Grinding machine processing method, device, storage medium, program product and grinding machine apparatus

Abstract

This application provides a grinding machine processing method, apparatus, storage medium, program product, and grinding machine equipment. The grinding machine processing method includes: measuring the grinding wheel based on an image acquired by an image acquisition unit during the grinding wheel's rotation to obtain measurement information related to the grinding wheel; the image acquisition unit can move independently relative to the grinding wheel, and the path of the image acquisition unit's movement is parallel to the path of the grinding wheel's movement; converting the measurement information based on pre-measured conversion information to obtain processing information for grinding wheel tool setting; acquiring target execution information related to the target workpiece; and, upon confirming that the target workpiece has been fixed by a fixture, instructing the processing device to perform tool setting on the target workpiece based on the processing information; the processing device includes a fixture and a grinding wheel; and instructing the processing device to process the target workpiece based on the target execution information. This application can achieve automated tool setting operation, improving the efficiency of grinding machine processing and the accuracy of workpiece processing.

Description

[Technical Field]

[0001] This invention relates to the field of grinding technology, and more specifically, this application relates to a grinding method, apparatus, storage medium, program product, and grinding equipment. [Background Technology]

[0002] Grinding is a machining process that uses grinding wheels to grind workpieces. It involves complex processes, requires precise steps, places high demands on the workpiece, and suffers from low efficiency. To lower the barrier to entry and improve efficiency, existing grinding solutions typically incorporate automated workflows. However, the degree of automation is low, and each step still requires the workpiece's input, resulting in unsatisfactory machining accuracy and efficiency.

[0003] The accuracy of the grinding wheel tool setting process directly affects the machining precision of the workpiece. However, current grinding wheel tool setting is generally performed manually by the operator. During the tool setting operation, the operator controls the grinding wheel to move closer to the workpiece surface to be ground until the grinding wheel contacts the workpiece and generates a spark. The tool setting status is confirmed by observing the spark. This tool setting operation is time-consuming, labor-intensive, and has low production efficiency. Slight mistakes in the operator's operation can easily lead to the grinding wheel breaking and flying out, causing accidents. Furthermore, it is difficult to guarantee the stability of the tool setting results by observing the spark.

[0004] Therefore, it is necessary to design a new grinding method, apparatus, storage medium, program product, and grinding equipment to overcome the above problems. [Summary of the Invention]

[0005] To solve at least one of the above-mentioned technical problems, this invention provides a grinding machine processing method, apparatus, storage medium, program product, and grinding machine equipment. The technical solution is as follows:

[0006] In a first aspect, embodiments of this application provide a grinding machine processing method, including:

[0007] The grinding wheel is measured based on the image of the grinding wheel acquired by the image acquisition unit during the rotation of the grinding wheel, and measurement information related to the grinding wheel is obtained; the image acquisition unit can move independently relative to the grinding wheel, and the path of the image acquisition unit is parallel to the path of the grinding wheel.

[0008] Based on the conversion information obtained from pre-measurement, the measurement information is converted to obtain machining information for grinding wheel tool setting;

[0009] Obtain target execution information related to the target workpiece being processed;

[0010] Once it is confirmed that the target workpiece has been fixed by the fixture, the machining device is instructed to perform tool setting on the target workpiece based on the machining information; the machining device includes the fixture and the grinding wheel.

[0011] Based on the target execution information, the processing device is instructed to process the target workpiece.

[0012] In one feasible embodiment, the step of measuring the grinding wheel based on the image of the grinding wheel acquired by the image acquisition unit during the grinding wheel's rotation, to obtain measurement information related to the grinding wheel, includes:

[0013] If it is determined that the image acquisition unit is in the first position and the grinding wheel is in the second position, then the grinding wheel is activated and the image acquisition unit is invoked to acquire at least two images of the grinding wheel during its rotation; the relative positions between the first position and the second position are such that the images of the grinding wheel acquired by the image acquisition unit show at least two sides and the bottom of the grinding wheel;

[0014] The grinding wheel image acquired by the image acquisition unit is subjected to image synthesis processing to obtain a synthesized image;

[0015] Image recognition is performed on the synthesized image to obtain measurement information related to the grinding wheel.

[0016] In one feasible embodiment, the path of the grinding wheel moving vertically corresponds to the machining spindle; the path of the image acquisition unit moving vertically corresponds to the measuring spindle; and the path of the fixing fixture moving horizontally corresponds to the horizontal axis.

[0017] Wherein, the measuring spindle and the horizontal axis correspond to the measuring coordinate system; the machining spindle and the horizontal axis correspond to the machining coordinate system;

[0018] The measurement information includes coordinate information in the measurement coordinate system;

[0019] The transformation information includes the transformation relationship between the measurement coordinate system and the machining coordinate system.

[0020] In one feasible embodiment, the conversion information is obtained by performing the following measurement operation:

[0021] When it is determined that the measurement object fixed by the fixture is located on the machining spindle, the fixture and the image acquisition unit are instructed to move at preset distances along the same moving direction, and the image acquisition unit is called to acquire a measurement image related to the measurement object after each movement into place;

[0022] Based on the first coordinate information of the measured object in the processing coordinate system after each movement into place, and the second coordinate information in the measurement coordinate system obtained by recognizing the measurement image, a transformation relationship between the measurement coordinate system and the processing coordinate system is constructed.

[0023] In one feasible embodiment, the path of the grinding wheel moving vertically corresponds to the machining spindle, the path of the image acquisition unit moving vertically corresponds to the measuring spindle, and the path of the fixing fixture moving horizontally corresponds to the horizontal axis.

[0024] The process of converting the measurement information based on pre-measured conversion information to obtain processing information includes:

[0025] Based on the position information of the corresponding reference position when the fixed fixture fixes the target workpiece, and the measurement information, the first tool setting information of the grinding wheel aligned with the reference position on the horizontal axis is determined;

[0026] Based on the conversion information obtained from the pre-measurement, the first deviation information between the current position of the grinding wheel and the reference position on the fixed fixture used to fix the target workpiece on the measuring spindle is converted to obtain the second deviation information between the current position of the grinding wheel and the reference position on the machining spindle, and the second tool setting information for aligning the grinding wheel with the reference position on the machining spindle is determined based on the second deviation information.

[0027] The machining information is determined based on the first tool setting information and the second tool setting information;

[0028] The position information of the reference position includes position information measured by fixing a preset standard workpiece on the fixed fixture.

[0029] In one feasible embodiment, prior to performing the grinding wheel measurement, the position information of the reference position is determined by performing the following operations:

[0030] When it is determined that a preset standard workpiece is fixed on the fixing fixture, the image acquisition unit and / or the fixing fixture are moved so that a standard image is acquired by the image acquisition unit, which includes the image content of the third contour angle of the standard workpiece.

[0031] Based on the size information of the standard workpiece and the position information of the third contour angle of the standard workpiece shown in the standard image, the position information of the fourth contour angle of the standard workpiece on the fixing fixture is determined, so as to serve as the reference position information for fixing the target workpiece on the fixing fixture.

[0032] In one feasible embodiment, obtaining target execution information related to the processing target workpiece includes:

[0033] Obtain instruction information for processing the target workpiece, the instruction information including the drawing of the target workpiece to be processed and / or the processing information input by the operation object;

[0034] The instruction information is parsed to obtain the machining parameters corresponding to the target workpiece and the machining start position of each cut made by the grinding wheel on the target workpiece, and the target execution information is obtained based on the machining parameters and the machining start position.

[0035] In one feasible embodiment, obtaining target execution information related to the processing target workpiece includes:

[0036] Based on the obtained instruction information, determine the initial execution information related to the processing;

[0037] Before the target workpiece is placed, the grinding wheel and / or the fixture are instructed to move based on the initial execution information to obtain the simulation results of the simulated machining.

[0038] Based on the simulation results and the indication information, the initial execution information is corrected to obtain the target execution information.

[0039] In one feasible embodiment, instructing the processing device to process the target workpiece based on the target execution information includes:

[0040] Based on the information related to trial cutting in the target execution information, the grinding wheel is instructed to perform a trial cutting operation; the information related to trial cutting includes the machining allowance size set based on the first cut.

[0041] Obtain the first dimension information of the trial cut and the second dimension information remaining in the processing allowance dimension, and correct the target execution information based on the comparison result between the two dimension information;

[0042] The processing device is instructed to process the target workpiece based on the corrected target execution information.

[0043] In one feasible embodiment, the step of instructing the processing device to process the target workpiece based on the target execution information includes, after at least one groove of the target workpiece has been processed, performing the following operations:

[0044] Based on the workpiece machining properties and the grinding wheel properties, the grinding wheel is instructed to be dressed.

[0045] After confirming that the grinding wheel dressing is completed, the grinding wheel measurement operation is performed and the updated machining information is calculated. Based on the updated machining information, the machining device is instructed to perform tool setting on the target workpiece.

[0046] In one feasible embodiment, instructing the processing device to process the target workpiece based on the target execution information includes repeatedly performing the following compensation operation until the error between the processed workpiece size and the workpiece size represented by the instruction information is less than a preset error range:

[0047] When the processing of the target workpiece is completed, the image acquisition unit is invoked to acquire images of each groove processed in the target workpiece, and a comparison image corresponding to each groove is obtained.

[0048] If the size error between the workpiece size shown in the comparison image and the workpiece size represented by the indication information exceeds a preset error range, and at least one groove represented by the indication information has a size larger than the groove size shown in the comparison image, then the execution information is corrected, and the grinding wheel is instructed to continue processing the current target workpiece based on the corrected execution information.

[0049] In one feasible embodiment, the path of the image acquisition unit moving in the vertical direction corresponds to the measurement axis; the path of the fixing fixture moving in the horizontal direction corresponds to the horizontal axis.

[0050] Before performing grinding wheel measurement, the method also includes: confirming that the positions of the image acquisition unit and the fixing fixture on their respective coordinate axes meet the preset calibration requirements;

[0051] The preset calibration requirements include: the set of measurement points on the calibration object shown in the calibration image acquired by the image acquisition unit matches the set of standard points on the calibration object; the calibration image includes the image acquired by the image acquisition unit when the calibration object is fixed on the fixture.

[0052] In one feasible embodiment, the calibration object has multiple dots arranged on the side facing the image acquisition unit, and the dot spacing in the central area is different from the dot spacing in the non-central area;

[0053] Determining that the set of measurement points on the calibration object shown in the calibration image acquired by the image acquisition unit matches the set of standard points on the calibration object includes, upon confirming that the calibration object has been fixed by the fixing fixture, performing at least one of the following:

[0054] The position of the image acquisition unit and / or the position of the fixing fixture are adjusted until the calibration image acquired by the image acquisition unit shows the central region of the calibration object. Then it is confirmed that the first set of measurement points included in the central region of the calibration object shown in the calibration image acquired by the image acquisition unit matches the first set of standard points on the calibration object.

[0055] The position of the image acquisition unit and / or the position of the fixing fixture are adjusted until the deviation between the second set of measurement points in the non-central region shown in the correction image acquired by the image acquisition unit and the second set of standard points in the non-central region formed by the multiple dots in the calibration object is less than a preset threshold. Then, it is determined that the second set of measurement points on the calibration object shown in the correction image acquired by the image acquisition unit matches the second set of standard points on the calibration object.

[0056] Secondly, embodiments of this application provide a grinding machine processing apparatus, comprising:

[0057] The grinding wheel measurement module is used to perform grinding wheel measurement based on the grinding wheel image acquired by the image acquisition unit during the grinding wheel rotation, and to obtain measurement information related to the grinding wheel.

[0058] The information conversion module is used to convert the measurement information based on the pre-measured conversion information to obtain machining information for grinding wheel tool setting;

[0059] The information acquisition module is used to acquire target execution information related to the target workpiece being processed;

[0060] A grinding wheel tool setting module is used to instruct the machining device to perform tool setting on the target workpiece based on the machining information when it is confirmed that the target workpiece has been fixed by the fixing fixture; the machining device includes the fixing fixture and the grinding wheel.

[0061] The workpiece processing module is used to instruct the processing device to process the target workpiece based on the target execution information.

[0062] Thirdly, embodiments of this application provide a measuring device, which includes a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the method provided in the first aspect above.

[0063] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method provided in the first aspect above.

[0064] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the method provided in the first aspect.

[0065] In a sixth aspect, embodiments of this application provide a grinding machine apparatus, including: a processing device and a measuring device; the measuring device is used to perform the steps of the method provided in the first aspect to instruct the processing device to perform tool setting and processing on the target workpiece.

[0066] The beneficial effects of the technical solutions provided in this application are:

[0067] This application provides a grinding machine processing method. Specifically, firstly, grinding wheel measurement is performed. During the measurement process, an image acquisition unit is used to acquire images of the grinding wheel during its rotation. Based on the acquired images, grinding wheel measurement is performed to obtain measurement information related to the grinding wheel. The image acquisition unit can move independently relative to the grinding wheel, and its movement path is parallel to the grinding wheel's movement path. This arrangement not only allows the images acquired by the image acquisition unit to indicate the position of the grinding wheel in different movement directions (such as its position on the Z-axis and / or Y-axis), but also improves the grinding efficiency. This design improves tool setting accuracy in both the Z-axis and Y-axis directions, enhancing the machining accuracy and efficiency of the grinding wheel during workpiece processing. It enables the grinding of grooves on the target workpiece. Furthermore, the structure allows the image acquisition unit to capture images of the lower right corner of the grinding wheel and the target workpiece, providing a wide field of view. This avoids measurement inaccuracies caused by excessively large target workpieces fixed to the fixture (measurement accuracy is not limited by the size of the target workpiece), ensuring high measurement precision. Based on this, the measurement information is converted using pre-measured conversion information to obtain machining information for grinding wheel tool setting. Subsequently, target execution information related to machining the target workpiece can be acquired. Upon receiving a confirmation command that the target workpiece has been fixed by the fixture, the machining device, including the fixture and grinding wheel, is instructed to perform tool setting on the target workpiece based on the machining information. Finally, the machining device is instructed to process the target workpiece based on the target execution information. The implementation of this application can employ image processing technology for grinding wheel measurement to obtain machining information for grinding wheel tool setting, thereby achieving automated tool setting operations. Considering that the outer contour of the grinding wheel may be irregular, to improve the accuracy of grinding wheel measurement, the image acquisition unit acquires images of the grinding wheel during its rotation process. This reduces measurement data differences caused by variations in dressing results at different positions of the grinding wheel and also helps improve the stability of the measured grinding wheel data. Based on this, after converting the measurement information related to the grinding wheel into machining information for grinding wheel tool setting, automated tool setting operations can be achieved without the intervention of the workpiece, effectively improving the efficiency and accuracy of grinding wheel tool setting. In addition, after tool setting, the acquired target execution information can be used to instruct the machining device carrying the measured grinding wheel to perform automated machining of the target workpiece, improving the efficiency of grinding machine processing. [Attached Image Description]

[0068] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0069] Figure 1 A flowchart of a grinding machine processing method provided in an embodiment of this application;

[0070] Figure 2 A structural block diagram of a grinding machine provided in an embodiment of this application;

[0071] Figure 3 A schematic diagram of a biaxial correction provided in an embodiment of this application;

[0072] Figure 4 A front view of a calibration object provided in an embodiment of this application;

[0073] Figure 5 A schematic diagram illustrating the measurement of grinding wheel profile angles provided in this application embodiment;

[0074] Figure 6 A schematic diagram of a calibration fixture provided in an embodiment of this application;

[0075] Figure 7 A schematic diagram of a grinding wheel tool setting method provided in an embodiment of this application;

[0076] Figure 8 This is a schematic diagram of a trial machining of the first cut provided in an embodiment of this application;

[0077] Figure 9 This is a schematic diagram of the structure of a grinding machine provided in an embodiment of this application;

[0078] Figure 10 This is a schematic diagram of the frame of a grinding machine provided in an embodiment of this application;

[0079] Figure 11 A schematic diagram of a grinding process provided in an embodiment of this application;

[0080] Figure 12 A block diagram of a grinding machine processing apparatus provided in an embodiment of this application;

[0081] Figure 13 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

Detailed Implementation Methods

[0082] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0083] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” can be implemented as “A,” or as “B,” or as “A and B.”

[0084] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0085] This application specifically relates to grinding machine processing technology. In existing grinding machine processing, traditional hand-cranked grinding machines are expensive in terms of manpower due to their complex processing flow and precise process requirements, and their low processing efficiency. To solve this problem, a solution is provided that reduces the business threshold of the operator by standardizing and proceduralizing the processing flow, while improving processing efficiency and ensuring processing accuracy. However, it still has many shortcomings in industrial applications, such as (1) low degree of automation, each process of grinding machine processing requires human intervention, resulting in high manpower costs and low efficiency; (2) existing grinding machine equipment is limited by the precision of the machine tool itself, and there is often a bottleneck in improving the precision of the machine tool mechanism; (3) existing grinding machine equipment does not have the ability to measure the processing results itself, and it needs to use third-party instruments for measurement. There are many disassembly and assembly actions in the process, which reduces the utilization rate of the grinding machine (utilization rate refers to the proportion of time that the equipment occupies to create value within the time available, which is the ratio of the actual production quantity of a machine to the possible production quantity. The higher the time spent on disassembly and assembly and adjustment, the lower the utilization rate).

[0086] Furthermore, as a crucial step in grinding machine processing, grinding wheel setting is currently typically performed manually by the operator. This involves manually controlling the grinding wheel to move axially towards the workpiece's grinding surface until it contacts the workpiece and generates sparks. The operator then uses these sparks to confirm the setting status (ensuring the grinding wheel contacts the workpiece for setting). This manual setting method is not only time-consuming, labor-intensive, and inefficient, but also carries the risk of the grinding wheel breaking and flying out, potentially causing accidents if the operator is not careful. Moreover, observing the sparks cannot guarantee the stability of the setting results.

[0087] To address at least one technical problem in the existing technology, this application proposes a grinding machine processing solution that applies visual precision measurement technology to grinding machine processing. The image acquisition unit directly captures and measures the grinding wheel, enabling real-time alignment calculation between the grinding wheel and the workpiece. This solves the problem of the wear of the tool dresser affecting the grinding wheel dressing deviation and thus improving the accuracy of tool setting. Furthermore, the acquired target execution information instructs the processing device carrying the measured grinding wheel to perform automated processing of the target workpiece, effectively improving the efficiency of grinding machine processing.

[0088] The technical solutions of this application and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0089] The following section will first describe the grinding equipment involved in the implementation of this application.

[0090] Specifically, such as Figure 9 and Figure 10 As shown, the grinding equipment may include a measuring device and a processing device, which can be connected via network port communication.

[0091] The measuring device (also known as the host computer) can be used for tasks such as grinding wheel measurement, fixture calibration, and issuing execution commands to the machining device. The measuring device may include an image acquisition unit (such as...). Figure 9 The device includes an object with image capture function such as a camera, a light source unit (which can move synchronously with the image acquisition unit and provide a light source during image acquisition to improve the stability of the acquired image), and a measurement control unit. The measurement control unit may include a memory and a processor, on which a computer program (such as a measurement system) is stored.

[0092] The machining device (also known as the lower-level machine) includes a fixed fixture (such as a magnetic table or other tools used to fix the workpiece), tools such as grinding wheels, and a machining control unit. The machining control unit may include a memory and a processor, on which a computer program (such as a machining system) is stored. The machining device can control the fixed fixture and / or grinding wheel to machine the target workpiece based on instructions issued by the measuring device, or it can send data related to workpiece machining to the measuring device.

[0093] Alternatively, the measuring device and the processing device can be independent electronic devices or an integrated device.

[0094] In one example, such as Figure 2 As shown, the path of the image acquisition unit moving vertically corresponds to the measuring spindle (also known as the CCD axis), the path of the light source unit moving vertically corresponds to the light source axis, and the path of the grinding wheel moving vertically corresponds to the machining spindle (also known as the Z-axis). Optionally, as... Figure 2 As shown, the measuring spindle, light source axis, and machining spindle are relatively parallel. This is adapted to the relative mounting positions of the image acquisition unit and the grinding wheel. Considering that the workpiece's machining accuracy depends on the dimensional accuracy in the Z and Y axes, the fixing fixture is positioned horizontally. Figure 2 The path of movement (shown in the forward / backward direction) is considered as the horizontal axis (also known as the Y-axis). Accordingly, in the embodiments of this application, it can be assumed that... Figure 2 The X-axis direction does not require measurement; therefore, the coordinate information shown in the X-axis direction can be considered as 0 in the coordinate information representation. The measuring spindle, horizontal axis, and X-axis can form a measuring coordinate system, while the machining spindle, horizontal axis, and X-axis can form a machining coordinate system. In this configuration, the displacement data of the grinding wheel moving along the Z-axis and the displacement data of the fixed fixture moving along the Y-axis can be acquired via the image acquisition unit.

[0095] The grinding method described below is based on the embodiments of this application.

[0096] Specifically, the execution subject of the method provided in this application embodiment can be a measuring device or a server; the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers (such as a distributed cloud storage system), or a cloud server that provides cloud computing and cloud storage services.

[0097] In one example, if the executing entity is a server, it can acquire data such as grinding wheel image, target execution information, and target workpiece fixation status through measuring and / or processing devices. After processing the acquired data to obtain the results, it can issue instructions to the measuring and / or processing devices based on the processing results.

[0098] Specifically, such as Figure 1As shown, the grinding method includes steps S101-S105:

[0099] Step S101: Based on the image of the grinding wheel acquired by the image acquisition unit during the rotation of the grinding wheel, perform grinding wheel measurement to obtain measurement information related to the grinding wheel.

[0100] The image acquisition unit can move independently relative to the grinding wheel, and the path of movement of the image acquisition unit is parallel to the path of movement of the grinding wheel. For example, when the grinding wheel can move vertically, the image acquisition unit can also move vertically, and both are on parallel movement paths, such as... Figure 2 As shown in the diagram, this structure not only allows the images acquired by the image acquisition unit to indicate the position of the grinding wheel in different directions of movement (such as the position of the grinding wheel on the Z-axis and / or Y-axis), which is beneficial for improving the tool setting accuracy in the Z-axis and Y-axis directions, but also for improving the machining accuracy and efficiency of the grinding wheel during workpiece processing, enabling the grinding of grooves on the workpiece; this structure also allows the image acquisition unit to photograph the target workpiece, thus enabling the image acquisition unit to capture images with a wide field of view. This avoids the problem of inaccurate measurement accuracy caused by the target workpiece being too large when fixed on the fixture. In other words, the measurement accuracy is not limited by the size of the target workpiece, which helps to ensure measurement accuracy.

[0101] Optionally, the grinding wheel measurement operation can be performed at any stage of machining the target workpiece. For example, in order to improve the machining accuracy of the workpiece and avoid errors caused by the irregularity of the outer contour of the grinding wheel, the current measurement information related to the grinding wheel can be determined for each target workpiece to be machined before the grinding wheel is set. In another example, in order to avoid the problem of low machining accuracy of the workpiece due to the wear of the grinding wheel during the machining process, the current measurement information related to the grinding wheel can also be determined during the machining of a certain target workpiece.

[0102] In particular, when introducing visual measurement technology for grinding wheel measurement, in order to avoid measurement errors caused by the irregularity of the outer contour of the grinding wheel, the image of the grinding wheel can be acquired during the rotation of the grinding wheel, which can also effectively improve the processing accuracy in the subsequent grinding wheel operation process.

[0103] Optionally, image recognition processing can be performed on the grinding wheel image to obtain measurement information related to the grinding wheel. For example, such as... Figure 5 As shown, image recognition technology can be used to identify the profile angle and width of the grinding wheel in the image.

[0104] Step S102: Based on the conversion information obtained from the pre-measurement, the measurement information is converted to obtain the machining information for grinding wheel tool setting.

[0105] Since the image of the grinding wheel acquired by the image acquisition unit indicates the measurement information that can be determined from the position of the image acquisition unit, and the position of the grinding wheel is different from the position of the image acquisition unit, in order to improve the accuracy of grinding, the measurement information can be converted by the conversion information obtained from the pre-measured information to obtain the processing information for grinding wheel tool setting.

[0106] Optionally, the transformation information includes the transformation relationship between the measurement coordinate system and the machining coordinate system. The measurement information may include coordinate information corresponding to the measurement coordinate system, such as the coordinate information of the lower right corner of the outer contour of the grinding wheel in the measurement coordinate system; based on this, the coordinate information of the lower right corner of the outer contour of the grinding wheel in the machining coordinate system can be obtained.

[0107] Step S103: Obtain target execution information related to the target workpiece being processed.

[0108] Specifically, for the target workpiece to be processed, relevant target execution information can be obtained to determine the parameters in the target workpiece processing process through the measuring device, and the processing device can be instructed to execute the workpiece processing program after configuring the corresponding parameters.

[0109] Step S104: When it is confirmed that the target workpiece has been fixed by the fixture, the machining device is instructed to perform tool setting on the target workpiece based on the machining information.

[0110] The target workpiece can be fixed using a fixture. It is understood that, to improve machining accuracy, the fixture is marked with positions for fixing the workpiece. For example, such as... Figure 7 As shown, if the fixed fixture is a magnetic table, a stop bar can be installed on the magnetic table. The stop bar can be used to set the reference position of the workpiece to be processed. When the target workpiece is fixed by the magnetic table, the position of the target workpiece on the magnetic table can be known through the pre-calibrated reference position. Based on this, in the process of determining the processing information mentioned above, the measurement information related to the grinding wheel and the coordinate information of the reference position can be considered to obtain processing information suitable for the target workpiece. Then, the processing device can be instructed to perform tool setting on the target workpiece based on the processing information. For example, if the position of the grinding wheel is set as the Z-axis, the position of the fixed fixture on the Y-axis is indicated so that the lower right corner of the grinding wheel is aligned with the reference position; the height dimension of the target workpiece is used to indicate the movement of the grinding wheel on the Z-axis so that the grinding wheel contacts the target workpiece.

[0111] Step S105: Instruct the processing device to process the target workpiece based on the target execution information.

[0112] Optionally, after the automated tool setting operation is completed, the machining device can be instructed to process the target workpiece based on the acquired target execution information to complete the automated machining operation.

[0113] In this embodiment, image processing technology can be used to measure the grinding wheel to obtain machining information for grinding wheel tool setting, thereby enabling automated tool setting. Considering that the outer contour of the grinding wheel may be irregular, to improve the accuracy of grinding wheel measurement, the image acquisition unit collects images of the grinding wheel during its rotation process. This reduces the difference in measurement data caused by different dressing results at different positions on the grinding wheel, and also helps to improve the stability of the measured grinding wheel data. Based on this, after converting the measurement information related to the grinding wheel into machining information for grinding wheel tool setting, automated tool setting can be achieved without the intervention of the operation object, which can effectively improve the efficiency and accuracy of grinding wheel tool setting. In addition, after tool setting, the machining device carrying the measured grinding wheel can be instructed to perform automated machining on the target workpiece based on the acquired target execution information, thereby improving the efficiency of grinding machine processing.

[0114] The following is combined with Figures 2-11 The operation of each stage of grinding in the embodiments of this application and the data obtained in advance before processing are described in detail.

[0115] In one feasible embodiment, the grinding machine is not positionally calibrated after leaving the factory. If it is directly applied to workpiece machining, low machining accuracy may result due to issues such as image distortion and deviation of the image acquisition unit's field of view center from the measurement area. To improve machining accuracy and ensure the accuracy of measurements taken by the image acquisition unit, calibration can be performed before workpiece machining (e.g., upon startup) to determine the working range of the image acquisition unit and the fixed fixture after calibration (e.g., the movable path of the image acquisition unit and the fixed fixture while meeting measurement accuracy requirements).

[0116] Optionally, when the positions of the image acquisition unit and the fixed fixture on their respective coordinate axes meet the preset correction requirements, the correction can be considered complete; this correction can be called motion correction, which can be used to correct the accuracy of the measurement main axis (also known as the CCD axis) and the horizontal axis (also known as the Y axis).

[0117] The preset calibration requirements may include at least one of the following requirements 1 and 2:

[0118] Requirement 1: The set of measurement points on the calibration object shown in the calibration image acquired by the image acquisition unit matches the set of standard points on the calibration object; wherein, the calibration image includes an image acquired by the image acquisition unit when the calibration object is fixed on the fixture. Optionally, as follows... Figure 2 and Figure 4As shown, the calibration object can be a halftone screen with multiple dots arranged on the side facing the image acquisition unit. The dot spacing in the central region differs from that in the non-central region; for example, the dot spacing in the central region can be half that in the non-central region. This ensures that the image content shown in the calibrated image clearly distinguishes between the central and non-central regions. The central region of the calibration object can be used to calibrate the field of view center of the image acquisition unit, while the entire area of ​​the calibration object can be used to calibrate the area of ​​the image acquired by the image acquisition unit.

[0119] In one example, confirming that the set of measurement points on the calibration object shown in the calibration image acquired by the image acquisition unit matches the set of standard points on the calibration object includes performing at least one of the following operations when confirming that the calibration object has been fixed by the fixing fixture:

[0120] Operation 1: Instruct the adjustment of the position of the image acquisition unit and / or the position of the fixing fixture until the calibration image acquired by the image acquisition unit shows the central area of ​​the calibration object. Then confirm that the first set of measurement points in the central area of ​​the calibration object shown in the calibration image acquired by the image acquisition unit matches the first set of standard points on the calibration object.

[0121] During the calibration process, the image acquisition unit can be moved on the measuring spindle and / or the fixed fixture can be moved on the horizontal axis so that the central area of ​​the calibrated object can be shown in the calibration image captured by the image acquisition unit (i.e., all dots in the central area appear in the calibration image). At this time, it indicates that the center of the field of view of the image acquisition unit is in the effective measurement area of ​​the grinding machine.

[0122] Optionally, the first measurement point set includes the dot set information obtained by image recognition of the central region of the calibration object shown in the calibration image; the first standard point set includes the dot set information of the actual calibrated object. When determining whether the two match, in addition to the calibration image showing the central region of the calibration object, the deviation value between the first measurement point set and the first standard point set can also be considered.

[0123] Operation 2: Instruct the adjustment of the position of the image acquisition unit and / or the position of the fixing fixture until the deviation between the second set of measurement points in the non-central area shown in the calibration image acquired by the image acquisition unit and the second set of standard points in the non-central area formed by multiple dots in the calibration object is less than a preset threshold. Then it is determined that the second set of measurement points on the calibration object shown in the calibration image acquired by the image acquisition unit matches the second set of standard points on the calibration object.

[0124] During the calibration process, the image acquisition unit can be moved on the main measurement axis and / or the fixed fixture can be moved on the horizontal axis. This ensures that the deviation between the second set of measurement points (non-central areas) shown in the calibration image captured by the image acquisition unit and the second set of standard points (non-central areas formed by multiple dots) in the calibration object is less than a preset threshold. This process can be performed using a non-linear fitting calibration method, that is, polynomial fitting of the two-dimensional point set (second measurement point set and second standard point set). After calibration, if the deviation is less than the preset threshold (e.g., 1u, the threshold setting is related to the spacing of dots in the calibration object), it can be determined that the current measurement accuracy meets the requirements.

[0125] Requirement 2: The grinding wheel measurement operation to be performed is not the first operation, that is, the grinding equipment is not used for workpiece processing for the first time. This indicates that the grinding equipment is currently in a calibrated state or that the relative positions of its processing device and measuring device meet the requirements of processing accuracy.

[0126] In this embodiment of the application, in order to ensure measurement accuracy, the center of the field of view of the image acquisition unit can be corrected first through the above operation 1 to eliminate the image distortion problem; then, for the measurement of workpieces across the field of view, it can be completed through the above operation 2. A pre-customized calibration object (such as a screen) is used, and the measurement point set on the calibration object is collected by moving the image acquisition unit and / or fixing the fixture. The nonlinear fitting correction between the measurement point set and the standard point set is performed to realize the precise measurement of the workpiece size placed on the fixed fixture perpendicular to the optical path plane of the image acquisition unit.

[0127] In one feasible embodiment, to ensure the accuracy of workpiece machining, a grinding wheel measurement operation can be performed each time a target workpiece is machined to obtain the latest measurement information related to the grinding wheel.

[0128] Optionally, in step S101, grinding wheel measurement is performed based on the grinding wheel image acquired by the image acquisition unit during the grinding wheel rotation to obtain grinding wheel-related measurement information, including the following steps A1-A3:

[0129] Step A1: If it is determined that the image acquisition unit is in the first position and the grinding wheel is in the second position, then instruct the grinding wheel to be started and call the image acquisition unit to acquire at least two images of the grinding wheel during its rotation; the relative positions between the first and second positions are such that the images of the grinding wheel acquired by the image acquisition unit show at least the two sides and the bottom of the grinding wheel.

[0130] Step A2: Perform image synthesis processing on the grinding wheel image acquired by the image acquisition unit to obtain a synthesized image.

[0131] Step A3: Perform image recognition on the synthesized image to obtain measurement information related to the grinding wheel.

[0132] The relative position between the first position ptccd and the second position pttz can be obtained by moving the image acquisition unit on the measuring spindle and / or moving the grinding wheel on the machining spindle. For example, at this relative position, the image acquisition unit can capture images such as... Figure 5 The image shown is of a grinding wheel. Optionally, the first position ptccd of the image acquisition unit and the second position ptz of the grinding wheel can be within the working range indicated after correction in the above embodiment.

[0133] Since the grinding wheel is rotating during image acquisition, the multiple images captured by the image acquisition unit through continuous snapshots may correspond to different positions on the grinding wheel. Accordingly, a composite image of the grinding wheel's maximum outer contour can be obtained by overlaying and synthesizing the images. Image recognition can then be performed on this composite image to measure the bottom of the grinding wheel and its width. For example, the wheel width data (which can be used to calculate machining parameters) can be obtained, and the lower right corner of the grinding wheel can be measured and calculated. Figure 5 The outline angle shown) and the center of the field of view of the image acquisition unit (such as) Figure 7 The offset information V of pt0 shown w2c =(0,y w2c ,z w2c (This can be used for automatic tool setting calculations). For example, when performing image recognition on a synthetic image, image features can be extracted from the synthetic image to obtain feature information, and the feature information can be processed to obtain measurement information related to the grinding wheel.

[0134] Optionally, after the acquisition of the grinding wheel image is completed, the grinding wheel can be automatically triggered to enter a stop working state, so as to reduce the resources consumed by the rotation of the grinding wheel during the grinding wheel measurement process.

[0135] In this embodiment, image synthesis is used to accurately position and measure the grinding wheel, which reduces measurement errors caused by irregular outer contours of the grinding wheel due to operations such as sand dressing, and improves the stability of grinding wheel measurement and the accuracy of the measured data.

[0136] In one feasible embodiment, to achieve precision machining, the measurement and positioning of the grinding wheel during online operation requires converting the result data in the measurement coordinate system to the result data in the machining coordinate system. To improve the efficiency of online operation and ensure machining accuracy, a transformation relationship between the measurement coordinate system and the machining coordinate system can be pre-established offline. Then, during online operation, when measurement information related to the grinding wheel is obtained, the information can be converted using the pre-established transformation relationship to obtain the machining information of the grinding wheel in the machining coordinate system. It is understood that since the difference between the measurement coordinate system and the machining coordinate system lies in the measurement spindle and the machining spindle, the transformation relationship indicates the transformation relationship between the measurement spindle and the machining spindle. Correspondingly, the construction of the transformation relationship can also be understood as a correction between the measurement spindle and the machining spindle; this correction can be called dual-axis correction.

[0137] Optionally, the transformation information, i.e., the construction of the transformation relationship, can be obtained by performing the measurement operations in steps B1-B2 below:

[0138] Step B1: When the measurement object fixed by the fixture is located on the machining spindle, instruct the fixture and the image acquisition unit to move at preset distances along the same moving direction, and call the image acquisition unit to acquire measurement images related to the measurement object after each movement into place.

[0139] Step B2: Based on the first coordinate information of the measured object in the machining coordinate system after each movement into place, and the second coordinate information in the measurement coordinate system obtained by recognizing the measurement image, construct the transformation relationship between the measurement coordinate system and the machining coordinate system.

[0140] One coordinate in the measurement coordinate system can be exemplified as pt. m =[x m y m z m [1], convert it to the coordinates corresponding to pt in the machining coordinate system. g =[x g y g z g 1] The conversion relationship between the two can be shown by the following formula (1):

[0141]

[0142] In this embodiment, a measurement object can be placed on the machining spindle (the measurement object can be fixed at the position of the machining spindle by a fixture), and then the measurement object and the image acquisition unit can be controlled to move at a preset distance at intervals. After each movement, the image acquisition unit acquires a measurement image related to the measurement object. At this time, the first coordinate information of the measurement object in the machining coordinate system after each movement is obtained. The second coordinate information of the measurement object in the measurement coordinate system after each movement can be obtained through the measurement image. Based on multiple sets of first coordinate information and second coordinate information, the parameters s and offset in the above formula (1) can be calculated by the least squares method. After clarifying the parameters in formula (1), when the position information of an object (such as a grinding wheel, a workpiece to be processed, etc.) in the measurement coordinate system is obtained by image acquisition through the image acquisition device, it can be converted into position information in the machining coordinate system by formula (1).

[0143] For example, assuming the conversion relationship is constructed based on the lower right corner of the object being measured (this is just an example; it could also be the center of the object, or any position where the object's height on the Z-axis is clearly defined), initially, the lower right corner of the object can be aligned with the machining spindle, and the coordinates of the lower right corner of the object on the machining spindle at this time are recorded as Z1. The coordinates of the object on the measuring spindle as shown in the measurement image acquired by the image acquisition unit at this time are recorded as C1. When the measurement begins, the fixture can be moved 1mm from bottom to top along the Z-axis, and the image acquisition unit can be moved 1mm from bottom to top along the CCD axis (this is just an example; the distance of the interval movement can be adjusted according to needs). At this time, for each movement, the coordinates of the object on the machining spindle are Z1 + n * 1mm (n is the number of movements), and the coordinates of the object on the measuring spindle can be obtained by recognizing the measurement image.

[0144] Alternatively, the fixture used in the biaxial calibration process, relative to the fixed fixture (which can move along the X and Y axes), can be a tool for fixing the measuring object that moves along the Z axis.

[0145] Optionally, such as Figure 3 As shown, the object to be measured can be a small ball, and the fixture can be an installation tool for mounting the small ball (one end of the fixture is fixedly connected to the small ball, and the other end is fixed on the Z-axis of the grinding machine). During the dual-axis calibration process, the small ball and the image acquisition unit move synchronously and at intervals along the vertical direction, and the height of the small ball can be adjusted by the fixture.

[0146] In a feasible embodiment, during step S102, when converting measurement information based on conversion information to obtain machining information, the tool setting position (target position of the grinding wheel on the Z and Y axes) can be considered by combining the grinding wheel position indicated by the measurement information with the current position and size of the target workpiece to be machined. However, in this embodiment, to improve workpiece machining efficiency, a reference position is set for fixing the workpiece to be machined, such as... Figure 6 and Figure 7 As shown, the following section explains the determination of the reference position (magnetic table calibration).

[0147] Optionally, before performing the grinding wheel measurement, the positional information of the reference position on the fixture for fixing the target workpiece can be determined by performing the following steps C1-C2:

[0148] Step C1: When it is determined that a preset standard workpiece is fixed on the fixed fixture, instruct the moving image acquisition unit and / or the fixed fixture to acquire a standard image through the image acquisition unit, which includes the image content of the third contour angle of the standard workpiece.

[0149] Step C2: Based on the size information of the standard workpiece and the position information of the third contour angle of the standard workpiece shown in the standard image, determine the position information of the fourth contour angle of the standard workpiece on the fixed fixture, so as to serve as the reference position information for fixing the target workpiece on the fixed fixture.

[0150] In the embodiments of this application, such as Figure 6 As shown, a standard workpiece with known width and height (W, H) dimensions can be used for magnetic table calibration to obtain the position information of the reference position. Specifically, the image acquisition unit can be moved and the position of the fixed fixture can be adjusted so that the image acquisition unit acquires a standard image. This standard image may include an image showing the upper left corner of the standard workpiece. At this time, by recognizing the standard image, the position information P0(x0,y0,z0) of the upper left corner (third contour angle) of the standard workpiece in the measurement coordinate system can be obtained. Then, combined with the known size, the position information P0(x0,y0,z0) of the lower right corner (fourth contour angle) of the standard block in the measurement coordinate system can be obtained by vector offset calculation. s =(0,y s ,z s This position information is used as the reference position information for fixing the target workpiece on the fixture, which can also determine the reference position information of the target workpiece in the Y-axis and Z-axis directions.

[0151] Optionally, the magnetic table calibration operation is performed before the grinding wheel measurement. When determining the position information of the reference position through magnetic table calibration, the position of the image acquisition unit on the measuring spindle can be relatively fixed. Then, when performing grinding wheel measurement, the position of the grinding wheel on the machining spindle can be moved so that the first position of the image acquisition unit and the second position of the grinding wheel satisfy the relative position setting.

[0152] Optionally, the magnetic table calibration operation can be an operation step performed before machining the target workpiece (such as when starting the machine), or it can be performed when the object being operated on the grinding machine changes or when abnormalities occur in the machining process.

[0153] For example, such as Figure 7 As shown, during the magnetic stage calibration process, the image acquisition unit can acquire image content from the position of the upper left corner pt0 of the standard workpiece to the reference position. Correspondingly, during the workpiece machining process, the image acquisition unit can acquire image content from the position of the upper left corner pt1 of the target workpiece to the reference position.

[0154] In one feasible embodiment, automatic tool setting achieves the alignment of the grinding wheel with the lower right corner of the target workpiece. Therefore, when performing conversion calculations based on measurement information, the positions of the grinding wheel aligned with the lower right corner (reference position) of the target workpiece in the Z-axis direction and the positions of the grinding wheel aligned with the lower right corner (reference position) of the target workpiece in the Y-axis direction can be calculated.

[0155] Optionally, in step S102, the measurement information is converted based on the conversion information obtained from the prior measurement to obtain the processing information, including the following steps D1-D3:

[0156] Step D1: Based on the position information and measurement information of the corresponding reference position when the fixed fixture fixes the target workpiece, determine the first tool setting information of the grinding wheel aligning with the reference position on the horizontal axis.

[0157] Optionally, the measurement information related to the grinding wheel may include the offset information V between the lower right corner (first profile angle) of the grinding wheel and the field of view center ptccd of the image acquisition unit. c2w (0,y c2w ,z c2w ).

[0158] The position information of the reference position can be the position information P obtained in advance by measuring a preset standard workpiece fixed on a fixed fixture. s =(0,y s ,z s ).

[0159] Based on this, the offset information V is known through measurement information. c2w (0,y c2w ,zc2w When the grinding wheel is aligned with the reference position in the Y-axis direction (first tool setting information), the position information is y. s -y w2c .

[0160] Step D2: Based on the conversion information obtained from the pre-measurement, the first deviation information between the current position of the grinding wheel and the reference position on the measuring spindle is converted to obtain the second deviation information between the current position of the grinding wheel and the reference position on the machining spindle, and the second tool setting information for aligning the grinding wheel with the reference position on the machining spindle is determined based on the second deviation information.

[0161] Alternatively, the lower right corner of the grinding wheel can first be determined as ptccd+z on the measuring spindle. w2c The corresponding absolute position is P. ccd-w =P ccd-cur +V c2w Subsequently, the deviation of the grinding wheel from the reference position in the direction of the measuring spindle can be determined as Δ. ccd =z s -pt ccd -z w2c (First deviation information), correspondingly, the position information P of the reference position. s The position information of the lower right corner of the grinding wheel aligned with the reference position can be calculated as P. w2g =P s -P ccd-cur -V c2w (First deviation information). Based on this, and combined with the transformation information shown in the above formula (1), the first deviation information Δ in the measurement coordinate system can be obtained. cc d is converted into the second deviation information Δ in the machining coordinate system. z After obtaining the second deviation information Δ z Based on this, the position of the grinding wheel aligned with the reference position in the Z-axis direction (first tool setting information) can be obtained by combining the data ptz of the grinding wheel on the machining spindle: ptz + Δ. z .

[0162] Step D3: Determine machining information based on the first and second tool setting information.

[0163] Optionally, machining information can be determined by the first tool setting information and the second tool setting information to instruct the machining device to perform grinding wheel tool setting based on the machining information.

[0164] In a feasible embodiment, step S103 involves obtaining target execution information related to the target workpiece being processed, including steps E1-E2:

[0165] Step E1: Obtain instruction information for machining the target workpiece. The instruction information includes the drawing of the target workpiece to be machined and / or the machining information input by the operation object.

[0166] Step E2: Parse the instruction information to obtain the machining parameters corresponding to the target workpiece and the starting position of each cut of the grinding wheel on the target workpiece, and obtain the target execution information based on the machining parameters and the starting position of the machining.

[0167] Optionally, the instruction information can be a directly input machining drawing, which shows the structural parameters of the target workpiece before and after machining. Alternatively, the instruction information can be machining information input by the operating object, such as information input through the interactive panel of the grinding machine indicating the location of the groove on the target workpiece. After obtaining the instruction information, it can be parsed, such as parsing the content shown in the drawing, to determine the machining parameters corresponding to the target workpiece (e.g., the dimension of a groove to be machined in the Y-axis direction) and the starting position of each pass of the grinding wheel on the target workpiece. Then, the corresponding data of the machining parameters and the starting position of each pass can be determined as the target execution information and sent to the machining device for parameter configuration.

[0168] In this embodiment, the processing drawing parameters can be automatically parsed, reducing the tedious operation of manually inputting parameters and improving the efficiency of grinding machine processing.

[0169] In a feasible embodiment, step S103 involves obtaining target execution information related to the target workpiece being processed, including steps F1-F3:

[0170] Step F1: Determine the initial execution information related to the processing based on the obtained instruction information.

[0171] Step F2: Before placing the target workpiece, instruct the grinding wheel and / or fixture to run based on the initial execution information to obtain simulation results of the simulated machining.

[0172] Step F3: Based on the simulation results and indication information, correct the initial execution information to obtain the target execution information.

[0173] In this embodiment, after calculating the machining parameters and configuring the tool entry parameters required by the machining device (based on initial execution information), the machining device can perform simulated machining of the machine tool (without placing the target workpiece). The measuring device displays the grinding wheel state, drawing state, and target workpiece state on the same image based on the simulated machining process, providing real-time simulation of the machining effect with the current parameters. Then, based on the simulated machining effect and the obtained indication information, the initial execution information can be corrected to obtain the target execution information. Correcting the execution information based on the simulation results avoids the impact of incorrect machining parameter configuration on actual machining, improves machining accuracy, and prevents waste of materials from incorrectly machined parts.

[0174] In a feasible embodiment, to improve the precision of grinding and tool setting accuracy using vision technology, this application also provides a tool testing scheme. Optionally, step S105, which instructs the machining device to process the target workpiece based on target execution information, includes steps G1-G3:

[0175] Step G1: Based on the information related to trial cutting in the target execution information, instruct the grinding wheel to perform a trial cutting operation; the information related to trial cutting includes the machining allowance size set based on the first cut.

[0176] Step G2: Obtain the first dimension information of the trial cut and the remaining second dimension information in the machining allowance dimension, and correct the target execution information based on the comparison result between the two dimension information.

[0177] Step G3: Instruct the machining device to process the target workpiece based on the corrected target execution information.

[0178] Optionally, instructions can be issued to the machining device based on the information related to trial cutting in the target execution information, causing the grinding wheel to make a trial cut on the target workpiece first, and then the dimensions of the workpiece are measured by the measuring device to improve the mechanism error and grinding wheel measurement error during the tool setting process. For example, the machining allowance size set based on the first cut can be a 0.1mm allowance reserved on the side of the slot, and the grinding wheel is controlled to make a trial cut of 0.05mm in the Y-axis direction. After the trial cut, it is confirmed whether the remaining second dimension in the machining allowance size is 0.05mm. If the deviation between the first dimension and the second dimension is greater than 2u, it indicates that there is a large error in the current tool setting, and the deviation value can be added to the original tool setting result to improve the tool setting accuracy. It is understood that the values ​​involved in this example are only an example and can be adjusted according to actual needs; this application does not limit them.

[0179] For example, such as Figure 8As shown, based on automatic tool setting, an instruction is given to the machining device to cause the grinding wheel to first perform a trial cut of half the machining allowance of the target workpiece. Simultaneously, the target workpiece maintains a allowance of half the trial cut dimension in the Y direction. Based on this, the dimensions of the target workpiece are measured by a measuring device (e.g., ...). Figure 8 The position shown in the Y-axis direction is compared with the remaining second dimension in the machining allowance dimension. The cutting parameters are corrected according to the comparison result (such as adjusting the relative position between the grinding wheel and the target workpiece based on the deviation between the first and second dimensions; or the machining parameters of the first cut can be directly adjusted), which can effectively improve the machining accuracy in the Y direction.

[0180] In a feasible embodiment, step S105 instructs the processing device to process the target workpiece based on the target execution information, including performing the following steps H1-H2 after at least one groove of the target workpiece has been processed:

[0181] Step H1: Based on the workpiece machining properties and grinding wheel properties, instruct the grinding wheel to be dressed.

[0182] Step H2: After confirming that the grinding wheel dressing is completed, perform the grinding wheel measurement operation and calculate the updated machining information. Based on the updated machining information, instruct the machining device to perform tool setting on the target workpiece.

[0183] In this embodiment, during automated machining, the grinding wheel can be dressed according to the workpiece machining attributes (grooving attributes) and grinding wheel attributes to solve the machining deviation problem caused by grinding wheel wear during machining. For example, after grinding the first groove, the grinding wheel may wear down, say by 0.0005mm (causing the right angle of the grinding wheel bottom surface to become a rounded corner). When dressing the grinding wheel, it can be dressed again to make the bottom surface right angled again. Since the grinding wheel's position and dimensions have changed, to improve machining accuracy, the tool can be re-set via the image acquisition unit (e.g., if the bottom surface of the grinding wheel is being corrected, the tool can be re-set in the Z-axis direction). This avoids errors caused by dressing the grinding wheel when machining the second groove later.

[0184] Optionally, during processing, processing parameters can be sent to the processing device in batches based on whether or not dressing is required. For example, processing parameters for grooves to be processed under the same grinding wheel condition can be packaged and sent as a single set of information. When the processing device receives the dressing instruction, it performs grinding wheel dressing during processing and can select the compensation method for the amount of dressing based on the workpiece's machining accuracy requirements. In one example, when the workpiece's machining accuracy requirements are low, the processing device can directly perform tool downcut compensation in the Z-axis direction based on the preset dressing amount. In another example, for target workpieces with high accuracy requirements, the bottom position of the grinding wheel is measured in real time by a measuring device to calculate the actual dressing amount of the grinding wheel in the Z-axis direction. This method can compensate for the deviation between the preset dressing amount and the actual dressing amount caused by wear of the dressing tool in real time, further improving the machining accuracy of the target workpiece in the Z-axis direction.

[0185] In a feasible embodiment, step S105 instructs the processing device to process the target workpiece based on the target execution information, including repeatedly performing the compensation operations of steps I1-I2 below until the error between the processed workpiece size and the workpiece size represented by the instruction information is less than a preset error range:

[0186] Step I1: When the processing of the target workpiece is completed, the image acquisition unit is called to acquire images of each groove that has been processed in the target workpiece, and a comparison image corresponding to each groove is obtained.

[0187] Step I2: If the size error between the workpiece size shown in the comparison image and the workpiece size represented by the indication information exceeds the preset error range, and there is at least one groove represented by the indication information whose size is larger than the groove size shown in the comparison image, then the execution information is corrected, and the grinding wheel is instructed to continue processing the current target workpiece based on the corrected execution information.

[0188] In this embodiment, when the workpiece machining is finished, the machining device can raise the grinding wheel to a safe position (such as a position a certain distance from the target workpiece in the Z-axis direction). Then, the measuring device, based on the measurement points calculated according to the instruction information, instructs the machine tool and image acquisition unit to move, so that the image acquisition unit can automatically capture images of each machined groove edge and bottom of the target workpiece (this capturing process may generate multiple comparison images, or it may show the machining parameters obtained at each measurement point through a single overall comparison image). The measured dimensional results (workpiece dimensions obtained based on the comparison images) are compared with the workpiece dimensions represented by the instruction information. If the dimensional deviation between the two exceeds the set tolerance range, it can be determined whether to further correct the machining parameters for compensation machining, depending on whether it is under-machining or over-machining.

[0189] For under-machining (where there is still unmachined material, meaning the workpiece size indicated by the information is larger, such as at least one groove indicated by the information being larger than the groove shown in the comparison image), the machining parameters calculated by the measuring device and the cutting depth parameters configured by the machining device can be corrected to further refine the target workpiece until the measured size is qualified (the error between the machined workpiece size and the workpiece size indicated by the information is less than the preset error range), at which point the machining ends.

[0190] For over-processing (i.e., the workpiece size indicated by the instruction information is smaller), the processing ends directly.

[0191] In this embodiment, the processing dimensions are measured online using a measuring device to achieve compensated processing, avoiding processing deviations and waste of parts and materials caused by repeated disassembly and assembly of workpieces, which can effectively improve processing efficiency and accuracy.

[0192] This application provides an automated grinding method that supports automatic measurement and positioning of the grinding wheel, enabling automatic sand dressing and real-time image capture of the grinding wheel during processing. It also incorporates a high-precision measurement system, supporting online trial processing and visual measurement-guided compensation processing. This application addresses the problem of existing grinding machine processing being entirely dependent on manual labor, and also solves the problem of processing accuracy being entirely dependent on the precision of the mechanism.

[0193] It should be noted that, in the optional embodiments of this application, the data involved (such as measurement information, processing information, execution information, and other related data) requires the permission or consent of the user when the above embodiments of this application are applied to specific products or technologies. Furthermore, the collection, use, and processing of the relevant data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. In other words, if the embodiments of this application involve data related to the user, this data must be obtained with the user's authorization and consent, and in accordance with the relevant laws, regulations, and standards of the country and region.

[0194] This application provides a grinding machine processing apparatus, such as... Figure 12 As shown, the grinding machine processing device 100 may include: a grinding wheel measurement module 101, an information conversion module 102, an information acquisition module 103, a grinding wheel tool setting module 104, and a workpiece processing module 105.

[0195] The grinding wheel measurement module 101 is used to measure the grinding wheel based on the image of the grinding wheel acquired by the image acquisition unit during the grinding wheel rotation, and obtain measurement information related to the grinding wheel; the information conversion module 102 is used to convert the measurement information based on the conversion information obtained from the pre-measurement, and obtain the machining information for grinding wheel tool setting; the information acquisition module 103 is used to acquire the target execution information related to the machining target workpiece; the grinding wheel tool setting module 104 is used to instruct the machining device to perform tool setting on the target workpiece based on the machining information when it is confirmed that the target workpiece has been fixed by the fixed fixture; the machining device includes the fixed fixture and the grinding wheel; the workpiece machining module 105 is used to instruct the machining device to process the target workpiece based on the target execution information.

[0196] The apparatus in this application embodiment can execute the method provided in this application embodiment, and the implementation principle is similar. The actions performed by each module in the apparatus of each embodiment of this application correspond to the steps in the method of each embodiment of this application. For detailed functional descriptions of each module of the apparatus, please refer to the descriptions in the corresponding methods shown above, which will not be repeated here.

[0197] The modules described in the embodiments of this application can be implemented by software. The names of the modules do not necessarily limit the module itself; for example, the grinding wheel measurement module can also be described as "a module that performs grinding wheel measurement based on grinding wheel images acquired by an image acquisition unit during grinding wheel rotation to obtain measurement information related to the grinding wheel," or "a first module," etc.

[0198] In this application embodiment, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0199] This application provides an electronic device, including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of a grinding machine processing method. Compared with related technologies, it can achieve the following: Specifically, firstly, grinding wheel measurement is performed. During the measurement process, an image acquisition unit is called to acquire images of the grinding wheel during its rotation. Based on the acquired images, grinding wheel measurement is performed to obtain measurement information related to the grinding wheel. The image acquisition unit can move independently relative to the grinding wheel, and the path of the image acquisition unit is parallel to the path of the grinding wheel. This structure not only allows the images acquired by the image acquisition unit to indicate the position of the grinding wheel in different directions of movement (such as the position of the grinding wheel on the Z-axis and / or Y-axis), enabling the grinding of grooves on the workpiece, which is beneficial to improving tool setting accuracy and workpiece processing accuracy; this structure also allows the image acquisition unit to photograph the target workpiece, thus enabling the image acquisition unit to capture images with a large field of view. This avoids the problem of inaccurate measurement accuracy caused by the target workpiece being too large when fixed on the fixture (the measurement accuracy is not limited by the size of the target workpiece), which helps to ensure measurement accuracy. Based on this, the measurement information is converted based on the conversion information obtained in advance to obtain the machining information for grinding wheel tool setting; then, the target execution information related to the target workpiece can be obtained, and when responding to the confirmation instruction that the target workpiece has been fixed by the fixed fixture, the machining device including the fixed fixture and the grinding wheel is instructed to perform tool setting on the target workpiece based on the machining information, and the machining device is instructed to perform machining on the target workpiece based on the target execution information. The implementation of this application can employ image processing technology for grinding wheel measurement to obtain machining information for grinding wheel tool setting, thereby achieving automated tool setting operations. Considering that the outer contour of the grinding wheel may be irregular, to improve the accuracy of grinding wheel measurement, the image acquisition unit acquires images of the grinding wheel during its rotation process. This reduces measurement data differences caused by variations in dressing results at different positions of the grinding wheel and also helps improve the stability of the measured grinding wheel data. Based on this, after converting the measurement information related to the grinding wheel into machining information for grinding wheel tool setting, automated tool setting operations can be achieved without the intervention of the workpiece, effectively improving the efficiency and accuracy of grinding wheel tool setting. In addition, after tool setting, the acquired target execution information can be used to instruct the machining device carrying the measured grinding wheel to perform automated machining of the target workpiece, improving the efficiency of grinding machine processing.

[0200] In one alternative embodiment, an electronic device is provided, such as Figure 13 As shown, Figure 13The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of this application.

[0201] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0202] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 13 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0203] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0204] The memory 4003 stores computer programs that execute embodiments of this application, and its execution is controlled by the processor 4001. The processor 4001 executes the computer programs stored in the memory 4003 to implement the steps shown in the foregoing method embodiments.

[0205] Electronic devices include, but are not limited to: measuring devices, servers, and processing devices.

[0206] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps and corresponding content of the aforementioned method embodiments.

[0207] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0208] The terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the figures or text.

[0209] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0210] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. A method of grinding, characterized by, include: Based on the image of the grinding wheel acquired by the image acquisition unit during the rotation of the grinding wheel, the grinding wheel is measured to obtain measurement information related to the grinding wheel; The image acquisition unit can move independently relative to the grinding wheel, and the path of movement of the image acquisition unit is parallel to the path of movement of the grinding wheel. This step includes: if it is determined that the image acquisition unit is in a first position and the grinding wheel is in a second position, then instructing the grinding wheel to be started and calling the image acquisition unit to acquire at least two images of the grinding wheel during its rotation; the relative position between the first position and the second position is such that the images of the grinding wheel acquired by the image acquisition unit show at least two sides and the bottom of the grinding wheel; performing image synthesis processing on the images of the grinding wheel acquired by the image acquisition unit to obtain a synthesized image; and performing image recognition on the synthesized image to obtain measurement information related to the grinding wheel. Based on the pre-measured conversion information, the measurement information is converted to obtain machining information for grinding wheel tool setting; the path of the grinding wheel moving vertically corresponds to the machining spindle; the path of the image acquisition unit moving vertically corresponds to the measurement spindle; the path of the fixing fixture moving horizontally corresponds to the horizontal axis; this step includes: based on the position information of the corresponding reference position when the fixing fixture fixes the target workpiece, and the measurement information, determining the first tool setting information of the grinding wheel aligning with the reference position on the horizontal axis; based on the pre-measured conversion information, converting the first deviation information between the current position of the grinding wheel and the reference position on the measurement spindle to obtain the second deviation information between the current position of the grinding wheel and the reference position on the machining spindle, and determining the second tool setting information of the grinding wheel aligning with the reference position on the machining spindle based on the second deviation information; determining the machining information based on the first tool setting information and the second tool setting information; wherein, the position information of the reference position includes the position information measured by fixing a preset standard workpiece on the fixing fixture; Obtain target execution information related to the target workpiece being processed; Once it is confirmed that the target workpiece has been fixed by the fixture, the machining device is instructed to perform tool setting on the target workpiece based on the machining information; the machining device includes the fixture and the grinding wheel. Based on the target execution information, the processing device is instructed to process the target workpiece; Wherein, the measuring spindle and the horizontal axis correspond to the measuring coordinate system; the machining spindle and the horizontal axis correspond to the machining coordinate system; the measuring information includes coordinate information in the measuring coordinate system; the transformation information includes the transformation relationship between the coordinate information of the measuring coordinate system and the machining coordinate system; the transformation information is obtained by performing the following measurement operation: when it is determined that the measuring object fixed by the fixture is located on the machining spindle, the fixture and the image acquisition unit are instructed to move at preset distances along the same moving direction, and the image acquisition unit is called to acquire a measuring image related to the measuring object after each movement; based on the first coordinate information of the measuring object in the machining coordinate system after each movement, and the second coordinate information in the measuring coordinate system obtained by recognizing the measuring image, the transformation relationship between the coordinate information of the measuring coordinate system and the machining coordinate system is constructed.

2. The method of claim 1, wherein, Before performing the grinding wheel measurement, the position information of the reference position is determined by performing the following operations: When it is determined that a preset standard workpiece is fixed on the fixing fixture, the image acquisition unit and / or the fixing fixture are moved so that a standard image is acquired by the image acquisition unit, which includes the image content of the third contour angle of the standard workpiece. Based on the size information of the standard workpiece and the position information of the third contour angle of the standard workpiece shown in the standard image, the position information of the fourth contour angle of the standard workpiece on the fixing fixture is determined, so as to serve as the reference position information for fixing the target workpiece on the fixing fixture.

3. The method of claim 1, wherein, The acquisition of target execution information related to the processing target workpiece includes: Obtain instruction information for processing the target workpiece, the instruction information including the drawing of the target workpiece to be processed and / or the processing information input by the operation object; The instruction information is parsed to obtain the machining parameters corresponding to the target workpiece and the machining start position of each cut made by the grinding wheel on the target workpiece, and the target execution information is obtained based on the machining parameters and the machining start position.

4. The method of claim 1, wherein, The acquisition of target execution information related to the processing target workpiece includes: Based on the obtained instruction information, determine the initial execution information related to the processing; Before the target workpiece is placed, the grinding wheel and / or the fixture are instructed to move based on the initial execution information to obtain the simulation results of the simulated machining. Based on the simulation results and the indication information, the initial execution information is corrected to obtain the target execution information.

5. The method of claim 1, wherein, The step of instructing the processing device to process the target workpiece based on the target execution information includes: Based on the information related to trial cutting in the target execution information, the grinding wheel is instructed to perform a trial cutting operation; the information related to trial cutting includes the machining allowance size set based on the first cut: Obtain the first dimension information of the trial cut and the second dimension information remaining in the processing allowance dimension, and correct the target execution information based on the comparison result between the two dimension information; The processing device is instructed to process the target workpiece based on the corrected target execution information.

6. The method according to claim 1 or 5, characterized in that, The process is instructed to process the target workpiece based on the target execution information, including performing the following operations after at least one groove of the target workpiece has been processed: Based on the workpiece machining properties and the grinding wheel properties, the grinding wheel is instructed to be dressed; After confirming that the grinding wheel dressing is completed, the grinding wheel measurement operation is performed and the updated machining information is calculated. Based on the updated machining information, the machining device is instructed to perform tool setting on the target workpiece.

7. The method of claim 1, wherein, The step of instructing the processing device to process the target workpiece based on the target execution information includes repeatedly performing the following compensation operation until the error between the processed workpiece size and the workpiece size represented by the instruction information is less than a preset error range: When the processing of the target workpiece is completed, the image acquisition unit is invoked to acquire images of each groove processed in the target workpiece, and a comparison image corresponding to each groove is obtained. If the size error between the workpiece size shown in the comparison image and the workpiece size represented by the indication information exceeds a preset error range, and at least one groove represented by the indication information has a size larger than the groove size shown in the comparison image, then the execution information is corrected, and the grinding wheel is instructed to continue processing the current target workpiece based on the corrected execution information.

8. The method of claim 1, wherein, The path along which the image acquisition unit moves vertically corresponds to the measurement axis; the path along which the fixing fixture moves horizontally corresponds to the horizontal axis. Before performing grinding wheel measurement, the method also includes: confirming that the positions of the image acquisition unit and the fixing fixture on their respective coordinate axes meet the preset calibration requirements; The preset calibration requirements include: the set of measurement points on the calibration object shown in the calibration image acquired by the image acquisition unit matches the set of standard points on the calibration object; the calibration image includes the image acquired by the image acquisition unit when the calibration object is fixed on the fixture.

9. The method of claim 8, wherein, The calibration object has multiple dots on the side facing the image acquisition unit, and the dot spacing in the central area is different from the dot spacing in the non-central area. Determining that the set of measurement points on the calibration object shown in the calibration image acquired by the image acquisition unit matches the set of standard points on the calibration object includes, upon confirming that the calibration object has been fixed by the fixing fixture, performing at least one of the following: The position of the image acquisition unit and / or the position of the fixing fixture are adjusted until the calibration image acquired by the image acquisition unit shows the central region of the calibration object. Then it is confirmed that the first set of measurement points included in the central region of the calibration object shown in the calibration image acquired by the image acquisition unit matches the first set of standard points on the calibration object. The position of the image acquisition unit and / or the position of the fixing fixture are adjusted until the deviation between the second set of measurement points in the non-central region shown in the correction image acquired by the image acquisition unit and the second set of standard points in the non-central region formed by the multiple dots in the calibration object is less than a preset threshold. Then, it is determined that the second set of measurement points on the calibration object shown in the correction image acquired by the image acquisition unit matches the second set of standard points on the calibration object.

10. A measuring device comprising a memory, a processor and a computer program stored on the memory, characterized in that The processor executes the computer program to implement the steps of the method according to any one of claims 1-9.

11. A computer readable storage medium having stored thereon a computer program, characterized in that When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-9.

12. A computer program product comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-9.

13. A grinding machine apparatus, characterized by, include: A machining apparatus and a measuring apparatus; the measuring apparatus is used to perform the steps of the method of any one of claims 1-9 to instruct the machining apparatus to perform tool setting and machining on the target workpiece.

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