Chip flute grinding method, device, numerical control machine, and storage medium

Abstract

The application relates to a chip pocket grinding method, a device, a numerical control machine and a storage medium. The method comprises the following steps: acquiring a double-arc chip pocket track; the double-arc chip pocket track comprises a first track segment and a second track segment; acquiring a chip pocket angle and a rake angle of a tool to be ground; controlling a grinding tool to perform first track grinding on the tool to be ground along the first track segment based on a first posture meeting the chip pocket angle and the rake angle; and controlling the grinding tool to perform second track grinding on the tool to be ground along the second track segment based on a second posture changing along an arc segment in the second track segment. The method has simple grinding process and ensures tool performance.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a chip groove grinding method, apparatus, CNC machine, and storage medium. Background Technology

[0002] Chip flutes are an important structural component of drill and end mills, improving chip removal and influencing tool performance. For high-performance drills, chip flute design and grinding are critical processes, demanding greater structural diversity and precision. Currently, chip flute shapes are relatively simple, and research on CNC grinding processes is limited, resulting in complex grinding procedures. Summary of the Invention

[0003] Therefore, it is necessary to provide a chip groove grinding method, apparatus, CNC machine, and storage medium to address the above-mentioned technical problems, which simplifies the grinding process and ensures tool performance.

[0004] A method for grinding chip grooves, the method comprising:

[0005] Obtain the trajectory of the double-arc chip groove; the trajectory of the double-arc chip groove includes a first trajectory segment and a second trajectory segment;

[0006] Obtain the chip groove angle and rake angle of the tool to be ground;

[0007] The control grinding wheel is based on a first posture that satisfies the chip groove angle and the rake angle, and grinds the tool to be ground along the first trajectory segment.

[0008] The grinding wheel is controlled to perform second trajectory grinding on the tool to be ground along the second trajectory segment based on a second posture that changes with the arc segment in the second trajectory segment.

[0009] A chip groove grinding apparatus, the apparatus comprising:

[0010] The trajectory acquisition module is used to acquire the trajectory of the double-arc chip groove; the trajectory of the double-arc chip groove includes a first trajectory segment and a second trajectory segment;

[0011] The parameter acquisition module is used to acquire the chip groove angle and rake angle of the tool to be ground;

[0012] The first grinding module is used to control the grinding wheel to perform first trajectory grinding on the tool to be ground along the first trajectory segment based on a first posture that satisfies the chip groove angle and the rake angle.

[0013] The second grinding module is used to control the grinding wheel to perform second trajectory grinding on the tool to be ground along the second trajectory segment based on a second posture that changes with the arc segment in the second trajectory segment.

[0014] A CNC machine includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of various chip groove grinding method embodiments.

[0015] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of various chip groove grinding method embodiments.

[0016] The aforementioned chip groove grinding method, apparatus, CNC machine, and storage medium divide the double-arc chip groove trajectory into two trajectory segments for grinding. Since grinding the first trajectory segment is simpler than grinding the second trajectory segment, the tool to be ground is ground along the first trajectory segment based on a first posture that satisfies the chip groove angle and rake angle. Meanwhile, the tool to be ground is ground along the second trajectory segment by controlling a second posture that changes with the arc segment in the second trajectory segment. This ensures cutting performance. The above method is simple and effective, ensuring smooth trajectory connection, reducing grinding wheel interference, and accurately controlling the chip groove parameters to ensure tool performance. It can be effectively applied in drill bit grinding. Attached Figure Description

[0017] Figure 1 This is a diagram illustrating the application environment of the chip groove grinding method in one embodiment;

[0018] Figure 2 This is a schematic diagram of the trajectory of a double-arc chip groove in one embodiment;

[0019] Figure 3 This is a schematic flowchart of a chip groove grinding method in one embodiment;

[0020] Figure 4 This is a schematic diagram of the chip groove angle on the YZ plane in one embodiment;

[0021] Figure 5 This is a schematic diagram of the front corner on the XZ plane in one embodiment;

[0022] Figure 6 This is a schematic diagram of the attitude of the grinding wheel in one embodiment;

[0023] Figure 7 This is a schematic diagram of the pose on the second trajectory segment in one embodiment;

[0024] Figure 8 This is a schematic diagram of the chip groove in the XY plane and the XZ plane in one embodiment;

[0025] Figure 9 This is a schematic diagram of the chip groove in the XY plane and the XZ plane in another embodiment;

[0026] Figure 10This is a structural block diagram of the chip groove grinding device in one embodiment;

[0027] Figure 11 This is an internal structural diagram of a CNC machine in one embodiment. Detailed Implementation

[0028] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0030] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly. The connection can be a direct connection or an indirect connection.

[0031] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0032] The terms "first," "second," etc., used in this application may be used herein to describe various data, but such data are not limited by these terms. These terms are only used to distinguish one set of data from another. For example, without departing from the scope of this application, a first pose may be referred to as a second pose, and similarly, a second pose may be referred to as a first pose. Both the first pose and the second pose are poses, but they are not the same pose.

[0033] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0034] The chip groove grinding method provided in this application can be applied to, for example... Figure 1 In the application environment. Figure 1 This is a diagram illustrating the application environment of the chip groove grinding method in one embodiment. Figure 1 The system includes a CNC machine 100, which contains a grinding wheel 110. The grinding wheel 110 is used to grind the tool 120 to be ground. Figure 2 The image shown is a schematic diagram of the trajectory of the double-arc chip groove in one embodiment. Figure 2 A coordinate system is defined for ease of description. The workpiece is a cylindrical bar. This paper uses the top plane of the bar as the initial coordinate system XY plane, and the axial direction as the Z-axis. The chip flute and related parameters are as follows: Figure 2 As shown, the trajectory consists of infeed segment 1, infeed arc segment 2, arc connecting segment 3, cut-out arc segment 4, and cut-out segment 5. Infeed arc segment 2 is determined by the coordinates of the first arc endpoint P1 = (x1, y1, z1), the first arc development angle β1, and the first arc radius r1. The cut-out arc segment is determined by the second arc development angle β2, the second arc radius r2, and the arc connecting segment length L. This trajectory can be considered as consisting of two arc segments and three straight lines. First, the positions of the two arc segments are confirmed. The shape and position of the arc trajectory are determined by the coordinates of the upper endpoints, development angle, and arc radius. Then, the expression for the straight line segment is determined by the endpoints of the two arcs and the extended tangent vector. Finally, the attitude and center point of the grinding wheel are calculated based on the trajectory, where segments 3, 4, and 5 should ensure the cutting edge rake angle.

[0035] In actual grinding, the center position and orientation of the grinding wheel need to be determined based on the cutting edge trajectory (i.e., the double-circular-arc chip groove trajectory) to control the chip groove formation. The rake angle of the cutting edge is a key parameter affecting the cutting performance of the tool; therefore, accurate rake angle is required in grinding involving trajectory segment 3-4-5. In this embodiment, the initial orientation of the grinding wheel is determined, and the orientation of the grinding wheel is rotated and transformed in combination with the rake angle and chip groove requirements. The center point of the grinding wheel is determined by the cutting edge trajectory and the radial vector of the grinding wheel.

[0036] This application uses the chip groove grinding method applied to a CNC machine as an example for illustration. Figure 3 The diagram shown is a flowchart of a chip groove grinding method in one embodiment, including the following steps:

[0037] Step 302: Obtain the trajectory of the double-arc chip groove; the trajectory of the double-arc chip groove includes a first trajectory segment and a second trajectory segment.

[0038] The second trajectory segment includes at least one arc segment located on the cutting edge. The second trajectory segment may also include trajectory segments that connect with the arc segment located on the cutting edge. The cutting edge refers to the edge of the tool used to cut the workpiece during operation. The first trajectory segment refers to the trajectory segment in the double-arc chip flute trajectory other than the second trajectory segment. The first trajectory segment does not include the trajectory on the cutting edge. The first and second trajectory segments can be trajectories on a two-dimensional plane.

[0039] In this embodiment, the first trajectory segment includes an entry segment 1, an entry arc segment 2, and an arc connecting segment 3, and the second trajectory segment includes an exit arc segment 4 and an exit segment 5, as an example for illustration. It is understood that the first trajectory segment may include an entry segment 1 and an entry arc segment 2, and the second trajectory segment may include an arc connecting segment 3, an exit arc segment 4, and an exit segment 5. Alternatively, the first trajectory segment may include an entry segment 1, an entry arc segment 2, an arc connecting segment 3, and an exit segment 5, and the second trajectory segment may include an exit arc segment 4, etc., and is not limited to these examples.

[0040] Specifically, the double-arc chip groove trajectory can be pre-stored in the CNC machine. Alternatively, the CNC machine can acquire the input tool parameter values ​​and input them into a preset double-arc chip groove trajectory model to obtain the double-arc chip groove trajectory. The tool parameter values ​​may include the coordinates of the upper endpoints of the arcs, the arc angle and arc radius corresponding to each arc.

[0041] Step 304: Obtain the rake angle and chip groove angle of the tool to be ground.

[0042] The tool to be ground can be a tool blank. The tool blank can be a cylindrical bar stock. The tool to be ground can also be a pre-formed tool. The chip groove grinding method in this embodiment is used to repair the tool.

[0043] Specifically, such as Figure 4 The diagram shown is a schematic representation of the chip groove angle on the YZ plane in one embodiment. Figure 4 This includes the chip flute angle α. The circle represents the grinding wheel, the black dot represents the center position of the grinding wheel, the dashed circle represents the initial position of the grinding wheel, and the solid line represents the actual grinding position of the grinding wheel. Furthermore, this actual grinding position of the grinding wheel is related to the chip flute angle α. For example... Figure 5 The diagram shown is a schematic representation of the front corner on the XZ plane in one embodiment. Figure 5 This includes the front angle γ. Figure 5 The rectangle at the top represents the grinding wheel. The dashed rectangle represents the initial position of the grinding wheel, and the solid rectangle represents the actual grinding position. The actual grinding position of the grinding wheel is related to the rake angle γ. The CNC machine acquires the input rake angle and chip flute angle of the tool to be ground.

[0044] Step 306: Control the grinding wheel to perform first trajectory grinding on the tool to be ground along the first trajectory segment based on the first posture that satisfies the chip groove angle and the rake angle.

[0045] In this context, an abrasive tool is a tool used for grinding, lapping, and polishing. The abrasive tool can be a grinding wheel. In the embodiments of this application, a grinding wheel is used as an example for illustration. The first posture includes a vector perpendicular to the end face of the grinding wheel. The end face of the grinding wheel refers to the annular surface of the grinding wheel. The first posture may also include a vector pointing from the center of the grinding wheel to the contact point between the grinding wheel and the tool to be ground.

[0046] Specifically, the first trajectory segment is less important than the second trajectory segment in tool grinding. The cutting edge corresponding to the first trajectory segment is a non-cutting edge, so the first trajectory grinding needs to satisfy the chip flute angle and the rake angle. The CNC machine determines the first posture of the grinding wheel based on the chip flute angle and the rake angle, and controls the grinding wheel to grind along the first trajectory segment based on the first posture, so as to perform the first trajectory grinding on the tool to be ground.

[0047] In this implementation, both the first and second trajectory segments are trajectory segments on a two-dimensional plane, such as those on the XY plane. Since the tool to be ground is a three-dimensional product, the CNC machine can obtain data in the Z-axis direction through the chip flute angle and the rake angle.

[0048] Step 308: Control the grinding wheel to perform second trajectory grinding on the tool to be ground along the second trajectory segment based on the second posture that changes with the arc segment in the second trajectory segment.

[0049] The arc segment in the second trajectory segment is the arc segment located on the cutting edge. The second posture includes a vector perpendicular to the end face of the grinding wheel. The second posture may also include a vector pointing from the center of the grinding wheel to the contact point between the grinding wheel and the tool being ground. Both the first and second postures are the postures of the grinding wheel during grinding, but they have different meanings and are calculated differently.

[0050] Specifically, the second trajectory segment contains the trajectory of the cutting edge. The second trajectory segment is more important than the first trajectory segment, therefore the second posture needs to change with the angle of the arc segment in the second trajectory segment. The CNC machine determines the second posture of the grinding wheel based on the arc segment, the rake angle, and the chip groove angle in the second trajectory segment, and controls the grinding wheel to perform grinding along the second trajectory segment based on the second posture, so as to perform second trajectory grinding on the tool to be ground.

[0051] In this embodiment, grinding is completed along the first and second trajectory segments, thus achieving the double-arc chip groove grinding. Furthermore, the order of the first and second trajectory grinding operations is not limited. The first trajectory grinding can be performed first, or the second trajectory grinding can be performed first. Preferably, the first and second trajectory grinding can be performed continuously, which is a more advantageous approach.

[0052] The above-described chip groove grinding method divides the double-arc chip groove trajectory into two trajectory segments for grinding. Since grinding the first trajectory segment is simpler than grinding the second trajectory segment, the tool to be ground is ground along the first trajectory segment based on a first posture that satisfies the chip groove angle and the rake angle. Meanwhile, the tool to be ground is ground along the second trajectory segment by controlling a second posture that changes with the arc segment in the second trajectory segment. This ensures cutting performance. The above method is simple and effective, ensuring smooth trajectory connection, reducing grinding wheel interference, and precisely controlling the chip groove parameters to ensure tool performance. It can be effectively applied in drill bit grinding.

[0053] In one embodiment, controlling the grinding wheel to perform first trajectory grinding on the tool to be ground along a first trajectory segment based on a first posture that satisfies the chip groove angle and the rake angle includes: rotating an initial radial vector around an initial axial vector by a chip groove angle to obtain a first radial vector; rotating an initial axial vector around the first radial vector by a rake angle to obtain a first axial vector; and controlling the grinding wheel to perform first trajectory grinding on the tool to be ground along the first trajectory segment based on the first axial vector.

[0054] The initial radial vector can be a unit vector in the Y-axis direction. The initial axis vector can be a unit vector in the X-axis direction. For example, the initial axis vector F g0 and the initial radial vector F r0 for:

[0055]

[0056]

[0057] like Figure 6 The diagram shown illustrates the attitude of the grinding wheel in one embodiment. This includes the radial vector F. r And axis vector F g Radial vector F r This refers to the vector between the contact point and the center point of the grinding wheel; specifically, it can be the vector pointing from the contact point to the center point of the grinding wheel. Axis vector F g It refers to a vector perpendicular to the end face of the grinding wheel.

[0058] Specifically, the rake angle γ and chip flute angle α in the tool parameters are related to the grinding wheel pose. For example... Figure 4 To ensure the chip groove angle, the initial radial vector F of the grinding wheel is... r0 Should be around F g0 Rotate through the chip groove angle α. To satisfy the rake angle, the initial axis vector F... g0 Should be around F r The rotation angle γ. The initial vector is transformed by rotation to obtain the orientation of the grinding wheel.

[0059] The rotation matrix of a vector rotating about an axis is represented as follows:

[0060]

[0061] Where A is the rotation axis vector, ω is the rotation angle, and vers(ω) = 1 - cosω.

[0062] Therefore, the first radial vector F can be obtained. r1 and the first axis vector F g1 :

[0063] F r1 =rot(F g0 ,α)×F r0

[0064] F g1 =rot(F r ,γ)×F g0

[0065] The CNC machine controls the grinding wheel to move along the first trajectory segment with the attitude of the first axis vector in order to perform the first trajectory grinding on the tool to be ground.

[0066] In this embodiment, the initial radial vector is rotated around the initial axis vector by the chip groove angle to obtain the first radial vector, and the initial axis vector is rotated around the first radial vector by the rake angle angle to obtain the first axis vector. This allows the position of the grinding wheel to satisfy the chip groove angle and the rake angle, thereby improving the grinding performance of the tool. Furthermore, the first axis vector is used to perform first trajectory grinding along the first trajectory segment of the tool to be ground. That is, the grinding wheel posture does not change during the first trajectory grinding process, reducing errors and roughness generated during the grinding process.

[0067] In one embodiment, controlling the grinding wheel to perform first trajectory grinding on the tool to be ground based on a first axis vector and along a first trajectory segment includes: determining a first grinding wheel center position based on the distance between the grinding wheel center point and the contact point, a first radial vector, and the first trajectory segment; and controlling the grinding wheel to perform first trajectory grinding on the tool to be ground based on the first axis vector and the first grinding wheel center position.

[0068] When the grinding wheel is a grinding tool, the distance between the center point of the grinding tool and the contact point is the radius R of the grinding wheel. g In this embodiment, the points on the first trajectory segment are the contact points. The center position of the grinding wheel forms the grinding trajectory.

[0069] Specifically, the first radial vector is a vector indicating the contact point and the center point of the mold. Then, based on the first radial vector and the distance, a vector with length can be obtained. One of the endpoints of the vector with length is the point on the first trajectory segment, i.e., the contact point. Therefore, the first center position of the mold can be determined.

[0070] The center position of the first mold Og1 as follows:

[0071] O g1 =T 1-3 +F r ×R g

[0072] Where T 1-3 It is one of the chip groove trajectories 1, 2, and 3. The center position of the first grinding wheel is the trajectory of the grinding wheel during the first trajectory grinding. The CNC machine controls the grinding wheel to perform the first trajectory grinding on the tool to be ground according to the first axis vector posture and the center position of the first grinding wheel.

[0073] In this embodiment, the first grinding wheel center position is determined based on the distance between the grinding wheel center point and the contact point, the first radial vector, and the first trajectory segment. The grinding wheel is then controlled to perform first trajectory grinding on the tool to be ground based on the first axis vector and the first grinding wheel center position. The calculation is simple and the performance of the tool is guaranteed.

[0074] In one embodiment, controlling the grinding wheel to perform second-path grinding on the tool to be ground along the second trajectory segment based on a second posture that changes with the arc segment in the second trajectory segment includes: rotating an initial radial vector around the tool's central axis by an angle parameter corresponding to the arc on the second trajectory segment to obtain a reference radial vector; rotating an initial axis vector around the tool's central axis by an angle parameter corresponding to the arc on the second trajectory segment to obtain a reference axis vector; rotating the reference radial vector around the reference axis vector by a chip groove angle to obtain a second radial vector; rotating the reference axis vector around the second radial vector by a rake angle angle to obtain a second axis vector; and controlling the grinding wheel to perform second-path grinding on the tool to be ground along the second trajectory segment based on the second axis vector.

[0075] Among them, the tool center axis is Figure 2 The Z-axis in the coordinate system. The range of the angle parameter θ corresponding to the arc on the second trajectory segment is 0 ≤ θ ≤ β2. β2 is the arc's unfolding angle on the second trajectory segment.

[0076] like Figure 7 The diagram shown illustrates the grinding wheel's pose on the second trajectory segment in one embodiment. After entering trajectory segments 4 and 5 from trajectory segment 3, the grinding wheel rotates along the cut-out arc while simultaneously advancing along the trajectory.

[0077] Reference axis vector F g01 and reference radial vector F r01 As the trajectory changes, it can be considered as F g0 and F r0 Rotate by an angle θ around the Z-axis:

[0078] F r01 =rot(Z,θ)×F r0

[0079] F g01 =rot(Z,θ)×F g0

[0080] The CNC machine will reference the radial vector F g01 Rotate the chip groove by an angle α around the reference axis vector to obtain the second radial vector F. r2 :

[0081] F r2 =rot(F g01 ,α)×F r01

[0082] The CNC machine will use the reference axis vector F g01 Around the second radial vector F r1 Rotate the front angle γ to obtain the second axis vector F. g2 :

[0083] F g2 =rot(F r1 ,γ)×F g01

[0084] The CNC machine controls the grinding wheel to move along the second trajectory segment in the posture of the second axis vector, so as to perform second trajectory grinding on the tool to be ground.

[0085] In this embodiment, by rotating the initial vector around the tool's central axis by an angle parameter, the obtained reference vector can change with the second trajectory segment. That is, the orientation of the grinding wheel changes with the angle of the second trajectory segment. Based on the second axis vector, the tool to be ground is ground along the second trajectory segment, which can obtain a smoother cutting edge and improve the tool grinding performance.

[0086] In one embodiment, controlling the grinding wheel to perform second trajectory grinding on the tool to be ground based on a second axis vector and along a second trajectory segment includes: determining a second grinding wheel center position based on the distance between the grinding wheel center point and the contact point, a second radial vector, and the second trajectory segment; and controlling the grinding wheel to perform second trajectory grinding on the tool to be ground based on the second axis vector and the second grinding wheel center position.

[0087] In this embodiment, when the grinding wheel is a grinding wheel, the distance between the center point of the grinding wheel and the contact point is the radius R. The point on the second trajectory segment is the contact point. Furthermore, since the second trajectory segment is a trajectory on a two-dimensional plane, the contact point can be on the Z=0 plane.

[0088] Specifically, the second radial vector is a vector indicating the contact point and the center point of the mold. Based on the second radial vector and this distance, a vector with length can be obtained. One of the endpoints of the vector with length is the point on the second trajectory segment, i.e., the contact point. Therefore, the second center position of the mold can be determined.

[0089] The center position of the second mold O g2 as follows:

[0090] O g2 =T 4-5 +F r1 ×R g

[0091] Where T 4-5 The chip groove trajectory is 4 or 5. The center position of the second grinding wheel is the trajectory of the grinding wheel during the second trajectory grinding. The CNC machine controls the grinding wheel to perform the second trajectory grinding on the tool to be ground according to the second axis vector posture and the center position of the second grinding wheel.

[0092] In this embodiment, the second grinding wheel center position is determined based on the distance between the grinding wheel center point and the contact point, the second radial vector, and the second trajectory segment. The grinding wheel is controlled to perform second trajectory grinding on the tool to be ground based on the second axis vector and the second grinding wheel center position, which can obtain a smoother cutting edge and improve the tool grinding performance.

[0093] In one embodiment, determining the second grinding wheel center position based on the distance between the grinding wheel center point and the contact point, a second radial vector, and a second trajectory segment includes: obtaining a reference grinding depth for the tool to be ground; determining the difference between the distance between the grinding wheel center point and the contact point and the reference grinding depth; and determining the second grinding wheel center position on the arc segment of the second trajectory segment based on the product of the difference and the second radial vector and the sum of points on the second trajectory segment.

[0094] The reference grinding depth D refers to the actual grinding depth of the tool being ground. The reference depth can be the depth downwards from the Z=0 plane.

[0095] Specifically, in order to ensure a smooth connection of the rake face, its trajectory contact point is not at the edge of the grinding wheel, but moves a certain distance in the opposite direction along the radial vector. To reduce interference, this distance is the reference grinding depth D.

[0096] So the center position O of the second grinding wheel g2 for:

[0097] O g2 =T4+F r1 ×(R g -D)

[0098] In this embodiment, the grinding trajectory is planned based on the reference grinding depth, which can ensure a smooth connection of the rake face. Furthermore, the arc segment of the second trajectory is lower in depth than other areas, which can form a groove that can accommodate more chips and discharge them, thereby improving the chip groove performance of the tool to be ground.

[0099] In one embodiment, controlling the grinding wheel to perform second trajectory grinding on the tool to be ground based on a second axis vector and a second grinding wheel center position includes: obtaining an offset rotation angle of the tool to be ground; determining a corresponding rotation matrix based on the offset rotation angle; performing a rotation transformation on the second axis vector based on the rotation matrix to obtain a second offset axis vector; performing a rotation transformation on the second grinding wheel center position based on the rotation matrix to obtain a second offset center position; and controlling the grinding wheel to perform second trajectory grinding on the tool to be ground using the second offset axis vector and the second offset center position.

[0100] Specifically, in drill grinding, the chip flute trajectory typically needs to be rotated to align with the cutting edge position. This can be achieved by rotating the defined coordinate system around the Z-axis. The offset rotation angle is... The corresponding rotation matrix is:

[0101]

[0102] Correspondingly, a rotational transformation is performed on the second axis vector and the center position of the second grinding wheel:

[0103] O gz2 =R Z ×O g2

[0104] F gz2 =R Z ×F g2

[0105] Then, the CNC machine controls the grinding wheel to perform second trajectory grinding on the tool to be ground with the offset axis vector and the second offset center position.

[0106] In this embodiment, the grinding of the tool involves not only the grinding of the chip groove, but also the grinding of other grooves. In order to coordinate with the grinding of other grooves, the grinding versatility can be increased by rotating the second axis vector and the center position of the second grinding tool.

[0107] In one embodiment, controlling the grinding wheel to perform first trajectory grinding on the tool to be ground based on a first axis vector and the center position of the first grinding wheel includes: obtaining an offset rotation angle of the tool to be ground; determining a corresponding rotation matrix based on the offset rotation angle; performing a rotation transformation on the first axis vector based on the rotation matrix to obtain a first offset axis vector; performing a rotation transformation on the center position of the first grinding wheel based on the rotation matrix to obtain a first offset center position; and controlling the grinding wheel to perform first trajectory grinding on the tool to be ground using the first offset axis vector and the first offset center position.

[0108] In this embodiment, the grinding of the tool involves not only the grinding of the chip groove, but also the grinding of other grooves. In order to cooperate with the grinding of other grooves, the versatility of grinding can be increased by rotating and transforming the first axis vector and the center position of the first grinding tool.

[0109] In one embodiment, obtaining the trajectory of a double-arc chip groove includes: obtaining the coordinates of the upper end point of the arc, the arc spread angle and arc radius corresponding to each arc; inputting the coordinates of the upper end point of the arc, the arc spread angle and arc radius corresponding to each arc into a preset double-arc chip groove trajectory model to obtain the double-arc chip groove trajectory.

[0110] Among them, the chip groove and related tool parameters are as follows: Figure 2 As shown. The coordinates of the upper endpoint of the arc can be the endpoint of the first arc or the endpoint of the second arc. In this embodiment, the upper endpoint coordinates of the arc are taken as the first arc endpoint coordinates P1 = (x1, y1, z1), the arc development angle includes the first arc development angle β1 and the second arc development angle β2, and the arc radius includes the first arc radius r1 and the second arc radius r2 as examples.

[0111] Specifically, the coordinates of the upper endpoint of the arc, the arc spread angle and radius corresponding to each arc, the chip flute angle, the rake angle, and the length of the arc connecting segment can all be input by the user. In addition, the tool radius and grinding wheel radius of the tool to be sharpened can also be input by the user. The double-arc chip flute trajectory includes infeed segment 1, infeed arc segment 2, arc connecting segment 3, cut-out arc segment 4, and cut-out segment 5. The preset double-arc chip flute trajectory model includes infeed segment T1, infeed arc segment T2, arc connecting segment T3, cut-out arc segment T4, and cut-out segment T5. The CNC machine can obtain the double-arc chip flute trajectory by inputting the coordinates of the upper endpoint of the arc, the arc spread angle and radius corresponding to each arc into the preset double-arc chip flute trajectory model.

[0112] Cutting arc segment T2: Determine the endpoint coordinates P1 = (x1, y1, z1) of the cutting arc segment. The center of the arc segment can be calculated using P1 and the radius r1 of the first arc. Therefore, T2 can be considered as a clockwise rotation of a certain angle θ around the center. The range of the arc segment is related to the expansion angle β1. Its expression is as follows:

[0113] T2=(x1-r1,y1,z1)+(r1×cosθ,-r1×sinθ,0), 0≤θ≤β1

[0114] Cutting out the circular arc segment T4: The starting point of the cut-out circular arc segment is the end point P1 of the cut-in circular arc segment, translated L in the Y-axis direction. This ensures the smoothness of the line segment connection. At this time, the coordinates of the starting point of the circular arc segment are P2 = (x1 + r2, y1 + L, z1), and its trajectory can be regarded as the starting point coordinates being rotated clockwise around the center of the circle by a certain angle. Its expression is as follows:

[0115] T4=(x1+r2,y1+L,z1)+(-r2×cosθ,r2×sinθ,0), 0≤θ≤β2

[0116] Cutting line segment T1: Cutting line segment 1 can be considered as an extension of a certain length from the starting point P0 of the cutting arc segment. To ensure smooth trajectory connection, its extension direction is the tangent of the starting point of the cutting arc, and the tangent vector is expressed as (-sinβ1,-cosβ1,0). The expressions for P0 and trajectory T1 are:

[0117] P0=(x1,y1-r1,z1)+(r1×cosβ1,-r1×sinβ1,0)

[0118] T1=P0+k×(-sinβ1,-cosβ1,0), 0≤k≤R

[0119] Where k is the tangential extension length from the starting point. R represents the radius of the tool blank.

[0120] The trajectory expression for the circular arc connecting segment T3 is calculated using the same method, and its tangential vector is (0,1,0), therefore:

[0121] T3=P1+k×(0,1,0),0≤k≤L

[0122] Cut-out segment T5: The circular arc cut-out segment 5 is also determined by the endpoint P3 of the cut-out circular arc segment and the tangential direction. The tangential direction vector is represented as (sinβ2,cosβ2,0), and can be expressed as follows:

[0123] P3=(x1,y1+L-r2,z1)+(-r2×cosβ2,r2×sinβ2,0)

[0124] T5=P3+k×(sinβ2,cosβ2,0),0≤k≤R

[0125] In this embodiment, the user can input the coordinates of the upper end point of the arc, the arc spread angle and arc radius corresponding to each arc, and generate a double arc chip groove trajectory based on this, which can be customized to regrind the tool to be honed and improve its versatility.

[0126] In one embodiment, Table 1 provides the chip groove tool design parameters. Corresponding CNC code is generated by writing a grinding algorithm program, and the grinding process of the bar stock is simulated using cutting simulation software to obtain the shape of the workpiece after grinding. For example... Figure 8 The diagram shown is a schematic representation of the chip groove on the XY plane and the XZ plane in one embodiment. Figure 8 The depth of the portion indicated by the middle arrow is related to the reference grinding depth D. Furthermore, the chip flute grinding method described in this application embodiment has also been successfully applied to twist drills. For example... Figure 9 The diagram shown is a schematic representation of the chip groove on the XY plane and the XZ plane in another embodiment. Figure 9 The middle one is a twist drill, and the arrow points to a double-circular-arc chip flute trajectory. There are two chip flute trajectories on a twist drill.

[0127] Table 1

[0128]

[0129] In one embodiment, a chip groove grinding method includes:

[0130] Step (a1) obtains the coordinates of the upper endpoint of the input arc, the arc spread angle and the arc radius corresponding to each arc.

[0131] Step (a2): Input the coordinates of the upper end point of the arc, the arc spread angle and arc radius corresponding to each arc into the preset double arc chip groove trajectory model to obtain the double arc chip groove trajectory; the double arc chip groove trajectory includes the first trajectory segment and the second trajectory segment.

[0132] Step (a3) ​​is to obtain the chip groove angle and rake angle of the tool to be ground.

[0133] Step (a4) involves rotating the initial radial vector around the initial axis vector by the chip groove angle to obtain the first radial vector.

[0134] Step (a5) involves rotating the initial axis vector around the first radial vector by a front angle to obtain the first axis vector.

[0135] Step (a6): Determine the first grinding wheel center position based on the distance between the grinding wheel center point and the contact point, the first radial vector, and the first trajectory segment.

[0136] Step (a7): Control the grinding wheel to perform first trajectory grinding on the tool to be ground based on the first axis vector and the center position of the first grinding wheel.

[0137] Step (a8) involves rotating the initial radial vector around the tool's central axis by the angle parameter corresponding to the arc segment in the second trajectory segment to obtain the reference radial vector.

[0138] Step (a9) involves rotating the initial axis vector around the tool's central axis to obtain the reference axis vector by the angle parameter corresponding to the arc segment in the second trajectory segment.

[0139] Step (a10) involves rotating the reference radial vector around the reference axis vector by the chip groove angle to obtain the second radial vector.

[0140] Step (a11) involves rotating the reference axis vector around the second radial vector by a front angle to obtain the second axis vector.

[0141] Step (a12) is to obtain the reference grinding depth of the tool to be ground.

[0142] Step (a13) determines the difference between the distance between the center point of the grinding wheel and the contact point and the reference grinding depth.

[0143] Step (a14) determines the center position of the second grinding tool on the arc segment of the second trajectory segment based on the difference, the product of the second radial vector and the sum of the points on the second trajectory segment.

[0144] Step (a15) controls the grinding wheel to perform second trajectory grinding on the tool to be ground based on the second axis vector and the second grinding wheel center position.

[0145] In this embodiment, the double-arc chip groove trajectory is divided into two trajectory segments for grinding. Since the grinding of the first trajectory segment is simpler than that of the second trajectory segment, the tool to be ground is ground along the first trajectory segment based on the first posture that satisfies the chip groove angle and the rake angle. Meanwhile, the tool to be ground is ground along the second trajectory segment based on the second posture that changes with the arc segment in the second trajectory segment. This method is simple and effective, ensuring smooth trajectory connection, reducing grinding wheel interference, and precisely controlling the chip groove parameters to ensure tool performance. It can be effectively applied in drill bit grinding.

[0146] It should be understood that, although the above Figure 3 In the flowchart, the steps are shown sequentially according to the arrows, and the steps (a1) to (a15) are shown sequentially according to their numbers. However, these steps are not necessarily executed in the order indicated by the arrows or numbers. Unless otherwise specified in this document, there is no strict order requirement for the execution of these steps; they can be executed in other orders. Figure 3 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0147] In one embodiment, such as Figure 10 The diagram shown is a structural block diagram of a chip groove grinding device in one embodiment. Figure 10 A chip groove grinding device is provided. This device can be a software module, a hardware module, or a combination of both as part of a computer device. Specifically, the device includes: a trajectory acquisition module 1002, a parameter acquisition module 1004, a first grinding module 1006, and a second grinding module 1008, wherein:

[0148] The trajectory acquisition module 1002 is used to acquire the trajectory of the double-arc chip groove; the trajectory of the double-arc chip groove includes a first trajectory segment and a second trajectory segment;

[0149] The parameter acquisition module 1004 is used to acquire the chip groove angle and rake angle of the tool to be ground;

[0150] The first grinding module 1006 is used to control the grinding wheel to perform first trajectory grinding on the tool to be ground along the first trajectory segment based on a first posture that satisfies the chip groove angle and the rake angle.

[0151] The second grinding module 1008 is used to control the grinding wheel to perform second trajectory grinding on the tool to be ground along the second trajectory segment based on the second posture that changes with the arc segment in the second trajectory segment.

[0152] In this embodiment, the double-arc chip groove trajectory is divided into two trajectory segments for grinding. Since the grinding of the first trajectory segment is simpler than that of the second trajectory segment, the tool to be ground is ground along the first trajectory segment based on the first posture that satisfies the chip groove angle and the rake angle. Meanwhile, the tool to be ground is ground along the second trajectory segment by controlling the second posture that changes with the arc segment in the second trajectory segment. This ensures cutting performance. The above device is simple and effective, ensuring smooth trajectory connection, reducing grinding wheel interference, and accurately controlling the parameters of the chip groove to ensure tool performance. It can be effectively applied in drill bit grinding.

[0153] In one embodiment, the first grinding module 1006 is used to: rotate the initial radial vector around the initial axis vector by a chip groove angle to obtain a first radial vector; rotate the initial axis vector around the first radial vector by a rake angle angle to obtain a first axis vector; and control the grinding wheel to perform first trajectory grinding on the tool to be ground along a first trajectory segment based on the first axis vector.

[0154] In this embodiment, the initial radial vector is rotated around the initial axis vector by the chip groove angle to obtain the first radial vector, and the initial axis vector is rotated around the first radial vector by the rake angle angle to obtain the first axis vector. This allows the position of the grinding wheel to satisfy the chip groove angle and the rake angle, thereby improving the grinding performance of the tool. Furthermore, the first axis vector is used to perform first trajectory grinding along the first trajectory segment of the tool to be ground. That is, the grinding wheel posture does not change during the first trajectory grinding process, reducing errors and roughness generated during the grinding process.

[0155] In one embodiment, the first grinding module 1006 is used to: determine the first grinding wheel center position based on the distance between the grinding wheel center point and the contact point, the first radial vector, and the first trajectory segment; and control the grinding wheel to perform first trajectory grinding on the tool to be ground based on the first axis vector and the first grinding wheel center position.

[0156] In this embodiment, the first grinding wheel center position is determined based on the distance between the grinding wheel center point and the contact point, the first radial vector, and the first trajectory segment. The grinding wheel is then controlled to perform first trajectory grinding on the tool to be ground based on the first axis vector and the first grinding wheel center position. The calculation is simple and the performance of the tool is guaranteed.

[0157] In one embodiment, the second grinding module 1008 is used to: rotate the initial radial vector around the tool's central axis by the angle parameter corresponding to the arc on the second trajectory segment to obtain a reference radial vector; rotate the initial axis vector around the tool's central axis by the angle parameter corresponding to the arc on the second trajectory segment to obtain a reference axis vector; rotate the reference radial vector around the reference axis vector by the chip groove angle to obtain a second radial vector; rotate the reference axis vector around the second radial vector by the rake angle angle to obtain a second axis vector; and control the grinding wheel to perform second trajectory grinding on the tool to be ground along the second trajectory segment based on the second axis vector.

[0158] In this embodiment, by rotating the initial vector around the tool's central axis by an angle parameter, the obtained reference vector can change with the second trajectory segment. That is, the orientation of the grinding wheel changes with the angle of the second trajectory segment. Based on the second axis vector, the tool to be ground is ground along the second trajectory segment, which can obtain a smoother cutting edge and improve the tool grinding performance.

[0159] In one embodiment, the second grinding module 1008 is used to: determine the second grinding center position of the grinding wheel based on the distance between the grinding wheel center point and the contact point, the second radial vector, and the second trajectory segment; and control the grinding wheel to perform second trajectory grinding on the tool to be ground based on the second axis vector and the second grinding wheel center position.

[0160] In this embodiment, the second grinding wheel center position is determined based on the distance between the grinding wheel center point and the contact point, the second radial vector, and the second trajectory segment. The grinding wheel is controlled to perform second trajectory grinding on the tool to be ground based on the second axis vector and the second grinding wheel center position, which can obtain a smoother cutting edge and improve the tool grinding performance.

[0161] In one embodiment, the second grinding module 1008 is used to: obtain a reference grinding depth for the tool to be ground; determine the difference between the distance between the center point of the grinding wheel and the contact point and the reference grinding depth; and determine the second grinding wheel center position on the arc segment of the second trajectory segment based on the product of the difference and the second radial vector and the sum of the points on the second trajectory segment.

[0162] In this embodiment, the grinding trajectory is planned based on the reference grinding depth, which can ensure a smooth connection of the rake face. Furthermore, the arc segment of the second trajectory is lower in depth than other areas, which can form a groove that can accommodate more chips and discharge them, thereby improving the chip groove performance of the tool to be ground.

[0163] In one embodiment, the second grinding module 1008 is used to: obtain the offset rotation angle of the tool to be ground; determine the corresponding rotation matrix based on the offset rotation angle; perform a rotation transformation on the second axis vector based on the rotation matrix to obtain the second offset axis vector; perform a rotation transformation on the center position of the second grinding wheel based on the rotation matrix to obtain the second offset center position; and control the grinding wheel to perform second trajectory grinding on the tool to be ground with the second offset axis vector and the second offset center position.

[0164] In this embodiment, the grinding of the tool involves not only the grinding of the chip groove, but also the grinding of other grooves. In order to coordinate with the grinding of other grooves, the grinding versatility can be increased by rotating the second axis vector and the center position of the second grinding tool.

[0165] In one embodiment, the first grinding module 1006 is configured to: obtain the offset rotation angle of the tool to be ground; determine the corresponding rotation matrix based on the offset rotation angle; perform a rotation transformation on the first axis vector based on the rotation matrix to obtain the first offset axis vector; perform a rotation transformation on the center position of the first grinding wheel based on the rotation matrix to obtain the first offset center position; and control the grinding wheel to perform first trajectory grinding on the tool to be ground with the first offset axis vector and the first offset center position.

[0166] In this embodiment, the grinding of the tool involves not only the grinding of the chip groove, but also the grinding of other grooves. In order to cooperate with the grinding of other grooves, the versatility of grinding can be increased by rotating and transforming the first axis vector and the center position of the first grinding tool.

[0167] Specific limitations regarding the chip groove grinding device can be found in the limitations of the chip groove grinding method above, and will not be repeated here. Each module in the aforementioned chip groove grinding device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the CNC machine's processor in hardware form or independent of it, or stored in the CNC machine's memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0168] In one embodiment, a CNC machine is provided, the internal structure of which can be shown in the following diagram. Figure 11 As shown, the CNC machine includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a chip groove grinding method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the CNC machine casing, or an external keyboard, touchpad, or mouse.

[0169] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the CNC machine to which the present application is applied. A specific CNC machine may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0170] In one embodiment, a numerical control machine is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method embodiments.

[0171] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method embodiments.

[0172] In one embodiment, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. The processor of a CNC machine reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the CNC machine to perform the steps described in the above method embodiments.

[0173] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes described in the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0174] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for grinding chip grooves, characterized in that, The method includes: Obtain the trajectory of the double-arc chip groove; the trajectory of the double-arc chip groove includes a first trajectory segment and a second trajectory segment; Obtain the chip groove angle and rake angle of the tool to be ground; The control grinding wheel is based on a first posture that satisfies the chip groove angle and the rake angle, and grinds the tool to be ground along the first trajectory segment. The grinding wheel is controlled to perform second trajectory grinding on the tool to be ground along the second trajectory segment based on a second posture that changes with the arc segment in the second trajectory segment; The controlled grinding tool, based on a first posture satisfying the chip groove angle and the rake angle, performs first trajectory grinding on the tool to be ground along the first trajectory segment, including: The initial radial vector is rotated about the initial axis vector by the chip groove angle to obtain the first radial vector; The initial axis vector is rotated about the first radial vector by the front angle angle to obtain the first axis vector; The grinding wheel is controlled to perform first trajectory grinding on the tool to be ground along the first trajectory segment based on the first axis vector; The control of the grinding wheel to perform second trajectory grinding on the tool to be ground along the second trajectory segment based on a second posture that changes with the arc segment in the second trajectory segment includes: The reference radial vector is obtained by rotating the initial radial vector around the tool's central axis by the angle parameter corresponding to the arc segment in the second trajectory segment; The reference axis vector is obtained by rotating the initial axis vector around the tool center axis by the angle parameter corresponding to the arc segment in the second trajectory segment; The reference radial vector is rotated about the reference axis vector by the chip groove angle to obtain the second radial vector; The reference axis vector is rotated about the second radial vector by the front angle angle to obtain the second axis vector; The grinding wheel is controlled to perform second trajectory grinding on the tool to be ground based on the second axis vector and along the second trajectory segment; The control of the grinding wheel to perform second trajectory grinding on the tool to be ground based on the second axis vector and along the second trajectory segment includes: The second grinding wheel center position is determined based on the distance between the grinding wheel center point and the contact point, the second radial vector, and the second trajectory segment. The grinding wheel is controlled to perform second trajectory grinding on the tool to be ground based on the second axis vector and the center position of the second grinding wheel.

2. The method according to claim 1, characterized in that, The controlled grinding tool, based on the first axis vector, performs first trajectory grinding on the tool to be ground along the first trajectory segment, including: The first grinding wheel center position is determined based on the distance between the grinding wheel center point and the contact point, the first radial vector, and the first trajectory segment. The grinding wheel is controlled to perform a first trajectory grinding on the tool to be ground based on the first axis vector and the center position of the first grinding wheel.

3. The method according to claim 1, characterized in that, Determining the second grinding wheel center position based on the distance between the grinding wheel center point and the contact point, the second radial vector, and the second trajectory segment includes: Obtain a reference grinding depth for the tool to be ground; Determine the difference between the distance between the center point of the grinding wheel and the contact point and the reference grinding depth; Based on the product of the difference and the second radial vector, and the sum of the points on the second trajectory segment, the center position of the grinding tool on the arc segment of the second trajectory segment is determined.

4. The method according to claim 1, characterized in that, The control of the grinding wheel to perform second trajectory grinding on the tool to be ground based on the second axis vector and the center position of the second grinding wheel includes: Obtain the offset rotation angle of the tool to be ground; Determine the corresponding rotation matrix based on the offset rotation angle; The second axis vector is rotated and transformed based on the rotation matrix to obtain the second offset axis vector; Based on the rotation matrix, the center position of the second grinding tool is rotated to obtain the second offset center position; The grinding wheel is controlled to perform second trajectory grinding on the tool to be ground with the second offset axis vector and the second offset center position.

5. The method according to any one of claims 1 to 4, characterized in that, The acquisition of the double-arc chip groove trajectory includes: Obtain the coordinates of the upper endpoint of the input arc, the arc spread angle and the arc radius of each arc; Input the coordinates of the upper end point of the arc, the arc spread angle and arc radius corresponding to each arc into the preset double arc chip groove trajectory model to obtain the double arc chip groove trajectory.

6. A chip groove grinding device, characterized in that, The apparatus is used to implement the steps of the method according to any one of claims 1 to 5, including: The trajectory acquisition module is used to acquire the trajectory of the double-arc chip groove; the trajectory of the double-arc chip groove includes a first trajectory segment and a second trajectory segment; The parameter acquisition module is used to acquire the chip groove angle and rake angle of the tool to be ground; The first grinding module is used to control the grinding wheel to perform first trajectory grinding on the tool to be ground along the first trajectory segment based on a first posture that satisfies the chip groove angle and the rake angle. The second grinding module is used to control the grinding wheel to perform second trajectory grinding on the tool to be ground along the second trajectory segment based on a second posture that changes with the arc segment in the second trajectory segment; The first grinding module is used for: The initial radial vector is rotated about the initial axis vector by the chip groove angle to obtain the first radial vector; The initial axis vector is rotated about the first radial vector by the front angle angle to obtain the first axis vector; The grinding wheel is controlled to perform first trajectory grinding on the tool to be ground along the first trajectory segment based on the first axis vector; The second grinding module is used for: The reference radial vector is obtained by rotating the initial radial vector around the tool's central axis by the angle parameter corresponding to the arc segment in the second trajectory segment; The reference axis vector is obtained by rotating the initial axis vector around the tool center axis by the angle parameter corresponding to the arc segment in the second trajectory segment; The reference radial vector is rotated about the reference axis vector by the chip groove angle to obtain the second radial vector; The reference axis vector is rotated about the second radial vector by the front angle angle to obtain the second axis vector; The grinding wheel is controlled to perform second trajectory grinding on the tool to be ground based on the second axis vector and along the second trajectory segment; The second grinding module is also used for: The second grinding wheel center position is determined based on the distance between the grinding wheel center point and the contact point, the second radial vector, and the second trajectory segment. The grinding wheel is controlled to perform second trajectory grinding on the tool to be ground based on the second axis vector and the center position of the second grinding wheel.

7. A numerical control machine, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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