Full-automatic spherical precise ultrasonic honing method and system based on resonant frequency simulation

Abstract

The invention relates to the technical field of ultrasonic honing, in particular to a full-automatic spherical precise ultrasonic honing method and system based on resonant frequency simulation, and the method comprises the steps: receiving an ultrasonic honing instruction, starting an ultrasonic honing system, defining motion constraint, free constraint and excitation conditions, setting a honing transducer, a honing tool rod and a spherical honing head, and establishing a simulation model. The method comprises the steps of setting a simulation range and a honing workpiece, executing modal analysis to obtain a simulation modal set, extracting a resonant frequency set and a resonant vibration mode set, drawing a modal heat map, screening an optimal frequency mode, scanning feature points of the workpiece, moving the honing workpiece to a honing position and calculating the offset of the workpiece, executing precise ultrasonic honing and detecting the real-time offset. And the real-time offset is adjusted, the shape error is calculated, the adjusting pressure is calculated based on the shape error, and full-automatic spherical precise ultrasonic honing is completed. The automatic degree and honing precision of full-automatic spherical ultrasonic honing can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of ultrasonic honing, and in particular to a full-automatic spherical precision ultrasonic honing method and system based on resonance frequency simulation. Background Art

[0002] With the continuous development of manufacturing industry and high-precision processing technology, ultrasonic honing technology is more and more widely used in the processing of various precision workpieces, especially in the fields of aerospace, automobile manufacturing, precision instruments, etc. Ultrasonic honing can achieve fine processing of the microscopic level of the workpiece surface through high-frequency vibration, greatly improving the processing accuracy and surface quality.

[0003] Traditional ultrasonic honing technology mainly relies on manual adjustment and empirical operation, and still faces certain technical bottlenecks in precision control and automated adjustment, especially in the error adjustment, frequency optimization and real-time monitoring during the honing process. It is difficult to achieve high-precision and automated processing. In practical applications, due to the complexity of the workpiece surface and the dynamic changes during the processing, it is often difficult to ensure the accuracy and consistency of honing, especially in the precision processing of complex shapes such as spherical surfaces. Traditional methods cannot meet the increasingly stringent manufacturing requirements. Therefore, how to improve the automation and honing accuracy of fully automatic spherical ultrasonic honing through more precise control technology and adjustment mechanisms is an important issue that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a fully automatic spherical surface precision ultrasonic honing method and system based on resonance frequency simulation, the main purpose of which is to improve the automation degree and honing accuracy of the fully automatic spherical surface ultrasonic honing.

[0005] To achieve the above object, the present invention provides a fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation, comprising: receiving an ultrasonic honing instruction, and starting a pre-built ultrasonic honing system based on the ultrasonic honing instruction; The motion constraints, freedom constraints and excitation conditions are defined, and a honing transducer, a honing tool rod and a spherical honing head are set based on the motion constraints, freedom constraints and excitation conditions, and a simulation model is established using the honing transducer, the honing tool rod and the spherical honing head, wherein the honing tool rod is connected to the honing transducer and the spherical honing head through threads, the honing transducer is installed on the top end surface of the honing tool rod, and the spherical honing head is installed on the bottom end surface of the honing tool rod; Setting a simulation range and a honing workpiece, and performing modal analysis on the honing workpiece based on the simulation model and the simulation range to obtain a simulation modal set; Extracting a natural frequency set and a natural vibration shape set based on the simulation mode set, drawing a modal heat map using the natural frequency set and the natural vibration shape set, and screening an optimal frequency mode based on the modal heat map; Installing a fixture arm, wherein the fixture arm is connected to the ultrasonic honing system via a connecting flange, and the fixture arm is equipped with a visual sensor; Scanning the honing workpiece with the visual sensor to obtain feature points of the workpiece, moving the honing workpiece to a preset honing position based on the fixture arm and the feature points of the workpiece, and performing error judgment to obtain an offset of the workpiece; When it is confirmed that the honing workpiece is in the honing position based on the workpiece offset, performing precision ultrasonic honing on the honing workpiece using the optimal frequency mode and detecting the real-time offset; Using the fixture arm to perform adjustments on the real-time offset and calculate shape errors; The pressure is adjusted based on the shape error calculation to complete the fully automatic spherical precision ultrasonic honing.

[0006] Optionally, the defining of motion constraints, freedom constraints and excitation conditions includes: Acquire a honing node of the honing tool rod, perform force analysis on the honing node, and obtain a honing force set; Extracting honing stresses in sequence based on the honing force set, and marking the honing stresses to obtain a stress marking set; Performing data analysis based on the honing stress to obtain an optimal stress, performing node matching based on the stress identification set and the optimal stress to obtain a constraint node, and performing constraints based on the constraint node to obtain a motion constraint; Get the honing range of the spherical honing head; Perform interference scanning based on the spherical honing head and the honing range to obtain the scanning quantity; Determine whether the scan quantity is 0; If the scanning quantity is not 0, interference adjustment is performed and the process returns to the above step of performing interference scanning based on the spherical honing head and the honing range; If the scanning quantity is 0, constraints are performed based on the spherical honing head and the honing range to obtain free constraints; An excitation source, an excitation frequency, an excitation amplitude, and an excitation direction are obtained, and excitation conditions are set based on the excitation source, the excitation frequency, the excitation amplitude, and the excitation direction.

[0007] Optionally, extracting a natural frequency set and a natural vibration shape set based on the simulation mode set, drawing a modal heat map using the natural frequency set and the natural vibration shape set, and screening an optimal frequency mode based on the modal heat map includes: Extracting natural frequencies in sequence based on the natural frequency set and performing judgment on the extracted natural frequencies and the simulation range to obtain a judgment output set; randomly extracting a first determination output based on the determination output set, and determining whether the first determination output is not greater than a preset output threshold; If the first determination output is greater than the output threshold, the first determination output is removed from the determination output set to obtain a first adjusted output set, and the determination output set is updated using the first adjusted output set, and the process returns to the step of randomly extracting the first determination output based on the determination output set; If the first judgment output is not greater than the output threshold, construct a screening output set, input the first judgment output into the screening output set and remove the first judgment output from the judgment output set to obtain a second adjustment output set, use the second adjustment output set to update the judgment output set, and return to the above step of randomly extracting the first judgment output based on the judgment output set until the judgment output set is an empty set; Matching the corresponding screening frequency set based on the screening output set, calculating the vibration energy ratio, screening the screening frequency set based on the vibration energy ratio, and obtaining a candidate frequency set; The candidate frequency set is matched with a corresponding candidate vibration shape set, a modal heat map is drawn using the candidate frequency set and the candidate vibration shape set, and an optimal frequency mode is screened based on the modal heat map.

[0008] Optionally, the calculating of the vibration energy ratio and screening the screening frequency set based on the vibration energy ratio to obtain the candidate frequency set include: The vibration energy of the honing head, the vibration energy of the tool rod and the vibration energy of the transducer corresponding to each screening frequency in the screening frequency set are obtained, and the vibration energy ratio formula is constructed based on the vibration energy of the honing head, the vibration energy of the tool rod and the vibration energy of the transducer: , in, Refers to the vibration energy ratio, Refers to the vibration energy of the tool rod, Refers to the transducer vibration energy, Refers to the vibration energy of the honing head; The vibration energy ratio formula is used to calculate the vibration energy ratio of each screening frequency in the screening frequency set, and the screening frequencies whose vibration energy ratios are greater than a preset energy threshold are grouped together to obtain a candidate frequency set.

[0009] Optionally, the method of drawing a modal heat map using the candidate frequency set and the candidate vibration mode set, and selecting the best frequency mode based on the modal heat map, includes: Arrange the candidate frequency set in ascending order of candidate frequencies to obtain a sorted frequency set, and set the sorted frequency set as the modal horizontal axis; The honing workpiece is equally divided to obtain a divided workpiece, wherein the divided workpiece includes: a first part, a second part, a third part and a fourth part, and the first part and the fourth part are located at two ends of the honing workpiece, and the second part and the third part are located in the middle of the honing workpiece; defining a workpiece edge and a workpiece center, confirming the first part and the fourth part as the workpiece edge, and confirming the second part and the third part as the workpiece center; The edge and the center of the workpiece are set as the modal vertical axis, and a modal heat map is drawn based on the modal horizontal axis, the modal vertical axis, the candidate frequency set and the candidate vibration shape set; Based on the modal heat map, the maximum edge amplitude of the edge of the workpiece and the maximum center amplitude of the center of the workpiece are screened; Based on the edge maximum amplitude and the center maximum amplitude matching the corresponding edge optimal frequency and center optimal frequency, the edge optimal frequency and the center optimal frequency are confirmed as the optimal frequency mode.

[0010] Optionally, the confirming that the honing workpiece is in the honing position based on the workpiece offset comprises: Step A: setting an error standard value, calculating the workpiece offset and the error standard value to obtain an error calculation value; Step B: If the calculated error value is a negative number, confirm that the honing workpiece is not in the honing position and use the fixture arm and the visual sensor to adjust the position of the honing workpiece to obtain the adjusted position, calculate the adjustment error using the adjusted position, update the workpiece offset using the adjustment error, and return to step A; Step C: If the calculated error value is not a negative number, it is confirmed that the honing workpiece is in the honing position.

[0011] Optionally, calculating the shape error includes: Get the honing center point, set the honing center point as the sphere center, build a spherical coordinate system based on the sphere center, set the sampling degree, and set the sampling point based on the spherical coordinate system and the sampling degree, where the sampling degree is 5 degrees; Based on the spherical coordinate system, the sampling polar angle and the sampling azimuth are collected, and the ideal sampling radius and the total number of sampling points of all sampling points are obtained; Scan the actual sampling radius, set the sampling point index and the sampling point weight, and calculate the shape error according to the sampling point index, the sampling point weight, the sampling polar angle, the sampling azimuth, the ideal sampling radius, the total number of sampling points and the actual sampling radius.

[0012] Optionally, calculating the shape error according to the sampling point index, the sampling point weight, the sampling polar angle, the sampling azimuth, the ideal sampling radius, the total number of sampling points and the actual sampling radius includes: The shape error is calculated using the following formula: , in, Refers to the sampling polar angle in the spherical coordinate system , sampling azimuth The shape error at Refers to the sampling point index, Refers to the total number of sampling points, The sampling point index is The sampling point weights at The sampling point index is The actual sampling radius at The sampling point index is The ideal sampling radius when .

[0013] Optionally, the adjusting pressure based on the shape error calculation comprises: Install a pressure sensor, use the pressure sensor to collect the basic pressure of all sampling points, set the proportional factor, and calculate the adjusted pressure based on the shape error, basic pressure and proportional factor: , in, Refers to the sampling polar angle in the spherical coordinate system , sampling azimuth Adjustment pressure at Refers to the sampling polar angle in the spherical coordinate system , sampling azimuth The base pressure at Refers to the scale factor.

[0014] To achieve the above object, the present invention also provides a fully automatic spherical precision ultrasonic honing system based on resonance frequency simulation, comprising: A simulation model establishment module is used to receive an ultrasonic honing instruction and start a pre-built ultrasonic honing system based on the ultrasonic honing instruction; define motion constraints, freedom constraints and excitation conditions, set a honing transducer, a honing tool rod and a spherical honing head based on the motion constraints, freedom constraints and excitation conditions, and establish a simulation model using the honing transducer, the honing tool rod and the spherical honing head, wherein the honing tool rod is connected to the honing transducer and the spherical honing head through threads, the honing transducer is installed on the top end face of the honing tool rod, and the spherical honing head is installed on the bottom end face of the honing tool rod; An optimal frequency screening module is used to set a simulation range and a honing workpiece, perform modal analysis on the honing workpiece based on the simulation model and the simulation range to obtain a simulation modal set; extract a natural frequency set and a natural vibration shape set based on the simulation modal set, draw a modal heat map using the natural frequency set and the natural vibration shape set, and screen the optimal frequency mode based on the modal heat map; A workpiece offset calculation module is used to install a fixture arm, wherein the fixture arm is connected to the ultrasonic honing system through a connecting flange, and the fixture arm is equipped with a visual sensor; the visual sensor is used to scan the honing workpiece to obtain the workpiece feature points, and the honing workpiece is moved to a preset honing position based on the fixture arm and the workpiece feature points, and an error judgment is performed to obtain the workpiece offset; The pressure adjustment calculation module is used to confirm that the honing workpiece is in the honing position based on the workpiece offset, perform precision ultrasonic honing on the honing workpiece using the optimal frequency mode and detect the real-time offset; use the fixture arm to adjust the real-time offset and calculate the shape error; adjust the pressure based on the shape error calculation to complete fully automatic spherical precision ultrasonic honing.

[0015] In order to solve the above problem, the present invention further provides an electronic device, the electronic device comprising: A memory storing at least one instruction; The processor executes the instructions stored in the memory to implement the above-mentioned fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation.

[0016] In order to solve the above problems, the present invention also provides a computer-readable storage medium, in which at least one instruction is stored. The at least one instruction is executed by a processor in an electronic device to implement the above-mentioned fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation.

[0017] In order to solve the problems described in the background technology, the present invention constructs a comprehensive process of multiple steps such as modal analysis, modal heat map, error judgment, offset adjustment and pressure adjustment by receiving ultrasonic honing instructions, thereby realizing efficient precision processing and automatic control of the honing workpiece; firstly, the ultrasonic honing instruction is received, and the pre-constructed ultrasonic honing system is started based on the ultrasonic honing instruction, and the ultrasonic honing system is automatically started by receiving the ultrasonic honing instruction, thereby realizing a high degree of automatic control, reducing human intervention, and improving the stability and accuracy of the operation. The automatic startup greatly shortens the operation preparation time and improves The overall work efficiency is improved and it is suitable for modern production environments. Secondly, by accurately setting motion constraints and freedom constraints, a simulation model that is highly consistent with actual operations can be established, making the entire ultrasonic honing process more predictable and controllable. The establishment of the simulation model can provide data support for subsequent optimization, and extensive testing and adjustments can be performed before actual honing, thereby reducing risks and costs. After that, the simulation range and the honing workpiece are set, and modal analysis is performed on the honing workpiece based on the simulation model and the simulation range to obtain a simulation modal set. By performing modal analysis, the honing workpiece can be identified. fixed frequency, which helps to further optimize the honing parameters; then, based on the simulation modal set, the natural frequency set and the natural vibration shape set are extracted, and the modal heat map is drawn using the natural frequency set and the natural vibration shape set. The optimal frequency mode is screened based on the modal heat map. Through the visual representation of the modal heat map, the frequency mode that optimizes the honing effect of the workpiece can be quickly identified, which improves the operating efficiency. The selected optimal frequency mode ensures that the vibration mode of the honing head on the workpiece surface is optimal, reduces the shape error and surface roughness, and improves the final processing effect; further, the fixture arm is installed, and the fixture arm is equipped with The installation of the fixture arm and the configuration of the visual sensor can realize the precise control of the workpiece position. The position of the workpiece can be monitored in real time by the visual sensor, and the offset can be corrected in real time to reduce the machining accuracy problem caused by the inappropriate position of the workpiece. Finally, the shape error is calculated, and the pressure is adjusted according to the shape error calculation. The pressure is adjusted by the feedback calculation of the shape error, and the pressure at each position can be accurately controlled during the honing process, thereby optimizing the grinding effect. The precise control of the pressure can effectively reduce the surface shape error of the workpiece, improve the surface accuracy and finish, and achieve a high-precision honing effect. Therefore, the present invention can improve the automation degree and honing accuracy of the fully automatic spherical ultrasonic honing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation provided by one embodiment of the present invention; Figure 2 A functional module diagram of a fully automatic spherical precision ultrasonic honing system based on resonance frequency simulation provided by an embodiment of the present invention; Figure 3A schematic structural diagram of an electronic device for implementing the fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation provided by an embodiment of the present invention; Figure 4 A schematic structural diagram of a honing device for implementing the fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation provided in one embodiment of the present invention.

[0019] Description of reference numerals: 1. Electronic device; 10. Processor; 11. Memory; 12. Bus.

[0020] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0022] The embodiment of the present application provides a fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation. The execution subject of the fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided in the embodiment of the present application. In other words, the fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation can be executed by software or hardware installed in a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc.

[0023] Reference Figure 1 FIG. 1 is a flow chart of a fully automatic spherical surface precision ultrasonic honing method based on resonance frequency simulation provided by an embodiment of the present invention. In this embodiment, the fully automatic spherical surface precision ultrasonic honing method based on resonance frequency simulation includes: S1. Receive an ultrasonic honing instruction, and start a pre-built ultrasonic honing system based on the ultrasonic honing instruction.

[0024] It can be explained that the ultrasonic honing instruction refers to an instruction initiated manually, which is used to start the ultrasonic honing system and perform honing based on the ultrasonic honing system. The ultrasonic honing system refers to a comprehensive system for honing a honing workpiece. The ultrasonic honing system includes: a honing transducer, a honing tool rod and a spherical honing head. The honing transducer refers to a device that converts electrical energy into mechanical vibration energy. Mechanical vibration energy refers to energy transmitted in the form of mechanical vibration. The honing tool rod refers to a device for connecting components, which is responsible for connecting the honing transducer and the spherical honing head. The spherical honing head refers to a device with a spherical shape that directly contacts the surface of the honing workpiece and hones the honing workpiece. The honing workpiece refers to the workpiece that needs to be honed. The honing tool rod, the honing transducer and the spherical honing head can refer to Figure 4 shown.

[0025] For example, Xiao Zhang is an employee who hones workpieces in a company. One day, Xiao Zhang needs to hone a batch of workpieces, so Xiao Zhang sends an ultrasonic honing instruction to the ultrasonic honing system. After receiving the ultrasonic honing instruction, the ultrasonic honing system hones the workpieces.

[0026] S2. Define motion constraints, freedom constraints and excitation conditions, set the honing transducer, honing tool rod and spherical honing head based on the motion constraints, freedom constraints and excitation conditions, and use the honing transducer, honing tool rod and spherical honing head to establish a simulation model, wherein the honing tool rod is connected to the honing transducer and the spherical honing head through threads, the honing transducer is installed on the top end face of the honing tool rod, and the spherical honing head is installed on the bottom end face of the honing tool rod.

[0027] Explainable, motion constraint refers to the constraint on the honing tool rod, the honing tool rod is fixed to prevent displacement and rotation, freedom constraint refers to the constraint on the range of motion of the spherical honing head, ensuring that the spherical honing head will not be disturbed by other equipment within the range of motion, the range of motion refers to the range of honing of the spherical honing head, excitation condition refers to the various settings of mechanical vibration energy in the ultrasonic honing system, the excitation condition is composed of excitation source, excitation frequency, excitation amplitude and excitation direction, the excitation source refers to the source of mechanical vibration energy in the ultrasonic honing system, the excitation frequency refers to the ultrasonic honing head. The frequency of the vibration input to the acoustic honing system, the excitation amplitude refers to the intensity of the vibration, and the excitation direction refers to the direction of the vibration. The excitation frequency and excitation amplitude directly determine the distribution of the resonant frequency and amplitude mode of the ultrasonic honing system. By dynamically adjusting the amplitude, a variety of situations can be simulated. For example, the excitation frequency of the excitation condition is set to 25kHz to 35kHz, and the excitation amplitude of the excitation condition is 15um. The resonant frequency refers to the frequency generated by the ultrasonic honing system due to its inherent characteristics under the action of mechanical vibration energy. It can also be understood as when the excitation frequency is equal to the natural frequency The frequency generated when the two axes are close to or equal to each other. At this frequency, the vibration amplitude of the ultrasonic honing system will reach the maximum due to the efficient energy transfer. The amplitude mode refers to the spatial distribution of the ultrasonic honing system when it vibrates at the resonant frequency. The vibration amplitude refers to the maximum displacement value. For example, if the displacement fluctuates between +5mm and -5mm, the vibration amplitude is 5mm. The maximum displacement value refers to the maximum offset value of the non-fixed area of ​​the honing transducer, honing tool rod and spherical honing head during the vibration process. It is a quantitative indicator of the vibration intensity. The non-fixed area refers to the area without motion constraints. area, inherent characteristics refer to the physical and geometric characteristics of the ultrasonic honing system, which are determined by materials, geometric shapes, connection methods, etc. The simulation model refers to a model for simulating ultrasonic honing of the honing workpiece based on the resonant frequency, which is established by the honing transducer, the honing tool rod and the spherical honing head. The top end face refers to the plane on the upper part of the honing tool rod, and the bottom end face refers to the plane on the lower part of the honing tool rod. The shape of the honing tool rod is a long strip, and there are two end faces at both ends of the axial direction, which are divided into an upper end and a lower end. The upper end is the top end face, and the lower end is the bottom end face.

[0028] In detail, the definition of motion constraints, freedom constraints and excitation conditions includes: Acquire a honing node of the honing tool rod, perform force analysis on the honing node, and obtain a honing force set; Extracting honing stresses in sequence based on the honing force set, and marking the honing stresses to obtain a stress marking set; Performing data analysis based on the honing stress to obtain an optimal stress, performing node matching based on the stress identification set and the optimal stress to obtain a constraint node, and performing constraints based on the constraint node to obtain a motion constraint; Get the honing range of the spherical honing head; Perform interference scanning based on the spherical honing head and the honing range to obtain the scanning quantity; Determine whether the scan quantity is 0; If the scanning quantity is not 0, interference adjustment is performed and the process returns to the above step of performing interference scanning based on the spherical honing head and the honing range; If the scanning quantity is 0, constraints are performed based on the spherical honing head and the honing range to obtain free constraints; An excitation source, an excitation frequency, an excitation amplitude, and an excitation direction are obtained, and excitation conditions are set based on the excitation source, the excitation frequency, the excitation amplitude, and the excitation direction.

[0029] It can be explained that the honing node refers to the node that constrains the motion of the honing tool rod. There are multiple honing nodes. The honing force set refers to the set formed by the forces on the honing node after the load is applied to the honing tool rod. The honing stress refers to the force on the honing node. The honing stress is identified. The stress identification set refers to the set formed by the stress identification. The stress identification refers to the identification obtained after marking each honing stress, and the stress identification is unique and is used to identify the honing node corresponding to the honing stress. Performing data analysis based on the honing stress to obtain the optimal stress means finding the honing node corresponding to the minimum honing stress. Testing the honing node to ensure that the honing node is constrained It will not affect the ultrasonic honing system. When it is confirmed that it will not affect, the honing stress is confirmed as the optimal stress. If it is confirmed that it will affect, the honing node corresponding to the second smallest honing stress is detected and the above steps are repeated until the optimal stress is obtained. The constraint node refers to the honing node corresponding to the optimal stress. The honing range refers to the area where the spherical honing head can perform effective honing during the spherical precision ultrasonic honing process. The number of scans refers to the number of other devices within the honing range of the spherical honing head that affect the effective honing of the spherical honing head. Interference adjustment refers to adjusting the position of other equipment that affects the effective honing of the spherical honing head to ensure that it no longer affects the spherical honing head.

[0030] S3, setting a simulation range and a honing workpiece, and performing modal analysis on the honing workpiece based on the simulation model and the simulation range to obtain a simulation modal set.

[0031] It can be explained that the simulation range refers to the range of excitation frequencies, for example, 20kHz to 40kHz, the honing workpiece refers to the workpiece undergoing fully automatic spherical precision ultrasonic honing, the simulation modal set refers to the set obtained by modal analysis, the simulation modal set includes the natural frequency set and the natural vibration shape set, the natural frequency set refers to the set composed of natural frequencies, the natural frequency refers to the frequency when the ultrasonic honing system vibrates without external influences, the natural vibration shape set refers to the set composed of natural vibration shapes, the natural vibration shape refers to the vibration shape corresponding to the natural frequency, and performing modal analysis on the honing workpiece based on the simulation model and the simulation range to obtain the simulation modal set refers to performing modal analysis using the finite element analysis software ANSYS to obtain the simulation modal set.

[0032] S4. Extracting a natural frequency set and a natural vibration shape set based on the simulation modal set, drawing a modal heat map using the natural frequency set and the natural vibration shape set, and screening an optimal frequency mode based on the modal heat map.

[0033] Interpretable, modal heat map refers to a two-dimensional chart that can screen the optimal frequency mode. The optimal frequency mode refers to the optimal mode for precision ultrasonic honing of the honing workpiece. The optimal mode refers to the mode that best conforms to the actual situation. For example, the edge of the honing workpiece requires a higher vibration amplitude to remove more material, while the middle part requires a slightly smaller vibration amplitude.

[0034] In detail, the extracting of the natural frequency set and the natural vibration shape set based on the simulation mode set, drawing a modal heat map using the natural frequency set and the natural vibration shape set, and screening the best frequency mode based on the modal heat map include: Extracting natural frequencies in sequence based on the natural frequency set and performing judgment on the extracted natural frequencies and the simulation range to obtain a judgment output set; randomly extracting a first determination output based on the determination output set, and determining whether the first determination output is not greater than a preset output threshold; If the first determination output is greater than the output threshold, the first determination output is removed from the determination output set to obtain a first adjusted output set, and the determination output set is updated using the first adjusted output set, and the process returns to the step of randomly extracting the first determination output based on the determination output set; If the first judgment output is not greater than the output threshold, construct a screening output set, input the first judgment output into the screening output set and remove the first judgment output from the judgment output set to obtain a second adjustment output set, use the second adjustment output set to update the judgment output set, and return to the above step of randomly extracting the first judgment output based on the judgment output set until the judgment output set is an empty set; Matching the corresponding screening frequency set based on the screening output set, calculating the vibration energy ratio, screening the screening frequency set based on the vibration energy ratio, and obtaining a candidate frequency set; The candidate frequency set is matched with a corresponding candidate vibration shape set, a modal heat map is drawn using the candidate frequency set and the candidate vibration shape set, and an optimal frequency mode is screened based on the modal heat map.

[0035] It can be explained that, based on the natural frequency set, the natural frequencies are extracted in sequence and the extracted natural frequencies are judged with the simulation range to obtain a judgment output set. This step refers to calculating the natural frequencies extracted in sequence with the excitation frequencies of the corresponding simulation range. The obtained judgment output set refers to a set composed of calculated differences. The first judgment output refers to a difference randomly selected from the judgment output set. The output threshold refers to a maximum value for judging whether the excitation frequency and the natural frequency are close enough. When the difference exceeds this maximum value, it means that the excitation frequency and the natural frequency are not close enough. The first adjustment output set refers to the judgment output set after the first judgment output is removed from the judgment output set when the first judgment output is greater than the output threshold. The screening output set refers to a set composed of differences less than the output threshold. The second adjustment output set refers to the judgment output set after the first judgment output is removed from the judgment output set when the first judgment output is less than the output threshold. The corresponding screening frequency set is matched based on the screening output set. This step refers to matching the corresponding natural frequencies based on the screening output set, and then integrating the matched natural frequencies into a set. The screening frequency set refers to the set obtained after integration.

[0036] It can be understood that the vibration energy ratio refers to the ratio of the honing head vibration energy to the combined vibration energy, the combined vibration energy refers to the tool rod vibration energy and the transducer vibration energy, the honing head vibration energy refers to the energy of the honing head acting on the honing workpiece, the tool rod vibration energy refers to the energy of the tool rod acting on the honing workpiece, the transducer vibration energy refers to the energy of the transducer acting on the honing workpiece, the candidate frequency set refers to the set formed by the ratio frequency, the candidate vibration mode set refers to the set formed by the vibration modes corresponding to the candidate frequencies in the candidate frequency set, the candidate frequencies and the candidate vibration modes are in a one-to-one relationship, and each candidate frequency has a corresponding candidate vibration mode.

[0037] In detail, the vibration energy ratio is calculated, and the screening frequency set is screened based on the vibration energy ratio to obtain a candidate frequency set, including: The vibration energy of the honing head, the vibration energy of the tool rod and the vibration energy of the transducer corresponding to each screening frequency in the screening frequency set are obtained, and the vibration energy ratio formula is constructed based on the vibration energy of the honing head, the vibration energy of the tool rod and the vibration energy of the transducer: , in, Refers to the vibration energy ratio, Refers to the vibration energy of the tool rod, Refers to the transducer vibration energy, Refers to the vibration energy of the honing head; The vibration energy ratio formula is used to calculate the vibration energy ratio of each screening frequency in the screening frequency set, and the screening frequencies whose vibration energy ratios are greater than a preset energy threshold are grouped together to obtain a candidate frequency set.

[0038] It can be explained that the energy threshold refers to a pre-set minimum value. According to this threshold, it can be judged whether the vibration energy of the honing head reaches the expected energy. When the vibration energy ratio is less than the energy threshold, it means that the vibration energy of the honing head has not reached the expected energy. When the vibration energy ratio is not less than the energy threshold, it means that the vibration energy of the honing head has reached the expected energy.

[0039] In detail, the method of drawing a modal heat map using a candidate frequency set and a candidate vibration mode set, and selecting an optimal frequency mode based on the modal heat map, includes: Arrange the candidate frequency set in ascending order of candidate frequencies to obtain a sorted frequency set, and set the sorted frequency set as the modal horizontal axis; The honing workpiece is equally divided to obtain a divided workpiece, wherein the divided workpiece includes: a first part, a second part, a third part and a fourth part, and the first part and the fourth part are located at two ends of the honing workpiece, and the second part and the third part are located in the middle of the honing workpiece; defining a workpiece edge and a workpiece center, confirming the first part and the fourth part as the workpiece edge, and confirming the second part and the third part as the workpiece center; The edge and the center of the workpiece are set as the modal vertical axis, and a modal heat map is drawn based on the modal horizontal axis, the modal vertical axis, the candidate frequency set and the candidate vibration shape set; Based on the modal heat map, the maximum edge amplitude of the edge of the workpiece and the maximum center amplitude of the center of the workpiece are screened; Based on the edge maximum amplitude and the center maximum amplitude matching the corresponding edge optimal frequency and center optimal frequency, the edge optimal frequency and the center optimal frequency are confirmed as the optimal frequency mode.

[0040] Explainable, the sorted frequency set refers to the set obtained by sorting the candidate frequency set in the order of candidate frequency from small to large, the modal horizontal axis refers to the horizontal axis of the modal heat map, the divided workpiece refers to the workpiece obtained by equally dividing the honing workpiece into four parts, the four-part equal division refers to dividing the honing workpiece into four parts according to the diameter of the workpiece, the first part, the second part, the third part and the fourth part are all four parts obtained by equally dividing the four parts, the first part is located at the left edge of the honing workpiece, and the second part is located at the right edge of the first part of the honing workpiece. The third part is located on the right side of the second part of the honing workpiece, and the fourth part is located on the right edge of the honing workpiece. The workpiece edge refers to the edge parts of the left and right ends of the honing workpiece, the workpiece center refers to the middle part of the honing workpiece, the modal vertical axis refers to the vertical axis of the modal heat map, the edge maximum amplitude refers to the maximum amplitude of the first and fourth parts in the modal heat map, the center maximum amplitude refers to the maximum amplitude of the second and third parts in the modal heat map, the edge optimal frequency refers to the candidate frequency corresponding to the edge maximum amplitude, and the center optimal frequency refers to the candidate frequency corresponding to the center maximum amplitude.

[0041] S5. Install a fixture arm, wherein the fixture arm is connected to the ultrasonic honing system via a connecting flange, and a visual sensor is provided on the fixture arm.

[0042] It can be explained that the fixture arm refers to a mechanical arm used to move and fix the honing workpiece, and the visual sensor refers to a device that monitors the honing workpiece and obtains visual information around the honing workpiece.

[0043] S6. Scan the honing workpiece using the visual sensor to obtain workpiece feature points, move the honing workpiece to a preset honing position based on the fixture arm and the workpiece feature points, and perform error judgment to obtain the workpiece offset.

[0044] It can be explained that the workpiece feature point refers to the position of the honing workpiece, which is a coordinate point in the visual sensor. The honing position refers to the pre-set position for honing the honing workpiece. The workpiece offset is the error between the position of the honing workpiece and the honing position after the honing workpiece is moved by the fixture arm.

[0045] S7. When it is confirmed that the honing workpiece is in the honing position based on the workpiece offset, perform precision ultrasonic honing on the honing workpiece using the optimal frequency mode and detect the real-time offset.

[0046] It can be explained that the real-time offset refers to the distance that the honing workpiece deviates from the honing position during the real-time honing process.

[0047] In detail, the step of confirming that the honing workpiece is in the honing position based on the workpiece offset comprises: Step A: setting an error standard value, calculating the workpiece offset and the error standard value to obtain an error calculation value; Step B: If the calculated error value is a negative number, confirm that the honing workpiece is not in the honing position and use the fixture arm and the visual sensor to adjust the position of the honing workpiece to obtain the adjusted position, calculate the adjustment error using the adjusted position, update the workpiece offset using the adjustment error, and return to step A; Step C: If the calculated error value is not a negative number, it is confirmed that the honing workpiece is in the honing position.

[0048] It can be explained that the error standard value refers to a numerical value. When the workpiece offset is less than or equal to the error standard deviation, the honing workpiece can be considered to be in the honing position. The error calculation value refers to the numerical value obtained by calculating the workpiece offset and the error standard value. The adjusted position refers to the position of the honing workpiece obtained after adjusting the position of the honing workpiece again using the fixture arm and the visual sensor. The adjustment error refers to the error value between the adjustment position and the honing position.

[0049] S8. Use the fixture arm to adjust the real-time offset and calculate the shape error.

[0050] Explainably, form error refers to the deviation between the geometry of the honing workpiece during the honing process and the pre-designed geometry.

[0051] In detail, the calculating of the shape error includes: Get the honing center point, set the honing center point as the sphere center, build a spherical coordinate system based on the sphere center, set the sampling degree, and set the sampling point based on the spherical coordinate system and the sampling degree, where the sampling degree is 5 degrees; Based on the spherical coordinate system, the sampling polar angle and the sampling azimuth are collected, and the ideal sampling radius and the total number of sampling points of all sampling points are obtained; Scan the actual sampling radius, set the sampling point index and the sampling point weight, and calculate the shape error according to the sampling point index, the sampling point weight, the sampling polar angle, the sampling azimuth, the ideal sampling radius, the total number of sampling points and the actual sampling radius.

[0052] It can be explained that the honing center point refers to the center point of the honing workpiece, the center of the sphere refers to the center point of the spherical coordinate system, the sampling degree refers to a degree, a sampling degree of 5 degrees means setting a sampling point every 5 degrees, the sampling point refers to the coordinate point for sampling, the sampling polar angle refers to the polar angle of the sampling point, the sampling azimuth refers to the azimuth of the sampling point, the ideal sampling radius refers to the radius specified by the pre-designed geometric shape, the radius here refers to the distance from the sampling point to the center of the sphere, the total number of sampling points refers to the number of sampling points, the actual sampling radius refers to the actual radius of the sampling point, the sampling point index refers to the parameters of traversing the sampling points, the sampling point weight refers to the degree of influence of the sampling point on the shape error, and the sampling point weight of the sampling points in the area with higher accuracy requirements will be higher than that in the area with lower accuracy requirements.

[0053] In detail, the shape error is calculated according to the sampling point index, sampling point weight, sampling polar angle, sampling azimuth, ideal sampling radius, total number of sampling points and actual sampling radius, including: The shape error is calculated using the following formula: , in, Refers to the sampling polar angle in the spherical coordinate system , sampling azimuth The shape error at Refers to the sampling point index, Refers to the total number of sampling points, The sampling point index is The sampling point weights at The sampling point index is The actual sampling radius at The sampling point index is The ideal sampling radius when .

[0054] S9. Calculate and adjust the pressure based on the shape error to complete the fully automatic spherical precision ultrasonic honing.

[0055] It can be explained that calculating the adjusted pressure based on the shape error means judging whether the pressure distribution is reasonable according to the shape error, and if it is unreasonable, making adjustments to obtain the adjusted pressure, and the adjusted pressure refers to the pressure after the pressure distribution is adjusted.

[0056] In detail, the adjusting pressure is calculated based on the shape error, including: Install a pressure sensor, use the pressure sensor to collect the basic pressure of all sampling points, set the proportional factor, and calculate the adjusted pressure based on the shape error, basic pressure and proportional factor: , in, Refers to the sampling polar angle in the spherical coordinate system , sampling azimuth Adjustment pressure at Refers to the sampling polar angle in the spherical coordinate system , sampling azimuth The base pressure at Refers to the scale factor.

[0057] To explain, the pressure sensor refers to a sensor that detects the pressure of all sampling points in the spherical coordinate system, the basic pressure refers to the original unadjusted pressure at the sampling point, and the proportional factor refers to the degree of influence of the shape error on the adjusted pressure.

[0058] In order to solve the problems described in the background technology, the present invention constructs a comprehensive process of multiple steps such as modal analysis, modal heat map, error judgment, offset adjustment and pressure adjustment by receiving ultrasonic honing instructions, thereby realizing efficient precision processing and automatic control of the honing workpiece; firstly, the ultrasonic honing instruction is received, and the pre-constructed ultrasonic honing system is started based on the ultrasonic honing instruction, and the ultrasonic honing system is automatically started by receiving the ultrasonic honing instruction, thereby realizing a high degree of automatic control, reducing human intervention, and improving the stability and accuracy of the operation. The automatic startup greatly shortens the operation preparation time and improves The overall work efficiency is improved and it is suitable for modern production environments. Secondly, by accurately setting motion constraints and freedom constraints, a simulation model that is highly consistent with actual operations can be established, making the entire ultrasonic honing process more predictable and controllable. The establishment of the simulation model can provide data support for subsequent optimization, and extensive testing and adjustments can be performed before actual honing, thereby reducing risks and costs. After that, the simulation range and the honing workpiece are set, and modal analysis is performed on the honing workpiece based on the simulation model and the simulation range to obtain a simulation modal set. By performing modal analysis, the honing workpiece can be identified. fixed frequency, which helps to further optimize the honing parameters; then, based on the simulation modal set, the natural frequency set and the natural vibration shape set are extracted, and the modal heat map is drawn using the natural frequency set and the natural vibration shape set. The optimal frequency mode is screened based on the modal heat map. Through the visual representation of the modal heat map, the frequency mode that optimizes the honing effect of the workpiece can be quickly identified, which improves the operating efficiency. The selected optimal frequency mode ensures that the vibration mode of the honing head on the workpiece surface is optimal, reduces the shape error and surface roughness, and improves the final processing effect; further, the fixture arm is installed, and the fixture arm is equipped with The installation of the fixture arm and the configuration of the visual sensor can realize the precise control of the workpiece position. The position of the workpiece can be monitored in real time by the visual sensor, and the offset can be corrected in real time to reduce the machining accuracy problem caused by the inappropriate position of the workpiece. Finally, the shape error is calculated, and the pressure is adjusted according to the shape error calculation. The pressure is adjusted by the feedback calculation of the shape error, and the pressure at each position can be accurately controlled during the honing process, thereby optimizing the grinding effect. The precise control of the pressure can effectively reduce the surface shape error of the workpiece, improve the surface accuracy and finish, and achieve a high-precision honing effect. Therefore, the present invention can improve the automation degree and honing accuracy of the fully automatic spherical ultrasonic honing.

[0059] like Figure 2 , which is a functional module diagram of a fully automatic spherical precision ultrasonic honing system based on resonance frequency simulation provided by an embodiment of the present invention.

[0060] The fully automatic spherical precision ultrasonic honing system 100 based on resonance frequency simulation of the present invention can be installed in an electronic device. According to the functions to be implemented, the fully automatic spherical precision ultrasonic honing system 100 based on resonance frequency simulation can include a simulation model building module 101, an optimal frequency screening module 102, a workpiece offset calculation module 103 and an adjustment pressure calculation module 104. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0061] The simulation model building module 101 is used to receive an ultrasonic honing instruction and start a pre-built ultrasonic honing system based on the ultrasonic honing instruction; define motion constraints, freedom constraints and excitation conditions, set a honing transducer, a honing tool rod and a spherical honing head based on the motion constraints, freedom constraints and excitation conditions, and use the honing transducer, the honing tool rod and the spherical honing head to build a simulation model, wherein the honing tool rod is connected to the honing transducer and the spherical honing head through threads, the honing transducer is installed on the top end surface of the honing tool rod, and the spherical honing head is installed on the bottom end surface of the honing tool rod; The optimal frequency screening module 102 is used to set the simulation range and the honing workpiece, perform modal analysis on the honing workpiece based on the simulation model and the simulation range to obtain a simulation modal set; extract the natural frequency set and the natural vibration shape set based on the simulation modal set, draw a modal heat map using the natural frequency set and the natural vibration shape set, and screen the optimal frequency mode based on the modal heat map; The workpiece offset calculation module 103 is used to install a fixture arm, wherein the fixture arm is connected to the ultrasonic honing system through a connecting flange, and the fixture arm is equipped with a visual sensor; the visual sensor is used to scan the honing workpiece to obtain the workpiece feature points, and the honing workpiece is moved to a preset honing position based on the fixture arm and the workpiece feature points, and an error judgment is performed to obtain the workpiece offset; The adjustment pressure calculation module 104 is used to confirm that the honing workpiece is in the honing position based on the workpiece offset, perform precision ultrasonic honing on the honing workpiece using the optimal frequency mode and detect the real-time offset; use the fixture arm to adjust the real-time offset and calculate the shape error; calculate the adjustment pressure based on the shape error to complete fully automatic spherical precision ultrasonic honing.

[0062] In detail, the modules in the fully automatic spherical precision ultrasonic honing system 100 based on resonance frequency simulation in the embodiment of the present invention are used in the same manner as described above. Figure 1 The fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation described in the invention has the same technical means and can produce the same technical effects, so it will not be repeated here.

[0063] like Figure 3 , which is a schematic diagram of the structure of an electronic device for implementing a fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation provided by an embodiment of the present invention.

[0064] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a fully automatic spherical precision ultrasonic honing method program based on resonance frequency simulation.

[0065] The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 11 may be an internal storage unit of the electronic device 1, such as a mobile hard disk of the electronic device 1. In other embodiments, the memory 11 may also be an external storage device of the electronic device 1, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 1. Further, the memory 11 also includes an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 1, such as the code of the program of the fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation, but also can be used to temporarily store data that has been output or is to be output.

[0066] In some embodiments, the processor 10 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips, etc. The processor 10 is the control core (Control Unit) of the electronic device, and uses various interfaces and lines to connect various components of the entire electronic device, and executes or runs programs or modules stored in the memory 11 (for example, a fully automatic spherical precision ultrasonic honing method program based on resonance frequency simulation, etc.), and calls data stored in the memory 11 to execute various functions of the electronic device 1 and process data.

[0067] The bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 may be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize connection and communication between the memory 11 and at least one processor 10, etc.

[0068] Figure 3 Only an electronic device with components is shown, and those skilled in the art will understand that Figure 3 The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0069] For example, although not shown, the electronic device 1 may also include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0070] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0071] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 1 and to display a visual user interface.

[0072] The program of the fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can achieve: receiving an ultrasonic honing instruction, and starting a pre-built ultrasonic honing system based on the ultrasonic honing instruction; The motion constraints, freedom constraints and excitation conditions are defined, and a honing transducer, a honing tool rod and a spherical honing head are set based on the motion constraints, freedom constraints and excitation conditions, and a simulation model is established using the honing transducer, the honing tool rod and the spherical honing head, wherein the honing tool rod is connected to the honing transducer and the spherical honing head through threads, the honing transducer is installed on the top end surface of the honing tool rod, and the spherical honing head is installed on the bottom end surface of the honing tool rod; Setting a simulation range and a honing workpiece, and performing modal analysis on the honing workpiece based on the simulation model and the simulation range to obtain a simulation modal set; Extracting a natural frequency set and a natural vibration shape set based on the simulation mode set, drawing a modal heat map using the natural frequency set and the natural vibration shape set, and screening an optimal frequency mode based on the modal heat map; Installing a fixture arm, wherein the fixture arm is connected to the ultrasonic honing system via a connecting flange, and the fixture arm is equipped with a visual sensor; Scanning the honing workpiece with the visual sensor to obtain feature points of the workpiece, moving the honing workpiece to a preset honing position based on the fixture arm and the feature points of the workpiece, and performing error judgment to obtain an offset of the workpiece; When it is confirmed that the honing workpiece is in the honing position based on the workpiece offset, performing precision ultrasonic honing on the honing workpiece using the optimal frequency mode and detecting the real-time offset; Using the fixture arm to perform adjustments on the real-time offset and calculate shape errors; The pressure is adjusted based on the shape error calculation to complete the fully automatic spherical precision ultrasonic honing.

[0073] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to Figures 1 to 3 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0074] Furthermore, if the module / unit integrated in the electronic device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0075] The present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor of an electronic device, the computer program can implement: receiving an ultrasonic honing instruction, and starting a pre-built ultrasonic honing system based on the ultrasonic honing instruction; The motion constraints, freedom constraints and excitation conditions are defined, and a honing transducer, a honing tool rod and a spherical honing head are set based on the motion constraints, freedom constraints and excitation conditions, and a simulation model is established using the honing transducer, the honing tool rod and the spherical honing head, wherein the honing tool rod is connected to the honing transducer and the spherical honing head through threads, the honing transducer is installed on the top end surface of the honing tool rod, and the spherical honing head is installed on the bottom end surface of the honing tool rod; Setting a simulation range and a honing workpiece, and performing modal analysis on the honing workpiece based on the simulation model and the simulation range to obtain a simulation modal set; Extracting a natural frequency set and a natural vibration shape set based on the simulation mode set, drawing a modal heat map using the natural frequency set and the natural vibration shape set, and screening an optimal frequency mode based on the modal heat map; Installing a fixture arm, wherein the fixture arm is connected to the ultrasonic honing system via a connecting flange, and the fixture arm is equipped with a visual sensor; Scanning the honing workpiece with the visual sensor to obtain feature points of the workpiece, moving the honing workpiece to a preset honing position based on the fixture arm and the feature points of the workpiece, and performing error judgment to obtain an offset of the workpiece; When it is confirmed that the honing workpiece is in the honing position based on the workpiece offset, performing precision ultrasonic honing on the honing workpiece using the optimal frequency mode and detecting the real-time offset; Using the fixture arm to perform adjustments on the real-time offset and calculate shape errors; The pressure is adjusted based on the shape error calculation to complete the fully automatic spherical precision ultrasonic honing.

[0076] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative, and actual implementation may have other division methods.

[0077] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0078] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0079] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation, characterized in that: The method comprises: receiving an ultrasonic honing instruction, and starting a pre-built ultrasonic honing system based on the ultrasonic honing instruction; The motion constraints, freedom constraints and excitation conditions are defined, and a honing transducer, a honing tool rod and a spherical honing head are set based on the motion constraints, freedom constraints and excitation conditions, and a simulation model is established using the honing transducer, the honing tool rod and the spherical honing head, wherein the honing tool rod is connected to the honing transducer and the spherical honing head through threads, the honing transducer is installed on the top end surface of the honing tool rod, and the spherical honing head is installed on the bottom end surface of the honing tool rod; Setting a simulation range and a honing workpiece, and performing modal analysis on the honing workpiece based on the simulation model and the simulation range to obtain a simulation modal set; Extracting a natural frequency set and a natural vibration shape set based on the simulation mode set, drawing a modal heat map using the natural frequency set and the natural vibration shape set, and screening an optimal frequency mode based on the modal heat map; Installing a fixture arm, wherein the fixture arm is connected to the ultrasonic honing system via a connecting flange, and the fixture arm is equipped with a visual sensor; Scanning the honing workpiece with the visual sensor to obtain feature points of the workpiece, moving the honing workpiece to a preset honing position based on the fixture arm and the feature points of the workpiece, and performing error judgment to obtain an offset of the workpiece; When it is confirmed that the honing workpiece is in the honing position based on the workpiece offset, performing precision ultrasonic honing on the honing workpiece using the optimal frequency mode and detecting the real-time offset; Using the fixture arm to perform adjustments on the real-time offset and calculate shape errors; The pressure is adjusted based on the shape error calculation to complete the fully automatic spherical precision ultrasonic honing.

2. The fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation according to claim 1, characterized in that: The definition of motion constraints, freedom constraints and excitation conditions includes: Acquire a honing node of the honing tool rod, perform force analysis on the honing node, and obtain a honing force set; Extracting honing stresses in sequence based on the honing force set, and marking the honing stresses to obtain a stress marking set; Performing data analysis based on the honing stress to obtain an optimal stress, performing node matching based on the stress identification set and the optimal stress to obtain a constraint node, and performing constraints based on the constraint node to obtain a motion constraint; Get the honing range of the spherical honing head; Perform interference scanning based on the spherical honing head and the honing range to obtain the scanning quantity; Determine whether the scan quantity is 0; If the scanning quantity is not 0, interference adjustment is performed and the process returns to the above step of performing interference scanning based on the spherical honing head and the honing range; If the scanning quantity is 0, constraints are performed based on the spherical honing head and the honing range to obtain free constraints; An excitation source, an excitation frequency, an excitation amplitude, and an excitation direction are obtained, and excitation conditions are set based on the excitation source, the excitation frequency, the excitation amplitude, and the excitation direction.

3. The fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation as claimed in claim 2, characterized in that: The extracting of the natural frequency set and the natural vibration shape set based on the simulation mode set, drawing a modal heat map using the natural frequency set and the natural vibration shape set, and screening the best frequency mode based on the modal heat map include: Extracting natural frequencies in sequence based on the natural frequency set and performing judgment on the extracted natural frequencies and the simulation range to obtain a judgment output set; randomly extracting a first determination output based on the determination output set, and determining whether the first determination output is not greater than a preset output threshold; If the first determination output is greater than the output threshold, the first determination output is removed from the determination output set to obtain a first adjusted output set, and the determination output set is updated using the first adjusted output set, and the process returns to the step of randomly extracting the first determination output based on the determination output set; If the first judgment output is not greater than the output threshold, construct a screening output set, input the first judgment output into the screening output set and remove the first judgment output from the judgment output set to obtain a second adjustment output set, use the second adjustment output set to update the judgment output set, and return to the above step of randomly extracting the first judgment output based on the judgment output set until the judgment output set is an empty set; Matching the corresponding screening frequency set based on the screening output set, calculating the vibration energy ratio, screening the screening frequency set based on the vibration energy ratio, and obtaining a candidate frequency set; The candidate frequency set is matched with a corresponding candidate vibration shape set, a modal heat map is drawn using the candidate frequency set and the candidate vibration shape set, and an optimal frequency mode is screened based on the modal heat map.

4. The fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation as claimed in claim 3, characterized in that: The calculating of the vibration energy ratio and screening the screening frequency set based on the vibration energy ratio to obtain the candidate frequency set include: The vibration energy of the honing head, the vibration energy of the tool rod and the vibration energy of the transducer corresponding to each screening frequency in the screening frequency set are obtained, and the vibration energy ratio formula is constructed based on the vibration energy of the honing head, the vibration energy of the tool rod and the vibration energy of the transducer: ， in, Refers to the vibration energy ratio, Refers to the vibration energy of the tool rod, Refers to the transducer vibration energy, Refers to the vibration energy of the honing head; The vibration energy ratio formula is used to calculate the vibration energy ratio of each screening frequency in the screening frequency set, and the screening frequencies whose vibration energy ratios are greater than a preset energy threshold are grouped together to obtain a candidate frequency set.

5. The fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation as claimed in claim 4, characterized in that: The method of drawing a modal heat map using the candidate frequency set and the candidate vibration shape set, and selecting the best frequency mode based on the modal heat map, includes: Arrange the candidate frequency set in ascending order of candidate frequencies to obtain a sorted frequency set, and set the sorted frequency set as the modal horizontal axis; The honing workpiece is equally divided to obtain a divided workpiece, wherein the divided workpiece includes: a first part, a second part, a third part and a fourth part, and the first part and the fourth part are located at two ends of the honing workpiece, and the second part and the third part are located in the middle of the honing workpiece; defining a workpiece edge and a workpiece center, confirming the first part and the fourth part as the workpiece edge, and confirming the second part and the third part as the workpiece center; The edge and the center of the workpiece are set as the modal vertical axis, and a modal heat map is drawn based on the modal horizontal axis, the modal vertical axis, the candidate frequency set and the candidate vibration shape set; Based on the modal heat map, the maximum edge amplitude of the edge of the workpiece and the maximum center amplitude of the center of the workpiece are screened; Based on the edge maximum amplitude and the center maximum amplitude matching the corresponding edge optimal frequency and center optimal frequency, the edge optimal frequency and the center optimal frequency are confirmed as the optimal frequency mode.

6. The fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation according to claim 5, characterized in that: The step of confirming that the honing workpiece is in a honing position based on the workpiece offset comprises: Step A: setting an error standard value, calculating the workpiece offset and the error standard value to obtain an error calculation value; Step B: If the calculated error value is a negative number, confirm that the honing workpiece is not in the honing position and use the fixture arm and the visual sensor to adjust the position of the honing workpiece to obtain the adjusted position, calculate the adjustment error using the adjusted position, update the workpiece offset using the adjustment error, and return to step A; Step C: If the calculated error value is not a negative number, it is confirmed that the honing workpiece is in the honing position.

7. The fully automatic spherical surface precision ultrasonic honing method based on resonance frequency simulation according to claim 6, characterized in that: The calculating shape error comprises: Get the honing center point, set the honing center point as the sphere center, build a spherical coordinate system based on the sphere center, set the sampling degree, and set the sampling point based on the spherical coordinate system and the sampling degree, where the sampling degree is 5 degrees; Based on the spherical coordinate system, the sampling polar angle and the sampling azimuth are collected, and the ideal sampling radius and the total number of sampling points of all sampling points are obtained; Scan the actual sampling radius, set the sampling point index and the sampling point weight, and calculate the shape error according to the sampling point index, the sampling point weight, the sampling polar angle, the sampling azimuth, the ideal sampling radius, the total number of sampling points and the actual sampling radius.

8. The fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation according to claim 7, characterized in that: The calculating of the shape error according to the sampling point index, the sampling point weight, the sampling polar angle, the sampling azimuth, the ideal sampling radius, the total number of sampling points and the actual sampling radius comprises: The shape error is calculated using the following formula: ， in, Refers to the sampling polar angle in the spherical coordinate system , sampling azimuth The shape error at Refers to the sampling point index, Refers to the total number of sampling points, The sampling point index is The sampling point weights at The sampling point index is The actual sampling radius at The sampling point index is The ideal sampling radius when .

9. The fully automatic spherical precision ultrasonic honing method based on resonance frequency simulation according to claim 8, characterized in that: The calculating and adjusting the pressure based on the shape error comprises: Install a pressure sensor, use the pressure sensor to collect the basic pressure of all sampling points, set the proportional factor, and calculate the adjusted pressure based on the shape error, basic pressure and proportional factor: ， in, Refers to the sampling polar angle in the spherical coordinate system , sampling azimuth Adjustment pressure at Refers to the sampling polar angle in the spherical coordinate system , sampling azimuth The base pressure at Refers to the scale factor.

10. A fully automatic spherical precision ultrasonic honing system based on resonance frequency simulation, characterized in that: The system comprises: A simulation model establishment module is used to receive an ultrasonic honing instruction and start a pre-built ultrasonic honing system based on the ultrasonic honing instruction; define motion constraints, freedom constraints and excitation conditions, set a honing transducer, a honing tool rod and a spherical honing head based on the motion constraints, freedom constraints and excitation conditions, and establish a simulation model using the honing transducer, the honing tool rod and the spherical honing head, wherein the honing tool rod is connected to the honing transducer and the spherical honing head through threads, the honing transducer is installed on the top end face of the honing tool rod, and the spherical honing head is installed on the bottom end face of the honing tool rod; An optimal frequency screening module is used to set a simulation range and a honing workpiece, perform modal analysis on the honing workpiece based on the simulation model and the simulation range to obtain a simulation modal set; extract a natural frequency set and a natural vibration shape set based on the simulation modal set, draw a modal heat map using the natural frequency set and the natural vibration shape set, and screen the optimal frequency mode based on the modal heat map; A workpiece offset calculation module is used to install a fixture arm, wherein the fixture arm is connected to the ultrasonic honing system through a connecting flange, and the fixture arm is equipped with a visual sensor; the visual sensor is used to scan the honing workpiece to obtain the workpiece feature points, and the honing workpiece is moved to a preset honing position based on the fixture arm and the workpiece feature points, and an error judgment is performed to obtain the workpiece offset; The pressure adjustment calculation module is used to confirm that the honing workpiece is in the honing position based on the workpiece offset, perform precision ultrasonic honing on the honing workpiece using the optimal frequency mode and detect the real-time offset; use the fixture arm to adjust the real-time offset and calculate the shape error; adjust the pressure based on the shape error calculation to complete fully automatic spherical precision ultrasonic honing.

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