Method, device, numerical control machine and storage medium for determining grinding trajectory of multiple flank faces

Abstract

The present application relates to a method, device, numerical control machine and storage medium for determining the grinding trajectory of a multi-secondary flank. The method includes: obtaining the grinding trajectory of a reference secondary flank; after rotating each point on the grinding trajectory of the reference secondary flank by the current machining angle around the tool rotation axis, moving the current axial feed distance in the direction of the tool rotation axis and moving the current radial feed distance towards the tool rotation axis to obtain the grinding trajectory of the current secondary flank; the grinding trajectory of the current secondary flank is used for grinding the current secondary flank. Using this method can improve the tool life.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, device, numerical control machine and storage medium for determining the grinding trajectory of multiple flank faces. Background Art

[0002] In machining, burrs or sharp edges formed may cause safety problems such as scratches, and may also have an adverse impact on aspects such as the machining accuracy, assembly accuracy, positioning, and appearance quality of parts. At this time, a chamfering tool is required to machine them into chamfers. However, when machining a chamfering tool, it is often found that the machining effect is affected by the interference between the flank faces. The traditional method is to separately increase the flank angle of the tool to improve the machining effect. However, the traditional method has the problem of reducing the tool life obtained by grinding. Summary of the Invention

[0003] Based on this, it is necessary to provide a method, device, numerical control machine and storage medium for determining the grinding trajectory of multiple flank faces that can improve the tool life for the above technical problems.

[0004] A method for determining the grinding trajectory of multiple flank faces, the method comprising:

[0005] Obtaining the grinding trajectory of a reference flank face;

[0006] After rotating each point on the grinding trajectory of the reference flank face around the tool rotation axis by the current machining angle, moving the current axial feed distance in the direction of the tool rotation axis and moving the current radial feed distance towards the tool rotation axis to obtain the grinding trajectory of the current flank face; the grinding trajectory of the current flank face is used for grinding the current flank face.

[0007] A device for determining the grinding trajectory of multiple flank faces, the device comprising:

[0008] A module for obtaining the grinding trajectory of a reference flank face, configured to obtain the grinding trajectory of a reference flank face;

[0009] A module for determining the grinding trajectory of the current flank face, configured to rotate each point on the grinding trajectory of the reference flank face around the tool rotation axis by the current machining angle, move the current axial feed distance in the direction of the tool rotation axis, and move the current radial feed distance towards the tool rotation axis to obtain the grinding trajectory of the current flank face; the grinding trajectory of the current flank face is used for grinding the current flank face.

[0010] A numerical control machine, comprising a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the steps of each embodiment of the method for determining the grinding trajectory of multiple flank faces are implemented.

[0011] A computer-readable storage medium stores a computer program thereon. When the computer program is executed by a processor, the steps of the embodiments of the method for determining the grinding trajectory of each multi-rear flank are implemented.

[0012] In the above method, device, numerical control machine, and storage medium for determining the grinding trajectory of a multi-rear flank, after rotating each point on the grinding trajectory of the reference rear flank by the current machining angle around the tool rotation axis, moving the current axial feed distance in the direction of the tool rotation axis, and moving the current radial feed distance towards the tool rotation axis; then, by rotating the current machining angle around the tool rotation axis, the number of rear flanks is set to reduce the sudden change of the relief angle and increase the tool strength; by moving the current axial feed distance in the direction of the tool rotation axis, the length of the current rear flank in the direction of the tool rotation axis is shorter than that of the reference rear flank, and by moving the current radial feed distance towards the tool rotation axis, the current rear flank is in a state closer to the inside compared to the reference rear flank. The above operations avoid the risk of the rear flank interfering with the shape of the cutting edge rotating body and also ensure the strength of the tool, thereby greatly improving the tool life. Description of the Drawings

[0013] Figure 1 It is an application environment diagram of the method for determining the grinding trajectory of a multi-rear flank in an embodiment;

[0014] Figure 2 It is a schematic flowchart of the method for determining the grinding trajectory of a multi-rear flank in an embodiment;

[0015] Figure 3 It is a schematic diagram of the geometric parameters of the rear flank of a chamfering tool in an embodiment;

[0016] Figure 4 It is a schematic diagram of the geometric parameters of the rear flank of a chamfering tool in another embodiment;

[0017] Figure 5 It is a schematic flowchart of a method for determining the grinding trajectory of a multi-rear flank in an embodiment;

[0018] Figure 6 It is a schematic diagram of the total machining angle of the rear flank in an embodiment;

[0019] Figure 7 It is a schematic diagram of the total axial feed distance in an embodiment;

[0020] Figure 8 It is a schematic diagram of the total radial feed distance in an embodiment;

[0021] Figure 9 It is a schematic diagram of grinding the rear flank in the rear flank coordinate system in an embodiment;

[0022] Figure 10Schematic diagram of the simulation result of a multi-relief-angle chamfering tool ground by the grinding trajectory determination method using multiple relief faces in an embodiment;

[0023] Figure 11 Structural block diagram of a device for determining the grinding trajectory of multiple relief faces in an embodiment;

[0024] Figure 12 Internal structure diagram of a numerical control machine in an embodiment. Specific embodiments

[0025] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0027] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly. The described connection can be a direct connection or an indirect connection.

[0028] In addition, the descriptions such as "first" and "second" in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0029] The terms "first", "second", etc. used in the present application may be used in this document to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element. For example, without departing from the scope of the present application, the first relief face may be referred to as the second relief face, and similarly, the second relief face may be referred to as the first relief face. Both the first relief face and the second relief face are relief faces, but they are not the same relief face.

[0030] It can be understood that for the "connection" in the following embodiments, if there is transmission of electrical signals or data between the connected circuits, modules, units, etc., it should be understood as "electrical connection", "communication connection", etc.

[0031] The method for determining the grinding trajectory of a multi-rear flank provided by this application can be applied to, for example, Figure 1 such an application environment. Figure 1 It is an application environment diagram of the method for determining the grinding trajectory of a multi-rear flank in an embodiment. It includes a numerical control machine 100, and a grinding tool 110 is included on the numerical control machine. This grinding tool can be a grinding wheel. The grinding tool 110 is used to grind the tool 120.

[0032] To facilitate understanding of the grinding method of the multi-rear flank tool in each embodiment of this application, the following coordinate system is established. Figure 2 It is a schematic diagram of the workpiece coordinate system and the rear flank coordinate system in an embodiment. In each embodiment of this application, a chamfering tool is taken as an example for illustration.

[0033] 1. Coordinate system definition

[0034] 1.1 Workpiece coordinate system O w -X w Y w Z w

[0035] Establish a workpiece coordinate system O as shown in Figure 2 shown, w -X w Y w Z w , this coordinate system takes the tool rotation axis as the Z w axis, takes the tool cross-section where the top of the chamfering tool is located as the X w O w Z w plane, takes the center of this cross-section as the origin O w , X w axis's positive direction is from the origin O w pointing to the projection of the cutting edge end on the X w O w Z w plane.

[0036] 1.2 Rear flank coordinate system O m -X m Y m Z m

[0037] Let any point on the cutting edge of the chamfering tool be the grinding point P, and define O m -X m Y m Z m as the movable rear flank coordinate system, and its coordinate axis Zm Coaxial with the cutting edge, the coordinate origin O m Coincides with point P, and the coordinate axis X m Is the normal vector of the cutting plane.

[0038] 2. Definition of the geometric parameters of the flank

[0039] Figure 3 Is a schematic diagram of the geometric parameters of the flank of the chamfering tool in an embodiment. Figure 4 Is a schematic diagram of the geometric parameters of the flank of the chamfering tool in another embodiment.

[0040] (1) Tool outer diameter D

[0041] In the workpiece coordinate system, the maximum rotary diameter of the cutting edge is defined as the tool outer diameter D.

[0042] (2) Tool inner diameter d

[0043] In the workpiece coordinate system, the minimum rotary diameter of the cutting edge is defined as the tool inner diameter d.

[0044] (3) Tip angle K

[0045] In the workpiece coordinate system, the cone angle formed by the cutting edge rotating around the tool axis is defined as the tip angle K.

[0046] (4) Chamfer height h

[0047] In the workpiece coordinate system, the maximum length of the cutting edge on the tool axis is defined as the chamfer height h.

[0048] (5) Eccentricity e

[0049] In the workpiece coordinate system, the distance between the projections of the two cutting edges in the cross-section of the tool is defined as the eccentricity e.

[0050] (6) First flank angle α1 and second flank angle α2

[0051] In the flank coordinate system, the angle between the first flank and the Y m Axis is α1, and the angle between the second flank and the Ym axis is α2.

[0052] (7) Edge width w

[0053] In the flank coordinate system, the width of the first flank is defined as the edge width w.

[0054] Figure 5 Is a schematic flow diagram of a method for determining the grinding trajectory of a multi-flank in an embodiment. A method for determining the grinding trajectory of a multi-flank includes the following steps:

[0055] Step 502, obtain the grinding trajectory of the reference flank.

[0056] Among them, the grinding trajectory is used to represent the movement trajectory of the grinding tool during grinding. Taking the grinding wheel as an example of the grinding tool, the grinding trajectory can be the position trajectory of the center point of the grinding wheel. The reference flank is one of a plurality of consecutive flanks. Specifically, the reference flank can be the first flank among a plurality of consecutive flanks. The reference flank can be the first flank or the second flank, such as the first flank in the second flank.

[0057] Specifically, the numerical control machine can pre-store the grinding trajectory and the grinding posture of the reference flank. Specifically, the grinding trajectory of the reference flank can be the grinding trajectory in the workpiece coordinate system, the world coordinate system or the numerical control machine coordinate system. Similarly, the grinding posture of the reference flank can be the grinding posture in the workpiece coordinate system, the world coordinate system or the numerical control machine coordinate system.

[0058] Step 504: Rotate each point on the grinding trajectory of the reference flank by the current machining angle around the tool rotation axis, move the current axial feed distance in the direction of the tool rotation axis, and move the current radial feed distance towards the tool rotation axis to obtain the grinding trajectory of the current flank; the grinding trajectory of the current flank is used for grinding the current flank.

[0059] Among them, the tool rotation axis refers to Figure 2 the Zw axis in. The machining angle is the circular arc angle corresponding to the center of the arc with 0w on the XY plane. The current machining angle, the current radial feed distance, and the current axial feed distance can be set according to requirements. Moving towards the tool rotation axis means approaching the tool rotation axis and reducing the distance from the tool rotation axis; specifically, the amount in the X-axis direction is reduced by the current radial feed distance.

[0060] Specifically, rotate each point on the grinding trajectory of the reference flank by the current machining angle around the tool rotation axis, and move the current axial feed distance in the direction away from the tool tip on the tool rotation axis, and move the current radial feed distance towards the tool rotation axis to obtain the grinding trajectory of the current flank. The numerical control machine grinds the current flank based on the grinding trajectory of the current flank. The tool tip is like Figure 2 the 0w point in.

[0061] The general formula of the rotation matrix for a known vector rotating by an angle γ around any unit vector N (N x , N y , N z ) is:

[0062]

[0063] When grinding the i-th flank, the grinding trajectory in the workpiece coordinate system can be expressed as:

[0064] O′g_w_i = rot(M, θ i )O g_w + [-S 2_i 0 -S 1_i

[0065] where M is the tool rotation axis, and M is taken as O g_w which refers to the grinding trajectory of the reference flank, and θ i is the current machining angle, and -S 2_i is to move the current radial feed distance towards the tool rotation axis, and -S 1_i is to move the current axial feed distance away from the tool tip in the direction of the tool rotation axis.

[0066] It can be understood that the moving order of moving the current axial feed distance in the direction of the tool rotation axis and moving the current radial feed distance towards the tool rotation axis is not limited. That is, the current axial feed distance can be moved in the direction of the tool rotation axis first, and then the current radial feed distance can be moved towards the tool rotation axis; or the current radial feed distance can be moved towards the tool rotation axis first, and then the current axial feed distance can be moved in the direction of the tool rotation axis; or the current axial feed distance can be moved in the direction of the tool rotation axis and the current radial feed distance can be moved towards the tool rotation axis simultaneously.

[0067] In this embodiment, during the actual operation, it is found that tool interference affects the machining effect, and the traditional method can reduce this influence by increasing the clearance angle. However, simply increasing the first clearance angle α1 as in Figure 4 will cause the cutting edge here to become thinner, thereby reducing the tool strength and tool life. Therefore, the method for determining the grinding trajectory of multiple flanks in each embodiment of this application is proposed. After analysis, it is found that the tool point of each flank can be obtained by rotating the tool point of the reference flank around the tool axis by a certain angle and simultaneously descending an axial distance and reducing a radial distance towards the tool axis. Based on this, after rotating each point on the grinding trajectory of the reference flank around the tool rotation axis by the current machining angle, moving the current axial feed distance in the direction of the tool rotation axis, and moving the current radial feed distance towards the tool rotation axis; then by rotating the current machining angle around the tool rotation axis, setting multiple flanks can reduce the clearance angle mutation and increase the tool strength; by moving the current axial feed distance in the direction of the tool rotation axis, the length of the current flank in the direction of the tool rotation axis is shorter than that of the reference flank, and by moving the current radial feed distance towards the tool rotation axis, the current flank is in a state closer to the inside compared to the reference flank. The above operations avoid the risk of flank interference with the cutting edge rotary body shape, and at the same time ensure the tool strength, thus greatly improving the tool life. In addition, the calculation method based on the reference flank is simple and fast.

[0068] ​In one embodiment, the method for determining the grinding trajectory of the multi-secondary flank includes: obtaining the grinding posture of the reference secondary flank; rotating the grinding posture of the reference secondary flank around the tool rotation axis by the current machining angle to obtain the grinding posture of the current secondary flank; and performing the grinding of the current secondary flank based on the grinding trajectory of the current secondary flank and the grinding posture of the current secondary flank.

[0069] Among them, the grinding posture is used to represent the posture of the grinding tool during grinding. Taking the grinding tool as a grinding wheel as an example, the grinding posture can be the orientation of the vector perpendicular to the large end face of the grinding wheel. The grinding posture of the reference secondary flank refers to the vector perpendicular to the reference secondary flank. The grinding posture of the reference secondary flank can be determined based on the flank angle of the reference secondary flank.

[0070] Specifically, the grinding posture of the reference secondary flank can be pre-stored in the numerical control machine. The numerical control machine rotates the grinding posture of the reference secondary flank around the tool rotation axis by the current machining angle to obtain the grinding posture of the current secondary flank. Then, when the grinding trajectory of the current secondary flank and the grinding posture of the current secondary flank are obtained, the numerical control machine can control the grinding tool to perform the grinding of the current secondary flank based on the grinding trajectory of the current secondary flank and the grinding posture of the current secondary flank.

[0071] The grinding posture during the grinding of the i-th secondary flank can be expressed in the workpiece coordinate system as:

[0072] F′ g_w_i =rot(M, θ i )F g_w

[0073] where M is F g_w which refers to the grinding posture of the reference secondary flank, and θ i is the current machining angle.

[0074] In this embodiment, rotating the grinding posture of the reference secondary flank around the tool rotation axis by the current machining angle to obtain the grinding posture of the current secondary flank has simple calculation, and the tool ground accordingly has high strength and long service life.

[0075] In one embodiment, the current secondary flank is one of at least two consecutive secondary flanks connected to the reference secondary flank. The determination method of the current machining angle includes: obtaining the total machining angle of the secondary flanks; dividing the total machining angle of the secondary flanks evenly among at least two consecutive secondary flanks to obtain the machining angle change; obtaining the sorting of the current secondary flank; and obtaining the current machining angle of the current secondary flank relative to the reference secondary flank based on the sorting and the machining angle change.

[0076] Among them, the total machining angle of the secondary flanks refers to the total circular arc angle corresponding to the secondary flanks to be ground with 0w as the center of the arc in the XY plane. As Figure 6 shown, it is a schematic diagram of the total machining angle of the secondary flanks in one embodiment. Figure 6It includes 4 second flank faces, and the total machining angle of the flank faces is θ.

[0077] Specifically, in this embodiment, there are at least 4 consecutive flank faces, namely the reference flank face, flank face 1, flank face 2, and flank face 3. The numerical control machine evenly distributes the total machining angle of the flank faces to at least two consecutive flank faces connected to the reference flank face to obtain the machining angle change amount. The machining angle change amount is the average change amount. Obtain the sorting of the current flank face among at least two flank faces. Based on the product of the sorting and the machining angle change amount, obtain the current machining angle of the current flank face relative to the reference flank face.

[0078] For example, the current machining angle is:

[0079]

[0080] Where θ is the total machining angle of the flank faces, n is the total number of flank faces to be ground including the reference flank face, and i is the sorting of the current flank face. Then, taking the total number of flank faces including the reference flank face as 4 and flank face 1 as an example, its sorting is 2, then there is:

[0081]

[0082] If it is flank face 2 and its sorting is 3, then there is:

[0083]

[0084] In this embodiment, by evenly distributing the total machining angle of the flank faces to at least two consecutive flank faces, the machining angle change amount is obtained. Based on the current flank face and the machining angle change amount, the current machining angle with the reference flank face as the reference is obtained; compared with the method of cutting out the total machining angle in one go, by cutting out more flank faces, the tool strength can be increased and the service life can be extended.

[0085] In one embodiment, the current flank face is one of at least two consecutive flank faces connected to the reference flank face; the determination method of the current axial feed distance includes: obtaining the total axial feed distance; evenly distributing the total axial feed distance to at least two consecutive flank faces to obtain the axial feed distance change amount; obtaining the sorting of the current flank face; based on the sorting and the axial feed distance change amount, obtaining the current axial feed distance corresponding to the current flank face.

[0086] Among them, the total axial feed distance is the distance moved on the tool rotation axis, i.e., the Zw axis. As Figure 7 shown, it is a schematic diagram of the total axial feed distance in one embodiment. Figure 7 The S1 in it is the total axial feed distance, that is, in the XY plane, the distance difference of the flank face of the tool on the Zw axis. Figure 7 The black dot is the tool vertex.

[0087] Specifically, in this embodiment, there are at least 3 consecutive flank faces, namely the reference flank face, flank face 1, and flank face 2. The numerical control machine evenly distributes the total axial feed distance to at least two consecutive flank faces connected to the reference flank face to obtain the change amount of the axial feed distance. The change amount of the axial feed distance is the average change amount. Obtain the sorting of the current flank face among at least two flank faces. Based on the product of the sorting and the change amount of the axial feed distance, obtain the current axial feed distance of the current flank face relative to the reference flank face.

[0088] For example, the current axial feed distance is:

[0089]

[0090] where S1 is the total axial feed distance, n is the total number of flank faces to be ground including the reference flank face, and i is the sorting of the current flank face. Then, taking the total number of flank faces including the reference flank face as 3 and flank face 1 as an example, its sorting is 2, then there is:

[0091]

[0092] If it is flank face 2, its sorting is 3, that is, i = 3, then there is:

[0093]

[0094] In this embodiment, by evenly distributing the total axial feed distance of the flank face to at least two consecutive flank faces to obtain the change amount of the axial feed distance, and based on the sorting of the current flank face and the change amount of the axial feed distance, obtaining the current axial feed distance with the reference flank face as the reference, the interference during grinding can be greatly reduced.

[0095] In one embodiment, the current flank face is one of at least two consecutive flank faces connected to the reference flank face; the determination method of the current radial feed distance includes: obtaining the total radial feed distance; evenly distributing the total radial feed distance to at least two consecutive flank faces to obtain the change amount of the radial feed distance; obtaining the sorting of the current flank face; and based on the sorting and the change amount of the radial feed distance, obtaining the current radial feed distance corresponding to the current flank face.

[0096] Among them, the total radial feed distance is used to represent the feed distance in the radial direction compared with the reference flank face. The change amount of the radial feed distance is the average change amount. The specific manifestation can be that the amount in the X-axis direction decreases by the current radial feed distance. As Figure 8 shown, it is a schematic diagram of the total radial feed distance in one embodiment. Figure 8 The distance between two points in the XY plane in it is the total radial feed distance. Figure 8The dashed full circle is the arc of the flank face without the radial feed distance. It can be seen that after increasing the radial feed distance, the next flank face is closer to the tool rotation axis than the previous one. By changing the shape of the tool rotating body, interference can be greatly reduced.

[0097] Specifically, in this embodiment, there are at least 3 consecutive flank faces, namely the reference flank face, flank face 1, and flank face 2. The numerical control machine evenly distributes the total radial feed distance to at least two consecutive flank faces connected to the reference flank face to obtain the radial feed distance variation. The radial feed distance variation is the average variation. Obtain the sorting of the current flank face among at least two flank faces. Based on the product of the sorting and the radial feed distance variation, obtain the current radial feed distance of the current flank face relative to the reference flank face.

[0098] For example, the current radial feed distance is:

[0099]

[0100] Where S2 is the total radial feed distance, n is the total number of flank faces to be ground including the reference flank face, and i is the sorting of the current flank face. Then, taking the total number of flank faces including the reference flank face as 3 and flank face 1 as an example, its sorting is 2, so there is:

[0101]

[0102] If it is flank face 2, its sorting is 3, that is, i = 3, then there is:

[0103]

[0104] In this embodiment, by evenly distributing the total radial feed distance of the flank face to at least two consecutive flank faces to obtain the radial feed distance variation, and based on the sorting of the current flank face and the radial feed distance variation, obtaining the current radial feed distance with the reference flank face as the reference, the interference during grinding can be greatly reduced.

[0105] In one embodiment, both the reference flank face and the current flank face are the second flank face; the second flank face is different from the first flank face; the reference flank face is connected to the first flank face; the method further includes:

[0106] Grinding the first flank face based on the grinding attitude of the first flank face and the grinding trajectory of the first flank face; the flank angle of the first flank face is smaller than the flank angle of the reference flank face;

[0107] Grinding the reference flank face based on the grinding trajectory of the reference flank face and the grinding attitude of the reference flank face.

[0108] Specifically, the second flank is not the same as the first flank. The numerical control machine obtains the grinding attitude of the first flank and the grinding trajectory of the first flank. The grinding attitude of the first flank is the grinding wheel vector perpendicular to the first flank. The grinding trajectory of the first flank is determined based on the trajectory of the first flank.

[0109] The numerical control machine performs first flank grinding based on the grinding attitude of the first flank and the grinding trajectory of the first flank. The flank angle of the first flank is smaller than the flank angle of the reference flank. The numerical control machine performs reference flank grinding based on the grinding trajectory of the reference flank and the grinding attitude of the reference flank. And the reference flank is connected to the first flank, and the next second flank is connected to the reference flank. That is, the difference between the flank angles of the first flank and the second flank can be large, while the flank angles of the second flanks form an arithmetic sequence.

[0110] In this embodiment, the smaller flank angle of the first flank can improve the strength of the tool. By separately setting the grinding of the first flank and the second flank, the flank angle of the first flank can be set smaller, and the flank angle of the reference flank can be set larger. Therefore, the number of second flanks to be ground is less, improving the grinding efficiency and reducing the grinding cost.

[0111] In one embodiment, obtaining the grinding trajectory of the reference flank includes: obtaining the transformation matrix for converting the reference flank coordinate system to the workpiece coordinate system; the reference flank coordinate system is established with the edge point on the reference flank edge line as the origin; the workpiece coordinate system is established with the tool rotation axis as one of its coordinate axes; based on the transformation matrix and the initial grinding wheel position in the reference flank coordinate system, coordinate transformation is performed to obtain the grinding trajectory of the reference flank in the workpiece coordinate system.

[0112] Among them, the reference flank can be ground along the reference flank edge line. The edge point refers to a point on the reference flank edge line.

[0113] Specifically, referring to Figure 2 flank coordinate system O m -X m Y m Z m Rotate around the X m axis by a certain angle Then rotate around the Ym axis by a half vertex angle, and finally translate to obtain the workpiece coordinate system O w -X w Y w Z w , so the flank coordinate system O m -X m Y m Z m to the workpiece coordinate system O w -X w Yw Z w The transformation matrix of

[0114]

[0115]

[0116] where the z - coordinate is used as a parameter,

[0117] As Figure 9 shown, it is a schematic diagram of grinding the flank face in the flank - face coordinate system in an embodiment. It can be understood that the reference flank face can be Figure 9 the first flank face in

[0118]

[0119] or the second flank face, preferably the second flank face. Define P1 as an arbitrary point on the edge line of the first flank face, and P2 as an arbitrary point on the edge line of the second flank face. From geometric relationships, the coordinates of points P1 and P2 in the flank - face coordinate system can be expressed as: g The coordinates of the center point of the large end of the grinding wheel (i.e., the position of the grinding wheel) O

[0120] O g_Pn = Pn + R g F b

[0121] where Pn represents point P1 or P2, and R g is the radius of the large end face of the grinding wheel. F b is the radius vector of the large end face of the grinding wheel (from the grinding point to the center of the grinding wheel), and its expression in the flank - face coordinate system is

[0122] For the convenience of tool setting for numerically controlled milling cutter grinding and obtaining the NC program for controlling the machine tool, it is necessary to transform the tool position coordinates of the grinding trajectory in the flank - face coordinate system to be described in the workpiece coordinate system. Therefore, the grinding trajectory O of the grinding wheel expressed in the workpiece coordinate system g_w :

[0123] O g_w = R m_w O g_Pn + T m_w

[0124] In this embodiment, since the numerically controlled machine cannot perform tool grinding in the flank - face coordinate system, it is necessary to convert the flank - face coordinate system to the workpiece coordinate system. Grinding in the workpiece coordinate system can obtain the reference flank face, and the calculation is simple with high grinding accuracy.

[0125] In one embodiment, a vector perpendicular to the reference flank is determined based on the clearance angle of the reference flank to obtain the grinding posture of the reference flank, including: obtaining a transformation matrix for converting the reference flank coordinate system to the workpiece coordinate system; the reference flank coordinate system is established with the flank edge point on the reference flank edge as the origin; the workpiece coordinate system is established with the tool rotation axis as one of its coordinate axes; a vector perpendicular to the reference flank in the reference flank coordinate system is determined based on the clearance angle of the reference flank to obtain the reference grinding posture; and coordinate transformation is performed based on the reference grinding posture and the transformation matrix to obtain the grinding posture of the reference flank.

[0126] Specifically, in the reference flank coordinate system, the grinding posture of the grinding wheel is defined. As Figure 9 shown, the grinding wheel axis vector F g (the vector from the center of the large end of the grinding wheel to the center of the small end) is perpendicular to the nth reference flank ground by the grinding wheel, and the reference grinding posture can be expressed in the reference flank coordinate system as:

[0127] where α n represents α1, α2

[0128] Then, the grinding posture F of the grinding wheel in the workpiece coordinate system gw is:

[0129] F g_w = R m_w F g_Pn

[0130] In this embodiment, since the numerical control machine cannot perform tool grinding in the reference flank coordinate system, it is necessary to convert the reference flank coordinate system to the workpiece coordinate system for grinding. In the workpiece coordinate system, the reference flank can be ground, and the calculation is simple and the grinding accuracy is high.

[0131] In one embodiment, the specific implementation process of a method for determining the grinding trajectory of multiple flanks is as follows:

[0132] 1. After establishing the coordinate system and defining the flank geometric parameters, perform coordinate transformation

[0133] The reference flank coordinate system O m -X m Y m Z m rotates around the X m axis by a certain angle Then rotates around the Ym axis by a half vertex angle, and finally translates to obtain the workpiece coordinate system O w -X w Y w Z w , so the reference flank coordinate system 0 m -X m Ym Z m to the workpiece coordinate system O w -X w Y w Z w The transformation matrix is

[0134]

[0135]

[0136] where the z - coordinate is used as a parameter,

[0137] 2. Flank edge line model

[0138] Define P1 as an arbitrary point on the first flank edge line and P2 as an arbitrary point on the second flank edge line. From geometric relationships, the coordinates of points P1 and P2 in the flank coordinate system can be expressed as:

[0139]

[0140] 3. Grinding posture and grinding trajectory in the flank coordinate system

[0141] Figure 9 As shown, the grinding wheel axis vector F g (the vector from the center of the large end of the grinding wheel to the center of the small end) is perpendicular to the n - th flank being ground by the grinding wheel. In the flank coordinate system, the grinding posture of the reference flank can be expressed as:

[0142] where α n represents α1 or α2

[0143] The coordinates of the center point of the large end of the grinding wheel (i.e., the position of the grinding wheel) O g in the flank coordinate system can be expressed as:

[0144] O g_Pn = Pn + R gF b

[0145] where Pn represents point P1 or P2, and R g is the radius of the large end face of the grinding wheel. F b is the radius vector of the large end face of the grinding wheel (from the grinding point to the center of the grinding wheel), and its expression in the flank coordinate system is

[0146] 4. Grinding posture and grinding trajectory of the current flank in the workpiece coordinate system

[0147] To facilitate the tool setting for CNC grinding of milling cutters and obtain the NC program for controlling the machine tool, it is necessary to transform the tool position coordinates of the grinding trajectory in the grinding coordinate system to be described in the workpiece coordinate system. Therefore, the center point O of the large end of the grinding wheel is expressed in the workpiece coordinate system g_w (grinding trajectory) and the grinding wheel axis vector F g_w (grinding attitude).

[0148] 0 g_w = R m_w O g_Pn + T m_w

[0149] F g_w = R m_w F g_Pn

[0150] 5. Calculation of the grinding trajectory and grinding attitude of the second flank with multiple flank angles in the workpiece coordinate system

[0151] To increase the tool strength and avoid interference, the second flank of each embodiment of the present application adopts the form of multiple flank angles. The principle is that in the workpiece coordinate system, the tool position point of each flank is obtained by rotating the tool position point of the previous flank by a certain angle around the tool axis while descending an axial distance and reducing a radial distance in the direction of the tool axis. As Figure 6 shown, it is defined that the second flank has n flank angles, that is, there are n second flanks, and the reference flank is the first second flank, the total machining length is θ, the total axial feed distance is S1, and the total radial feed distance is S2.

[0152] The general formula of the rotation matrix for a known vector rotating by an angle γ around any unit vector N (N x , N y , N z ) is:

[0153]

[0154] When grinding the i-th second flank, the grinding trajectory in the workpiece coordinate system can be expressed as:

[0155] O′ g_w_i = rot(M, θ i )O g_w + [-S 2_i 0 -S 1_i )

[0156] When grinding the i-th second flank, the grinding attitude in the workpiece coordinate system can be expressed as:

[0157] F′ g_w_i = rot(M, θ i )F g_w

[0158] where M is F g_w the grinding attitude with reference to the flank face, and θ i is the current machining angle,

[0159]

[0160] 6. Simulation verification

[0161] To verify the proposed algorithm for determining the grinding trajectory of multiple flank faces, in this paper, an algorithm prototype was developed in an integrated development environment. By inputting the relevant structural design parameters in Table 1 and according to the proposed grinding wheel trajectory algorithm, the tool path file was output; and the grinding simulation was carried out through a 3D simulation software. As Figure 10 shown, it is a schematic diagram of the simulation result of a multi-flank chamfering tool ground by using the method for determining the grinding trajectory of multiple flank faces in an embodiment. Figure 10 The left figure is a three-dimensional schematic diagram, and the right figure is a schematic diagram on the XY plane. 1001 is the first flank face, 1002 is the second flank face, and there are multiple second flank faces. As can be seen from the following table, the first flank angle can be set smaller than the second flank angle, so that the tool strength of the tool is large; the second flank angle is set larger, and the flank angles of the second flank face 1002 vary with a gap of 16 degrees, then the number of the second flank faces can be set less to meet the requirement of the machining angle of 60°. Setting the axial feed distance and the radial feed distance can greatly reduce the interference generated by the tool during grinding.

[0162] Table 1

[0163]

[0164] In this embodiment, the structural parameters of the multi-flank chamfering tool, the grinding coordinate system and the workpiece coordinate system are defined, and a mathematical model of the flank edge of the chamfering tool is established; by applying the kinematic principle, etc., the trajectory description conversion relationship between the grinding coordinate system and the workpiece coordinate system is deduced; an algorithm for solving the grinding wheel motion trajectory in the process of multi-flank angle grinding of the second flank face in the workpiece coordinate system is proposed, and through simulation verification, the correctness and effectiveness of the grinding trajectory calculation are verified.

[0165] In an embodiment, a method for determining the grinding trajectory of multiple tool faces includes:

[0166] Step (a1), grinding the first flank face based on the grinding attitude of the first flank face and the grinding trajectory of the first flank face; the flank angle of the first flank face is smaller than the flank angle of the reference flank face.

[0167] Step (a2): Obtain the transformation matrix for converting the reference flank coordinate system to the workpiece coordinate system. The reference flank coordinate system is established with the flank edge point on the reference flank edge as the origin. The workpiece coordinate system is established with the tool rotation axis as one of its coordinate axes.

[0168] Step (a3): Based on the transformation matrix and the initial grinding wheel position in the reference flank coordinate system, perform coordinate transformation to obtain the grinding trajectory of the reference flank in the workpiece coordinate system.

[0169] Step (a4): Perform reference flank grinding based on the grinding trajectory of the reference flank and the grinding posture of the reference flank. Among them, the reference flank is connected to the first flank.

[0170] Step (a5): Obtain the total machining angle of the flank.

[0171] Step (a6): Divide the total machining angle of the flank evenly among at least two consecutive flanks to obtain the machining angle change.

[0172] Step (a7): Obtain the sorting of the current flank. The current flank is one of at least two consecutive flanks connected to the reference flank.

[0173] Step (a8): Based on the sorting and the machining angle change, obtain the current machining angle of the current flank relative to the reference flank.

[0174] Step (a9): Obtain the total axial feed distance.

[0175] Step (a10): Divide the total axial feed distance evenly among at least two consecutive flanks to obtain the axial feed distance change.

[0176] Step (a11): Obtain the sorting of the current flank.

[0177] Step (a12): Based on the sorting and the axial feed distance change, obtain the current axial feed distance corresponding to the current flank.

[0178] Step (a13): Obtain the total radial feed distance.

[0179] Step (a14): Divide the total radial feed distance evenly among at least two consecutive flanks to obtain the radial feed distance change.

[0180] Step (a15): Obtain the sorting of the current flank.

[0181] Step (a16): Based on the sorting and the radial feed distance change, obtain the current radial feed distance corresponding to the current flank.

[0182] Step (a17): After rotating each point on the grinding trajectory of the reference flank around the tool rotation axis by the current machining angle, move the current axial feed distance in the direction of the tool rotation axis and move the current radial feed distance towards the tool rotation axis to obtain the grinding trajectory of the current flank.

[0183] Step (a18): Obtain the grinding attitude of the reference flank.

[0184] Step (a19): Rotate the grinding attitude of the reference flank around the tool rotation axis by the current machining angle to obtain the grinding attitude of the current flank.

[0185] Step (a20): Grind the current flank based on the grinding trajectory of the current flank and the grinding attitude of the current flank.

[0186] In this embodiment, the tool point of each flank can be obtained by rotating the tool point of the reference flank around the tool axis by a certain angle while descending an axial distance in the direction of the tool axis and reducing a radial distance inward. Based on this, after rotating each point on the grinding trajectory of the reference flank around the tool rotation axis by the current machining angle, move the current axial feed distance in the direction of the tool rotation axis and move the current radial feed distance towards the tool rotation axis; then by rotating the current machining angle around the tool rotation axis, by setting multiple flanks, the flank angle mutation is reduced and the tool strength is increased; by moving the current axial feed distance in the direction of the tool rotation axis, the length of the current flank in the direction of the tool rotation axis is shorter than that of the reference flank, and by moving the current radial feed distance towards the tool rotation axis, the current flank is in a state closer to the inside compared to the reference flank. The above operations avoid the risk of flank interference with the shape of the cutting edge rotating body, and at the same time ensure the strength of the tool, thus greatly improving the tool life. In addition, the calculation method based on the reference flank is simple and fast.

[0187] It should be understood that although each step in the above Figure 5 flowchart is shown in sequence according to the arrow indication, and each step from step (a1) to step (a20) is shown in sequence according to the label indication, these steps are not necessarily executed in the order indicated by the arrow or the number. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 5 at least a part of the steps in

[0188] In one embodiment, asFigure 11 As shown, it is a structural block diagram of a device for determining the grinding trajectory of multiple flank faces in an embodiment. Figure 11 A device for determining the grinding trajectory of multiple flank faces is provided. This device can be a software module, a hardware module, or a combination of both to become a part of a numerical control machine. Specifically, the device includes: a grinding trajectory acquisition module 1102 for the reference flank face and a grinding trajectory determination module 1104 for the current flank face, where:

[0189] The grinding trajectory acquisition module 1102 for the reference flank face is used to acquire the grinding trajectory of the reference flank face;

[0190] The grinding trajectory determination module 1104 for the current flank face is used to rotate each point on the grinding trajectory of the reference flank face by the current machining angle around the tool rotation axis, move the current axial feed distance in the direction of the tool rotation axis, and move the current radial feed distance towards the tool rotation axis to obtain the grinding trajectory of the current flank face; the grinding trajectory of the current flank face is used for grinding the current flank face.

[0191] In this embodiment, by rotating each point on the grinding trajectory of the reference flank face by the current machining angle around the tool rotation axis, moving the current axial feed distance in the direction of the tool rotation axis, and moving the current radial feed distance towards the tool rotation axis; then by rotating the current machining angle around the tool rotation axis, setting multiple flank faces reduces the sudden change of the clearance angle and increases the tool strength; by moving the current axial feed distance in the direction of the tool rotation axis, the length of the current flank face in the direction of the tool rotation axis is shorter than that of the reference flank face, and by moving the current radial feed distance towards the tool rotation axis, the current flank face is in a state closer to the inside compared to the reference flank face. The above operations avoid the risk of the flank face interfering with the shape of the cutting edge rotating body, and at the same time ensure the strength of the tool, thus greatly improving the tool life. In addition, the calculation method based on the reference flank face is simple and fast.

[0192] In an embodiment, the device for determining the grinding trajectory of multiple flank faces further includes a grinding attitude determination module for the current flank face. The grinding attitude determination module for the current flank face is used to:

[0193] Acquire the grinding attitude of the reference flank face; rotate the grinding attitude of the reference flank face by the current machining angle around the tool rotation axis to obtain the grinding attitude of the current flank face; perform grinding of the current flank face based on the grinding trajectory of the current flank face and the grinding attitude of the current flank face.

[0194] In this embodiment, rotating the grinding attitude of the reference flank face by the current machining angle around the tool rotation axis to obtain the grinding attitude of the current flank face is simple in calculation, and the tool ground accordingly has high strength and long life.

[0195] In one embodiment, the current flank is one of at least two consecutive flanks connected to the reference flank; the current flank grinding trajectory determination module 1104 is configured to:

[0196] Obtain the total machining angle of the flank; divide the total machining angle of the flank evenly among at least two consecutive flanks to obtain the machining angle change amount; obtain the sorting of the current flank; based on the sorting and the machining angle change amount, obtain the current machining angle of the current flank relative to the reference flank.

[0197] In this embodiment, by dividing the total machining angle of the flank evenly among at least two consecutive flanks to obtain the machining angle change amount, and based on the current flank and the machining angle change amount, the current machining angle with respect to the reference flank is obtained; compared with the method of cutting out the total machining angle in one go, by cutting out more flanks, the tool strength can be increased and the service life can be extended.

[0198] In one embodiment, the current flank is one of at least two consecutive flanks connected to the reference flank; the current flank grinding trajectory determination module 1104 is configured to:

[0199] Obtain the total axial feed distance; divide the total axial feed distance evenly among at least two consecutive flanks to obtain the axial feed distance change amount; obtain the sorting of the current flank; based on the sorting and the axial feed distance change amount, obtain the current axial feed distance corresponding to the current flank.

[0200] In this embodiment, by dividing the total axial feed distance of the flank evenly among at least two consecutive flanks to obtain the axial feed distance change amount, and based on the current flank and the axial feed distance change amount, the current axial feed distance with respect to the reference flank is obtained, which can greatly reduce the interference during grinding.

[0201] In one embodiment, the current flank is one of at least two consecutive flanks connected to the reference flank; the current flank grinding trajectory determination module 1104 is configured to:

[0202] The method for determining the current radial feed distance includes: obtaining the total radial feed distance; dividing the total radial feed distance evenly among at least two consecutive flanks to obtain the radial feed distance change amount; obtaining the sorting of the current flank; based on the sorting and the radial feed distance change amount, obtaining the current radial feed distance corresponding to the current flank.

[0203] In this embodiment, by dividing the total radial feed distance of the flank evenly among at least two consecutive flanks to obtain the radial feed distance change amount, and based on the sorting of the current flank and the radial feed distance change amount, the current radial feed distance with respect to the reference flank is obtained, which can greatly reduce the interference during grinding.

[0204] In one embodiment, both the reference flank and the current flank are the second flank; the second flank is different from the first flank; the reference flank is connected to the first flank; the grinding trajectory determination device for the multi-flank further includes a grinding module, and the grinding module is configured to:

[0205] Perform first flank grinding based on the grinding posture of the first flank and the grinding trajectory of the first flank; the clearance angle of the first flank is smaller than the clearance angle of the reference flank;

[0206] Perform reference flank grinding based on the grinding trajectory of the reference flank and the grinding posture of the reference flank.

[0207] In this embodiment, the smaller clearance angle of the first flank can improve the strength of the tool, and by separately setting the grinding of the first flank and the second flank, the clearance angle of the first flank can be set to be smaller, and the clearance angle of the reference flank can be set to be larger. Therefore, the number of ground second flanks is smaller, the grinding efficiency is improved, and the grinding cost is reduced.

[0208] In one embodiment, the reference flank grinding trajectory acquisition module 1102 is configured to: obtain a transformation matrix for converting the reference flank coordinate system to the workpiece coordinate system; the reference flank coordinate system is established with the edge point on the reference flank edge as the origin; the workpiece coordinate system is established with the tool rotation axis as one of its coordinate axes; perform coordinate transformation based on the transformation matrix and the initial grinding wheel position in the reference flank coordinate system to obtain the grinding trajectory of the reference flank in the workpiece coordinate system.

[0209] In this embodiment, since the numerical control machine cannot perform tool grinding in the flank coordinate system, it is necessary to convert the flank coordinate system to the workpiece coordinate system and perform grinding in the workpiece coordinate system, so that the reference flank can be ground, and the calculation is simple and the grinding accuracy is high.

[0210] For the specific limitations of the grinding trajectory determination device for the multi-flank, reference can be made to the limitations of the grinding trajectory determination method for the multi-flank in the above text, which will not be elaborated here. Each module in the above grinding trajectory determination device for the multi-flank can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor of the numerical control machine in hardware form or independent of it, or stored in the memory of the numerical control machine in software form, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0211] In one embodiment, a numerical control machine is provided, and its internal structure diagram can be as Figure 12As shown. The CNC machine includes a processor, a memory, a communication interface, a display screen, and an input device connected via a system bus. Among them, the processor of the CNC machine is used to provide computing and control capabilities. The memory of the CNC machine includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the CNC machine is used to communicate with an external terminal in a wired or wireless manner. The wireless manner can be implemented through WI-FI, a carrier network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it realizes a method for determining the grinding trajectory of multiple flank faces. The display screen of the CNC machine can be a liquid crystal display screen or an electronic ink display screen. The input device of the CNC machine can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the outer shell of the CNC machine, or an external keyboard, touchpad, or mouse, etc.

[0212] Those skilled in the art can understand that Figure 12 the structure shown in [figure reference] is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the CNC machine to which the solution of this application is applied. The specific CNC machine may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0213] In one embodiment, a CNC machine is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, it realizes the steps of the above method embodiments.

[0214] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, it realizes the steps of the above method embodiments.

[0215] In one embodiment, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the CNC machine reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the CNC machine executes the steps in the above method embodiments.

[0216] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. This computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes in the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, 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.

[0217] The foregoing are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A method for determining the grinding trajectory of multiple flank faces, characterized in that The method includes: Obtaining the total machining angle of the flank face; Dividing the total machining angle of the flank face evenly among at least two consecutive flank faces to obtain the machining angle variation; Obtaining the sorting of the current flank face; the current flank face is one of at least two consecutive flank faces connected to the reference flank face; Based on the sorting and the machining angle variation, obtaining the current machining angle of the current flank face relative to the reference flank face; Obtaining the total axial feed distance; Dividing the total axial feed distance evenly among the at least two consecutive flank faces to obtain the axial feed distance variation; Based on the sorting and the axial feed distance variation, obtaining the current axial feed distance corresponding to the current flank face; Obtaining the total radial feed distance; Dividing the total radial feed distance evenly among the at least two consecutive flank faces to obtain the radial feed distance variation; Based on the sorting and the radial feed distance variation, obtaining the current radial feed distance corresponding to the current flank face; Obtaining the grinding trajectory of the reference flank face; After rotating each point on the grinding trajectory of the reference flank face around the tool rotation axis by the current machining angle, moving the current axial feed distance in the direction of the tool rotation axis and moving the current radial feed distance towards the tool rotation axis to obtain the grinding trajectory of the current flank face; the grinding trajectory of the current flank face is used for grinding the current flank face; Obtaining the grinding attitude of the reference flank face; Rotating the grinding attitude of the reference flank face around the tool rotation axis by the current machining angle to obtain the grinding attitude of the current flank face; Grinding the current flank face based on the grinding trajectory of the current flank face and the grinding attitude of the current flank face.

2. The method according to claim 1, wherein Both the reference flank face and the current flank face are the second flank face; The second flank face is different from the first flank face; The reference flank face is connected to the first flank face; the method further includes: Grinding the first flank face based on the grinding attitude of the first flank face and the grinding trajectory of the first flank face; The clearance angle of the first flank face is smaller than the clearance angle of the reference flank face; Grinding the reference flank face based on the grinding trajectory of the reference flank face and the grinding attitude of the reference flank face.

3. The method according to claim 1 or 2, characterized in that, The obtaining the grinding trajectory of the reference flank face includes: Obtaining the transformation matrix for converting the reference flank face coordinate system to the workpiece coordinate system; the reference flank face coordinate system is established with the cutting edge point on the cutting edge of the reference flank face as the origin; the workpiece coordinate system is established with the tool rotation axis as one of its coordinate axes; Based on the transformation matrix and the initial grinding wheel position in the reference flank face coordinate system, performing coordinate transformation to obtain the grinding trajectory of the reference flank face in the workpiece coordinate system.

4. A grinding trajectory determination device for multiple flank faces, characterized in that, The device is used to implement the steps of the method according to any one of claims 1 to 3.

5. A numerical control machine, comprising a memory and a processor, the memory storing 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 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 3.

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