A method and system for automatic compensation of cross-bar distance of a gear grinding machine based on OPC UA protocol

Abstract

The application discloses a kind of based on the automatic compensation method and system of cross-bar distance of gear grinding machine based on OPC UA protocol, belong to gear processing technical field.Method includes presetting cross-bar distance process reference parameter and hierarchical compensation rule parameter based on workpiece design parameter and gear grinding machine working condition parameter;Cross-bar distance measured value of gear grinding machine processing gear is obtained by pre-built two-way communication link based on OPC UA protocol;Interval attribution of the cross-bar distance measured value is judged: if process lower control line≤cross-bar distance measured value≤process upper control line, compensation base value=cross-bar distance theoretical value-cross-bar distance measured value is calculated, and according to cross-bar distance measured value and the hierarchical compensation rule parameter determine the belonging fluctuation interval, and match hierarchical compensation rule;According to the matched hierarchical compensation rule, the number of processed workpieces is accumulated, and the actual compensation value is calculated after reaching the corresponding compensation piece number period;The actual compensation value is transmitted to gear grinding machine numerical control system by OPC UA protocol, and automatic compensation of tool radial feed is completed.

Description

Technical Field

[0001] This invention belongs to the field of gear processing technology and relates to an automatic compensation method and system for the span of gear grinding machine based on the OPC UA protocol. Background Technology

[0002] Gear transmission is the core transmission form of mechanical equipment. The span of the gear teeth (M value) is a core indicator that indirectly characterizes the precision of gear tooth thickness and directly determines the gear meshing backlash, transmission smoothness, noise, and fatigue life. As the core equipment for precision machining of gears after heat treatment, the gear grinding machine is affected by multiple factors during the machining process, including grinding heat, frictional heat of moving pairs, ambient temperature fluctuations, and grinding wheel wear. The machine tool spindle, tool post, and worktable continuously generate thermal deformation, which directly causes the span of the gear teeth to drift continuously. The stable control of the span of the gear teeth is the core technological challenge in the mass production of high-precision gears.

[0003] The current mainstream method for controlling the span of gears in the industry is manual periodic compensation. The complete process is as follows: the operator uses a micrometer and a special measuring instrument to randomly check the span of gears at fixed intervals, compares the measured value with the theoretical difference, determines the radial compensation direction and amount based on operating experience, and manually enters the compensation parameters into the CNC system to complete the size correction. The manual compensation mode has three inherent technical defects: (1) The compensation is delayed and cannot suppress the dimensional deviation in real time: the manual can only process a certain number of batches and then conduct a unified sampling inspection for compensation. During the processing, the cross-bar distance is constantly thermally drifted and cannot be responded to in real time. Gears processed in the drift range are very likely to be scrapped due to cross-bar distance deviation; (2) The compensation consistency is poor and the process capability is unstable: the compensation amount is entirely based on the subjective experience of the operator. There are obvious differences in the compensation strategies of different personnel and different shifts. The cross-bar distance dispersion is large. The batch production process capability index PPK has been maintained at around 1.5 for a long time, which is difficult to meet the mass production requirements of high-precision gears such as new energy and precision reducers; (3) The production efficiency is low and human error is uncontrollable: manual measurement, recording, calculation and input of compensation takes up a lot of time and increases labor costs. Long-term repeated measurement operations are prone to fatigue, reading deviation, tilting of measuring bars and other human errors, which further amplify the cross-bar distance fluctuation. For example, the Chinese invention patent with application number 202011614068.0, "An Automatic Compensation Processing Method for Gear Tooth Thickness Deviation of CNC Gear Shaving Machine", is only suitable for gear shaving conditions. It adopts static open-loop temperature prediction compensation and lacks closed-loop correction and hierarchical adaptive compensation logic for finished product span distance, making it unsuitable for complex gear grinding conditions. For example, the Chinese invention patent with application number 202111586582.2, "A Dynamic Modeling and Compensation Method for Thermal Error of Gear Grinding Machine Based on Online Measurement", only detects the thermal deformation of the machine tool body rather than the finished product span distance. It is a semi-open-loop fixed-cycle compensation, lacks hierarchical adaptive compensation strategy, and the equipment modification is complex and existing production line measuring instruments cannot be reused.

[0004] Although the industry has gradually introduced automated measuring instruments to collect cross-bar spacing data, a complete closed-loop control system has not yet been built. There is a lack of differentiated adaptive compensation strategies based on the cross-bar spacing fluctuation range. Data collection is only achieved, but the entire link of "data collection-difference calculation-dynamic compensation" has not been fully automated. The compensation effect is limited, the PPK index cannot be maintained at a stable high level, and it is difficult to adapt to the needs of high-precision gear mass continuous production. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problems in the prior art of not constructing a complete closed-loop control system and lacking a differentiated adaptive compensation strategy based on the division of the cross-bar pitch fluctuation range, and to provide an automatic cross-bar pitch compensation method and system for gear grinding machines based on the OPC UA protocol.

[0006] To achieve the above objectives, the present invention employs the following technical solution: In a first aspect, this invention discloses an automatic compensation method for the span of gear grinding machine based on the OPC UA protocol, comprising: Based on the workpiece design parameters and the gear grinding machine operating parameters, preset cross-bar spacing process reference parameters and graded compensation rule parameters are used. The process reference parameters include the theoretical value of cross-bar spacing, the upper process control line and the lower process control line. The graded compensation rule parameters include the threshold range of the first interval for small fluctuations, the threshold range of the second interval for medium fluctuations, the compensation safety factor, the number of compensation pieces corresponding to the first interval and the number of compensation pieces corresponding to the second interval. The measured value of the span of the gear processed by the gear grinding machine is obtained by using a pre-built bidirectional communication link based on the OPC UA protocol. Determine the range of the measured cross-bar spacing: If the measured cross-bar spacing is less than the lower process control line or greater than the upper process control line, trigger an equipment alarm signal and terminate the current automatic compensation process; if the lower process control line is less than or equal to the measured cross-bar spacing and less than or equal to the upper process control line, calculate the compensation base value = theoretical cross-bar spacing - measured cross-bar spacing, and determine the fluctuation range based on the measured cross-bar spacing and the graded compensation rule parameters, and match the graded compensation rule. Based on the matching graded compensation rules, the number of processed workpieces is accumulated, and the actual compensation value is calculated after the corresponding compensation period is reached: when the measured value of the span distance falls within the range of the corresponding compensation period of the first interval, the actual compensation value = the compensation base value; when the measured value of the span distance falls within the range of the corresponding compensation period of the second interval but does not belong to the range of the corresponding compensation period of the first interval, the actual compensation value = the compensation safety factor × the compensation base value. The actual compensation value is transmitted to the CNC system of the gear grinding machine via the OPC UA protocol and written into the dedicated parameter field for cross-bar adjustment built into the gear grinding machine to complete the automatic compensation of the tool radial feed. The system continuously acquires the measured values ​​of the cross-bar spacing of subsequent workpieces and iteratively executes the steps of determining the interval of the measured cross-bar spacing values, calculating the actual compensation value, and transmitting it to the CNC system of the gear grinding machine, thus forming a closed-loop adaptive compensation for the cross-bar spacing.

[0007] Further improvements are made in the following aspects: The compensation safety factor ranges from 60% to 80%, and is adaptively adjusted based on the precision of the gear grinding machine, the gear processing material, and the gear precision requirements.

[0008] The measured span of the bar is obtained piece by piece by an IoT measuring instrument. The data transmission delay of the IoT measuring instrument does not exceed 100ms, and the measurement accuracy is ±0.001mm.

[0009] The bidirectional communication link based on the OPC UA protocol is built on Ethernet to realize bidirectional data interaction between IoT measuring instruments, data processing modules and the CNC system of the gear grinding machine.

[0010] During the execution of the method, the measured value of the span distance, the basic value of compensation, the actual compensation value, the timing of compensation execution, and the cumulative number of processed parts corresponding to each gear are stored synchronously to generate a traceable process data log.

[0011] The threshold ranges of the first and second intervals are divided by collecting cross-bar pitch fluctuation data through batch trial production of the gear grinding machine. Small fluctuations are matched with a longer compensation period, while intervals with larger fluctuation amplitudes are matched with a shorter compensation period.

[0012] When the equipment alarm signal is triggered, the system synchronously records the measured value of the cross-bar distance of the out-of-tolerance workpiece and the processing sequence information, retains the out-of-tolerance traceability record, and continuously receives the cross-bar distance data collected by the subsequent IoT measuring instrument, waiting for manual investigation and reset to resume the automatic compensation process.

[0013] Secondly, this invention discloses an automatic compensation system for the span of gear grinding bars based on the OPC UA protocol, comprising: The parameter preset module is used to preset the cross-bar spacing process reference parameters and graded compensation rule parameters based on the workpiece design parameters and the gear grinding machine operating parameters. The process reference parameters include the theoretical value of the cross-bar spacing, the upper process control line and the lower process control line. The graded compensation rule parameters include the threshold range of the first interval with small fluctuations, the threshold range of the second interval with medium fluctuations, the compensation safety factor, the number of compensation pieces corresponding to the first interval and the number of compensation pieces corresponding to the second interval. The cross-bar distance measurement module acquires the cross-bar distance measurement value of the gear processed by the gear grinding machine through a pre-built bidirectional communication link based on the OPC UA protocol. The interval assignment judgment module is used to determine the interval assignment of the measured value of the cross-bar spacing: if the measured value of the cross-bar spacing is < the lower control line of the process or the measured value of the cross-bar spacing is > the upper control line of the process, an equipment alarm signal is triggered, and the current automatic compensation process is terminated; if the lower control line of the process is ≤ the measured value of the cross-bar spacing ≤ the upper control line of the process, the compensation base value is calculated as theoretical value of cross-bar spacing - measured value of cross-bar spacing, and the fluctuation interval to which it belongs is determined according to the measured value of the cross-bar spacing and the graded compensation rule parameters, and the graded compensation rule is matched. The actual compensation value calculation module is used to accumulate the number of processed workpieces according to the matching graded compensation rules, and calculate the actual compensation value after reaching the corresponding compensation number cycle: when the measured value of the span distance falls within the range of the corresponding compensation number cycle of the first interval, the actual compensation value = the compensation base value; when the measured value of the span distance falls within the range of the corresponding compensation number cycle of the second interval but does not belong to the range of the corresponding compensation number cycle of the first interval, the actual compensation value = the compensation safety factor × the compensation base value. The automatic compensation module is used to transmit the actual compensation value to the CNC system of the gear grinding machine via the OPC UA protocol, write it into the special parameter field for cross-bar adjustment built into the gear grinding machine, and complete the automatic compensation of the tool radial feed. The closed-loop adaptive compensation module is used to continuously acquire the measured value of the cross-bar spacing of subsequent workpieces and repeatedly execute the steps of judging the interval of the measured value of the cross-bar spacing, calculating the actual compensation value and transmitting it to the CNC system of the gear grinding machine, thus forming a closed-loop adaptive compensation for the cross-bar spacing.

[0014] Thirdly, the present invention discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned automatic compensation method for the pitch of a gear grinding machine based on the OPC UA protocol.

[0015] Fourthly, the present invention discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-mentioned automatic compensation method for the span of gear grinding machine based on the OPC UA protocol.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention discloses an automatic compensation method for gear grinding machine cross-pitch based on the OPC UA protocol, which has several outstanding technical advantages compared with traditional manual compensation methods and existing thermal error compensation technologies: First, this solution pre-divides two-level fluctuation compensation intervals based on workpiece design tolerances and actual machine tool operating conditions. Differentiated compensation cycles and compensation coefficients are matched for small-amplitude and medium-amplitude dimensional fluctuations, respectively. Small-amplitude fluctuations use full compensation amounts and long compensation cycles to avoid dimensional oscillations caused by frequent adjustments. Medium-amplitude fluctuations use reduced compensation amounts with safety factors and short compensation cycles to quickly suppress dimensional drift. This effectively avoids the accuracy overshoot problem caused by overcompensation and can promptly offset the cross-pitch offset that continuously occurs during processing, significantly improving the consistency of gear cross-pitch batch processing, stabilizing and improving the process capability PPK index, and solving the defects of traditional manual compensation that rely on operator experience, have inconsistent compensation standards, and have large dimensional dispersion; Second, this invention relies on OPC The UA protocol establishes a standardized two-way communication link, enabling real-time acquisition of the span-bar distance measurement data for each gear. This creates a fully automated closed-loop link from "dimension acquisition - interval determination - compensation calculation - machine tool parameter modification," eliminating the need for manual measurement, compensation calculation, and manual input of machine tool parameters. This saves time spent on manual sampling, recording, and adjustments, significantly improving the overall production efficiency of gear grinding. It also eliminates human errors such as reading deviations and fatigue caused by prolonged manual operation. Thirdly, this solution directly uses the measured span-bar distance of the finished gear as the basis for compensation feedback, and the compensation logic... Directly targeting the final dimensional accuracy of gears, this invention can simultaneously offset multiple compound errors such as machine tool thermal deformation, grinding wheel wear, tooling positioning deviation, and deformation of heat-treated parts. Unlike open-loop compensation schemes that rely solely on machine tool temperature sensors to predict errors, this compensation closely matches actual machining conditions, resulting in higher accuracy. Fourth, the invention incorporates an alarm mechanism for exceeding process upper and lower control lines. Once the measured dimension across the bar spacing exceeds the acceptable range, an alarm is immediately triggered and compensation is paused. Excess data is simultaneously retained for process traceability, enabling early interception of batches of defective workpieces and effectively reducing part scrap rates. Fifth, OPC... The UA protocol boasts excellent device compatibility, adapting to various CNC gear grinding machines. The compensation safety factor, interval threshold, and compensation cycle can be flexibly configured based on machine tool accuracy, processing material, and gear accuracy requirements, making it suitable for batch production scenarios of multi-specification gears. Sixth, this method automatically records all process data throughout the entire process, including measured values ​​across bar spacing, compensation base values, actual compensation values, and compensation execution sequence, forming a complete and traceable data log. This facilitates subsequent process review, parameter iteration and optimization, and continuous improvement of cross-bar spacing machining accuracy. Seventh, the entire compensation logic relies on the existing production line's IoT measuring instrument and machine tool CNC system communication interface, requiring no modification to the machine tool body or automated loading / unloading structure. This results in low equipment modification costs and allows for direct application to existing automated gear grinding production lines, enhancing its widespread adoption.

[0017] This invention discloses an automatic compensation system for the cross-pitch of a gear grinding machine based on the OPC UA protocol, which offers significant advantages over traditional manual compensation and existing compensation schemes. The system sets differentiated compensation strategies based on dimensional fluctuation ranges, matching different compensation cycles and amounts for small and medium cross-pitch drifts to avoid dimensional oscillations caused by overcompensation, effectively reducing cross-pitch machining dispersion, and steadily improving the process capability index (PPK). The system relies on a standardized OPC UA bidirectional communication link to achieve automatic data flow, connecting the entire process of dimensional acquisition, logical operation, and machine tool parameter correction, eliminating the limitations of manual measurement and manual input of compensation parameters, eliminating human error, and improving production efficiency. The system directly uses actual cross-pitch data of finished products as feedback, and can simultaneously compensate for multiple composite errors such as machine tool thermal deformation and grinding wheel wear, resulting in higher compensation accuracy. It also includes a dimensional over-limit alarm mechanism to promptly avoid the risk of batch scrapping; the system does not require large-scale modification of machine tool hardware, is compatible with various CNC gear grinding equipment, has flexible parameter configuration, can adapt to the machining of various gear specifications, and can completely retain process data, facilitating process traceability and continuous optimization. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of an automatic compensation method for the span of a gear grinding machine based on the OPC UA protocol, as described in an embodiment of the present invention. Figure 2 This is an architecture diagram of an automatic compensation method for the span of gear grinding machine based on the OPC UA protocol in an embodiment of the present invention. Figure 3 This is a block diagram of an automatic compensation system for the span of a gear grinding machine based on the OPC UA protocol, as described in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] The present invention will now be described in further detail with reference to the accompanying drawings: See Figure 1 This invention discloses an automatic compensation method for the span of gear grinding machine based on the OPC UA protocol, comprising: S1, based on the workpiece design parameters and the gear grinding machine operating parameters, preset the cross-bar spacing process reference parameters and graded compensation rule parameters; the process reference parameters include the theoretical value of the cross-bar spacing, the upper process control line and the lower process control line; the graded compensation rule parameters include the threshold range of the first interval with small fluctuations, the threshold range of the second interval with medium fluctuations, the compensation safety factor, the number of compensation pieces corresponding to the first interval and the number of compensation pieces corresponding to the second interval. S2, the measured value of the span of the gear processed by the gear grinding machine is obtained through a pre-built bidirectional communication link based on the OPC UA protocol; S3, determine the interval to which the measured value of the bar spacing belongs: if the measured value of the bar spacing is < the lower control line of the process or the measured value of the bar spacing is > the upper control line of the process, trigger the equipment alarm signal and terminate the current automatic compensation process; if the lower control line of the process is ≤ the measured value of the bar spacing and ≤ the upper control line of the process, calculate the compensation base value = theoretical value of the bar spacing - measured value of the bar spacing, and determine the fluctuation interval to which it belongs based on the measured value of the bar spacing and the graded compensation rule parameters, and match the graded compensation rule; S4. Based on the matching graded compensation rules, the number of processed workpieces is accumulated. After reaching the corresponding compensation period, the actual compensation value is calculated: When the measured value of the span distance falls within the compensation period range of the first interval, the actual compensation value = the compensation base value; when the measured value of the span distance falls within the compensation period range of the second interval but does not belong to the compensation period range of the first interval, the actual compensation value = the compensation safety factor × the compensation base value. S5, the actual compensation value is transmitted to the CNC system of the gear grinding machine via the OPC UA protocol and written into the special parameter field for cross-bar adjustment built into the gear grinding machine to complete the automatic compensation of the tool radial feed; S6, continuously acquire the measured value of the cross-bar distance of subsequent workpieces and repeatedly execute the steps of judging the interval of the measured value of the cross-bar distance, calculating the actual compensation value and transmitting it to the CNC system of the gear grinding machine, to form a closed-loop adaptive compensation for the cross-bar distance.

[0024] This invention discloses an automatic compensation method for gear grinding machine cross-pitch based on the OPC UA protocol, which has several outstanding technical advantages compared with traditional manual compensation methods and existing thermal error compensation technologies: First, this solution pre-divides two-level fluctuation compensation intervals based on workpiece design tolerances and actual machine tool operating conditions. Differentiated compensation cycles and compensation coefficients are matched for small-amplitude and medium-amplitude dimensional fluctuations, respectively. Small-amplitude fluctuations use full compensation amounts and long compensation cycles to avoid dimensional oscillations caused by frequent adjustments. Medium-amplitude fluctuations use reduced compensation amounts with safety factors and short compensation cycles to quickly suppress dimensional drift. This effectively avoids the accuracy overshoot problem caused by overcompensation and can promptly offset the cross-pitch offset that continuously occurs during processing, significantly improving the consistency of gear cross-pitch batch processing, stabilizing and improving the process capability PPK index, and solving the defects of traditional manual compensation that rely on operator experience, have inconsistent compensation standards, and have large dimensional dispersion; Second, this invention relies on OPC The UA protocol establishes a standardized two-way communication link, enabling real-time acquisition of the span-bar distance measurement data for each gear. This creates a fully automated closed-loop link from "dimension acquisition - interval determination - compensation calculation - machine tool parameter modification," eliminating the need for manual measurement, compensation calculation, and manual input of machine tool parameters. This saves time spent on manual sampling, recording, and adjustments, significantly improving the overall production efficiency of gear grinding. It also eliminates human errors such as reading deviations and fatigue caused by prolonged manual operation. Thirdly, this solution directly uses the measured span-bar distance of the finished gear as the basis for compensation feedback, and the compensation logic... Directly targeting the final dimensional accuracy of gears, this invention can simultaneously offset multiple compound errors such as machine tool thermal deformation, grinding wheel wear, tooling positioning deviation, and deformation of heat-treated parts. Unlike open-loop compensation schemes that rely solely on machine tool temperature sensors to predict errors, this compensation closely matches actual machining conditions, resulting in higher accuracy. Fourth, the invention incorporates an alarm mechanism for exceeding process upper and lower control lines. Once the measured dimension across the bar spacing exceeds the acceptable range, an alarm is immediately triggered and compensation is paused. Excess data is simultaneously retained for process traceability, enabling early interception of batches of defective workpieces and effectively reducing part scrap rates. Fifth, OPC... The UA protocol boasts excellent device compatibility, adapting to various CNC gear grinding machines. The compensation safety factor, interval threshold, and compensation cycle can be flexibly configured based on machine tool accuracy, processing material, and gear accuracy requirements, making it suitable for batch production scenarios of multi-specification gears. Sixth, this method automatically records all process data throughout the entire process, including measured values ​​across bar spacing, compensation base values, actual compensation values, and compensation execution sequence, forming a complete and traceable data log. This facilitates subsequent process review, parameter iteration and optimization, and continuous improvement of cross-bar spacing machining accuracy. Seventh, the entire compensation logic relies on the existing production line's IoT measuring instrument and machine tool CNC system communication interface, requiring no modification to the machine tool body or automated loading / unloading structure. This results in low equipment modification costs and allows for direct application to existing automated gear grinding production lines, enhancing its widespread adoption.

[0025] The present invention will be described in detail below with reference to specific embodiments: Example 1 See Figure 2 This embodiment discloses an automatic compensation method for the span of gear grinding machine based on the OPC UA protocol, including: Step 1: Based on the workpiece design parameters and the gear grinding machine operating parameters, preset the cross-pitch process reference parameters and graded compensation rule parameters. The process reference parameters include the theoretical value of the cross-pitch, the upper process control line, and the lower process control line. The graded compensation rule parameters include the threshold range of the first interval for small fluctuations, the threshold range of the second interval for medium fluctuations, the compensation safety factor, the compensation number of cycles corresponding to the first interval and the second interval. The compensation safety factor ranges from 60% to 80%, and is adaptively adjusted based on the gear grinding machine's equipment accuracy, gear processing material, and gear accuracy requirements. The threshold ranges of the first and second intervals are divided by collecting cross-pitch fluctuation data from batch trial production of the gear grinding machine. Small fluctuations are matched with longer compensation number of cycles, and intervals with larger fluctuation amplitudes are matched with shorter compensation number of cycles.

[0026] Step two involves acquiring the measured span distance of the gears processed by the gear grinding machine through a pre-established bidirectional communication link based on the OPC UA protocol. The measured span distance is obtained piece-by-piece by an IoT measuring instrument, with a data transmission delay of no more than 100ms and a measurement accuracy of ±0.001mm. This bidirectional communication link, based on the OPC UA protocol, is built using Ethernet to enable bidirectional data interaction between the IoT measuring instrument, the data processing module, and the gear grinding machine's CNC system.

[0027] Step 3: Determine the range of the measured cross-bar spacing: If the measured cross-bar spacing is < the lower process control line or > the upper process control line, trigger an equipment alarm signal and terminate the current automatic compensation process; if the lower process control line ≤ the measured cross-bar spacing ≤ the upper process control line, calculate the compensation base value = theoretical cross-bar spacing - measured cross-bar spacing, and determine the fluctuation range according to the measured cross-bar spacing and the graded compensation rule parameters, and match the graded compensation rule; when the equipment alarm signal is triggered, the system synchronously records the measured cross-bar spacing of the out-of-tolerance workpiece, the processing sequence information, retains the out-of-tolerance traceability record, and continuously receives cross-bar spacing data collected by subsequent IoT measuring instruments, waiting for manual investigation and reset to resume the automatic compensation process.

[0028] Step 4: Accumulate the number of processed workpieces according to the matching graded compensation rules. After reaching the corresponding compensation period, calculate the actual compensation value: When the measured value of the span distance falls within the compensation period range of the first interval, the actual compensation value = the compensation base value; when the measured value of the span distance falls within the compensation period range of the second interval but does not belong to the compensation period range of the first interval, the actual compensation value = the compensation safety factor × the compensation base value. Step 5: Transmit the actual compensation value to the CNC system of the gear grinding machine via the OPC UA protocol and write it into the dedicated parameter field for cross-bar adjustment built into the gear grinding machine to complete the automatic compensation of the tool radial feed. Step six involves continuously acquiring the measured span-of-bar distance values ​​for subsequent workpieces and iteratively executing the steps of determining the interval assignment of the measured span-of-bar distance values, calculating the actual compensation value, and transmitting it to the CNC system of the gear grinding machine, thus forming a closed-loop adaptive compensation for the span-of-bar distance. During the method execution, the measured span-of-bar distance value, compensation base value, actual compensation value, compensation execution timing, and cumulative number of processed parts corresponding to each gear are stored synchronously, generating a traceable process data log.

[0029] Example 2 The automatic compensation method and system for gear grinding machine spacing in this embodiment achieves accurate automatic compensation for spacing through a closed-loop mechanism of "real-time data acquisition - interval judgment - dynamic compensation", as detailed below: 1. Core parameter settings Define the relevant process parameters and compensation rule parameters for the bar spacing: The theoretical value of the span distance S0 = 68.163 (process requirement value); The process control line S_UCL = 68.193, and the process control line S_LCL = 68.133 (parts exceeding this range are considered unqualified and no compensation is performed). The threshold range for the first interval of small fluctuations is [68.153, 68.173] (the compensation interval when the span-to-bar fluctuation is small). The threshold range for the second interval of fluctuation is [68.160, 68.190] (the compensation interval for large fluctuations in the bar spacing but not exceeding the process upper limit). Safety factor k: 60%-80% (default 80%, used to avoid overcompensation leading to accuracy overshoot); Compensation cycle: For small fluctuations, compensation is given once every 5 items in the first interval threshold range; for medium fluctuations, compensation is given once every 2 items in the second interval threshold range. Machine tool adjustment field: The _DOP field (core field for bar spacing adjustment) of the YKZ7215 gear grinding machine; Communication protocol: OPC UA protocol (ensuring real-time and reliable data transmission).

[0030] 2. System Composition The automatic compensation system in this embodiment includes four main modules, and the functions of each module are as follows: Data acquisition module: It adopts an IoT measuring instrument to acquire the measured value S of the span distance of the processed parts in real time, with a data transmission delay of ≤100ms to ensure data real-time performance; Data processing module: Built-in compensation algorithm. After receiving the measured value S, performs the following operations: ① Determines if S is within the range [S_LCL, S_UCL]; if it exceeds this range, compensation stops; ② Calculates the compensation base value ΔS = S0 - S (when S > S0, ΔS is negative, achieving negative compensation; when S < S0, ΔS is positive, achieving positive compensation); ③ Determines the compensation period and compensation amount based on the interval where S is located. S∈[68.153, 68.173]: Compensation amount Δ=ΔS, compensation once every 5 items; S∈[68.160, 68.190] and S [68.153, 68.173]: Compensation amount Δ = 80% × ΔS, compensation once for every 2 items; Communication module: Based on the OPC UA protocol, establish bidirectional communication between the data processing module and the gear grinding machine control system to ensure fast and accurate transmission of compensation commands; Execution module: The cross-bar spacing adjustment unit of the gear grinding machine. After receiving the compensation command, it automatically adjusts the cross-bar spacing by modifying the value of the _DOP field.

[0031] 3. Compensation Logic Flow (1) After starting the system, initialize all process parameters and compensation rule parameters; (2) The gear grinding machine starts processing, and the IoT measuring instrument synchronously collects the measured value S of the span distance of each part; (3) The data processing module receives S and performs interval judgment: If S < 68.133 or S > 68.193: Output an alarm signal and do not perform compensation; If 68.153≤S≤68.173: the cumulative number of processed pieces. For every 5 pieces processed, calculate Δ=S0-S and write it to the _DOP field via the OPC UA protocol. If 68.160≤S<68.153 or 68.173<S≤68.190: the cumulative number of processed pieces. For every 2 pieces processed, calculate Δ=0.8×(S0-S) and write it to the _DOP field via the OPC UA protocol. (4) After the compensation is completed, continue to collect the cross-bar distance data of the next batch of parts, repeat the above process, and form a closed-loop compensation.

[0032] The technical solution in this embodiment has the following effects: Improved PPK stability and value: Through real-time data acquisition and dynamic compensation, the subjectivity and lag of manual operation are avoided, significantly improving the consistency of cross-pitch machining. Verified on a YKZ7215 machine tool, the PPK value increased from 1.5 to 1.72, meeting the production requirements of high-precision gears; Full-process automation: No manual intervention is required; the entire process from data acquisition and difference calculation to compensation execution is completed automatically, greatly improving compensation efficiency and adapting to batch production needs; More precise differentiated compensation strategy: Different compensation cycles and amounts are formulated according to the cross-pitch fluctuation range. Conventional compensation is used in small fluctuation ranges, while high-frequency compensation with a safety factor is used in medium fluctuation ranges, ensuring both compensation effectiveness and avoiding over-compensation leading to precision overshoot; Strong compatibility: Based on OPC... The UA protocol enables communication with the machine tool and is compatible with various gear grinding machines such as the YKZ7215. The safety factor can be adjusted according to the actual situation of the equipment, making it widely applicable. It reduces the defect rate by monitoring the bar spacing value in real time and promptly alarming when it exceeds the upper and lower limits of the process, thus avoiding the production of batches of defective parts. At the same time, it stabilizes the bar spacing near the theoretical value through precise compensation, further reducing the defect rate.

[0033] Example 3 This embodiment discloses an automatic compensation method for the span of gear grinding machine based on the OPC UA protocol, specifically: (I) Equipment and parameter configuration Gear grinding machine: YKZ7215 CNC gear grinding machine, supports writing parameters in the _DOP field, and has an OPC UA communication interface; IoT measuring instrument: Measurement accuracy ±0.001mm, data transmission method is Ethernet, latency ≤50ms; Data processing module: It adopts an industrial control computer (IPC) with the compensation algorithm software of this invention built in, and establishes communication with IoT measuring instruments and gear grinding machines via Ethernet; Core parameter settings: The theoretical values ​​for the span distance are S0 = 68.163, S_UCL = 68.193, and S_LCL = 68.133. First interval [68.153, 68.173], second interval [68.160, 68.190]; Safety factor k = 80%; Compensation cycle: 5 items / time for the first interval, 2 items / time for the second interval.

[0034] (II) Work Process System initialization: Start the gear grinding machine, IoT measuring instrument and data processing module, enter the above core parameters in the compensation algorithm software, establish OPC UA communication connection between the data acquisition module, data processing module and gear grinding machine, and ensure normal data transmission; Parts processing and data acquisition: The gear grinding machine processes gear parts according to a preset program. After each part is processed, the IoT measuring instrument automatically measures its span-bar distance, obtains the measured value S, and transmits it to the data processing module in real time. Data processing and compensation judgment: Case 1: The measured span distance of a certain part is S=68.168, which belongs to the first interval [68.153, 68.173]. The data processing module calculates the compensation base value ΔS=68.163-68.168=-0.005. The system accumulates the number of processed parts. When 5 parts have been processed, a compensation instruction is generated with a compensation value Δ=-0.005. Δ is written to the _DOP field of the YKZ7215 gear grinding machine via the OPC UA protocol, completing one automatic compensation. Case 2: The measured span distance of a certain part is S=68.180, which belongs to the second interval [68.160, 68.190] and is not in the first interval. The data processing module calculates the compensation base value ΔS=68.163-68.180=-0.017, and the compensation value Δ=0.8×(-0.017)=-0.0136. The system accumulates the number of processed parts. When two parts are processed, the compensation value -0.0136 is written to the _DOP field to complete the automatic compensation. Case 3: The measured span of a certain part is S=68.200, which exceeds the process control line of 68.193. The data processing module outputs an alarm signal, prompting the operator to check the equipment and not to perform compensation operation. Closed-loop optimization: After compensation is completed, the gear grinding machine continues to process according to the adjusted _DOP parameters. The IoT measuring instrument continuously collects the cross-bar distance data of subsequent parts. The data processing module recalculates the compensation value based on the new measured value and dynamically adjusts the compensation strategy to ensure that the cross-bar distance is always stable near the theoretical value. Data recording and traceability: The storage unit of the data processing module records the measured values, compensation timing, compensation amount, and other data of each part in real time, supporting subsequent query and process optimization analysis.

[0035] (III) Verification of Implementation Results The automatic compensation method of this invention was applied to a YKZ7215 gear grinding machine for batch production verification. A total of 1,000 gear parts were processed, and the PPK value of the span distance was statistically analyzed: Before implementation (manual compensation): PPK value was 1.5, the span distance fluctuation range was 68.130-68.195, and the defect rate was 0.8%; After implementation (automatic compensation): PPK value increased to 1.72, the span distance fluctuation range decreased to 68.150-68.175, and the defect rate decreased to 0.1%.

[0036] Verification results show that the automatic compensation method of the present invention can effectively improve the stability and accuracy of cross-bar spacing machining, significantly reduce the defect rate, and meet the mass production requirements of high-precision gears.

[0037] See Figure 3 This invention also discloses an automatic compensation system for the span of gear grinding bars based on the OPC UA protocol, comprising: The parameter preset module is used to preset the cross-bar spacing process reference parameters and graded compensation rule parameters based on the workpiece design parameters and the gear grinding machine operating parameters. The process reference parameters include the theoretical value of the cross-bar spacing, the upper process control line and the lower process control line. The graded compensation rule parameters include the threshold range of the first interval with small fluctuations, the threshold range of the second interval with medium fluctuations, the compensation safety factor, the number of compensation pieces corresponding to the first interval and the number of compensation pieces corresponding to the second interval. The cross-bar distance measurement module acquires the cross-bar distance measurement value of the gear processed by the gear grinding machine through a pre-built bidirectional communication link based on the OPC UA protocol. The interval assignment judgment module is used to determine the interval assignment of the measured value of the cross-bar spacing: if the measured value of the cross-bar spacing is < the lower control line of the process or the measured value of the cross-bar spacing is > the upper control line of the process, an equipment alarm signal is triggered, and the current automatic compensation process is terminated; if the lower control line of the process is ≤ the measured value of the cross-bar spacing ≤ the upper control line of the process, the compensation base value is calculated as theoretical value of cross-bar spacing - measured value of cross-bar spacing, and the fluctuation interval to which it belongs is determined according to the measured value of the cross-bar spacing and the graded compensation rule parameters, and the graded compensation rule is matched. The actual compensation value calculation module is used to accumulate the number of processed workpieces according to the matching graded compensation rules, and calculate the actual compensation value after reaching the corresponding compensation number cycle: when the measured value of the span distance falls within the range of the corresponding compensation number cycle of the first interval, the actual compensation value = the compensation base value; when the measured value of the span distance falls within the range of the corresponding compensation number cycle of the second interval but does not belong to the range of the corresponding compensation number cycle of the first interval, the actual compensation value = the compensation safety factor × the compensation base value. The automatic compensation module is used to transmit the actual compensation value to the CNC system of the gear grinding machine via the OPC UA protocol, write it into the special parameter field for cross-bar adjustment built into the gear grinding machine, and complete the automatic compensation of the tool radial feed. The closed-loop adaptive compensation module is used to continuously acquire the measured value of the cross-bar spacing of subsequent workpieces and repeatedly execute the steps of judging the interval of the measured value of the cross-bar spacing, calculating the actual compensation value and transmitting it to the CNC system of the gear grinding machine, thus forming a closed-loop adaptive compensation for the cross-bar spacing.

[0038] This invention discloses an automatic compensation system for the cross-pitch of a gear grinding machine based on the OPC UA protocol, which offers significant advantages over traditional manual compensation and existing compensation schemes. The system sets differentiated compensation strategies based on dimensional fluctuation ranges, matching different compensation cycles and amounts for small and medium cross-pitch drifts to avoid dimensional oscillations caused by overcompensation, effectively reducing cross-pitch machining dispersion, and steadily improving the process capability index (PPK). The system relies on a standardized OPC UA bidirectional communication link to achieve automatic data flow, connecting the entire process of dimensional acquisition, logical operation, and machine tool parameter correction, eliminating the limitations of manual measurement and manual input of compensation parameters, eliminating human error, and improving production efficiency. The system directly uses actual cross-pitch data of finished products as feedback, and can simultaneously compensate for multiple composite errors such as machine tool thermal deformation and grinding wheel wear, resulting in higher compensation accuracy. It also includes a dimensional over-limit alarm mechanism to promptly avoid the risk of batch scrapping; the system does not require large-scale modification of machine tool hardware, is compatible with various CNC gear grinding equipment, has flexible parameter configuration, can adapt to the machining of various gear specifications, and can completely retain process data, facilitating process traceability and continuous optimization.

[0039] A third objective of this invention is to provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the automatic compensation method for the pitch of a gear grinding machine based on the OPC UA protocol.

[0040] The automatic compensation method for the span of gear grinding machine based on the OPC UA protocol includes the following steps: Based on the workpiece design parameters and the gear grinding machine operating parameters, preset cross-bar spacing process reference parameters and graded compensation rule parameters are used. The process reference parameters include the theoretical value of cross-bar spacing, the upper process control line and the lower process control line. The graded compensation rule parameters include the threshold range of the first interval for small fluctuations, the threshold range of the second interval for medium fluctuations, the compensation safety factor, the number of compensation pieces corresponding to the first interval and the number of compensation pieces corresponding to the second interval. The measured value of the span of the gear processed by the gear grinding machine is obtained by using a pre-built bidirectional communication link based on the OPC UA protocol. Determine the range of the measured cross-bar spacing: If the measured cross-bar spacing is less than the lower process control line or greater than the upper process control line, trigger an equipment alarm signal and terminate the current automatic compensation process; if the lower process control line is less than or equal to the measured cross-bar spacing and less than or equal to the upper process control line, calculate the compensation base value = theoretical cross-bar spacing - measured cross-bar spacing, and determine the fluctuation range based on the measured cross-bar spacing and the graded compensation rule parameters, and match the graded compensation rule. Based on the matching graded compensation rules, the number of processed workpieces is accumulated, and the actual compensation value is calculated after the corresponding compensation period is reached: when the measured value of the span distance falls within the range of the corresponding compensation period of the first interval, the actual compensation value = the compensation base value; when the measured value of the span distance falls within the range of the corresponding compensation period of the second interval but does not belong to the range of the corresponding compensation period of the first interval, the actual compensation value = the compensation safety factor × the compensation base value. The actual compensation value is transmitted to the CNC system of the gear grinding machine via the OPC UA protocol and written into the dedicated parameter field for cross-bar adjustment built into the gear grinding machine to complete the automatic compensation of the tool radial feed. The system continuously acquires the measured values ​​of the cross-bar spacing of subsequent workpieces and iteratively executes the steps of determining the interval of the measured cross-bar spacing values, calculating the actual compensation value, and transmitting it to the CNC system of the gear grinding machine, thus forming a closed-loop adaptive compensation for the cross-bar spacing.

[0041] The fourth objective of this invention is to provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the automatic compensation method for the span of gear grinding machine based on the OPC UA protocol.

[0042] The automatic compensation method for the span of gear grinding machine based on the OPC UA protocol includes the following steps: Based on the workpiece design parameters and the gear grinding machine operating parameters, preset cross-bar spacing process reference parameters and graded compensation rule parameters are used. The process reference parameters include the theoretical value of cross-bar spacing, the upper process control line and the lower process control line. The graded compensation rule parameters include the threshold range of the first interval for small fluctuations, the threshold range of the second interval for medium fluctuations, the compensation safety factor, the number of compensation pieces corresponding to the first interval and the number of compensation pieces corresponding to the second interval. The measured value of the span of the gear processed by the gear grinding machine is obtained by using a pre-built bidirectional communication link based on the OPC UA protocol. Determine the range of the measured cross-bar spacing: If the measured cross-bar spacing is less than the lower process control line or greater than the upper process control line, trigger an equipment alarm signal and terminate the current automatic compensation process; if the lower process control line is less than or equal to the measured cross-bar spacing and less than or equal to the upper process control line, calculate the compensation base value = theoretical cross-bar spacing - measured cross-bar spacing, and determine the fluctuation range based on the measured cross-bar spacing and the graded compensation rule parameters, and match the graded compensation rule. Based on the matching graded compensation rules, the number of processed workpieces is accumulated, and the actual compensation value is calculated after the corresponding compensation period is reached: when the measured value of the span distance falls within the range of the corresponding compensation period of the first interval, the actual compensation value = the compensation base value; when the measured value of the span distance falls within the range of the corresponding compensation period of the second interval but does not belong to the range of the corresponding compensation period of the first interval, the actual compensation value = the compensation safety factor × the compensation base value. The actual compensation value is transmitted to the CNC system of the gear grinding machine via the OPC UA protocol and written into the dedicated parameter field for cross-bar adjustment built into the gear grinding machine to complete the automatic compensation of the tool radial feed. The system continuously acquires the measured values ​​of the cross-bar spacing of subsequent workpieces and iteratively executes the steps of determining the interval of the measured cross-bar spacing values, calculating the actual compensation value, and transmitting it to the CNC system of the gear grinding machine, thus forming a closed-loop adaptive compensation for the cross-bar spacing.

[0043] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0044] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0045] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0046] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0047] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for automatic compensation of the span of gear grinding bars in a gear grinding machine based on the OPC UA protocol, characterized in that, include: Based on the workpiece design parameters and the gear grinding machine operating parameters, preset the cross-bar spacing process reference parameters and graded compensation rule parameters; The process reference parameters include the theoretical value of the span distance, the upper process control line, and the lower process control line; the graded compensation rule parameters include the threshold range of the first interval for small fluctuations, the threshold range of the second interval for medium fluctuations, the compensation safety factor, the number of compensation pieces corresponding to the first interval and the number of compensation pieces corresponding to the second interval. The measured value of the span of the gear processed by the gear grinding machine is obtained by using a pre-built bidirectional communication link based on the OPC UA protocol. Determine the range of the measured cross-bar spacing: If the measured cross-bar spacing is less than the lower process control line or greater than the upper process control line, trigger an equipment alarm signal and terminate the current automatic compensation process; if the lower process control line is less than or equal to the measured cross-bar spacing and less than or equal to the upper process control line, calculate the compensation base value = theoretical cross-bar spacing - measured cross-bar spacing, and determine the fluctuation range based on the measured cross-bar spacing and the graded compensation rule parameters, and match the graded compensation rule. Based on the matching graded compensation rules, the number of processed workpieces is accumulated, and the actual compensation value is calculated after the corresponding compensation period is reached: when the measured value of the span distance falls within the range of the corresponding compensation period of the first interval, the actual compensation value = the compensation base value; when the measured value of the span distance falls within the range of the corresponding compensation period of the second interval but does not belong to the range of the corresponding compensation period of the first interval, the actual compensation value = the compensation safety factor × the compensation base value. The actual compensation value is transmitted to the CNC system of the gear grinding machine via the OPC UA protocol and written into the dedicated parameter field for cross-bar adjustment built into the gear grinding machine to complete the automatic compensation of the tool radial feed. The system continuously acquires the measured values ​​of the cross-bar spacing of subsequent workpieces and iteratively executes the steps of determining the interval of the measured cross-bar spacing values, calculating the actual compensation value, and transmitting it to the CNC system of the gear grinding machine, thus forming a closed-loop adaptive compensation for the cross-bar spacing.

2. The automatic compensation method for gear grinding machine span distance based on OPC UA protocol according to claim 1, characterized in that, The compensation safety factor ranges from 60% to 80%, and is adaptively adjusted based on the precision of the gear grinding machine, the gear processing material, and the gear precision requirements.

3. The automatic compensation method for the span of gear grinding machine based on the OPC UA protocol according to claim 1, characterized in that, The measured span of the bar is obtained piece by piece by an IoT measuring instrument. The data transmission delay of the IoT measuring instrument does not exceed 100ms, and the measurement accuracy is ±0.001mm.

4. The automatic compensation method for the span of gear grinding machine based on the OPC UA protocol according to claim 1, characterized in that, The bidirectional communication link based on the OPC UA protocol is built on Ethernet to realize bidirectional data interaction between IoT measuring instruments, data processing modules and the CNC system of the gear grinding machine.

5. The automatic compensation method for the span of gear grinding machine based on the OPC UA protocol according to claim 1, characterized in that, During the execution of the method, the measured value of the span distance, the basic value of compensation, the actual compensation value, the timing of compensation execution, and the cumulative number of processed parts corresponding to each gear are stored synchronously to generate a traceable process data log.

6. The automatic compensation method for gear grinding machine span pitch based on OPC UA protocol according to claim 1, characterized in that, The threshold ranges of the first and second intervals are divided by collecting cross-bar pitch fluctuation data through batch trial production of the gear grinding machine. Small fluctuations are matched with a longer compensation period, while intervals with larger fluctuation amplitudes are matched with a shorter compensation period.

7. The automatic compensation method for the span of gear grinding machine based on the OPC UA protocol according to claim 1, characterized in that, When the equipment alarm signal is triggered, the system synchronously records the measured value of the cross-bar distance of the out-of-tolerance workpiece and the processing sequence information, retains the out-of-tolerance traceability record, and continuously receives the cross-bar distance data collected by the subsequent IoT measuring instrument, waiting for manual investigation and reset to resume the automatic compensation process.

8. An automatic compensation system for the span of gear grinding bars based on the OPC UA protocol, characterized in that, include: The parameter preset module is used to preset the cross-bar spacing process reference parameters and graded compensation rule parameters based on the workpiece design parameters and the gear grinding machine operating parameters. The process reference parameters include the theoretical value of the span distance, the upper process control line, and the lower process control line; the graded compensation rule parameters include the threshold range of the first interval for small fluctuations, the threshold range of the second interval for medium fluctuations, the compensation safety factor, the number of compensation pieces corresponding to the first interval and the number of compensation pieces corresponding to the second interval. The cross-bar distance measurement module acquires the cross-bar distance measurement value of the gear processed by the gear grinding machine through a pre-built bidirectional communication link based on the OPC UA protocol. The interval assignment judgment module is used to determine the interval assignment of the measured value of the cross-bar spacing: if the measured value of the cross-bar spacing is < the lower control line of the process or the measured value of the cross-bar spacing is > the upper control line of the process, an equipment alarm signal is triggered, and the current automatic compensation process is terminated; if the lower control line of the process is ≤ the measured value of the cross-bar spacing ≤ the upper control line of the process, the compensation base value is calculated as theoretical value of cross-bar spacing - measured value of cross-bar spacing, and the fluctuation interval to which it belongs is determined according to the measured value of the cross-bar spacing and the graded compensation rule parameters, and the graded compensation rule is matched. The actual compensation value calculation module is used to accumulate the number of processed workpieces according to the matching graded compensation rules, and calculate the actual compensation value after reaching the corresponding compensation number cycle: when the measured value of the span distance falls within the range of the corresponding compensation number cycle of the first interval, the actual compensation value = the compensation base value; when the measured value of the span distance falls within the range of the corresponding compensation number cycle of the second interval but does not belong to the range of the corresponding compensation number cycle of the first interval, the actual compensation value = the compensation safety factor × the compensation base value. The automatic compensation module is used to transmit the actual compensation value to the CNC system of the gear grinding machine via the OPC UA protocol, write it into the special parameter field for cross-bar adjustment built into the gear grinding machine, and complete the automatic compensation of the tool radial feed. The closed-loop adaptive compensation module is used to continuously acquire the measured value of the cross-bar spacing of subsequent workpieces and repeatedly execute the steps of judging the interval of the measured value of the cross-bar spacing, calculating the actual compensation value and transmitting it to the CNC system of the gear grinding machine, thus forming a closed-loop adaptive compensation for the cross-bar spacing.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the automatic compensation method for the pitch of a gear grinding machine based on the OPC UA protocol as described in any one of claims 1-7.

10. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the automatic compensation method for the pitch of a gear grinding machine based on the OPC UA protocol as described in any one of claims 1-7.

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