Multi-angle superhard material polisher and visual reference establishing method

Abstract

The present application relates to the technical field of polishing machine, particularly to a multi-angle superhard material polishing machine and a visual reference establishing method, comprising a grinding wheel assembly with a polishing direction; a workpiece posture adjusting assembly for carrying a workpiece and driving the workpiece to rotate around a rotation axis according to an angle adjustment amount; a reference establishing assembly for establishing a target edge extension direction of the workpiece; wherein the angle adjustment amount corresponds to the included angle between the target edge extension direction and the polishing direction. The present application sets the grinding wheel assembly, the workpiece posture adjusting assembly and the reference establishing assembly, so that the reference establishing assembly can establish the target edge extension direction of the workpiece, and the workpiece posture adjusting assembly can drive the workpiece to rotate around the rotation axis according to the angle adjustment amount corresponding to the included angle between the target edge extension direction and the polishing direction, thereby forming a corresponding reference between the target edge extension direction and the grinding wheel polishing direction before polishing.

Description

Technical Field

[0001] This invention relates to the field of grinding machine technology, and in particular to a multi-angle superhard material grinding machine and a method for establishing visual reference. Background Technology

[0002] Superhard materials typically have characteristics such as high hardness, strong wear resistance, and small machining allowance. When grinding their edges, bevels, or irregular surfaces, the accuracy of the grinding angle and feed reference directly affects the edge forming quality of the workpiece.

[0003] When processing edges with multiple different tilt angles or extension directions, existing grinding equipment typically requires operators to repeatedly adjust the workpiece posture using visual inspection, measuring tools, or trial grinding to match the grinding direction of the grinding wheel. This adjustment method not only relies on operator experience but also requires re-establishing the angle and feed references each time the edge to be ground is changed or the grinding angle is altered, easily leading to problems such as angle deviation, repeatability errors, and insufficient grinding consistency. Especially for ultra-hard material workpieces with multi-angled edges or irregular shapes, repeated manual angle finding and trial grinding increase machine setup time, material waste, and reduce processing efficiency.

[0004] Therefore, how to quickly establish an angular reference between the edge of the workpiece to be ground and the grinding direction of the grinding wheel before grinding, and adjust the workpiece posture accordingly, is a technical problem that needs to be solved in this field. Summary of the Invention

[0005] In this section, as well as in the abstract and title of this application, some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract, and the title of this application, and such simplifications or omissions shall not be used to limit the scope of the invention.

[0006] To address the shortcomings of existing technologies, one objective of this invention is to provide a multi-angle superhard material grinding machine.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a multi-angle superhard material grinding machine, comprising a grinding wheel assembly having a grinding direction; a workpiece posture adjustment assembly for carrying the workpiece and driving the workpiece to rotate around the rotation axis according to the angle adjustment amount α; and a reference establishment assembly for establishing the target edge extension direction of the workpiece; wherein, the angle adjustment amount α corresponds to the angle between the target edge extension direction and the grinding direction.

[0008] In a preferred embodiment of the multi-angle superhard material grinding machine of the present invention, the reference establishment component has a camera center line, which is correspondingly arranged with the rotation axis.

[0009] In a preferred embodiment of the multi-angle superhard material grinding machine of the present invention, the workpiece orientation adjustment assembly includes a clamping member for clamping the workpiece; a first driving member disposed on the orientation adjustment seat and connected to the clamping member for driving the clamping member to rotate around the clamping axis; and a second driving member connected to the orientation adjustment seat for driving the orientation adjustment seat to rotate around the rotation axis.

[0010] In a preferred embodiment of the multi-angle superhard material grinding machine of the present invention, the clamping member is adjustablely positioned on the first driving member along the clamping axis.

[0011] As a preferred embodiment of the multi-angle superhard material grinding machine of the present invention, the grinding wheel assembly includes a grinding wheel disposed on a grinding wheel seat; a first moving mechanism connected to the grinding wheel seat and used to drive the grinding wheel seat to reciprocate along the grinding direction; and a second moving mechanism connected to the grinding wheel seat and used to drive the grinding wheel seat to move along the feed direction; wherein the feed direction intersects the grinding direction.

[0012] To address the shortcomings of existing technologies, another objective of this invention is to provide a method for establishing visual references for a multi-angle superhard material grinding machine.

[0013] The present invention adopts the following technical solution: a visual reference establishment method for a multi-angle superhard material grinding machine, comprising: acquiring a camera image of a workpiece through a reference establishment component, wherein the workpiece is supported by a workpiece posture adjustment component, the workpiece posture adjustment component being able to drive the workpiece to rotate around a rotation axis; establishing in the camera image an axis center position corresponding to the rotation axis, and a grinding reference line parallel to the grinding direction of the grinding wheel component.

[0014] As a preferred embodiment of the visual reference establishment method for the multi-angle superhard material grinding machine of the present invention, the following steps are taken: the edge contour of the area to be ground of the workpiece is acquired in the camera image, and the target edge extension direction of the workpiece after grinding is established; the workpiece posture adjustment component is adjusted according to the relative position between the target edge extension direction and the grinding reference line, so that the target edge extension direction is parallel to the grinding reference line.

[0015] As a preferred embodiment of the visual reference establishment method for the multi-angle superhard material grinding machine of the present invention, the method includes: establishing a proportional reference line parallel to the grinding reference line in the camera image; and determining the image offset of the proportional reference line relative to the grinding reference line based on the proportional relationship between the image distance in the camera image and the actual grinding depth of the workpiece along the feed direction.

[0016] As a preferred embodiment of the visual reference establishment method for the multi-angle superhard material grinding machine of the present invention, determining the axis position in the camera image includes: positioning the workpiece posture adjustment component in an initial posture and obtaining the initial axis of the clamping axis in the camera image; rotating the workpiece posture adjustment component around the rotation axis through a predetermined calibration angle and obtaining the deflection axis of the clamping axis in the camera image; wherein the intersection of the initial axis and the deflection axis is determined as the axis position of the rotation axis in the camera image.

[0017] As a preferred embodiment of the visual reference establishment method for the multi-angle superhard material grinding machine of the present invention, wherein: a center point is established in the camera image, and a vertical line passing through the center point is established within the camera image; wherein the center point is located on the vertical line.

[0018] The beneficial effects of this multi-angle superhard material grinding machine are as follows: By setting up a grinding wheel assembly, a workpiece orientation adjustment assembly, and a reference establishment assembly, the reference establishment assembly can establish the target edge extension direction of the workpiece, and the workpiece orientation adjustment assembly can rotate the workpiece around the rotation axis according to the angle adjustment amount corresponding to the angle between the target edge extension direction and the grinding direction. This forms a corresponding reference between the target edge extension direction and the grinding wheel grinding direction before grinding. Therefore, it reduces errors caused by manual angle finding, repeated trial grinding, and adjustments based on experience, allowing the edge of the workpiece to be ground to match the grinding direction of the grinding wheel assembly more accurately. This is particularly suitable for superhard material workpieces with multiple different tilt angles or irregular edges, improving the accuracy of angle adjustment during multi-angle grinding, the processing consistency between different edges to be ground, and grinding efficiency, while reducing the difficulty of machine setup and workpiece wear. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram illustrating the principle of the correspondence between the angle adjustment amount and the target edge extension direction and grinding direction in the multi-angle superhard material grinding machine of the present invention.

[0021] Figure 2 This is a schematic diagram of the overall structure of the multi-angle superhard material grinding machine of the present invention.

[0022] Figure 3 This is a schematic diagram of the grinding wheel assembly in the multi-angle superhard material grinding machine of the present invention.

[0023] Figure 4 This is a schematic diagram showing the establishment of the axis position and grinding reference line in the camera image of the multi-angle superhard material grinding machine of the present invention.

[0024] Figure 5 This is a schematic diagram of adjusting the workpiece posture according to the relative position between the target edge extension direction and the grinding baseline in the camera image of the multi-angle superhard material grinding machine of the present invention.

[0025] Figure 6 This is a schematic diagram showing the identification of edge contours and target edge extension directions in the camera footage of the multi-angle superhard material grinding machine of the present invention.

[0026] Figure 7 This is a schematic diagram showing the establishment of a proportional baseline in the camera footage of the multi-angle superhard material grinding machine of the present invention.

[0027] Figure 8 This is a schematic diagram showing the determination of the axis position in the camera footage of the multi-angle superhard material grinding machine of the present invention.

[0028] Figure 9 This is a schematic diagram of establishing the axis perpendicular line in the camera image of the multi-angle superhard material grinding machine of the present invention.

[0029] In the diagram: 100, Grinding wheel assembly; 101, Grinding wheel; 102, Grinding wheel holder; 103, First moving mechanism; 104, Second moving mechanism; 200, Workpiece posture adjustment assembly; 201, Clamping component; 202, Posture adjustment seat; 203, First driving component; 204, Second driving component; 300, Reference establishment assembly; A, Workpiece; A1, Edge contour; X1, Grinding direction; X2, Target edge extension direction; Y1, Feed direction; Z, Rotation axis; O, Clamping axis; L, Camera center line; α, Angle adjustment amount; M, Camera view; D, Grinding reference line; E, Proportional reference line; P1, Axis position; P2, Center point of view; L1, Initial axis; L2, Deflection axis; L3, Vertical line from the axis. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0031] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0032] In this invention, the "target edge extension direction" refers to the extension direction of the edge, bevel, chamfer, or contour segment to be processed that is to be formed after the workpiece is ground; the "grinding direction" refers to the direction in which the grinding wheel assembly forms an effective grinding trajectory in the area to be ground on the workpiece; and the "angle adjustment amount" refers to the adjustment amount used to drive the workpiece posture adjustment assembly to rotate the workpiece around the rotation axis. It can be directly determined by the angle between the target edge extension direction and the grinding direction, or it can be determined based on this angle in combination with the zero position of the equipment, the transmission direction, or clamping compensation.

[0033] Example 1

[0034] Reference Figure 1 This embodiment provides a multi-angle superhard material grinding machine for grinding the edges, bevels, or irregular contours of a superhard material workpiece A. The multi-angle superhard material grinding machine includes a grinding wheel assembly 100, a workpiece orientation adjustment assembly 200, and a reference establishment assembly 300. The grinding wheel assembly 100 grinds workpiece A, having a defined grinding direction X1 during the process; the workpiece orientation adjustment assembly 200 supports workpiece A and can rotate workpiece A around a rotation axis Z according to an angle adjustment amount α. The rotation axis Z is located at... Figure 1 It is displayed as a dot, that is Figure 1 The center of the arc-shaped attitude adjustment trajectory of the workpiece attitude adjustment component 200; the reference establishment component 300 is used to establish the target edge extension direction X2 of workpiece A. Therefore, this embodiment does not simply rely on the fixture to drive the workpiece to rotate, nor does it determine the grinding angle solely by manual visual inspection. Instead, it first obtains the direction reference related to the edge of workpiece A to be ground through the reference establishment component 300, and then makes the workpiece attitude adjustment component 200 rotate and adjust its attitude according to the relative relationship between the direction reference and the grinding direction X1 of the grinding wheel component 100.

[0035] In this embodiment, the grinding direction X1 can be understood as the direction in which the grinding wheel assembly 100 forms an effective grinding trajectory on the workpiece A. For example, when the grinding wheel 101 reciprocates along a straight line to grind the edge of the workpiece A, the grinding direction X1 can be the reciprocating grinding direction of the grinding wheel 101 relative to the workpiece A; when the grinding wheel 101 rotates itself and is driven by the moving mechanism to form a linear grinding trajectory at the edge of the workpiece A, the grinding direction X1 can be the extension direction of the linear grinding trajectory. By pre-determining the grinding direction X1 in the equipment, the subsequently established target edge extension direction X2 can have a comparable mechanical reference, avoiding the problem of only recognizing the workpiece edge in the camera image without being able to establish a correspondence with the actual processing direction of the grinding wheel.

[0036] The target edge extension direction X2 refers to the extension direction of the target edge, target bevel, or target contour segment that workpiece A is expected to form after grinding. For a superhard material workpiece A with a straight edge, the target edge extension direction X2 can be the direction fitted by the straight edge; for a workpiece A with a chamfer, bevel, or irregular shape, the target edge extension direction X2 can also be the direction of the target line to be ground selected by the operator in the camera image, or the target fitting direction obtained by image processing of the edge contour A1. This setting allows this embodiment to be applicable to grinding multiple different tilt angles, multiple different edge segments, and irregular edges, rather than being limited to the single edge processing of regular rectangular workpieces.

[0037] The angle adjustment amount α corresponds to the angle between the target edge extension direction X2 and the grinding direction X1. Specifically, after the reference establishment component 300 establishes the target edge extension direction X2, the target edge extension direction X2 and the grinding direction X1 can be compared in the same reference system. When there is an angle between the target edge extension direction X2 and the grinding direction X1, the workpiece posture adjustment component 200 drives the workpiece A to rotate around the rotation axis Z, so that the target edge extension direction X2 gradually approaches or is adjusted to a state parallel to the grinding direction X1. The angle adjustment amount α can be directly taken as the angle between the target edge extension direction X2 and the grinding direction X1, or it can be based on the angle by adding the equipment zero position deviation, clamping deviation, or transmission direction conversion value, thereby forming an actual adjustment amount suitable for driving the workpiece posture adjustment component 200 to move.

[0038] With the above structure, operators no longer need to repeatedly test the grinding to determine whether workpiece A is aligned correctly. Instead, they can first establish the target edge extension direction X2, and then determine the angle adjustment amount α based on the angle between the target edge extension direction X2 and the grinding direction X1. Since the rotational posture adjustment is performed around the rotation axis Z, the angle change of workpiece A has a clear mechanical center. Because the angle adjustment amount α comes from the correspondence between the target edge extension direction X2 and the grinding direction X1, the posture adjustment of workpiece A can directly serve the grinding direction matching. In this way, when the same workpiece A has multiple edges to be ground, it is only necessary to establish the corresponding target edge extension direction X2 for each different edge to be ground to obtain the corresponding angle adjustment amount α in sequence, thereby improving the consistency of multi-angle continuous grinding.

[0039] Compared to ordinary grinding equipment, the improvement of this embodiment lies in the following: Ordinary equipment typically only has a grinding wheel and an adjustable fixture, requiring the operator to rely on experience to position the edge to be ground in an approximate direction, and then correct the angle using measuring tools or trial grinding; while this embodiment introduces a reference establishment component 300 between the grinding wheel assembly 100 and the workpiece orientation adjustment assembly 200, enabling a visual or image reference to establish a correspondence with the mechanical grinding direction X1, and using this correspondence to drive the workpiece A to adjust around the rotation axis Z. This technical approach can transform the "angle finding" process from manual experience to a reference establishment process based on the edge direction and grinding direction, reducing errors caused by repeated manual adjustments, and also reducing material loss of the ultrahard material workpiece A due to trial grinding.

[0040] In practical use, workpiece A can first be clamped on the workpiece orientation adjustment assembly 200, allowing the reference establishment assembly 300 to acquire the area of ​​workpiece A to be ground. Then, the target edge extension direction X2 is determined based on the edge to be ground or the target grinding line of workpiece A, and this target edge extension direction X2 is compared with the grinding direction X1 of the grinding wheel assembly 100 to obtain the angle adjustment amount α. After the workpiece orientation adjustment assembly 200 rotates workpiece A around the rotation axis Z according to the angle adjustment amount α, the target edge extension direction X2 matches the grinding direction X1, and the grinding wheel assembly 100 can then grind workpiece A along its grinding direction X1. Through this process, the equipment can complete the establishment of the angle reference and the adjustment of the workpiece posture before grinding, providing a foundation for subsequent feed control, grinding depth control, and multi-edge continuous processing.

[0041] Example 2

[0042] Reference Figure 2 and Figure 4This embodiment further illustrates the correspondence between the reference establishment component 300 and the workpiece orientation adjustment component 200 based on Embodiment 1. The reference establishment component 300 has an image center line L, which can be understood as the principal optical axis of the camera lens of the reference establishment component 300, or as the center reference line in the image M that passes through the center point P2 of the image and is perpendicular to the imaging plane. The workpiece orientation adjustment component 200 has a rotation axis Z, which is the rotation reference line around which the workpiece orientation adjustment component 200 moves the workpiece A to adjust its angle.

[0043] In this embodiment, the camera center line L is set to correspond with the rotation axis Z. This does not mean that the camera center line L and the rotation axis Z must be completely coincident. Rather, it means that the camera center line L and the rotation axis Z are parallel or substantially parallel, and the corresponding axis position P1 of the rotation axis Z in the camera image M can be determined or calibrated. In other words, the camera center line L and the rotation axis Z can coincide or have a certain lateral offset, but they should remain parallel or substantially parallel so that the camera image M acquired by the reference establishment component 300 can stably reflect the posture change of the workpiece A as it rotates around the rotation axis Z. Therefore, the angle between the target edge extension direction X2 and the grinding direction X1 in the camera image M can stably correspond to the angle adjustment amount α of the workpiece posture adjustment component 200 driving the workpiece A to rotate around the rotation axis Z.

[0044] In the first optional implementation, the camera center line L coincides with or substantially coincides with the rotation axis Z. Specifically, the reference establishment component 300 can be positioned above the workpiece posture adjustment component 200, with the camera lens facing the area where workpiece A is located. The camera center line L is arranged along the extension direction of the rotation axis Z, so that the corresponding position of the rotation axis Z in the camera frame M is close to or located at the center point P2 of the frame. When this arrangement is adopted, as workpiece A rotates around the rotation axis Z, its posture change in the camera frame M unfolds around the center of the frame. The determination of the axis position P1 is relatively intuitive, making it easy to establish the correspondence between the grinding reference line D, the target edge extension direction X2, and the angle adjustment amount α in the camera frame M. This method is suitable for situations where there is sufficient installation space for the reference establishment component 300 and the camera lens can be arranged directly above or approximately directly above the rotation axis Z.

[0045] As a second optional implementation, the camera center line L does not coincide with the rotation axis Z, but the corresponding axis center position P1 of the rotation axis Z in the camera frame M is located within the camera frame M. Specifically, the reference establishment component 300 can be offset relative to the workpiece posture adjustment component 200, so that there is a certain lateral offset between the camera center line L and the rotation axis Z. However, through installation positioning, image calibration, or rotation calibration, the axis center position P1 corresponding to the rotation axis Z can be determined in the camera frame M. When using this setting, although the camera center line L does not completely coincide with the rotation axis Z, since the axis center position P1 is still located within the camera frame M, the image changes caused by the rotation of workpiece A around the rotation axis Z can be fully reflected by the camera frame M. The reference establishment component 300 can still use the axis center position P1 as an angle adjustment reference to establish the angular relationship between the target edge extension direction X2 and the grinding direction X1. This method can reduce the installation requirements of the reference establishment component 300 and avoid the problem that the camera lens must be strictly coaxially installed due to the space occupied by the equipment structure, grinding wheel assembly 100, or protective components.

[0046] In a third preferred embodiment, the axis of rotation Z has a corresponding axis position P1 in the camera frame M, located within the camera frame M, and the axis position P1 is located on the side of the camera frame M away from the grinding wheel assembly 100. Specifically, in the image display direction, if the grinding wheel assembly 100 is located on one side of the workpiece A, the axis position P1 corresponding to the axis of rotation Z can be arranged biased towards the side of the camera frame M away from the grinding wheel assembly 100, so that the area to be ground of the workpiece A and the edge contour A1 of the area to be ground fall more within the effective display range of the camera frame M. Since the edge to be ground of the superhard material workpiece A is usually located on the side closer to the grinding wheel assembly 100, when the axis position P1 is biased towards the side away from the grinding wheel assembly 100, the edge portion of workpiece A near the grinding wheel assembly 100 can occupy a larger observation area in the camera frame M, thereby making it easier to identify the edge contour A1 of the area to be ground, the target edge extension direction X2, and the relative position with respect to the grinding reference line D. This improves the clarity and accuracy of visual benchmark establishment and reduces recognition errors caused by the edge to be polished being at the edge of the image or being obscured by the grinding wheel assembly 100.

[0047] Furthermore, in this preferred embodiment, the axis position P1 may not be located in the center of the image frame M, but rather in the edge region of the image frame M closer to the side away from the grinding wheel assembly 100; simultaneously, the edge of workpiece A to be ground is located on the side of axis position P1 facing the grinding wheel assembly 100. Thus, when workpiece A adjusts its angle around the rotation axis Z, the edge to be ground remains in a relatively clear area within the image frame M after workpiece A rotates, facilitating the reference establishment component 300 to continuously acquire the edge contour A1 of the area to be ground and establish or correct the target edge extension direction X2 accordingly. Compared to simply setting the axis position P1 at the center of the image, this offset setting is more conducive to expanding the observable range of the edge to be ground, allowing visual recognition to focus on the actual edge area that needs to be ground, rather than only focusing on the rotation center position of workpiece A.

[0048] In this embodiment, through the aforementioned corresponding settings, the reference establishment component 300 is not only used to photograph the overall shape of workpiece A, but also to provide a visual reference for the rotation adjustment of the workpiece orientation adjustment component 200. The correspondence between the camera center line L and the rotation axis Z allows the axis position P1 in the camera image M to be linked to the actual rotation center of workpiece A; based on this, the angle between the target edge extension direction X2 and the grinding direction X1 can be converted into the angle adjustment amount α of workpiece A around the rotation axis Z. Thus, when adjusting the angle, the workpiece orientation adjustment component 200 does not rely on manual visual inspection or multiple trial grindings, but completes the orientation adjustment based on the visual reference in the camera image M, enabling workpieces A with different tilt angles or different edge extension directions to establish a correspondence with the grinding direction X1 of the grinding wheel component 100 more quickly.

[0049] It is understood that in other embodiments, there may be a predetermined lateral offset between the camera center line L and the rotation axis Z. As long as the camera center line L and the rotation axis Z remain parallel or substantially parallel, and the lateral offset can be determined by installation calibration, image calibration or rotation calibration, so that the axial position P1 corresponding to the rotation axis Z can be established in the camera image M, all of these are considered to be the corresponding settings described in this embodiment.

[0050] Example 3

[0051] Reference Figure 2 This embodiment further illustrates the specific structure of the workpiece orientation adjustment assembly 200. The workpiece orientation adjustment assembly 200 includes a clamping member 201, an orientation adjustment seat 202, a first driving member 203, and a second driving member 204. The clamping member 201 is used to clamp workpiece A, keeping workpiece A stable during the grinding process; the first driving member 203 is disposed inside the orientation adjustment seat 202 and connected to the clamping member 201, and is used to drive the clamping member 201 to rotate around the clamping axis O; the second driving member 204 is connected to the orientation adjustment seat 202, and is used to drive the orientation adjustment seat 202 to rotate around the rotation axis Z.

[0052] The clamping member 201 can be in the form of a jaw, pressure plate, vacuum adsorption seat, positioning groove, or a combination of the above structures, as long as it can limit the workpiece A from unintended movement relative to the clamping member 201 during the grinding process. For the ultrahard material workpiece A, due to its high grinding resistance, the clamping member 201 preferably has two or more positioning contact points to form a stable constraint on the side, bottom, or end of the workpiece A. After the clamping member 201 is connected to the first driving member 203, the first driving member 203 can drive the clamping member 201 to rotate around the clamping axis O, thereby adjusting the orientation of the workpiece A itself or the exposure direction of the area to be ground.

[0053] The first driving component 203 is disposed on the attitude adjustment seat 202. The first driving component 203 can be a servo motor, a stepper motor, a turntable, or a rotary drive mechanism with angle feedback. Since the first driving component 203 mainly drives the clamping component 201 to rotate around the clamping axis O, it is suitable for adjusting the rotational posture of the workpiece A, such as rotating different sides, different surfaces to be polished, or different areas to be polished to a position that can be recognized by the reference establishment component 300 and processed by the grinding wheel component 100.

[0054] The second driving component 204 is connected to the attitude adjustment seat 202 and drives the attitude adjustment seat 202 to rotate around the rotation axis Z. This rotation is used to realize the overall attitude adjustment based on the angle adjustment amount α in Embodiment 1. The first driving component 203 focuses on adjusting the local attitude of the workpiece A relative to the clamping component 201 or the attitude adjustment seat 202, while the second driving component 204 focuses on angularly aligning the entire workpiece A according to the angle between the target edge extension direction X2 and the grinding direction X1. By dividing the work between the clamping axis O and the rotation axis Z, the control complexity caused by a single rotating axis simultaneously undertaking multiple actions such as workpiece edge changing, angle alignment, and grinding direction alignment can be avoided.

[0055] During operation, the first driving component 203 first aligns the area to be ground with the reference assembly 300 or the grinding wheel assembly 100, enabling the reference assembly 300 to acquire a clear edge contour A1. Subsequently, the reference assembly 300 establishes the target edge extension direction X2 and compares it with the grinding direction X1. The second driving component 204 then drives the attitude adjustment seat 202 to rotate around the rotation axis Z according to the angle adjustment amount α, so that the target edge extension direction X2 and the grinding direction X1 form a predetermined relationship. In this way, the selection of the area to be ground and the angle alignment of workpiece A are independent of each other and can be continuously completed within the same workpiece attitude adjustment assembly 200.

[0056] In this embodiment, the workpiece rotation adjustment corresponding to the clamping axis O and the grinding angle reference adjustment corresponding to the rotation axis Z are layered. This layered structure allows the angle adjustment amount α obtained by the reference establishment component 300 to directly act on the overall rotation corresponding to the second drive component 204, without being interfered with by the side-changing action of the clamping component 201, thereby improving the posture adjustment accuracy when continuously grinding multi-angle workpiece A.

[0057] Example 4

[0058] Reference Figure 2 This embodiment further illustrates the positional adjustment relationship between the clamping member 201 and the first driving member 203. The clamping member 201 is adjustablely positioned on the first driving member 203 along the clamping axis O. That is, the clamping member 201 can not only rotate around the clamping axis O under the drive of the first driving member 203, but also change its position relative to the first driving member 203 along the extension direction of the clamping axis O.

[0059] This adjustable position structure can be achieved through a slide rail, guide groove, telescopic rod, lead screw pair, locking hole assembly, or adjustable connecting seat. For example, the output end of the first drive member 203 can be connected to a guide connecting part extending along the clamping axis O, and the clamping member 201 can be slidably mounted on the guide connecting part; when the clamping member 201 is adjusted to the desired position, it can be fixed by a locking member. Alternatively, a lead screw adjustment structure can be provided between the first drive member 203 and the clamping member 201, allowing the clamping member 201 to be finely adjusted along the clamping axis O by rotating the lead screw. All of the above structures can achieve the technical effect of "position adjustable along the clamping axis O".

[0060] The reason for this structure is that the size, shape, and position of the edge to be ground of the superhard material workpiece A vary considerably. If the position of the clamping member 201 relative to the first driving member 203 is fixed, the edge to be ground of workpieces A of different specifications may deviate from the effective imaging area of ​​the reference establishment component 300 or the effective grinding area of ​​the grinding wheel assembly 100 after clamping. By making the position of the clamping member 201 adjustable along the clamping axis O, the area to be ground of workpiece A can be adjusted to a suitable position for identification and grinding without changing the reference relationship between the rotation axis Z and the grinding direction X1.

[0061] In one specific operation, the operator can first move the clamping member 201 along the clamping axis O according to the length of the workpiece A or the position of the edge to be polished, so that the area to be polished is within the predetermined area of ​​the camera screen M; then lock the clamping member 201, and then the first driving member 203 drives the clamping member 201 to rotate around the clamping axis O to select the area to be polished; finally, the second driving member 204 drives the attitude adjustment seat 202 to rotate around the rotation axis Z according to the angle adjustment amount α.

[0062] The technical advantage of this setup is that it enhances the equipment's adaptability to workpieces A of different specifications, while reducing the need to replace fixtures or reinstall the reference establishment component 300. For multi-angle grinding of superhard materials, the positions to be processed on different edge segments may not be in the same axial position. By adjusting the position of the clamping component 201 along the clamping axis O, position compensation of the area to be ground can be achieved while maintaining the stability of the angular reference, thereby further improving the equipment's versatility and adjustment efficiency.

[0063] Example 5

[0064] Reference Figure 3 This embodiment further illustrates the specific structure of the grinding wheel assembly 100. The grinding wheel assembly 100 includes a grinding wheel 101, a grinding wheel holder 102, a first moving mechanism 103, and a second moving mechanism 104. The grinding wheel 101 is mounted on the grinding wheel holder 102. The first moving mechanism 103 is connected to the grinding wheel holder 102 and is used to drive the grinding wheel holder 102 to reciprocate along the grinding direction X1. The second moving mechanism 104 is connected to the grinding wheel holder 102 and is used to drive the grinding wheel holder 102 to move along the feed direction Y1, wherein the feed direction Y1 intersects the grinding direction X1.

[0065] The grinding wheel 101 can be a diamond grinding wheel, a resin-bonded grinding wheel, a metal-bonded grinding wheel, or other grinding wheels suitable for machining superhard materials. The grinding wheel holder 102 supports the grinding wheel 101 and may include a motor, spindle, or bearing support structure for driving the grinding wheel 101 to rotate. The first moving mechanism 103 drives the grinding wheel holder 102 to reciprocate along the grinding direction X1, so that the grinding wheel 101 forms a machining trajectory extending along the grinding direction X1 at the edge to be ground on the workpiece A. The first moving mechanism 103 may be a linear guide, a lead screw pair, a synchronous belt mechanism, a cylinder, a linear motor, or a combination thereof.

[0066] The second moving mechanism 104 drives the grinding wheel holder 102 to move along the feed direction Y1, thereby controlling the grinding wheel 101 to move closer to or further away from the workpiece A. The feed direction Y1 intersects the grinding direction X1, preferably perpendicular or approximately perpendicular. By separating the reciprocating movement of the grinding direction X1 and the feed movement of the feed direction Y1, the grinding wheel assembly 100 can control the grinding depth in a more stable manner after completing the angular reference alignment. The first moving mechanism 103 is responsible for forming the grinding path in the edge direction, and the second moving mechanism 104 is responsible for forming the feed path corresponding to the material removal amount. The two work together to reduce the machining error caused by the coupling of the movement directions.

[0067] This embodiment is directly related to the aforementioned reference establishment logic. The grinding reference line D established by the reference establishment component 300 is parallel to the grinding direction X1 of the grinding wheel assembly 100, and the target edge extension direction X2 ultimately needs to form a predetermined relationship with the grinding direction X1. Therefore, the actual mechanical movement direction defined by the first moving mechanism 103 is the source of the grinding direction X1 in the visual reference. If the grinding movement direction of the grinding wheel assembly 100 is unclear, even if the reference establishment component 300 can identify the target edge extension direction X2 of the workpiece A, it is difficult to determine which mechanical direction should be aligned with the target edge extension direction X2. This embodiment defines the grinding direction X1 through the first moving mechanism 103, establishing a stable connection between the visual reference and the mechanical movement.

[0068] Furthermore, from the perspective of relative motion, when the first moving mechanism 103 drives the grinding wheel holder 102 and the grinding wheel 101 to reciprocate along the grinding direction X1, it can be equivalently understood that the surface of workpiece A to be ground is rubbed back and forth along the grinding direction X1 on the effective grinding surface of the grinding wheel 101. In other words, the grinding action between the grinding wheel 101 and workpiece A does not occur at only one fixed contact point, but rather forms a continuous relative frictional contact between the effective grinding surface of the grinding wheel 101 and the surface of workpiece A to be ground. Therefore, the thickness or grinding width of the grinding wheel 101 needs to be able to cover the surface of workpiece A to be ground, and the reciprocating distance of the grinding wheel 101 along the grinding direction X1 also needs to be controlled within a range that maintains continuous contact.

[0069] Specifically, during the reciprocating motion of the grinding wheel 101 driven by the first moving mechanism 103 along the grinding direction X1, the effective grinding surface of the grinding wheel 101 remains in contact with the surface of the workpiece A to be ground. Even when the grinding wheel 101 is at the two extreme positions of the reciprocating motion, the surface of the workpiece A to be ground is still within the effective grinding surface range of the grinding wheel 101. This avoids the problem of the grinding wheel 101 losing contact with the workpiece A during the reciprocating motion and then re-contacting it, which could lead to impact marks, localized steps, missed grinding, or discontinuous grinding on the surface to be ground.

[0070] Furthermore, the reciprocating distance of the grinding wheel 101 along the grinding direction X1 can be determined based on the length of the surface to be ground on workpiece A, the contact range of the effective grinding surface of the grinding wheel 101, and the clamping position of workpiece A. Preferably, the reciprocating distance is set such that the surface to be ground on workpiece A does not leave the effective grinding surface of the grinding wheel 101 throughout the entire stroke of the reciprocating movement of the grinding wheel 101. With this setting, the grinding wheel 101 can continuously perform friction grinding on the surface to be ground on workpiece A while reciprocating along the grinding direction X1, so that the surface to be ground forms a continuous and uniform grinding trajectory along the grinding direction X1.

[0071] With the above settings, the thickness of the grinding wheel 101 along the feed direction Y1 ensures coverage of the surface to be ground in the width direction, and the reciprocating distance of the grinding wheel 101 along the grinding direction X1 ensures continuous contact of the surface to be ground during the reciprocating grinding process. With both working in tandem, after the workpiece A has undergone angle adjustment, the grinding wheel 101 can not only reciprocate along the target edge extension direction X2, but also maintain stable contact throughout the entire reciprocating stroke, thereby improving the forming integrity and grinding consistency of the surface to be ground. Especially for the narrow edges, bevels, or irregular edges of the superhard material workpiece A, the above settings can reduce problems such as insufficient edge grinding, localized missed grinding, and repeated grinding caused by insufficient grinding wheel contact range or excessive reciprocating stroke.

[0072] During actual grinding, the second moving mechanism 104 can first drive the grinding wheel 101 to gradually approach the workpiece A along the feed direction Y1, so that the grinding wheel 101 reaches the predetermined grinding depth; then the first moving mechanism 103 drives the grinding wheel seat 102 to reciprocate along the grinding direction X1, grinding the target edge that is parallel to or matches the grinding direction X1. Alternatively, during the reciprocating movement of the first moving mechanism 103, the second moving mechanism 104 can feed in segments to achieve layer-by-layer grinding. Since the workpiece A has already been adjusted by the workpiece posture adjustment component 200 according to the angle adjustment amount α, the reciprocating grinding trajectory of the grinding wheel 101 can match the extension direction X2 of the target edge, thereby improving the edge forming quality.

[0073] The beneficial effect of this embodiment is that by separating the directions of the first moving mechanism 103 and the second moving mechanism 104, the grinding direction reference and the feed depth reference are clearly defined. For the ultra-hard material workpiece A, excessive single feed can easily cause edge chipping or grinding wheel wear, while insufficient feed will reduce efficiency. After separating the feed direction Y1 from the grinding direction X1, the actual grinding depth can be controlled by combining the proportional reference line E in embodiment 8, so that multi-angle grinding not only has an angle reference, but also a feed reference corresponding to the camera image M.

[0074] Example 6

[0075] Reference Figure 4 This embodiment provides a visual reference establishment method for a multi-angle superhard material grinding machine, which can be applied to the multi-angle superhard material grinding machine of any of the aforementioned embodiments. The method includes: acquiring a camera image M of workpiece A through a reference establishment component 300, wherein workpiece A is supported by a workpiece posture adjustment component 200, and the workpiece posture adjustment component 200 can drive workpiece A to rotate around the rotation axis Z; establishing in the camera image M an axis center position P1 corresponding to the rotation axis Z, and a grinding reference line D parallel to the grinding direction X1 of the grinding wheel component 100.

[0076] The camera image M can be a real-time image acquired by the reference establishment component 300, or an image acquired by the reference establishment component 300 after distortion correction, grayscale processing, edge enhancement, or coordinate calibration. Since workpiece A is supported by the workpiece orientation adjustment component 200 and can rotate around the rotation axis Z, establishing the axis position P1 corresponding to the rotation axis Z in the camera image M ensures that the angular changes in the image correspond to the actual mechanical center of workpiece A's rotation. The axis position P1 can be obtained through equipment calibration or determined by the intersection of the initial axis L1 and the deflection axis L2 described in Example 9.

[0077] The grinding reference line D is a reference line in the camera frame M that is parallel to the grinding direction X1 of the grinding wheel assembly 100. The grinding reference line D can be established during equipment installation and commissioning through calibration, for example, by moving the grinding wheel assembly 100 along the grinding direction X1 and recording the corresponding movement direction in the camera frame M, thus forming the grinding reference line D; alternatively, a straight line parallel to the grinding direction X1 can be pre-set in the camera frame M according to the equipment structural parameters. Since the grinding reference line D originates from the actual grinding direction X1 of the grinding wheel assembly 100, it can serve as a reference point for the target edge extension direction X2.

[0078] Furthermore, the grinding reference line D can serve not only as a directional reference parallel to the grinding direction X1 of the grinding wheel assembly 100, but also as a starting reference line during the grinding feed process of workpiece A. Specifically, after establishing the grinding reference line D in the camera frame M, the grinding reference line D can be made tangent to, coincide with, or partially contact the edge contour A1 of the area to be ground on workpiece A; at this time, the grinding reference line D corresponds to the position where the grinding wheel 101 and workpiece A begin to form grinding contact, or corresponds to the grinding start position when workpiece A is fed towards the grinding wheel 101 along the feed direction Y1.

[0079] In other words, the grinding reference line D can simultaneously serve as both a directional reference and a positional reference. On one hand, the grinding reference line D is parallel to the grinding direction X1 of the grinding wheel assembly 100, used to determine whether the extension direction X2 of the target edge has been adjusted to correspond to the grinding direction X1. On the other hand, the grinding reference line D can also establish a contact relationship with the edge to be ground of the workpiece A, used to determine the starting position when the workpiece A or the grinding wheel assembly 100 begins to feed and grind. Therefore, after completing the angle adjustment, the grinding reference line D can be used to determine whether the edge to be ground is already at the predetermined grinding starting position, avoiding the problem of only completing the angle alignment but the grinding starting position deviating.

[0080] Furthermore, when the grinding reference line D is used as the grinding starting line, the second moving mechanism 104 of the grinding wheel assembly 100 can move the grinding wheel seat 102 and the grinding wheel 101 along the feed direction Y1 according to the relative position between the grinding area of ​​the workpiece A and the grinding reference line D; or, the workpiece posture adjustment assembly 200 can move the workpiece A relative to the grinding wheel 101, so that the edge contour A1 of the grinding area gradually approaches and contacts the grinding reference line D. After the edge contour A1 of the grinding area contacts the grinding reference line D, this position can be used as the zero position or starting position of the grinding feed, and then the feed can continue according to the preset grinding depth. Thus, the grinding reference line D can be used in conjunction with the subsequent proportional reference line E to first determine the grinding starting position, and then determine the actual grinding depth according to the proportional reference line E, so that the visual reference establishment process simultaneously covers both angle adjustment and feed control.

[0081] The key to this method lies in simultaneously establishing two references: one is the axis position P1, which corresponds to the mechanical center of workpiece A's rotation and orientation adjustment; the other is the grinding reference line D, which corresponds to the mechanical grinding direction of the grinding wheel assembly 100. Only with both references present can the deviation of the edge to be ground of workpiece A relative to the mechanical grinding direction be determined in the camera image M, and this deviation be further converted into the angle adjustment amount α of the workpiece orientation adjustment assembly 200. If only the grinding reference line D is established without the axis position P1, it is difficult to determine around which position workpiece A should rotate; if only the axis position P1 is established without the grinding reference line D, it is difficult to determine in which direction workpiece A should rotate.

[0082] In practice, workpiece A can first be clamped on the clamping member 201, allowing the reference establishment component 300 to acquire a camera image M including the area of ​​workpiece A to be polished. Subsequently, an axis position P1 and a polishing reference line D are established in the camera image M. The axis position P1 represents the mapped position of the rotation axis Z in the camera image M, and the polishing reference line D represents the polishing direction X1 of the grinding wheel assembly 100. Later, when the target edge extension direction X2 is identified, the angle between the target edge extension direction X2 and the polishing reference line D, and its position relative to the axis position P1, can determine how workpiece A needs to be adjusted around the rotation axis Z.

[0083] This embodiment enables the equipment to establish a reference point before grinding at the visual level. Compared with the method of relying on the operator to observe the position of the grinding wheel and the workpiece with the naked eye, this method converts the rotation center and grinding direction into identifiable reference points in the camera image M, which can provide basic data for subsequent automatic or semi-automatic posture adjustment and improve the repeatability between multiple grinding operations.

[0084] Example 7

[0085] Reference Figure 5 and Figure 6This embodiment further illustrates how to establish the target edge extension direction X2 based on the area to be polished of workpiece A and adjust the workpiece posture adjustment component 200. Specifically, the edge contour A1 of the area to be polished of workpiece A is acquired in the camera frame M, and the target edge extension direction X2 of workpiece A after polishing is established; based on the relative position between the target edge extension direction X2 and the polishing reference line D, the workpiece posture adjustment component 200 is adjusted so that the target edge extension direction X2 is parallel to the polishing reference line D.

[0086] Edge contour A1 can be obtained from images acquired by the reference establishment component 300. For workpiece A with clear edges, edge contour A1 can be obtained through grayscale difference, contour extraction, or straight line fitting. Edge contour A1 is used to determine the position, shape, and orientation of the area to be polished, providing a basis for establishing the target edge extension direction X2.

[0087] The target edge extension direction X2 can be determined based on the fitted straight line of a predetermined segment in the edge contour A1, or it can be set by the operator in the camera image M according to the processing requirements. For example, when there are irregular burrs on the current edge of workpiece A, the target edge extension direction X2 may not be the actual direction of the outer edge of the burr, but a target direction determined according to the design contour of workpiece A or the required chamfer direction. In this way, the reference establishment component 300 does not only identify "what direction the existing edge is", but establishes a target reference of "what direction should be formed after grinding", which can better adapt to the trimming, chamfering and multi-angle processing requirements of the superhard material workpiece A.

[0088] Furthermore, referring to Figure 6 To facilitate the illustration of the positional changes of the area to be polished during the establishment of the visual reference, the camera image M can also display a starting safety line and a target safety line. The starting safety line can correspond to the polishing reference line D, or be an auxiliary display line that coincides with and is parallel to the polishing reference line D, used to indicate the initial reference position of workpiece A before it begins polishing. The target safety line can correspond to the target edge extension direction X2, or be an auxiliary display line that coincides with and is parallel to the target edge extension direction X2, used to indicate the target edge position or target edge direction to be formed after workpiece A completes polishing.

[0089] With the above settings, the operator can visually determine the relationship between the current edge contour A1 of workpiece A, the grinding reference line D, and the target edge extension direction X2 through the camera image M. On the one hand, the starting safety line can help determine the starting position of workpiece A for grinding, preventing workpiece A from directly entering the grinding area before the angle is aligned or the feed position is inaccurate; on the other hand, the target safety line can help determine the formation direction of the target edge of workpiece A after grinding, so that the target edge extension direction X2 of workpiece A can more clearly establish a correspondence with the grinding direction X1 of the grinding wheel assembly 100.

[0090] When there is an angle between the target edge extension direction X2 and the grinding reference line D, it indicates that the target grinding direction of workpiece A in its current posture does not match the grinding direction X1 of the grinding wheel assembly 100. In this case, the angle adjustment amount α can be determined based on the angle between the two, and the workpiece posture adjustment assembly 200 can drive workpiece A to rotate around the rotation axis Z. After adjustment, the target edge extension direction X2 is parallel to the grinding reference line D, meaning that the target edge direction to be formed on workpiece A is parallel to the grinding direction X1 of the grinding wheel assembly 100. At this point, the grinding wheel assembly 100 can perform consistent grinding of the target edge by moving along the grinding direction X1.

[0091] It should be noted that making the target edge extension direction X2 parallel to the grinding reference line D does not mean that the two must coincide in the camera frame M. Their parallelism is mainly used to determine the angular direction reference; the specific grinding depth or the distance between the workpiece A and the grinding wheel 101 can be adjusted by the second moving mechanism 104 along the feed direction Y1, or determined with the assistance of the proportional reference line E in embodiment 8. Thus, the angular direction reference and the grinding depth reference are separated, which avoids mistaking angle alignment for positional overlap, improving the clarity of debugging and processing logic.

[0092] The technical advantage of this embodiment lies in that by first acquiring the edge contour A1 and then establishing the target edge extension direction X2, the actual shape of the workpiece A, the machining allowance, and the target forming direction can be combined. For multiple edges to be ground, only the corresponding edge contour A1 needs to be acquired and the corresponding target edge extension direction X2 needs to be established, and the angle adjustment can be completed sequentially. This method can reduce the operator's reliance on protractors, straightedges, or trial grinding marks, and improve the angle consistency between different edge segments.

[0093] Example 8

[0094] Reference Figure 7 This embodiment further illustrates the correspondence between the image distance in the camera frame M and the actual grinding depth. Specifically, a proportional reference line E parallel to the grinding reference line D is established in the camera frame M; based on the proportional relationship between the image distance in the camera frame M and the actual grinding depth of the workpiece A along the feed direction Y1, the image offset of the proportional reference line E relative to the grinding reference line D is determined.

[0095] The proportional reference line E can be used to represent the image position corresponding to the target grinding depth. The grinding reference line D is mainly used to represent the grinding direction X1 of the grinding wheel assembly 100, while the proportional reference line E is parallel to the grinding reference line D and has a certain image offset relative to the grinding reference line D. This image offset can be determined based on the thickness of the material to be removed, the actual grinding depth of the workpiece A along the feed direction Y1, and the proportional calibration relationship of the camera image M. For example, if each millimeter of actual distance in the camera image M corresponds to a certain number of pixels, then the predetermined actual grinding depth can be converted into the pixel offset in the camera image M.

[0096] In practice, the proportional relationship between the image distance in the camera frame M and the actual distance can be determined first by calibrating the known movement distance of the workpiece, calibration ruler, or grinding wheel assembly 100. Then, based on the material depth to be removed from workpiece A along the feed direction Y1, the image offset of the proportional reference line E relative to the grinding reference line D is calculated. After the proportional reference line E is established, the operator or image processing unit can intuitively determine the relationship between the edge contour A1 and the target removal depth, thereby assisting the second moving mechanism 104 in determining the feed amount.

[0097] The parallelism between the proportional reference line E and the grinding reference line D is of great significance. Since the grinding reference line D corresponds to the grinding direction X1 of the grinding wheel assembly 100, and the feed direction Y1 intersects with the grinding direction X1, the actual grinding depth is usually reflected as the lateral offset relative to the grinding direction X1. Setting the proportional reference line E parallel to the grinding reference line D ensures that the distance between them corresponds to the amount of material removed or the grinding depth along the feed direction Y1, without changing the angular reference of the target edge extension direction X2. In this way, the camera image M can express both directional alignment and depth control.

[0098] The technical advantage of this embodiment lies in establishing a feed reference in addition to the angular reference. For a workpiece A made of superhard material, due to its high hardness and small machining allowance, if only the angular direction is addressed without controlling the grinding depth, over-grinding, under-grinding, or inconsistent edges may still occur. This embodiment links the image distance with the actual grinding depth through the proportional reference line E, enabling the reference establishment component 300 to not only be used for angle alignment but also to assist in determining the actual grinding depth, thereby improving the overall machining quality.

[0099] Example 9

[0100] Reference Figure 8This embodiment further illustrates the method for determining the axis position P1. Determining the axis position P1 in the camera frame M includes: positioning the workpiece orientation adjustment component 200 in its initial posture and obtaining the initial axis L1 of the clamping axis O in the camera frame M; rotating the workpiece orientation adjustment component 200 around the rotation axis Z by a predetermined calibration angle and obtaining the deflection axis L2 of the clamping axis O in the camera frame M; wherein, the intersection of the initial axis L1 and the deflection axis L2 is determined as the axis position P1 of the rotation axis Z in the camera frame M.

[0101] During equipment installation or debugging, although the camera center line L and the rotation axis Z can be correspondingly set through mechanical assembly, the actual mapped position of the rotation axis Z in the camera image M may deviate from the theoretical position due to installation errors, minor offsets of the camera device, or manufacturing errors of the workpiece posture adjustment component 200. Therefore, this embodiment determines the axis position P1 by the actual rotational movement of the workpiece posture adjustment component 200, rather than relying entirely on structural dimensions for calculation. This method can more realistically reflect the rotation center of workpiece A in the camera image M when it rotates around the rotation axis Z.

[0102] Specifically, the workpiece orientation adjustment component 200 can first be positioned in its initial posture. At this time, the identifiable straight line direction on the clamping member 201 or workpiece A corresponds to the clamping axis O, forming an initial axis L1 in the camera image M. Subsequently, the workpiece orientation adjustment component 200 is rotated around the rotation axis Z by a predetermined calibration angle, such as 30 degrees, 45 degrees, or other angles suitable for recognition, and then the deflection axis L2 of the clamping axis O in the camera image M is obtained. Since the initial axis L1 and the deflection axis L2 correspond to the image positions of the same clamping axis O before and after rotation around the rotation axis Z, their intersection can reflect the rotation center, i.e., the axis position P1.

[0103] The advantage of this method is that the axis position P1 is determined by the image relationship before and after the actual rotation, which can simultaneously compensate for the installation error of the camera device and the structural deviation of the workpiece posture adjustment component 200. Compared with simply taking the center point in the image as the axis position, the axis position P1 obtained in this embodiment is closer to the center of the actual rotation of workpiece A around the rotation axis Z. Therefore, when the angle adjustment amount α is subsequently calculated based on the relationship between the target edge extension direction X2 and the grinding reference line D, the posture adjustment deviation caused by the incorrect axis position can be reduced.

[0104] The predetermined calibration angle can be selected based on the recognition accuracy of the camera image M and the movement range of the workpiece posture adjustment component 200. If the predetermined calibration angle is too small, the angle between the initial axis L1 and the deflection axis L2 will be small, and the intersection calculation will be easily affected by image noise; if the predetermined calibration angle is too large, the workpiece A may move out of the camera image M or cause edge occlusion. Therefore, the predetermined calibration angle is preferably set within a range that can clearly distinguish the initial axis L1 and the deflection axis L2, while not affecting image recognition.

[0105] Example 10

[0106] Reference Figure 9 Based on Example 9, this example further illustrates the setting method of the image center point P2 and the vertical axis L3. An image center point P2 is established in the camera frame M, and a vertical axis L3 passing through the image center point P2 is established within the camera frame M; wherein, the axis position P1 is located on the vertical axis L3. The image center point P2 can be the geometric center of the camera frame M, or it can be the center of the effective recognition area after distortion correction. The vertical axis L3 can be a reference line passing through the image center point P2 and extending longitudinally along the image.

[0107] Setting the axis position P1 to lie on the vertical line L3 provides a clear constraint relationship for equipment installation and image calibration. Specifically, when installing the reference establishment component 300, the position of the camera device can be adjusted so that the mapped position of the rotation axis Z in the camera image M falls on the vertical line L3. During image processing, this constraint relationship can also be used to verify the axis position P1. If the axis position P1 obtained through Example 9 deviates significantly from the vertical line L3, it indicates that there may be an installation deviation in the camera device or the workpiece orientation adjustment component 200, which needs to be corrected.

[0108] In one specific embodiment, the reference establishment component 300 displays the center point P2 and the vertical axis L3 in the camera screen M. During equipment debugging, the operator observes whether the axis position P1, determined by the initial axis L1 and the deflection axis L2, falls on the vertical axis L3. If the axis position P1 deviates from the vertical axis L3, the installation position of the camera device or the relative position between the workpiece orientation adjustment component 200 and the camera device is adjusted until the axis position P1 meets the predetermined requirements. After debugging, the vertical axis L3 can also be used as a calibration reference in daily use.

[0109] Furthermore, in this embodiment, the axis position P1 is set to be located on the vertical line L3, the purpose of which is to ensure that the corresponding position of the rotation axis Z in the camera frame M is in the middle region of the image width direction. Since the vertical line L3 passes through the center point P2 of the image, when the axis position P1 is located on the vertical line L3, when the workpiece A adjusts its angle around the rotation axis Z, its rotation trajectory in the camera frame M can unfold around the middle region of the image, without significantly deviating to one side of the camera frame M.

[0110] Specifically, when workpiece A is supported by workpiece orientation adjustment component 200 and rotates around rotation axis Z, the area to be polished, edge contour A1, and target edge extension direction X2 of workpiece A will all change position in the camera frame M as the angle of workpiece A changes. If the axis position P1 deviates significantly from the center of the frame, workpiece A is likely to move to one side of the camera frame M during rotation, and may even cause the area to be polished or part of the edge contour A1 to exceed the effective observation range of the camera frame M, affecting the recognition and judgment of the target edge extension direction X2 by the reference establishment component 300.

[0111] By positioning the axis P1 on the vertical line L3, workpiece A can be kept within the central observation area of ​​the camera frame M under different angles and postures. Thus, even if the workpiece orientation adjustment component 200 rotates workpiece A around the rotation axis Z through different angles, the main contour and the area to be polished of workpiece A are unlikely to deviate from the effective observation range of the camera frame M. This facilitates the reference establishment component 300 in continuously acquiring the edge contour A1 of workpiece A and stably establishing the target edge extension direction X2.

[0112] Therefore, in this embodiment, the vertical line L3 of the axis not only helps determine the axis position P1, but also limits the centering relationship of the axis position P1 in the camera frame M, so that the visual reference establishment process has a more stable image reference. Compared with the method of randomly offsetting the axis position P1 to one side of the camera frame M, this setting can reduce the problems of workpiece A leaving the frame after rotation, insufficient edge recognition area, or unstable visual reference, which is beneficial to improving the continuity of image recognition and the reliability of angle adjustment in the multi-angle posture adjustment process.

[0113] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A method for establishing a visual reference for a multi-angle superhard material grinding machine, characterized in that: The multi-angle superhard material grinding machine includes... A grinding wheel assembly (100) having a grinding direction (X1); The workpiece orientation adjustment assembly (200) is used to carry the workpiece (A) and drive the workpiece (A) to rotate around the rotation axis (Z) according to the angle adjustment amount α; A reference establishment component (300) is used to establish the target edge extension direction (X2) of the workpiece (A). The reference establishment component (300) has an image center line (L), which is correspondingly set with the rotation axis (Z). Wherein, the angle adjustment amount α corresponds to the angle between the target edge extension direction (X2) and the grinding direction (X1); The method includes, The reference establishment component (300) acquires the camera image (M) of the workpiece (A), which is carried by the workpiece posture adjustment component (200) and can drive the workpiece (A) to rotate around the rotation axis (Z). In the camera view (M), establish the axis position (P1) corresponding to the rotation axis (Z) and the grinding reference line (D) parallel to the grinding direction (X1) of the grinding wheel assembly (100).

2. The visual reference establishment method for a multi-angle superhard material grinding machine as described in claim 1, characterized in that: The edge contour (A1) of the area to be polished of the workpiece (A) is obtained in the camera image (M), and the target edge extension direction (X2) of the workpiece (A) after polishing is established. Based on the relative position between the target edge extension direction (X2) and the grinding reference line (D), the workpiece posture adjustment component (200) is adjusted so that the target edge extension direction (X2) is parallel to the grinding reference line (D).

3. The visual reference establishment method for a multi-angle superhard material grinding machine as described in claim 2, characterized in that: Establish a proportional reference line (E) parallel to the polishing reference line (D) in the camera frame (M); Based on the proportional relationship between the image distance in the camera image (M) and the actual grinding depth of the workpiece (A) along the feed direction (Y1), the image offset of the proportional reference line (E) relative to the grinding reference line (D) is determined.

4. The visual reference establishment method for a multi-angle superhard material grinding machine as described in any one of claims 1 to 3, characterized in that: Determining the axis position (P1) in the camera frame (M) includes: The workpiece orientation adjustment assembly (200) is positioned in its initial orientation, and the initial axis (L1) of the clamping axis (O) in the camera frame (M) is obtained. The workpiece orientation adjustment assembly (200) is rotated around the rotation axis (Z) by a predetermined calibration angle, and the deflection axis (L2) of the clamping axis (O) in the camera image (M) is obtained. The intersection of the initial axis (L1) and the deflection axis (L2) is determined as the axial center position (P1) of the rotation axis (Z) in the camera frame (M).

5. The visual reference establishment method for a multi-angle superhard material grinding machine as described in claim 4, characterized in that: Establish a center point (P2) in the camera frame (M), and establish a perpendicular line (L3) through the center point (P2) within the camera frame (M). The axis position (P1) is located on the axis perpendicular line (L3).

Images