Grinding machine control method and grinding machine

Abstract

The control method of the grinding machine comprises the steps that S3, a grinding wheel, matched with the surface shape type of a machining surface, on a main shaft rotating tower is controlled to rotate to a preset position, the main shaft rotating tower is controlled to move in the second direction, and when the grinding wheel abuts against the machining surface, the grinding wheel is driven to rotate; and the detection assembly is controlled to move to the position close to the contact position of the grinding wheel and the machining face, the grinding wheel is started to machine the machining face, and the detection assembly is controlled to detect the machining precision of the machining face. And S4, if it is detected that the machining precision of the machining face meets the standard, the spindle turret is controlled to move in the direction opposite to the second direction, the workbench is controlled to move in the first direction till the machining face of the next face shape of the shaft core part moves to the initial machining position, the step S3 is repeated, otherwise, the movement state of the corresponding grinding wheel is adjusted, and the machining precision of the machining face is adjusted. And the step S3 is repeated until it is detected that the machining precision of the machined face meets the standard. The problem that in the prior art, time and labor are wasted when shaft core parts are machined is solved.

Description

Technical Field

[0001] The present application relates to the technical field of ultra-precision machine tools, and in particular to a control method for a grinder and a grinder. Background Art

[0002] When machining and grinding the shaft core parts, it is necessary to ensure the machining accuracy of the shaft core parts. An existing method to ensure the machining accuracy of the shaft core parts is: after the shaft core parts are machined by a grinder, a roundness measuring instrument is used on the shaft core parts to find out where there are deviations on the shaft core parts, and the shaft core parts are put on the grinder for grinding again after recording. After repeating the above process many times, the shaft core parts can reach the set machining accuracy.

[0003] One problem with this processing method is that processing the shaft core parts is time-consuming and labor-intensive, and clamping the shaft core parts on the grinder multiple times will also cause errors in the roundness of the shaft core parts. Summary of the invention

[0004] The main purpose of the present application is to provide a control method of a grinding machine and a grinding machine, so as to at least solve the problem that machining shaft core parts in the prior art is time-consuming and labor-intensive.

[0005] According to one aspect of the present application, a control method for a grinding machine is provided, comprising:

[0006] Step S1: mounting the shaft core part on a clamping assembly on the working table of the grinding machine, and controlling the clamping assembly to drive the shaft core part to rotate;

[0007] Step S2: controlling the spindle turret of the grinding machine to rotate so that the tool setting instrument on the spindle turret rotates to a predetermined position, controlling the worktable to move in a first direction, and when the initial processing surface of the shaft core part contacts the tool setting instrument, controlling the worktable to stop moving, and recording the position where the processing surface contacts the tool setting instrument at this time as the initial processing position;

[0008] Step S3: according to the current type of the surface shape of the machining surface, controlling the grinding wheel on the spindle turret that is adapted to the type of the surface shape of the machining surface to rotate to the predetermined position, and controlling the spindle turret to move along the second direction, when the grinding wheel abuts against the machining surface, controlling the detection component to move to a contact position close to the grinding wheel and the machining surface, starting the grinding wheel to machine the machining surface, and controlling the detection component to detect the machining accuracy of the machining surface;

[0009] Step S4: Determine whether the machining accuracy of the machining surface meets the standard. If it is detected that the machining accuracy of the machining surface meets the standard, control the spindle turret to move in a direction opposite to the second direction, and control the worktable to move in the first direction until the machining surface of the next surface shape of the core part moves to the initial machining position, and repeat step S3 until the machining of each machining surface is completed and the machining accuracy of each machining surface meets the standard, then control the grinder to stop working, otherwise adjust the movement state of the corresponding grinding wheel until it is detected that the machining accuracy of the machining surface meets the standard, then repeat step S3.

[0010] Furthermore, the step of judging whether the machining accuracy of the machining surface meets the standard includes:

[0011] When the surface shape type of the machining surface of the shaft core part is an outer cylindrical surface and a conical surface, if the roundness of the machining surface detected by the detection component is less than or equal to a first predetermined value, and the surface roughness of the machining surface detected by the detection component is less than or equal to a second predetermined value, then it is judged that the machining accuracy of the machining surface meets the standard, otherwise it is judged that the machining accuracy of the machining surface does not meet the standard;

[0012] When the surface shape type of the machined surface of the core part is an end face, if the surface roughness of the machined surface detected by the detection component is less than or equal to a second predetermined value, it is judged that the machining accuracy of the machined surface meets the standard; otherwise, it is judged that the machining accuracy of the machined surface does not meet the standard.

[0013] Further, in step S4, the step of adjusting the motion state of the corresponding grinding wheel includes:

[0014] If the roundness of the machined surface detected by the detection component is greater than the first predetermined value, controlling the spindle turret to move a predetermined distance in a second direction to increase the pressure applied by the grinding wheel to the current machined surface;

[0015] If the surface roughness of the machined surface detected by the detection component is greater than the first predetermined value, the rotation speed of the grinding wheel is increased.

[0016] Further, in step S3, the step of controlling the detection component to move to a position close to the contact position between the grinding wheel and the processing surface includes:

[0017] If the current machining surface of the shaft core part is an outer cylindrical surface, the parallel grinding wheel on the spindle turret is controlled to rotate to the predetermined position, and the spindle turret is controlled to move along the second direction, and when the parallel grinding wheel abuts against the outer cylindrical surface, the detection component is controlled to move to the first mid-plane of the thickness of the parallel grinding wheel along its own axis direction;

[0018] If the current processing surface of the shaft core part is an end surface, the end surface grinding wheel on the spindle turret is controlled to rotate to the predetermined position, and the spindle turret is controlled to move along the second direction, and when the end surface grinding wheel abuts against the end surface, the detection component is controlled to move close to the contact point between the grinding wheel and the processing surface, and along the first direction, there is a predetermined distance between the detection component and the end surface;

[0019] If the current machining surface of the core part is a conical surface, the angle grinding wheel on the spindle turret is controlled to rotate to the predetermined position, and the spindle turret is controlled to move along the second direction. When the angle grinding wheel abuts against the outer cylindrical surface, the detection component is controlled to move to the second center plane of the thickness of the angle grinding wheel along its own axial direction.

[0020] Further, in step S3, the step of starting the grinding wheel to process the processing surface includes:

[0021] If the surface type of the current processing surface of the shaft core part is an outer cylindrical surface, the parallel grinding wheel is started, and the workbench is controlled to move along the first direction until the parallel grinding wheel finishes grinding the outer cylindrical surface, and then the workbench is controlled to stop moving;

[0022] If the current machining surface of the shaft core part is an end surface, the end surface grinding wheel is started, the spindle turret is controlled to reciprocate in the second direction, and after the spindle turret moves for a first predetermined time, the spindle turret and the end surface grinding wheel are controlled to stop working;

[0023] If the current machining surface of the core part is a conical surface, start the angle grinding wheel, control the worktable to move in the first direction, and control the spindle turret to move in the second direction or control the spindle turret to move in the direction opposite to the second direction, until the parallel grinding wheel has finished grinding the conical surface, and then control the worktable and the spindle turret to stop moving.

[0024] Furthermore, the steps before step S1 include: pre-inputting the type of the surface shape of each of the processed surfaces of the core component, and pre-inputting the spacing between the processed surfaces of two adjacent surface shapes in sequence along the axis direction of the core component;

[0025] The step of controlling the workbench to move along the first direction includes: controlling the workbench to move along the first direction by the distance between the current processing surface and the processing surface of the next surface shape according to the pre-input distance between the processing surfaces of two adjacent surface shapes.

[0026] Furthermore, the step S1 further includes:

[0027] After the workbench is controlled to move to the loading position along the first direction, the loading assembly of the grinding machine is controlled to place the shaft core part on the workbench, and the clamping assembly is controlled to clamp the shaft core part.

[0028] On the other hand, the present application further discloses a grinding machine, which is used to execute the control method of the grinding machine, and the grinding machine comprises:

[0029] A main body, wherein a first guide rail is provided on the main body, and the first guide rail extends along the first direction

[0030] a workbench, wherein the workbench is slidably disposed on the first guide rail;

[0031] A clamping assembly, the clamping assembly is rotatably arranged on the workbench, and the clamping assembly has a clamping position for clamping the shaft core part and a release position for releasing the shaft core part;

[0032] A spindle turret, the spindle turret is rotatably disposed on the main body, and the spindle turret can reciprocate along the second direction;

[0033] A tool setting instrument, wherein the tool setting instrument is arranged on the spindle turret;

[0034] Grinding wheels, the grinding wheels include multiple different models, and the grinding wheels of different models are arranged on the spindle turret at intervals;

[0035] A detection component, the detection component is arranged on the main body, and the detection component can reciprocate along the first direction;

[0036] A loading assembly, the loading assembly being arranged on the main body;

[0037] A controller is electrically connected to the clamping assembly, the spindle turret, the feeding assembly, the grinding wheels of different models and the detection assembly.

[0038] Further, the grinding machine further comprises a mounting frame and a support arm, the mounting frame is arranged on the main body, a second guide rail extending along the first direction is arranged on the mounting frame, and the second guide rail is located on the top of the workbench, the support arm is slidably arranged on the second guide rail, and the support arm extends a predetermined length in a direction close to the first guide rail;

[0039] The detection component includes a laser displacement sensor and a roundness meter. The laser displacement sensor is arranged on the support arm, and the laser displacement sensor is used to detect the surface roughness of the processed surface of the shaft core part. The roundness meter is arranged on the support arm, and the roundness meter is used to detect the roundness of the processed surface of the shaft core part.

[0040] Furthermore, the clamping assembly comprises:

[0041] a first clamping block, the first clamping block being arranged on the workbench;

[0042] A second clamping block, wherein the second clamping block is movably arranged on the workbench, and the second clamping block and the first clamping block are spaced apart along the first direction, a first ejector is arranged on a side of the first clamping block close to the second clamping block, and a second ejector is arranged on a side of the second clamping block close to the first clamping block, the first ejector is used to abut against a first side of the shaft core part along its own axial direction, and the second ejector is used to abut against a second side of the shaft core part along its own axial direction;

[0043] The first driving part is connected with the first ejector pin, the first driving part drives the first ejector pin to rotate, so as to drive the shaft core part to rotate around its own axis direction, and the first driving part is electrically connected with the controller.

[0044] Compared with the prior art, the grinder of the present application is provided with a spindle turret, and a tool setting instrument and a variety of different types of grinding wheels are arranged at intervals on the spindle turret. When it is necessary to process different surface shapes of the shaft core parts, the controller can control the rotation of the spindle grinding wheel, and make the grinding wheel adapted to the processing surface rotate to a predetermined position, so that the grinder can only clamp the shaft core parts once, and then process all surfaces of the shaft core parts, thereby solving the problem that the previous grinders need to clamp the shaft core parts multiple times, which is time-consuming and labor-intensive, and multiple clampings easily cause the size of the processed surface to change, and ultimately lead to too many defective shaft core parts after processing. On the other hand, when the grinder of the present application processes the processing surface of each surface shape on the shaft parts, it is necessary to readjust the position of the detection component, so that the detection data of the detection component is more accurate, and after processing at each moment, the detection component will send the processing accuracy on the processing surface to the controller, so that the controller can adjust the grinding wheel according to the processing accuracy, so that the processing accuracy of each processing surface after processing can meet the standard. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 A logic diagram of the control method of the grinding machine disclosed in this application;

[0047] Figure 2 A logic diagram of selecting different types of grinding wheels for machining according to the surface shape of a shaft core part in the control method of the grinding machine disclosed in the present application;

[0048] Figure 3 A logic diagram for judging whether the machining accuracy of the machining surface of a rotating shaft part meets the standard in the control method of the grinding machine disclosed in the present application;

[0049] Figure 4 It is a schematic diagram of a part of the structure of the grinding machine disclosed in the present application at a first viewing angle (with the outer cover removed);

[0050] Figure 5 It is a schematic diagram of the structure of the grinding machine disclosed in this application;

[0051] Figure 6 A schematic diagram of a partial structure of the grinding machine disclosed in the present application at a second viewing angle (with the outer cover removed);

[0052] Figure 7 It is a schematic diagram of a part of the structure of the grinding machine disclosed in the present application from a third viewing angle (with the outer cover removed);

[0053] Figure 8 This is a structural schematic diagram of the support arm disclosed in the present application in a first state (the rotating section is in a first position);

[0054] Fig. 9 This is a structural schematic diagram of the support arm disclosed in the present application in the second state (the rotating section is in the second position).

[0055] The above drawings include the following reference numerals:

[0056] 10. Main body; 20. Workbench; 30. Clamping assembly; 31. First clamping block; 32. Second clamping block; 33. First driving unit; 40. Axis core parts; 50. Spindle turret; 51. Tool setting instrument; 52. Parallel grinding wheel; 53. End grinding wheel; 54. Angle grinding wheel; 60. Mounting frame; 70. Support arm; 71. Connecting section; 72. Rotating section; 80. Outer cover; 90. Detection assembly; 91. Roundness meter; 92. First laser displacement sensor; 93. Second laser displacement sensor; 100. Cylinder; 110. Telescopic cover; 120. Second driving unit; 311. First ejector pin; 321. Second ejector pin; 521. First center dividing surface; 541. Second center dividing surface. DETAILED DESCRIPTION

[0057] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0058] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0059] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0060] See also Figures 3 to 9 As shown, according to an embodiment of the present application, a grinding machine is provided, which includes a main body 10, a worktable 20, a clamping assembly 30, a spindle turret 50, a tool setting instrument 51, a grinding wheel, a detection assembly 90, a loading assembly (not shown in the figure) and a controller (not shown in the figure).

[0061] The main body 10 is provided with a first guide rail (not shown in the figure), and the first guide rail is arranged along a first direction (such as the attached Figure 4 The main body 10 is provided with a main shaft turret 50, and the main shaft turret 50 can be rotatably arranged on the main body 1 ... Figure 4The tool setting instrument 51 is arranged on the spindle turret 50, the grinding wheel includes a plurality of different models, and the grinding wheels of different models are arranged on the spindle turret 50 at intervals, the detection component 90 is arranged on the main body 10, and the detection component 90 can reciprocate along the first direction, and the feeding component is arranged on the main body 10. The controller is electrically connected to the clamping component 30, the spindle turret 50, the feeding component, the grinding wheels of different models, and the detection component 90 respectively. In this embodiment, the grinding wheel at least includes an angle grinding wheel 54, a parallel grinding wheel 52, and an end grinding wheel 53.

[0062] On the other hand, see Appendix Figure 1 To Attachment Figure 3 As shown, the present application also provides a control method for a grinding machine, which is executed by the above-mentioned grinding machine, and the control method for the grinding machine includes: step S1: mounting the shaft core part 40 on the clamping assembly 30 on the workbench 20 of the grinding machine, and controlling the clamping assembly 30 to drive the shaft core part 40 to rotate. Step S2: controlling the spindle turret 50 of the grinding machine to rotate, so that the tool setting instrument 51 on the spindle turret 50 rotates to a predetermined position, and then controlling the workbench 20 to move in a first direction, when the initial processing surface of the shaft core part 40 contacts the tool setting instrument 51, controlling the workbench 20 to stop moving, and recording the position where the processing surface contacts the tool setting instrument 51 at this time as the initial processing position. Step S3: According to the type of the current processing surface, the grinding wheel on the spindle turret 50 that is adapted to the type of the processing surface is controlled to rotate to a predetermined position, and the spindle turret 50 is controlled to move in the second direction. When the grinding wheel abuts against the processing surface, the detection component 90 is controlled to move to a contact position close to the grinding wheel and the processing surface, the grinding wheel is started to process the processing surface, and the detection component 90 is controlled to detect the processing accuracy of the processing surface. Step S4: Determine whether the processing accuracy of the processing surface meets the standard. If it is detected that the processing accuracy of the processing surface meets the standard, the spindle turret 50 is controlled to move in a direction opposite to the second direction, and the workbench 20 is controlled to move in the first direction until the processing surface of the next type of surface of the shaft core part 40 moves to the initial processing position, and step S3 is repeated until all processing surfaces are processed and the processing accuracy of each processing surface meets the standard, and then the grinding machine is controlled to stop working. Otherwise, the motion state of the corresponding grinding wheel is adjusted until the processing accuracy of the processing surface meets the standard and step S3 is repeated.

[0063] That is to say, step S1 is a loading step, in which the controller of the grinding machine controls the loading assembly to transfer the shaft core part 40 to the workbench 20, and the controller controls the clamping assembly 30 to clamp the shaft core part 40, and then the controller controls the clamping assembly 30 to rotate, thereby driving the shaft core part 40 to rotate along its own axis direction. Step S2 is a tool setting step, in which the controller first controls the spindle turret 50 to rotate, so that the tool setting instrument 51 on the spindle turret 50 rotates to a position relative to the first guide rail, that is, a predetermined position, at which time the tool setting instrument 51 is located on one side of the first guide rail, and the tool setting instrument 51 extends along the second direction. Subsequently, the controller controls the workbench 20 to move in the first direction, and when the tool setting instrument 51 contacts the shaft core part 40, the controller controls the workbench 20 to stop moving, and records the position where the machining surface contacts the tool setting instrument 51 at this moment as the initial machining position. Step S3 is a processing step. According to the type of the surface shape of the processing surface that needs to be processed at the current moment, the controller controls the spindle turret 50 to rotate, so that the grinding wheel on the spindle turret 50 adapted to the processing surface rotates to a predetermined position. Then the controller controls the spindle turret 50 to move in a direction opposite to the second direction. When the grinding wheel abuts against the processing surface that needs to be processed, the controller controls the detection component 90 to move to a position close to the processing surface and the grinding wheel, so as to detect the processing accuracy of the processing surface. Subsequently, the controller controls the grinding wheel to rotate and processes the processing surface. While processing, the detection component 90 detects the processing accuracy of the processing surface and sends the detection data to the controller. Step S4 is a judgment step. The controller judges whether the machining accuracy of the machined surface meets the standard based on the detection data of the detection component 90. If the controller judges that the machining accuracy of the machined surface meets the standard after machining, the controller controls the workbench 20 to move in the first direction until the machining surface of the next surface shape moves to the initial machining position, and repeats the above-mentioned machining steps. When each machining surface is machined, and the controller judges that the machining accuracy of each machining surface meets the requirements, the controller controls the grinder to stop working. If the controller judges that the surface shape accuracy of the machined surface does not meet the requirements, the controller adjusts the motion state of the grinding wheel when machining the machining surface that does not meet the requirements, and finally makes the accuracy of the machined surface meet the requirements, and then repeats the above-mentioned machining steps.

[0064] Compared with the prior art, the grinder of the present application is provided with a spindle turret 50, and a tool setting instrument 51 and a plurality of different types of grinding wheels are arranged at intervals on the spindle turret 50. When it is necessary to process different surface shapes of the core part 40, the controller can control the rotation of the spindle grinding wheel, and make the grinding wheel adapted to the processing surface rotate to a predetermined position, so that the grinder can clamp the core part 40 only once, and can process each surface of the core part 40, thereby solving the problem that the previous grinder needs to clamp the core part 40 multiple times, which is time-consuming and labor-intensive, and multiple clamping easily causes the size of the processed surface to change, which ultimately leads to too many defective core parts 40 after processing. On the other hand, the grinder of the present application needs to readjust the position of the detection component 90 when processing each type of surface on the shaft parts, so that the detection data of the detection component 90 is more accurate, and after processing at each moment, the detection component 90 will send the processing accuracy on the processing surface to the controller, so that the controller can adjust the grinding wheel according to the processing accuracy, so that the processing accuracy of each processing surface after processing can meet the standard.

[0065] Furthermore, the grinding machine further comprises a mounting frame 60 and a support arm 70. The mounting frame 60 is disposed on the main body 10. The mounting frame 60 is provided with a second guide rail (not shown in the figure) extending along the first direction and extending along the height direction of the main body 10 (such as the attached Figure 4 The second guide rail is located on the top of the workbench 20, the support arm 70 is slidably arranged on the second guide rail, and the support arm 70 extends a predetermined length in the direction close to the first guide rail; the detection component 90 includes a laser displacement sensor and a roundness meter 91, the laser displacement sensor is arranged on the support arm 70, the laser displacement sensor is used to detect the surface roughness of the machined surface of the shaft core part 40, and the roundness meter 91 is arranged on the support arm 70, and the roundness meter 91 is used to detect the roundness of the machined surface of the shaft core part 40.

[0066] In this embodiment, the step of judging whether the machining accuracy of the machining surface meets the standard includes: when the surface shape type of the machining surface of the shaft core part 40 is an outer cylindrical surface and a conical surface, if the roundness of the machining surface detected by the detection component 90 is less than or equal to a first predetermined value, and the surface roughness of the machining surface detected by the detection component 90 is less than or equal to a second predetermined value, then it is judged that the machining accuracy of the machining surface meets the standard, otherwise it is judged that the machining accuracy of the machining surface does not meet the standard. When the surface shape type of the machining surface of the shaft core part 40 is an end face, if the surface roughness of the machining surface detected by the detection component 90 is less than or equal to the second predetermined value, then it is judged that the machining accuracy of the machining surface meets the standard, otherwise it is judged that the machining accuracy of the machining surface does not meet the standard.

[0067] Specifically, the grinding machine is also provided with a second driving unit 120, which is connected to the support arm 70 and drives the support arm 70 to slide on the second guide rail, so that the support arm 70 can drive the detection assembly 90 to reach the specified position, and the second driving unit 120 is electrically connected to the controller. In this embodiment, a first laser displacement sensor 92 and a second laser displacement sensor 93 are included. The first laser displacement sensor 92 is used to detect the surface roughness of the end face of the shaft core part 40, and the second laser displacement sensor 93 is used to detect the surface roughness of the conical surface or the outer cylindrical surface of the shaft core part 40. The roundness meter 91 is used to detect the roundness of the conical surface and the outer cylindrical surface of the shaft core part 40. When the controller determines whether the machining accuracy of the machining surface meets the requirements, for example, when the machining surface is a conical surface or an outer cylindrical surface, the second laser displacement sensor 93 and the roundness meter 91 send the surface roughness and roundness data of the conical surface or the outer cylindrical surface to the controller, and the controller compares the detected roundness data with the size of the first predetermined value, and the controller compares the detected surface roughness information with the size of the second predetermined value. If the detected roundness data is less than the first predetermined value, and the detected surface roughness data is less than the second predetermined value, the controller determines that the machining accuracy of the outer cylindrical surface or the conical surface meets the standard, and the grinder can execute the next step. If the detected roundness is higher than the first predetermined value or the detected surface roughness is higher than the second predetermined value, it means that the machining accuracy of the machining surface does not meet the requirements. When the machining surface is an end face, it is only necessary to judge whether the machining of the end face meets the requirements by the surface roughness of the end face. In this embodiment, the first predetermined value can be set to 1μm, and the second predetermined value can be set to 0.1μm. The accuracy of the roundness meter 91 in this embodiment is 1μm, and the maximum detectable diameter is 700mm.

[0068] Further, in step S4, the step of adjusting the motion state of the corresponding grinding wheel includes: if the roundness of the processing surface detected by the detection component 90 is greater than the first predetermined value, controlling the spindle turret 50 to move a predetermined distance in the second direction to increase the pressure applied by the grinding wheel to the current processing surface. If the surface roughness of the processing surface detected by the detection component 90 is greater than the first predetermined value, increasing the rotation speed of the grinding wheel.

[0069] It is understandable that when the detected roundness value is greater than the first predetermined value, it means that the feed rate of the grinding wheel is too low, resulting in a low degree of grinding of the conical surface or outer cylindrical surface of the grinding wheel. Therefore, it is necessary to control the spindle turret 50 to move a predetermined distance in the second direction, so that the pressure applied by the grinding wheel on the machined surface increases. If the detected surface roughness value is greater than the second predetermined value, it means that the finish of the machined surface is not enough. At this time, the grinding effect of the grinding wheel can be improved by increasing the rotation speed of the grinding wheel. In addition, the predetermined distance can be set to a fixed distance, that is, the roundness of the conical surface and the outer cylindrical surface can reach the standard by moving the same predetermined distance multiple times, and the predetermined distance is set to a fixed distance, which makes it easier to control the feed rate of the grinding wheel, avoid excessive grinding wheel feed, resulting in excessive wear of the machined surface, and damage to the shaft core parts.

[0070] Further, in step S3, the step of controlling the detection component 90 to move to a position close to the contact between the grinding wheel and the processing surface includes: if the surface shape type of the current processing surface of the core part 40 is an outer cylindrical surface, controlling the parallel grinding wheel 52 on the spindle turret 50 to rotate to a predetermined position, and controlling the spindle turret 50 to move in a second direction, when the parallel grinding wheel 52 abuts against the outer cylindrical surface, controlling the detection component 90 to move to a first middle dividing plane 521 of the thickness of the parallel grinding wheel 52 along its own axial direction; if the surface shape type of the current processing surface of the core part 40 is an end face, controlling the end face grinding wheel 53 on the spindle turret 50 to rotate to A predetermined position is set, and the spindle turret 50 is controlled to move in the second direction. When the end face grinding wheel 53 abuts against the end face, the detection component 90 is controlled to move close to the contact point between the grinding wheel and the processing surface, and along the first direction, there is a predetermined distance between the detection component 90 and the end face; if the surface shape of the current processing surface of the core part 40 is a conical surface, the angle grinding wheel 54 on the spindle turret 50 is controlled to rotate to a predetermined position, and the spindle turret 50 is controlled to move in the second direction. When the angle grinding wheel 54 abuts against the outer cylindrical surface, the detection component 90 is controlled to move to the second center dividing surface 541 of the thickness of the angle grinding wheel 54 along its own axial direction.

[0071] Specifically, as attached Figure 4As shown, the detection assembly 90 and the spindle grinding wheel are respectively arranged on opposite sides of the main body 10 along the second direction. In order to improve the detection accuracy of the detection assembly 90 for the processing surfaces of various shapes, it is necessary to change the position of the detection assembly 90 after the grinding wheel model is changed, thereby improving the detection accuracy. That is, in this embodiment, when the parallel grinding wheel 52 is used to process the outer cylindrical surface of the shaft core part 40, because the detection assembly 90 moves to the first center dividing plane 521 of the thickness of the parallel grinding wheel 52 under the control of the controller, at this time, the axis of the roundness meter 91 is coplanar with the first center dividing plane 521, thereby improving the detection accuracy of the roundness meter 91; similarly, when the angle grinding wheel 54 is used to process the conical surface of the shaft core part 40, because the detection assembly 90 moves to the second center dividing plane 541 of the thickness of the angle grinding wheel 54 under the control of the controller, at this time, the axis of the roundness meter 91 is coplanar with the second center dividing plane 541, thereby improving the detection accuracy of the roundness meter 91. In addition, when the end face grinding wheel 53 is used to process the end face of the shaft core part 40, along the first direction, there is a predetermined spacing between the detection component 90 and the end face. In fact, at this time, there is a certain vertical distance between the first laser displacement sensor 92 and the end face in the first direction, which avoids the inclination between the light beam of the first laser displacement sensor 92 and the detection end face, resulting in a certain deviation in the detected data. The predetermined spacing can be set to 14mm, 16mm, 18mm and 20mm, that is, the predetermined spacing will not be too small to avoid interference between the first laser displacement sensor 92 and the end face, and the predetermined spacing will not be too large to prevent a certain deviation in the detected data. It can be understood that the first center plane 521 refers to the center plane of the thickness in the direction of the parallel axis of the parallel grinding wheel 52 after the parallel grinding wheel 52 is rotated to the predetermined position; similarly, the second center plane 541 refers to the center plane of the thickness in the direction of the axis of the angle grinding wheel itself after the angle grinding wheel 54 is rotated to the predetermined position.

[0072] Further, in step S3, the step of starting the grinding wheel to process the processing surface includes: if the surface shape type of the current processing surface of the shaft core part 40 is an outer cylindrical surface, starting the parallel grinding wheel 52, and controlling the workbench 20 to move in the first direction, until the parallel grinding wheel 52 finishes grinding the outer cylindrical surface, and then controlling the workbench 20 to stop moving. If the surface shape type of the current processing surface of the shaft core part 40 is an end surface, starting the end surface grinding wheel 53, controlling the spindle turret 50 to reciprocate in the second direction, and after the spindle turret 50 moves for a first predetermined time, controlling the spindle turret 50 and the end surface grinding wheel 53 to stop working. If the surface shape type of the current processing surface of the shaft core part 40 is a conical surface, starting the angle grinding wheel 54, controlling the workbench 20 to move in the first direction, and controlling the spindle turret 50 to move in the second direction or controlling the spindle turret 50 to move in the direction opposite to the second direction, until the parallel grinding wheel 52 finishes grinding the conical surface, and then controlling the workbench 20 and the spindle turret 50 to stop moving.

[0073] During processing, when the processing surface is the outer cylindrical surface of the shaft core part 40, the controller controls the parallel grinding wheel 52 to rotate, and the parallel grinding wheel 52 rotates to grind the outer cylindrical surface of the shaft core part 40. At the same time, the controller controls the workbench 20 to move in the first direction, so that the shaft core part 40 moves slowly in the first direction, so that the parallel grinding wheel 52 can evenly grind all parts of the outer cylindrical surface. When the processing surface is the end face of the shaft core part 40, the controller controls the end face grinding wheel 53 to rotate, and the controller controls the spindle turret 50 to reciprocate in the second direction, so that the end face grinding wheel 53 grinds the end face of the shaft core part 40. When the processing surface is the conical surface of the shaft core part 40, according to the inclination direction of the conical surface, the controller controls the main shaft turret 50 to rotate, so that the corresponding angle grinding wheel 54 rotates to a predetermined position. After the angle grinding wheel 54 contacts the conical surface, the controller controls the angle grinding wheel 54 to rotate, and at the same time, according to the inclination direction of the conical surface, controls the main shaft turret 50 to move slowly in the second direction or in the direction opposite to the second direction, and controls the workbench 20 to move slowly in the first direction, so that the angle grinding wheel 54 can grind the conical surface uniformly. It can be understood that grinding the outer cylindrical surface means that the parallel grinding wheel 52 grinds all parts of the outer cylindrical surface under the drive of the workbench 20, and the next type of processing surface reaches the parallel grinding wheel 52. Similarly, grinding the conical surface means that the angle grinding wheel 54 grinds all parts of the conical surface under the drive of the workbench 20, and the next type of processing surface reaches the angle grinding wheel 54.

[0074] Furthermore, the steps before step S1 include: pre-inputting the type of surface shape of each machining surface of the core part 40, and pre-inputting the spacing between the machining surfaces of two adjacent surface shapes in sequence along the axial direction of the core part 40; the step of controlling the workbench 20 to move along the first direction includes: controlling the workbench 20 to move the spacing between the current machining surface and the machining surface of the next surface shape along the first direction according to the pre-input spacing between the machining surfaces of two adjacent surface shapes.

[0075] It can be understood that the actual processing process of the shaft core part 40 on the grinding machine is fine processing. After the shaft core part 40 is roughly processed, the surface type of each processing surface of the shaft core part 40 can be known; at the same time, in the axial direction of the shaft core part 40, the distance between the processing surfaces of two adjacent surface shapes can be measured in sequence. Before processing the shaft core part 40, the surface type of each processing surface of the shaft core part 40 and the distance between the processing surfaces of two adjacent surface shapes along the axial direction are input into the controller. When processing the conical surface or the outer cylindrical surface of the shaft core part 40, since the entire conical surface and the entire outer cylindrical surface need to be evenly polished, it is necessary to control the workbench 20 to move in the first direction, that is, to control the workbench 20 to move in the first direction The distance between the current processing surface and the processing surface of the next surface shape; for example, when the next type of surface of the conical surface is an outer cylindrical surface along the axial direction of the shaft core part 40, when processing the conical surface, the distance controlled to move the workbench 20 is the distance between the conical surface and the outer cylindrical surface. It is understandable that during actual processing, after the conical surface and the outer cylindrical surface are processed, the surface of the next surface shape is already in the initial processing position, and after the end face is processed, the end face and the surface of the next surface shape are actually connected. Therefore, there is no need to adjust the position of the processing surface according to the initial processing position. However, considering that there may be errors in the movement accuracy of the worktable 20, the initial processing position is still required to adjust the position of the processing surface.

[0076] In this embodiment, step S1 also includes: after controlling the workbench 20 to move to the loading position along the first direction, controlling the loading assembly of the grinder to place the shaft core part 40 on the workbench 20, and controlling the clamping assembly 30 to clamp the shaft core part 40. In some embodiments, when the shaft core part 40 is processed, the controller controls the clamping assembly 30 to switch from the clamping position to the loosening position, and then the controller controls the unloading assembly on the grinder to transport the shaft core part 40 to other positions. In this embodiment, both the loading assembly and the unloading assembly are manipulators. Through the setting of the loading assembly and the unloading assembly, the grinder of the present application is a fully automatically controlled grinder, which can improve the processing efficiency of the grinder and save labor costs to a certain extent.

[0077] Further, the clamping assembly 30 includes a first clamping block 31, a second clamping block 32 and a first driving unit 33. The first clamping block 31 is arranged on the workbench 20, the second clamping block 32 is movably arranged on the workbench 20, the second clamping block 32 and the first clamping block are arranged at intervals along the first direction, a first ejector pin 311 is arranged on the side of the first clamping block 31 close to the second clamping block 32, and a second ejector pin 321 is arranged on the side of the second clamping block 32 close to the first clamping block 31, the first ejector pin 311 is used to abut against the first side of the shaft core part 40 along its own axis direction, and the second ejector pin 321 is used to abut against the second side of the shaft core part 40 along its own axis direction, the first driving unit 33 is connected to the first ejector pin 311, the first driving unit 33 drives the first ejector pin 311 to rotate, so as to drive the shaft core part 40 to rotate around its own axis direction, and the first driving unit 33 is electrically connected to the controller.

[0078] When actually clamping the core part 40, the loading assembly moves the core part 40 to a position where it contacts the first clamping block 31, and at this time, the end face of the core part 40 on the first side along its own axial direction contacts the first ejector pin 311. At this time, the first clamping block 31 is stationary relative to the workbench 20. Then the controller controls the second clamping block 32 to move on the workbench 20 in a direction close to the first clamping block 31, so that the second ejector pin 321 on the second clamping block 32 contacts the end face of the core part 40 on the second side along its own axial direction. Then the second clamping block 32 is controlled to stop moving and lock on the workbench 20, and then the first driving unit 33 is controlled to start, so that the first ejector pin 311 drives the core part 40 to rotate around its own axial direction.

[0079] In this embodiment, the grinder further includes an outer cover 80, which is disposed on the outer periphery of the main body 10 to prevent impurities from flying into other areas after the shaft core part 40 is processed and ground. The support arm 70 includes a connecting section 71 and a rotating section 72 and the connecting section 71, the detection assembly 90 is disposed on the rotating section 72, the connecting section 71 is slidably disposed on the second guide rail, and the rotating section 72 is rotatably disposed on the connecting section 71. The rotating section 72 is connected to the connecting section 71 through a rotating shaft, and the rotating shaft extends a predetermined length along the first direction. The grinding machine also includes a telescopic cylinder 100, one end of which is hinged on the connecting section 71, and the output end of the telescopic cylinder 100 is hinged on the rotating section 72. When the output end of the telescopic cylinder 100 is retracted, the rotating section 72 rotates forward and rises to a certain height; and when the output end of the telescopic cylinder 100 is extended, the rotating section 72 rotates reversely and descends to a certain height, that is, the rotating section 72 rotates to a first position parallel to the mounting frame 60, and rotates to a second position inclined to the mounting frame 60.

[0080] In fact, when controlling the movement of the detection component 90, the controller also needs to synchronously control the oil cylinder 100, that is, when it is necessary to control the movement of the detection component 90, first control the oil cylinder 100 to retract so that the rotating section 72 rotates in the forward direction, thereby avoiding the interference between the rotating section 72 or the detection component 90 and other components. After reaching the specified position, control the oil cylinder 100 to extend so that the rotating section 72 rotates in the reverse direction so that the detection component 90 is close to the shaft core part 40. In this embodiment, the maximum rotation angle a of the rotating section 72 can be set to 30°, 40° and 45° to avoid the rotating section 72 rotating too much, resulting in the collision between the rotating section 72 and the outer cover 80. In addition, in this embodiment, the outer periphery of the first guide rail and the outer periphery of the second guide rail are both provided with a telescopic cover 110, which is used to prevent dust or impurities from affecting the first guide rail or the second guide rail, resulting in errors in the movement accuracy of the workbench 20 or the support arm 70.

[0081] In this embodiment, the grinding machine further includes a third drive unit, which is arranged on the first guide rail and connected to the workbench 20, and the third drive unit is electrically connected to the controller, and the third drive unit drives the workbench 20 to reciprocate along the first direction. In this embodiment, a grating ruler is arranged on the first guide rail, and a reading head equipped with the grating ruler is arranged on the workbench 20, and the reading head is used in conjunction with the grating ruler to determine the current position of the workbench 20, and the reading head is electrically connected to the controller. Through the position data detected by the reading head, the controller can move the workbench 20 to a specified position by controlling the third drive unit. In some embodiments, the first drive unit 33 includes a first motor, the second drive unit 120 includes a first lead screw and a second motor, and the third drive unit includes a second lead screw and a third motor.

[0082] In summary, the grinder and the control method of the grinder provided by the present application, by setting a spindle turret 50, and setting different types of grinding wheels at intervals on the spindle turret 50, according to the surface shape type of the shaft core part 40, control each adapted grinding wheel to grind the processing surface, so that the grinder can process each processing surface with only one clamping, on the one hand, improving the processing efficiency of the grinder, and on the other hand, improving the processing accuracy of the shaft core part 40. On the other hand, when processing the processing surfaces of different surface shapes of the shaft core part 40, by controlling the movement of the support arm 70, the position of the detection component 90 is changed, thereby improving the detection accuracy of the detection component 90. In addition, the grinder of the present application is a fully automatically controlled grinder, and the grinder can automatically load, process and unload the shaft core part 40, thereby saving labor costs to a certain extent.

[0083] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0084] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0085] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a grinding machine, characterized in that: include: Step S1: mounting the shaft core part (40) on the clamping assembly (30) on the working table (20) of the grinding machine, and controlling the clamping assembly (30) to drive the shaft core part (40) to rotate; Step S2: controlling the spindle turret (50) of the grinding machine to rotate so that the tool setting instrument (51) on the spindle turret (50) rotates to a predetermined position, and then controlling the worktable (20) to move along a first direction. When the initial processing surface of the shaft core part (40) contacts the tool setting instrument (51), controlling the worktable (20) to stop moving, and recording the position where the processing surface contacts the tool setting instrument (51) at this time as the initial processing position; Step S3: according to the type of the current surface shape of the machining surface, controlling the grinding wheel on the spindle turret (50) adapted to the type of the surface shape of the machining surface to rotate to the predetermined position, and controlling the spindle turret (50) to move along the second direction, when the grinding wheel abuts against the machining surface, controlling the detection component (90) to move to a position close to the contact between the grinding wheel and the machining surface, starting the grinding wheel to machine the machining surface, and controlling the detection component (90) to detect the machining accuracy of the machining surface; Step S4: Determine whether the machining accuracy of the machining surface meets the standard. If it is detected that the machining accuracy of the machining surface meets the standard, control the spindle turret (50) to move in a direction opposite to the second direction, and control the workbench (20) to move in the first direction until the machining surface of the next surface shape of the core part (40) moves to the initial machining position, and repeat step S3 until the machining of each machining surface is completed and the machining accuracy of each machining surface meets the standard, then control the grinding machine to stop working, otherwise adjust the movement state of the corresponding grinding wheel until it is detected that the machining accuracy of the machining surface meets the standard, then repeat step S3.

2. The control method of the grinding machine according to claim 1, characterized in that: The step of judging whether the machining accuracy of the machining surface meets the standard comprises: When the surface shape type of the machined surface of the shaft core part (40) is an outer cylindrical surface and a conical surface, if the roundness of the machined surface detected by the detection component (90) is less than or equal to a first predetermined value, and the surface roughness of the machined surface detected by the detection component (90) is less than or equal to a second predetermined value, then it is judged that the machining accuracy of the machined surface meets the standard; otherwise, it is judged that the machining accuracy of the machined surface does not meet the standard; When the surface shape type of the machined surface of the shaft core part (40) is an end face, if the surface roughness of the machined surface detected by the detection component (90) is less than or equal to a second predetermined value, it is judged that the machining accuracy of the machined surface meets the standard; otherwise, it is judged that the machining accuracy of the machined surface does not meet the standard.

3. The control method of the grinding machine according to claim 2, characterized in that: In step S4, the step of adjusting the motion state of the corresponding grinding wheel includes: If the roundness of the machined surface detected by the detection component (90) is greater than the first predetermined value, controlling the spindle turret (50) to move a predetermined distance along the second direction to increase the pressure applied by the grinding wheel to the current machined surface; If the surface roughness of the machined surface detected by the detection component (90) is greater than the first predetermined value, the rotation speed of the grinding wheel is increased.

4. The control method of a grinding machine according to claim 1, characterized in that: In step S3, the step of controlling the detection component (90) to move to a position close to the contact position between the grinding wheel and the processing surface comprises: If the current processing surface of the shaft core part (40) is an outer cylindrical surface, the parallel grinding wheel (52) on the main shaft turret (50) is controlled to rotate to the predetermined position, and the main shaft turret (50) is controlled to move along the second direction, and when the parallel grinding wheel (52) abuts against the outer cylindrical surface, the detection component (90) is controlled to move to a first middle dividing plane (521) of the thickness of the parallel grinding wheel (52) along its own axial direction; If the current processing surface of the shaft core part (40) is an end surface, the end surface grinding wheel (53) on the spindle turret (50) is controlled to rotate to the predetermined position, and the spindle turret (50) is controlled to move along the second direction, and when the end surface grinding wheel (53) abuts against the end surface, the detection component (90) is controlled to move close to the contact point between the grinding wheel and the processing surface, and along the first direction, there is a predetermined distance between the detection component (90) and the end surface; If the current processing surface of the shaft core part (40) is a conical surface, the angle grinding wheel (54) on the spindle turret (50) is controlled to rotate to the predetermined position, and the spindle turret (50) is controlled to move along the second direction. When the angle grinding wheel (54) abuts against the outer cylindrical surface, the detection component (90) is controlled to move to the second center dividing surface (541) of the thickness of the angle grinding wheel (54) along its own axial direction.

5. The method for controlling a grinding machine according to claim 1, characterized in that: In step S3, the step of starting the grinding wheel to process the processing surface includes: If the surface type of the currently processed surface of the shaft core part (40) is an outer cylindrical surface, the parallel grinding wheel (52) is started, and the workbench (20) is controlled to move along the first direction until the parallel grinding wheel (52) has finished grinding the outer cylindrical surface, and then the workbench (20) is controlled to stop moving; If the current processing surface of the shaft core part (40) is an end face, the end face grinding wheel (53) is started, the spindle turret (50) is controlled to reciprocate in the second direction, and after the spindle turret (50) moves for a first predetermined time, the spindle turret (50) and the end face grinding wheel (53) are controlled to stop working; If the current machining surface of the shaft core part (40) is a conical surface, the angle grinding wheel (54) is started to control the workbench (20) to move in the first direction, and at the same time the spindle turret (50) is controlled to move in the second direction or the spindle turret (50) is controlled to move in the direction opposite to the second direction, until the parallel grinding wheel (52) has finished grinding the conical surface, and then the workbench (20) and the spindle turret (50) are controlled to stop moving.

6. The method for controlling a grinding machine according to claim 5, characterized in that: The steps before step S1 include: pre-inputting the type of surface shape of each of the processed surfaces of the axial core part (40), and pre-inputting the spacing between the processed surfaces of two adjacent surface shapes in sequence along the axial core direction of the axial core part (40); The step of controlling the workbench (20) to move along the first direction comprises: controlling the workbench (20) to move along the first direction by the distance between the current processing surface and the processing surface of the next surface shape according to the pre-input distance between the processing surfaces of two adjacent surface shapes.

7. The method for controlling a grinding machine according to any one of claims 1 to 6, characterized in that: The step S1 further comprises: After the workbench (20) is controlled to move along the first direction to a loading position, the loading assembly of the grinding machine is controlled to place the shaft core part (40) on the workbench (20), and the clamping assembly (30) is controlled to clamp the shaft core part (40).

8. A grinding machine, characterized in that: The grinding machine is used to execute the control method of the grinding machine according to any one of claims 1 to 7, and the grinding machine comprises: A main body (10), wherein the main body (10) is provided with a first guide rail, wherein the first guide rail extends along the first direction A workbench (20), wherein the workbench (20) is slidably disposed on the first guide rail; A clamping assembly (30), the clamping assembly (30) being rotatably disposed on the workbench (20), the clamping assembly (30) having a clamping position for clamping the shaft core part (40) and a releasing position for releasing the shaft core part (40); a main shaft turret (50), the main shaft turret (50) being rotatably disposed on the main body (10), and the main shaft turret (50) being capable of reciprocating along the second direction; A tool setting instrument (51), wherein the tool setting instrument (51) is arranged on the spindle turret (50); A grinding wheel, the grinding wheel comprising a plurality of different models, and the grinding wheels of different models are arranged on the spindle turret (50) at intervals; a detection component (90), the detection component (90) being arranged on the main body (10), and the detection component (90) being capable of reciprocating along the first direction; A loading assembly, the loading assembly being arranged on the main body (10); A controller is electrically connected to the clamping assembly (30), the spindle turret (50), the loading assembly, the grinding wheels of different models, and the detection assembly (90).

9. The grinding machine according to claim 8, characterized in that The grinding machine further comprises a mounting frame (60) and a support arm (70), wherein the mounting frame (60) is arranged on the main body (10), a second guide rail extending along the first direction is arranged on the mounting frame (60), and the second guide rail is located on the top of the workbench (20), and the support arm (70) is slidably arranged on the second guide rail, and the support arm (70) extends a predetermined length in a direction close to the first guide rail; The detection component (90) comprises a laser displacement sensor and a roundness meter (91); the laser displacement sensor is arranged on the support arm (70) and is used to detect the surface roughness of the processed surface of the shaft core part (40); and the roundness meter (91) is arranged on the support arm (70) and is used to detect the roundness of the processed surface of the shaft core part (40).

10. The grinding machine according to claim 8, characterized in that The clamping assembly (30) comprises: A first clamping block (31), wherein the first clamping block (31) is arranged on the workbench (20); a second clamping block (32), the second clamping block (32) being movably arranged on the workbench (20), and the second clamping block (32) and the first clamping block (31) being arranged at intervals along the first direction, a first ejector pin (311) being arranged on a side of the first clamping block (31) close to the second clamping block (32), and a second ejector pin (321) being arranged on a side of the second clamping block (32) close to the first clamping block (31), the first ejector pin (311) being used to abut against a first side of the shaft core part (40) along its own axial direction, and the second ejector pin (321) being used to abut against a second side of the shaft core part (40) along its own axial direction; A first driving unit (33), wherein the first driving unit (33) is connected to the first ejector pin (311), and the first driving unit (33) drives the first ejector pin (311) to rotate, so as to drive the shaft core part (40) to rotate around its own axis direction, and the first driving unit (33) is electrically connected to the controller.

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