Grinding wheel wear compensation method and grinding machine for pointed tooth cutting tools

Abstract

This invention discloses a grinding wheel wear compensation method and a grinding machine for a toothed cutting tool. The grinding wheel wear compensation method includes the following steps: obtaining the actual fillet radius of the toothed cutting tool and calculating the absolute value of the difference between the target fillet radius and the actual fillet radius, defined as the wear error value; if the wear error value is greater than a set value, executing a wear compensation strategy; if the wear error value is less than or equal to the set value, outputting the toothed cutting tool; wherein the wear compensation strategy includes: substituting the wear error value into a wear compensation model, calculating a corrected machining trajectory through the wear compensation model; controlling the toothed cutting tool to move along the corrected machining trajectory so that the grinding wheel grinds the toothed cutting tool. According to the grinding wheel wear compensation method of this invention, the machining accuracy of the toothed cutting tool can be improved, the grinding wheel replacement frequency can be reduced, and labor costs can be reduced.

Description

Technical Field

[0001] This invention relates to the field of cutting tool processing technology, and in particular to a method for compensating for grinding wheel wear on a toothed cutting tool and a grinding machine. Background Technology

[0002] The tip position of the pointed tooth cutter for machining spiral bevel gears is formed by two cutter tip radii and a cutter tip straight line tangent to the cutter tip radii. If the radii are not the right size or the transition at the connection with the cutter tip straight line is not smooth, it will lead to a decrease in the life of the cutter and abnormalities at the bottom of the tooth groove of the product. In severe cases, it may even lead to the breakage of the cutter during the machining process and interference when the tooth grooves of the product mesh.

[0003] One existing technology discloses a machining method for spiral bevel gear pointed tooth cutting tools (CN116038442B), which solves the problem of how to machine spiral bevel gear pointed tooth cutting tools. However, in actual production, the cutting line between the end face and side face of the grinding wheel used for grinding is worn, and the right angle between the end face and side face of the grinding wheel becomes an approximately arc-shaped rounded corner (hereinafter referred to as the grinding wheel rounded corner). In this case, there is a positional difference between the actual grinding point and the theoretical grinding point of the grinding wheel, resulting in a deviation between the actual profile and the theoretical profile of the cutting tool, mainly manifested as incomplete grinding of the cutting tool and a smaller radius of the cutting tip rounded corner. Currently, the main technical means used is to replace the grinding wheel with a new one or to dress the grinding wheel to minimize the size of the grinding wheel wear rounded corner, but this operation is time-consuming and labor-intensive. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a grinding wheel wear compensation method for toothed cutting tools, which is used to compensate and correct the machining trajectory of the grinding wheel, thereby improving the machining accuracy of the cutting tool.

[0005] The present invention also proposes a grinding machine that employs the above-mentioned grinding wheel wear compensation method.

[0006] According to a first aspect of the present invention, a grinding wheel wear compensation method for a toothed cutting tool bar includes a cutting edge and a cutting tip edge, wherein a cutting tip fillet is formed at the connection between the cutting edge and the cutting tip edge, and the cutting tip fillet has a target fillet radius.

[0007] The grinding wheel wear compensation method includes the following steps:

[0008] Obtain the actual fillet radius of the toothed cutter bar, and calculate the absolute value of the difference between the target fillet radius and the actual fillet radius, which is defined as the wear error value;

[0009] If the wear error value is greater than the set value, the wear compensation strategy is executed;

[0010] If the wear error value is less than or equal to the set value, output the pointed tooth cutter bar;

[0011] The wear compensation strategy includes:

[0012] Substitute the wear error value into the wear compensation model, and calculate the corrected machining trajectory using the wear compensation model;

[0013] The pointed cutting tool is controlled to move along the corrected machining trajectory so that the grinding wheel grinds the pointed cutting tool.

[0014] The grinding wheel wear compensation method for the toothed cutting tool according to embodiments of the present invention has at least the following beneficial effects:

[0015] By calculating the compensation for the wear radius of the grinding wheel and adjusting the machining trajectory of the pointed tooth cutter, the machining accuracy of the pointed tooth cutter can be improved, the grinding wheel replacement frequency can be reduced, and the machining efficiency of the pointed tooth cutter can be improved. Through the compensation calculation in this embodiment, the machining trajectory of the pointed tooth cutter can be automatically compensated without manual sanding, effectively reducing labor costs.

[0016] According to some embodiments of the present invention, before obtaining the actual fillet radius after the toothed cutter is processed, the toothed cutter must be controlled to move along a preset processing trajectory so that the grinding wheel performs initial grinding on the toothed cutter; the preset processing trajectory includes a preset grinding point; defined in the YZ plane, the center of the grinding wheel is the center point of the grinding wheel;

[0017] The grinding wheel wear compensation model is as follows:

[0018] Calculate the first compensation angle and the second compensation angle based on the preset grinding point and the center point of the grinding wheel;

[0019] The compensation amount of each point of the preset machining trajectory in the X-axis, Y-axis and Z-axis directions is calculated using the wear error value, the first compensation angle and the second compensation angle.

[0020] The compensation amount is added to the preset machining trajectory to obtain the corrected machining trajectory.

[0021] According to some embodiments of the present invention, the compensation amount is calculated as follows:

[0022] ;

[0023] in, This represents the compensation amount in the X-axis direction for each point on the machining trajectory of the pointed tooth tool. This represents the compensation amount in the Y-axis direction for each point on the machining trajectory of the pointed tooth tool. The compensation amount in the Z-axis direction for each point of the machining trajectory of the pointed tooth tool;

[0024] The wear error value is mentioned above.

[0025] This is the first compensation angle;

[0026] This is the second compensation angle.

[0027] According to some embodiments of the present invention, the tangent vector of the cutting edge of the toothed blade is defined as follows: ;

[0028] A first reference line is defined in the YZ plane, passing through the preset grinding point and the center point of the grinding wheel.

[0029] The plane formed by the first reference line and the X-axis is defined as the grinding wheel fillet plane;

[0030] definition The projection vector of the rounded corner plane of the grinding wheel is ;

[0031] Defined in the YZ plane, the unit vector of the first reference line along the direction from the preset grinding point to the center point of the grinding wheel is... Then the first compensation angle satisfies:

[0032] .

[0033] According to some embodiments of the present invention, the unit normal vector of the fillet plane of the grinding wheel is defined as... Then the following conditions are met:

[0034] .

[0035] According to some embodiments of the present invention, the first reference line is a unit vector along the direction from the preset grinding point to the center point of the grinding wheel. satisfy:

[0036] ;

[0037] in, This is the second compensation angle.

[0038] According to some embodiments of the present invention, the unit normal vector of the fillet plane of the grinding wheel is defined as... Then the following conditions are met:

[0039] .

[0040] According to some embodiments of the present invention, the toothed cutting tool includes an initial position and a machining position, and the toothed cutting tool moves from the initial position to the machining position after rotation; the tangent vector of the cutting edge of the toothed cutting tool located at the initial position is defined as follows: The tangent vector of the cutting edge of the pointed cutting tool located at the machining position is... ;

[0041] When the toothed cutter bar switches from the initial position to the machining position, let the deflection angle of the toothed cutter bar about axis A be . The deflection angle of the toothed blade rotating about axis B is... Then the following condition is met:

[0042] ;

[0043] Among them, the A-axis is parallel to the Z-axis, and the B-axis is parallel to the Y-axis.

[0044] According to some embodiments of the present invention,

[0045] Defined in the YZ plane, the straight line passing through the preset grinding point and the center point of the grinding wheel is the first reference line, and the horizontal line passing through the center point of the grinding wheel is the first horizontal line;

[0046] The plane formed by the first reference line and the X-axis is defined as the grinding wheel fillet plane;

[0047] The projection line of the cutting edge of the toothed cutter bar onto the rounded corner plane of the grinding wheel is defined as the projected cutting edge line;

[0048] The angle between the projected blade line and the first reference line is the first compensation angle;

[0049] The angle between the first reference line and the first horizontal line is the second compensation angle.

[0050] The grinding machine according to the second aspect of the present invention employs the above-described method for compensating for grinding wheel wear of the pointed tooth blade.

[0051] The grinding machine according to the embodiments of the present invention, by adopting the above-mentioned grinding wheel wear compensation method of the pointed tooth blade, can reduce the frequency of grinding wheel replacement and grinding, thereby improving processing efficiency and reducing maintenance costs.

[0052] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0053] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0054] Figure 1This is a schematic diagram of the processing position of a first angle of a grinding machine according to an embodiment of the present invention;

[0055] Figure 2 This is a schematic diagram of the processing position of the second angle of the grinding machine according to an embodiment of the present invention;

[0056] Figure 3 This is a front view of the toothed blade according to an embodiment of the present invention.

[0057] Icon labels:

[0058] Grinding wheel 100, first machining fillet 110, second machining fillet 120;

[0059] 200-tooth cutting edge, 210-tooth main cutting edge, 220-tooth secondary cutting edge, 230-tooth tip, 240-tooth tip radius;

[0060] First reference line 310, first horizontal line 320, grinding wheel fillet plane 330, projected cutting edge line 340, preset grinding point 350, grinding wheel center point 360. Detailed Implementation

[0061] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0062] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0063] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0064] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0065] Currently, the grinding of the pointed tooth cutter 200 is generally carried out by a grinding machine. The grinding machine includes a grinding wheel 100. The pointed tooth cutter 200 and the grinding wheel 100 move relative to each other to achieve the grinding of the pointed tooth cutter 200 by the grinding wheel 100. The relative movement of the pointed tooth cutter 200 and the grinding wheel 100 can be controlled by moving the pointed tooth cutter 200, controlling the movement of the grinding wheel 100, or controlling the simultaneous movement of the pointed tooth cutter 200 and the grinding wheel 100. This embodiment mainly studies the case of controlling the movement of the pointed tooth cutter 200 relative to the grinding wheel 100 to achieve the grinding. The pointed tooth cutter 200 mentioned in this embodiment is mainly used for processing spiral bevel gears. In normal tool grinding, the toothed cutting tool 200 is ground by controlling its movement along a preset machining trajectory. However, due to wear of the grinding wheel 100, the toothed cutting tool 200 may still not be ground completely after moving along the preset machining trajectory. The common practice is to replace the grinding wheel 100 or manually dress it to minimize the impact of grinding wheel wear on the grinding of the toothed cutting tool 200. Both of these methods increase grinding costs and decrease grinding efficiency. To solve these technical problems, this embodiment proposes a grinding wheel wear compensation method and a grinding machine for toothed cutting tools. The grinding machine using this grinding wheel wear compensation method can reduce the frequency of grinding wheel 100 replacement or dressing while ensuring grinding effect, thereby improving grinding efficiency and reducing grinding costs of the toothed cutting tool 200. The following is in conjunction with the appendix... Figures 1 to 3 The grinding wheel wear compensation method and grinding machine for the pointed tooth cutting tool in this embodiment are described in detail.

[0066] It is important to understand that, as a reference Figure 1 , Figure 2 As shown, the grinding wheel 100 mentioned in this embodiment is disc-shaped. Theoretically, the connection between the outer circumferential surface of the grinding wheel 100 and the end face of the grinding wheel 100 should be a right angle. However, due to wear during processing, the connection between the outer circumferential surface of the grinding wheel 100 and the end face of the grinding wheel 100 may become arc-shaped. See the attached diagram for details. Figure 1 As shown, wear of the grinding wheel 100 can lead to incomplete grinding of the toothed cutting tool 200, which moves along the preset machining trajectory.

[0067] In an embodiment of the present invention, the pointed toothed cutter bar 200 has a cutting edge and a cutting tip edge 230, and a cutting tip radius 240 is formed at the connection between the cutting edge and the cutting tip edge 230. The cutting tip radius 240 has a target radius. The grinding wheel wear compensation method includes the following steps:

[0068] 1. Obtain the actual fillet radius of the toothed cutter bar 200, and calculate the absolute value of the difference between the target fillet radius and the actual fillet radius, which is defined as the wear error value;

[0069] 2. If the wear error value is greater than the set value, execute the wear compensation strategy;

[0070] 3. If the wear error value is less than or equal to the set value, output 200 for the pointed tooth cutter bar.

[0071] Specifically, after the wear compensation strategy is executed in step 2, it will run back to step 1 and then make a new judgment until it loops from step 1 to step 3; the output of the pointed tooth cutter 200 in step 3 means that the machining of the pointed tooth cutter 200 is completed and the pointed tooth cutter 200 is output.

[0072] It is important to understand that before grinding the toothed cutter bar 200 using the grinding wheel wear compensation method, the toothed cutter bar 200 must be controlled to move along a preset machining trajectory so that the grinding wheel 100 can perform initial grinding on the toothed cutter bar 200. When the grinding wheel 100 wears down, the toothed cutter bar 200 after initial grinding will show a difference between the actual fillet radius and the target fillet radius. Since the preset machining trajectory is fixed, the actual fillet radius will definitely be smaller than the target fillet radius.

[0073] In embodiments of the present invention, the above-mentioned wear compensation strategy includes:

[0074] Substitute the wear error value into the wear compensation model, and calculate the corrected machining trajectory using the wear compensation model;

[0075] The pointed tooth cutter 200 is controlled to move along the corrected machining trajectory so that the grinding wheel 100 grinds the pointed tooth cutter 200.

[0076] Specifically, the aforementioned preset machining trajectory includes preset grinding points, which are referenced from... Figure 2 As shown, the preset grinding point is established with the outer peripheral surface of the grinding wheel 100 perpendicular to the end face. However, due to the wear of the grinding wheel 100, the pointed tooth cutter 200 cannot be ground when it runs to the preset grinding point. Therefore, it is necessary to recalculate the machining trajectory of the pointed tooth cutter 200. The recalculated machining trajectory of the pointed tooth cutter 200 is defined as the corrected machining trajectory. The corrected machining trajectory will generally make the pointed tooth cutter 200 closer to the grinding wheel 100.

[0077] It is conceivable that, since the wear error value must be recalculated for each cycle of the grinding wheel wear compensation method in this embodiment, the wear error value calculated in step 1 will be different in each cycle. Therefore, the corrected machining trajectory calculated in step 2 will also be different each time. However, the corrected machining trajectory calculated each time will make the pointed tooth cutter 200 get closer and closer to the grinding wheel 100.

[0078] In an embodiment of the present invention, the center of the grinding wheel 100 is defined as the center point of the grinding wheel 100 within the YZ plane. The wear compensation model for the grinding wheel 100 is as follows:

[0079] S1. Calculate the first compensation angle and the second compensation angle based on the preset grinding point and the center point of the grinding wheel 100;

[0080] S2. Calculate the compensation amount of each point on the preset machining trajectory in the X-axis, Y-axis and Z-axis directions using the wear error value, the first compensation angle and the second compensation angle;

[0081] S3. Add the compensation amount to the preset machining trajectory to obtain the corrected machining trajectory.

[0082] Specifically, in S1, refer to Figure 1 , Figure 2 As shown, in the YZ plane, the straight line passing through the preset grinding point and the center point of the grinding wheel 100 is defined as the first reference line 310, and the horizontal line passing through the center point of the grinding wheel 100 is defined as the first horizontal line 320; the plane formed by the first reference line 310 and the X-axis is defined as the grinding wheel fillet plane 330; the projection line of the cutting edge of the pointed tooth tool 200 on the grinding wheel fillet plane 330 is defined as the projected cutting edge line 340; the angle between the projected cutting edge line 340 and the first reference line 310 is defined as the first compensation angle; and the angle between the first reference line 310 and the first horizontal line 320 is defined as the second compensation angle.

[0083] It can be assumed that the coordinates of the preset grinding point and the center point of the grinding wheel 100 are known in the YZ plane. Therefore, the equations of the first reference line 310 and the first horizontal line 320 can be calculated based on the coordinates of the preset grinding point and the center point of the grinding wheel 100, and then the angle value of the second compensation angle can be calculated.

[0084] In the embodiments of the present invention, the cutting edge of the pointed tooth tool 200 refers to the geometric equation of the cutting edge or the tip 230 mentioned above. If the cutting edge is ground, the projected cutting edge 340 is the projection line of the cutting edge on the grinding wheel fillet plane 330. If the tip 230 is ground, the projected cutting edge 340 is the projection line of the tip 230 on the grinding wheel fillet plane 330. Therefore, for the processing of different cutting edges, the angles of the first compensation angle and the second compensation angle will also change.

[0085] As can be imagined, since the calculation of the first compensation angle requires the use of the projected edge line 340°, the calculation process for the first compensation angle is as follows:

[0086] Define the tangent vector of the cutting edge of the 200-tooth blade as: ,definition The projection vector on the 330° radius of the grinding wheel fillet plane is: Defined in the YZ plane, the unit vector of the first reference line 310 along the direction from the preset grinding point to the center point of the grinding wheel 100 is... Then the first compensation angle satisfies:

[0087] ;

[0088] in, This is the first compensation angle.

[0089] Furthermore, the unit normal vector of the 330° fillet plane of the grinding wheel is defined as follows: Then the following conditions are met: ;

[0090] Furthermore, the first reference line 310 is a unit vector along the direction from the preset grinding point to the center point of the grinding wheel 100. satisfy: ;in, This is the second compensation angle;

[0091] Furthermore, the unit normal vector of the 330° fillet plane of the grinding wheel is defined as follows: Then the following conditions are met: ;

[0092] The first compensation angle of this embodiment can be calculated by following the above steps, and then the compensation amount can be calculated.

[0093] In an embodiment of the present invention, the compensation amount is calculated as follows:

[0094] ;

[0095] in, The compensation amount in the X-axis direction for each point on the machining trajectory of the 200-tooth cutting tool is given. The compensation amount in the Y-axis direction for each point on the machining trajectory of the 200-tooth cutting tool is given. The compensation amount in the Z-axis direction for each point of the machining trajectory of the 200-tooth cutting tool; This represents the wear error value. The first compensation angle; This is the second compensation angle.

[0096] If the distance the toothed tool bar 200 moves along the X-axis is 1 in the preset machining trajectory, then the distance the toothed tool bar 200 moves along the X-axis in the corrected machining trajectory will become... The same applies to the distances moved along the Y and Z axes.

[0097] It is important to understand that the toothed cutting tool 200 includes an initial position and a machining position. The toothed cutting tool 200 moves from the initial position to the machining position after rotation. The tangent vector of the cutting edge of the toothed cutting tool 200 in the initial position is defined as follows: The tangent vector of the cutting edge of the pointed toothed tool 200 located at the machining position is... , here Corresponding to the above;

[0098] When the toothed cutter bar 200 switches from the initial position to the machining position, let the deflection angle of the toothed cutter bar 200 about axis A be . The deflection angle of the 200-tooth blade around axis B is... Then the following condition is met:

[0099] ;

[0100] Among them, the A-axis is parallel to the Z-axis, and the B-axis is parallel to the Y-axis.

[0101] In an embodiment of the present invention, reference is made to Figure 1 , Figure 2 As shown, the connection between the outer circumferential surface and the end face of the grinding wheel 100 should theoretically be a right angle. However, due to wear during processing, the connection between the outer circumferential surface and the end face of the grinding wheel 100 becomes arc-shaped. For ease of understanding, this embodiment defines it as a machining fillet. The outer circumferential surface and the end face of the disc have two connection points, meaning the grinding wheel 100 should have two machining fillets, defined as the first machining fillet 110 and the second machining fillet 120. Both the first machining fillet 110 and the second machining fillet 120 will have wear error values, and the first machining fillet 110... The wear error values ​​of the first and second machined fillets 110 and 120 may differ, but the calculation method for the wear error values ​​of the first and second machined fillets 120 is the same, which is the absolute value of the difference between the target fillet radius and the actual fillet radius. Since the wear degree of the first and second machined fillets 110 and 120 is different, the actual fillet radii processed by the first and second machined fillets 110 and 120 will differ, but the target fillet radii are the same. Therefore, the calculated wear error values ​​of the first and second machined fillets 110 and 120 are different.

[0102] For ease of understanding, in this embodiment, the wear error value of the first machining radius 110 is replaced by R1, and the wear error value of the second machining radius 120 is replaced by R2. If the first machining radius 110 is used to grind the pointed tooth cutter 200, then R1 should be used for subsequent calculations; similarly, if the second machining radius 120 is used to grind the pointed tooth cutter 200, then R2 should be used for subsequent calculations.

[0103] Furthermore, as can be seen from the above, the calculation method for the compensation amount, This represents the wear error value, where the subscript... When the subscript j equals 1, it means that the first machining radius 110 is used to grind the pointed tooth cutter 200. When the subscript j equals 2, it means that the second machining radius 120 is used to grind the pointed tooth cutter 200.

[0104] In an embodiment of the present invention, reference is made to Figure 3 As shown, the cutting edge of the pointed tooth cutter bar 200 in this embodiment includes a main cutting edge 210 and a secondary cutting edge 220. A first cutting edge fillet is formed between the cutting edge 230 and the main cutting edge 210, and a second cutting edge fillet is formed between the cutting edge 230 and the secondary cutting edge 220. The target fillet radii of the first cutting edge fillet and the second cutting edge fillet are different. The wear error value can be calculated using the actual fillet radius and the target fillet radius of the first cutting edge fillet, or it can be calculated using the actual fillet radius and the target fillet radius of the second cutting edge fillet.

[0105] It is conceivable that the tangent vectors of the main cutting edge 210, the secondary cutting edge 220, and the tool tip edge 230 will all differ, and their preset machining trajectories will also differ slightly. For ease of understanding and calculation, in this embodiment, 'a' represents the main cutting edge 210, 'b' represents the secondary cutting edge 220, and 'c' represents the tool tip edge 230. The tangent vector mentioned above is... The projection vector is First compensation angle Second compensation angle The unit normal vector is Unit vector and the deflection angle is The deflection angle is The subscript i in the equation all satisfy When the subscript i equals a, it means that the main cutting edge 210 is being ground; when the subscript i equals b, it means that the secondary cutting edge 220 is being ground; when the subscript i equals c, it means that the tip edge 230 is being ground.

[0106] According to the second aspect of the present invention, the grinding machine uses the above-described grinding wheel wear compensation method to grind the pointed tooth cutter 200. The grinding machine that uses the above-described grinding wheel wear compensation method to process the pointed tooth cutter 200 can reduce the replacement frequency and dressing frequency of the grinding wheel 100, thereby improving processing efficiency and reducing maintenance costs.

[0107] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0108] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for compensating grinding wheel wear of a toothed cutting tool, characterized in that, The pointed blade has a cutting edge and a tip edge, and the connection between the cutting edge and the tip edge forms a tip fillet, which has a target fillet radius. The grinding wheel wear compensation method includes the following steps: Obtain the actual fillet radius of the toothed cutter bar, and calculate the absolute value of the difference between the target fillet radius and the actual fillet radius, which is defined as the wear error value; If the wear error value is greater than the set value, the wear compensation strategy is executed; If the wear error value is less than or equal to the set value, output the pointed tooth cutter bar; The wear compensation strategy includes: Substitute the wear error value into the wear compensation model, and calculate the corrected machining trajectory using the wear compensation model; The pointed cutting tool is controlled to move along the corrected machining trajectory so that the grinding wheel grinds the pointed cutting tool. Before obtaining the actual fillet radius after machining by the toothed cutter, the toothed cutter must be controlled to move along a preset machining trajectory so that the grinding wheel performs initial grinding on the toothed cutter; the preset machining trajectory includes preset grinding points; defined in the YZ plane, the center of the grinding wheel is the center point of the grinding wheel; The grinding wheel wear compensation model is as follows: Calculate the first compensation angle and the second compensation angle based on the preset grinding point and the center point of the grinding wheel; The compensation amount of each point of the preset machining trajectory in the X-axis, Y-axis and Z-axis directions is calculated using the wear error value, the first compensation angle and the second compensation angle. The compensation amount is added to the preset machining trajectory to obtain the corrected machining trajectory; The compensation amount is calculated as follows: ； in, This represents the compensation amount in the X-axis direction for each point on the machining trajectory of the pointed tooth tool. This represents the compensation amount in the Y-axis direction for each point on the machining trajectory of the pointed tooth tool. The compensation amount in the Z-axis direction for each point of the machining trajectory of the pointed tooth tool; The wear error value is mentioned above; This is the first compensation angle; This is the second compensation angle.

2. The grinding wheel wear compensation method for the pointed tooth cutter bar according to claim 1, characterized in that: Define the tangent vector of the cutting edge of the toothed blade as: ; A first reference line is defined in the YZ plane, passing through the preset grinding point and the center point of the grinding wheel. The plane formed by the first reference line and the X-axis is defined as the grinding wheel fillet plane; definition The projection vector of the fillet plane of the grinding wheel is ; Defined in the YZ plane, the unit vector of the first reference line along the direction from the preset grinding point to the center point of the grinding wheel is... Then the first compensation angle satisfies: 。 3. The grinding wheel wear compensation method for the pointed tooth cutter bar according to claim 2, characterized in that: The unit normal vector of the fillet plane of the grinding wheel is defined as: Then the following condition is met: 。 4. The grinding wheel wear compensation method for the pointed tooth cutter bar according to claim 2, characterized in that: The first reference line is a unit vector along the direction from the preset grinding point to the center point of the grinding wheel. satisfy: ； in, This is the second compensation angle.

5. The grinding wheel wear compensation method for the pointed tooth cutter bar according to claim 2, characterized in that: The unit normal vector of the fillet plane of the grinding wheel is defined as: Then the following condition is met: 。 6. The grinding wheel wear compensation method for the pointed tooth cutter bar according to claim 2, characterized in that: The toothed cutting tool includes an initial position and a machining position. After rotation, the toothed cutting tool moves from the initial position to the machining position. The tangent vector of the cutting edge of the toothed cutting tool located at the initial position is defined as follows: The tangent vector of the cutting edge of the pointed cutting tool located at the machining position is... ; When the toothed cutter bar switches from the initial position to the machining position, let the deflection angle of the toothed cutter bar about axis A be . The deflection angle of the toothed blade rotating about axis B is... Then the following condition is met: ； Among them, the A-axis is parallel to the Z-axis, and the B-axis is parallel to the Y-axis.

7. The grinding wheel wear compensation method for the pointed tooth cutter bar according to claim 1, characterized in that: Defined in the YZ plane, the straight line passing through the preset grinding point and the center point of the grinding wheel is the first reference line, and the horizontal line passing through the center point of the grinding wheel is the first horizontal line; The plane formed by the first reference line and the X-axis is defined as the grinding wheel fillet plane; The projection line of the cutting edge of the toothed cutter bar onto the rounded corner plane of the grinding wheel is defined as the projected cutting edge line; The angle between the projected blade line and the first reference line is the first compensation angle; The angle between the first reference line and the first horizontal line is the second compensation angle.

8. A knife sharpening machine, characterized in that: The grinding wheel wear compensation method using the pointed tooth cutter bar as described in any one of claims 1 to 7 is adopted.

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