Method and device for grinding rake face of turning tool, electronic device and storage medium

Abstract

The application relates to a tool nose surface grinding method and device of a turning tool, an electronic device and a storage medium. The method comprises the following steps: acquiring an infeed straight line segment and a retraction circular arc segment; the infeed straight line segment corresponds to the plane structure of the tool nose surface of the turning tool; the retraction circular arc segment corresponds to the curved surface structure of the tool nose surface; determining the initial posture of the grinding wheel when the end surface of the grinding wheel is parallel to the infeed straight line segment and perpendicular to the track plane where the infeed straight line segment and the retraction circular arc segment are located; for the track point on the infeed straight line segment or the retraction circular arc segment, the grinding pose of the grinding wheel when the outer edge of the grinding wheel passes through the track point is determined according to the initial posture; and the tool nose surface of the turning tool is ground at the track point according to the grinding pose. The grinding precision of the tool nose surface of the turning tool can be ensured by adopting the method.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical manufacturing, and in particular to a rake face grinding method and device of a turning tool, an electronic device and a storage medium. BACKGROUND

[0002] With the development of mechanical manufacturing technology, turning tools, as key cutting tools for cutting processing, are widely used in the processing of parts in the fields of automobile manufacturing, aerospace, precision instruments, etc. Since the effect of part processing is affected by the grinding accuracy of the rake face of the turning tool, the rake face of the turning tool is crucial.

[0003] In the traditional technology, the rake face of the turning tool is manually ground by workers, but this method is easily affected by human factors, resulting in unstable grinding accuracy, so as to ensure the grinding accuracy of the rake face of the turning tool. SUMMARY

[0004] Therefore, it is necessary to provide a rake face grinding method and device capable of ensuring grinding accuracy, an electronic device and a storage medium.

[0005] In a first aspect, the present application provides a rake face grinding method of a turning tool, comprising:

[0006] obtaining an infeed straight line segment and a retraction circular arc segment; the infeed straight line segment corresponds to the planar structure of the rake face of the turning tool; the retraction circular arc segment corresponds to the curved surface structure of the rake face;

[0007] determining the initial posture of the grinding wheel when the end face of the grinding wheel is parallel to the infeed straight line segment and perpendicular to the track plane where the infeed straight line segment and the retraction circular arc segment are located;

[0008] for a track point on the infeed straight line segment or the retraction circular arc segment, determining the grinding posture of the grinding wheel when the outer edge of the grinding wheel passes through the track point according to the initial posture;

[0009] controlling the grinding wheel to grind the rake face of the turning tool at the track point according to the grinding posture.

[0010] In a second aspect, the present application further provides a rake face grinding device of a turning tool, comprising:

[0011] an obtaining module, configured to obtain an infeed straight line segment and a retraction circular arc segment; the infeed straight line segment corresponds to the planar structure of the rake face of the turning tool; the retraction circular arc segment corresponds to the curved surface structure of the rake face;

[0012] The pose planning module is configured to determine an initial pose of the grinding wheel when an end surface of the grinding wheel is parallel to the infeed straight line segment and perpendicular to a trajectory plane in which the infeed straight line segment and the outfeed circular arc segment lie; and determine, for a trajectory point on the infeed straight line segment or the outfeed circular arc segment, a grinding pose of the grinding wheel when an outer edge of the grinding wheel passes the trajectory point according to the initial pose.

[0013] The grinding module is configured to control the grinding wheel to perform the rake face grinding of the turning tool at the trajectory point according to the grinding pose.

[0014] In a third aspect, the present application also provides an electronic device including a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the above method when executing the computer program.

[0015] In a fourth aspect, the present application also provides a computer-readable storage medium storing a computer program, and the computer program implementing the steps of the above method when executed by a processor.

[0016] In a fifth aspect, the present application also provides a computer program product including a computer program, and the computer program implementing the steps of the above method when executed by a processor.

[0017] The above method, device, electronic device, storage medium and computer program product for the rake face grinding of the turning tool, the infeed straight line segment and the outfeed circular arc segment are obtained; the infeed straight line segment corresponds to the planar structure of the rake face of the turning tool; the outfeed circular arc segment corresponds to the curved surface structure of the rake face; the outer edge of the grinding wheel grinds the planar structure and the curved surface structure of the rake face when the outer edge of the grinding wheel travels on the turning tool according to the infeed straight line segment and the outfeed circular arc segment, thereby providing precise trajectory control for the grinding of the rake face of the turning tool. The initial pose of the grinding wheel is determined when the end surface of the grinding wheel is parallel to the infeed straight line segment and perpendicular to the trajectory plane in which the infeed straight line segment and the outfeed circular arc segment lie; the end surface of the grinding wheel in the initial pose is parallel to the infeed straight line segment and perpendicular to the trajectory plane, which can constrain the end surface of the grinding wheel from damaging the rake face structure grinded by the outer edge of the grinding wheel when the outer edge of the grinding wheel travels according to the infeed straight line segment or the outfeed circular arc segment, and further, the grinding pose of the grinding wheel when the outer edge of the grinding wheel passes a trajectory point is determined according to the initial pose for the trajectory point on the infeed straight line segment or the outfeed circular arc segment; the grinding wheel is controlled to perform the rake face grinding at the trajectory point according to the grinding pose, thereby realizing the introduction of precise trajectory control in the process of the rake face grinding, stably controlling the grinding precision of the rake face of the turning tool, and ensuring the grinding precision of the rake face of the turning tool. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A flowchart of a rake face grinding method of a turning tool is provided for the embodiments of the present application.

[0019] Figure 2A schematic diagram of a workpiece coordinate system and a tool tip coordinate system is provided for an embodiment of the present application.

[0020] Figure 3 A schematic diagram of an advancing straight line segment and a retracting circular arc segment in a tool tip coordinate system is provided for an embodiment of the present application.

[0021] Figure 4 A schematic diagram of a grinding wheel in an initial posture is provided for an embodiment of the present application.

[0022] Figure 5 A schematic diagram of a grinding wheel from an initial posture to an intermediate posture is provided for an embodiment of the present application.

[0023] Figure 6 A schematic diagram of a grinding wheel from an intermediate posture to a grinding posture is provided for an embodiment of the present application.

[0024] Figure 7 A schematic diagram of another grinding wheel from an intermediate posture to a grinding posture is provided for an embodiment of the present application.

[0025] Figure 8 A schematic diagram of a structure parameter of a turning tool is provided for an embodiment of the present application.

[0026] Figure 9 A schematic diagram of a simulation result is provided for an embodiment of the present application.

[0027] Figure 10 A structure block diagram of a rake face grinding device of a turning tool is provided for an embodiment of the present application.

[0028] Figure 11 An internal structure diagram of an electronic device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0030] In an exemplary embodiment, as shown in Figure 1 , a rake face grinding method of a turning tool is provided, which is taken as an example to be applied to an electronic device. The electronic device can include at least one of a terminal, a server or a numerical control device. The method includes the following steps 102 to 108.

[0031] Step 102, an advancing straight line segment and a retracting circular arc segment are obtained; the advancing straight line segment corresponds to a planar structure of a rake face of the turning tool; and the retracting circular arc segment corresponds to a curved surface structure of the rake face.

[0032] The tool is a cutting tool mainly used for turning. The feed-in straight line segment is used to represent the linear trajectory of the outer edge of the grinding wheel when the grinding wheel enters the tool during the process of grinding the rake face. It can be understood that the outer edge of the grinding wheel travels along the feed-in straight line segment, which can grind a planar structure of the rake face on the tool. The feed-out circular arc segment is used to represent the circular arc trajectory of the outer edge of the grinding wheel when the grinding wheel leaves the tool during the process of grinding the rake face. It can be understood that the outer edge of the grinding wheel travels along the feed-out circular arc segment, which can grind a curved surface structure of the rake face on the tool.

[0033] In some embodiments, the electronic device can obtain the input feed-in straight line segment and the feed-out circular arc segment.

[0034] In some embodiments, the first endpoint of the feed-in straight line segment can be a tool tip point of the tool. The plane on which the feed-in straight line segment and the feed-out circular arc segment lie is parallel to the tool axis of the tool and perpendicular to the plane on which the tool axis and the tool tip point lie.

[0035] In some embodiments, the tool can be but is not limited to a monolithic tool.

[0036] Step 104, determining an initial pose of the grinding wheel when the end face of the grinding wheel is parallel to the feed-in straight line segment and perpendicular to the trajectory plane on which the feed-in straight line segment and the feed-out circular arc segment lie.

[0037] The end face of the grinding wheel is the circumferential surface of one end of the grinding wheel. The outer edge of the grinding wheel is located at the outer circle of the end face. The trajectory plane is the plane on which the feed-in straight line segment and the feed-out circular arc segment lie.

[0038] Exemplarily, the initial pose can include at least one of an initial axial direction, an initial radial direction, or an initial tangential direction. The electronic device can determine an initial axial direction perpendicular to the feed-in straight line segment and parallel to the trajectory plane. Determine an initial radial direction parallel to the feed-in straight line segment and parallel to the trajectory plane. Determine the initial tangential direction perpendicular to the initial axial direction and the initial radial direction.

[0039] Step 106, for a trajectory point on the feed-in straight line segment or the feed-out circular arc segment, determining a grinding pose of the grinding wheel when the outer edge of the grinding wheel passes through the trajectory point according to the initial pose.

[0040] The trajectory point is a point on the feed-in straight line segment or the feed-out straight line segment.

[0041] Exemplarily, the grinding pose can include a grinding attitude and a grinding wheel position. In actual grinding, it is often necessary to introduce process parameters for adjusting the initial pose to avoid grinding interference or optimize the grinding conditions. The electronic device can adjust the initial pose according to the process parameters to obtain the grinding attitude. For a trajectory point on the feed-in straight line segment or the feed-out circular arc segment, determine the grinding position of the outer edge of the grinding wheel when the trajectory point passes through the trajectory point under the grinding attitude.

[0042] In some embodiments, the grinding pose can be an initial pose. The grinding pose can include an initial pose and a grinding wheel position. The electronic device can determine, for a trajectory point on the infeed straight line segment or the retracting circular arc segment, a grinding wheel position at which an outer edge of the grinding wheel in the initial pose passes the trajectory point.

[0043] In some embodiments, the process parameters can include at least one of a displacement angle or a cutting angle. The displacement angle is used to adjust an initial radial in the initial pose. The cutting angle is used to adjust an initial axial in the initial pose.

[0044] At step 108, the grinding wheel is controlled to perform the rake face grinding of the turning tool at the trajectory point according to the grinding pose.

[0045] Exemplarily, the grinding pose can include a grinding pose and a grinding wheel position. The electronic device can adjust the grinding wheel to the grinding pose, and move the grinding wheel in the grinding pose to the grinding wheel position, so that the outer edge of the grinding wheel in the grinding pose passes the trajectory point, and the rake face grinding at the trajectory point is realized.

[0046] In some embodiments, the infeed straight line segment includes a first end point and a second end point. The retracting circular arc segment includes the second end point and a third end point. The infeed straight line segment and the retracting circular arc segment are connected at the second end point. The electronic device can sequentially take the trajectory points on the infeed straight line segment and the retracting circular arc segment as a current trajectory point in order from the first end point to the second end point and then to the third end point, adjust the grinding wheel to a grinding pose corresponding to the current trajectory point to perform the rake face grinding of the turning tool at the current trajectory point. It can be understood that the grinding pose corresponding to the current trajectory point is a grinding pose at which the outer edge of the grinding wheel in the grinding pose passes the current trajectory point.

[0047] In the above method for rake face grinding of the turning tool, the infeed straight line segment and the retracting circular arc segment are obtained; the infeed straight line segment corresponds to the planar structure of the rake face of the turning tool; the retracting circular arc segment corresponds to the curved surface structure of the rake face; the outer edge of the grinding wheel grinds the planar structure and the curved surface structure of the rake face when the outer edge of the grinding wheel travels on the turning tool according to the infeed straight line segment and the retracting circular arc segment, thereby providing precise trajectory control for the grinding of the rake face of the turning tool. The initial pose of the grinding wheel is determined when the end face of the grinding wheel is parallel to the infeed straight line segment and perpendicular to a trajectory plane in which the infeed straight line segment and the retracting circular arc segment are located; the end face of the grinding wheel in the initial pose is parallel to the infeed straight line segment and perpendicular to the trajectory plane, which can constrain the end face of the grinding wheel from damaging the rake face structure grinded by the outer edge of the grinding wheel when the outer edge of the grinding wheel travels according to the infeed straight line segment or the retracting circular arc segment, and further, for a trajectory point on the infeed straight line segment or the retracting circular arc segment, the grinding pose at which the outer edge of the grinding wheel passes the trajectory point is determined according to the initial pose; the grinding wheel is controlled to perform the rake face grinding at the trajectory point according to the grinding pose, thereby realizing the introduction of precise trajectory control in the process of the rake face grinding, stably controlling the grinding precision of the rake face of the turning tool, and ensuring the grinding precision of the rake face of the turning tool.

[0048] In some embodiments, the obtaining the engagement straight line segment and the retreat circular arc segment comprises: obtaining a planar structure parameter and a curved surface structure parameter of a rake face of the turning tool; determining the engagement straight line segment according to the planar structure parameter and a straight line segment equation; and determining the retreat circular arc segment according to the curved surface structure parameter and a circular arc segment equation.

[0049] The planar structure parameter refers to a parameter related to the planar structure of the rake face. The curved surface structure parameter refers to a parameter related to the curved surface structure of the rake face. The straight line segment equation is used to describe the mathematical relationship between the planar structure parameter and the engagement straight line segment. The circular arc segment equation is used to describe the mathematical relationship between the curved surface structure parameter and the retreat circular arc segment.

[0050] It can be understood that, in the mathematical modeling process, the selected coordinate system or parameter is different, and then the mathematical relationship between the planar structure parameter and the engagement straight line segment and the mathematical relationship between the curved surface structure parameter and the retreat circular arc segment will be different, and different straight line segment equations and circular arc segment equations are required to describe the above-mentioned relationships. In the present embodiment, the mathematical modeling process of the straight line segment equation and the circular arc segment equation is not limited.

[0051] In some embodiments, the planar structure parameter can include a planar depth and a rake angle. The planar depth is used to represent the length of the engagement straight line segment. The rake angle is used to represent the inclination angle of the engagement straight line segment relative to the tool axis. The electronic device can determine the engagement straight line segment according to the planar depth, the rake angle and the straight line segment equation.

[0052] In some embodiments, the electronic device can determine the expression of the engagement straight line segment in the tool tip coordinate system according to the planar depth and the rake angle by using the straight line segment equation. In the tool tip coordinate system, the plane in which the coordinate axes of two dimensions are located includes the trajectory plane. For example, the plane in which the second dimension coordinate axis and the third dimension coordinate axis in the tool tip coordinate system are located can be the trajectory plane.

[0053] In some embodiments, in the tool tip coordinate system, the first dimension coordinate axis is parallel to a straight line passing through the tool tip point and perpendicular to the tool axis and intersecting the tool axis, the third dimension coordinate axis is parallel to the tool axis and the third dimension coordinate axis passes through the tool tip point, and the second dimension coordinate axis is perpendicular to the first dimension coordinate axis and the third dimension coordinate axis. The first end point of the engagement straight line segment can be the tool tip point of the turning tool. The origin in the tool tip coordinate system can be but is not limited to the tool tip point. The electronic device can determine the expression of the engagement straight line segment in the tool tip coordinate system by formula (1). Specifically, In formula (1), (x, y, z) represents the coordinates of a trajectory point on the engagement straight line segment in the tool tip coordinate system. l represents the distance between the trajectory point on the engagement straight line segment and the tool tip point. L represents the planar depth. γ represents the rake angle.

[0054] It can be understood that the expression of the tool feed linear segment in the tool tip coordinate system is used to describe the relationship between the coordinates of the trajectory point on the tool feed linear segment in the tool tip coordinate system and the distance of the trajectory point from the tool tip point.

[0055] In some embodiments, the first end point of the tool feed linear segment is a tool tip point on a tool tip circular arc of the turning tool. The plane structure parameters further include a tool tip circular arc radius. The tool tip circular arc radius is used to represent the radius of the circle on which the tool tip circular arc is located. The origin in the tool tip coordinate system can be but is not limited to the center of the circle on which the tool tip circular arc is located. The electronic device can determine the expression of the tool feed linear segment in the tool tip coordinate system according to the plane depth, the rake angle and the tool tip circular arc radius by using the linear segment equation. Specifically, wherein (x, y, z) represents the coordinates of the trajectory point on the tool feed linear segment in the tool tip coordinate system. l represents the distance between the trajectory point on the tool feed linear segment and the first end point. L represents the plane depth. γ represents the rake angle. r0 represents the tool tip circular arc radius.

[0056] In some embodiments, the electronic device can discretize the plane depth to obtain the distance of the trajectory point from the tool tip point. The coordinates of the trajectory point in the tool tip coordinate system can be obtained by substituting the distance of the trajectory point from the tool tip point into the expression of the tool feed linear segment in the tool tip coordinate system.

[0057] In some embodiments, the electronic device can establish a workpiece coordinate system. The plane in which the two-dimensional coordinate axes in the workpiece coordinate system are located includes a plane parallel to the trajectory plane. For example, the plane in which the second-dimensional coordinate axis and the third-dimensional coordinate axis in the workpiece coordinate system are located is parallel to the trajectory plane. Specifically, in the workpiece coordinate system, the first-dimensional coordinate axis passes through the tool tip point and is perpendicular to and intersects the tool axis, the third-dimensional coordinate axis is on the tool axis, and the second-dimensional coordinate axis is perpendicular to the first-dimensional coordinate axis and the third-dimensional coordinate axis.

[0058] In some embodiments, the plane structure parameters can further include at least one of a tool head width or a tool radius. It can be understood that the blank of the turning tool can be but is not limited to a cylinder, the tool head width is not greater than the diameter of the bottom circle of the cylinder, and the tool radius is the radius of the bottom circle of the cylinder. The electronic device can determine the expression of the tool feed linear segment in the workpiece coordinate system according to the plane depth, the rake angle, the tool tip circular arc radius, the tool head width and the tool radius by using the linear segment equation. Specifically, wherein (x, y, z) represents the coordinates of the trajectory point on the tool feed linear segment in the tool tip coordinate system. l represents the distance between the trajectory point on the tool feed linear segment and the first end point. L represents the plane depth. γ represents the rake angle. r0 represents the tool tip circular arc radius. D represents the tool head width. R represents the tool radius.

[0059] In some embodiments, the electronic device can substitute the distance between the trajectory point and the tool tip into the expression of the feed line segment in the workpiece coordinate system to obtain the coordinate system of the trajectory point in the workpiece coordinate system.

[0060] In some embodiments, the origin of the tool tip coordinate system is the center of the circle containing the tool tip arc, and the first, second, and third coordinate axes of the tool tip coordinate system are parallel to the first, second, and third coordinate axes of the workpiece coordinate system, respectively.

[0061] In some embodiments, the workpiece coordinate system O w -X w Y w Z w Below, the first dimension of the coordinate axis X w The positive direction is from the origin to the tip of the tool, and the third coordinate axis Z... w The positive direction is along the tool axis pointing towards the tool tip, and the second coordinate axis is Y. w With the first dimension X axis w and the third coordinate axis Z w This forms a right-handed coordinate system.

[0062] In some embodiments, the tool tip coordinate system O d -X d Y d Z d The first dimension of the coordinate axis X d The second-dimensional coordinate axis Y d and the third coordinate axis Z d , respectively with the workpiece coordinate system O w -X w Y w Z w The first dimension of the coordinate axis X w The second-dimensional coordinate axis Y w and the third coordinate axis Z w Parallel and in the same direction. For example... Figure 2 As shown, the workpiece coordinate system and the tool tip coordinate system are provided. Tool tip coordinate system O d -X d Y d Z d The first dimension of the coordinate axis X d and the third coordinate axis Z d , respectively with the workpiece coordinate system O w -X w Y w Z w The first dimension of the coordinate axis X w and the third coordinate axis Z w Parallel and in the same direction. r0 represents the radius of the blade tip arc.

[0063] In some embodiments, the tool retraction arc segment is tangent to the tool advancement straight line segment at the second end point of the tool advancement straight line segment. The curved surface structure parameters can include a tool retraction arc radius and a tool retraction arc range. The tool retraction arc radius is used to represent the radius of the circle on which the tool retraction arc segment lies. The tool retraction arc range is used to represent the length of the tool retraction arc segment. The electronic device can determine the tool retraction arc segment according to the arc segment equation, the tool retraction arc radius, and the tool retraction arc range.

[0064] In some embodiments, the electronic device can determine the second end point on the tool advancement straight line segment. The tool retraction arc segment is determined according to the arc segment equation, the second end point, the tool retraction arc radius, and the tool retraction arc range.

[0065] In some embodiments, the electronic device can determine the coordinates of the second end point in the workpiece coordinate system or the tool tip coordinate system based on the plane depth and the expression of the tool advancement straight line segment in the workpiece coordinate system or the tool tip coordinate system. Specifically, the distance of the second end point of the tool advancement straight line segment relative to the first end point is the plane depth. The coordinates of the second end point of the tool advancement straight line segment in the workpiece coordinate system or the tool tip coordinate system can be obtained by substituting the plane depth into the expression of the tool advancement straight line segment in the workpiece coordinate system or the tool tip coordinate system.

[0066] The electronic device can determine the coordinates of the tool retraction arc center in the workpiece coordinate system or the tool tip coordinate system according to the coordinates of the second end point in the workpiece coordinate system or the tool tip coordinate system, the tool retraction arc radius, and the rake angle. The tool retraction arc center refers to the center of the circle on which the tool retraction arc segment lies. Specifically, O γ = K2 + [0, r1cosγ, -r1sinγ] T (4). Wherein, O γ represents the coordinates of the tool retraction arc center in the workpiece coordinate system or the tool tip coordinate system. K2 represents the coordinates of the second end point in the workpiece coordinate system or the tool tip coordinate system. r1 represents the tool retraction arc radius. γ represents the rake angle.

[0067] The electronic device can determine the expression of the tool retraction arc segment in the workpiece coordinate system or the tool tip coordinate system according to the coordinates of the second end point and the tool retraction arc center in the workpiece coordinate system or the tool tip coordinate system, and the tool retraction arc range by using the arc segment equation. Specifically, Wherein, P represents the coordinates of the trajectory point on the tool retraction arc segment in the workpiece coordinate system or the tool tip coordinate system. represents the included angle of the trajectory point and the second end point relative to the tool retraction arc center. Ψ represents the tool retraction arc range. O γ represents the coordinates of the tool retraction arc center in the workpiece coordinate system or the tool tip coordinate system. K2 represents the coordinates of the second end point in the workpiece coordinate system or the tool tip coordinate system.

[0068] In some embodiments, the electronic device can determine the coordinates of the second endpoint in the tool tip coordinate system based on the plane depth and the expression (2) of the feed line segment in the tool tip coordinate system: K2=[0,-Lsinγ,-Lcosγ+r0] T (6). Where K2 represents the coordinates of the second endpoint in the tool tip coordinate system. L represents the plane depth. γ represents the rake angle. r0 represents the tool tip radius.

[0069] In some embodiments, the electronic device can utilize the arc segment equation to determine the retraction arc segment based on the retraction arc radius, rake angle, tool tip arc radius, plane depth, and retraction arc range. Specifically, Where (x, y, z) represent the coordinates of the trajectory points on the retraction arc segment in the tool tip coordinate system. r1 represents the radius of the retraction arc. γ represents the rake angle. r0 represents the radius of the tool tip arc. Ψ represents the angle between the trajectory point and the second endpoint relative to the center of the retraction arc. Ψ represents the range of the retraction arc. It can be understood that formula (7) is obtained by further substituting formula (6) and formula (4) into formula (5) and simplifying them. Both formula (5) and formula (7) can be used as equations for arc segments.

[0070] In some embodiments, the electronic device can discretize the retraction arc range to obtain the angle between the trajectory point and the second endpoint relative to the center of the retraction arc. Substituting the angle between the trajectory point and the second endpoint relative to the center of the retraction arc into the expression for the retraction arc segment in the tool tip coordinate system yields the coordinates of the trajectory point in the tool tip coordinate system.

[0071] In some embodiments, such as Figure 3 As shown, the infeed line segment and the retraction arc segment are provided in the tool tip coordinate system. Tool tip coordinate system O d -X d Y d Z d Origin d It is the center of the tool tip arc. The straight segment of the tool advance and the arc segment of the tool retraction are located on the second coordinate axis Y in the tool tip coordinate system. d and the third coordinate axis Z d The plane Y d O d Z d L represents the depth of the plane. r0 represents the radius of the tool tip arc. γ represents the rake angle. r1 represents the radius of the tool retraction arc. The trajectory point on K2K3 represents the center O of the retraction arc relative to the second endpoint. γ The included angle. The expression for the infeed straight line segment K1K2 in the tool tip coordinate system is as shown in formula (2). The expression for the retraction arc segment K2K3 in the tool tip coordinate system is as shown in formula (7).

[0072] In the embodiment, the planar structure parameter and the curved surface structure parameter of the rake face of the turning tool are acquired; the infeed straight line segment is determined according to the planar structure parameter and the linear segment equation; and the retraction circular arc segment is determined according to the curved surface structure parameter and the circular arc segment equation. The infeed straight line segment is determined by the planar structure parameter, which can provide accurate trajectory control for the planar structure of the rake face. The retraction circular arc segment is determined by the curved surface structure parameter, which can provide accurate trajectory control for the curved surface structure of the rake face. The planar structure of the ground rake face meets the planar structure parameter, and the curved surface structure of the rake face meets the curved surface structure parameter, thereby ensuring the grinding accuracy of the rake face.

[0073] In some embodiments, the first end point of the infeed straight line segment is the nose point of the turning tool; the second end point of the infeed straight line segment is the tangent point of the retraction circular arc segment; and the trajectory plane is parallel to the tool axis of the turning tool and perpendicular to the plane in which the tool axis and the nose point are located.

[0074] It can be understood that the grinding of the rake face of the turning tool in the prior art lacks trajectory control. In order to achieve accurate trajectory control, how to set the trajectory line segment of the grinding of the rake face of the turning tool by the grinding wheel is crucial. In the present application, the complex trajectory line segment corresponding to the rake face is divided into two simple infeed straight line segments and a retraction circular arc segment, which can reduce the calculation complexity.

[0075] In the embodiment, the first end point of the infeed straight line segment is the nose point of the turning tool, and the second end point is the tangent point of the retraction circular arc segment. The grinding wheel grinds the rake face of the turning tool according to the infeed straight line segment and the retraction circular arc segment, and the obtained planar structure is connected to the edge line in which the nose point is located and the curved surface structure, which can meet the structural requirements of the turning tool for the rake face. Furthermore, in order to further reduce the calculation complexity, the infeed straight line segment and the retraction circular arc segment are considered to be arranged in a trajectory plane. In combination with the structural requirements of the turning tool for the rake face, a plane parallel to the tool axis of the turning tool and perpendicular to the plane in which the tool axis and the nose point are located is adaptively set as the trajectory plane in which the infeed straight line segment and the retraction straight line segment are located, which can reduce the calculation complexity while meeting the structural requirements of the turning tool for the rake face.

[0076] In some embodiments, the initial posture includes an initial axial direction and an initial radial direction; and determining the initial posture of the grinding wheel when the end face of the grinding wheel is parallel to the infeed straight line segment and perpendicular to the trajectory plane in which the infeed straight line segment and the retraction circular arc segment are located includes: determining the initial axial direction which is perpendicular to the infeed straight line segment and parallel to the trajectory plane in which the infeed straight line segment and the retraction circular arc segment are located; and determining the initial radial direction which is parallel to the infeed straight line segment and parallel to the trajectory plane. When the axial direction of the grinding wheel is the initial axial direction and the radial direction of the grinding wheel is the initial radial direction, the end face of the grinding wheel is parallel to the infeed straight line segment and perpendicular to the trajectory plane.

[0077] In some embodiments, the planes in which the coordinate axes of the two dimensions in the workpiece coordinate system and the tool tip coordinate system are parallel to the trajectory plane. The electronic device can determine the initial axial vector according to the rake angle. The initial axial vector is used to represent the initial axial direction in the workpiece coordinate system or the tool tip coordinate system. The initial radial vector is determined according to the rake angle. The initial radial vector is used to represent the initial radial direction in the workpiece coordinate system or the tool tip coordinate system.

[0078] In some embodiments, the planes in which the second dimension coordinate axis and the third dimension coordinate axis in the workpiece coordinate system and the tool tip coordinate system can be parallel to the trajectory plane. The electronic device can determine the initial axial vector by formula (8). Specifically, F g0 = [0, cos γ, -sin γ] T (8). Wherein, F g0 represents the initial axial vector. γ represents the rake angle. The electronic device can determine the initial radial vector by formula (9). Specifically, F r0 = [0, -sin γ, -cos γ] T (9). Wherein, F r0 represents the initial radial vector. γ represents the rake angle.

[0079] In some embodiments, as Figure 4 shown, a schematic diagram of the grinding wheel in the initial posture is provided. O g is the center point of the end face of the grinding wheel. The end face of the grinding wheel in the initial posture is parallel to the uncut straight line segment, the initial axial direction F g0 is perpendicular to the infeed straight line segment, and the initial radial direction F r0 is parallel to the infeed straight line segment. From Figure 4 the perspective, when the grinding wheel in the initial posture passes through the trajectory point on the infeed straight line segment or the uncut circular arc segment, the end face of the grinding wheel will not intersect with the infeed straight line segment or the uncut circular arc segment, and the initial posture can constrain the end face of the grinding wheel from damaging the infeed surface structure that has been ground out, thereby avoiding grinding interference.

[0080] In this embodiment, the initial axial direction perpendicular to the infeed straight line segment and parallel to the trajectory plane in which the infeed straight line segment and the uncut circular arc segment are located is determined, and the initial radial direction parallel to the infeed straight line segment and parallel to the trajectory plane is determined. When the axial direction of the grinding wheel is the initial axial direction and the radial direction of the grinding wheel is the initial radial direction, the end face of the grinding wheel is parallel to the infeed straight line segment and perpendicular to the trajectory plane. The initial axial direction and the initial radial direction in the initial posture can constrain the end face of the grinding wheel from damaging the infeed surface structure that the outer edge of the grinding wheel has ground out when advancing along the infeed straight line segment or the uncut circular arc segment, thereby ensuring the grinding precision of the infeed surface of the tool.

[0081] In some embodiments, the grinding pose includes a grinding orientation and a grinding wheel position; the grinding wheel position when the outer edge of the grinding wheel passes the trajectory point according to the initial orientation is determined by: adjusting the initial axial direction and the initial radial direction according to the process parameter to obtain the grinding orientation; and determining the grinding wheel position when the outer edge of the grinding wheel passes the trajectory point according to the grinding orientation.

[0082] It can be understood that, due to the influence of factors in the actual grinding environment, the grinding interference or error may still occur when the grinding wheel passes the trajectory point according to the initial orientation. Therefore, in order to avoid the grinding interference and optimize the grinding condition, the process parameter for adjusting the initial orientation is introduced.

[0083] Exemplarily, the initial orientation can include an initial radial direction and an initial axial direction. The grinding orientation can include a grinding radial direction and a grinding axial direction. The process parameter can include at least one of a displacement angle or a cutting angle. The electronic device can adjust the initial radial direction in the initial orientation according to the displacement angle to obtain an intermediate orientation. The intermediate orientation includes an intermediate radial direction and an intermediate axial direction. Since only the initial radial direction is adjusted from the initial orientation to the intermediate orientation, the initial axial direction is not adjusted, and therefore the intermediate axial direction is consistent with the initial axial direction. The intermediate radial direction and the intermediate axial direction are adjusted according to the cutting angle to obtain the grinding radial direction and the grinding axial direction. The electronic device can determine the position of the end face center point of the grinding wheel when the outer edge of the grinding wheel passes the trajectory point according to the grinding orientation to obtain the grinding wheel position.

[0084] In some embodiments, the grinding radial direction is used to represent the radial direction at the trajectory point when the grinding wheel passes the trajectory point according to the grinding orientation. The electronic device can determine the grinding wheel position according to the grinding radial direction, the radius of the grinding wheel and the trajectory point.

[0085] In some embodiments, the electronic device can determine the coordinates of the grinding wheel position in the workpiece coordinate system or the tool tip coordinate system according to the grinding radial direction, the radius of the grinding wheel and the coordinates of the trajectory point in the workpiece coordinate system or the tool tip coordinate system.

[0086] In this embodiment, the grinding pose includes a grinding orientation and a grinding wheel position; the grinding orientation is obtained by adjusting the initial axial direction and the initial radial direction according to the process parameter; and the grinding wheel position when the outer edge of the grinding wheel passes the trajectory point according to the grinding orientation. By introducing the process parameter for adjusting the initial orientation, the grinding interference or grinding error caused by the influence of factors in the actual grinding environment can be avoided, and the grinding accuracy of the rake face of the tool is ensured.

[0087] In some embodiments, the process parameters include a displacement angle and a cutting angle; adjusting the initial axial direction and the initial radial direction according to the process parameters to obtain the grinding posture includes: rotating the initial radial direction around the initial axial direction by a displacement angle to obtain the intermediate radial direction; determining the intermediate tangential direction perpendicular to the initial axial direction and the intermediate radial direction; and rotating the intermediate radial direction and the initial axial direction around the intermediate tangential direction by a cutting angle to obtain the grinding radial direction and the grinding axial direction in the grinding posture.

[0088] It is understandable that around the unit vector N (N x N y N z The general formula for the rotation matrix of rotation angle τ is:

[0089] v ers =1-cosτ(10).

[0090] For example, such as Figure 5 The diagram shows the grinding wheel from its initial position to its intermediate position. The initial position includes the initial radial direction. The intermediate position includes the intermediate radial direction. The initial radial vector F r0 Used to characterize the initial radial direction. Intermediate radial vector F r1 Used to characterize the intermediate radial direction. Electronic devices can utilize the general formula for a rotation matrix to represent the initial radial vector F. r0 about the initial axial vector F g0 After rotating counterclockwise by a displacement angle δ, the intermediate radial vector F is obtained. r1 . Specifically, F r1 =Rot(F g0 ,δ)*F r0 (11).

[0091] Since the intermediate radial direction is obtained by rotating the initial radial direction around the initial axis, the axial direction has not changed, and the corresponding intermediate axis remains the initial axis, i.e., F. g1 =F g0 (12). Among them, F g0 Represents the initial axial vector. F g1 This represents the intermediate axial vector. Electronic devices can perform a cross product of the intermediate axial vector and the intermediate radial vector to obtain the intermediate tangential vector. Specifically, F... t =F g1 ×F r1 (13). Among them, F t Represents the intermediate tangential vector. F g0 Represents the initial axial vector. F r1 This represents the intermediate radial vector.

[0092] like Figure 6As shown, a schematic diagram of the grinding wheel from the intermediate posture to the grinding posture is provided. The intermediate posture includes an intermediate radial and an intermediate axial. The grinding posture includes a grinding radial and a grinding axial. The intermediate radial vector F r1 is used to represent the intermediate radial. The grinding radial vector F r2 is used to represent the grinding radial. The intermediate axial vector F g1 is used to represent the intermediate axial. The grinding axial vector F g2 is used to represent the grinding axial. The electronic device can utilize a rotation matrix general formula to obtain the grinding radial vector F r1 by rotating the intermediate radial vector F t counterclockwise around the intermediate tangent vector F r2 by a cutting angle ε. Specifically, F r2 = Rot(F t , ε) * F r1 (14). The electronic device can utilize a rotation matrix general formula to obtain the grinding axial vector F g1 by rotating the intermediate axial vector F t counterclockwise around the intermediate tangent vector F g2 by the cutting angle ε. Specifically, F g2 = Rot(F t , ε) * F g1 (15).

[0093] In this embodiment, the process parameters include a displacement angle and a cutting angle; the intermediate radial is obtained by rotating the initial radial around the initial axial by the displacement angle; the intermediate tangent is determined which is perpendicular to the initial axial and the intermediate radial; the grinding radial and the grinding axial in the grinding posture are obtained by rotating the intermediate radial and the initial axial around the intermediate tangent by the cutting angle, respectively. By introducing the displacement angle and the cutting angle for adjusting the initial posture, the grinding interference or the grinding error caused by factors in the actual grinding environment can be avoided, and the grinding accuracy of the rake face of the turning tool is ensured.

[0094] In some embodiments, the position of the grinding wheel when the outer edge of the grinding wheel passes through the trajectory point in the grinding posture is determined, including: determining a to-be-compensated position according to the grinding radial, the radius of the grinding wheel, and the trajectory point; wherein, for the grinding wheel in the grinding posture, when the center point of the end face of the grinding wheel is at the to-be-compensated position, the outer edge of the grinding wheel does not have a grinding wheel fillet when passing through the trajectory point; in the case that the outer edge of the grinding wheel has a grinding wheel fillet, a compensation amount is determined according to the cutting angle and the radius of the circle where the grinding wheel fillet is located; the to-be-compensated position is compensated according to the compensation amount to obtain the position of the grinding wheel; wherein, for the grinding wheel in the grinding posture, when the center point of the end face of the grinding wheel is at the position of the grinding wheel, the outer edge with the grinding wheel fillet passes through the trajectory point.

[0095] For example, the electronic device can weight the grinding radial vector according to the radius of the grinding wheel to obtain a weighted result. The coordinates of the trajectory points are then offset based on the weighted result to obtain the coordinates of the position to be compensated. These coordinates can be, but are not limited to, coordinates in the workpiece coordinate system or the tool tip coordinate system. Specifically, O g =PR g *F r2 (16). Among them, O g Represents the coordinates of the location to be compensated. P represents the coordinates of the trajectory point. R g F represents the radius of the grinding wheel. r2 This represents the grinding radial vector.

[0096] like Figure 6 As shown, the outer edge of the grinding wheel lacks a grinding wheel fillet. For a grinding wheel in a grinding posture, when the center point of the grinding wheel's end face is in the position to be compensated, the outer edge passes through the trajectory point P. The outer edge without a grinding wheel fillet can be considered an ideal outer edge, but in reality, the outer edge of the grinding wheel may have a grinding wheel fillet, causing the actual grinding point on the outer edge to not be the trajectory point P. For example... Figure 7 As shown, another schematic diagram is provided, illustrating the transition of the grinding wheel from the intermediate position to the grinding position. Figure 7 The outer edge of the grinding wheel has a radius. For a grinding wheel in a grinding posture, when the center point of the grinding wheel's end face is in the position to be compensated, the actual grinding point on the outer edge is at point Q, not the trajectory point P. Compensation is needed to move the actual grinding point on the outer edge with the radius from point Q to the trajectory point P. The angle of offset between the center of the circle containing the radius and the actual grinding point on the outer edge with the radius relative to the grinding axis is the cutting angle.

[0097] The electronic device can determine the compensation amount based on the cutting angle and the radius of the circle containing the grinding wheel fillet, given the radius of the circle. The compensation amount can include at least one of axial compensation or radial compensation. Specifically, Where, ΔF g This represents the axial compensation amount along the grinding axis. ΔF r R represents the radial compensation amount in the grinding radial direction. s ε represents the radius of the circle containing the grinding wheel fillet. ε represents the cutting angle. The electronic equipment can weight the grinding axial vector based on the axial compensation amount to obtain the axial offset. It can also weight the grinding radial vector based on the radial compensation amount to obtain the radial offset. Finally, it offsets the position to be compensated based on the axial and radial offsets to obtain the grinding wheel position. Specifically, O... g ′=O g +F r ΔF r +F g ΔF g (18). Among them, Og O' represents the coordinates of the grinding wheel position. O g F represents the coordinates of the position to be compensated. F r F represents the grinding radial vector. AF r F represents the radial compensation amount. AF g F represents the grinding axial vector. AF g F represents the axial compensation amount.

[0098] In some embodiments, the electronic device can take the position to be compensated as the grinding wheel position without obtaining the radius of the circle where the grinding wheel round corner is located. It can be understood that obtaining the radius of the circle where the grinding wheel round corner is located means that the outer edge of the grinding wheel has the grinding wheel round corner. Not obtaining the radius of the circle where the grinding wheel round corner is located means that the outer edge of the grinding wheel does not have the grinding wheel round corner.

[0099] In some embodiments, the electronic device can determine the translation matrix according to the tool head width, the tool radius and the tool nose radius. Specifically, T d-w = [D - R - r0 0 - r0] T (19). Wherein, T d-w represents the translation matrix. D represents the tool head width. R represents the tool radius. r0 represents the tool nose radius.

[0100] The electronic device can convert the coordinates of the grinding wheel position in the tool nose coordinate system to the coordinates of the grinding wheel position in the workpiece coordinate system according to the translation matrix. Specifically, O gw = O g ' + T d-w (20). Wherein, O gw represents the coordinates of the grinding wheel position in the workpiece coordinate system. O g ' represents the coordinates of the grinding wheel position in the tool nose coordinate system. T d-w represents the translation matrix. Since the three-dimensional coordinate axes of the workpiece coordinate system and the tool nose coordinate system are parallel and in the same direction, the electronic device can take the grinding axial vector in the tool nose coordinate system as the grinding axial vector in the workpiece coordinate system. Specifically, F gw = F g (21). Wherein, F gw represents the grinding axial vector in the workpiece coordinate system. F g represents the grinding axial vector in the tool nose coordinate system.

[0101] In some embodiments, the electronic device can establish the workpiece coordinate system, and control the grinding wheel to perform the rake face grinding of the turning tool according to the grinding axial vector in the workpiece coordinate system and the coordinates of the grinding wheel position.

[0102] In this embodiment, the position to be compensated is determined based on the grinding radial direction, the radius of the grinding wheel, and the trajectory point. Specifically, for a grinding wheel in a grinding posture, when the center point of the grinding wheel's end face is at the position to be compensated, the outer edge of the grinding wheel passes through the trajectory point if it does not have a grinding wheel fillet. If the outer edge of the grinding wheel has a grinding wheel fillet, the compensation amount is determined based on the cutting angle and the radius of the circle containing the grinding wheel fillet. The position to be compensated is then compensated based on the compensation amount to obtain the grinding wheel position. Specifically, for a grinding wheel in a grinding posture, when the center point of the grinding wheel's end face is at the grinding wheel position, the outer edge with a grinding wheel fillet passes through the trajectory point, fully considering the case of the grinding wheel fillet. For the case where the outer edge of the grinding wheel has a grinding wheel fillet, corresponding compensation operations are performed to ensure that the outer edge of the grinding wheel with a grinding wheel fillet can accurately grind the rake face of the cutting tool at the trajectory point, thereby ensuring the grinding accuracy of the rake face of the cutting tool.

[0103] In some embodiments, such as Figure 8 As shown, the structural parameters of the lathe tool are provided. These structural parameters can include planar structural parameters and curved surface structural parameters. Planar structural parameters can include the tool radius R, tool tip width D, tool tip radius r0, planar depth L, and rake angle γ. Curved surface structural parameters can include the retraction radius r1 and the retraction range Ψ.

[0104] The electronic device can acquire structural parameters. These structural parameters may include at least one of the following: tool radius, tool tip width, tool tip radius, plane depth, rake angle, retraction radius, or retraction range. As in formula (2), the electronic device can determine the expression of the feed line segment in the tool tip coordinate system based on the plane depth, rake angle, and tool tip radius. As in formula (7), the electronic device can determine the expression of the retraction arc segment in the tool tip coordinate system based on the retraction radius, rake angle, tool tip radius, plane depth, and retraction range. The initial posture includes the initial axial direction and the initial radial direction. In the initial posture, the end face of the grinding wheel is parallel to the feed line segment; correspondingly, the initial axial direction is perpendicular to the feed line segment, and the initial radial direction is parallel to the feed line segment. As in formula (8), the electronic device can determine the initial axial vector characterizing the initial axial direction based on the rake angle. As in formula (9), the electronic device can determine the initial radial vector characterizing the initial radial direction based on the rake angle.

[0105] In order to avoid the grinding interference caused by factors in the actual grinding environment and optimize the grinding conditions, the initial pose is not directly used, but a process parameter for adjusting the initial pose is introduced. The process parameter can include a displacement angle and a cutting angle. As formula (11), the electronic device can utilize the rotation matrix general formula to rotate the initial radial vector counterclockwise around the initial axial vector by the displacement angle to obtain an intermediate radial vector. As formula (13), the electronic device can cross multiply the intermediate axial vector and the intermediate radial vector to obtain an intermediate tangential vector. As formula (14), the electronic device can utilize the rotation matrix general formula to rotate the intermediate radial vector counterclockwise around the intermediate tangential vector by the cutting angle to obtain a grinding radial vector. As formula (15), the electronic device can utilize the rotation matrix general formula to rotate the intermediate axial vector counterclockwise around the intermediate tangential vector by the cutting angle to obtain a grinding axial vector.

[0106] Considering that the outer edge of the tool grinding wheel can have a grinding wheel fillet, in order to avoid the actual grinding point of the outer edge of the grinding wheel deviating from the trajectory point due to the grinding wheel fillet, grinding wheel fillet compensation needs to be performed. The electronic device can determine the coordinates of the trajectory point in the tool tip coordinate system based on formulas (2) and (7). As formula (16), the electronic device can weight the grinding radial vector according to the radius of the grinding wheel to obtain a weighting result, and then offset the coordinates of the trajectory point in the tool tip coordinate system according to the weighting result to obtain the coordinates of the position to be compensated in the tool tip coordinate system. As formula (17), the electronic device can determine the axial compensation amount and the radial compensation amount according to the cutting angle and the radius of the circle where the grinding wheel fillet is located. As formula (18), the electronic device can weight the grinding axial vector according to the axial compensation amount to obtain an axial offset amount, weight the grinding radial vector according to the radial compensation amount to obtain a radial offset amount, and then offset the coordinates of the position to be compensated in the tool tip coordinate system according to the axial offset amount and the radial offset amount to obtain the coordinates of the grinding wheel position in the tool tip coordinate system. As formula (20), the electronic device can convert the coordinates of the grinding wheel position in the tool tip coordinate system to the workpiece coordinate system according to the translation matrix to obtain the coordinates of the grinding wheel position in the workpiece coordinate system.

[0107] The electronic device can establish the workpiece coordinate system, and for the grinding wheel position corresponding to the trajectory point and the grinding axial, control the grinding wheel to grind the rake face of the turning tool according to the coordinates of the grinding wheel position corresponding to the trajectory point in the workpiece coordinate system and the grinding axial vector.

[0108] In some embodiments, the electronic device can obtain the design values of the parameters provided in Table 1, run the program corresponding to the method provided in the present application, and obtain the grinding poses corresponding to each trajectory point when the grinding wheel grinds the rake face of the turning tool. Using post-processing software, the grinding poses corresponding to each trajectory point are converted into numerical control codes, and the process of grinding the rake face of the turning tool by the grinding wheel is simulated in the simulation software using the numerical control codes to obtain the grinding wheel position in the workpiece coordinate system as shown in FIG. 6. Figure 9The simulation results are shown.

[0109] Table 1:

[0110] Parameter Design value Tool radius R 3 mm Tool head width D 5.8 mm Rake angle γ 10° Plane depth L 0.4 mm tip radius r0 0.2 mm radius of the relief arc r1 1 mm Tool withdrawal arc range Ψ 90° Displacement angle δ 5° Cutting angle ε 2°

[0111] It can be understood that in the method provided by the application, the feed-in straight line segment and the feed-out circular arc segment can provide precise trajectory control for grinding of the plane structure and the curved surface structure of the rake face, the initial posture of the end face of the grinding wheel when the end face is parallel to the feed-in straight line segment can constrain the end face of the grinding wheel from damaging the rake face structure ground by the outer edge of the grinding wheel, and grinding interference is avoided. Under precise trajectory control and posture constraint, the rake face in the simulation results can accurately conform to the design values of the parameters in Table 1, thereby ensuring the grinding accuracy of the rake face of the turning tool.

[0112] It should be understood that, although each step in the flowchart involved in each embodiment as described above is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0113] Based on the same inventive concept, the embodiments of the application also provide a turning tool rake face grinding device for implementing the above-mentioned turning tool rake face grinding method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more turning tool rake face grinding device embodiments provided below can refer to the limitations of the turning tool rake face grinding method in the above text, and will not be repeated here.

[0114] In one exemplary embodiment, as shown in Figure 10 A turning tool rake face grinding device 1000 is provided, comprising: an acquisition module 1002, a pose planning module 1004, and a grinding module 1006, wherein:

[0115] The acquisition module 1002 is configured to acquire a feed-in straight line segment and a feed-out circular arc segment; the feed-in straight line segment corresponds to a plane structure of the rake face of the turning tool; and the feed-out circular arc segment corresponds to a curved surface structure of the rake face.

[0116] The pose planning module 1004 is configured to determine an initial pose of the grinding wheel when an end surface of the grinding wheel is parallel to the infeed straight line segment and perpendicular to a trajectory plane in which the infeed straight line segment and the retraction circular arc segment are located; and determine, for a trajectory point on the infeed straight line segment or the retraction circular arc segment, a grinding pose of the grinding wheel when an outer edge of the grinding wheel passes through the trajectory point according to the initial pose.

[0117] The grinding module 1006 is configured to control the grinding wheel to perform rake face grinding of the turning tool at the trajectory point according to the grinding pose.

[0118] In some embodiments, the obtaining module 1002 is configured to obtain a planar structure parameter and a curved surface structure parameter of the rake face of the turning tool; determine the infeed straight line segment according to the planar structure parameter and a straight line segment equation; and determine the retraction circular arc segment according to the curved surface structure parameter and a circular arc segment equation.

[0119] In some embodiments, a first end point of the infeed straight line segment is a tool tip point of the turning tool; a second end point of the infeed straight line segment is a tangent point of the retraction circular arc segment; and the trajectory plane is parallel to a tool axis of the turning tool and perpendicular to a plane in which the tool axis and the tool tip point are located.

[0120] In some embodiments, the initial pose includes an initial axial direction and an initial radial direction; the pose planning module 1004 is configured to determine an initial axial direction that is perpendicular to the infeed straight line segment and parallel to a trajectory plane in which the infeed straight line segment and the retraction circular arc segment are located; and determine an initial radial direction that is parallel to the infeed straight line segment and parallel to the trajectory plane; wherein when an axial direction of the grinding wheel is the initial axial direction and a radial direction of the grinding wheel is the initial radial direction, an end surface of the grinding wheel is parallel to the infeed straight line segment and perpendicular to the trajectory plane.

[0121] In some embodiments, the grinding pose includes a grinding pose and a grinding wheel position; the pose planning module 1004 is configured to adjust the initial axial direction and the initial radial direction according to process parameters to obtain the grinding pose; and determine the grinding wheel position of the grinding wheel when an outer edge of the grinding wheel passes through the trajectory point in the grinding pose.

[0122] In some embodiments, the process parameters include a displacement angle and a cutting angle; the pose planning module 1004 is configured to rotate the initial radial direction around the initial axial direction by the displacement angle to obtain an intermediate radial direction; determine an intermediate tangent direction that is perpendicular to the initial axial direction and the intermediate radial direction; and rotate the intermediate radial direction and the initial axial direction around the intermediate tangent direction by the cutting angle respectively to obtain a grinding radial direction and a grinding axial direction in the grinding pose.

[0123] In some embodiments, the pose planning module 1004 is configured to determine a position to be compensated according to the grinding radial, the radius of the grinding wheel and the track point; wherein for the grinding wheel in the grinding pose, when the center point of the end face of the grinding wheel is at the position to be compensated, the outer edge of the grinding wheel passes through the track point without the grinding wheel round corner on the outer edge of the grinding wheel; in the case that the outer edge of the grinding wheel has the grinding wheel round corner, the compensation amount is determined according to the cutting angle and the radius of the circle where the grinding wheel round corner is located; the position to be compensated is compensated according to the compensation amount to obtain a grinding wheel position; wherein for the grinding wheel in the grinding pose, when the center point of the end face of the grinding wheel is at the grinding wheel position, the outer edge with the grinding wheel round corner passes through the track point.

[0124] The above-mentioned various modules in the tool nose surface grinding device of the turning tool can be implemented wholly or partially by software, hardware and combinations thereof. The above-mentioned various modules can be embedded in or independent of the processor in the electronic device in hardware form, or can be stored in the memory in the electronic device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned various modules.

[0125] In an exemplary embodiment, an electronic device is provided, and an internal structure diagram of the electronic device can be as shown in Figure 11 The electronic device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the electronic device is configured to exchange information between the processor and external devices. The communication interface of the electronic device is configured to communicate with external terminals through network connection. The computer program is executed by the processor to implement a tool nose surface grinding method.

[0126] Those skilled in the art can understand that Figure 11 The structure shown in the above-mentioned figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. Specifically, the electronic device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0127] In one embodiment, an electronic device is also provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the above-mentioned various method embodiments.

[0128] In an embodiment, a computer readable storage medium is provided, having stored thereon a computer program, which, when executed by a processor, implements the steps of any of the above method embodiments.

[0129] In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of any of the above method embodiments.

[0130] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the computer program can include the processes of the above-mentioned embodiments. Any reference to a memory, database or other medium used in the embodiments provided in the present application can include at least one of a non-volatile memory and a volatile memory. The non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical storage, a high-density embedded non-volatile memory, a resistive memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. The volatile memory can include a random access memory (RAM) or an external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as a static random access memory (SRAM) or a dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., and is not limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., and is not limited thereto.

[0131] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0132] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific manner, but should not be construed as limiting the scope of the patent of the present application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A rake face grinding method of a turning tool, characterized by, The method comprises: obtaining an infeed straight line segment and a retraction circular arc segment; the infeed straight line segment corresponds to a planar structure of a rake face of a turning tool; the retraction circular arc segment corresponds to a curved surface structure of the rake face; a first end point of the infeed straight line segment is a tool tip point of the turning tool; a second end point of the infeed straight line segment is a tangent point of the retraction circular arc segment; determining an initial posture of the grinding wheel when an end surface of the grinding wheel is parallel to the infeed straight line segment and perpendicular to a trajectory plane in which the infeed straight line segment and the retraction circular arc segment are located; the trajectory plane is parallel to a tool axis of the turning tool and perpendicular to a plane in which the tool axis and the tool tip point are located; for a trajectory point on the infeed straight line segment or the retraction circular arc segment, determining a grinding posture of the grinding wheel when an outer edge of the grinding wheel passes through the trajectory point according to the initial posture; controlling the grinding wheel to perform rake face grinding of the turning tool at the trajectory point according to the grinding posture.

2. The method of claim 1, wherein, The obtaining of the infeed straight line segment and the retraction circular arc segment comprises: obtaining planar structure parameters and curved surface structure parameters of a rake face of a turning tool; determining the infeed straight line segment according to the planar structure parameters and a straight line segment equation; determining the retraction circular arc segment according to the curved surface structure parameters and a circular arc segment equation.

3. The method of claim 1, wherein, The turning tool is a monolithic turning tool.

4. The method of claim 1, wherein, The initial posture comprises an initial axial direction and an initial radial direction; the determination of the initial posture of the grinding wheel when the end surface of the grinding wheel is parallel to the infeed straight line segment and perpendicular to the trajectory plane in which the infeed straight line segment and the retraction circular arc segment are located comprises: determining the initial axial direction which is perpendicular to the infeed straight line segment and parallel to the trajectory plane in which the infeed straight line segment and the retraction circular arc segment are located; determining the initial radial direction which is parallel to the infeed straight line segment and parallel to the trajectory plane; wherein, when an axial direction of the grinding wheel is the initial axial direction and a radial direction of the grinding wheel is the initial radial direction, the end surface of the grinding wheel is parallel to the infeed straight line segment and perpendicular to the trajectory plane.

5. The method of claim 4, wherein, The grinding posture comprises a grinding attitude and a grinding wheel position; the determination of the grinding posture of the grinding wheel when the outer edge of the grinding wheel passes through the trajectory point according to the initial posture comprises: adjusting the initial axial direction and the initial radial direction according to process parameters to obtain the grinding attitude; determining the grinding wheel position when the outer edge of the grinding wheel passes through the trajectory point in the grinding attitude.

6. The method of claim 5, wherein, The process parameters comprise a displacement angle and a cutting angle; the adjustment of the initial axial direction and the initial radial direction according to the process parameters to obtain the grinding attitude comprises: rotating the initial radial direction around the initial axial direction by the displacement angle to obtain an intermediate radial direction; determining an intermediate tangential direction which is perpendicular to the initial axial direction and the intermediate radial direction; rotating the intermediate radial direction and the initial axial direction around the intermediate tangential direction by the cutting angle respectively to obtain a grinding radial direction and a grinding axial direction in the grinding attitude.

7. The method of claim 6, wherein, The determination of the grinding wheel position when the outer edge of the grinding wheel passes through the trajectory point in the grinding attitude comprises: The position to be compensated is determined according to the grinding radius, the radius of the grinding wheel and the track point; wherein, for the grinding wheel in the grinding posture, when the center point of the end surface of the grinding wheel is at the position to be compensated, the outer edge of the grinding wheel passes the track point without the grinding wheel round corner on the outer edge of the grinding wheel; In the case that the outer edge of the grinding wheel has the grinding wheel round corner, the compensation amount is determined according to the cutting angle and the radius of the circle where the grinding wheel round corner is located; The position to be compensated is compensated according to the compensation amount, and the grinding wheel position is obtained; Wherein, for the grinding wheel in the grinding posture, when the center point of the end surface of the grinding wheel is at the grinding wheel position, the outer edge with the grinding wheel round corner passes the track point.

8. A rake surface grinding device of a turning tool, characterized by, The device comprises: The acquisition module is configured to acquire an infeed straight line segment and a retraction circular arc segment; the infeed straight line segment corresponds to a planar structure of a rake face of a turning tool; the retraction circular arc segment corresponds to a curved surface structure of the rake face; a first end point of the infeed straight line segment is a tool tip point of the turning tool; and a second end point of the infeed straight line segment is a tangent point of the retraction circular arc segment; The pose planning module is configured to determine an initial pose of a grinding wheel when an end surface of the grinding wheel is parallel to the infeed straight line segment and perpendicular to a track plane where the infeed straight line segment and the retraction circular arc segment are located; the track plane is parallel to a tool axis of the turning tool and perpendicular to a plane where the tool axis and the tool tip point are located; and for a track point on the infeed straight line segment or the retraction circular arc segment, a grinding pose of the grinding wheel when an outer edge of the grinding wheel passes the track point is determined according to the initial pose; The grinding module is configured to control the grinding wheel to perform rake face grinding of the turning tool at the track point according to the grinding pose. 9.An electronic device comprising a memory and a processor, the memory storing a computer program, wherein, The processor executes the computer program to implement the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 7.

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