TI worm drive consists of involute helical gear and its enveloping Hourglass worm. Accurate grinding for TI worm is the key manufacture technology for TI worm gearing being popularized and applied. According to the theory of gear mesh, the equations of tooth surface of worm drive are gained, and the equation of the axial section profile of grinding wheel that can accurately grind TI worm is extracted. Simultaneously,the relation of position and motion between TI worm and grinding wheel are expounded.The method for precisely grinding single enveloping TI worm is obtained.