CN-121989113-A - High-rigidity crossed roller bearing and ferrule integrated grinding and detecting method thereof

Abstract

The invention relates to the technical field of precision bearing manufacturing, and discloses a high-rigidity crossed roller bearing and a ferrule integrated grinding and detecting method thereof, which comprises the steps of obtaining the roundness error, the end face flatness error and the perpendicularity error data of a ferrule raceway; the method comprises the steps of establishing a shape and position error coupling relation equation set based on a clamping deformation influence coefficient matrix, outputting a transfer function matrix, calculating decoupling compensation quantity of each machining surface based on the transfer function matrix, generating a comprehensive compensation instruction and executing coordination compensation through a multi-axis linkage control system. The invention solves the problem that the precision of a plurality of shapes and positions cannot be simultaneously met due to independent error compensation in the grinding of the thin-wall ferrule.

Inventors

• LI JINGYANG
• XIONG JUWU
• MA LIANG

Assignees

• 宁波实隆轴承有限公司

Dates

Publication Date

20260508

Application Date

20260320

Claims (10)

1. 1. The integrated grinding and detecting method for the high-rigidity crossed roller bearing and the ferrule thereof is applied to a numerical control grinder provided with an online detecting system and a multi-axis linkage control system, and the ferrule is kept in a once clamping state in the grinding process, and is characterized by comprising the following steps: measuring the ferrule in grinding processing to obtain roundness error data of a roller path, flatness error data of an end surface and perpendicularity error data of the roller path and the end surface; Establishing a shape and position error coupling relation equation set, outputting a transfer function matrix, namely establishing a coupling relation equation set among a raceway roundness error, an end face flatness error and a perpendicularity error based on the mutual influence relation of deformation of each processing surface of the ferrule in a clamping state, and outputting the transfer function matrix among error components; Substituting the shape and position error data into a coupling relation equation set, and calculating the decoupling compensation quantity of each processing surface based on the transfer function matrix; generating a comprehensive compensation instruction and executing coordinated compensation, namely generating a compensation instruction of each grinding shaft based on decoupling compensation quantity of each processing surface, and transmitting the compensation instruction to a grinding machine multi-axis linkage control system to execute coordinated compensation; wherein the elements of the transfer function matrix characterize the variation of other machining surface errors when compensation is applied to a certain machining surface, and the decoupling compensation amount is such that compensation of a certain surface does not cause deterioration of other surface errors.
2. 2. The method for integrally grinding and detecting the high-rigidity crossed roller bearing and the ferrule thereof according to claim 1, wherein the coupling relation equation set is established based on a clamping deformation influence coefficient matrix, and the clamping deformation influence coefficient matrix is obtained by the following steps: Obtaining a finite element model of the ferrule in a current clamping state, applying clamping force load and grinding force load to the finite element model, calculating deformation response of the raceway surface node and the end surface node through statics analysis, and organizing deformation response data of all machining surfaces into a clamping deformation influence coefficient matrix; The elements of the clamping deformation influence coefficient matrix represent the deformation amount of one machining surface when unit force is applied to the other machining surface.
3. 3. The method for integrated grinding and inspection of high rigidity crossed roller bearing and its ferrules according to claim 2, characterized in that the transfer function matrix is obtained by the product of clamping deformation influence coefficient matrix and compensation force conversion matrix, and the compensation force conversion matrix represents the acting force relation of the compensation motion of each grinding shaft to the ferrules.
4. 4. The high-rigidity crossed roller bearing and ferrule integrated grinding and detecting method thereof according to claim 1, wherein the decoupling compensation amount is obtained by solving a linear equation system containing an identity matrix, a transfer function matrix and a shape and position error vector, and the decoupling compensation amount considers a coupling transfer relation between machining surface errors.
5. 5. The method for integrally grinding and inspecting a high-rigidity crossed roller bearing and its ring according to claim 1, further comprising, after acquiring the shape and position error data of each machined surface of the ring: And performing discrete Fourier transform on the raceway roundness error data and the end face flatness error data respectively, extracting the amplitude and the phase of each order harmonic component, and constructing a shape and position error frequency spectrum feature vector which comprises the amplitude and the phase of each order harmonic of the raceway roundness error, the amplitude and the phase of each order harmonic of the end face flatness error and the perpendicularity error angle value.
6. 6. The method for integrated grinding and inspection of high rigidity crossed roller bearings and their ferrules according to claim 5, characterized by further comprising, before calculating the decoupling compensation amount of each machined surface based on the transfer function matrix: Substituting the shape and position error spectrum feature vector into a coupling relation equation set, decomposing the shape and position error into a system error component and a random error component by matrix inversion operation, wherein the system error component is obtained by multiplying a system error projection matrix by the shape and position error spectrum feature vector, the system error projection matrix is composed of feature vectors of a clamping deformation influence coefficient matrix, and the random error component is the difference value between the shape and position error spectrum feature vector and the system error component.
7. 7. The method for integrated grinding and inspection of high rigidity crossed roller bearing and its ferrules according to claim 6, wherein said calculating the decoupling compensation amount of each machined surface based on transfer function matrix comprises: calculating a system error decoupling compensation quantity according to a transfer function matrix aiming at the system error component; and inputting the random error component into a Kalman filtering algorithm, outputting an error trend predicted value of the next grinding period, and calculating a random error prediction compensation quantity according to the error trend predicted value.
8. 8. The method of integrated grinding and inspection of high rigidity crossed roller bearings and their ferrules according to claim 7, characterized in that said generating integrated compensation instructions and performing coordinated compensation comprises: The method comprises the steps of carrying out weighted fusion on a system error decoupling compensation quantity and a random error prediction compensation quantity to generate a comprehensive compensation instruction of each grinding shaft, wherein in the weighted fusion, a system error compensation weight is determined according to the proportion of a system error component to the total error, the random error compensation weight is determined according to the prediction confidence coefficient of Kalman filtering, and the sum of the two weights is 1; And synchronously sending the comprehensive compensation instruction to a grinding machine multi-axis linkage control system to execute coordinated compensation.
9. 9. The method for grinding and detecting the high-rigidity crossed roller bearing and the ferrule thereof according to claim 1, wherein the compensation command comprises a radial compensation amount, an axial compensation amount and a grinding wheel finishing compensation amount, which correspond to the radial error compensation of the raceway, the axial error compensation of the end face and the shape error compensation of the grinding wheel respectively, and after receiving the compensation command, the multi-axis linkage control system synchronously executes the compensation motion of each axis and adjusts the motion track of each axis according to the compensation command in the feeding process of the next grinding cycle.
10. 10. A crossed roller bearing ring grinding error decoupling compensation control system for performing the high rigidity crossed roller bearing and its ring integrated grinding and detecting method according to any one of claims 1 to 9, characterized by comprising: the shape and position error data acquisition module is used for measuring the ferrule in grinding processing to acquire the roundness error data of the roller path, the flatness error data of the end surface and the perpendicularity error data of the roller path and the end surface; The coupling relation establishing module is used for establishing a coupling relation equation set among the roundness error, the end face flatness error and the perpendicularity error of the raceway based on the mutual influence relation of the deformation of each processing surface of the ferrule in the clamping state, and outputting a transfer function matrix among error components; The decoupling compensation quantity calculation module is used for substituting the shape and position error data into a coupling relation equation set and calculating the decoupling compensation quantity of each processing surface based on the transfer function matrix; And the coordination compensation execution module is used for generating compensation instructions of all grinding shafts based on the decoupling compensation quantity of all the processing surfaces and sending the compensation instructions to the grinding machine multi-axis linkage control system to execute coordination compensation.

Description

High-rigidity crossed roller bearing and ferrule integrated grinding and detecting method thereof Technical Field The invention relates to the technical field of precision bearing manufacturing, in particular to a high-rigidity crossed roller bearing and a ferrule integrated grinding and detecting method thereof. Background The crossed roller bearing ring is a thin-wall rotary body part, and grinding of inner and outer raceways and reference end surfaces is required to be completed in one-time clamping in precise grinding processing. In the prior art, an independent error detection and compensation strategy is adopted, namely the roundness of the roller path, the flatness of the end surface and the perpendicularity of the roller path and the end surface are respectively measured, and a numerical control system carries out independent compensation of the corresponding axial direction according to each error value. However, because the ferrule has a thin-wall structure, clamping force and grinding force can cause the ferrule to generate overall elastic deformation, so that a mutual coupling relation is formed among the roundness error of the roller path, the flatness error of the end surface and the perpendicularity error of the roller path to the end surface. When error compensation is performed on one processing surface, the elastic deformation of the ferrule caused by the compensation action is transmitted to other processing surfaces, so that the error of the other surfaces is changed. Therefore, the independent compensation of each error can generate mutual interference, and the phenomenon that one error is improved and the other error is deteriorated can not meet the requirement of multiple shape and position precision at the same time. Disclosure of Invention The invention provides a high-rigidity crossed roller bearing and a ferrule integrated grinding and detecting method thereof, which solve the technical problems that in the related art, the surface position errors of all machining surfaces are mutually coupled and influenced in the grinding machining process of the ferrule, single surface compensation can cause the deterioration of other surface errors, and multi-surface coordination high-precision machining is difficult to realize. The invention discloses a high-rigidity crossed roller bearing and a ferrule integrated grinding and detecting method thereof, which are applied to a numerical control grinder provided with an online detecting system and a multi-axis linkage control system, wherein the ferrule is kept in a once clamping state in the grinding process; the method comprises the steps of establishing a shape and position error coupling relation equation set, outputting a transfer function matrix, establishing a coupling relation equation set among raceway roundness errors, end face flatness errors and perpendicularity errors based on the mutual influence relation of deformation of each machining surface of a ferrule in a clamping state, outputting a transfer function matrix among error components, calculating decoupling compensation amounts of each machining surface based on the transfer function matrix, substituting shape and position error data into the coupling relation equation set, calculating the decoupling compensation amounts of each machining surface based on the transfer function matrix, generating comprehensive compensation instructions and executing coordinated compensation, generating compensation instructions of each grinding shaft based on the decoupling compensation amounts of each machining surface, and transmitting the compensation instructions to a grinding machine multi-shaft linkage control system to execute coordinated compensation, wherein elements of the transfer function matrix represent the change relation of errors of other machining surfaces when compensation is applied to a certain machining surface, and the decoupling compensation amounts enable compensation of the certain surface not to cause deterioration of errors of other machining surfaces. The coupling relation equation set is further built based on a clamping deformation influence coefficient matrix, the clamping deformation influence coefficient matrix is obtained by obtaining a finite element model of the ferrule in a current clamping state, clamping force load and grinding force load are applied to the finite element model, deformation response of the raceway surface node and the end surface node is calculated through statics analysis, deformation response data of each machining surface are organized into the clamping deformation influence coefficient matrix, and elements of the clamping deformation influence coefficient matrix represent deformation of the other machining surface when unit force is applied to one machining surface. Further, the transfer function matrix is obtained by multiplying a clamping deformation influence coefficient matrix and a compensation force conversion matrix, wherein th