Cycloidal gear machining method based on worm grinding wheel gear grinding machine

Abstract

A cycloidal gear machining method based on a worm grinding wheel gear grinding machine. A cycloidal gear is machined in a worm grinding wheel grinding manner, achieving continuous and stable gear grinding machining. A dresser (4) and a workpiece rotary table (5) are integrated on a large rotary table (2), so that a machine tool can quickly switch between two working states, i.e., gear grinding and grinding wheel dressing, improving the working efficiency of the worm grinding wheel gear grinding machine. A workpiece pressing frame (12) is used for fixing a workpiece or disassembling the workpiece, improving the efficiency of clamping and disassembling the workpiece. A three-degree-of-freedom diagonal gear grinding scheme and a machining process grading method are combined, improving an axial traverse method of a grinding wheel: using a grinding wheel tooth surface used in a finish machining stage to perform rough machining on a gear machined next time, improving the utilization rate of the grinding wheel, and reducing the dressing frequency of the grinding wheel. A machining error is adjusted by adjusting machining parameters of the machine tool, achieving the adjustability of the error.

Description

A cycloid gear processing method based on worm wheel gear grinding machine Technical Field

[0001] The present invention discloses a cycloidal gear machining method based on a worm grinding wheel. The method features an efficient structure that allows for rapid switching between machine tool processing states and quick workpiece disassembly and clamping. A three-degree-of-freedom diagonal grinding scheme and tool shifting method improve grinding wheel utilization and reduce grinding wheel dressing frequency. Furthermore, machine tool parameters are adjusted based on the machine tool's processing characteristics to adjust errors in the workpiece. This method is highly efficient, precise, and adjustable, enhancing machine tool processing efficiency and stability. It belongs to the field of cycloidal gear generating within the field of mechanical manufacturing and processing. Background Art

[0002] Cycloid gears are widely used in high-precision transmission equipment such as cycloid pinwheel reducers and RV reducers, and are a crucial component of modern robotic transmission mechanisms. Cycloid gear reducers offer advantages such as high transmission accuracy, high efficiency, a large reduction ratio, a compact structure, and a long service life. With the rapid development of industry, the market demand for cycloid gears is increasing, along with the requirements for their precision. Therefore, a high-efficiency, high-precision cycloid gear machining method is urgently needed.

[0003] To obtain high-precision cycloid gears, gear grinding is the only necessary method. The existing cycloid gear processing method is mainly the forming grinding method, in which the tooth profile of the grinding wheel shaft cross section used for grinding the cycloid gear is the same as the tooth profile of the cycloid gear. After processing one tooth groove, it needs to be indexed before processing the next tooth groove. The forming method for grinding cycloid gears has a simple and easy-to-implement motion mode and the tool tooth profile is easy to design, so it is widely used in the grinding of cycloid gears. However, in the process of grinding cycloid gears by the forming method, indexing grinding is required, and an idle stroke is generated during processing, resulting in low processing efficiency and increased processing costs. In addition, the forming method has high requirements on the positioning, indexing, and tool setting accuracy of the machine tool, and therefore has high requirements on the accuracy of the machine tool, resulting in the high price of the forming method cycloid gear grinding machine.

[0004] The worm wheel gear grinding method utilizes the generating method for grinding. Through the spatial meshing of the cycloid gear and the worm-shaped grinding wheel, continuous processing is achieved, significantly improving processing efficiency and accuracy. Compared with the forming method grinding, the worm wheel gear grinding method has the advantages of high efficiency, high precision, and strong adjustability, making it suitable for cycloid gear grinding. However, during the worm wheel gear grinding process, due to the wear of the grinding wheel surface, the grinding wheel needs to be re-dressed after the wear reaches a certain level. The outer diameter of the grinding wheel will gradually decrease with the dressing. At this time, the grinding wheel tooth profile is no longer conjugate with the theoretical tooth profile of the cycloid gear, which is bound to introduce errors in the processing. This is a defect of existing worm wheel gear grinding machines. Therefore, there is still no high-precision worm wheel gear grinding machine for cycloid gears.

[0005] Summary of the Invention

[0006] Aiming at the problems that existing forming-based gear grinding machines for cycloid gears have low efficiency and high cost, and worm grinding wheel gear grinding machines have low machining accuracy and difficulty in adjusting errors due to errors, the present invention discloses a cycloid gear machining method based on a worm grinding wheel gear grinding machine, and the technical solutions adopted are as follows:

[0007] A cycloid gear processing method based on a worm grinding wheel gear grinding machine, the worm grinding wheel gear grinding machine structure includes:

[0008] Machine tool base, CRT turntable, dresser mounting frame, dresser, workpiece turntable, workpiece, X guide rail, Y guide rail, Z guide rail, grinding wheel mounting frame, grinding wheel, workpiece clamping frame, W guide rail;

[0009] In the improved scheme, the worm wheel method of grinding cycloid gears has the characteristics of continuous meshing and continuous transmission, and its transmission stability and processing efficiency are much higher than the forming method of grinding cycloid gears.

[0010] In the improved solution, the dresser mounting frame and the workpiece turntable are installed on the CRT large turntable. The CRT large turntable is rotated to adjust the machine tool to the working state of processing cycloid gears or dressing grinding wheels. This machine tool structure greatly facilitates the conversion of the machine tool between the two working states and improves the working efficiency of the worm wheel gear grinding machine.

[0011] In the improved solution, the workpiece clamping frame can move on a W-guide rail. When machining cycloid gears, two cycloid gear blanks are mounted on the workpiece turntable with a 180° phase difference. The workpiece clamping frame presses the workpiece downward, and the machine tool begins machining. After machining is complete, the workpiece clamping frame releases the workpiece upward, allowing it to be removed. This clamping method improves the efficiency of workpiece clamping and removal in worm wheel gear grinding machines.

[0012] To increase grinding wheel utilization, the improved solution shifts the wheel a short distance toward the tool shifting direction before finishing. Finishing is then performed on a new, unprocessed wheel tooth surface. After finishing, the wheel returns back toward the tool shifting direction, and the remaining surface, previously used for finishing, is used for roughing the next gear. This method improves grinding wheel utilization, saves on consumables, and reduces the frequency of wheel dressing, saving processing time.

[0013] In the improved scheme, in order to correct the error caused by the reduction of the outer diameter of the grinding wheel after the grinding wheel is re-trimmed, the machine tool processing parameters are adjusted to make the workpiece meet the requirements. It is detected that the tooth top and tooth root of the processed cycloid gear deviate from the theoretical parameters, and the distance between the grinding wheel and the workpiece is adjusted during processing: if the tooth top circle and tooth root circle radius are larger than the tolerance range required by the precision, the grinding wheel (11) is moved along the X guide rail (7) toward the axis of the workpiece for a distance, and the distance is the value of the tooth top circle and tooth root circle radius exceeding the tolerance range; if the tooth top circle and tooth root circle radius are smaller than the tolerance range required by the precision, the grinding wheel (11) is moved along the X guide rail (7) toward the axis of the workpiece for a distance. Move away from the axis of the workpiece by a distance, which is the radius of the tooth top circle and the tooth root circle below the tolerance range value; if the tolerance range of the tooth top circle and the tooth root circle is larger than the tolerance range required by the accuracy, it is necessary to consider whether the dresser (4) is damaged; if the pressure angle of the left or right tooth surface of the processed cycloid gear is detected to be out of the theoretical parameter, the spiral angle of the grinding wheel is changed by changing the speed of the dresser moving along the Y guide rail when dressing the grinding wheel: increasing the speed of the grinding wheel moving along the Y guide rail increases the spiral angle and reduces the pressure angle of the workpiece; reducing the speed of the grinding wheel moving along the Y guide rail reduces the spiral angle and increases the pressure angle of the workpiece. This solution realizes the adjustment of the processing error efficiently and conveniently based on the structural characteristics and processing characteristics of the worm grinding wheel gear grinding machine.

[0014] The technical effects achieved by the present invention are as follows:

[0015] 1. By using the worm wheel method to grind the cycloid gear instead of the forming method to grind the cycloid gear, the stability and continuity of the worm gear transmission are utilized to improve the production accuracy and production efficiency of the cycloid gear.

[0016] 2. By installing the dresser mounting frame and the workpiece turntable on the CRT large turntable, the machine tool can be adjusted to the working state of processing cycloid gears or dressing grinding wheels by rotating the large turntable, which greatly facilitates the conversion of the machine tool between the two working states and improves the working efficiency of the worm wheel gear grinding machine.

[0017] 3. When clamping a cycloid gear, two cycloid gear blanks are mounted on the workpiece turntable with a 180° phase difference. The workpiece clamping frame presses the workpiece downward, and the machine tool can begin processing. After processing is completed, the workpiece clamping frame is moved upward to remove the workpiece. This clamping method improves the efficiency of workpiece clamping and removal of the worm wheel gear grinder.

[0018] 4. Cycloidal gear machining employs a three-degree-of-freedom diagonal grinding method. The movement of the grinding wheel along its own axis is called shifting. Before finishing, the grinding wheel moves a short distance in the shifting direction, using a new, unprocessed tooth surface for finish machining. After finishing, the grinding wheel returns in the opposite direction of the shifting direction, using the tooth surface previously used in the finishing stage for rough machining of the next gear. This shifting method improves grinding wheel utilization and reduces wheel dressing frequency.

[0019] 5. Adjust the machine tool's processing parameters to adjust the errors in the workpiece. Detect if the tooth addendum and tooth root parameters of the processed cycloid gear deviate from the theoretical parameters, and adjust the distance between the grinding wheel and the workpiece during processing: if the tooth addendum circle and tooth root circle are larger, move the grinding wheel a certain distance along the X guide rail toward the workpiece axis; if the tooth addendum circle and tooth root circle are smaller, move the grinding wheel a certain distance away from the workpiece axis along the X guide rail. Detect if the pressure angle of the left or right tooth flank of the processed cycloid gear deviates from the theoretical parameters. Change the speed of the dresser along the Y guide rail while dressing the grinding wheel, and thus the grinding wheel's helix angle: Increasing the grinding wheel's speed along the Y guide rail increases the helix angle and decreases the workpiece's pressure angle; decreasing the grinding wheel's speed along the Y guide rail decreases the helix angle and increases the workpiece's pressure angle. This solution, based on the structural and processing characteristics of the worm wheel gear grinder, efficiently and conveniently adjusts processing errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic structural diagram of a worm wheel gear grinding machine according to the present invention;

[0021] Markings in the figure: machine tool base (1), CRT large turntable (2), dresser mounting frame (3), dresser (4), workpiece turntable (5), workpiece (6), X guide rail (7), Y guide rail (8), Z guide rail (9), grinding wheel mounting frame (10), grinding wheel (11), workpiece clamping frame (12), W guide rail (13). DETAILED DESCRIPTION

[0022] The present invention will be described in detail below with reference to the accompanying drawings.

[0023] The following describes the present invention and its embodiments. This description is not restrictive, and the actual embodiments are not limited to this. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without creatively designing them, they shall fall within the scope of protection of the present invention.

[0024] In a preferred embodiment, the structure of the worm wheel gear grinding machine is shown in FIG1 :

[0025] A CRT turntable (2) is mounted on a machine tool base (1) and can rotate around a turntable axis CRT axis; a dresser mounting frame (3) and a workpiece turntable (5) are mounted on the CRT turntable (2); a dresser (4) is mounted on the dresser mounting frame (3) and can rotate around a dresser axis B2 axis; a workpiece (6) is mounted on the workpiece turntable (5) and can rotate around a workpiece turntable axis C axis; and by rotating the CRT turntable (2), the working positions of the dresser mounting frame (3) and the workpiece turntable (5) can be adjusted, so as to achieve rapid adjustment of the conversion of the machine tool between two working states and improve the working efficiency of the worm wheel gear grinding machine.

[0026] A W guide rail (13) is on a large CRT turntable (2); a workpiece clamping frame (12) is mounted on the W guide rail (13) and can move up and down along with the guide rail; the workpiece clamping frame (12) moves downward to clamp a workpiece (6) mounted on a workpiece turntable (5); and the workpiece clamping frame (12) moves upward to release the workpiece (6) mounted on the workpiece turntable (5); thereby achieving rapid clamping and disassembly of the workpiece.

[0027] The X guide rail (7) is mounted on the machine tool base (1); the grinding wheel mounting frame (10) can realize radial feeding of the grinding wheel along with the X guide rail (7); the grinding wheel mounting frame (10) can realize tangential feeding of the grinding wheel along with the Y guide rail (8); the grinding wheel mounting frame (10) can realize axial feeding of the grinding wheel along with the Z guide rail (9); the grinding wheel mounting frame (10) is mounted on the Y guide rail (8) and can tilt and rotate around the A axis along with the Y guide rail (8) to form an A axis mounting angle of the grinding wheel; the grinding wheel (11) is mounted on the grinding wheel mounting frame (10) and can rotate around its axis. The machine tool structure fully meets the degree of freedom required for machine tool processing.

[0028] The machine parameters of worm wheel gear grinding machine include:

[0029] Number of grinding wheel heads n;

[0030] Grinding wheel pitch radius r1;

[0031] The pitch p of the grinding wheel;

[0032] The installation angle γ of the grinding wheel;

[0033] The number of teeth of the cycloid gear z;

[0034] Cycloid gear pitch circle radius r2;

[0035] In a preferred embodiment of the present invention, the grinding wheel mounting frame is mounted on a guide rail, enabling the grinding wheel's axis, B, to rotate in the YZ plane. The axis of rotation is the A-axis, and the angle of rotation is called the grinding wheel mounting angle γ. When the grinding wheel grinds a cycloid tooth blank, it rotates along its own axis, B. The tooth blank is mounted on a workpiece turntable, which rotates around its axis, C. The grinding wheel feeds radially toward the workpiece along the X-rail, moves axially along the Y-rail, and moves up and down along the Z-rail. This structure fully satisfies the spatial meshing freedom of the cycloid gear and worm wheel. The motion scheme is as follows:

[0036] (1) The A-axis installation angle of the grinding wheel is numerically equal to the helix angle of the grinding wheel. Let the number of teeth of the cycloid gear be z and the number of threads of the grinding wheel be n. When the grinding wheel rotates one circle around the axis, the cycloid gear rotates n teeth. The distance the cycloid gear rotates is the normal pitch of the grinding wheel. The A-axis installation angle γ of the grinding wheel is obtained as:

[0037] When the outer diameter r1 of the grinding wheel changes, the grinding wheel installation angle γ also changes.

[0038] (2) The grinding wheel feeds radially along the X-guide rail toward the workpiece. The multi-stage machining process is divided into roughing, semi-finishing, and finishing stages. The amount of grinding wheel feed radially along the X-guide rail toward the workpiece is the grinding amount. The roughing stage has a large grinding amount, the semi-finishing stage has a small grinding amount, and the finishing stage has the smallest grinding amount. During a complete machining process, the grinding amount decreases from large to small, representing roughing, semi-finishing, and finishing.

[0039] (3) The movement of the grinding wheel along the Y guide rail toward the grinding wheel axis is called "cutting" motion. In the worm gear expansion motion, if the worm does not move toward the worm axis, the area meshing with the worm wheel will not change. In the process of grinding the cycloid gear, the grinding wheel surface will cause sand loss and filling due to wear, affecting the processing accuracy; if the grinding wheel does not include cutting motion, only part of the grinding wheel area will participate in the processing, resulting in excessive wear of this part of the area, while other parts will not participate in the processing. After adding the cutting motion, the grinding wheel moves from the head end of the helix to the tail end of the helix, and at the same time compensates for the rotation speed of the cycloid gear. In order to meet normal meshing, the compensation speed needs to be designed according to the cutting speed. Let the cutting distance of the grinding wheel in time t be l 01 , the knife speed is v 01 The compensation speed of the cycloid gear is Δw. Since the grinding wheel moves forward a distance of lead np, which is equivalent to the grinding wheel rotating once, the corresponding cycloid gear should rotate n teeth, so the grinding wheel shifts l 01Distance, arc of workpiece rotation for:

[0040] Since the workpiece compensation angle and the grinding wheel shifting occur in a linked manner, their occurrence time period is the same, let this time period be t:

[0041] The cycloid gear compensation speed Δw and the tool shifting speed v can be obtained by the above formula 01 Relationship:

[0042] Among them, the pitch p of the grinding wheel is: p=2π·r1·tanγ

[0043] Based on the above process, the relationship between the cycloid gear's compensation speed and the grinding wheel's shifting speed can be determined. To increase grinding wheel utilization, the shifting method has been improved: before performing the finishing stage, the grinding wheel moves a certain distance in the shifting direction, using a new, previously unprocessed tooth surface for finishing. After finishing, the grinding wheel retreats away from the shifting direction. Because the finishing stage has a small amount of grinding, the tooth surface wear at this point is minimal. Therefore, the tooth surface used in the finishing stage is used for roughing the next gear to be processed. This method improves grinding wheel utilization and reduces the frequency of grinding wheel dressing.

[0044] (4) The grinding wheel is fed along the Z guide rail in the axial direction of the workpiece in order to produce the profile in the tooth width direction. Since the tooth profile of the cycloid gear is a straight line, the grinding wheel only needs to move up and down to feed along the axial direction of the workpiece, which is an independent degree of freedom in the meshing relationship. However, in the processing technology, the axial feed of the grinding wheel is linked to the feed along the radial direction of the workpiece: in the roughing stage, due to the large amount of grinding, the axial feed speed of the grinding wheel is the slowest; in the semi-finishing stage, the axial feed speed of the grinding wheel is the slowest; in the finishing stage, the axial feed speed of the grinding wheel is the fastest.

[0045] In a preferred embodiment of the present invention, the grinding wheel moves from the spiral head end to the spiral tail end through the cutter movement until the entire grinding wheel tooth surface is completely worn; at this time, a dresser is needed to re-dress the grinding wheel tooth surface, the CRT large turntable rotates and adjusts the processing state so that the dresser mounting frame faces the grinding wheel, and the dresser and the grinding wheel begin to engage and perform the dressing movement. The movement mode of the dresser dressing the grinding wheel is: the dresser rotates around the B2 axis, and the grinding wheel spirally moves around its own axis. The spiral movement of the grinding wheel around its own axis can be decomposed into the rotation of the grinding wheel around its own axis B axis and the movement along its own axis, that is, along the Y guide rail; the rotation of the grinding wheel around its own axis B axis and the movement along the Y guide rail satisfy the movement relationship: the grinding wheel rotates one circle and moves along the axis by one lead distance. The solid dresser needs to be indexed after dressing the grinding wheel before the next thread end is dressed.

[0046] In a preferred embodiment of the present invention, since the outer diameter of the grinding wheel becomes smaller and smaller as the grinding wheel is trimmed, the error of the workpiece becomes larger and larger. The machining parameters of the machine tool need to be adjusted according to the error of the workpiece. When it is detected that the parameters of the tooth top and tooth root of the processed cycloid gear deviate from the theoretical parameters, the distance between the grinding wheel and the workpiece during machining, that is, the distance between the grinding wheel axis and the axis of the workpiece, is adjusted: if the tooth top circle and tooth root circle radius are larger than the tolerance range required by the precision, the grinding wheel (11) is moved along the X guide rail (7) toward the axis of the workpiece by a distance, and the distance is the value of the tooth top circle and tooth root circle radius exceeding the tolerance range; if the tooth top circle and tooth root circle radius are smaller than the tolerance range required by the precision, the grinding wheel (11) is moved away from the axis of the workpiece along the X guide rail (7) by a distance, and the distance is the value of the tooth top circle and tooth root circle radius falling below the tolerance range; if the tooth top circle and tooth root circle are larger than the tolerance range required by the precision, the dresser (4) needs to be considered to be damaged. If the pressure angle on the left or right tooth flank of a cycloidal gear deviates from theoretical parameters, the relationship between the grinding wheel's rotation about its own B-axis and its movement along the Y-guide rail during dressing is adjusted. This alters the grinding wheel's helix angle: increasing the grinding wheel's speed along the Y-guide rail increases the helix angle and decreases the workpiece's pressure angle; decreasing the grinding wheel's speed along the Y-guide rail decreases the helix angle and increases the workpiece's pressure angle. This solution, based on the structural characteristics of the worm wheel gear grinder, adjusts machining errors.

Claims

1. A cycloid gear processing method based on a worm wheel gear grinding machine, characterized in that: The CRT turntable (2) is mounted on a machine tool base (1) and can rotate around the turntable axis CRT; the dresser mounting frame (3) and the workpiece turntable (5) are mounted on the CRT turntable (2); the dresser (4) is mounted on the dresser mounting frame (3) and can rotate around the dresser axis B2; the workpiece (6) is mounted on the workpiece turntable (5) and can rotate around the workpiece turntable C axis; the working positions of the dresser mounting frame (3) and the workpiece turntable (5) are adjusted by rotating the CRT turntable (2); A W guide rail (13) is on the CRT large turntable (2); a workpiece clamping frame (12) is mounted on the W guide rail (13) and can move up and down along with the guide rail; the workpiece clamping frame (12) moves downward to clamp a workpiece (6) mounted on the workpiece turntable (5); and the workpiece clamping frame (12) moves upward to release the workpiece (6) mounted on the workpiece turntable (5).

2. A cycloid gear processing method based on a worm wheel gear grinding machine according to claim 1, characterized in that: The X guide rail (7) is mounted on the machine tool base (1); the grinding wheel mounting frame (10) moves along the X guide rail (7) to realize radial feeding of the grinding wheel; the grinding wheel mounting frame (10) moves along the Y guide rail (8) to realize tangential feeding of the grinding wheel; the grinding wheel mounting frame (10) moves along the Z guide rail (9) to realize axial feeding of the grinding wheel; the grinding wheel mounting frame (10) is mounted on the Y guide rail (8) and can be tilted and rotated around the A axis along with the Y guide rail (8) to form an A axis mounting angle of the grinding wheel; the grinding wheel (11) is mounted on the grinding wheel mounting frame (10) and the grinding wheel (11) rotates around its axis B axis; the A axis mounting angle of the grinding wheel (11) is equal to the helix angle of the grinding wheel (11) in terms of numerical value, and the calculation method thereof is: Among them, γ is the installation angle of the grinding wheel, n is the number of grinding wheel heads, r1 is the pitch circle radius of the grinding wheel, z is the number of cycloid gear teeth, and r2 is the pitch circle radius of the cycloid gear.

3. The cycloid gear processing method based on a worm wheel gear grinding machine according to claim 1, characterized in that: The movement of the grinding wheel (11) along its own axis B causes the tooth surface of the grinding wheel (11) to wear evenly. In order to achieve normal meshing, the rotation speed of the cycloid gear needs to be compensated: Among them, Δw is the compensation speed of the cycloid gear, z is the number of teeth of the cycloid gear, v 01 is the grinding wheel speed, n is the number of grinding wheel heads, and p is the pitch of the grinding wheel.

4. The cycloid gear processing method based on a worm wheel gear grinding machine according to claim 1, characterized in that: The grinding wheel (11) is fed along the X guide rail (7) in the radial direction of the workpiece in a multi-stage processing manner, and the processing stages are divided into a rough processing stage, a semi-finishing stage, and a finishing stage; before the finishing stage, the grinding wheel (11) moves a distance in the direction of the cutting tool, and uses a brand new tooth surface that has not been processed to perform finishing processing; after the finishing processing is completed, the grinding wheel (11) retreats in the opposite direction of the cutting tool; because the grinding amount in the finishing stage is small, the tooth surface loss of the grinding wheel (11) here is small, and the tooth surface used in the finishing stage here is used to perform rough processing on the gear to be processed next time.

5. The cycloid gear processing method based on a worm wheel gear grinding machine according to claim 1, characterized in that: The machining parameters of the machine tool are adjusted according to the error of the workpiece; when it is detected that the parameters of the tooth top and tooth root of the processed cycloid gear deviate from the theoretical parameters, the distance between the grinding wheel (11) and the workpiece (6) during machining, that is, the distance between the grinding wheel axis and the axis of the workpiece, is adjusted: if the radius of the tooth top circle and the tooth root circle is greater than the tolerance range required by the accuracy, the grinding wheel (11) is moved along the X guide rail (7) toward the axis of the workpiece for a distance, and the distance is the value of the tooth top circle and the tooth root circle radius exceeding the tolerance range; if the radius of the tooth top circle and the tooth root circle is less than the tolerance range required by the accuracy, the grinding wheel (11) is moved along the X guide rail (7) away from the axis of the workpiece for a distance, and the distance is the value of the tooth top circle and the tooth root circle radius being less than the tolerance range required by the accuracy. range value; if the tolerance ranges of the accuracy requirements of the tooth top circle and the tooth root circle are larger and smaller, it is necessary to consider whether the dresser (4) is damaged; if it is detected that the pressure angle of the left tooth surface or the right tooth surface of the processed cycloid gear deviates from the theoretical parameter, the relationship between the rotation of the grinding wheel (11) around its own axis B axis and the movement along the Y guide rail (8) when the dresser (4) is adjusted to dress the grinding wheel (11), that is, the helix angle of the helix line of the grinding wheel (11) is changed: increasing the speed of the grinding wheel (11) moving along the Y guide rail (8), the helix angle increases, and the pressure angle of the workpiece decreases; reducing the speed of the grinding wheel (11) moving along the Y guide rail (8), the helix angle decreases, and the pressure angle of the workpiece increases.

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