A method and system for additive and subtractive dressing of a spherical grinding wheel

Abstract

The present application belongs to the technical field of precise dressing of grinding wheel, and discloses a kind of additive-subtractive dressing method and system of spherical grinding wheel.The method comprises the following steps: S1 additive dressing (a) collects the image of the current position of the spherical grinding wheel to be dressed, extracts the outer contour of the spherical grinding wheel to be dressed in the image, calculates the filling volume, and fills the filling volume; (b) the spherical grinding wheel to be dressed is swung and rotated, and step (a) is repeated until the entire outer contour of the spherical grinding wheel to be dressed is traversed; S2 subtractive dressing collects the image of the surface of the spherical grinding wheel to be dressed, extracts the outer contour in all images, fits the outer circle and inner circle after superposition of all outer contours, and regards the part between the outer circle and the inner circle as the region to be removed by subtractive dressing; after removing the region, the dressing of the spherical grinding wheel to be dressed is completed. By the present application, the wear and vibration problems of traditional contact dressing are avoided, the material removal during dressing is reduced, the dressing frequency of the spherical grinding wheel is increased, and the utilization rate of the spherical grinding wheel is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field related to precise dressing of grinding wheels, and more particularly relates to a method and system for additive and subtractive dressing of spherical grinding wheels. BACKGROUND

[0002] Grinding is a method of processing workpiece surface by using abrasive, which has the advantages of high processing precision and good surface quality, and is widely used in the fields of mechanical manufacturing, aerospace, optical manufacturing, etc. With the development of technology, more and more spherical and free-form surface processing requirements have emerged, and the use of spherical grinding wheels and other curved surface grinding wheels has been increasing. However, the profile accuracy of spherical grinding wheels will be lost due to the dulling and falling off of abrasive particles during processing, which not only increases the grinding force and raises the grinding temperature, but also causes the profile error of the spherical grinding wheel to be mapped to the surface of the processed workpiece, thereby affecting the precision of the processed surface. Therefore, the grinding wheel needs to be dressed regularly to maintain the profile accuracy.

[0003] Existing grinding wheel dressing devices are mostly offline dressing devices, which need to be installed on special dressing equipment for dressing after being detached from the machine tool. The clamping error introduced in the repeated disassembly and assembly of the grinding wheel reduces the dressing accuracy of the grinding wheel. The dressing methods of grinding wheels include mechanical dressing, electrical discharge dressing, additive dressing, etc. The mechanical dressing method uses diamond pens or dressing wheels to dress the grinding wheel by grinding, which belongs to contact dressing and causes great loss of dressing tools. The interaction between the dressing tool and the abrasive particles in the dressing process can easily reduce the holding force of the binder on the abrasive particles. The electrical discharge dressing avoids the contact problem in mechanical dressing, but has low efficiency and can only be used for grinding wheels with electrical conductivity. Compared with additive dressing, subtractive dressing needs to remove a large amount of material, which reduces the number of repeatable dressing of the grinding wheel and affects the service life of the grinding wheel. The additive dressing method mainly fills the defect points on the surface of the grinding wheel, which can improve the dressing frequency of the grinding wheel and increase the utilization rate of the grinding wheel. However, the additive dressing precision is low and it is difficult to control the fine surface profile. In summary, the existing technical solutions for grinding wheel dressing still have many defects. SUMMARY

[0004] In view of the above defects or improvement needs of the prior art, the present application provides a method and system for additive and subtractive dressing of spherical grinding wheels, which solves the problems of low precision, low efficiency and large dressing amount in the existing dressing process of spherical grinding wheels.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, a method for additive and subtractive dressing of spherical grinding wheels is provided, which comprises the following steps:

[0006] S1 additive dressing

[0007] (a) collecting an image of the current position of the ball-shaped grinding wheel to be dressed, extracting the outer contour of the ball-shaped grinding wheel to be dressed in the image, comparing the extracted outer contour with an ideal outer contour, calculating the recess area of the recess region, calculating the filling volume by using the calculated recess area, and performing additive filling according to the filling volume;

[0008] (b) rotating the ball-shaped grinding wheel to be dressed, and repeating step (a) until the entire outer contour of the ball-shaped grinding wheel to be dressed is traversed;

[0009] S2 subtractive dressing

[0010] collecting an image of the outer contour of the ball-shaped grinding wheel to be dressed, rotating the ball-shaped grinding wheel to be dressed, until all images of the entire outer contour of the ball-shaped grinding wheel to be dressed are obtained, extracting the outer contour of the ball-shaped grinding wheel to be dressed in all images and superimposing all extracted outer contours, fitting the outer circle and the inner circle of all superimposed outer contours, regarding the part between the outer circle and the inner circle as a region to be removed by subtractive machining, and completing the dressing of the ball-shaped grinding wheel to be dressed after removing the region.

[0011] Further preferably, the extraction of the outer contour of the ball-shaped grinding wheel to be dressed in the image is performed by using gray scale conversion, Gaussian filtering and Canny operator edge detection in sequence.

[0012] Further preferably, in step S1, the filling volume is the product of the recess area and a preset filling factor, and the preset filling factor is set according to the sampling frequency, the rotational speed of the ball-shaped grinding wheel to be dressed and the image magnification.

[0013] Further preferably, the fitting of the outer circle and the inner circle of the outer contour is performed according to the following steps:

[0014] for the outer contour in the image collected after the ball-shaped grinding wheel to be dressed is rotated by an angle a relative to the starting position, rotating the outer contour image by an angle -a with the center of the ball-shaped grinding wheel to be dressed as the center, and in this way, the adjustment of the angles of all collected outer contours is completed;

[0015] superimposing all outer contours after the angle adjustment in one image with the center of the ball-shaped grinding wheel to be dressed as the center, and fitting all superimposed outer contours to obtain the outer circle and the inner circle of all outer contours.

[0016] Further preferably, the fitting is performed by using the least square method.

[0017] According to another aspect of the present application, a system for dressing a ball-shaped grinding wheel by using the additive and subtractive dressing method described above is provided, and the system comprises a vision module, an additive and subtractive module and a control module, wherein:

[0018] The vision module is used to collect images of the ball-shaped grinding wheel to be finished; and the additive and subtractive material module is used to perform additive finishing and subtractive finishing on the ball-shaped grinding wheel to be finished.

[0019] The control module is connected with the vision module and the additive and subtractive material module simultaneously, and is used to extract the outer contour of the ball-shaped grinding wheel according to the collected images, compare the outer contour with an ideal contour, calculate a filling volume, and then control the additive and subtractive material module to perform additive finishing on the ball-shaped grinding wheel to be finished according to the filling volume. The control module is also used to fit the outer circle and the inner circle of all the outer contours, calculate a subtractive removal area, and control the additive and subtractive material module to perform subtractive finishing on the ball-shaped grinding wheel to be finished.

[0020] Further preferably, the system further comprises a moving module, the vision module and the additive and subtractive material module are arranged on the moving module, the moving module is connected with the control module, and the control module controls the moving module to move so that the vision module and the additive and subtractive material module move to the ball-shaped grinding wheel to be finished.

[0021] Further preferably, the front end of the moving module is provided with a rotating base, the vision module and the additive and subtractive material module are arranged on the rotating base, the rotating base is provided with a track in the circumferential direction as a track for the vision module and the additive and subtractive material module to rotate in the circumferential direction, and the rotating base is further provided with axial driving modules respectively used to drive the vision module and the additive and subtractive material module to move forward and backward along the radial direction of the rotating base.

[0022] Further preferably, the additive and subtractive material module comprises a laser head and a material spraying head, the material spraying head is used to spray material, and the laser head is used to melt the sprayed material by laser or to perform subtractive machining on the surface of the ball-shaped grinding wheel to be finished.

[0023] According to another aspect of the present application, there is provided an additive and subtractive finishing system for a ball-shaped grinding wheel, which comprises an executor used to execute the above-mentioned additive and subtractive finishing method for a ball-shaped grinding wheel.

[0024] Overall, compared with the prior art, the above technical solutions conceived by the present application have the following beneficial effects:

[0025] 1. The present application combines the additive and subtractive finishing method, first performs laser additive repair on the surface defects of the ball-shaped grinding wheel, and then performs laser subtractive removal, thereby avoiding the wear and vibration problems of the traditional contact finishing, reducing the material removal in the finishing process, increasing the finishing frequency of the ball-shaped grinding wheel, and improving the utilization rate, finishing accuracy and efficiency of the ball-shaped grinding wheel.

[0026] 2. The application introduces machine vision in the dressing process, and the profile is detected in real time by machine vision to guide the additive dressing, and the minimum edge is extracted by profile superposition processing to guide the subtractive dressing, thereby increasing the dressing accuracy and improving the dressing efficiency.

[0027] 3. The device can be flexibly assembled and installed on different machine tool stations to dress the grinding wheel, has strong scene adaptability and universality, and realizes in-situ dressing of the grinding wheel, avoiding clamping errors introduced by repeated disassembly and assembly. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a flowchart of the additive and subtractive dressing method of the spherical grinding wheel constructed according to the preferred embodiment of the application;

[0029] Figure 2 is a schematic diagram of collecting images of the spherical grinding wheel to be dressed according to the preferred embodiment of the application;

[0030] Figure 3 is a schematic diagram of the image processing process of the additive dressing constructed according to the preferred embodiment of the application;

[0031] Figure 4 is a schematic diagram of the image processing flow in the subtractive dressing constructed according to the preferred embodiment of the application;

[0032] Figure 5 is a schematic diagram of the structure of the additive and subtractive dressing system of the spherical grinding wheel constructed according to the preferred embodiment of the application;

[0033] Figure 6 is a schematic diagram of the structure of the additive and subtractive module constructed according to the preferred embodiment of the application.

[0034] In all the drawings, the same reference numerals are used to represent the same elements or structures, wherein:

[0035] 4 - control module;

[0036] 11 - CCD camera, 12 - first stepper motor, 13 - first ball screw;

[0037] 21 - fixed plate, 22 - laser emitter, 23 - optical fiber, 24 - laser focusing head, 25 - storage bin, 26 - feeding pipe, 27 - material spraying head, 28 - second stepper motor, 29 - second ball screw;

[0038] 31 - robot, 32 - inner ring of rotating base, 33 - outer ring of rotating base, 34 - third stepper motor. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0040] The present invention provides a spherical grinding wheel in-situ dressing device based on profile information, such as Figure 5 As shown, it includes a vision module, an additive and subtractive module, a mobile module, and a control module 4. The control module 4 is connected to both the vision module and the additive and subtractive module, and is used to extract the outer contour based on the acquired image, compare the outer contour with the ideal contour to calculate the filling volume, and then control the additive and subtractive module to perform additive dressing on the spherical grinding wheel to be dressed based on the filling volume. The control module 4 is also used to fit the outer and inner circles of all outer contours, calculate the subtractive removal area, and control the additive and subtractive module to perform subtractive dressing on the spherical grinding wheel to be dressed. The vision module and the additive and subtractive module are arranged on the mobile module, and all mobile modules are connected to the control module 4. The control module 4 controls the movement of the mobile module so that the vision module and the additive and subtractive module move to the spherical grinding wheel to be dressed.

[0041] In one embodiment of the present invention, the mobile module includes a robot 31, an inner ring of a rotating base 32, an outer ring of a rotating base 33, and a third stepper motor 34. The movement of the device and the rotation of the inner ring of the rotating base 32 are controlled by the robot 31; the rotation of the outer ring of the rotating base 33 is controlled by the third stepper motor 34.

[0042] In one embodiment of the present invention, the vision module includes a CCD camera 11, a first stepper motor 12 and a first ball screw 13. The CCD camera 11 is installed on the first ball screw 13. The first stepper motor 12 controls the movement of the first ball screw 13. The first ball screw 13 is installed on the inner ring 32 of the rotating base and can rotate freely and fix the angle.

[0043] In one embodiment of the present invention, Figure 6As shown, the additive and subtractive material module includes a laser focusing head 24, a spray head 27, a fixed plate 21, a second stepper motor 28, a second ball screw 29, a laser emitter 22, and a storage bin 25. The laser focusing head 24 and the spray head 27 are mounted on the second ball screw 29 through the fixed plate 21, the fixed plate 21 can adjust the angle of the laser focusing head 24 and the spray head 27, the second stepper motor 28 controls the movement of the second ball screw 29, the second ball screw 29 is installed on the outer ring 33 of the rotating base and can rotate freely and fix the angle, the laser emitter 22 is connected with the laser focusing head 24 through the optical fiber 23. The storage bin 25 is connected with the spray head 27 through the feeding pipe 26; the laser emitter 22, the storage bin 25 and the machine tool are linked through the control module 4.

[0044] The steps of the additive and subtractive material modification method of the spherical grinding wheel are as follows:

[0045] The positions of the vision module and the additive and subtractive material module are changed, specifically: in the additive modification, the robot end is rotated to adjust the angle of the inner ring of the rotating base, the third stepper motor is controlled to adjust the angle of the outer ring of the rotating base, so that the included angle between the vision module and the additive and subtractive material module is required for processing; the position of the rotating base is adjusted by the robot, so that the intersection of the camera axis of the vision module and the laser focusing head axis of the additive and subtractive material module is located at the top point of the surface of the spherical grinding wheel.

[0046] The first stepper motor is controlled to drive the first ball screw to move along the radial direction of the rotating base to adjust the focal length of the camera, so that the profile edge of the spherical grinding wheel can be clearly identified, the camera is calibrated, the second stepper motor is controlled to drive the second ball screw to move along the radial direction of the rotating base to adjust the distance between the laser focusing head and the spray head and the surface of the spherical grinding wheel, and the included angle between the spray head and the laser focusing head is adjusted, so that the laser focusing head and the spray head axis intersect at the top point of the grinding wheel surface; in the subtractive modification, the laser focusing head axis is adjusted to be tangent to the grinding wheel surface, and the rest of the adjustment is the same as that of the additive modification.

[0047] The additive modification method includes the following steps: setting the laser power, spot size and spray rate in the additive modification. The positions of the camera and the additive and subtractive material module are fixed, the grinding wheel swing and rotation parameters in the additive modification, the modification range are determined, the machine tool movement trajectory is generated according to the modification parameters, the spherical grinding wheel movement and the machine tool are linked with the vision module and the additive and subtractive material module through the control module. The sampling frequency of the vision module is set, the spherical grinding wheel profile is collected by the vision module during the movement of the spherical grinding wheel and transmitted to the computer end of the control module, the profile is identified through gray scale conversion, Gaussian filtering and Canny operator edge detection, compared with the ideal profile, the area of the recess formed by the actual profile and the ideal profile envelope s , wherein the area of the actual fitting profile above the ideal profile is recorded as 0. If the envelope area is greater than the set value, a signal is sent to the additive and subtractive material module to fill the material with a volume of .k According to the sampling frequency, the grinding wheel speed, and the visual module magnification, the preset is adjusted.

[0048] The subtractive finishing method comprises the following steps: first, close the laser, and use the visual module to collect the profile of the spherical grinding wheel. The specific steps are as follows: fix the position of the camera and the additive and subtractive module, determine the parameters of the grinding wheel swing and rotation in subtractive finishing, the finishing range, generate the movement trajectory of the machine tool according to the finishing parameters, control the spherical grinding wheel and each module through the control module, take several photos at different swing angles and different rotation positions of the spherical grinding wheel, and extract the edge profile using the same method as in additive processing, while recording the swing angle α i , the midpoint of the edge m i and the ideal profile d i , d i In the middle of the photo, the actual coordinates are marked as , d i The actual coordinates are marked as , wherein i is the photo number. For each local profile picture, rotate according to the recorded swing angle α i , and move the profile picture to the actual position according to the intersection d i point in the photo and the actual position coordinate difference. Record the pixel point coordinates in the photo before processing as , and the pixel point coordinates after processing as . Rotate the photo according to the swing angle, and the pixel point coordinates after rotation are , and the formula is as follows:

[0049]

[0050] Record the intersection d i point in the photo at this time as , and perform overall translation on the rotated profile picture:

[0051]

[0052] If α iThe same is superimposed on the picture. According to the method, the splicing of the local profiles under all different swing angles and rotation angles is sequentially completed, and finally the profile fluctuation of the spherical grinding wheel in one rotation is obtained. The inner and outer edges of the total profile fluctuation diagram are extracted using a Canny operator to obtain the maximum profile and the minimum profile in one rotation of the grinding wheel, and the maximum ideal profile and the minimum ideal profile are obtained by performing a least square circle fitting on the maximum profile and the minimum profile. The laser power and the spot size in the subtractive modification are set, a step modification track is generated between the maximum ideal profile and the minimum ideal profile, the machine tool and the additive and subtractive module are linked through the control module, and the modification of the spherical grinding wheel is completed.

[0053] The application will be further described below in combination with specific embodiments.

[0054] The application provides a spherical grinding wheel additive and subtractive modification device and method based on profile information. Figure 2 As shown, specifically, the modification of a diamond spherical grinding wheel with a diameter of 3 mm is taken as an example to describe the method of fine in-situ modification according to the profile information extracted by visual detection in detail.

[0055] In the embodiment, the position adjustment includes the following steps:

[0056] In the additive modification, the robot is controlled by the control module to adjust the inner circle angle of the rotating base, the third stepper motor is controlled to adjust the rotating base angle, so that the angle between the visual module and the additive and subtractive module is 90°, the angle between the visual module and the horizontal plane is 0°, the robot is controlled to adjust the position of the visual module and the additive and subtractive module, so that the intersection point of the camera 11 axis and the laser focusing head axis is located at the top point of the spherical grinding wheel surface, the magnification of the camera is 200 times, the first stepper motor is controlled to drive the first ball screw to rotate, the focal length of the camera is adjusted, so that the profile edge of the spherical grinding wheel can be clearly identified. The second stepper motor is controlled to drive the second ball screw to rotate, the focal point of the laser focusing head is adjusted to fall on the surface of the spherical grinding wheel, the angle between the material spraying head and the laser focusing head is adjusted, so that the laser focusing head and the material spraying head axes intersect at the top point of the grinding wheel surface, and the position of the visual module and the ideal profile of the spherical grinding wheel is calibrated. In the subtractive modification, the laser focusing head axis is adjusted to be tangent to the grinding wheel surface, and the rest of the adjustment is the same as that in the additive modification. The repeated positioning accuracy of the moving robot is less than 0.05 mm ; the ball screw is C0 level, and the error is less than 5 μm .

[0057] S1 additive modification, including the following steps:

[0058] The laser power in the additive modification is set to 30 w , the spot diameter is 0.05 mm , and the material spraying rate is 0.5 mm 3 / s The grinding wheel swing speed is 0.1 mm / s , speed is 30 rpm Fix the position of the camera and the additive and subtractive material module, generate the machine tool movement trajectory according to the dressing parameters, and control the spherical grinding wheel and each module through the control module, such as Figure 2 As shown. Set the visual module sampling frequency to 100 Hz ,During the movement of the spherical grinding wheel, the spherical grinding wheel contour is collected by the ,vision module and transmitted to the computer. The contour is identified by ,grayscale conversion, Gaussian filtering, and Canny operator edge detection, ,and compared with the ideal contour, such as Figure 3 As shown, calculate the concave area formed by the actual contour and the ideal contour envelope s , where the area enclosed by the actual fitting contour above the ideal contour is recorded as 0. k =0.3, if the calculated envelope area is greater than 0.04 mm 2 , then a signal is sent to the additive and subtractive material module to fill the volume materials.

[0059] S2 subtractive finishing, including the following steps:

[0060] First, turn off the laser and use the visual module to collect the contour of the spherical grinding wheel. The specific steps are: fix the position of the camera and the additive and subtractive material module, set the grinding wheel swing linear speed to 0.1 mm / s , speed is 200 rpm , according to the dressing parameters, the machine tool movement trajectory is generated, and the spherical grinding wheel is controlled by the control module to link with each module. The steps of processing the contour in subtractive dressing are as follows Figure 4 As shown in the figure, the spherical grinding wheel has different swing angles, and the Hz 100 local contour images at different rotation positions are collected at a frequency, and the edge contour is extracted using the same method as in additive trimming, while the swing angle during shooting is recorded. α i , edge midpoint m i Perpendicular intersection with ideal contour d i , d i The center coordinates of the photo are marked as , d i The actual coordinates are marked as ,in i Label the photos. For each local contour map, follow the recorded swing angles. α i Rotate and according to the intersection d iThe difference between the position in the photo and the actual position coordinate moves the contour map to the actual position. The pixel point coordinate in the photo before processing is , and the pixel point coordinate after processing is . The photo is rotated according to the swing angle, and the pixel point coordinate after rotation is , and the formula is:

[0061]

[0062] The intersection point in the photo at this time is d i , and the coordinate is . The rotated contour picture is translated as a whole:

[0063]

[0064] If α i , the pictures are superimposed. According to this method, the splicing of the local contour under all different swing angles and rotation angles is sequentially completed, and finally the contour fluctuation change of the spherical grinding wheel rotating one round is obtained. The inner and outer edges are extracted from the total contour change graph using the Canny operator, and the maximum contour and the minimum contour in the grinding wheel rotating one round are obtained. The laser power in the subtractive finishing is set to 50 w , the spot diameter is 0.02 mm , and the step finishing trajectory is generated between the maximum and minimum ideal contours. The machine tool and the additive and subtractive modules are linked through the control module to complete the finishing of the spherical grinding wheel.

[0065] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement 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 adding or subtracting material to a spherical grinding wheel, characterized in that: The method comprises the following steps: S1 Additive Finishing (a) Capturing an image of the current position of the spherical grinding wheel to be dressed, extracting the outer contour of the spherical grinding wheel to be dressed in the image, comparing the extracted outer contour with the ideal outer contour, calculating the concave area of ​​the concave region, and calculating the filling volume based on the calculated concave area. Additive filling is then performed based on the filling volume. (b) the spherical grinding wheel to be dressed is swung and rotated, and step (a) is repeated until the entire outer contour of the spherical grinding wheel to be dressed is traversed; S2 Subtractive finishing Acquiring an outer contour image of a spherical grinding wheel to be dressed, swinging and rotating the spherical grinding wheel to be dressed until all images of the entire outer contour of the spherical grinding wheel to be dressed are obtained, extracting the outer contour of the spherical grinding wheel to be dressed in all images and superimposing all the extracted outer contours, fitting the outer circle and inner circle of all the superimposed outer contours, and using a portion between the outer circle and the inner circle as an area for subtractive removal. After removing the area, the dressing of the spherical grinding wheel to be dressed is completed; The outer circle and inner circle of all outer contours after fitting are performed according to the following steps: For the outer contour of the image captured after the spherical grinding wheel to be dressed is rotated α degrees relative to the horizontal position, the outer contour is rotated -α degrees with the center of the spherical grinding wheel to be dressed as the center, and the outer contour angles of all captured images are adjusted in this way; All the outer contours after angle adjustment are superimposed on an image with the center of the spherical grinding wheel to be dressed as the center, and all the superimposed outer contours are fitted to obtain the outer circle and inner circle of all the outer contours.

2. A method for adding or subtracting material to a spherical grinding wheel as claimed in claim 1, characterized in that: The outer contour of the spherical grinding wheel to be dressed in the image is extracted by sequentially adopting grayscale conversion, Gaussian filtering and Canny operator edge detection.

3. A method for adding or subtracting material to dress a spherical grinding wheel according to claim 1 or 2, characterized in that: In step S1 , the filling volume is the product of the recessed area and a preset filling factor, and the preset filling factor is set according to the sampling frequency, the rotation speed of the spherical grinding wheel to be dressed, and the image magnification.

4. The method for adding or subtracting material to a spherical grinding wheel according to claim 1, wherein: The fitting is performed using the least square method.

5. A system for dressing a spherical grinding wheel according to the additive and subtractive dressing method of any one of claims 1 to 4, characterized in that: The system includes a vision module, an additive and subtractive module, and a control module (4), wherein: The visual module is used to collect images of the spherical grinding wheel to be dressed; the additive and subtractive module is used to perform additive and subtractive dressing on the spherical grinding wheel to be dressed; The control module (4) is connected to the visual module and the additive and subtractive module at the same time, and is used to extract the outer contour according to the collected image, compare the outer contour with the ideal contour to calculate the filling volume, and then control the additive and subtractive module to perform additive manufacturing on the spherical grinding wheel to be dressed according to the filling volume; the control module (4) is also used to fit the outer circle and inner circle of all outer contours, calculate the subtractive removal area, and control the additive and subtractive module to perform subtractive manufacturing on the spherical grinding wheel to be dressed.

6. The system according to claim 5, wherein: The system further comprises a moving module, the visual module and the additive and subtractive material module are arranged on the moving module, the moving module is connected to a control module (4), and the control module (4) controls the movement of the moving module so that the visual module and the additive and subtractive material module move to the spherical grinding wheel to be trimmed.

7. The system according to claim 6, wherein: A rotating base is provided at the front end of the mobile module, and the visual module and the additive and subtractive material module are arranged on the rotating base. Two tracks along the circumferential direction are provided on the rotating base, and the two tracks serve as tracks for the visual module and the additive and subtractive material module to rotate along the circumferential direction respectively. An axial driving module is also provided on the rotating base, and the axial driving module is used to drive the visual module and the additive and subtractive material module to move forward and backward along the radial direction of the rotating base.

8. The system according to claim 7, wherein: The additive and subtractive material module comprises a laser head and a spray head (27), wherein the spray head (27) is used for spraying material, and the laser head is used for laser melting the sprayed material or for performing subtractive processing on the surface of the spherical grinding wheel to be trimmed.

9. A spherical grinding wheel additive and subtractive dressing system, characterized in that: The system comprises an actuator, which is used to execute the additive and subtractive dressing method for a spherical grinding wheel according to any one of claims 1 to 4.

Images