Grinding method and device for a counterbore tool slot, numerical control machine and storage medium

Abstract

The application relates to a method and device for grinding a counterbore tool groove, a numerical control machine and a storage medium. The method comprises the following steps: determining a first reference point and a second reference point according to structural geometric parameters; the structural geometric parameters are used for characterizing a front end surface, an outer diameter end surface and a first planar region and a second region of the tool groove; a region critical line between the first planar region and the second region intersects the front end surface at the first reference point and intersects the outer diameter end surface at the second reference point; determining a reference position of a center point of an end surface of a grinding wheel when at least part of an outer edge of the grinding wheel coincides with the region critical line according to the first reference point, the second reference point and a radius of the grinding wheel; each track point of a reference grinding track matched with the structural geometric parameters comprises a reference track point corresponding to the region critical line; determining a motion track of the center point of the end surface according to a relative position between the reference position and the reference track point and the track point; and grinding the tool groove by the grinding wheel according to the motion track. The grinding efficiency of the counterbore tool groove can be improved by adopting the method.

Description

Technical Field

[0001] This application relates to the field of mechanical engineering technology, and in particular to a grinding method, apparatus, CNC machine, and storage medium for countersinking grooves. Background Technology

[0002] With the development of mechanical engineering technology, tool grinding technology has emerged. Countersinks manufactured through tool grinding technology are important cutting tools that can be widely used in the processing of metal materials, such as deburring holes, chamfering, and countersunk.

[0003] In traditional techniques, the process of machining countersinks is highly dependent on the skills and operation of the workers. However, because the speed and accuracy of the workers' operations are affected by their personal experience and fatigue levels, the problem of low efficiency in countersink machining cannot be avoided. Summary of the Invention

[0004] Therefore, it is necessary to provide a grinding method, apparatus, CNC machine, and storage medium for countersinking grooves that can improve processing efficiency in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a grinding method for countersinking tool grooves, comprising:

[0006] Obtain the structural geometric parameters of the countersink; the structural geometric parameters are used to characterize the countersink's groove, front end face, and outer diameter end face; the groove includes a first planar region and a second region;

[0007] The first reference point and the second reference point are determined based on the structural geometric parameters; the first reference point is the intersection of the front end face and the boundary line between the first planar region and the second region; the second reference point is the intersection of the outer diameter end face and the boundary line.

[0008] The reference position of the center point of the end face of the grinding wheel is determined based on the first reference point, the second reference point, and the radius of the grinding wheel, when the critical line of the region coincides with at least a portion of the outer edge of the grinding wheel;

[0009] A reference grinding trajectory matching the structural geometry parameters is determined; the reference grinding trajectory includes trajectory points; each trajectory point includes the reference trajectory point corresponding to the critical line of the region;

[0010] Based on the reference position and the relative position between the reference trajectory point and each trajectory point, trajectory planning is performed on the end face center point to obtain the motion trajectory of the end face center point;

[0011] The grinding wheel is controlled to grind the tool groove according to the movement trajectory of the center point of the end face.

[0012] Secondly, this application also provides a grinding apparatus for countersinking tool grooves, comprising:

[0013] The acquisition module is used to acquire the structural geometric parameters of the countersink; the structural geometric parameters are used to characterize the countersink's cutting groove, front end face, and outer diameter end face; the cutting groove includes a first planar region and a second region;

[0014] The first determining module is used to determine a first reference point and a second reference point based on the structural geometric parameters; the first reference point is the intersection of the front end face and the regional critical line between the first planar region and the second region; the second reference point is the intersection of the outer diameter end face and the regional critical line.

[0015] The second determining module is used to determine the reference position of the center point of the end face of the grinding wheel when the critical line of the region coincides with at least a portion of the outer edge of the grinding wheel, based on the first reference point, the second reference point, and the radius of the grinding wheel;

[0016] The third determining module is used to determine a reference grinding trajectory that matches the geometric parameters of the structure; the reference grinding trajectory includes trajectory points; each trajectory point includes the reference trajectory point corresponding to the regional critical line;

[0017] The planning module is used to plan the trajectory of the end face center point based on the reference position and the relative position between the reference trajectory point and each trajectory point, so as to obtain the motion trajectory of the end face center point.

[0018] The grinding module is used to control the grinding wheel to grind the tool groove according to the movement trajectory of the center point of the end face.

[0019] Thirdly, this application also provides a CNC machine, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method.

[0020] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method.

[0021] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps in the above-described method.

[0022] The aforementioned grinding method, apparatus, CNC machine, computer-readable storage medium, and computer program product for countersinking tool grooves obtain the structural geometric parameters of the countersink. These structural geometric parameters characterize the tool groove, front end face, and outer diameter end face of the countersink. The tool groove includes a first planar region and a second region. A first reference point and a second reference point are determined based on the structural geometric parameters. The first reference point is the intersection of the front end face and the regional critical line between the first planar region and the second region. The second reference point is the intersection of the outer diameter end face and the regional critical line. During grinding, when the outer edge of the grinding wheel reaches the critical line of the region (i.e., when the critical line coincides with at least a portion of the outer edge of the grinding wheel), the first reference point and the second reference point should be located on the circumference of the grinding wheel. Based on the first reference point, the second reference point, and the radius of the grinding wheel, the reference position of the center point of the grinding wheel's end face when the critical line coincides with at least a portion of the outer edge of the grinding wheel can be determined. During grinding, a grinding trajectory is formed on the countersink. This grinding trajectory is related to the structure of the countersink groove. By determining a reference grinding path that matches the structural geometry, a reference grinding path can be established. The trajectory; the reference grinding trajectory includes each trajectory point; each trajectory point includes the reference trajectory point corresponding to the regional critical line; based on the reference position and the relative position between the reference trajectory point and each trajectory point, the trajectory of the end face center point is planned to obtain the motion trajectory of the end face center point, which can be deduced from the reference grinding trajectory related to the countersink groove; thus, the grinding wheel is controlled to grind the groove according to the motion trajectory of the end face center point, which can produce a groove structure characterized by structural geometric parameters on the countersink, thereby improving the grinding efficiency of the countersink groove. Attached Figure Description

[0023] Figure 1 This is an application environment diagram of a grinding method for countersinking tool grooves provided in an embodiment of this application.

[0024] Figure 2 This is a schematic flowchart of a grinding method for countersinking tool grooves provided in an embodiment of this application.

[0025] Figure 3 This is a schematic diagram of the end face center point, the first reference point, and the second reference point when the regional critical line coincides with at least a portion of the outer edge of the grinding wheel, as provided in an embodiment of this application.

[0026] Figure 4 This is a schematic diagram of a grinding wheel axis vector provided in an embodiment of this application.

[0027] Figure 5 This is a schematic diagram of a reference grinding trajectory provided for an embodiment of this application.

[0028] Figure 6 This is a schematic diagram of a first-centered rectangular coordinate system provided in an embodiment of this application.

[0029] Figure 7This is a schematic diagram of a second centered rectangular coordinate system provided in an embodiment of this application.

[0030] Figure 8 This is a schematic diagram of a countersink provided in an embodiment of this application.

[0031] Figure 9 This is a schematic diagram of the end face center point, the first reference point, and the second reference point when the region critical line coincides with at least a portion of the outer edge of the grinding wheel, as provided in an embodiment of this application.

[0032] Figure 10a This is an application environment diagram of another grinding method for countersinking grooves provided in an embodiment of this application.

[0033] Figure 10b The countersink groove is shown in a simulation result from a first-view perspective, as provided in an embodiment of this application.

[0034] Figure 10c The countersink groove is shown in a second-view simulation result provided in an embodiment of this application.

[0035] Figure 11 This is a structural block diagram of a grinding device for countersinking grooves provided in an embodiment of this application.

[0036] Figure 12 This is an internal structural diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0037] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0039] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly. The connection can be a direct connection or an indirect connection.

[0040] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0041] In some embodiments, such as Figure 1 The diagram illustrates an application environment for a grinding method of countersinking tool grooves. A CNC machine 102 is used to implement the steps in the grinding method, controlling the grinding wheel 104 to grind the groove of the countersink 106. When the grinding wheel reaches the critical line, that is, when at least a portion of the outer edge of the grinding wheel coincides with the critical line, the outer edge of the grinding wheel intersects the front end face at a first reference point Q1, and the outer edge of the grinding wheel intersects the outer diameter end face at a second reference point Q2. The first reference point Q1 and the second reference point Q2 are connected to the center point O of the end face of the grinding wheel. g The distances are all the radius of the grinding wheel.

[0042] In some embodiments, the grinding method for countersunk drill grooves provided in this application can be applied to computer equipment or a CNC machine. The computer equipment can execute the steps of the grinding method for countersunk drill grooves in a simulation environment. The CNC machine can execute the steps of the grinding method for countersunk drill grooves in a physical environment or a real environment. The physical environment can be a limited, controlled real environment, such as a laboratory, a factory, etc.

[0043] In one exemplary embodiment, such as Figure 2 As shown, a grinding method for countersinking tool grooves is provided, which is applied to... Figure 1 Taking a CNC machine as an example, the explanation includes the following steps 202 to 212. Wherein:

[0044] Step 202: Obtain the structural geometric parameters of the countersink; the structural geometric parameters are used to characterize the countersink's groove, front end face, and outer diameter end face; the groove includes a first planar region and a second region.

[0045] The notch refers to the groove on the side of a countersink drill bit. The front face is located at the very tip of the countersink and is the area where the countersink enters the workpiece and first performs cutting. The outer diameter face is the face perpendicular to the countersink's tool axis at the outer diameter of the drill bit. All facets are perpendicular to the countersink tool axis. The notch is obtained by grinding the middle portion of the front face and the outer diameter face.

[0046] For example, a CNC machine can acquire the input structural geometry parameters of a countersink. It can be understood that different input structural geometry parameters will result in different tool grooves being produced by the grinding wheel.

[0047] It should be noted that the specific selection of structural geometric parameters is not limited in this embodiment, as long as the selected structural geometric parameters can reflect the geometric characteristics of the tool groove, the front end face, and the outer diameter end face.

[0048] In some embodiments, structural geometric parameters may include at least one of the following: drill tip diameter, outer diameter, drill tip angle, drill tip penetration depth, tooth flank depth, rake angle, radius of the arc cutting edge, or angle of the arc cutting edge. The drill tip diameter refers to the rotation diameter of the front end face. The outer diameter refers to the rotation diameter of the outer diameter end face. The outer diameter is also the maximum rotation diameter of the countersink. The drill tip angle refers to the cone angle of the countersink's rotating body. The drill tip penetration depth refers to the distance between the second cutting edge on the front end face and the first reference point. The tooth flank depth refers to the distance between the first cutting edge on the outer diameter end face and the second reference point. The rake angle refers to the angle between the plane containing the first planar region and the base plane. The base plane is perpendicular to the front end face, and the tool axis and the first cutting edge on the outer diameter end face are located within the base plane. The radius of the arc cutting edge refers to the radius of the arc cutting edge. The second region may include a curved surface region. The arc cutting edge is used to characterize the grinding trajectory corresponding to the curved surface region in the second region on the outer diameter end face. The angle of the arc cutting edge refers to the central angle corresponding to the arc cutting edge.

[0049] In some embodiments, the structural geometry parameters may further include the retraction travel distance. The retraction travel distance refers to the length of the straight retraction cutting edge segment. The second region may include a second planar region. The straight retraction cutting edge segment is used to characterize the grinding trajectory corresponding to the second planar region on the outer diameter end face.

[0050] In some embodiments, the countersink may be, but is not limited to, a tapered countersink.

[0051] Step 204: Determine the first reference point and the second reference point based on the structural geometric parameters; the first reference point is the intersection of the front end face and the regional critical line between the first planar region and the second region; the second reference point is the intersection of the outer diameter end face and the regional critical line.

[0052] The regional critical line refers to the line at the boundary between the first planar region and the second region. The regional critical line intersects the front end face at the first reference point, and the regional critical line intersects the outer diameter end face at the second reference point.

[0053] In some embodiments, the CNC machine can determine the first reference point based on the drill tip penetration depth. The drill tip penetration depth refers to the distance between the second cutting edge on the front end face and the first reference point. Therefore, the drill tip penetration depth can reflect the position of the first reference point relative to the second cutting edge on the front end face. During the grinding process, a cutting edge is formed at the grinding start point on any end face between the front end face and the outer diameter end face. The grinding start point on different end faces can be different. The second cutting edge is actually the grinding start point on the front end face during the grinding process. Therefore, the drill tip penetration depth can also reflect the position of the first reference point relative to the grinding wheel during the grinding process. It should be noted that the parameter used to determine the first reference point is not limited to the drill tip penetration depth parameter, as long as the determined first reference point is the intersection of the region critical line and the front end face.

[0054] In some embodiments, the CNC machine can determine the second reference point based on the tooth flank depth. The tooth flank depth refers to the distance from the first cutting edge on the outer diameter end face to the second reference point. Therefore, the tooth flank depth reflects the position of the first reference point relative to the first cutting edge on the outer diameter end face. The first cutting edge on the outer diameter end face is actually the grinding starting point on the outer diameter end face during grinding. Therefore, the drill tip penetration depth can also reflect the position of the second reference point relative to the grinding wheel during grinding. It should be noted that the parameter used to determine the second reference point is not limited to the tooth flank depth; it is sufficient that the determined second reference point is the intersection of the region critical line and the outer diameter end face.

[0055] Step 206: Determine the reference position of the center point of the end face of the grinding wheel when the critical line of the region coincides with at least part of the outer edge of the grinding wheel, based on the first reference point, the second reference point, and the radius of the grinding wheel.

[0056] Here, the center point of the end face refers to the center of the circle on the end face of the grinding wheel. The radius of the grinding wheel refers to the radius of the end face.

[0057] For example, when the critical line of the region coincides with at least a portion of the outer edge of the grinding wheel, the outer edge of the grinding wheel intersects the front face at a first reference point, and the outer edge of the grinding wheel intersects the outer diameter end face at a second reference point. At this time, there is a specific positional relationship between the first reference point, the second reference point, and the center point of the end face. This positional relationship means that the distances from the first and second reference points to the center point of the end face are both equal to the radius of the grinding wheel. Based on this positional relationship, the CNC machine can determine the reference position of the center point of the end face of the grinding wheel when the critical line of the region coincides with at least a portion of the edge of the grinding wheel.

[0058] Step 208: Determine a reference grinding trajectory that matches the structural geometry parameters; the reference grinding trajectory includes each trajectory point; each trajectory point includes the reference trajectory point corresponding to the regional critical line.

[0059] The reference grinding trajectory is used to characterize the travel path of the abrasive grains on the outer diameter end face of the grinding wheel. It can be understood that the intersection of the cutting groove and the outer diameter end face is essentially the cutting edge on the outer diameter end face, and the travel path of the abrasive grains on the outer diameter end face is consistent with the shape of the cutting edge. Each trajectory point on the reference grinding trajectory is the point where the abrasive grains of the grinding wheel pass through on the outer diameter end face during the grinding process. When the abrasive grains of the grinding wheel travel from the grinding start point on the outer diameter end face to the reference trajectory point, the entire grinding wheel grinds the first planar region on the countersink and grinds the straight infeed cutting edge on the outer diameter end face. At this point, at least part of the outer edge of the grinding wheel coincides with the critical line of the region.

[0060] For example, a CNC machine can determine a trajectory expression obtained through pre-mathematical modeling. Using structural geometric parameters as input parameters to the trajectory expression, a reference grinding trajectory matching the structural parameters is obtained. It can be understood that for tool grooves of the same structural type, by establishing a trajectory expression through mathematical modeling and then substituting the specific structural geometric parameters, a reference grinding trajectory matching the structural geometric parameters can be obtained. For straight tool grooves, the grinding trajectory only needs a single straight infeed cutting edge segment. For straight-arc tool grooves, the grinding trajectory includes at least a straight infeed cutting edge segment and an arc cutting edge segment.

[0061] In some embodiments, the CNC machine may store multiple candidate grinding paths and select a reference grinding path that matches the structural geometry parameters from the multiple candidate grinding paths.

[0062] Step 210: Based on the reference position and the relative position between the reference trajectory point and each trajectory point, perform trajectory planning for the end face center point to obtain the motion trajectory of the end face center point.

[0063] The relative position is used to characterize the relative position of the reference trajectory point to each trajectory point.

[0064] For example, a CNC machine can obtain the motion trajectory of the end face center point by superimposing the relative positions corresponding to each trajectory point onto a reference position. It can be understood that by superimposing the relative positions onto the reference position, a mapping from the reference grinding trajectory to the motion trajectory of the end face center point can be achieved. The reference position is essentially a reference trajectory point on the grinding trajectory, mapped onto the motion trajectory.

[0065] Step 212: Control the grinding wheel to grind the tool groove according to the movement trajectory of the center point of the end face.

[0066] For example, a CNC machine can control the grinding wheel so that the center point of the grinding wheel's end face moves along the trajectory of the center point, thereby achieving the grinding of the tool groove. It can be understood that after the grinding wheel finishes grinding, a tool groove including a first planar region and a second region is ground onto the countersink.

[0067] In the above-mentioned grinding method for countersinking tool grooves, the structural geometric parameters of the countersink are obtained. These parameters characterize the tool groove, front end face, and outer diameter end face of the countersink. The tool groove includes a first planar region and a second region. A first reference point and a second reference point are determined based on the structural geometric parameters. The first reference point is the intersection of the front end face and the regional critical line between the first planar region and the second region. The second reference point is the intersection of the outer diameter end face and the regional critical line. During grinding, when the outer edge of the grinding wheel reaches the regional critical line (i.e., when the regional critical line coincides with at least a portion of the outer edge of the grinding wheel), the first and second reference points should be located on the circumference of the grinding wheel. Based on the first and second reference points and the radius of the grinding wheel, the reference position of the center point of the end face of the grinding wheel when the regional critical line coincides with at least a portion of the outer edge of the grinding wheel can be determined. During grinding, a grinding trajectory is formed on the countersink. This grinding trajectory is related to the structure of the countersink tool groove. By determining a reference grinding method that matches the structural geometric parameters... The trajectory; the reference grinding trajectory includes each trajectory point; each trajectory point includes the reference trajectory point corresponding to the regional critical line; based on the reference position and the relative position between the reference trajectory point and each trajectory point, the trajectory of the end face center point is planned to obtain the motion trajectory of the end face center point, which can be deduced from the reference grinding trajectory related to the countersink groove; thus, the grinding wheel is controlled to grind the groove according to the motion trajectory of the end face center point, which can produce a groove structure characterized by structural geometric parameters on the countersink, thereby improving the grinding efficiency of the countersink groove.

[0068] In some embodiments, determining the first reference point and the second reference point based on structural geometric parameters includes: determining the coordinates of the first reference point in the front angle coordinate system and the coordinates of the second reference point in the front angle coordinate system based on structural geometric parameters; wherein, in the front angle coordinate system, the origin is located at the first cutting edge on the outer diameter end face, the first-dimensional coordinate axis and the third-dimensional coordinate axis are located in the plane containing the first planar region, and the second-dimensional coordinate axis is perpendicular to the first planar region.

[0069] In some embodiments, the first planar region may be, but is not limited to, the rake face. A rake angle γ exists between the rake face and the front end face. Since both the first reference point and the second reference point are located within the first planar region, locating the first reference point and the second reference point in the rake angle coordinate system can simplify the data processing and save computational resources.

[0070] In some embodiments, in the front angular coordinate system O γ -X γ Y γ Z γ middle, origin O γ Located at the first cutting edge on the outer diameter end face, the first dimension of the coordinate axis X γ Located within the plane containing the first planar region, the second coordinate axis Y γPerpendicular to the first planar region, the third coordinate axis Z γ The tool axis is parallel to the countersink.

[0071] In some embodiments, the CNC machine can determine the coordinates of the first reference point in the workpiece coordinate system and the coordinates of the second reference point in the workpiece coordinate system based on the structural geometric parameters.

[0072] In some embodiments, the CNC machine can determine a coordinate transformation matrix from the front angular coordinate system to the workpiece coordinate system. Based on the coordinate transformation matrix, the coordinates of the first and second reference points in the front angular coordinate system are converted to their coordinates in the workpiece coordinate system.

[0073] In this embodiment, the coordinates of the first reference point and the second reference point in the front angular coordinate system are determined based on structural geometric parameters. In the front angular coordinate system, the origin is located at the first cutting edge on the outer diameter end face, the first and third coordinate axes lie within the plane containing the first planar region, and the second coordinate axis is perpendicular to the first planar region. Since both the first and second reference points are located within the first planar region, and the front angular coordinate system is constructed based on the first planar region, locating the first and second reference points in the front angular coordinate system simplifies the data processing, saves computational resources, and improves efficiency.

[0074] In some embodiments, determining the reference position of the end face center point of the grinding wheel when the region critical line coincides with at least a portion of the outer edge of the grinding wheel, based on the first reference point, the second reference point, and the radius of the grinding wheel, includes: determining the coordinates of the first reference point in the front angular coordinate system, the coordinates of the second reference point in the front angular coordinate system, and the radius of the grinding wheel as input parameters for the reference coordinate calculation formula, to obtain the reference coordinates of the end face center point of the grinding wheel in the front angular coordinate system; wherein, the reference coordinate calculation formula is derived based on the positional relationship between the first reference point and the second reference point and the end face center point, respectively; the positional relationship means that when the region critical line coincides with at least a portion of the outer edge of the grinding wheel, the distances between the first reference point and the second reference point and the end face center point are both the radius of the grinding wheel.

[0075] For example, formula (1) is the formula for calculating reference coordinates.

[0076] (1)

[0077] in, . Where is the radius of the grinding wheel. The center point of the end face. The reference coordinates in the front angle coordinate system are ( , , First reference point The coordinates in the front angle coordinate system are ( ,0, Second reference point The coordinates in the front angle coordinate system are ( ,0, ).

[0078] It is understandable that the formula for calculating reference coordinates is based on... , That is, when the critical line of the region coincides with at least part of the outer edge of the grinding wheel, the distances between the first reference point and the second reference point and the center point of the end face are both the radius of the grinding wheel, which is derived from this.

[0079] The CNC machine can substitute the coordinates of the first reference point in the front angular coordinate system, the coordinates of the second reference point in the front angular coordinate system, and the radius of the grinding wheel into the reference coordinate calculation formula to obtain the reference coordinates of the center point of the end face of the grinding wheel in the front angular coordinate system.

[0080] In some embodiments, such as Figure 3 The diagram illustrates a central point of the end face, a first reference point, and a second reference point when the region's critical line coincides with at least a portion of the outer edge of the grinding wheel. The outer edge of the grinding wheel intersects the front end face at the first reference point. The outer edge of the grinding wheel intersects with the outer diameter end face at the second reference point. At this time, the center point of the end face The reference coordinates are First reference point with reference coordinates The distance between them is equal to the radius of the grinding wheel. Second reference point with reference coordinates The distance between them is also equal to the radius of the grinding wheel. .

[0081] In this embodiment, a reference coordinate calculation formula is derived in advance based on the positional relationship between the first reference point, the second reference point, and the end face center point when the region critical line coincides with at least part of the outer edge of the grinding wheel. Then, the coordinates of the first reference point in the front angle coordinate system, the coordinates of the second reference point in the front angle coordinate system, and the radius of the grinding wheel are determined as the input parameters of the reference coordinate calculation formula. This allows for convenient and rapid acquisition of the reference coordinates of the end face center point of the grinding wheel in the front angle coordinate system, thus improving calculation efficiency.

[0082] In some embodiments, trajectory planning is performed on the end face center point based on the reference position and the relative position between the reference trajectory point and each trajectory point to obtain the motion trajectory of the end face center point, including: determining the coordinate transformation matrix from the front angle coordinate system to the workpiece coordinate system; performing coordinate transformation on the reference coordinates in the front angle coordinate system according to the coordinate transformation matrix to obtain the reference coordinates in the workpiece coordinate system; and superimposing the relative position between the reference trajectory point and each trajectory point onto the reference coordinates in the workpiece coordinate system to obtain the motion trajectory of the end face center point in the workpiece coordinate system.

[0083] In some embodiments, the coordinate transformation matrix may include a first rotation matrix and a first translation matrix. In the front angular coordinate system O... γ -X γ Y γ Z γ middle, origin O γ Located at the first cutting edge on the outer diameter end face, the first dimension of the coordinate axis X γ Located within the plane containing the first planar region, the second coordinate axis Y γ Perpendicular to the first planar region, the third coordinate axis Z γ Parallel to the tool axis of the countersink. In the workpiece coordinate system O w -X w Y w Z w middle, origin O w Located on the tool axis of the countersink, the first coordinate axis X w Second-dimensional coordinate axis Y w Located on the plane containing the front end face, the positive direction of the first coordinate axis X w It can be, but is not limited to, starting from the origin O. w The grinding starting point points towards the front face. X in the front angular coordinate system. γ O γ Y γ X in the workpiece coordinate system w O w Y w The rotation angle between them is the front angle γ, and the third-dimensional coordinate axes of the two coordinate systems are parallel. Therefore, the first rotation matrix from the front angle coordinate system to the workpiece coordinate system is as shown in formula (2).

[0084] (2)

[0085] in, Let γ be the first rotation matrix. γ is the front angle, that is, the angle between the plane containing the first planar region and the X-axis in the workpiece coordinate system. w O w Z w The angle between the base planes (i.e., the angle between the base planes).

[0086] Since the origin Oγ The origin O is located at the first cutting edge on the outer diameter end face. w The origin O is located at the intersection of the front face and the tool axis of the countersink. γ Origin O w The coordinate differences between the two coordinates in the workpiece coordinate system can be used to determine the first translation matrix, as shown in formula (3).

[0087] (3).

[0088] in, This is the first translation matrix. outer diameter, The diameter of the drill tip. This refers to the drill tip angle. It can be understood that in the workpiece coordinate system, the origin O... γ Origin O w The difference between the first-dimensional coordinates is The difference in the second dimension coordinates is 0, and the difference in the third dimension coordinates is... .

[0089] In some embodiments, the CNC machine can perform matrix multiplication on the first rotation matrix and the reference coordinates in the front angle coordinate system, and then superimpose the first translation matrix to obtain the reference coordinates in the workpiece coordinate system.

[0090] In some embodiments, formula (4) is the formula for calculating the motion trajectory.

[0091] (4)

[0092] in, The trajectory of the center point of the end face. This is the first rotation matrix. These are the reference coordinates in the front angular coordinate system. This is the first translation matrix. P represents the reference trajectory points. P represents the trajectory points on the reference grinding trajectory.

[0093] In this embodiment, the coordinate transformation matrix from the front angle coordinate system to the workpiece coordinate system is determined; the reference coordinates in the front angle coordinate system are transformed according to the coordinate transformation matrix to obtain the reference coordinates in the workpiece coordinate system; the relative positions between the reference trajectory points and each trajectory point are superimposed on the reference coordinates in the workpiece coordinate system to obtain the motion trajectory of the end face center point in the workpiece coordinate system. This enables the mapping of the reference grinding trajectory to the motion trajectory of the end face center point, thereby controlling the grinding wheel to move along the motion trajectory of the end face center point. This can form a groove on the countersink that conforms to the structural geometric parameters, improving the grinding efficiency of the countersink groove.

[0094] In some embodiments, the method further includes: determining a grinding wheel axis vector perpendicular to the first planar region and in the front angular coordinate system; performing coordinate transformation on the grinding wheel axis vector in the front angular coordinate system according to a coordinate transformation matrix to obtain a grinding wheel axis vector in the workpiece coordinate system; and controlling the grinding wheel to grind the tool groove according to the motion trajectory of the end face center point, including: controlling the grinding wheel to grind the tool groove according to the grinding wheel axis vector in the workpiece coordinate system and the motion trajectory of the end face center point in the workpiece coordinate system.

[0095] For example, the grinding wheel axis vector in the front angular coordinate system as shown in formula (5).

[0096] (5)

[0097] in, Let be the grinding wheel axis vector in the front angular coordinate system. It can be understood that in the front angular coordinate system, the first and third coordinate axes are located in the plane containing the first planar region, and the second coordinate axis is perpendicular to the first planar region. Therefore, the first and third coordinates of the grinding wheel axis vector perpendicular to the first planar region in the front angular coordinate system are both 0, and the second coordinate is non-zero.

[0098] The grinding wheel axis vector in the workpiece coordinate system is shown in formula (6).

[0099] (6)

[0100] in, This is the grinding wheel axis vector in the workpiece coordinate system. Let be the first rotation matrix from the front angular coordinate system to the workpiece coordinate system. The CNC machine can use the first rotation matrix to perform coordinate transformation on the grinding wheel axis vector in the front angular coordinate system to obtain the grinding wheel axis vector in the workpiece coordinate system.

[0101] A CNC machine can adjust the grinding posture of the grinding wheel according to the grinding wheel axis vector in the workpiece coordinate system, and control the movement of the grinding wheel according to the motion trajectory in the workpiece coordinate system to perform tool groove grinding on the countersink. It can be understood that after grinding, a cutting edge line with the same shape as the reference grinding trajectory will be formed on the outer diameter end face of the countersink, and the groove between the front end face and the outer diameter end face of the countersink is the tool groove.

[0102] In some embodiments, such as Figure 4 The diagram shows a schematic of the grinding wheel axis vector. S1->S2->S3->S4->S5 is the reference grinding trajectory. S1->S2 is the straight cutting edge segment for the infeed corresponding to the first planar region. S2->S3 is the first arc cutting edge segment for the first curved surface region. S3->S4 is the second arc cutting edge segment for the second curved surface region. S4->S5 is the straight cutting edge segment for the retraction corresponding to the second planar region. The first dimension of the rake angle coordinate system is X.γ The direction is parallel to the direction of the feed line segment, and the positive direction starts from the origin O. γ Pointing outwards from the outer diameter end face. The second coordinate axis Y of the front angular coordinate system. γ Perpendicular to the first planar region, the positive direction starts from the origin O. γ Pointing to the end point of the reference grinding trajectory, that is, the side where the grinding end point S5 of the outer diameter end face is located. X w It is the first coordinate axis, Y, in the workpiece coordinate system. w It is the second coordinate axis in the workpiece coordinate system, and its positive direction starts from the origin O. w The side pointing to the end point of grinding on the front face, O w It is the origin in the workpiece coordinate system. Specifically, S1 is located at the first cutting edge of the outer diameter end face, which is also the origin O of the front angle coordinate system. γ Its location is also the starting point for grinding the outer diameter end face. F g Let S be the grinding wheel axis vector. It can be understood that when controlling the grinding wheel to move along the trajectory S1->S2, the grinding wheel axis vector is perpendicular to the first planar region, and the end face of the grinding wheel is in contact with the first planar region. After the grinding wheel moves from S1 to S2, the first planar region is machined on the countersink. After the grinding wheel moves from S2 to S3, the first curved surface region is machined on the countersink. After the grinding wheel moves from S3 to S4, the second curved surface region is machined on the countersink. After the grinding wheel moves from S4 to S5, the second planar region is machined on the countersink. The first planar region, the first curved surface region, the second curved surface region, and the second planar region together constitute the cutting groove of the countersink.

[0103] In this embodiment, a grinding wheel axis vector perpendicular to the first planar region and located in the front angular coordinate system is determined. The grinding wheel axis vector in the front angular coordinate system is transformed according to the coordinate transformation matrix to obtain the grinding wheel axis vector in the workpiece coordinate system. The grinding wheel axis vector can describe the grinding posture of the grinding wheel, so that the grinding posture of the grinding wheel matches the first planar region. Then, the grinding wheel is controlled to grind the tool groove according to the grinding wheel axis vector in the workpiece coordinate system and the motion trajectory of the end face center point in the workpiece coordinate system, which can improve the grinding efficiency.

[0104] In some embodiments, the CNC machine can sequentially superimpose the relative positions of each trajectory point onto a reference position, following the order from the first cutting edge to the end point of the reference grinding trajectory, to obtain the motion trajectory of the end face center point. Here, the relative position of each trajectory point refers to the relative position between that trajectory point and the reference trajectory point. It can be understood that superimposing the relative positions of the trajectory points at the first cutting edge onto the reference position yields the starting point on the motion trajectory; then superimposing the relative positions of subsequent trajectory points on the reference grinding trajectory onto the reference position yields subsequent points on the motion trajectory; finally, superimposing the relative position of the end point on the reference grinding trajectory onto the reference position yields the end point on the motion trajectory.

[0105] In some embodiments, the reference grinding trajectory includes a straight cutting edge segment corresponding to a first planar region and a cutting edge segment corresponding to a second region; each trajectory point includes each first trajectory point on the straight cutting edge segment and each second trajectory point on the cutting edge segment corresponding to the second region; the reference trajectory point is the adjacent point of the straight cutting edge segment and the cutting edge segment corresponding to the second region; the trajectory planning of the end face center point according to the reference position and the relative position between the reference trajectory point and each trajectory point to obtain the motion trajectory of the end face center point includes: the trajectory planning of the end face center point according to the reference position and the relative position between the reference trajectory point and each first trajectory point to obtain a first motion trajectory of the end face center point; the trajectory planning of the end face center point according to the reference position and the relative position between the reference trajectory point and each second trajectory point to obtain a second motion trajectory of the end face center point; the grinding wheel is controlled to grind the tool groove according to the motion trajectory of the end face center point, including: the grinding wheel is controlled to grind the tool groove according to the first motion trajectory to obtain a first planar region, and then the tool groove is ground according to the second motion trajectory to obtain a second region.

[0106] In some embodiments, the trajectory expression includes the coordinate expression of any first trajectory point on the infeed straight cutting edge segment, and the coordinate expression of any second trajectory point on the cutting edge segment corresponding to the second region. The coordinate expressions described above are used to calculate the coordinates of the trajectory points in the workpiece coordinate system.

[0107] In some embodiments, the coordinate expression of the first trajectory point is as shown in formula (7).

[0108] (7)

[0109] in, P is the coordinate of the first trajectory point in the workpiece coordinate system. The rake angle is denoted by t. t is the distance from the first trajectory point to the first cutting edge on the outer diameter end face. This represents the depth of the side of the cutting edge. Let X be the outer diameter. It can be understood that the first planar region and the base plane (X) w Ow Z w The included angle is the front angle. The direction from the center of the outer diameter end face to the first cutting edge is consistent with the direction of the first-dimensional coordinate axis in the workpiece coordinate system. Therefore, the coordinates of the trajectory point on the infeed straight line segment on the first-dimensional coordinate axis of the workpiece coordinate system are: The coordinates on the second coordinate axis of the workpiece coordinate system are It should be noted that the grinding wheel does not involve relative motion along the third-dimensional coordinate axis of the workpiece coordinate system during the grinding process. Therefore, in the mathematical modeling process, the third-dimensional coordinate axis of any trajectory point in the trajectory expression can be set to a fixed value, such as 0.

[0110] In some embodiments, the CNC machine can use the distance between the first trajectory point and the first cutting edge as the input parameter for the coordinate expression of the first trajectory point to obtain the coordinates of each first trajectory point in the workpiece coordinate system. In the workpiece coordinate system, the coordinate difference between each first trajectory point and the reference trajectory point is determined to obtain the coordinate difference corresponding to each first trajectory point. The coordinate difference may include the coordinate difference value corresponding to each coordinate axis in the workpiece coordinate system. The CNC machine can then superimpose the coordinate differences corresponding to each first trajectory point onto the reference coordinates in the workpiece coordinate system in the order from the first cutting edge to the reference trajectory point to obtain the first motion trajectory of the end face center point.

[0111] In some embodiments, the CNC machine can determine the coordinates of each second trajectory point in the workpiece coordinate system based on the coordinate expression of the second trajectory points. In the workpiece coordinate system, the coordinate difference between each second trajectory point and the reference trajectory point is determined, obtaining the coordinate difference corresponding to each second trajectory point. The CNC machine can then superimpose the coordinate differences corresponding to each second trajectory point onto the reference coordinates in the workpiece coordinate system in the order from the reference trajectory point to the endpoint of the reference grinding trajectory to obtain the second motion trajectory of the end face center point.

[0112] In some embodiments, the CNC machine can control the grinding wheel to move along a first motion trajectory to machine a first planar area on the countersink, and then control the grinding wheel to move along a second motion trajectory to machine a second area on the countersink.

[0113] In some embodiments, the region boundary line is the boundary line between the first planar region and the curved region.

[0114] In this embodiment, the center point of the end face is tracked according to the reference position and the relative position between the reference trajectory point and each first trajectory point to obtain the first motion trajectory of the center point of the end face; the center point of the end face is tracked according to the reference position and the relative position between the reference trajectory point and each second trajectory point to obtain the second motion trajectory of the center point of the end face; the grinding wheel is controlled to grind the tool groove according to the first motion trajectory to obtain the first planar area, and then the tool groove is ground according to the second motion trajectory to obtain the second area. The first planar area and the second area of ​​the tool groove can be automatically machined on the countersink in sequence, which improves the grinding efficiency of the countersink tool groove.

[0115] In some embodiments, such as Figure 5 The diagram shows a schematic of a reference grinding trajectory. The reference grinding trajectory includes a straight infeed cutting edge segment S1S2, a first circular arc cutting edge segment S2S3, a second circular arc cutting edge segment S3S4, and a straight retraction cutting edge segment S4S5. Structural geometric parameters may include the rake angle γ, the radius r1 of the first circular arc cutting edge segment, the angle θ1 of the first circular arc cutting edge segment, the radius r2 of the second circular arc cutting edge segment, and the angle θ2 of the second circular arc cutting edge segment. w It is the first coordinate axis, Y, in the workpiece coordinate system. w It is the second coordinate axis in the workpiece coordinate system, O w It is the origin in the workpiece coordinate system. This can be understood because the first planar region and the base plane (X...) w O w Z w All are perpendicular to the plane containing the front end face (X). w O w Y w Therefore, the plane containing the first planar region and the base plane (X) w O w Z w The angle between the two planes is the projection of the first planar region onto the plane (X). w O w Y w The straight line (i.e., the straight line where the cutting edge S1S2 is located) and the base plane (X) w O w Z w Projected onto plane (X) w O w Y w The angle between the straight line S1S2 and the first coordinate axis in the workpiece coordinate system is the rake angle γ.

[0116] In some embodiments, the second region includes a first curved surface region, a second curved surface region, and a second planar region; the cutting segments corresponding to the second region include a first arc cutting segment corresponding to the first curved surface region, a second arc cutting segment corresponding to the second curved surface region, and a retraction straight cutting segment corresponding to the second planar region; each second trajectory point includes a first arc trajectory point on the first arc cutting segment, a second arc trajectory point on the second arc cutting segment, and a retraction straight trajectory point on the retraction straight cutting segment; based on the reference position and the relative position between the reference trajectory point and each second trajectory point, trajectory planning is performed on the end face center point to obtain the second motion trajectory of the end face center point, including: based on the reference position and the relative position between the reference trajectory point and each first arc ... The relative positions between points determine the first circular arc motion trajectory of the end face center point; the relative positions between the reference position and the reference trajectory point and each second circular arc trajectory point determine the second circular arc motion trajectory of the end face center point; the relative positions between the reference position and the reference trajectory point and each retraction straight line trajectory point determine the retraction straight line motion trajectory of the end face center point; the tool groove is ground according to the second motion trajectory to obtain the second region, including: grinding the tool groove according to the first circular arc motion trajectory to obtain the first curved surface region, then grinding the tool groove according to the second circular arc motion trajectory to obtain the second curved surface region, and finally grinding the tool groove according to the retraction straight line motion trajectory to obtain the second planar region.

[0117] In some embodiments, the trajectory expression includes the coordinate expression of the first arc trajectory point, the coordinate expression of the second arc trajectory point, and the coordinate expression of the retraction straight line trajectory point.

[0118] In some embodiments, the coordinate expression of the first arc trajectory point is shown in formula (8).

[0119] (8).

[0120] in, . θ is the central angle corresponding to the first circular arc cutting edge segment, i.e., the angle of the first circular arc cutting edge segment. θ is the central angle corresponding to the arc between the first circular arc trajectory point and the reference trajectory point. P is the coordinate of the first circular arc trajectory point in the workpiece coordinate system. P1 is the coordinate of the first circular arc trajectory point in the first central rectangular coordinate system. It is the second rotation matrix from the first center rectangular coordinate system to the workpiece coordinate system. The second translation matrix from the first center rectangular coordinate system to the workpiece coordinate system. γ is the rake angle. r1 is the radius of the first circular arc cutting edge segment, i.e., the radius of the first circular arc cutting edge segment. It is the first-dimensional coordinate of the center of the first circular arc cutting edge in the workpiece coordinate system. It is the second-dimensional coordinate of the center of the first circular arc cutting edge in the workpiece coordinate system.

[0121] In some embodiments, the mathematical modeling process for the coordinate expression of the first arc trajectory point is as follows:

[0122] First, determine the coordinates of the reference trajectory point in the workpiece coordinate system. The coordinate expression of the reference trajectory point is shown in formula (9).

[0123] (9).

[0124] in, The coordinates of the reference trajectory point in the workpiece coordinate system. γ is the outer diameter. γ is the rake angle. This represents the depth of the blade's side surface. It can be understood that at t= When, formula (7) can be used to obtain formula (9).

[0125] Secondly, based on the geometric relationship between the center of the first circular arc cutting edge segment and the reference trajectory point, the center of the first circular arc cutting edge segment is determined. The straight cutting edge segment of the infeed is tangent to the first circular arc cutting edge segment at the reference trajectory point. Therefore, the line connecting the reference trajectory point and the center of the first circular arc cutting edge segment is perpendicular to the straight cutting edge segment of the infeed, and the distance between the reference trajectory point and the center of the first circular arc cutting edge segment is equal to the radius of the first circular arc cutting edge segment. From the above geometric relationship, the equation for determining the center of the first circular arc cutting edge segment, as shown in formula (10), can be obtained.

[0126] (10).

[0127] Where γ is the rake angle, and r1 is the radius of the first circular arc cutting edge. It is the first-dimensional coordinate of the center of the first circular arc cutting edge in the workpiece coordinate system. It is the second-dimensional coordinate of the center of the first circular arc cutting edge in the workpiece coordinate system. It is the first-dimensional coordinate of the reference trajectory point in the workpiece coordinate system. It is the second-dimensional coordinate of the reference trajectory point in the workpiece coordinate system.

[0128] Based on formula (10), the first and second coordinates of the center of the first circular arc cutting segment in the workpiece coordinate system can be obtained as shown in formula (11), thus completing the mathematical modeling of the center of the first circular arc cutting segment.

[0129] (11).

[0130] Next, define a first centered rectangular coordinate system and determine the second rotation and translation matrices from the first centered rectangular coordinate system to the workpiece coordinate system. For example... Figure 6The diagram shows a schematic of the first circular center rectangular coordinate system. In the first circular center rectangular coordinate system O1-X1Y1Z1, the center of the first circular arc cutting edge is taken as the origin O1, the straight line from the origin O1 to the reference trajectory point S2 is taken as the first-dimensional coordinate axis X1, the third-dimensional coordinate axis Z1 is parallel to the tool axis, and the positive direction of the second-dimensional coordinate axis is defined as pointing from the origin to the opposite side of the first circular arc cutting edge.

[0131] Reference Figure 5 and Figure 6 For the first central rectangular coordinate system and the workpiece coordinate system, the third coordinate axes Z1 and Z2 are... w Parallel to each other, X w O w Y w The rotation angle between X1 and O1Y1 is γ-π / 2. Therefore, the second rotation matrix can be obtained as shown in formula (12).

[0132] (12).

[0133] in, It is the second rotation matrix from the first center rectangular coordinate system to the workpiece coordinate system. γ is the front angle.

[0134] Based on the coordinates of the center of the first circular arc cutting edge in the workpiece coordinate system, the second translation matrix as shown in formula (13) can be obtained.

[0135] (13).

[0136] in, It is the second translation matrix. It is the first-dimensional coordinate of the center of the first circular arc cutting edge in the workpiece coordinate system. It is the second-dimensional coordinate of the center of the first circular arc cutting edge in the workpiece coordinate system.

[0137] Then, determine the coordinates of the first arc trajectory point in the first circle center rectangular coordinate system. As shown in formula (14), the coordinates of the first arc trajectory point in the first circle center rectangular coordinate system are as follows.

[0138] (14).

[0139] in, . θ is the central angle corresponding to the first circular arc cutting edge segment. θ is the central angle corresponding to the arc between the first circular arc trajectory point and the reference trajectory point. P1 is the coordinate of the first circular arc trajectory point in the first central rectangular coordinate system. r1 is the radius of the first circular arc cutting edge segment.

[0140] Finally, the coordinates (14) of the first arc trajectory point in the first circle center rectangular coordinate system are transformed according to the second rotation matrix (12) and the second translation matrix (13) to obtain the coordinate expression of the first arc trajectory point as shown in formula (8).

[0141] In some embodiments, the coordinate expression of the second arc trajectory point is shown in formula (15).

[0142] (15).

[0143] in, . θ is the central angle corresponding to the second circular arc cutting edge segment. θ is the central angle corresponding to the arc between the second circular arc trajectory point and the reference trajectory point. P is the coordinate of the second circular arc trajectory point in the workpiece coordinate system. P2 is the coordinate of the first circular arc trajectory point in the second central rectangular coordinate system. It is the third rotation matrix from the second center rectangular coordinate system to the workpiece coordinate system. It is the third translation matrix from the second center rectangular coordinate system to the workpiece coordinate system. γ is the front angle. r2 is the central angle corresponding to the first circular arc cutting edge segment. r2 is the radius of the second circular arc cutting edge segment. It is the first-dimensional coordinate of the center of the second circular arc cutting edge in the workpiece coordinate system. It is the second-dimensional coordinate of the center of the second circular arc cutting edge in the workpiece coordinate system.

[0144] In some embodiments, the mathematical modeling process for the coordinate expression of the second arc trajectory point is as follows:

[0145] First, determine the coordinates of the first adjacent point of the first and second circular arc cutting segments in the workpiece coordinate system. The first adjacent point is the end point of the first circular arc cutting segment and the starting point of the second circular arc cutting segment. The coordinate expression of the first adjacent point is shown in formula (16).

[0146] (16).

[0147] in, Let θ be the coordinates of the first adjacent point in the workpiece coordinate system. This can be understood as θ = ... When, formula (8) can be used to obtain formula (16).

[0148] Secondly, based on the geometric relationship between the center of the second circular arc cutting segment and the first adjacent point, the center of the second circular arc cutting segment is determined. The second circular arc cutting segment is tangent to the first circular arc cutting segment at the first adjacent point. Therefore, the line connecting the first adjacent point and the center of the second circular arc cutting segment is perpendicular to the tangent of the first circular arc cutting segment at the first adjacent point, and the distance between the first adjacent point and the center of the second circular arc cutting segment is equal to the radius of the second circular arc cutting segment. From the above geometric relationship, the equation for determining the center of the second circular arc cutting segment, as shown in formula (17), can be obtained.

[0149] (17).

[0150] Where γ is the front angle. r2 is the central angle corresponding to the first circular arc cutting edge segment. r2 is the radius of the second circular arc cutting edge segment. It is the first-dimensional coordinate of the center of the second circular arc cutting edge in the workpiece coordinate system. It is the second-dimensional coordinate of the center of the second circular arc cutting edge in the workpiece coordinate system. It is the first-dimensional coordinate of the first adjacent point in the workpiece coordinate system. It is the second-dimensional coordinate of the first adjacent point in the workpiece coordinate system.

[0151] Based on formula (17), the first and second coordinates of the center of the second arc cutting segment in the workpiece coordinate system can be obtained as shown in formula (18), thus completing the mathematical modeling of the center of the second arc cutting segment.

[0152] (18).

[0153] Next, define a second centered rectangular coordinate system, and determine the third rotation matrix and the third translation matrix from the second centered rectangular coordinate system to the workpiece coordinate system. For example... Figure 7 The diagram shows a schematic of the second circular center rectangular coordinate system. In the second circular center rectangular coordinate system O2-X2Y2Z2, the center of the second circular arc cutting edge is taken as the origin O2, the straight line from the origin O2 to the first adjacent point S3 is taken as the first-dimensional coordinate axis X2, the third-dimensional coordinate axis Z3 is parallel to the tool axis, and the positive direction of the second-dimensional coordinate axis is defined as pointing from the origin to the opposite side of the second circular arc cutting edge.

[0154] Reference Figure 5 and Figure 7 For the second-centered rectangular coordinate system and the workpiece coordinate system, the third-dimensional coordinate axes Z2 and Z3 are... w Parallel to each other, X w O w Y w The rotation angle with X2O2Y2 is Therefore, the third rotation matrix can be obtained as shown in formula (19).

[0155] (19).

[0156] in, It is the third rotation matrix from the second center rectangular coordinate system to the workpiece coordinate system. γ is the front angle. It is the central angle corresponding to the first circular arc cutting edge segment.

[0157] Based on the coordinates of the center of the second circular arc cutting edge in the workpiece coordinate system, the third translation matrix can be obtained as shown in formula (20).

[0158] (20).

[0159] in, It is the third translation matrix. It is the first-dimensional coordinate of the center of the second circular arc cutting edge in the workpiece coordinate system. It is the second-dimensional coordinate of the center of the second circular arc cutting edge in the workpiece coordinate system.

[0160] Then, determine the coordinates of the second arc trajectory point in the second circle center rectangular coordinate system. As shown in formula (21), the coordinates of the second arc trajectory point in the first circle center rectangular coordinate system are as follows.

[0161] (twenty one).

[0162] in, . θ is the central angle corresponding to the second circular arc cutting edge segment. θ is the central angle corresponding to the arc between the second circular arc trajectory point and the first adjacent point. P2 is the coordinate of the second circular arc trajectory point in the second central rectangular coordinate system. r2 is the radius of the second circular arc cutting edge segment.

[0163] Finally, by performing coordinate transformation on the coordinates (21) of the second arc trajectory point in the second circle center rectangular coordinate system according to the third rotation matrix (19) and the third translation matrix (20), the coordinate expression of the second arc trajectory point as shown in formula (15) can be obtained.

[0164] In some embodiments, when θ = At that time, according to formula (15), the coordinates of the second adjacent point of the second circular arc cutting edge segment and the retraction straight cutting edge segment as shown in formula (22) can be obtained.

[0165] (twenty two).

[0166] Where S4 is the coordinate of the second adjacent point in the workpiece coordinate system. It is the first-dimensional coordinate of the second adjacent point in the workpiece coordinate system. It is the second-dimensional coordinate of the second adjacent point in the workpiece coordinate system. It is the third-dimensional coordinate of the second adjacent point in the workpiece coordinate system.

[0167] Based on the fact that the straight cutting edge segment and the second circular cutting edge segment are tangent at the second adjacent point, the first straight cutting edge segment and the first circular cutting edge segment are tangent at the reference trajectory point, and the first circular cutting edge segment and the second circular cutting edge segment are tangent at the first adjacent point, the central angle corresponding to the first circular cutting edge segment is... The central angle corresponding to the second arc-shaped cutting edge is The angle between the straight cutting edge segment at the infeed and the first-dimensional coordinate axis of the workpiece coordinate system is the rake angle γ. Therefore, the angle between the straight cutting edge segment at the retraction and the first-dimensional coordinate axis of the workpiece coordinate system is... Therefore, the coordinate expression of the retraction line trajectory point can be determined as shown in formula (23).

[0168] (twenty three).

[0169] in, S4 is the coordinate of the second adjacent point in the workpiece coordinate system. S5 is the end point of the retraction straight cutting segment, which is also the grinding end point of the outer diameter end face. S4 and S5 are the lengths of the retraction straight cutting segment, i.e., the retraction distance. t is the distance from the retraction straight trajectory point to S4.

[0170] In some embodiments, the CNC machine can determine the coordinates of each first arc trajectory point in the workpiece coordinate system based on the coordinate expression of the first arc trajectory points. In the workpiece coordinate system, the coordinate difference between each first arc trajectory point and a reference trajectory point is determined, obtaining the coordinate difference corresponding to each first arc trajectory point. The CNC machine can then superimpose the coordinate differences corresponding to each first arc trajectory point onto the reference coordinates in the workpiece coordinate system, following the order from the reference trajectory point to the end point of the first arc cutting edge, to obtain the first arc motion trajectory of the end face center point.

[0171] In some embodiments, the CNC machine can determine the coordinates of each second arc trajectory point in the workpiece coordinate system based on the coordinate expression of the second arc trajectory points. In the workpiece coordinate system, the coordinate difference between each second arc trajectory point and a reference trajectory point is determined, obtaining the coordinate difference corresponding to each second arc trajectory point. The CNC machine can then superimpose the coordinate differences corresponding to each second arc trajectory point onto the reference coordinates in the workpiece coordinate system, following the order from the first adjacent point to the endpoint of the second arc cutting edge, to obtain the second arc motion trajectory of the end face center point.

[0172] In some embodiments, the CNC machine can determine the coordinates of each retraction linear trajectory point in the workpiece coordinate system based on the coordinate expression of the retraction linear trajectory points. In the workpiece coordinate system, the coordinate difference between each retraction linear trajectory point and a reference trajectory point is determined, obtaining the coordinate difference corresponding to each retraction linear trajectory point. The CNC machine can then superimpose the coordinate differences corresponding to each retraction linear trajectory point onto the reference coordinates in the workpiece coordinate system, following the order from the second adjacent point to the end point of the retraction linear cutting edge segment, to obtain the retraction linear motion trajectory of the end face center point.

[0173] In some embodiments, the CNC machine can control the grinding wheel to move along a first motion trajectory to machine a first planar area on the countersink, then control the grinding wheel to move along a first circular arc motion trajectory to machine a first curved area on the countersink, then control the grinding wheel to move along a second circular arc motion trajectory to machine a second curved area on the countersink, and finally control the grinding wheel to move along a retraction straight motion trajectory to machine a second planar area on the countersink.

[0174] In this embodiment, the tool groove is ground according to the first arc motion trajectory to obtain the first curved surface area. Then, the tool groove is ground according to the second arc motion trajectory to obtain the second curved surface area. Finally, the tool groove is ground according to the retraction linear motion trajectory to obtain the second planar area. The first curved surface area, the second curved surface area, and the second planar area can be automatically processed on the countersink, ensuring the efficiency of tool groove grinding.

[0175] In some embodiments, the structural geometric parameters include drill tip diameter, outer diameter, drill tip angle, drill tip penetration depth, and cutter tooth flank depth; the drill tip diameter refers to the rotation diameter of the front end face; the outer diameter refers to the rotation diameter of the outer diameter end face; the drill tip angle refers to the cone angle of the rotating body of the countersink; the drill tip penetration depth refers to the distance between the second cutting edge on the front end face and the first reference point; the cutter tooth flank depth refers to the distance between the first cutting edge on the outer diameter end face and the second reference point; determining the first reference point and the second reference point according to the structural geometric parameters includes: determining the first reference point according to the drill tip diameter, outer diameter, drill tip angle, and drill tip penetration depth; and determining the second reference point according to the cutter tooth flank depth.

[0176] For example, such as Figure 8 The diagram illustrates the structure of a countersink. The structural geometric parameters may include the rake angle γ, drill tip diameter d1, outer diameter d2, drill tip angle δ, drill tip penetration depth h1, and tooth flank depth h2. The drill tip penetration depth h1 is located on the first dimension X of the workpiece coordinate system. w The projection is h1cosγ, and the depth h2 of the cutter tooth side surface lies on the first coordinate axis X of the workpiece coordinate system. w The projection of is h2cosγ.

[0177] like Figure 9As shown, another schematic diagram of the end face center point, first reference point, and second reference point is provided when the region critical line coincides with at least a portion of the outer edge of the grinding wheel. γ It is the origin in the front-angle coordinate system, X γ Z is the first coordinate axis in the front-angle coordinate system. γ This is the third coordinate axis in the front angular coordinate system. The outer edge of the grinding wheel intersects the front face at the first reference point. The outer edge of the grinding wheel intersects with the outer diameter end face at the second reference point. .

[0178] Reference Figure 8 and Figure 9 The geometric relationships shown in the figure, in the front angular coordinate system, are for the first reference point. Its first-dimensional coordinate axis X γ The coordinates are On the third-dimensional coordinate axis Z γ The coordinates are In the front angular coordinate system, for the second reference point Its first-dimensional coordinate axis X γ The coordinates are On the third-dimensional coordinate axis Z γ The coordinates are 0. Because the second coordinate axis Y of the front angular coordinate system... γ Perpendicular to the first planar region, and with the first and second reference points located within the first planar region, the first and second reference points lie on the second-dimensional coordinate axis Y of the front angular coordinate system. γ The coordinates on the coordinate system are all 0. Therefore, the coordinates of the first and second reference points in the front angle coordinate system can be determined as shown in formula (24).

[0179] (twenty four).

[0180] In this embodiment, a first reference point is determined based on the drill tip diameter, outer diameter, drill tip angle, and drill tip penetration depth; a second reference point is determined based on the depth of the cutting tooth side. Then, by utilizing the positional relationship that the first and second reference points are located on the outer edge of the grinding wheel when the regional critical line coincides with at least part of the outer edge of the grinding wheel, the reference position of the end face center point can be determined. Based on the reference grinding trajectory and the reference position, the motion trajectory of the end face center point can be obtained. Thus, the grinding of the countersink groove can be achieved based on the motion trajectory of the end face center point, without relying on manual labor, thereby improving the grinding efficiency of the countersink groove.

[0181] In some embodiments, the CNC machine can determine the trajectory expression. The trajectory expression is obtained through pre-mathematical modeling. The trajectory expression includes the coordinate expression of each trajectory point, namely, the coordinate expression of the first trajectory point shown in formula (7), the coordinate expression of the first arc trajectory point shown in formula (8), the coordinate expression of the second arc trajectory point shown in formula (15), and the coordinate expression of the retraction straight line trajectory point shown in formula (23). By substituting the structural geometric parameters into the trajectory expression, the coordinates of each trajectory point in the workpiece coordinate system can be obtained.

[0182] The CNC machine can determine the first rotation matrix as shown in formula (2), the first translation matrix as shown in formula (3), and the reference coordinate calculation formula in the front angle coordinate system as shown in formula (1). The parameters in formula (1) are the coordinates of the first and second reference points in the front angle coordinate system as shown in formula (24). The CNC machine can calculate the coordinates of the first and second reference points in the front angle coordinate system according to the structural geometric parameters and the operation logic described in formula (24). Then, the reference coordinates in the front angle coordinate system are calculated according to the coordinates of the first and second reference points in the front angle coordinate system and the operation logic described in the reference coordinate calculation formula shown in formula (1). Finally, the reference coordinates in the front angle coordinate system are converted into reference coordinates in the workpiece coordinate system according to the first rotation matrix shown in formula (2) and the first translation matrix shown in formula (3). The above operation logic is as shown in formula (4). As shown.

[0183] The CNC machine can determine the relative position between the reference trajectory point and each trajectory point. The calculation logic is as shown in formula (4). The motion trajectory of the end face center point can be obtained by superimposing the reference coordinates in the workpiece coordinate system with the relative positions between the reference trajectory point and each trajectory point. The entire calculation logic of the motion trajectory of the end face center point is as shown in the motion trajectory calculation formula (4).

[0184] The CNC machine can determine the grinding wheel axis vector in the front angle coordinate system as shown in formula (5), and convert the grinding wheel axis vector in the front angle coordinate system into the grinding wheel axis vector in the workpiece coordinate system as shown in formula (6) according to the first rotation matrix shown in formula (2) and the first translation matrix shown in formula (3).

[0185] In some embodiments, such as Figure 10a As shown, an application environment diagram for another grinding method of countersunk drill grooves is provided. Computer equipment can execute the steps of the countersunk drill groove grinding method in a simulation environment based on the design values ​​of the structural geometric parameters provided in Table 1, obtaining the following results: Figure 10b and 10c The simulation results shown depict the countersink groove from both the first and second perspectives.

[0186] Table 1:

[0187]

[0188] The simulation results were measured, and the measured values ​​of the structural geometric parameters are shown in Table 2.

[0189] Table 2:

[0190]

[0191] The measured values ​​of the structural geometric parameters in Table 2 can reach the design values ​​of the structural geometric parameters in Table 1, thus meeting the actual machining requirements of the countersink groove.

[0192] It should be understood that although the steps in the flowchart above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows or numbers. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple steps or stages, which are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0193] Based on the same inventive concept, this application also provides a grinding apparatus for countersunk drill grooves to implement the grinding method for countersunk drill grooves described above. The solution provided by this apparatus is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the grinding apparatus for countersunk drill grooves provided below can be found in the limitations of the grinding method for countersunk drill grooves above, and will not be repeated here.

[0194] In one exemplary embodiment, such as Figure 11 As shown, a grinding device 1100 for countersinking tool grooves is provided, comprising: an acquisition module 1102, a first determination module 1104, a second determination module 1106, a third determination module 1108, a planning module 1110, and a grinding module 1112, wherein:

[0195] The acquisition module 1102 is used to acquire the structural geometric parameters of the countersink; the structural geometric parameters are used to characterize the countersink's groove, front end face, and outer diameter end face; the groove includes a first planar region and a second region.

[0196] The first determining module 1104 is used to determine a first reference point and a second reference point based on structural geometric parameters; the first reference point is the intersection of the front end face and the regional critical line between the first planar region and the second region; the second reference point is the intersection of the outer diameter end face and the regional critical line.

[0197] The second determining module 1106 is used to determine the reference position of the center point of the end face of the grinding wheel when the regional critical line coincides with at least part of the outer edge of the grinding wheel, based on the first reference point, the second reference point, and the radius of the grinding wheel.

[0198] The third determining module 1108 is used to determine a reference grinding trajectory that matches the structural geometric parameters; the reference grinding trajectory includes each trajectory point; each trajectory point includes the reference trajectory point corresponding to the regional critical line.

[0199] The planning module 1110 is used to plan the trajectory of the end face center point based on the reference position and the relative position between the reference trajectory point and each trajectory point, so as to obtain the motion trajectory of the end face center point.

[0200] The grinding module 1112 is used to control the grinding wheel to grind the tool groove according to the motion trajectory of the center point of the end face.

[0201] In some embodiments, the first determining module 1104 is used to determine the coordinates of the first reference point in the front angle coordinate system and the coordinates of the second reference point in the front angle coordinate system according to the structural geometric parameters; wherein, in the front angle coordinate system, the origin is located at the first cutting edge on the outer diameter end face, the first-dimensional coordinate axis and the third-dimensional coordinate axis are located in the plane where the first plane region is located, and the second-dimensional coordinate axis is perpendicular to the first plane region.

[0202] In some embodiments, the second determining module 1106 is used to determine the coordinates of the first reference point in the front angular coordinate system, the coordinates of the second reference point in the front angular coordinate system, and the radius of the grinding wheel as input parameters for the reference coordinate calculation formula, so as to obtain the reference coordinates of the end face center point of the grinding wheel in the front angular coordinate system; wherein, the reference coordinate calculation formula is derived based on the positional relationship between the first reference point and the second reference point and the end face center point respectively; the positional relationship means that when the regional critical line coincides with at least part of the outer edge of the grinding wheel, the distance between the first reference point and the second reference point and the end face center point is the radius of the grinding wheel respectively.

[0203] In some embodiments, the planning module 1110 is used to determine the coordinate transformation matrix from the front angle coordinate system to the workpiece coordinate system; perform coordinate transformation on the reference coordinates in the front angle coordinate system according to the coordinate transformation matrix to obtain the reference coordinates in the workpiece coordinate system; and superimpose the relative positions between the reference trajectory points and each trajectory point onto the reference coordinates in the workpiece coordinate system to obtain the motion trajectory of the end face center point in the workpiece coordinate system.

[0204] In some embodiments, the planning module 1110 is used to determine the grinding wheel axis vector perpendicular to the first planar region and in the front angle coordinate system; to perform coordinate transformation on the grinding wheel axis vector in the front angle coordinate system according to the coordinate transformation matrix to obtain the grinding wheel axis vector in the workpiece coordinate system; the grinding module 1112 is used to control the grinding wheel to grind the tool groove according to the grinding wheel axis vector in the workpiece coordinate system and the motion trajectory of the end face center point in the workpiece coordinate system.

[0205] In some embodiments, the reference grinding trajectory includes a straight cutting edge segment corresponding to the first planar region and a cutting edge segment corresponding to the second region; each trajectory point includes each first trajectory point on the straight cutting edge segment and each second trajectory point on the cutting edge segment corresponding to the second region; the reference trajectory point is the adjacent point of the straight cutting edge segment and the cutting edge segment corresponding to the second region; the planning module 1110 is used to perform trajectory planning on the end face center point according to the reference position and the relative position between the reference trajectory point and each first trajectory point to obtain a first motion trajectory of the end face center point; and to perform trajectory planning on the end face center point according to the reference position and the relative position between the reference trajectory point and each second trajectory point to obtain a second motion trajectory of the end face center point; the grinding module 1112 is used to control the grinding wheel to grind the tool groove according to the first motion trajectory to obtain a first planar region, and then grind the tool groove according to the second motion trajectory to obtain a second region.

[0206] In some embodiments, the second region includes a first curved surface region, a second curved surface region, and a second planar region; the cutting edge segments corresponding to the second region include a first arc cutting edge segment corresponding to the first curved surface region, a second arc cutting edge segment corresponding to the second curved surface region, and a retraction straight cutting edge segment corresponding to the second planar region; each second trajectory point includes a first arc trajectory point on the first arc cutting edge segment, a second arc trajectory point on the second arc cutting edge segment, and a retraction straight trajectory point on the retraction straight cutting edge segment; the planning module 1110 is used to determine the end face center point based on the reference position and the relative position between the reference trajectory point and each first arc trajectory point. The first circular arc motion trajectory; the second circular arc motion trajectory of the end face center point is determined according to the reference position and the relative position between the reference trajectory point and each second circular arc trajectory point; the retraction linear motion trajectory of the end face center point is determined according to the reference position and the relative position between the reference trajectory point and each retraction linear trajectory point; the grinding module 1112 is used to grind the tool groove according to the first circular arc motion trajectory to obtain the first curved surface area, then grind the tool groove according to the second circular arc motion trajectory to obtain the second curved surface area, and finally grind the tool groove according to the retraction linear motion trajectory to obtain the second planar area.

[0207] In some embodiments, the structural geometric parameters include drill tip diameter, outer diameter, drill tip angle, drill tip penetration depth, and cutter tooth flank depth; the drill tip diameter refers to the rotation diameter of the front end face; the outer diameter refers to the rotation diameter of the outer diameter end face; the drill tip angle refers to the cone angle of the rotating body of the countersink; the drill tip penetration depth refers to the distance between the second cutting edge on the front end face and the first reference point; the cutter tooth flank depth refers to the distance between the first cutting edge on the outer diameter end face and the second reference point; the first determining module 1104 is used to determine the first reference point based on the drill tip diameter, outer diameter, drill tip angle, and drill tip penetration depth; and to determine the second reference point based on the cutter tooth flank depth.

[0208] Specific limitations regarding the grinding apparatus for countersunk drill grooves can be found in the above description of the grinding method for countersunk drill grooves, and will not be repeated here. Each module in the aforementioned grinding apparatus for countersunk drill grooves can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0209] In one embodiment, a computer device is provided, which may be a terminal device, and its internal structure diagram may be as follows: Figure 12 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a grinding method for countersinking tool grooves. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device casing, or an external keyboard, touchpad, or mouse.

[0210] Those skilled in the art will understand that Figure 12 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0211] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method embodiments.

[0212] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method embodiments.

[0213] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps in the above method embodiments.

[0214] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes described in the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0215] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A grinding method for countersinking tool grooves, characterized in that, The method includes: Obtain the structural geometric parameters of the countersink; the structural geometric parameters are used to characterize the countersink's groove, front end face, and outer diameter end face; the groove includes a first planar region and a second region; The first reference point and the second reference point are determined based on the structural geometric parameters; the first reference point is the intersection of the front end face and the boundary line between the first planar region and the second region; the second reference point is the intersection of the outer diameter end face and the boundary line. The reference position of the center point of the end face of the grinding wheel is determined based on the first reference point, the second reference point, and the radius of the grinding wheel, when the critical line of the region coincides with at least a portion of the outer edge of the grinding wheel; A reference grinding trajectory matching the geometric parameters of the structure is determined; the reference grinding trajectory includes each first trajectory point on the feed line cutting edge corresponding to the first planar region, each second trajectory point on the cutting edge corresponding to the second region, and the reference trajectory point corresponding to the boundary line of the region; the reference trajectory point is the adjacent point of the feed line cutting edge and the cutting edge corresponding to the second region. Based on the reference position and the relative position between the reference trajectory point and each first trajectory point, trajectory planning is performed on the end face center point to obtain the first motion trajectory of the end face center point; Based on the reference position and the relative position between the reference trajectory point and each second trajectory point, trajectory planning is performed on the end face center point to obtain the second motion trajectory of the end face center point; The grinding wheel is controlled to grind the tool groove according to the first motion trajectory to obtain the first planar area, and then the tool groove is ground according to the second motion trajectory to obtain the second area.

2. The method according to claim 1, characterized in that, Determining the first reference point and the second reference point based on the structural geometric parameters includes: The coordinates of the first reference point and the second reference point in the front angle coordinate system are determined based on the structural geometric parameters. In the front angle coordinate system, the origin is located at the first cutting edge on the outer diameter end face, the first and third coordinate axes are located in the plane containing the first planar region, and the second coordinate axis is perpendicular to the first planar region.

3. The method according to claim 2, characterized in that, Determining the reference position of the center point of the end face of the grinding wheel when the critical line of the region coincides with at least a portion of the outer edge of the grinding wheel, based on the first reference point, the second reference point, and the radius of the grinding wheel, includes: The coordinates of the first reference point in the front angular coordinate system, the coordinates of the second reference point in the front angular coordinate system, and the radius of the grinding wheel are determined as the input parameters of the reference coordinate calculation formula to obtain the reference coordinates of the center point of the end face of the grinding wheel in the front angular coordinate system. The reference coordinate calculation formula is derived based on the positional relationship between the first reference point and the second reference point and the center point of the end face, respectively. The positional relationship means that when the critical line of the region coincides with at least part of the outer edge of the grinding wheel, the distances between the first reference point and the second reference point and the center point of the end face are both the radius of the grinding wheel.

4. The method according to claim 3, characterized in that, The method further includes: Determine the coordinate transformation matrix from the front angle coordinate system to the workpiece coordinate system; The reference coordinates in the front angle coordinate system are transformed according to the coordinate transformation matrix to obtain the reference coordinates in the workpiece coordinate system. The step of planning the trajectory of the end face center point based on the reference position and the relative position between the reference trajectory point and each first trajectory point to obtain the first motion trajectory of the end face center point includes: The relative positions between the reference trajectory points and each first trajectory point are superimposed onto the reference coordinates in the workpiece coordinate system to obtain the first motion trajectory of the end face center point in the workpiece coordinate system. The step of planning the trajectory of the end face center point based on the reference position and the relative position between the reference trajectory point and each second trajectory point to obtain the second motion trajectory of the end face center point includes: The relative positions between the reference trajectory point and each second trajectory point are superimposed onto the reference coordinates in the workpiece coordinate system to obtain the second motion trajectory of the end face center point in the workpiece coordinate system.

5. The method according to claim 4, characterized in that, The method further includes: Determine the grinding wheel axis vector that is perpendicular to the first planar region and in the front angular coordinate system; The grinding wheel axis vector in the front angle coordinate system is transformed according to the coordinate transformation matrix to obtain the grinding wheel axis vector in the workpiece coordinate system. The process of controlling the grinding wheel to grind the tool groove according to the first motion trajectory to obtain the first planar region, and then grinding the tool groove according to the second motion trajectory to obtain the second region, includes: The grinding wheel is controlled to grind the tool groove according to the grinding wheel axis vector in the workpiece coordinate system and the first motion trajectory of the end face center point in the workpiece coordinate system to obtain the first planar region. Then, the tool groove is ground according to the grinding wheel axis vector in the workpiece coordinate system and the second motion trajectory of the end face center point in the workpiece coordinate system to obtain the second region.

6. The method according to claim 1, characterized in that, The countersink is a conical countersink.

7. The method according to claim 1, characterized in that, The second region includes a first curved surface region, a second curved surface region, and a second planar region; the cutting segments corresponding to the second region include a first arc cutting segment corresponding to the first curved surface region, a second arc cutting segment corresponding to the second curved surface region, and a retraction straight cutting segment corresponding to the second planar region. Each of the second trajectory points includes the first arc trajectory point on the first arc cutting edge segment, the second arc trajectory point on the second arc cutting edge segment, and the retraction straight trajectory point on the retraction straight cutting edge segment; The step of planning the trajectory of the end face center point based on the reference position and the relative position between the reference trajectory point and each second trajectory point to obtain the second motion trajectory of the end face center point includes: The first arc motion trajectory of the end face center point is determined based on the reference position and the relative position between the reference trajectory point and each of the first arc trajectory points; The second arc motion trajectory of the end face center point is determined based on the reference position and the relative position between the reference trajectory point and each second arc trajectory point; The retraction linear motion trajectory of the end face center point is determined based on the reference position and the relative position between the reference trajectory point and each of the retraction linear trajectory points. The step of grinding the tool groove according to the second motion trajectory to obtain the second region includes: The tool groove is ground according to the first arc motion trajectory to obtain the first curved surface region. Then, the tool groove is ground according to the second arc motion trajectory to obtain the second curved surface region. Finally, the tool groove is ground according to the retraction linear motion trajectory to obtain the second planar region.

8. The method according to any one of claims 1 to 7, characterized in that, The structural geometric parameters include drill tip diameter, outer diameter, drill tip angle, drill tip penetration depth, and cutter tooth flank depth; the drill tip diameter refers to the rotation diameter of the front end face; the outer diameter refers to the rotation diameter of the outer diameter end face; the drill tip angle refers to the cone angle of the rotating body of the countersink; the drill tip penetration depth refers to the distance between the second cutting edge on the front end face and the first reference point; the cutter tooth flank depth refers to the distance between the first cutting edge on the outer diameter end face and the second reference point; Determining the first reference point and the second reference point based on the structural geometric parameters includes: A first reference point is determined based on the drill tip diameter, the outer diameter, the drill tip angle, and the drill tip penetration depth; The second reference point is determined based on the depth of the side surface of the cutting teeth.

9. A grinding device for countersinking tool grooves, characterized in that, The device includes: The acquisition module is used to acquire the structural geometric parameters of the countersink; the structural geometric parameters are used to characterize the countersink's cutting groove, front end face, and outer diameter end face; the cutting groove includes a first planar region and a second region; The first determining module is used to determine a first reference point and a second reference point based on the structural geometric parameters; the first reference point is the intersection of the front end face and the regional critical line between the first planar region and the second region; the second reference point is the intersection of the outer diameter end face and the regional critical line. The second determining module is used to determine the reference position of the center point of the end face of the grinding wheel when the critical line of the region coincides with at least a portion of the outer edge of the grinding wheel, based on the first reference point, the second reference point, and the radius of the grinding wheel; The third determining module is used to determine a reference grinding trajectory that matches the geometric parameters of the structure; the reference grinding trajectory includes each first trajectory point on the feed straight cutting edge corresponding to the first planar region, each second trajectory point on the cutting edge corresponding to the second region, and the reference trajectory point corresponding to the boundary line of the region; the reference trajectory point is the adjacent point of the feed straight cutting edge and the cutting edge corresponding to the second region. The planning module is used to perform trajectory planning on the end face center point according to the reference position and the relative position between the reference trajectory point and each first trajectory point to obtain the first motion trajectory of the end face center point; and to perform trajectory planning on the end face center point according to the reference position and the relative position between the reference trajectory point and each second trajectory point to obtain the second motion trajectory of the end face center point. The grinding module is used to control the grinding wheel to grind the tool groove according to the first motion trajectory to obtain the first planar area, and then to grind the tool groove according to the second motion trajectory to obtain the second area.

10. A numerical control machine, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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

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