Control method for a grinding machine and grinding machine

Abstract

The application discloses a control method of a grinding machine and the grinding machine, wherein the control method of the grinding machine comprises the following steps: S3: a grinding wheel rotating to a predetermined position is controlled, the grinding wheel is used for adapting to a surface shape type of a machining surface of a spindle turret, the spindle turret is controlled to move in a second direction, when the grinding wheel abuts against the machining surface, a detection assembly is controlled to move to a position close to a contact position of the grinding wheel and the machining surface, the grinding wheel is started to machine the machining surface, and the detection assembly is controlled to detect machining precision of the machining surface; S4: if it is detected that the machining precision of the machining surface meets a standard, the spindle turret is controlled to move in a direction opposite to the second direction, and a workbench is controlled to move in a first direction until a machining surface of a next surface shape of a shaft core part moves to an initial machining position, and the step S3 is repeated, otherwise, a movement state of a corresponding grinding wheel is adjusted until the machining precision of the machining surface meets the standard, and then the step S3 is repeated. The application solves the problem that machining a shaft core part is time-consuming and laborious in the prior art.

Description

Technical Field

[0001] This application relates to the field of ultra-precision machine tool technology, and more specifically, to a control method for a grinding machine and a grinding machine. Background Technology

[0002] When machining and grinding shaft core parts, it is necessary to ensure the machining accuracy of the shaft core parts. One existing method to ensure the machining accuracy of shaft core parts is as follows: after machining the shaft core parts on a grinding machine, a roundness measuring instrument is used to find the areas with deviations on the shaft core parts, and these areas are recorded. The shaft core parts are then placed back on the grinding machine for grinding. This process is repeated multiple times until the shaft core parts 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 repeatedly clamping the shaft core parts on the grinding machine can also cause errors in the roundness of the shaft core parts. Summary of the Invention

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

[0005] According to one aspect of this application, a method for controlling a grinding machine is provided, comprising:

[0006] Step S1: Install the shaft core part on the clamping assembly on the worktable of the grinding machine, and control the clamping assembly to drive the shaft core part to rotate;

[0007] Step S2: Control the spindle turret of the grinding machine to rotate so that the tool setter on the spindle turret rotates to a predetermined position. Then, control the worktable to move in the first direction. When the initial machining surface of the shaft core part contacts the tool setter, control the worktable to stop moving and record the position where the machining surface contacts the tool setter as the initial machining position.

[0008] Step S3: Based on the surface shape type of the current machining surface, control the grinding wheel on the spindle turret that is adapted to the surface shape type of the machining surface to rotate to the predetermined position, and control the spindle turret to move along the second direction. When the grinding wheel abuts against the machining surface, control the detection component to move to a position close to the contact position between the grinding wheel and the machining surface, start the grinding wheel to process the machining surface, and control the detection component to detect the machining accuracy of the machining surface.

[0009] Step S4: judging whether the machining precision of the machining surface meets the standard, if the machining precision of the machining surface is detected to meet the standard, controlling the spindle turret to move in the direction opposite to the second direction and controlling the worktable to move in the first direction until the machining surface of the next surface shape of the shaft core part moves to the initial machining position, and repeating step S3 until the machining of each machining surface is completed and the machining precision of each machining surface meets the standard, and then controlling the grinding machine to stop working, otherwise adjusting the motion state of the corresponding grinding wheel until the machining precision of the machining surface is detected to meet the standard and then repeating step S3.

[0010] Further, the step of judging whether the machining precision of the machining surface meets the standard comprises:

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

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

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

[0014] If the roundness of the machining surface detected by the detection assembly is greater than the first predetermined value, the spindle turret is controlled to move a predetermined distance in the second direction to increase the pressure exerted by the grinding wheel on the current machining surface.

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

[0016] Further, in the step S3, the step of controlling the detection assembly to move close to the contact position of the grinding wheel and the machining surface comprises:

[0017] If the surface shape type of the current machining surface of the shaft core part is an external 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 in the second direction, and when the parallel grinding wheel abuts against the external cylindrical surface, the detection assembly is controlled to move to the first middle surface of the thickness of the parallel grinding wheel in the direction of its own axis.

[0018] if the face shape of the current machining surface of the shaft core part is an end surface, rotating an end surface grinding wheel on the spindle turret to the predetermined position, moving the spindle turret in the second direction, moving the detection assembly to the position close to the contact between the end surface grinding wheel and the machining surface when the end surface grinding wheel abuts against the end surface, and moving the detection assembly in the first direction with a predetermined distance between the detection assembly and the end surface;

[0019] if the face shape of the current machining surface of the shaft core part is a conical surface, rotating an angle grinding wheel on the spindle turret to the predetermined position, moving the spindle turret in the second direction, and moving the detection assembly to the second middle surface of the thickness of the angle grinding wheel in the direction of the axis of the angle grinding wheel when the angle grinding wheel abuts against the conical surface.

[0020] Further, the step of starting the machining of the machining surface by the grinding wheel in step S3 comprises:

[0021] if the face shape of the current machining surface of the shaft core part is an external surface, starting a parallel grinding wheel, moving the worktable in the first direction until the parallel grinding wheel finishes grinding the external surface, and stopping the movement of the worktable;

[0022] if the face shape of the current machining surface of the shaft core part is an end surface, starting an end surface grinding wheel, reciprocating the spindle turret in the second direction, and stopping the spindle turret and the end surface grinding wheel after the spindle turret moves for a first predetermined time;

[0023] if the face shape of the current machining surface of the shaft core part is a conical surface, starting an angle grinding wheel, moving the worktable in the first direction, moving the spindle turret in the second direction or moving the spindle turret in the direction opposite to the second direction, and stopping the movement of the worktable and the spindle turret after the parallel grinding wheel finishes grinding the conical surface.

[0024] Further, the step before step S1 comprises: pre-inputting the face shape of each machining surface of the shaft core part, and pre-inputting the interval between the machining surfaces of two adjacent face shapes in the direction of the axis of the shaft core part.

[0025] The step of moving the worktable in the first direction comprises: moving the worktable in the first direction by the interval between the current machining surface and the machining surface of the next face shape according to the pre-inputted interval between the machining surfaces of two adjacent face shapes.

[0026] Further, step S1 further comprises:

[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] In another aspect, the application also discloses a grinding machine for performing the control method of the grinding machine, and the grinding machine comprises:

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

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

[0031] a clamping assembly, wherein 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, wherein the spindle turret is rotatably arranged on the main body, and the spindle turret is reciprocally movable along the second direction;

[0033] a tool setting gauge, wherein the tool setting gauge is arranged on the spindle turret;

[0034] grinding wheels, wherein the grinding wheels comprise a plurality of different types, and the grinding wheels of different types are arranged on the spindle turret at intervals;

[0035] a detection assembly, wherein the detection assembly is arranged on the main body, and the detection assembly is reciprocally movable along the first direction;

[0036] a loading assembly, wherein the loading assembly is arranged on the main body;

[0037] a controller, wherein the controller is electrically connected with the clamping assembly, the spindle turret, the loading assembly, the grinding wheels of different types and the detection assembly respectively.

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

[0039] The detection assembly comprises a laser displacement sensor and a roundness gauge, the laser displacement sensor is arranged on the support arm and is used for detecting the surface roughness of the machined surface of the shaft core part, and the roundness gauge is arranged on the support arm and is used for detecting the roundness of the machined surface of the shaft core part.

[0040] Further, the clamping assembly comprises:

[0041] A first clamping block is arranged on the workbench;

[0042] A second clamping block is movably arranged on the workbench, and the second clamping block and the first clamping block are arranged at intervals along the first direction, a first ejector pin is arranged on one side of the first clamping block close to the second clamping block, a second ejector pin is arranged on one side of the second clamping block close to the first clamping block, the first ejector pin is used for abutting against a first side of the shaft core part along the self-axis direction, and the second ejector pin is used for abutting against a second side of the shaft core part along the self-axis direction.

[0043] A 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 the self-axis direction, and the first driving part is electrically connected with the controller.

[0044] Compared with the prior art, the grinding machine of the present application is provided with a main shaft turret, and a tool setting gauge and a plurality of different types of grinding wheels are arranged at intervals on the main shaft turret. When different surface shapes of the shaft core part need to be machined, the controller can control the main shaft grinding wheel to rotate, and the grinding wheel suitable for machining the surface is rotated to a predetermined position, so that the grinding machine can only clamp the shaft core part once, and each surface of the shaft core part can be machined, thereby solving the problems that the previous grinding machine needs to clamp the shaft core part multiple times, the machining is time-consuming and laborious, and multiple clamping is easy to cause the size of the machined surface to change, and finally leads to too many defective products of the machined shaft core part. On the other hand, the grinding machine of the present application needs to re-adjust the position of the detection assembly when machining each surface shape of the shaft part, so that the detection data of the detection assembly is more accurate, and after machining at each time, the detection assembly sends the machining precision on the machined surface to the controller, so that the controller adjusts the grinding wheel according to the machining precision, and the machining precision of each machined surface can meet the standard. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application and illustrate the illustrative embodiments of the present application and their description serve to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0046] Figure 1 Logic diagram for the control method of the grinding machine disclosed in the present application;

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

[0048] Figure 3 Logic diagram for the control method of the grinding machine disclosed in the present application for determining whether the processing precision of the processing surface of the rotating shaft part meets the standard;

[0049] Figure 4 Schematic diagram of part of the structure of the grinding machine disclosed in the present application (with the outer cover removed) from a first perspective;

[0050] Figure 5 Schematic diagram of the structure of the grinding machine disclosed in the present application;

[0051] Figure 6 Schematic diagram of part of the structure of the grinding machine disclosed in the present application (with the outer cover removed) from a second perspective;

[0052] Figure 7 Schematic diagram of part of the structure of the grinding machine disclosed in the present application (with the outer cover removed) from a third perspective;

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

[0054] Figure 9 Schematic diagram of the structure of the support arm disclosed in the present application in a second state (the rotating section is in a second position).

[0055] Among the above-mentioned drawings, the following reference signs are included:

[0056] 10, main body; 20, workbench; 30, clamping assembly; 31, first clamping block; 32, second clamping block; 33, first driving part; 40, shaft core part; 50, main shaft turret; 51, tool setting instrument; 52, parallel grinding wheel; 53, end face 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 instrument; 92, first laser displacement sensor; 93, second laser displacement sensor; 100, oil cylinder; 110, telescopic protective cover; 120, second driving part; 311, first thimble; 321, second thimble; 521, first middle dividing surface; 541, second middle dividing surface. DETAILED DESCRIPTION

[0057] It should be noted that the embodiments and the features in the embodiments in the present application can be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

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

[0059] The relative arrangement, numerical expressions, and numerical values of the components and steps set forth in the embodiments are not intended to limit the scope of the present application, unless otherwise specifically stated. At the same time, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship for the purpose of description. The techniques, methods and devices known to those skilled in the relevant art can not be discussed in detail, but in appropriate cases, the techniques, methods and devices should be considered as part of the authorized specification. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, and not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0060] Referring to Figures 3 to 9 As shown, according to the embodiments of the present application, a grinding machine is provided, which comprises a main body 10, a workbench 20, a clamping assembly 30, a spindle turret 50, a tool setting gauge 51, a grinding wheel, a detection assembly 90, a feeding assembly (not shown in the figure) and a controller (not shown in the figure).

[0061] Wherein, the main body 10 is provided with a first guide rail (not shown in the figure), which extends along a first direction (such as the Y direction in the attached Figure 4 figure), the workbench 20 is slidably arranged on the first guide rail, the clamping assembly 30 is rotatably arranged between the workbench 20 and the first guide rail, the clamping assembly 30 has a clamping position for clamping the shaft core part 40 and a release position for releasing the shaft core part 40, the spindle turret 50 is rotatably arranged on the main body 10, and the spindle turret 50 can be moved along a second direction (such as the X direction in the attached Figure 4The grinding wheel reciprocates in the X direction. A tool setter 51 is mounted on the spindle turret 50. Various types of grinding wheels are spaced apart on the spindle turret 50. A detection component 90 is mounted on the main body 10 and can reciprocate along the first direction. A feeding component is also mounted on the main body 10. A controller is electrically connected to the clamping component 30, the spindle turret 50, the feeding component, the various types of grinding wheels, and the detection component 90. In this embodiment, the grinding wheels include at least an angled grinding wheel 54, a parallel grinding wheel 52, and a face grinding wheel 53.

[0062] On the other hand, see appendix Figure 1 To be continued Figure 3 As shown, this application also provides a control method for a grinding machine. This control method utilizes the aforementioned grinding machine and includes the following steps: Step S1: Mounting the spindle core part 40 onto the clamping assembly 30 on the worktable 20 of the grinding machine, and controlling the clamping assembly 30 to rotate the spindle core part 40. Step S2: Controlling the rotation of the grinding machine's spindle turret 50 so that the tool setter 51 on the spindle turret 50 rotates to a predetermined position. Then, controlling the worktable 20 to move along a first direction. When the initial machining surface of the spindle core part 40 contacts the tool setter 51, controlling the worktable 20 to stop moving, and recording the position where the machining surface contacts the tool setter 51 as the initial machining position. Step S3: Based on the surface shape type of the current machining surface, control the grinding wheel on the spindle turret 50, which is compatible with the surface shape type of the machining surface, to rotate to a predetermined position. Control the spindle turret 50 to move along the second direction. When the grinding wheel abuts against the machining surface, control the detection component 90 to move to a position close to the contact point between the grinding wheel and the machining surface. Start the grinding wheel to machine the surface, and control the detection component 90 to detect the machining accuracy of the surface. Step S4: Determine whether the machining accuracy of the machining surface meets the standard. If the machining accuracy of the machining surface meets the standard, control the spindle turret 50 to move in the opposite direction to the second direction, and control the worktable 20 to move along the first direction until the next surface shape of the shaft core part 40 moves to the initial machining position. Repeat step S3 until all machining surfaces are completed and the machining accuracy of each surface meets the standard, then control the grinding machine to stop working. Otherwise, adjust the movement state of the corresponding grinding wheel until the machining accuracy of the machining surface meets the standard, then repeat step S3.

[0063] That is, step S1 is a feeding step, the controller of the grinding machine controls the feeding assembly to transmit the shaft core part 40 to the worktable 20, and controls the clamping assembly 30 to clamp the shaft core part 40, and then controls the clamping assembly 30 to rotate, thereby driving the shaft core part 40 to rotate along the axis direction of the shaft core part 40. Step S2 is a tool setting step, when tool setting, the controller first controls the spindle turret 50 to rotate, thereby driving the tool setting instrument 51 on the spindle turret 50 to rotate to the position opposite to the first guide rail, i.e. the predetermined position, at this 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 worktable 20 to move along the first direction, when the tool setting instrument 51 contacts the shaft core part 40, the controller controls the worktable 20 to stop moving, and records the position of the machining surface contacting the tool setting instrument 51 at this moment as the initial machining position. Step S3 is a machining step, according to the type of the machining surface to be machined at the current time, the controller controls the spindle turret 50 to rotate, so that the grinding wheel on the spindle turret 50 suitable for the machining surface to be machined rotates to the predetermined position, and then the controller controls the spindle turret 50 to move along the direction opposite to the second direction, when the grinding wheel abuts against the machining surface to be machined, at this time the controller controls the detection assembly 90 to move to the position close to the machining surface and the grinding wheel, thereby detecting the machining precision of the machining surface. Subsequently, the controller controls the grinding wheel to rotate, and machined the machining surface, at the same time of machining, the detection assembly 90 detects the machining precision of the machining surface, and sends the detection data to the controller. Step S4 is a judging step, the controller judges whether the machining precision of the machining surface meets the standard according to the detection data of the detection assembly 90, if the controller judges that the machining precision of the machining surface after machining meets the standard, the controller controls the worktable 20 to move along the first direction until the machining surface of the next type of surface shape moves to the initial machining position, and repeats the above machining step, when each machining surface is machined and the controller judges that the machining precision of each machining surface meets the requirement, at this time the controller controls the grinding machine to stop working. If the controller judges that the surface shape precision of the machining surface does not meet the requirement, when machining the machining surface not meeting the requirement, the controller adjusts the movement state of the grinding wheel, finally makes the precision of the machining surface meet the requirement, and repeats the above machining step.

[0064] Compared with the prior art, the grinding machine in the application is provided with a main shaft turret 50, and a tool setting gauge 51 and a plurality of different types of grinding wheels are arranged at intervals on the main shaft turret 50. When different surface shapes of the shaft core part 40 need to be machined, the controller can control the rotation of the main shaft grinding wheel, and make the grinding wheel suitable for machining the surface to rotate to a predetermined position, so that the grinding machine can only clamp the shaft core part 40 once, and each surface of the shaft core part 40 can be machined, thereby solving the problem that the prior art grinding machine needs to clamp the shaft core part 40 multiple times, which is time-consuming and laborious, and the multiple clamping is easy to cause the size of the machined surface to change, and ultimately leads to too many defective products of the machined shaft core part 40. On the other hand, the grinding machine in the application needs to re-adjust the position of the detection assembly 90 when machining each surface shape of the shaft part, so that the detection data of the detection assembly 90 is more accurate, and after machining at each time, the detection assembly 90 sends the machining precision of the machined surface to the controller, so that the controller adjusts the grinding wheel according to the machining precision, and the machining precision of each machined surface can meet the standard.

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

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

[0067] Specifically, the grinding machine is further provided with a second driving part 120, which is connected with 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 a specified position, and the second driving part 120 is electrically connected with the controller. In the embodiment, the first laser displacement sensor 92 is used to detect the surface roughness of the end surface 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 circular surface of the shaft core part 40, and the roundness gauge 91 is used to detect the roundness of the conical surface and the outer circular surface of the shaft core part 40. When the controller judges whether the machining precision of the machined surface meets the requirements, for example, when the machined surface is a conical surface or an outer circular surface, the second laser displacement sensor 93 and the roundness gauge 91 send the data of the surface roughness and the roundness of the conical surface or the outer circular surface to the controller, the controller compares the detected roundness data with the first predetermined value, and the controller compares the detected surface roughness data with 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 judges that the machining precision of the outer circular surface or the conical surface meets the standard, and the grinding machine can perform the next step, and 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 precision of the machined surface does not meet the requirements. When the machined surface is an end surface, only the surface roughness of the end surface can be used to judge whether the machining of the end surface meets the requirements. In the embodiment, the first predetermined value can be set to 1 μm, and the second predetermined value can be set to 0.1 μm. In the embodiment, the accuracy of the roundness gauge 91 is 1 μm, and the maximum detectable diameter is 700 mm.

[0068] Further, 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 assembly 90 is greater than the first predetermined value, the main shaft turret 50 is controlled to move a predetermined distance in the second direction to increase the pressure of the grinding wheel on the current machined surface. If the surface roughness of the machined surface detected by the detection assembly 90 is greater than the first predetermined value, the rotational speed of the grinding wheel is increased.

[0069] It can be understood that when the detected roundness value is greater than the first predetermined value, it indicates that the feed amount of the grinding wheel is too low at this time, resulting in a lower polishing degree of the conical surface or the outer cylindrical surface of the grinding wheel, and thus the spindle turret 50 needs to be controlled to move a predetermined distance in the second direction, so that the pressure applied by the grinding wheel to the machined surface is increased. If the detected surface roughness value is greater than the second predetermined value, it indicates that the machined surface is not smooth enough, and at this time, the polishing effect of the grinding wheel can be improved by increasing the rotational speed of the grinding wheel. In addition, the predetermined distance can be set as a fixed distance, that is, the roundness of the conical surface and the outer cylindrical surface can be brought to the standard by moving the same predetermined distance multiple times, and setting the predetermined distance as a fixed distance is easier to control the feed amount of the grinding wheel, avoiding that the feed amount of the grinding wheel is too large, resulting in excessive wear of the machined surface and damage to the shaft core part.

[0070] Further, in step S3, the step of controlling the detection assembly 90 to move close to the contact position of the grinding wheel and the machined surface includes: if the surface shape type of the current machined surface of the shaft core part 40 is an outer cylindrical surface, the parallel grinding wheel 52 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 parallel grinding wheel 52 abuts against the outer cylindrical surface, the detection assembly 90 is controlled to move to the first middle surface 521 of the thickness of the parallel grinding wheel 52 in the direction of its axis; if the surface shape type of the current machined 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 a predetermined position, and the spindle turret 50 is controlled to move in the second direction. When the end surface grinding wheel 53 abuts against the end surface, the detection assembly 90 is controlled to move close to the contact position of the grinding wheel and the machined surface, and in the first direction, the detection assembly 90 has a predetermined distance from the end surface; if the surface shape type of the current machined 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 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 assembly 90 is controlled to move to the second middle surface 541 of the thickness of the angle grinding wheel 54 in the direction of its axis.

[0071] Specifically, as shown in FIG. 4, the detection assembly 90 is controlled to move to the first middle surface 521 of the thickness of the parallel grinding wheel 52 in the direction of its axis, and the detection assembly 90 is controlled to move to the second middle surface 541 of the thickness of the angle grinding wheel 54 in the direction of its axis. Figure 4As shown, the detection assembly 90 and the main shaft 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 on various surface shapes of the machined surface, it is necessary to change the position of the detection assembly 90 after the grinding wheel changes the type, thereby improving the detection accuracy. That is, in the embodiment, when the parallel grinding wheel 52 is used to machine the outer cylindrical surface of the shaft core part 40, the detection assembly 90 is moved to the first middle surface 521 of the thickness of the parallel grinding wheel 52 under the control of the controller, at this time the axis of the roundness gauge 91 is coplanar with the first middle surface 521, thereby improving the detection accuracy of the roundness gauge 91; similarly, when the angle grinding wheel 54 is used to machine the tapered surface of the shaft core part 40, the detection assembly 90 is moved to the second middle surface 541 of the thickness of the angle grinding wheel 54 under the control of the controller, at this time the axis of the roundness gauge 91 is coplanar with the second middle surface 541, thereby improving the detection accuracy of the roundness gauge 91. In addition, when the end surface grinding wheel 53 is used to machine the end surface of the shaft core part 40, along the first direction, the detection assembly 90 and the end surface have a predetermined spacing, in fact, at this time the first laser displacement sensor 92 and the end surface have a certain vertical distance in the first direction, avoiding the inclination between the beam of the first laser displacement sensor 92 and the detection end surface, causing the detected data to have a certain deviation, the predetermined spacing can be set to 14mm, 16mm, 18mm and 20mm, that is, the predetermined spacing cannot be too small, avoiding the interference between the first laser displacement sensor 92 and the end surface, and the predetermined spacing cannot be too large, preventing the detected data from having a certain deviation. It can be understood that the first middle surface 521 refers to the middle surface of the thickness of the parallel grinding wheel 52 in the direction of the axis of the parallel grinding wheel itself after the parallel grinding wheel 52 is rotated to a predetermined position; similarly, the second middle surface 541 refers to the middle surface of the thickness of the angle grinding wheel 54 in the direction of the axis of the angle grinding wheel itself after the angle grinding wheel 54 is rotated to a predetermined position.

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

[0073] When the machining 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 polish the outer cylindrical surface of the shaft core part 40, and the controller controls the workbench 20 to move along the first direction, so that the shaft core part 40 moves slowly along the first direction, so that the parallel grinding wheel 52 can uniformly polish each part of the outer cylindrical surface. When the machining surface is the end surface of the shaft core part 40, the controller controls the end surface grinding wheel 53 to rotate, and the controller controls the spindle turret 50 to reciprocate along the second direction, so that the end surface grinding wheel 53 polishes the end surface of the shaft core part 40. When the machining surface is the tapered surface of the shaft core part 40, according to the inclination direction of the tapered surface, the controller controls the spindle turret 50 to rotate, so that the matching angle grinding wheel 54 rotates to the predetermined position, and when the angle grinding wheel 54 contacts the tapered surface, the controller controls the angle grinding wheel 54 to rotate, and according to the inclination direction of the tapered surface, the controller controls the spindle turret 50 to move slowly along the second direction or the direction opposite to the second direction, and simultaneously controls the workbench 20 to move slowly along the first direction, so that the angle grinding wheel 54 can uniformly polish each part of the tapered surface. It can be understood that polishing the outer cylindrical surface means that the parallel grinding wheel 52 polishes each part of the outer cylindrical surface under the driving of the workbench 20, and the next type of machining surface reaches the parallel grinding wheel 52. Similarly, polishing the tapered surface means that the angle grinding wheel 54 polishes each part of the tapered surface under the driving of the workbench 20, and the next type of machining surface reaches the angle grinding wheel 54.

[0074] Further, the step before step S1 includes: pre-inputting the types of the machining surfaces of the shaft core part 40, and pre-inputting the intervals between the machining surfaces of the adjacent two types of surface shapes along the shaft core direction of the shaft core part 40; the step of controlling the workbench 20 to move along the first direction includes: according to the pre-inputted intervals between the machining surfaces of the adjacent two types of surface shapes, controlling the workbench 20 to move the interval between the current machining surface and the machining surface of the next type of surface shape along the first direction.

[0075] It can be understood that the machining process of the shaft core part 40 on the grinding machine is finishing, and after the rough machining of the shaft core part 40, the types of the machined surfaces of the shaft core part 40 can be known; at the same time, the distance between the machined surfaces of two adjacent types of surfaces in the axial direction of the shaft core part 40 can be measured in sequence. Before machining the shaft core part 40, the types of the machined surfaces of the shaft core part 40 and the distance between the machined surfaces of two adjacent types of surfaces in the axial direction are input into the controller. When machining the conical surface or the cylindrical surface of the shaft core part 40, the workbench 20 needs to be controlled to move in the first direction, i.e., the workbench 20 moves in the first direction by the distance between the currently machined surface and the machined surface of the next type of surface; for example, when the next type of surface of the conical surface in the axial direction of the shaft core part 40 is the cylindrical surface, the workbench 20 needs to move by the distance between the conical surface and the cylindrical surface when machining the conical surface. It can be understood that, in actual machining, since the machined surface of the next type is actually located at the initial machining position after machining the conical surface and machining the cylindrical surface, and the machined surface of the next type is actually connected to the machined surface after machining the end surface, it is not necessary to adjust the position of the machined surface according to the initial machining position, but considering that there may be errors in the movement accuracy of the workbench 20, the initial machining position is still needed to adjust the position of the machined surface.

[0076] In the embodiment, step S1 further includes: after the workbench 20 is controlled to move to the feeding position in the first direction, the controller controls the feeding assembly of the grinding machine to place the shaft core part 40 on the workbench 20, and controls the clamping assembly 30 to clamp the shaft core part 40. In some embodiments, when the machining of the shaft core part 40 is completed, the controller controls the clamping assembly 30 to switch from the clamping position to the release position, and then the controller controls the unloading assembly of the grinding machine to transport the shaft core part 40 to other positions. In the embodiment, the feeding assembly and the unloading assembly are both mechanical hands. Through the arrangement of the feeding assembly and the unloading assembly, the grinding machine of the present application is a fully automatic control grinding machine, which can improve the machining efficiency of the grinding machine to a certain extent and save labor cost.

[0077] Further, the clamping assembly 30 comprises a first clamping block 31, a second clamping block 32 and a first driving part 33. The first clamping block 31 is arranged on the workbench 20, and the second clamping block 32 is movably arranged on the workbench 20. The second clamping block 32 and the first clamping block are arranged in a first direction with a spacing. The first clamping block 31 is arranged on a side close to the second clamping block 32 with a first top pin 311. The second clamping block 32 is arranged on a side close to the first clamping block 31 with a second top pin 321. The first top pin 311 is used to abut against a first side of the shaft core part 40 along the self-axis direction. The second top pin 321 is used to abut against a second side of the shaft core part 40 along the self-axis direction. The first driving part 33 is connected with the first top pin 311. The first driving part 33 drives the first top pin 311 to rotate, so as to drive the shaft core part 40 to rotate around the self-axis direction. The first driving part 33 is electrically connected with the controller.

[0078] When the shaft core part 40 is clamped, the feeding assembly moves the shaft core part 40 to abut against the first clamping block 31. At this time, the end face of the first side of the shaft core part 40 along the self-axis direction abuts against the first top 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 top pin 321 on the second clamping block 32 abuts against the end face of the second side of the shaft core part 40 along the self-axis direction. Then, the second clamping block 32 is controlled to stop moving and be locked on the workbench 20. Then, the first driving part 33 is controlled to start, so that the first top pin 311 drives the shaft core part 40 to rotate around the self-axis direction.

[0079] In the embodiment, the grinding machine further comprises an outer cover 80 arranged on the outer periphery of the main body 10, so as to avoid impurities after the shaft core part 40 is machined and polished from flying into other areas. The support arm 70 comprises a connecting segment 71 and a rotating segment 72 connected with the connecting segment 71. The detection assembly 90 is arranged on the rotating segment 72. The connecting segment 71 is slidably arranged on the second guide rail. The rotating segment 72 is rotatably arranged on the connecting segment 71. The rotating segment 72 is connected with the connecting segment 71 through a rotating shaft. The rotating shaft extends in the first direction by a predetermined length. The grinding machine further comprises a telescopic oil cylinder 100. One end of the telescopic oil cylinder 100 is hinged to the connecting segment 71. The output end of the telescopic oil cylinder 100 is hinged to the rotating segment 72. When the output end of the telescopic oil cylinder 100 is retracted, the rotating segment 72 rotates forward and is lifted to a certain height. When the output end of the telescopic oil cylinder 100 is extended, the rotating segment 72 rotates reversely and is lowered to a certain height. That is, the rotating segment 72 rotates to a first position parallel to the mounting rack 60, and rotates to a second position inclined to the mounting rack 60.

[0080] In fact, when the controller controls the movement of the detection assembly 90, the controller also needs to synchronously control the oil cylinder 100, that is, when the detection assembly 90 needs to be controlled to move, the oil cylinder 100 is first controlled to retract, so that the rotating section 72 rotates forward, thereby avoiding interference between the rotating section 72 or the detection assembly 90 and other components, and after reaching the specified position, the oil cylinder 100 is controlled to extend, so that the rotating section 72 rotates reversely, so that the detection assembly 90 approaches the shaft core part 40. In the embodiment, the maximum rotation angle a of the rotating section 72 can be set to 30°, 40°, and 45°, so as to avoid that the rotating section 72 rotates too large, and causes the rotating section 72 to collide with the outer cover 80. In addition, in the embodiment, the outer periphery of the first guide rail and the outer periphery of the second guide rail are provided with the telescopic protective cover 110, which is used to avoid that dust or impurities affect the first guide rail or the second guide rail, and cause the movement precision of the workbench 20 or the support arm 70 to have errors.

[0081] In the embodiment, the grinding machine further comprises a third driving part, which is arranged on the first guide rail and connected with the workbench 20. The third driving part is electrically connected with the controller, and drives the workbench 20 to reciprocate along the first direction. In the embodiment, the first guide rail is provided with a grating ruler, and the workbench 20 is provided with a reading head matched with the grating ruler. The reading head is used in cooperation with the grating ruler to determine the current position of the workbench 20. The reading head is electrically connected with the controller. Through the position data detected by the reading head, the controller can control the third driving part to move the workbench 20 to the specified position. In some embodiments, the first driving part 33 comprises a first motor, the second driving part 120 comprises a first screw and a second motor, and the third driving part comprises a second screw and a third motor.

[0082] In summary, the grinding machine and the control method of the grinding machine provided by the application can control the grinding of each processing surface by the matched grinding wheel according to the surface shape type of the shaft core part 40, so that the grinding machine can process each processing surface only once, which improves the processing efficiency of the grinding machine and the processing precision of the shaft core part 40. On the other hand, when the grinding machine processes different surface shape types of the processing surface of the shaft core part 40, the movement of the support arm 70 is controlled, so that the position of the detection assembly 90 changes, thereby improving the detection precision of the detection assembly 90. In addition, the grinding machine of the application is a fully automatic control grinding machine, and the grinding machine can automatically feed, process and discharge the shaft core part 40, thereby saving labor cost to a certain extent.

[0083] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical" and "horizontal" as can be perceived herein relative to the accompanying drawings refer to the orientation of the components being described. However, it is to be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device described herein relative to the other device or structure is inverted, then a spatially relative term such as "above" can be interpreted as meaning "below" or "below" can be interpreted as meaning "above". The device can also be oriented in other ways (rotated at 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0084] In addition, it should be pointed out that the use of "first", "second" and the like words to qualify parts, is only intended to facilitate the distinction of the corresponding parts, and unless otherwise stated, the above words do not have special meanings, and therefore cannot be understood as limiting the scope of protection of the present application.

[0085] The preferred embodiments of the present application have been described above with the purpose of enabling not to limit the scope of protection of the present application, but of enabling a person skilled in the art to make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A control method of a grinding machine, characterized by, Comprising: Step S1: install the shaft core part (40) on the clamping assembly (30) on the workbench (20) of the grinding machine, and control the clamping assembly (30) to drive the shaft core part (40) to rotate; Step S2: control the main shaft turret (50) of the grinding machine to rotate, so that the tool setting gauge (51) on the main shaft turret (50) rotates to a predetermined position, then control the workbench (20) to move in a first direction, when the initial machining surface of the shaft core part (40) contacts the tool setting gauge (51), control the workbench (20) to stop moving, and record the position where the initial machining surface contacts the tool setting gauge (51) as the initial machining position; Step S3: according to the type of the current machining surface, control the grinding wheel on the main shaft turret (50) that matches the type of the machining surface to rotate to the predetermined position, and control the main shaft turret (50) to move in a second direction, when the grinding wheel abuts on the machining surface, control the detection assembly (90) to move close to the contact position of the grinding wheel and the machining surface, start the grinding wheel to machine the machining surface, and control the detection assembly (90) to detect the machining precision of the machining surface; In the step S3, the step of controlling the detection assembly (90) to move close to the contact position of the grinding wheel and the machining surface comprises: If the type of the current machining surface of the shaft core part (40) is an external cylindrical surface, control the parallel grinding wheel (52) on the main shaft turret (50) to rotate to the predetermined position, and control the main shaft turret (50) to move in the second direction, when the parallel grinding wheel (52) abuts on the external cylindrical surface, control the detection assembly (90) to move to the first middle surface (521) of the thickness of the parallel grinding wheel (52) in the direction of its own axis; If the type of the current machining surface of the shaft core part (40) is an end surface, control the end surface grinding wheel (53) on the main shaft turret (50) to rotate to the predetermined position, and control the main shaft turret (50) to move in the second direction, when the end surface grinding wheel (53) abuts on the end surface, control the detection assembly (90) to move close to the contact position of the grinding wheel and the machining surface, and have a predetermined distance between the detection assembly (90) and the end surface in the first direction; If the type of the current machining surface of the shaft core part (40) is a conical surface, control the angle grinding wheel (54) on the main shaft turret (50) to rotate to the predetermined position, and control the main shaft turret (50) to move in the second direction, when the angle grinding wheel (54) abuts on the external cylindrical surface, control the detection assembly (90) to move to the second middle surface (541) of the thickness of the angle grinding wheel (54) in the direction of its own axis; Step S4: judging whether the machining precision of the machining surface meets the standard, if the machining precision of the machining surface is detected to meet the standard, controlling the spindle turret (50) to move in the direction opposite to the second direction, and controlling the worktable (20) to move in the first direction until the machining surface of the next kind of surface shape of the shaft core part (40) moves to the initial machining position, and repeating step S3 until the machining of each machining surface is completed and the machining precision of each machining surface meets the standard, and then controlling the grinding machine to stop working, otherwise adjusting the motion state of the corresponding grinding wheel until the machining precision of the machining surface is detected to meet the standard, and then repeating step S3.

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

3. The control method of the grinding machine according to claim 2, characterized by, In the step S4, the step of adjusting the motion state of the corresponding grinding wheel comprises: If the roundness of the machining surface detected by the detection assembly (90) is greater than the first predetermined value, the spindle turret (50) is controlled to move a predetermined distance in the second direction to increase the pressure exerted by the grinding wheel on the current machining surface; If the surface roughness of the machining surface detected by the detection assembly (90) is greater than the first predetermined value, the rotational speed of the grinding wheel is increased.

4. The control method of the grinding machine according to claim 1, characterized by, In step S3, the step of starting the machining of the machining surface by the grinding wheel comprises: If the surface shape of the current machining surface of the shaft core part (40) is an external cylindrical surface, a parallel grinding wheel (52) is started, and the worktable (20) is controlled to move in the first direction until the parallel grinding wheel (52) finishes polishing the external cylindrical surface, and then the worktable (20) is controlled to stop moving; If the surface shape of the current machining surface of the shaft core part (40) is an end surface, an end surface grinding wheel (53) is started, and the spindle turret (50) is controlled to reciprocate in the second direction, and when the spindle turret (50) moves for a first predetermined time, the spindle turret (50) and the end surface grinding wheel (53) are controlled to stop working; If the face shape type of the current machining surface of the shaft core part (40) is a conical surface, the angular grinding wheel (54) is started, the worktable (20) is controlled to move in the first direction, and the spindle turret (50) is controlled to move in the second direction or in the opposite direction of the second direction until the parallel grinding wheel (52) finishes grinding the conical surface, and then the worktable (20) and the spindle turret (50) are controlled to stop moving.

5. The control method of the grinding machine according to claim 4, characterized in that, The step before the step S1 comprises: pre-inputting the face shape types of the machining surfaces of the shaft core part (40), and pre-inputting the intervals between the machining surfaces of two adjacent face shape types along the shaft core direction of the shaft core part (40); The step of controlling the worktable (20) to move in the first direction comprises: controlling the worktable (20) to move in the first direction by the interval between the current machining surface and the machining surface of the next face shape type according to the pre-inputted interval between the machining surfaces of two adjacent face shape types.

6. The control method of the grinding machine according to any one of claims 1 to 5, characterized by, The step S1 further comprises: After the worktable (20) is controlled to move to the feeding position in the first direction, the feeding assembly of the grinding machine is controlled to place the shaft core part (40) on the worktable (20), and the clamping assembly (30) is controlled to clamp the shaft core part (40).

7. A grinding machine characterized by, The grinding machine is used to perform the control method of the grinding machine according to any one of claims 1 to 6, and the grinding machine comprises: a main body (10) provided with a first guide rail extending in the first direction a worktable (20) slidably arranged on the first guide rail a clamping assembly (30) rotatably arranged on the worktable (20), the clamping assembly (30) having a clamping position for clamping the shaft core part (40) and a release position for releasing the shaft core part (40) a spindle turret (50) rotatably arranged on the main body (10) and reciprocally movable in the second direction a tool setting gauge (51) arranged on the spindle turret (50) grinding wheels of different types, each different type of grinding wheel being arranged on the spindle turret (50) in a spaced manner a detection assembly (90) arranged on the main body (10) and reciprocally movable in the first direction a feeding assembly arranged on the main body (10) a controller electrically connected with the clamping assembly (30), the spindle turret (50), the feeding assembly, the grinding wheels of different types, and the detection assembly (90) respectively.

8. The grinding machine according to claim 7, characterized in that The grinding machine further comprises a mounting frame (60) and a support arm (70), 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), 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 assembly (90) comprises a laser displacement sensor and a roundness gauge (91), the laser displacement sensor is arranged on the support arm (70), and is used for detecting the surface roughness of the machining surface of the shaft core part (40), and the roundness gauge (91) is arranged on the support arm (70), and is used for detecting the roundness of the machining surface of the shaft core part (40).

9. The grinder as claimed in claim 7, wherein, The clamping assembly (30) comprises: a first clamping block (31) arranged on the workbench (20); a second clamping block (32) movably arranged on the workbench (20), and the second clamping block (32) and the first clamping block (31) are arranged in 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), 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 for abutting against the first side of the shaft core part (40) along the axis direction of the shaft core part (40), and the second ejector pin (321) is used for abutting against the second side of the shaft core part (40) along the axis direction of the shaft core part (40); a first driving part (33) connected with the first ejector pin (311), the first driving part (33) drives the first ejector pin (311) to rotate, so as to drive the shaft core part (40) to rotate around the axis direction of the shaft core part (40), and the first driving part (33) is electrically connected with the controller.

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