Method and device for grinding a relief surface of a turning tool, electronic device and storage medium

Abstract

The application relates to a tool flank surface grinding method and device of a turning tool, an electronic device and a storage medium. The method comprises the following steps: acquiring a grinding track line of a tool flank surface of a turning tool; determining a reference clearance angle parameter corresponding to a track point on the grinding track line; determining a reference tangent and a reference normal of the grinding track line at the track point; determining an initial posture of a grinding wheel when a radial direction of the grinding wheel is parallel to the reference tangent, and an included angle between an axial direction of the grinding wheel and the reference normal meets the reference clearance angle parameter; determining a grinding posture of the grinding wheel according to the initial posture and the track point; and controlling the grinding wheel to grind the tool flank surface of the turning tool at the track point according to the grinding posture. The method can ensure the grinding precision of the tool flank surface of the turning tool.

Description

TECHNICAL FIELD

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

[0002] Under the background of the vigorous development of the mechanical manufacturing industry, more and more parts require near-strict machining quality. As an indispensable machining tool in the field of mechanical manufacturing, the grinding precision of the tool flank surface of the turning tool plays a crucial role in achieving high-standard machining quality requirements.

[0003] In the traditional technology, the tool flank surface of the turning tool is ground manually. However, due to the influence of various artificial factors, the grinding precision of the tool flank surface of different turning tools finally ground is greatly different, which cannot guarantee the grinding precision of the tool flank surface of the turning tool. SUMMARY

[0004] Therefore, it is necessary to provide a tool flank surface grinding method and device of a turning tool, an electronic device and a storage medium capable of guaranteeing grinding precision in view of the above technical problems.

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

[0006] obtaining a grinding track line of a tool flank surface of a turning tool;

[0007] for a track point on the grinding track line, determining a reference clearance angle parameter corresponding to the track point;

[0008] determining a reference tangent and a reference normal of the grinding track line at the track point;

[0009] determining an initial posture of a grinding wheel when a radial direction of the grinding wheel is parallel to the reference tangent, and an included angle between an axial direction of the grinding wheel and the reference normal meets the reference clearance angle parameter;

[0010] determining a grinding posture of the grinding wheel according to the initial posture and the track point;

[0011] controlling the grinding wheel to grind the tool flank surface of the turning tool at the track point according to the grinding posture.

[0012] In a second aspect, the present application further provides a tool flank surface grinding device of a turning tool, comprising:

[0013] an obtaining module, configured to obtain a grinding track line of a tool flank surface of a turning tool;

[0014] a determining module, configured to, for a track point on the grinding track line, determine a reference clearance angle parameter corresponding to the track point;

[0015] The pose planning module is used to determine the reference tangent and reference normal of the grinding trajectory line at the trajectory point; determine the initial posture of the grinding wheel when the radial direction of the grinding wheel is parallel to the reference tangent and the angle between the axial direction of the grinding wheel and the reference normal conforms to the reference back angle parameter; and determine the grinding pose of the grinding wheel based on the initial posture and the trajectory point.

[0016] The grinding module is used to control the grinding wheel to grind the back face of the cutting tool at the trajectory point according to the grinding posture.

[0017] Thirdly, this application also provides an electronic device, 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.

[0018] 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.

[0019] 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.

[0020] The aforementioned method, apparatus, electronic equipment, storage medium, and computer program product for grinding the flank face of a lathe tool acquire the grinding trajectory line of the flank face of the lathe tool. This grinding trajectory line provides precise trajectory control for grinding the flank face of the lathe tool. For each trajectory point on the grinding trajectory line, the reference clearance angle parameter corresponding to that point is determined; the reference tangent and reference normal of the grinding trajectory line at the trajectory point are determined; and the initial posture of the grinding wheel is determined when the radial direction of the grinding wheel is parallel to the reference tangent and the angle between the axial direction of the grinding wheel and the reference normal conforms to the reference clearance angle parameter. This initial posture constrains the end face of the grinding wheel to be parallel to the reference tangent at the trajectory point, ensuring that the end face of the grinding wheel does not damage the flank face structure ground at other trajectory points, avoiding grinding interference. Simultaneously, the initial posture also constrains the angle between the end face of the grinding wheel and the reference normal at the trajectory point to conform to the corresponding reference clearance angle parameter, ensuring that the grinding wheel forms a clearance angle when grinding the flank face of the lathe tool at the trajectory point, thus meeting the structural requirements of the flank face of the lathe tool. Furthermore, the grinding posture of the grinding wheel is determined based on the initial posture and trajectory point; by controlling the grinding wheel to grind the back face of the cutting tool at the trajectory point according to the grinding posture, the grinding accuracy of the back face of the cutting tool can be guaranteed. Attached Figure Description

[0021] Figure 1 This is a schematic flowchart illustrating a method for grinding the flank face of a lathe tool, as provided in an embodiment of this application.

[0022] Figure 2This is a schematic diagram of the back face parameters in a workpiece coordinate system provided in an embodiment of this application.

[0023] Figure 3 This is a schematic diagram of a workpiece coordinate system and a tool tip coordinate system provided in an embodiment of this application.

[0024] Figure 4 This is a schematic diagram of a first straight line trajectory segment, an arc trajectory point, and a second straight line trajectory segment in a workpiece coordinate system and a tool tip coordinate system, as provided in an embodiment of this application.

[0025] Figure 5 This is a schematic diagram of a grinding wheel in its initial orientation, provided as an embodiment of this application.

[0026] Figure 6 This is a schematic diagram of a grinding wheel from its initial radial direction to its intermediate radial direction, provided as an embodiment of this application.

[0027] Figure 7 This is a schematic diagram of a grinding wheel transitioning from an intermediate posture to a grinding posture, provided as an embodiment of this application.

[0028] Figure 8 This is a schematic diagram of another grinding wheel from the intermediate posture to the grinding posture provided in an embodiment of this application.

[0029] Figure 9 This is a schematic diagram of a simulation result provided in an embodiment of this application.

[0030] Figure 10 This is a structural block diagram of a lathe tool flank grinding device provided in an embodiment of this application.

[0031] Figure 11 This is an internal structure diagram of a server provided in an embodiment of this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] In one exemplary embodiment, such as Figure 1 As shown, a method for grinding the flank face of a lathe tool is provided, and the method is illustrated using an electronic device as an example. The electronic device may include at least one of a terminal, a server, or a CNC machine. The method includes steps 102 to 112.

[0034] Step 102: Obtain the grinding trajectory line of the back face of the lathe tool.

[0035] In this context, a lathe tool refers to a cutting tool primarily used for turning operations. The grinding trajectory line is used to characterize the path of the outer edge of the grinding wheel during the grinding of the lathe tool's flank face. It can be understood that during the grinding of the lathe tool's flank face, the outer edge of the grinding wheel will pass through points on the grinding trajectory line.

[0036] For example, the electronic device can acquire the flank parameters of the cutting tool. The grinding trajectory is determined based on the flank parameters and the trajectory equation. The flank parameters refer to parameters related to the flank of the cutting tool.

[0037] It is understandable that during the mathematical modeling process, different coordinate systems or parameters will result in different mathematical relationships between the flank face parameters and the grinding trajectory, requiring different trajectory equations to describe these relationships. In this embodiment, the mathematical modeling process for the trajectory equations is not limited.

[0038] In some embodiments, the cutting tool may be, but is not limited to, an integral cutting tool.

[0039] In some embodiments, the grinding trajectory line includes a first straight trajectory segment, an arc trajectory segment, and a second straight trajectory segment. The first straight trajectory segment corresponds to a first planar structure on the flank face located at the tip of the cutting tool. The second straight trajectory segment corresponds to a second planar structure on the flank face located on the side of the cutting tool. The arc trajectory segment corresponds to a curved surface structure on the flank face connecting the first and second planar structures.

[0040] In some embodiments, such as Figure 2 As shown, the flank face parameters in the workpiece coordinate system are provided. The flank face parameters may include at least one of the following: tool tip angle λ, tool tip radius r0, side bevel angle η, tool tip width D, tool radius R, end face clearance angle parameter α1, side clearance angle parameter α2, or clearance distance s.

[0041] In the workpiece coordinate system, the first coordinate axis X w The tangent line located at the tip of the tool along the arc trajectory, on the third coordinate axis Z. w Located on the tool axis of the lathe tool. It can be understood that as long as there are two coordinate axes in the workpiece coordinate system that lie on the plane of the grinding trajectory line, the grinding trajectory line can be described in the workpiece coordinate system. These two coordinate axes are not limited to... Figure 2 The first dimension of the coordinate axis X w and the third coordinate axis Z w .

[0042] The blade tip angle λ is used to characterize the angle between the tangent line of the circular trajectory segment at its first endpoint and the tangent line of the circular trajectory segment at the blade tip. It can be understood that the first straight trajectory segment is tangent to the circular trajectory segment at its first endpoint; therefore, the blade tip angle λ is also used to characterize the angle between the tangent line of the first straight trajectory segment and the tangent line of the circular trajectory segment at the blade tip.

[0043] The radius r0 of the tool tip arc is used to characterize the radius of the circle containing the arc trajectory segment. The trajectory points on the arc trajectory segment include the tool tip point, and the tangent of the arc trajectory segment at the tool tip point is perpendicular to and intersects the tool axis.

[0044] The side angle η is used to characterize the angle between the tangent line of the arc trajectory segment at the second endpoint and the tangent line of the arc trajectory segment at the tip point.

[0045] The tool width D is used to characterize the distance between the two sides of the tool head. It can be understood that the third endpoint of the first straight-line trajectory segment and the outermost trajectory point of the tool head on the circular arc trajectory segment are located on opposite sides of the tool head. The perpendicular distance between the straight line passing through the third endpoint and parallel to the tool axis, and the straight line passing through the outermost trajectory point of the tool head on the circular arc trajectory segment and parallel to the tool axis, is the tool width D.

[0046] The tool radius R is used to characterize the perpendicular distance from the third endpoint to the tool axis. It can be understood that the blank of a lathe tool can be a cylindrical bar, and the tool radius is the radius of the circle at the base of the cylinder. Due to the eccentricity of the tool tip side, the perpendicular distance from the outermost point of the tool tip on the circular trajectory segment to the tool axis is less than the tool radius R, i.e., (tool width D - tool radius R) < tool radius R.

[0047] The clearance angle parameter α1 is used to characterize the angle between the first planar structure located at the tip of the cutting tool on the clearance face and the cutting plane. It can be understood that the first straight line trajectory segment corresponds to the first planar structure. The clearance angle parameter α1 is also the reference clearance angle parameter corresponding to the trajectory point on the first straight line trajectory point.

[0048] The side clearance angle parameter α2 is used to characterize the angle between the second planar structure located on the side of the cutting tool in the flank face and the cutting plane. It can be understood that the second straight line trajectory segment corresponds to the second planar structure. The side clearance angle parameter α2 is also the reference clearance angle parameter corresponding to the trajectory point on the second straight line trajectory.

[0049] The clearance distance s is used to characterize the perpendicular distance from the fourth endpoint of the second straight trajectory point to the outermost trajectory point of the cutter head on the circular trajectory segment and a straight line parallel to the cutter axis.

[0050] In some embodiments, the workpiece coordinate system O w -X w Y w Z wBelow, 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 is... 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.

[0051] In some embodiments, the trajectory equation may include the equation of a circular arc segment. The back face parameters may include the tip radius, tip angle, and side bevel angle. The electronic device can determine the circular arc trajectory segment based on the circular arc segment equation, the tip radius, the tip angle, and the side bevel angle.

[0052] In some embodiments, the electronic device can determine the arc trajectory segment in the tool tip coordinate system based on the arc segment equation, the tool tip radius, the tool tip angle, and the side bevel angle. In the tool tip coordinate system, the origin is the center of the circle containing the arc trajectory segment, the first coordinate axis is parallel to the tangent of the arc trajectory segment at the tool tip point, the third coordinate axis is parallel to the tool axis, and the second coordinate axis, together with the first and third coordinate axes, forms a right-handed coordinate system. Specifically, Where (x, y, z) represent the coordinates of a point on the circular arc segment in the tool tip coordinate system. r0 represents the radius of the tool tip arc. λ represents the tool tip angle. η represents the side angle. θ represents the angle of the line connecting the trajectory point to the origin of the tool tip coordinate system relative to the first coordinate axis of the tool tip coordinate system. θ1 represents the angle of the line connecting the first endpoint to the origin of the tool tip coordinate system relative to the first coordinate axis of the tool tip coordinate system. θ2 represents the angle of the line connecting the second endpoint to the origin of the tool tip coordinate system relative to the first coordinate axis of the tool tip coordinate system.

[0053] 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 3 As shown, the workpiece coordinate system and the tool tip coordinate system are provided. Tool tip coordinate system O d -X d Y d Zd 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.

[0054] In some embodiments, the trajectory equation may include the equation of a first straight line segment. The flank parameters may include the tip angle, the tip radius, and the tip width. The first straight line trajectory segment is tangent to the circular trajectory segment at its first endpoint. The electronic device can determine the first straight line trajectory segment based on the first straight line segment equation, the tip angle, the tip radius, and the tip width.

[0055] In some embodiments, the electronic device can determine the first straight line trajectory segment in the tool tip coordinate system based on the equation of the first straight line segment, the tool tip angle, the tool tip radius, and the tool head width. Specifically, Where (x, y, z) represent the coordinates of a point on the first straight line segment in the tool tip coordinate system. r0 represents the radius of the tool tip arc. λ represents the tool tip angle. t represents the distance between the trajectory point and the first endpoint. This represents the length of the first straight line trajectory segment. D represents the width of the cutter head.

[0056] In some embodiments, the mathematical modeling process for the equation of the first line segment includes:

[0057] The coordinates of the first endpoint in the tool tip coordinate system can be determined by formula (1): Where r0 represents the radius of the blade tip arc, and λ represents the blade tip angle.

[0058] The direction vector of the first straight line trajectory segment in the tool tip coordinate system can be determined by the fact that the first straight line trajectory segment and the circular arc trajectory segment are tangent at the first endpoint: Where P1 represents the first endpoint, P3 represents the third endpoint, and λ represents the blade tip angle.

[0059] Based on the mathematical and geometric relationship that the angle of the tangent line to the relative arc trajectory segment of the line connecting the first and third endpoints at the tool tip is equal to the tool tip angle λ, we can determine that: Where r0 represents the radius of the blade tip arc, and λ represents the blade tip angle. This represents the length of the first straight line trajectory segment. D represents the width of the cutter head.

[0060] The slope-intercept form of the straight line equation can be used to determine: P = P1 + t * P1P3 (6). Where P represents a point on the first straight line segment. P1 represents the first endpoint. P3 represents the third endpoint. t represents the distance between the point and the first endpoint.

[0061] By combining the above formulas (3), (4), (5) and (6), the equation of the first line segment in formula (2) can be determined.

[0062] In some embodiments, the trajectory equation may include a second straight line segment equation. The back face parameters may include the side bevel angle and the tip radius. The electronic device can determine the second straight line trajectory segment based on the second straight line segment equation, the side bevel angle, and the tip radius.

[0063] In some embodiments, the electronic device can determine the second straight line trajectory segment in the blade tip coordinate system based on the equation of the second straight line segment, the clearance distance, the side bevel angle, and the radius of the blade tip arc. Specifically, Where (x, y, z) represent the coordinates of a point on the second straight line segment in the tool tip coordinate system. r0 represents the radius of the tool tip arc. η represents the side bevel angle. P2 represents the second endpoint. P4 represents the fourth endpoint. represents the length of the second straight line trajectory segment. s represents the clearance distance. t represents the distance between the trajectory point and the second endpoint.

[0064] In some embodiments, the mathematical modeling process for the equation of the second line segment includes:

[0065] The coordinates of the second endpoint in the tool tip coordinate system can be determined by formula (1): (8). Where r0 represents the radius of the blade tip arc. η represents the side bevel angle. P2 represents the second endpoint.

[0066] The direction vector of the second straight line trajectory segment in the tool tip coordinate system can be determined by the fact that the second straight line trajectory segment is tangent to the circular arc trajectory segment at the second endpoint. Where P2 represents the second endpoint, P4 represents the fourth endpoint, and η represents the lateral angle.

[0067] Based on the mathematical and geometric relationship that the angle between the line connecting the second and fourth endpoints and the tool axis is equal to the side slope angle η, we can determine that: Where P2 represents the second endpoint and P4 represents the fourth endpoint. η represents the length of the second straight line trajectory segment. η represents the side angle. S represents the clearance distance. r0 represents the radius of the blade tip arc.

[0068] The slope-intercept form of the straight line equation can be used to determine: P = P2 + t * P2P4 (11). Where P represents a point on the second straight line segment, P2 represents the second endpoint, P4 represents the fourth endpoint, and t represents the distance between the point and the second endpoint.

[0069] By combining the above formulas (8), (9), (10) and (11), the equation of the second line segment in formula (7) can be determined.

[0070] In some embodiments, such as Figure 4 The diagram shows the first linear trajectory segment, the arc trajectory point, and the second linear trajectory segment in the workpiece coordinate system and the tool tip coordinate system. The straight line segment between the third endpoint P3 and the first endpoint P1 is the first linear trajectory segment. First straight line trajectory segment The expression in the tool tip coordinate system is shown in formula (2). The arc segment between the first endpoint P1 and the second endpoint P2 is the arc trajectory segment. Circular trajectory segment The expression in the tool tip coordinate system is as shown in formula (1). The straight line segment between the second endpoint P2 and the fourth endpoint P4 is the second straight line trajectory segment. Second straight line trajectory segment The expression in the tool tip coordinate system is shown in formula (7).

[0071] Step 104: For the trajectory points on the grinding trajectory line, determine the reference back angle parameters corresponding to the trajectory points.

[0072] For example, the electronic device can acquire the back angle parameter. For a trajectory point on the grinding trajectory line, a reference back angle parameter corresponding to that trajectory point is determined based on the acquired back angle parameter.

[0073] In some embodiments, the grinding trajectory may include a first straight trajectory segment. The clearance angle parameter may include an end face clearance angle parameter. The electronic device may, for a trajectory point on the first straight trajectory segment, determine the end face clearance angle parameter as the reference clearance angle parameter corresponding to that trajectory point.

[0074] In some embodiments, the grinding trajectory may include a second straight trajectory segment. The clearance angle parameter may include a side clearance angle parameter. The electronic device may, for a trajectory point on the second straight trajectory segment, determine the side clearance angle parameter as the reference clearance angle parameter corresponding to that trajectory point.

[0075] In some embodiments, the grinding trajectory line may include an arc trajectory segment connecting to the first straight trajectory segment and the second straight trajectory segment. The clearance angle parameters may include end face clearance angle parameters and side clearance angle parameters. The electronic device can determine the reference clearance angle parameter corresponding to a trajectory point on the arc trajectory segment based on the end face clearance angle parameter and the side clearance angle parameter. It can be understood that the first straight trajectory segment corresponds to the first planar structure of the flank face. The second straight trajectory segment corresponds to the second planar structure of the flank face. The arc trajectory segment corresponds to the curved surface structure of the flank face. The clearance angle of the first planar structure matches the end face clearance angle parameter, and the clearance angle of the second planar structure matches the side clearance angle parameter. Since the curved surface structure serves as the connecting structure between the first and second planar structures, to ensure the smoothness of the connection, the reference clearance angle parameter corresponding to the trajectory point on the arc trajectory segment needs to be determined by comprehensively considering the end face clearance angle parameter and the side clearance angle parameter.

[0076] In some embodiments, the electronic device can discretize the range of rear angle parameters formed by the end face rear angle parameter and the side rear angle parameter to obtain multiple discretized sub-rear angle parameters. For a trajectory point on the arc trajectory segment, a reference rear angle parameter corresponding to the trajectory point is determined from the multiple sub-rear angle parameters.

[0077] Step 106: Determine the reference tangent and reference normal of the grinding trajectory line at the trajectory point.

[0078] For example, the grinding trajectory line may include at least one of a first straight trajectory segment, a circular arc trajectory segment, or a second straight trajectory segment. The electronic device can determine the reference tangent and reference normal at a trajectory point on the first straight trajectory segment based on the tool tip angle. The electronic device can determine the reference tangent and reference normal at a trajectory point on the second straight trajectory segment based on the side bevel angle. The electronic device can determine the reference tangent and reference normal at a trajectory point on the circular arc trajectory segment based on the angle between the line connecting the trajectory point and the center of the circle containing the circular arc trajectory segment relative to the tool axis.

[0079] In some embodiments, the first coordinate axis in the workpiece coordinate system is located at the tangent of the circular trajectory segment at the tool tip point. The first coordinate axis in the tool tip coordinate system is parallel to the tangent of the circular trajectory segment at the tool tip point. The electronic device can determine the reference tangential vector and reference normal vector of the grinding trajectory line at the trajectory point in either the workpiece coordinate system or the tool tip coordinate system. It is understood that the reference tangential vector in the workpiece coordinate system or the tool tip coordinate system is used to describe the reference tangential direction in either the workpiece coordinate system or the tool tip coordinate system. The reference normal vector in the workpiece coordinate system or the tool tip coordinate system is used to describe the reference normal direction in either the workpiece coordinate system or the tool tip coordinate system.

[0080] In some embodiments, the electronic device can determine, based on the blade tip angle, the reference tangential vector and reference normal vector at a trajectory point on a first straight trajectory segment. Specifically, Among them, P n Represents the reference normal vector. λ represents the tool tip angle. P t Represents the reference tangential vector.

[0081] In some embodiments, the electronic device can determine the reference tangential vector and reference normal vector at a trajectory point on the second straight trajectory segment based on the side slope angle. Specifically, Among them, P n Represents the reference normal vector. λ represents the side slope angle. P t Represents the reference tangential vector.

[0082] In some embodiments, the electronic device can determine the reference tangential vector and reference normal vector at a trajectory point on a circular arc trajectory segment based on the angle between the line connecting the trajectory point and the origin in the tool tip coordinate system and the first-dimensional coordinate axis in the tool tip coordinate system or the workpiece coordinate system. Specifically, Among them, P n Represents the reference normal vector. θ represents the angle between the line connecting the trajectory point and the origin in the tool tip coordinate system and the first coordinate axis in the tool tip or workpiece coordinate system. P t Represents the reference tangential vector.

[0083] Step 108: Determine the initial orientation of the grinding wheel when its radial direction is parallel to the reference tangent and the angle between its axial direction and the reference normal conforms to the reference back angle parameter.

[0084] For example, the initial orientation may include at least two of an initial radial, initial tangential, or initial axial orientation. The electronic device may determine an initial radial orientation parallel to a reference tangential. An initial axial orientation is determined based on a reference back angle parameter and a reference normal. An initial tangential orientation perpendicular to both the initial radial and initial axial orientations is determined. It can be understood that the initial radial orientation characterizes the radial direction of the grinding wheel in the initial orientation. The initial tangential orientation characterizes the tangential direction of the grinding wheel in the initial orientation. The initial radial orientation characterizes the radial direction of the grinding wheel in the initial orientation.

[0085] Step 110: Determine the grinding posture of the grinding wheel based on the initial posture and trajectory point.

[0086] For example, the electronic device can adjust the initial posture to obtain the grinding posture. The grinding position of the grinding wheel is determined based on the grinding posture and the trajectory points.

[0087] In some embodiments, the grinding posture includes a grinding attitude and a grinding position. The electronic device can determine the grinding position of the grinding wheel when its outer edge passes a trajectory point in the grinding attitude. The outer edge of the grinding wheel is located at the outer circumference of the end face of the grinding wheel.

[0088] In some embodiments, the grinding position may be, but is not limited to, the position of the center point of the end face of the grinding wheel when the outer edge of the grinding wheel passes the trajectory point in the grinding posture.

[0089] In some embodiments, the grinding posture may be, but is not limited to, the initial posture.

[0090] Step 112: Control the grinding wheel to grind the back face of the cutting tool at the trajectory point according to the grinding posture.

[0091] For example, the electronic device can control the grinding wheel in the grinding position to perform back face grinding of the cutting tool at the trajectory point.

[0092] In some embodiments, the first straight trajectory segment includes a third endpoint and a first endpoint. The circular trajectory segment includes a first endpoint and a second endpoint. The second straight trajectory segment includes a second endpoint and a fourth endpoint. The electronic device can sequentially use the trajectory points on the first straight trajectory segment, the circular trajectory segment, and the second straight trajectory segment as the current trajectory point, following the order from the third endpoint to the first endpoint, then to the second endpoint, and finally to the fourth endpoint, i.e., third endpoint -> first endpoint -> second endpoint -> fourth endpoint, to adjust the grinding wheel to the grinding pose corresponding to the current trajectory point, so as to perform back face grinding of the cutting tool at the current trajectory point. It can be understood that the grinding pose corresponding to the current trajectory point is determined based on the initial pose and the current trajectory point.

[0093] In the above-mentioned method for grinding the flank face of a lathe tool, the grinding trajectory line of the flank face of the lathe tool is obtained. The grinding trajectory line can provide precise trajectory control for grinding the flank face of the lathe tool. For the trajectory points on the grinding trajectory line, the reference clearance angle parameters corresponding to the trajectory points are determined; the reference tangent and reference normal of the grinding trajectory line at the trajectory points are determined; the initial posture of the grinding wheel is determined when the radial direction of the grinding wheel is parallel to the reference tangent and the angle between the axial direction of the grinding wheel and the reference normal conforms to the reference clearance angle parameters. The initial posture can constrain the end face of the grinding wheel to be parallel to the reference tangent at the trajectory point, ensuring that the end face of the grinding wheel will not damage the flank face structure ground at other trajectory points, avoiding grinding interference. At the same time, the initial posture can also constrain the angle between the end face of the grinding wheel and the reference normal at the trajectory point to conform to the corresponding reference clearance angle parameters, ensuring that the grinding wheel forms a clearance angle when grinding the flank face of the lathe tool at the trajectory point, satisfying the structural requirements of the flank face of the lathe tool. Furthermore, the grinding posture of the grinding wheel is determined based on the initial posture and trajectory point; by controlling the grinding wheel to grind the back face of the cutting tool at the trajectory point according to the grinding posture, the grinding accuracy of the back face of the cutting tool can be guaranteed.

[0094] In some embodiments, the grinding trajectory line includes a first straight trajectory segment, an arc trajectory segment, and a second straight trajectory segment; the arc trajectory segment is located between the first straight trajectory segment and the second straight trajectory segment; for a trajectory point on the grinding trajectory line, determining the reference back angle parameter corresponding to the trajectory point includes: for a trajectory point on the first straight trajectory segment, determining the end face back angle parameter as the reference back angle parameter corresponding to the trajectory point; for a trajectory point on the second straight trajectory segment, determining the side back angle parameter as the reference back angle parameter corresponding to the trajectory point; for a trajectory point on the arc trajectory segment, determining the reference back angle parameter corresponding to the trajectory point based on the end face back angle parameter and the side back angle parameter.

[0095] In some embodiments, the arc trajectory segment connects to the first straight trajectory segment at a first endpoint. The arc trajectory segment connects to the second straight trajectory segment at a second endpoint. The reference back angle parameter corresponding to the first endpoint is the end face back angle parameter, and the reference back angle parameter corresponding to the second endpoint is the side back angle parameter. The electronic device can determine the reference back angle parameter corresponding to a trajectory point on the arc trajectory segment from the range of back angle parameters formed by the end face back angle parameter and the side back angle parameter, based on the reference position difference between the trajectory point and at least one of the first or second endpoints. In this embodiment, for trajectory points on the first straight trajectory segment, the end face clearance angle parameter is determined as the reference clearance angle parameter corresponding to the trajectory point; for trajectory points on the second straight trajectory segment, the side clearance angle parameter is determined as the reference clearance angle parameter corresponding to the trajectory point; for trajectory points on the arc trajectory segment, the reference clearance angle parameter corresponding to the trajectory point is determined based on the end face clearance angle parameter and the side clearance angle parameter. Since the arc trajectory segment is located between the first and second straight trajectory segments, by comprehensively determining the reference clearance angle parameter corresponding to the trajectory point on the arc trajectory segment using the end face clearance angle parameter and the side clearance angle parameter, a smooth transition from the first straight trajectory segment to the second straight trajectory segment can be ensured, thus guaranteeing the grinding effect of the tool's back face.

[0096] In some embodiments, the arc trajectory segment includes a first endpoint connected to the first straight trajectory segment and a second endpoint connected to the second straight trajectory segment; for a trajectory point on the arc trajectory segment, determining the reference back angle parameter corresponding to the trajectory point based on the end face back angle parameter and the side back angle parameter includes: determining the back angle parameter difference between the end face back angle parameter and the side back angle parameter; for a trajectory point on the arc trajectory segment, determining the proportion of the reference position difference between the trajectory point and the first endpoint or the second endpoint to the total position difference between the first endpoint and the second endpoint; weighting the back angle parameter difference according to the proportion to obtain the back angle parameter offset; and offsetting the end face back angle parameter or the side back angle parameter according to the back angle parameter offset to obtain the reference back angle parameter corresponding to the trajectory point.

[0097] For example, the electronic device can calculate the difference between the end face back angle parameter and the side back angle parameter to obtain the back angle parameter difference. For a trajectory point on an arc trajectory segment, the central angle subtended by the arc between the trajectory point on the arc trajectory segment and the first endpoint is determined to obtain the reference position difference. The central angle subtended by the arc trajectory segment is determined to obtain the total position difference between the first endpoint and the second endpoint. The proportion of the reference position difference to the total position difference is calculated. The product of the proportion and the back angle parameter difference is calculated to obtain the back angle parameter offset. The end face back angle parameter and the back angle parameter offset are summed to obtain the reference back angle parameter corresponding to the trajectory point.

[0098] Specifically, Where α represents the reference back angle parameter corresponding to the trajectory point on the circular arc trajectory segment. α1 represents the end face back angle parameter. α2 represents the side back angle parameter. θ represents the angle of the line connecting the trajectory point and the origin in the tool tip coordinate system relative to the first coordinate axis in the tool tip coordinate system. θ1 represents the angle of the line connecting the first endpoint and the origin in the tool tip coordinate system relative to the first coordinate axis in the tool tip coordinate system. θ2 represents the angle of the line connecting the second endpoint and the origin in the tool tip coordinate system relative to the first coordinate axis in the tool tip coordinate system. θ-θ1 represents the reference position difference. θ2-θ1 represents the total position difference. In some embodiments, the electronic device can determine the arc length of the circular arc trajectory segment to obtain the total position difference. For the trajectory point on the circular arc trajectory segment, the arc length between the trajectory point on the circular arc trajectory segment and the first endpoint or the second endpoint is determined to obtain the reference position difference.

[0099] In some embodiments, the electronic device can determine the central angle subtended by the arc between the trajectory point on the arc trajectory segment and the second endpoint to obtain the reference position difference. The difference between the side rear angle parameter and the rear angle parameter offset is calculated to obtain the reference rear angle parameter corresponding to the trajectory point.

[0100] In this embodiment, the difference in back angle parameters between the end face back angle parameter and the side back angle parameter is determined; for a trajectory point on an arc trajectory segment, the proportion of the reference position difference between the trajectory point and the first endpoint or the second endpoint to the total position difference between the first endpoint and the second endpoint is determined; then, the back angle parameter difference is weighted according to the proportion to obtain the back angle parameter offset; the end face back angle parameter or the side back angle parameter is offset according to the back angle parameter offset to obtain the reference back angle parameter corresponding to the trajectory point. This can uniformly use the back angle parameters within the range of back angle parameters formed by the end face back angle parameter and the side back angle parameter as the reference back angle parameters corresponding to the trajectory points on the arc trajectory segment, ensuring a uniform transition of the back angle parameters. Subsequently, based on the curved surface structure ground from the arc trajectory segment, a smooth back angle transition between the first planar structure and the second planar structure can be ensured, thereby ensuring the grinding effect of the tool's back face.

[0101] In some embodiments, the first straight trajectory segment corresponds to a first planar structure located at the tip of the cutting tool in the flank face; the second straight trajectory segment corresponds to a second planar structure located on the side of the cutting tool in the flank face; the circular arc trajectory segment corresponds to a curved surface structure connecting the first and second planar structures in the flank face; the trajectory points on the circular arc trajectory segment include the tip of the cutting tool; the first straight trajectory segment, the circular arc trajectory segment, and the second straight trajectory segment are located in the plane containing the cutting tool axis and the tip of the cutting tool.

[0102] It is understandable that traditional grinding techniques lack trajectory control for the flank face of lathe tools. To achieve precise trajectory control, the trajectory segment set by the grinding wheel during flank face grinding is crucial. In this embodiment, the grinding trajectory line corresponding to the flank face is divided into three simple segments: a first straight line segment, a second straight line segment, and a circular arc segment, which reduces computational complexity. When the grinding wheel grinds the flank face of the lathe tool according to the first straight line segment, it grinds the first planar structure of the flank face. When the grinding wheel grinds the flank face of the lathe tool according to the second straight line segment, it grinds the second planar structure of the flank face. When the grinding wheel grinds the flank face of the lathe tool according to the circular arc segment, it grinds the curved surface structure connecting the first and second planar structures. The setting of these three trajectory segments can fully meet the structural requirements of the flank face of the lathe tool. Furthermore, to further reduce computational complexity, the first straight line trajectory segment, the second straight line trajectory segment, and the circular arc trajectory segment are set in the same plane. In combination with the structural requirements of the cutting tool for the flank face, the first straight line trajectory segment, the circular arc trajectory segment, and the second straight line trajectory segment are adaptively set in the plane where the cutting tool axis and the tool tip point are located. This can reduce computational complexity while meeting the structural requirements of the cutting tool for the flank face.

[0103] In some embodiments, determining the initial orientation of the grinding wheel when the radial direction of the grinding wheel is parallel to the reference tangent and the angle between the axial direction of the grinding wheel and the reference normal direction conforms to the reference back angle parameter includes: determining the reference tangent direction as the initial radial direction in the initial orientation; and rotating the reference normal direction around the reference tangent direction according to the reference back angle parameter to obtain the initial axial direction in the initial orientation.

[0104] In some embodiments, the electronic device can rotate the reference normal counterclockwise around the reference tangent according to the reference back angle parameter to obtain the initial axis in the initial attitude.

[0105] In some embodiments, the electronic device may determine a reference tangential vector as an initial radial vector characterizing the initial radial direction in the initial attitude. Specifically, F r0 =P t (16). Among them, F r0 P represents the initial radial vector. t Represents the reference tangential vector.

[0106] Around the unit vector N (N x N y N z The general formula for the rotation matrix of rotation angle τ is: v ers =1-cosτ(17). Electronic devices can utilize the general formula for rotation matrices to rotate the reference normal vector around the reference tangential vector by a reference back angle parameter to obtain the initial axial vector. Specifically, F g0 =Rot(P t ,α)P n (18). Among them, F g0 P represents the initial axial vector. t Represents the reference tangential vector. α represents the reference back angle parameter. P n Represents the reference normal vector.

[0107] In some embodiments, such as Figure 5 The diagram shows a schematic of the grinding wheel in its initial orientation. The initial radial direction F in the initial orientation is shown. r0 Parallel to the reference tangential P t Initial axial direction F g0 With reference normal P n The included angle between them is equal to the reference back angle parameter. It can be understood that, in the initial posture, the end face of the grinding wheel is perpendicular to the normal of the back face at the trajectory point.

[0108] In this embodiment, the reference tangent is determined as the initial radial direction in the initial posture; the reference normal is rotated around the reference tangent according to the reference clearance angle parameter to obtain the initial axial direction in the initial posture. The initial posture can constrain the radial direction of the grinding wheel to be consistent with the reference tangent at the trajectory point, ensuring that the end face of the grinding wheel will not damage the clearance face structure ground at other trajectory points, thus avoiding grinding interference. The initial posture can also constrain the angle between the axial direction of the grinding wheel and the reference normal at the trajectory point to conform to the corresponding reference clearance angle parameter, ensuring that the grinding wheel grinds a clearance angle that conforms to the reference clearance angle parameter at the trajectory point, satisfying the structural requirements of the clearance face of the cutting tool.

[0109] In some embodiments, the grinding posture includes a grinding attitude and a grinding position; determining the grinding posture of the grinding wheel based on the initial attitude and trajectory points includes: adjusting the initial attitude according to process parameters to obtain the grinding attitude; and determining the grinding position of the grinding wheel based on the grinding attitude and trajectory points.

[0110] In some embodiments, the process parameters may include at least one of displacement angle or cutting angle. The displacement angle is used to adjust the initial radial direction in the initial orientation. The cutting angle is used to adjust the initial axial direction in the initial orientation.

[0111] In some embodiments, the electronic device can adjust the initial radial direction based on the displacement angle to obtain the intermediate radial direction. The intermediate radial direction and the initial axial direction are then adjusted based on the cutting angle to obtain the grinding radial direction and grinding axial direction in the grinding posture.

[0112] In some embodiments, the electronic device can obtain an intermediate radial direction by rotating the initial radial direction around the initial axial direction by a displacement angle. An intermediate tangential direction perpendicular to both the initial axial direction and the intermediate radial direction is determined. The intermediate radial direction and the initial axial direction are then rotated by a cutting angle around the intermediate tangential direction to obtain the grinding radial and grinding axial directions in the grinding posture.

[0113] In some embodiments, the grinding radial direction is used to characterize the radial direction at the trajectory point when the outer edge of the grinding wheel passes through the trajectory point under the grinding posture. If the outer edge of the grinding wheel does not have a grinding wheel fillet, the outer edge of the grinding wheel and the end face of the grinding wheel are in the same plane, and the distance from the outer edge of the grinding wheel to the center point of the end face is the radius of the grinding wheel. The electronic device can determine the grinding position based on the grinding radial direction, the radius of the grinding wheel, and the trajectory point.

[0114] In some embodiments, the electronic device can determine the coordinates of the grinding position in the workpiece coordinate system or the tool tip coordinate system based on 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.

[0115] In some embodiments, such as Figure 6 The diagram shows the grinding wheel from its initial radial direction to its 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 (19).

[0116] The intermediate radial direction belongs to the intermediate attitude. From the initial attitude to the intermediate attitude, only the initial radial direction rotates around the initial axis; the initial axis does not change. Therefore, the intermediate axis in the intermediate attitude is consistent with the initial axis. Electronic devices can use the initial axis vector as the intermediate axis vector. Specifically, F g1 =F g0 (20). 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 (21). Among them, F t Represents the intermediate tangential vector. F g0 Represents the initial axial vector. F r1 This represents the intermediate radial vector.

[0117] like Figure 7 The diagram illustrates the transition of the grinding wheel from its intermediate position to its grinding position. The intermediate position includes the intermediate radial and intermediate axial directions. The grinding position includes the grinding radial and grinding axial directions. The intermediate radial vector F... r1 Used to characterize the intermediate radial direction. Grinding radial vector F r2 Used to characterize the grinding radial direction. Intermediate axial vector F g1 Used to characterize the intermediate axis. Grinding axial vector F g2 Used to characterize the grinding axis. Electronic equipment can utilize the general formula for a rotation matrix to represent the intermediate radial vector F. r1 Around the intermediate tangential vector F t After rotating the cutting angle ε counterclockwise, the grinding radial vector F is obtained. r2 . Specifically, F r2 =Rot(F t ,ε)*F r1 (22). Electronic devices can utilize the general formula of rotation matrix to transform the intermediate axial vector F g1 Around the intermediate tangential vector F t After rotating the cutting angle ε counterclockwise, the grinding axial vector F is obtained. g2 . Specifically, F g2 =Rot(F t ,ε)*F g1 (twenty three).

[0118] In this embodiment, the grinding posture includes the grinding attitude and the grinding position. Considering the influence of various factors in the actual grinding process, in order to avoid grinding interference and optimize grinding conditions, process parameters for adjusting the initial attitude are introduced. The initial attitude is adjusted according to the process parameters to obtain the grinding attitude. The grinding position of the grinding wheel is determined according to the grinding attitude and trajectory points, which can ensure the grinding accuracy of the back face of the cutting tool.

[0119] In some embodiments, the process parameters include a cutting angle for adjusting the initial axial direction in the initial posture; the outer edge of the grinding wheel has a grinding wheel fillet; determining the grinding position of the grinding wheel based on the grinding posture and trajectory point includes: determining a position compensation amount based on the cutting angle and the radius of the circle containing the grinding wheel fillet; determining the position to be compensated for the center point of the end face of the grinding wheel based on the grinding posture, the radius of the grinding wheel and the trajectory point; and compensating the position to be compensated based on the position compensation amount to obtain the grinding position.

[0120] It is understandable that the initial posture can constrain the end face of the grinding wheel to be parallel to the reference tangent at the trajectory point, and the angle between the end face of the grinding wheel and the reference normal at the trajectory point to conform to the corresponding reference clearance angle parameters. That is, the initial axis of the grinding wheel in the initial posture is parallel to the normal of the clearance face at the trajectory point, and the actual grinding point of the grinding wheel in the initial posture should be on the end face of the grinding wheel. However, since the cutting angle in the process parameters is used to adjust the initial axis, if the edge of the grinding wheel has a grinding wheel fillet, then the actual grinding point on the grinding wheel will shift from the outer circle of the end face to the grinding wheel fillet.

[0121] like Figure 7 A schematic diagram of a grinding wheel from an intermediate posture to a grinding posture is provided. The outer edge of the grinding wheel does not have a grinding wheel fillet. The cutting angle is used to adjust the initial axis. The actual grinding point P on the outer edge of the grinding wheel in the adjusted grinding posture is consistent with the actual grinding point P on the outer edge of the grinding wheel in the initial posture. Both are located on the outer circle of the end face of the grinding wheel.

[0122] like Figure 8 Another schematic diagram is provided showing the grinding wheel transitioning from its intermediate position to its grinding position. The outer edge of the grinding wheel has a radius fillet. The actual grinding point of the grinding wheel in the adjusted grinding position is point Q located on the radius fillet. The angle between the line connecting the center of the circle containing the radius fillet and point Q relative to the grinding axis is equal to the cutting angle.

[0123] In some embodiments, the electronic device can obtain the radius of the circle containing the grinding wheel fillet, and determine at least one of the following compensation amounts: axial compensation or radial compensation, based on the cutting angle and the radius of the circle containing the grinding wheel fillet. 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.

[0124] In either the tool tip coordinate system or the workpiece coordinate system, the grinding radial vector is used to describe the grinding radial direction in the grinding posture, and the grinding axial vector is used to describe the grinding axial direction. 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 in either the workpiece coordinate system or the tool tip coordinate system. Specifically, O... g =PR g *F r2 (25). 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.

[0125] The electronic device 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 can offset the position to be compensated based on the axial and radial offsets to obtain the grinding position.

[0126] In some embodiments, the electronic device can sum the axial offset, radial offset, and the coordinates of the position to be compensated to obtain the coordinates of the grinding position. Specifically, O g ′=O g +F r ΔF r +F g ΔF g (26). Among them, O g ′ represents the coordinate of the grinding position. O g F represents the coordinates of the location to be compensated. r Represents the grinding radial vector. ΔF r F represents the radial compensation amount. g This represents the grinding axial vector. ΔF g This represents the axial compensation amount.

[0127] In some embodiments, the electronic device can use the position to be compensated as the grinding position even if the radius of the circle containing the grinding wheel fillet is not obtained. It can be understood that obtaining the radius of the circle containing the grinding wheel fillet means that the outer edge of the grinding wheel has a grinding wheel fillet. Not obtaining the radius of the circle containing the grinding wheel fillet means that the outer edge of the grinding wheel does not have a grinding wheel fillet.

[0128] In some embodiments, the electronic device can determine the translation matrix based on the cutter head width, cutter radius, and cutter tip radius. Specifically, T d-w =[DR-r0 0-r0] T (27). Among them, T d-w Represents the translation matrix. D represents the tool tip width. R represents the tool radius. r0 represents the tool tip radius.

[0129] Electronic equipment can transform the coordinates of the grinding position in the tool tip coordinate system to the workpiece coordinate system using a translation matrix, thus obtaining the coordinates of the grinding position in the workpiece coordinate system. Specifically, O gw =O g ′+T d-w (28). Among them, O gw This represents the coordinates of the grinding position in the workpiece coordinate system. g ′ represents the coordinates of the grinding position in the tool tip coordinate system. T d-wThis represents the translation matrix. Since the three-dimensional coordinate axes of the workpiece coordinate system and the tool tip coordinate system are parallel and in the same direction, the electronic device can use the grinding axial vector in the tool tip coordinate system as the grinding axial vector in the workpiece coordinate system. Specifically, F... gw =F g (29). Among them, F gw F represents the grinding axial vector in the workpiece coordinate system. g This represents the grinding axial vector in the tool tip coordinate system.

[0130] In some embodiments, the electronic device can establish a workpiece coordinate system and control the grinding wheel to grind the rake face of the cutting tool according to the grinding axial vector and the coordinates of the grinding position in the workpiece coordinate system.

[0131] In this embodiment, the process parameters include the cutting angle for adjusting the initial axial direction in the initial posture; the outer edge of the grinding wheel has a grinding wheel fillet; considering that the grinding wheel fillet causes the grinding point on the outer circle of the grinding wheel end face to shift to the grinding wheel fillet, the position compensation amount is determined based on the cutting angle and the radius of the circle where the grinding wheel fillet is located; the position to be compensated for the center point of the grinding wheel end face is determined according to the grinding posture, the radius of the grinding wheel, and the trajectory point; the position to be compensated is compensated according to the position compensation amount to obtain the grinding position, thereby realizing the corresponding position compensation operation on the outer edge of the grinding wheel with the grinding wheel fillet, ensuring that the actual grinding point on the outer edge of the grinding wheel with the grinding wheel fillet is at the trajectory point, so that the grinding wheel can accurately grind the back face of the cutting tool at the trajectory point, thereby ensuring the grinding accuracy of the back face of the cutting tool.

[0132] In some embodiments, the electronic device can acquire the back face parameters of the lathe tool. The back face parameters may include at least one of the following: tool tip angle λ, tool tip radius r0, side bevel angle η, tool head width D, tool radius R, end face clearance angle parameter α1, side clearance angle parameter α2, or clearance distance s. As in formula (2), the electronic device can determine the first straight line trajectory segment in the tool tip coordinate system based on the equation of the first straight line segment, the tool tip angle, the tool tip radius, and the tool head width. As in formula (1), the electronic device can determine the arc trajectory segment in the tool tip coordinate system based on the equation of the arc segment, the tool tip radius, the tool tip angle, and the side bevel angle. As in formula (7), the electronic device can determine the second straight line trajectory segment in the tool tip coordinate system based on the equation of the second straight line segment, the clearance distance, the side bevel angle, and the tool tip radius. The first straight line trajectory segment, the arc trajectory segment, and the second straight line trajectory segment in the tool tip coordinate system together constitute the grinding trajectory line in the tool tip coordinate system.

[0133] As in formula (12), the electronic device can determine the reference tangential vector and reference normal vector at a trajectory point on the first straight trajectory segment based on the tool tip angle. As in formula (14), the electronic device can determine the reference tangential vector and reference normal vector at a trajectory point on the circular trajectory segment based on the angle between the line connecting the trajectory point and the origin in the tool tip coordinate system and the first coordinate axis in the tool tip coordinate system. As in formula (13), the electronic device can determine the reference tangential vector and reference normal vector at a trajectory point on the second straight trajectory segment based on the side slope angle.

[0134] The initial orientation includes the initial radial and initial axial orientations. As shown in equation (16), the electronic device can determine the reference tangential vector as the initial radial vector. The initial radial vector is used to characterize the initial radial orientation in the tool tip coordinate system or the workpiece coordinate system. As shown in equation (18), the electronic device can use the general formula for a rotation matrix to rotate the reference normal vector around the reference tangential vector by a reference back angle parameter to obtain the initial axial vector. The initial axial vector is used to characterize the initial axial orientation in the tool tip coordinate system or the workpiece coordinate system.

[0135] The grinding posture includes the grinding radial direction and the grinding axial direction. As in formula (19), the electronic device can use the general formula of the rotation matrix to rotate the initial radial vector counterclockwise around the initial axial vector by a displacement angle to obtain the intermediate radial vector. As in formula (20), the electronic device can use the initial axial vector as the intermediate axial vector. As in formula (21), the electronic device can perform a cross product of the intermediate axial vector and the intermediate radial vector to obtain the intermediate tangential vector. As in formula (22), the electronic device can use the general formula of the rotation matrix to rotate the intermediate radial vector counterclockwise around the intermediate tangential vector by a cutting angle to obtain the grinding radial vector. The grinding radial vector is used to characterize the grinding radial direction in the workpiece coordinate system or the tool tip coordinate system. As in formula (23), the electronic device can use the general formula of the rotation matrix to rotate the intermediate axial vector counterclockwise around the intermediate tangential vector by a cutting angle ε to obtain the grinding axial vector. The grinding axial vector is used to characterize the grinding axial direction in the workpiece coordinate system or the tool tip coordinate system.

[0136] As in formula (24), the electronic device can determine the axial and radial compensation amounts based on the cutting angle and the radius of the circle containing the grinding wheel fillet. As in formula (25), the electronic device can weight the grinding radial vector based on the radius of the grinding wheel to obtain the weighted result, and offset the coordinates of the trajectory point based on the weighted result to obtain the coordinates of the position to be compensated in the tool tip coordinate system. As in formula (26), the electronic device can sum the axial offset, radial offset, and the coordinates of the position to be compensated in the tool tip coordinate system to obtain the coordinates of the grinding position in the tool tip coordinate system. As in formula (27), the electronic device can determine the translation matrix based on the tool width, tool radius, and tool tip radius. As in formula (28), the electronic device can transform the coordinates of the grinding position in the tool tip coordinate system to the workpiece coordinate system based on the translation matrix to obtain the coordinates of the grinding position in the workpiece coordinate system. It is understandable that each coordinate axis in the tool tip coordinate system is parallel and in the same direction as each coordinate axis in the workpiece coordinate system. Therefore, the direction vector in the tool tip coordinate system is consistent with the direction vector in the workpiece coordinate system, and there is no need to convert the grinding axial vector in the tool tip coordinate system to the workpiece coordinate system.

[0137] Electronic equipment can control the grinding wheel to perform back face grinding of the cutting tool at the trajectory point based on the coordinates of the grinding position in the workpiece coordinate system and the grinding axial vector.

[0138] 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 this application, and obtain the grinding poses corresponding to each trajectory point when the grinding wheel grinds the flank face of the turning tool. Post-processing software is used to convert the grinding poses corresponding to each trajectory point into CNC code. The CNC code is then used in simulation software to simulate the grinding process of the grinding wheel grinding the flank face of the turning tool, resulting in the following... Figure 9 The simulation results are shown.

[0139] Table 1:

[0140] Rake face parameters Design values Nose angle λ 5° tip radius r0 0.2 mm Side angle η 11° Tool head width D 5.8 mm Tool radius R 3 mm face relief parameter a1 8° side rear corner parameter a2 12° Clearance distance s 0.7 mm Displacement angle δ 5° Cutting angle ε 2°

[0141] It is understood that in the method provided in this application, the grinding trajectory line formed by the first straight line trajectory segment, the circular arc trajectory segment, and the second straight line trajectory segment can provide precise trajectory control for grinding the first and second planar structures of the flank face, as well as the curved surface structure connecting the first and second planar structures. The initial posture, where the radial direction of the grinding wheel is parallel to the reference tangent and the angle between the axial direction of the grinding wheel and the reference normal conforms to the reference clearance angle parameter, can constrain the end face of the grinding wheel from damaging the flank face structure of the outer edge grinding of the grinding wheel, and ensure that the angle between the end face of the grinding wheel and the reference normal at the trajectory point conforms to the corresponding reference clearance angle parameter. This avoids grinding interference while meeting the structural requirements of the flank face. Under precise trajectory control and posture constraints, the flank face in the simulation results can accurately conform to the design values ​​of the parameters in Table 1, ensuring the grinding accuracy of the flank face of the cutting tool.

[0142] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. 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 flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages 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 of other steps.

[0143] Based on the same inventive concept, this application also provides a lathe tool flank grinding apparatus for implementing the above-described lathe tool flank grinding method. The solution provided by this apparatus is similar to the solution described in the above method; therefore, the specific limitations of one or more lathe tool flank grinding apparatus embodiments provided below can be found in the above-described limitations of the lathe tool flank grinding method, and will not be repeated here.

[0144] In one exemplary embodiment, such as Figure 10 As shown, a lathe tool flank grinding device 1000 is provided, comprising: an acquisition module 1002, a determination module 1004, a pose planning module 1006, and a grinding module 1008, wherein:

[0145] The acquisition module 1002 is used to acquire the grinding trajectory line of the back face of the lathe tool.

[0146] The determination module 1004 is used to determine the reference back angle parameters corresponding to the trajectory points on the grinding trajectory line.

[0147] The pose planning module 1006 is used to determine the reference tangent and reference normal of the grinding trajectory line at the trajectory point; determine the initial posture of the grinding wheel when the radial direction of the grinding wheel is parallel to the reference tangent and the angle between the axial direction of the grinding wheel and the reference normal meets the reference back angle parameter; and determine the grinding pose of the grinding wheel based on the initial posture and the trajectory point.

[0148] The grinding module 1008 is used to control the grinding wheel to perform back face grinding of the cutting tool at the trajectory point according to the grinding posture.

[0149] In some embodiments, the grinding trajectory line includes a first straight trajectory segment, an arc trajectory segment, and a second straight trajectory segment; the arc trajectory segment is located between the first straight trajectory segment and the second straight trajectory segment; the pose planning module 1006 is used to determine the end face back angle parameter as the reference back angle parameter corresponding to the trajectory point on the first straight trajectory segment; to determine the side back angle parameter as the reference back angle parameter corresponding to the trajectory point on the second straight trajectory segment; and to determine the reference back angle parameter corresponding to the trajectory point based on the end face back angle parameter and the side back angle parameter for the trajectory point on the arc trajectory segment.

[0150] In some embodiments, the arc trajectory segment includes a first endpoint connected to the first straight trajectory segment and a second endpoint connected to the second straight trajectory segment; the pose planning module 1006 is used to determine the difference in rear angle parameters between the end face rear angle parameter and the side rear angle parameter; for a trajectory point on the arc trajectory segment, determine the proportion of the reference position difference between the trajectory point and the first endpoint or the second endpoint to the total position difference between the first endpoint and the second endpoint; weight the rear angle parameter difference according to the proportion to obtain the rear angle parameter offset; and offset the end face rear angle parameter or the side rear angle parameter according to the rear angle parameter offset to obtain the reference rear angle parameter corresponding to the trajectory point.

[0151] In some embodiments, the first straight trajectory segment corresponds to a first planar structure located at the tip of the cutting tool in the flank face; the second straight trajectory segment corresponds to a second planar structure located on the side of the cutting tool in the flank face; the circular arc trajectory segment corresponds to a curved surface structure connecting the first and second planar structures in the flank face; the trajectory points on the circular arc trajectory segment include the tip of the cutting tool; the first straight trajectory segment, the circular arc trajectory segment, and the second straight trajectory segment are located in the plane containing the cutting tool axis and the tip of the cutting tool.

[0152] In some embodiments, the pose planning module 1006 is used to determine the reference tangent as the initial radial direction in the initial pose; and to rotate the reference normal around the reference tangent according to the reference back angle parameter to obtain the initial axial direction in the initial pose.

[0153] In some embodiments, the grinding posture includes the grinding attitude and the grinding position; the posture planning module 1006 is used to adjust the initial attitude according to the process parameters to obtain the grinding attitude; and to determine the grinding position of the grinding wheel according to the grinding attitude and the trajectory point.

[0154] In some embodiments, the process parameters include a cutting angle for adjusting the initial axial direction in the initial posture; the outer edge of the grinding wheel has a grinding wheel fillet; the pose planning module 1006 is used to determine the position compensation amount based on the cutting angle and the radius of the circle where the grinding wheel fillet is located; the position to be compensated for the center point of the end face of the grinding wheel is determined according to the grinding posture, the radius of the grinding wheel and the trajectory point; and the position to be compensated is compensated according to the position compensation amount to obtain the grinding position.

[0155] In some embodiments, the grinding module 1008 is used to control the grinding wheel to perform back face grinding of the cutting tool at the trajectory point according to the grinding posture and grinding position.

[0156] Each module in the aforementioned lathe tool flank grinding device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of an electronic device in hardware form or independent of it, or stored in the memory of an electronic device in software form, so that the processor can call and execute the operations corresponding to each module.

[0157] In one exemplary embodiment, an electronic device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11 As shown, this electronic device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational 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 the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for grinding the flank face of a lathe tool.

[0158] Those skilled in the art will understand that Figure 11 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 electronic device to which the present application is applied. The specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0159] In one embodiment, an electronic device is also 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 in the above-described method embodiments.

[0160] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0161] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0162] 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. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, 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, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0163] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0164] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for grinding the flank face of a lathe tool, characterized in that, The method includes: Obtain the grinding trajectory line of the back face of the lathe tool; the grinding trajectory line includes a first straight trajectory segment, an arc trajectory segment, and a second straight trajectory segment; the arc trajectory segment is located between the first straight trajectory segment and the second straight trajectory segment; the arc trajectory segment includes a first endpoint connected to the first straight trajectory segment and a second endpoint connected to the second straight trajectory segment; For a trajectory point on the first straight line trajectory segment, the end face back angle parameter is determined as the reference back angle parameter corresponding to the trajectory point; For a trajectory point on the second straight line trajectory segment, the side rear angle parameter is determined as the reference rear angle parameter corresponding to the trajectory point; Determine the difference in the rear angle parameters between the end face rear angle parameter and the side rear angle parameter; For a trajectory point on the arc trajectory segment, determine the proportion of the reference position difference between the trajectory point and the first endpoint or the second endpoint to the total position difference between the first endpoint and the second endpoint; The difference in the rear angle parameters is weighted according to the ratio to obtain the rear angle parameter offset. The rear angle parameter of the end face or the rear angle parameter of the side is offset according to the rear angle parameter offset to obtain the reference rear angle parameter corresponding to the trajectory point; Determine the reference tangent and reference normal of the grinding trajectory line at the trajectory point; Determine the initial orientation of the grinding wheel when its radial direction is parallel to the reference tangent and the angle between its axial direction and the reference normal conforms to the reference back angle parameter; The grinding posture of the grinding wheel is determined based on the initial posture and the trajectory points; The grinding wheel is controlled to perform back face grinding of the cutting tool at the trajectory point according to the grinding posture.

2. The method according to claim 1, characterized in that, The cutting tool is a solid cutting tool.

3. The method according to claim 1, characterized in that, The first straight trajectory segment corresponds to the first planar structure located at the tip of the cutting tool in the flank face; the second straight trajectory segment corresponds to the second planar structure located on the side of the cutting tool in the flank face; the arc trajectory segment corresponds to the curved surface structure connecting the first planar structure and the second planar structure in the flank face. The trajectory points on the arc trajectory segment include the tip point of the cutting tool; The first straight trajectory segment, the circular trajectory segment, and the second straight trajectory segment are located in the plane containing the tool axis and the tool tip of the lathe tool.

4. The method according to claim 3, characterized in that, The end face back angle parameter is used to characterize the angle between the first planar structure and the cutting plane; the side back angle parameter is used to characterize the angle between the second planar structure and the cutting plane.

5. The method according to claim 1, characterized in that, Determining the initial orientation of the grinding wheel when its radial direction is parallel to the reference tangent and the angle between its axial direction and the reference normal conforms to the reference back angle parameter includes: The reference tangential direction is determined as the initial radial direction in the initial attitude; The reference normal is rotated around the reference tangent based on the reference back angle parameter to obtain the initial axis in the initial attitude.

6. The method according to any one of claims 1 to 5, characterized in that, The grinding posture includes the grinding attitude and the grinding position; determining the grinding posture of the grinding wheel based on the initial attitude and the trajectory points includes: The initial posture is adjusted according to the process parameters to obtain the grinding posture; The grinding position of the grinding wheel is determined based on the grinding posture and the trajectory point.

7. The method according to claim 6, characterized in that, The process parameters include a cutting angle for adjusting the initial axial direction in the initial posture; the outer edge of the grinding wheel has a grinding wheel fillet. Determining the grinding position of the grinding wheel based on the grinding posture and the trajectory point includes: The position compensation amount is determined based on the cutting angle and the radius of the circle containing the grinding wheel fillet. The compensation position of the end face center point of the grinding wheel is determined based on the grinding posture, the radius of the grinding wheel, and the trajectory point. The position to be compensated is compensated according to the position compensation amount to obtain the grinding position.

8. A device for grinding the flank face of a lathe tool, characterized in that, The device includes: The acquisition module is used to acquire the grinding trajectory line of the back face of the lathe tool; The determination module is used to determine the reference back angle parameter corresponding to the trajectory point on the grinding trajectory line; The pose planning module is used to determine the reference tangent and reference normal of the grinding trajectory line at the trajectory point; determine the initial posture of the grinding wheel when the radial direction of the grinding wheel is parallel to the reference tangent and the angle between the axial direction of the grinding wheel and the reference normal conforms to the reference back angle parameter; and determine the grinding pose of the grinding wheel based on the initial posture and the trajectory point. The grinding module is used to control the grinding wheel to grind the back face of the cutting tool at the trajectory point according to the grinding posture; The apparatus is used to implement the steps of the method according to any one of claims 1 to 7.

9. An electronic device 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 7.

10. 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 7.

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