Adaptive centering
By adjusting the centering position based on workpiece spindle performance parameters, the method addresses deviations in grinding processes, enhancing accuracy and reducing material removal errors in tooth profile grinding.
Patent Information
- Application Number
- JP2025028038
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2024-02-26
- Filing Date
- 2025-02-25
- Publication Date
- 2025-09-05
AI Technical Summary
In mass production, deviations in centering during grinding processes, such as waviness and shape errors, are caused by factors like pitch errors and varying machining allowances, leading to inaccuracies in tooth profile grinding.
The method adjusts the centering position based on workpiece spindle performance parameters, such as drive torque and current consumption, to improve centering accuracy by correcting the relative position of the grinding tool relative to the tooth profile.
This approach enhances centering quality by minimizing material removal errors, ensuring tighter tolerances and improving the overall grinding process.
Smart Images
Figure 2025130058000001_ABST
Abstract
Description
[Technical Field]
[0001] The present invention relates to a method comprising the following method steps, the method comprising a step of generating grinding tooth profiles, each tooth profile being machined by a plurality of grinding strokes, and a centering position for positioning a grinding tool for each tooth profile being predetermined relative to the grinding strokes. [Background technology]
[0002] In generating grinding, the center of the gap in the tooth profile of the workpiece being ground is determined, for example, by grinding the tooth profile with a grinding worm. This process is called centering, because finding the center of the gap helps to correctly position the grinding tool relative to the tooth profile being ground. Alternatively, a sensor, also called a centering sensor, can be used to find the center of the gap. Summary of the Invention [Problem to be solved by the invention]
[0003] In mass production, the quality of centering, i.e., the accuracy of centering, depends on many influencing factors, such as the accuracy of the centering sensor, the quality of the part, etc. For example, the distribution of pitch errors of each tooth profile, the varying machining allowance, or similar deviations that differ from workpiece to workpiece can have a significant impact on the quality of centering.
[0004] Deviations in centering can cause tooth profile errors such as waviness, shape errors, or tooth profiles that are ground on only one side.
[0005] The demands on the quality of each ground tooth profile are increasing, especially since very tight tolerances are required, as are the quality of the centering process that forms the basis for the subsequent generating grinding.
[0006] Against this background, the present invention is based on the technical problem of providing an improved method of the type mentioned at the outset, which method in particular makes it possible to improve centering and more particularly to monitor the quality of centering for generating grinding. [Means for solving the problem]
[0007] The above-mentioned technical problem is solved by the features of the independent claims. Further designs of the invention can be obtained from the dependent claims and the following description.
[0008] According to the present invention, there is provided a method comprising the following method steps: generating a tooth profile, each tooth profile being machined by several grinding strokes, and a centering position for positioning a grinding tool relative to each tooth profile being predetermined for the several grinding strokes, characterized in that the centering position is adapted based on performance parameters of a workpiece spindle carrying each tooth profile.
[0009] Research by the applicant has shown that workpiece spindle performance parameters, such as the workpiece spindle's drive torque or drive current consumption, correlate with centering accuracy. Insufficient centering of the grinding tool relative to the tooth, i.e., if the position of the tooth space to be ground relative to the grinding worm is not correctly determined, results in too high or too low torque in the area of the workpiece spindle during grinding, e.g., too much or too little material being removed. Therefore, centering quality can be measured on the workpiece spindle.
[0010] Therefore, the performance parameters of the workpiece spindle can be used to modify or control the centering position.
[0011] Based on the performance parameters of the workpiece spindle, improved centering and monitoring of centering quality for generating grinding can be achieved.
[0012] The term "centering" refers to the positioning of a grinding tool, in this case a generating worm, relative to the teeth to be machined on the tooth profile of the workpiece or component being ground. After clamping the tooth profile to the workpiece spindle, the position or relative rotational position of the teeth in the machine tool is initially unknown. The position of the gear or gears on the grinding worm and the rotational position of the grinding worm are usually known from dressing or from a previous grinding operation. Therefore, the positions of the workpiece teeth must be recorded and the workpiece must be aligned relative to the grinding worm, or vice versa, to ensure accurate engagement of the grinding worm with the teeth.
[0013] The term "centering position" therefore particularly refers to a machine tool axis position that is determined based on the measured positions of the teeth of the tooth profile to be ground in order to position the grinding tool relative to the teeth of the tooth profile. The terms "centering" and "centering position" are well known in the art and familiar to those skilled in the gear technology field.
[0014] When reference is made herein to generating grinding of a tooth profile, this particularly relates to continuous generating grinding of a part or workpiece having such a tooth profile.
[0015] The performance parameters may be recorded during grinding, in particular, the performance parameters may be recorded for each grinding stroke or during each grinding stroke.
[0016] The performance parameter may be the torque of the motor of the workpiece spindle, which may be measured directly or indirectly.
[0017] The performance parameter may be the current draw of the workpiece spindle motor.
[0018] In this specification, generating grinding is in particular continuous generating grinding and the grinding tool is a grinding worm.
[0019] The grinding worm is in particular a dressable grinding worm. The grinding worm may be single-start or multi-start.
[0020] The generating grinding may be finishing, roughing, or polishing.
[0021] Adjusting the centering position may include determining a compensation value for adjusting the centering position. For example, such a compensation value may be added to, subtracted from, or a factor of an existing value of the centering position. It is understood that multiple compensation values may be specified for each machine axis of a multi-axis gear grinding machine.
[0022] The tooth profile and the grinding tool or grinding worm undergo coordinated motion during continuous generating grinding.
[0023] Therefore, the correction of the centering position can be performed, for example, by correcting the relative rotational or angular position of the tooth profile with respect to the rotational axis of the grinding worm by assigning a correction value around the rotational axis of the tooth profile to a predetermined rotational position of the tooth profile.
[0024] Alternatively or additionally, the centering position may be corrected by correcting the relative rotational or angular position of the grinding tool with respect to the rotational axis of the tooth profile, for example by assigning a correction value about the rotational axis of the grinding tool to a predetermined rotational position of the grinding tool.
[0025] Alternatively or additionally, the centering position can be corrected by assigning a correction value to a predetermined position of the grinding worm in the tool shift direction, using a predetermined position of the grinding worm along the tool shift direction parallel to the tool rotation axis, i.e., the shift position of the grinding worm relative to the tooth profile.
[0026] The centering position can therefore be set by correcting, inter alia, the tool rotation position and / or the workpiece rotation position and / or the tool shift position.
[0027] Depending on the machine type, the rotation axis of the tooth profile can be coaxial with the physical workpiece rotation axis of the CNC-controlled workpiece spindle. Therefore, determining the correction value for the rotational position of the workpiece corresponds to correcting the rotational or angular position of the tooth profile with the workpiece spindle.
[0028] Depending on the machine type, the grinding tool rotation axis can be aligned coaxially with the physical tool rotation axis of the CNC-controlled tool spindle. Therefore, determining the tool rotational position compensation corresponds to compensating for the rotational or angular position of the grinding tool with the tool spindle.
[0029] Depending on the type of machine, the shift direction of the grinding tool can be aligned coaxially with the physical shift axis, which is a linear axis of the CNC control. Therefore, determining the correction value for the shift position of the tool along the shift direction corresponds to correcting the position of the tooth profile with the shift axis.
[0030] Depending on the type of machine, centering position correction may be achieved by superimposing corrections for multiple machine axes.
[0031] The centering position can therefore be achieved in particular by compensation of the tool rotation axis and / or the workpiece rotation axis and / or the tool shift axis. Depending on the type of machine, the centering position compensation can be performed by superimposing the compensation of several machine axes.
[0032] Furthermore, the centering position can be corrected by correcting the relative position of the tooth profile with respect to the grinding worm using the workpiece rotation axis, for example by assigning a correction value to a predetermined position of the tooth profile on the workpiece rotation axis.
[0033] Alternatively or additionally, the rotational position of the grinding worm relative to the tool rotation axis, i.e., the tooth profile, can be used to correct a predetermined position of the grinding worm by assigning a correction value to the predetermined position of the grinding worm on the tool rotation axis.
[0034] Alternatively or additionally, the predetermined position of the grinding worm can be used to correct the centering position using the tool shift axis, i.e., the shift position of the grinding worm relative to the tooth profile, in which case a correction value is assigned to the predetermined position of the grinding worm on the tool shift axis.
[0035] The centering position can therefore be achieved in particular by compensation of the tool rotation axis and / or the workpiece rotation axis and / or the tool shift axis. Depending on the type of machine, the compensation of the centering position can be carried out by superimposing compensation of several machine axes.
[0036] The correction of the centering position may be up to 100 μm, in particular up to 30 μm, on the pitch circle of the respective tooth profile in the direction perpendicular to the tooth flank. In other words, incorrect centering without using the method according to the invention can lead to over- or under-removal of up to 100 μm during generating grinding in the direction perpendicular to the tooth flank.
[0037] Adjusting the centering position may include comparing the performance parameter with at least one reference parameter.
[0038] The reference parameters may be determined before generating grinding.
[0039] The reference parameters may be determined based on the machining of a reference workpiece. The reference workpiece may, for example, be a very precisely manufactured workpiece that represents an optimum workpiece in terms of the allowance of the tooth profile to be ground and the measured gear deviation. Furthermore, the reference can be determined by very precise centering to enable an optimum grinding process and reference process. Centering can be performed relative to the reference process, in particular by tactile contact with the tooth flank of the reference workpiece. The reference parameters may correspond to a reference torque measured at the workpiece spindle during grinding of the reference workpiece.
[0040] The reference parameter may correspond to the idle torque of the workpiece spindle. Research by the applicant has surprisingly shown that the torque measured at the workpiece spindle during generating grinding for a well-centered tooth form corresponds essentially to the idle torque of the workpiece spindle.
[0041] Idle torque may be measured while the workpiece spindle is rotating at the intended speed for generating grinding with the tooth profile held without the grinding tool making cutting contact with the tooth profile. The algebraic sign of the idle torque measured at the workpiece spindle arises from the intended direction of rotation of the workpiece spindle.
[0042] It may be provided that tolerances are specified for the performance parameters of the workpiece spindle, and that if the performance parameters are within the tolerances then no adjustment of the centering position is made, and if the performance parameters are outside the tolerances then adjustment of the centering position is made.
[0043] The tolerance range may be determined based on a reference parameter. This means that the tolerance range may be determined, for example, using a reference torque measured from a reference process and / or using a measured idle torque. For example, the tolerance range may be defined by identifying a percentage deviation from the respective reference parameter.
[0044] For the example of idle torque as a reference value, the measured idle torque for part rotation without sliding contact may be, for example, 5 Newton meters (Nm). A tolerance range may be defined where a deviation of ±50% of the idle torque is acceptable. This results in a lower threshold of 2.5 Nm and an upper threshold of 7.5 Nm for the tolerance range. In this numerical example, if the torque of the workpiece spindle measured during generating grinding is greater than or equal to 2.5 Nm and less than or equal to 7.5 Nm, and therefore within the tolerance range, the centering position is not adjusted. In this numerical example, if the torque of the workpiece spindle measured during generating grinding is less than 2.5 Nm or greater than 7.5 Nm, and therefore outside the tolerance range, the centering position is adjusted.
[0045] It should be understood that the values given above are merely examples and should be adapted individually to each tooth profile process.
[0046] For example, module-dependent correction values can be taken into account in the tolerance range to account for different part and profile dimensions.
[0047] For example, machine-specific offsets may be factored into the tolerances to account for different spindle and machine types.
[0048] According to one design of the method, a threshold value may be specified for the performance parameter, and if the performance parameter exceeds the threshold value, no adjustment of the centering position is performed, and if the performance parameter exceeds the threshold value, an adjustment of the centering position is performed. Instead of a tolerance range, for example, only a threshold value may be defined for the performance parameter, based on which the correction requirement for the centering position is determined.
[0049] The thresholds may be determined based on reference parameters, meaning that the thresholds may be determined, for example, using a reference torque measured from a reference process and / or using a measured idle torque. For example, a percentage deviation from the respective reference parameter may be identified, from which the thresholds are determined.
[0050] In the example of a reference torque as a reference value, the measured reference torque in the sliding contact may be, for example, 5 Nm. For example, 10 Nm may be defined as an acceptable threshold. In this numerical example, if the torque of the workpiece spindle measured during generating grinding is less than or equal to 10 Nm and therefore below the threshold or threshold torque, the centering position is not adjusted. In this numerical example, if the torque of the workpiece spindle measured during generating grinding is greater than 10 Nm and therefore above the threshold or threshold torque, the centering position is adjusted.
[0051] The relationship between the measured performance parameters and the required centering position correction can be empirically determined with the aid of testing. For example, measurements of the deviation of torque from idle torque during generating grinding can be directly converted into a correction for the rotational position of the workpiece spindle. For example, such testing can show that, depending on the gear geometry, a correction of 0.1 μrad (microradians), 0.5 μrad, or 1 μrad must be made to the rotational position of the tooth profile on the workpiece spindle for every 1 Nm deviation of torque from idle torque during generating grinding, which provides, for example, an approximately linear relationship. Such data can be stored, for example, in a formula or table in the machine control system. Again, the numerical values mentioned above should be understood as illustrative examples.
[0052] The centering position can be adjusted between grinding strokes for machining each tooth profile, in particular after the first grinding stroke, the centering position can be adjusted before the second grinding stroke for the second grinding stroke and for subsequent grinding strokes.
[0053] Alternatively or additionally, provision may be made for adjusting the centering position during the grinding stroke, in this way the occurrence of rejects can be avoided.
[0054] Alternatively or additionally, the adjustment of the centering position is performed after grinding of each tooth profile and before grinding of further tooth profiles.
[0055] After adjusting the centering position, grinding of the same tooth profile may be repeated, in particular by carrying out at least one grinding stroke that has already been carried out again.
[0056] After adjusting the centering position, the tooth profile may be discarded as scrap and the next tooth profile may be ground with the adjusted centering position.
[0057] Deviations in centering can be caused by various influences. For example, temperature-related drifts due to machine heating after a cold start can lead to the fact that the centering position has to be adjusted step by step to achieve optimal processing results. In this case, it may be possible to provide for the transfer of corrected centering positions from part to part or tooth profile to gradually adjust the centering position to temperature drifts.
[0058] If deviations occur during centering due to systematic influences, it is possible to define the adjusted centering position of the first tooth profile of the first part as the predefined centering position of the second tooth profile of the second part that is subsequently machined.
[0059] If the deviations during centering are chaotic, i.e. not systematic, it makes little sense to take over the corrections in this way: in this case, each tooth profile should be checked and corrected individually so that the same centering position is always used as the identified centering position from tooth profile to tooth profile or from part to part.
[0060] Prior to grinding, centering of the grinding tool may be performed for each tooth profile using sensors.
[0061] Prior to grinding, centering of the grinding tool may be performed by wetting it onto the respective tooth profile. [Brief explanation of the drawings]
[0062] The invention will now be explained in more detail with reference to the drawings, which show exemplary embodiments, in each case diagrammatically. [Figure 1] Figure 1 shows a gear grinding machine. [Figure 2] FIG. 2 shows a grinding worm with a toothed workpiece. [Figure 3] FIG. 3 shows the measurements for a single centering position to be corrected. [Figure 4] FIG. 4 shows the measurements for the corrected centering position. [Figure 5] FIG. 5 shows the measurements for the centering position to be corrected. [Figure 6] FIG. 6 shows the measurements for the corrected centering position. [Figure 7] FIG. 7 shows a flow chart of the method according to the present invention. [Figure 8] FIG. 8 shows the measurements for the centering position to be corrected. [Figure 9] FIG. 9 shows the measurements for the centering position to be corrected. DETAILED DESCRIPTION OF THE INVENTION
[0063] Figure 1 shows a gear grinding machine 2. The gear grinding machine 2 has a tool spindle 4 for holding and rotatingly driving a grinding tool 10. The gear grinding machine 2 has a workpiece spindle 6 for holding and rotatingly driving a toothed part to be ground. The gear grinding machine 2 has a dressing device 8 for dressing the grinding tool.
[0064] The gear grinding machine 2 has numerically controlled machine axes X, Y, Z, A, B, C, C2, B2 for performing translational and rotational relative movements to provide the machining movements required during cutting or dressing of the gear. Additionally, the gear grinding machine 2 has an axis Z1 with a movable quill 12 for clamping a shaft or mandrel.
[0065] A workpiece 14 having a tooth profile 16 to be ground is held on a workpiece spindle 6 (FIG. 2), which has a drive 18 or motor 18 for rotating the workpiece 14 about its longitudinal axis (FIG. 1).
[0066] The gear grinding machine 2 has a non-contact inductive centering sensor 20 (FIG. 2) for detecting the position of the tooth tip 22 of the tooth profile 16. The illustration of the centering sensor 20 is schematic, as are the other figures.
[0067] A torque sensor 24 is assigned to the workpiece spindle 6 to detect the torque of the workpiece spindle 6. The torque can also be detected without a torque sensor in the control system, in which case the torque is calculated using operating data from the drive 18.
[0068] According to the invention, a method is carried out comprising the following steps:
[0069] (A) A step of generating grinding the tooth profile, in which each tooth profile 16 is machined by multiple grinding strokes, and a centering position for positioning the grinding tool 10 relative to each tooth profile 16 is predetermined relative to the grinding strokes.
[0070] (B) Adjusting the centering position based on performance parameters of the workpiece spindle 6 holding the respective tooth profile 16.
[0071] The grinding tool 10 is a dressable grinding worm.
[0072] The performance parameters are measured during grinding.
[0073] In the following, the method according to the invention will be explained in more detail with the aid of the diagrams of FIGS.
[0074] FIG. 3 shows the stroke Z [mm], the torque M1 [Nm] of the tool spindle 4, and the torque M2 [Nm] of the workpiece spindle 6, each plotted on the time axis t [s].
[0075] Area H1 represents the first grinding stroke, and area H2 represents the second grinding stroke H2, during which the grinding worm 10 performs generating grinding of the tooth profile 16. The grinding strokes H1 are performed synchronously. The grinding stroke H2 is performed in the opposite direction. During the grinding stroke H1, approximately 60 μm of stock removal is performed. During the grinding stroke H2, approximately 35 μm of stock removal is performed.
[0076] In this case, the performance parameter measured to adjust the centering position is the torque M2 of the motor 18 of the workpiece spindle 6.
[0077] The torque M2 of the workpiece spindle 6 measured during generating grinding deviates significantly from the idle torque of the workpiece spindle 6. The idle torque of the workpiece spindle 6 constitutes the reference parameter R1 for the measured torque M2 of the workpiece spindle 6.
[0078] The idling torque is −5 Nm. The negative sign is due to the direction of rotation of the workpiece spindle 6.
[0079] The centering position is adjusted because the measured torque M2 of the workpiece spindle 6 deviates too much from the idle torque R1, because too much material is assumed from the left flank of the tooth profile 16 in the first stroke H1 and the second stroke H2, which can be inferred from the increase in torque.
[0080] The centering position is adjusted by changing the relative position of the grinding tool 10 and the tooth profile 16 to be ground by assigning one or more correction values ΔB, ΔC, ΔY to the axis positions. In the simplest case, for example, only the rotational position C of the workpiece 14 is corrected by moving it to position C+ΔC. This correction can also be performed for the shift direction according to the shift axis Y and / or the rotational position of the tool according to the tool rotation axis B.
[0081] In this example, the shift direction is oriented parallel to the linear degree of freedom of the shift axis Y, or the shift direction runs parallel to the linear movement of the shift axis. Furthermore, the workpiece rotation axis is oriented coaxially with the workpiece spindle rotation axis C, and the tool rotation axis is oriented coaxially with the tool spindle rotation axis B.
[0082] The centering position corrected in this way is then set for the subsequent further component 14 to be ground, the tooth profile 16 of which is rotated clockwise by a few microns, for example, according to the correction value ΔC, in order to improve the centering position. In this way, a correction K of the centering position on the pitch circle d of the respective tooth profile 16 can be achieved of up to 30 μm or up to 100 μm in the direction perpendicular to the respective tooth flank Z. This is shown in the enlarged view V of the engagement of the tool 10 with the workpiece 14 according to FIG. 2.
[0083] The result of this correction is shown in Figure 4. The torque M2 measured during grinding of the tooth profile 16 of the subsequent part 14 approaches significantly the idle torque of -5 Nm for both grinding strokes H1, H2, which indicates good centering.
[0084] The figures show the averaged and smoothed values of the torques M1 and M2 diagrammatically. In reality, the torque M2 curves in Figures 3 and 4 are not exactly the same, but are only approximately the same with respect to the averaged curves. Especially after correction, the fluctuations of the torque M2 are reduced by the average curves shown. This also applies to Figures 5 and 6.
[0085] Instead of the idle torque R1, a reference parameter R2 may be determined based on the machining of a reference workpiece.
[0086] The reference workpiece corresponds to one of the components 14 to be machined; this component used as the reference workpiece has particularly small deviations from the specified tolerances and is particularly accurately centered. During the grinding of the tooth profile 16 of this reference workpiece, a reference torque R2 is determined, which is, for example, -6 Nm (FIG. 5).
[0087] With respect to the reference torque R2, an acceptable range T1-T2 is defined, which has a first threshold value T1 and a second threshold value T2.
[0088] According to Figure 5, the performance parameter M2 is outside the tolerance range T1-T2, so an adjustment of the centering position is required. According to Figure 6, the centering position has been corrected for the subsequent tooth profile 16 or subsequent ground part 14, and the performance parameter M2 is within the tolerance range T1-T2.
[0089] Instead of using the tolerance range T1-T2, only the threshold T1 may be considered as a threshold and T2 may be omitted.
[0090] FIG. 8 shows a design of the method in which the correction of the centering position is already carried out during the first grinding stroke H1.
[0091] FIG. 9 shows a design of the method in which the centering position is corrected after a first grinding stroke H1 and a second grinding stroke H2 is performed at the corrected centering position.
Claims
1. a generating grinding step for generating tooth profiles (16), in which each tooth profile (16) is machined by a plurality of grinding strokes, and a centering position for positioning the grinding tool (10) relative to each tooth profile (16) is preset for the plurality of grinding strokes; Adapting said centering position based on performance parameters (M2) of a workpiece spindle (6) carrying said respective tooth profile (16).
2. The performance parameter (M2) is measured during grinding. The method of claim 1.
3. the performance parameter (M2) is the torque (M2) of the motor (18) of the workpiece spindle (6); or the performance parameter being the current consumption of the motor (18) of the workpiece spindle (6); The method according to claim 1 or 2.
4. The adjustment of the centering position includes determining correction values (ΔB, ΔC, ΔY) for adjusting the centering position. and / or the correction of the centering position on the pitch circle of each tooth profile (16) in a direction perpendicular to the tooth flank is at most 100 μm, in particular at most 30 μm; 4. The method according to any one of claims 1 to 3.
5. The adjustment of the centering position includes a comparison of the performance parameter (M2) with at least one reference parameter (R1, R1); 5. The method according to any one of claims 1 to 4.
6. The reference parameters (R1, R2) are determined before generating grinding. The method of claim 5.
7. The reference parameter (R2) is determined based on the processing of a reference workpiece (14).
7. The method according to claim 5 or 6.
8. said reference parameter (R1) corresponds to the idle torque of said workpiece spindle (6); 7. The method according to claim 5 or 6.
9. an allowable range (T1-T2) is specified for the performance parameter (M2), and when the performance parameter (M2) is within the allowable range, the centering position is not adjusted, and when the performance parameter (M2) is outside the allowable range, the centering position is adjusted; 9. The method according to any one of claims 1 to 8.
10. The tolerance range (T1-T2) is determined based on the reference parameters (R1, R2).
9. The method of claim 9 and any one of claims 5 to 9.
11. thresholds (T1, T2) are specified for the performance parameter (M2), and when the performance parameter (M2) exceeds the thresholds (T1, T2), the centering position is not adjusted, and when the performance parameter (M2) exceeds the thresholds (T1, T2), the centering position is adjusted, and the thresholds (T1, T2) are determined based on the reference parameters (R1, R2).
10. The method according to any one of claims 5 to 9.
12. the adjustment of the centering position is performed during the grinding strokes for machining the respective tooth profile, in particular after a first grinding stroke the adjustment of the centering position is performed before a second grinding stroke for the second and subsequent grinding strokes. and / or The adjustment of the centering position is performed during a grinding stroke. and / or the adjustment of the centering position is performed after each tooth profile grinding and before further tooth profile grinding.
12. The method according to any one of claims 1 to 11.
13. the grinding of the respective tooth profile is repeated after the adjustment of the centering position, in particular by carrying out again at least one grinding stroke that has already been carried out.
13. The method according to any one of claims 1 to 12.
14. After said adjustment of said centering position, said tooth profile is discarded as scrap and a next tooth profile is ground at said adjusted centering position.
14. The method of any one of claims 1 to 13.
15. Before grinding, centering of the grinding tool (10) is carried out with respect to the respective tooth profile (16) using a sensor (20), and / or Before grinding, the centering of the grinding tool (10) is carried out by contact with the respective tooth profile (16); 15. The method of any one of claims 1 to 14.