deformation error compensation method of the spiral bevel gear grinding system in the embodiment of the present disclosure.

[0190] Input / output interface 1800, used to implement information input and output;

[0191] The communication interface 1900 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0192] Bus 2000 , which transmits information between various components of the device (e.g., processor 1600 , memory 1700 , input / output interface 1800 , and communication interface 1900 );

[0193] The processor 1600 , the memory 1700 , the input / output interface 1800 , and the communication interface 1900 are connected to each other in communication within the device via the bus 2000 .

[0194] The embodiment of the present disclosure also provides a computer-readable storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned spiral bevel gear grinding system deformation error compensation method.

[0195] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0196] The embodiments described in the embodiments of the present disclosure are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0197] Those skilled in the art will appreciate that the technical solutions shown in the figures do not limit the embodiments of the present disclosure and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0198] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0199] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0200] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0201] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0202] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0203] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0204] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0205] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable an electronic device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store programs. The above is a detailed description of the embodiments of the present application in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Within the scope of knowledge possessed by ordinary technicians in the relevant technical field, various changes can be made without departing from the purpose of the present application.

[0206] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the above-mentioned spiral bevel gear grinding system deformation error compensation method and the various processes of the corresponding embodiments of the method, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0207] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0208] An embodiment of the present application provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned spiral bevel gear grinding system deformation error compensation method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0209] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0210] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0211] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for compensating deformation errors of a spiral bevel gear grinding system, characterized in that: The method comprises: Performing multiple grinding processes on a spiral bevel gear workpiece by a spiral bevel gear grinding system, wherein the spiral bevel gear grinding system includes a laser distance sensor and a force sensor; Acquire first data in each grinding process by using the laser distance measuring sensor, and acquire second data in each grinding process by using the force sensor; Calculating the grinding wheel wear and grinding system deformation according to the first data; Based on the second data, calculating a target normal force of the spiral bevel gear grinding system; Calculating cutting stiffness and grinding system stiffness based on the target normal force and the grinding system deformation; According to the cutting rigidity, the grinding system rigidity and the grinding wheel wear, deformation error compensation of the spiral bevel gear grinding system is performed.

2. The method for compensating deformation error of a spiral bevel gear grinding system according to claim 1, characterized in that: The method of acquiring first data in each grinding process by using the laser distance measuring sensor, and acquiring second data in each grinding process by using the force sensor, comprises: Acquire the tooth surface distances before the first grinding process, after the first grinding process, and after the second grinding process by using the laser distance measuring sensor, and use the tooth surface distances as first data; A first grinding force in the first grinding process and a second grinding force in the second grinding process are acquired through the force sensor, and the first grinding force and the second grinding force are used as second data.

3. The method for compensating deformation error of a spiral bevel gear grinding system according to claim 1, characterized in that: The step of calculating the grinding wheel wear amount and the grinding system deformation amount according to the first data comprises: Calculating a first residual stock after the first grinding process and a second residual stock after the second grinding process according to the first data; Based on the first residual stock and the second residual stock, the grinding wheel wear amount and the grinding system deformation amount are calculated.

4. The method for compensating deformation error of a spiral bevel gear grinding system according to claim 3, characterized in that: The calculating the grinding wheel wear amount and the grinding system deformation amount based on the first residual amount and the second residual amount comprises: Preset cutting depth; Calculating the amount of grinding wheel wear according to the cutting depth and the second residual amount; The deformation of the grinding system is calculated according to the cutting depth, the first residual stock and the grinding wheel wear.

5. The method for compensating deformation error of a spiral bevel gear grinding system according to claim 1, characterized in that: The step of calculating the target normal force of the spiral bevel gear grinding system based on the second data comprises: transforming the first grinding force in the second data into a first normal force of the spiral bevel gear grinding system; transforming the second grinding force in the second data into a second normal force of the spiral bevel gear grinding system; The first normal force and the second normal force are summed and averaged to obtain a target normal force of the spiral bevel gear grinding system.

6. The method for compensating deformation error of a spiral bevel gear grinding system according to claim 1, characterized in that: The calculating of cutting stiffness and grinding system stiffness based on the target normal force and the grinding system deformation comprises: Calculating the ratio of the target normal force and the first residual stock to obtain cutting stiffness; The target normal force and the deformation of the grinding system are ratio-calculated to obtain the stiffness of the grinding system.

7. The method for compensating deformation error of a spiral bevel gear grinding system according to claim 1, characterized in that: The deformation error compensation of the spiral bevel gear grinding system is performed according to the cutting stiffness, the grinding system stiffness and the grinding wheel wear, comprising: According to the cutting rigidity, the grinding system rigidity and the grinding wheel wear, the corrected machine tool command cutting depth is calculated as: Among them, a infeed Indicates the corrected machine tool instruction cutting depth, k c represents the cutting stiffness, a p Indicates the cutting depth, k e represents the grinding system stiffness, δ s Indicates the amount of wear of the grinding wheel; According to the corrected machine tool command cutting depth, the deformation error compensation of the spiral bevel gear grinding system is performed.

8. A deformation error compensation system for a spiral bevel gear grinding system, characterized in that: The system comprises: A grinding unit, used for performing multiple grinding processes on a spiral bevel gear workpiece through a spiral bevel gear grinding system, wherein the spiral bevel gear grinding system includes a laser distance sensor and a force sensor; A data acquisition unit, used to acquire first data in each grinding process through the laser ranging sensor, and to acquire second data in each grinding process through the force sensor; A first calculation unit, used for calculating the wear amount of the grinding wheel and the deformation amount of the grinding system according to the first data; a second calculation unit, configured to calculate a target normal force of the spiral bevel gear grinding system based on the second data; a third calculation unit, configured to calculate cutting stiffness and grinding system stiffness based on the target normal force and the grinding system deformation; The deformation error compensation unit is used to compensate for the deformation error of the spiral bevel gear grinding system according to the cutting stiffness, the grinding system stiffness and the grinding wheel wear.

9. An electronic device, characterized in that: It comprises at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the deformation error compensation method of the spiral bevel gear grinding system as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the deformation error compensation method for a spiral bevel gear grinding system according to any one of claims 1 to 7.

Images