Grinding control method and system

Abstract

The present application relates to the technical field of workpiece grinding control algorithms, and specifically to a grinding control method and system. The method and system are applied to a grinding machine. When the present application is applied, the preset grinding parameters of each workpiece to be ground can be automatically retrieved, and the grinding head can be controlled to move to the workpiece to be ground to grind it, and the duration of each grinding can be set to avoid over-grinding. After a single grinding is completed, image recognition is used to determine whether the grinding target is reached. If the grinding target is not reached, grinding is performed again. In addition, during the grinding stop process, the machine is gradually stopped at a preset grinding end deceleration value to avoid burrs, impact marks and other defects on the workpiece to be ground due to emergency stops. After confirming again that the grinding target has been reached, a grinding completion information is generated. In the grinding work of a single row group, the grinding equipment can be automatically controlled to grind the workpieces to be ground in sequence, and the grinding effect is guaranteed to be good, so that automated and large-scale grinding work can be achieved.

Description

Technical Field

[0001] The present application relates to the technical field of workpiece grinding control algorithms, and in particular to a grinding control method and system. Background Art

[0002] The grinder is mainly used to grind specific surfaces on workpieces. The grinding objects include, for example: equipment with rust layers or corrosion structures, electrical equipment with oxide layers or oxide structures, and power contacts with oxide layers or oxide structures. The grinder grinds and polishes the specific surfaces of the workpieces. In current grinding work, each piece to be ground is mainly ground by manually controlling the grinder, which will bring high labor costs and cannot realize automated, large-scale grinding work. In this field, how to automatically control the grinding equipment to grind the pieces to be ground in sequence and ensure a good grinding effect is a technical problem that needs to be solved in this field. Summary of the invention

[0003] In view of this, the present application provides a grinding control method and system, which can automatically control the grinding equipment to grind the workpieces to be grinded in sequence and ensure good grinding effect, and can realize automated and large-scale grinding work.

[0004] In a first aspect, the present application provides a grinding control method, which is applied to a grinding machine, wherein the grinding machine includes a base, a rotating shaft, a swing arm, a swing drive mechanism, a grinding drive motor, a grinding head and a depth-sensing camera, wherein the rotating shaft is connected to the base, the swing arm is rotatably connected to the rotating shaft, the swing drive mechanism is configured to drive the swing arm to swing around the rotating shaft, the grinding drive motor is movably connected to the swing arm, the movable direction of the grinding drive motor relative to the swing arm is perpendicular to the swing direction of the swing arm, the grinding drive motor is used to drive the grinding head to rotate, and the depth-sensing camera is disposed on the swing arm; wherein the grinding control method includes: obtaining a depth-sensing camera image The method comprises the steps of: obtaining first image data of a grinding direction of the grinding wheel; identifying a plurality of pieces to be ground in a single row group according to the first image data; arranging the plurality of pieces to be ground in a single row group along the moving direction of the grinding drive motor; obtaining a preset grinding sequence of the plurality of pieces to be ground in the single row group; retrieving preset grinding parameters of each piece to be ground in the current row group; controlling the swing drive mechanism to swing the swing arm according to the grinding sequence, and controlling the grinding drive motor to move so that the grinding head moves toward the piece to be ground currently until the grinding head and the piece to be ground currently fit each other; adjusting the grinding drive motor to the preset grinding parameters Corresponding working condition parameters, the preset grinding parameters include preset grinding speed, preset single grinding time, preset grinding interruption time, preset grinding end deceleration value; control the grinding drive motor to start and grind the workpiece to be ground at the preset grinding speed; if the grinding continues for the preset single grinding time, control the grinding drive motor to stop; when the grinding drive motor stops, control the depth-sensing camera to capture the second image data of the workpiece to be ground; obtain the first workpiece surface image according to the second image data, and compare the first workpiece surface image with the grinding target; if the first workpiece surface image does not meet the grinding target, and the grinding drive motor stops for the preset grinding If the first workpiece surface image meets the grinding target, the grinding drive motor is controlled to gradually stop at the preset grinding end deceleration value; the swing drive mechanism is controlled to drive the swing arm to swing, and the grinding drive motor is controlled to move so that the grinding head is away from the current workpiece to be ground; the depth-sensing camera is controlled to capture the third image data of the workpiece to be ground; a second workpiece surface image is obtained according to the third image data, and if the grinding completion confirmation information made according to the second workpiece surface image is obtained, the grinding completion information corresponding to the workpiece to be ground is generated;And according to the grinding sequence, the swing drive mechanism is controlled to drive the swing arm to swing, and the grinding drive motor is controlled to move, so that the grinding head moves toward the next workpiece to be ground. ;

[0005] In combination with the first aspect, in a possible implementation method, it also includes: obtaining the grinding speed of the grinding head; and during the grinding process, if the grinding speed decelerates and the deceleration is greater than the preset deceleration value, the grinding drive motor is controlled to stop at an emergency deceleration value, and the emergency deceleration value is greater than the preset grinding end deceleration value.

[0006] In combination with the first aspect, in a possible implementation, it also includes: obtaining the rotational resistance of the swing drive mechanism; and if the rotational resistance is greater than the preset resistance, after the grinding drive motor stops at the emergency deceleration value, controlling the grinding drive motor to perform reverse rotation at a preset escape speed.

[0007] In combination with the first aspect, in a possible implementation, the method further includes: controlling the swing drive mechanism to drive the swing arm to swing, so as to drive the grinding head away from the workpiece to be ground.

[0008] In combination with the first aspect, in a possible implementation, the grinding drive motor includes a cooling mechanism; wherein the grinding control method also includes: if the rotational resistance is greater than the preset resistance, and the temperature of the grinding drive motor is greater than the preset temperature value, then during the process in which the swing drive mechanism drives the swing arm to swing, the grinding drive motor is controlled to stop, and the cooling mechanism is controlled to operate at maximum power.

[0009] In combination with the first aspect, in a possible implementation, the grinding machine also includes: a grinding platform, the grinding platform is provided with a sliding guide rail, the base is slidably connected to the sliding guide rail, and the guiding direction of the sliding guide rail is perpendicular to the moving direction of the grinding drive motor; wherein, the grinding control method also includes: if the grinding completion information corresponding to all the to-be-grinded parts in a single row group is obtained, then the swing drive mechanism is controlled to drive the swing arm to swing to the initial position of the swing arm, and the grinding drive motor is controlled to move to the initial position of the grinding drive motor.

[0010] In combination with the first aspect, in a possible implementation, it further includes: controlling the base to slide along the sliding guide rail to the next row group; and calling the preset grinding parameters of each of the to-be-grinded parts in the current row group.

[0011] In combination with the first aspect, in a possible implementation, after controlling the grinding drive motor to gradually stop at the preset grinding end deceleration value, the grinding control method also includes: controlling the depth-sensing camera to capture fourth image data of the workpiece to be ground; obtaining a third workpiece surface image based on the fourth image data; identifying whether there are impact lines on the third workpiece surface image based on a machine vision algorithm; if there are impact lines, controlling the swing drive mechanism to drive the swing arm to swing, and controlling the grinding drive motor to move so that the grinding head and the impact lines fit each other; and controlling the grinding drive motor to start and grind the impact lines at a line grinding speed for a preset grinding time, and the line grinding speed is lower than the preset grinding speed.

[0012] In combination with the first aspect, in a possible implementation, it further includes: if the number of grinding times for the impact lines exceeds a preset number, generating grinding completion information corresponding to the workpiece to be ground.

[0013] In a second aspect, the present application provides a grinding control system, which is applied to a grinding machine, wherein the grinding machine includes a base, a rotating shaft, a swing arm, a swing drive mechanism, a grinding drive motor, a grinding head and a depth-sensing camera, wherein the rotating shaft is connected to the base, the swing arm is rotatably connected to the rotating shaft, the swing drive mechanism is configured to drive the swing arm to swing around the rotating shaft, the grinding drive motor is movably connected to the swing arm, the movable direction of the grinding drive motor relative to the swing arm is perpendicular to the swing direction of the swing arm, the grinding drive motor is used to drive the grinding head to rotate, and the depth-sensing camera is arranged on the swing arm; wherein the grinding control system includes: a data acquisition module, configured to: acquire the grinding data captured by the depth-sensing camera The invention relates to a method for obtaining a first image data of a grinding direction; identifying a plurality of pieces to be ground in a single row group according to the first image data; arranging the plurality of pieces to be ground in a single row group along the moving direction of the grinding drive motor; obtaining a preset grinding sequence of the plurality of pieces to be ground in the single row group; retrieving preset grinding parameters of each piece to be ground in the current row group; a grinding drive module, which is in communication with the data acquisition module, and the grinding drive module is configured to: according to the grinding sequence, control the swing drive mechanism to drive the swing arm to swing, and control the grinding drive motor to move, so that the grinding head moves toward the piece to be ground currently until the grinding head and the piece to be ground currently fit each other; The grinding drive motor is adjusted to the working condition parameters corresponding to the preset grinding parameters, and the preset grinding parameters include a preset grinding speed, a preset single grinding time, a preset grinding interruption time, and a preset grinding end deceleration value; the grinding drive motor is controlled to start and grind the workpiece to be ground at the preset grinding speed; a grinding degree control module is communicated and connected with the grinding drive module, and the grinding degree control module is configured to: if the grinding continues to run for the preset single grinding time, the grinding drive motor is controlled to stop; when the grinding drive motor stops, the depth sensing camera is controlled to capture the second image data of the workpiece to be ground; a first workpiece surface image is obtained according to the second image data, and the first workpiece surface image is compared with the grinding grinding target; if the first workpiece surface image does not meet the grinding target, and the grinding drive motor is stopped for the preset grinding interruption time, the grinding drive motor is controlled to start and grind the workpiece to be ground at the preset grinding speed; if the first workpiece surface image meets the grinding target, the grinding drive motor is controlled to gradually stop at the preset grinding end deceleration value; a continuous grinding control module is connected to the grinding degree control module, and the continuous grinding control module is configured to: control the swing drive mechanism to drive the swing arm to swing, and control the grinding drive motor to move so that the grinding head is away from the current workpiece to be ground; control the depth sensing camera to capture the third image data of the workpiece to be ground;A second workpiece surface image is obtained according to the third image data, and if grinding completion confirmation information made according to the second workpiece surface image is obtained, grinding completion information corresponding to the workpiece to be ground is generated; and according to the grinding sequence, the swing drive mechanism is controlled to drive the swing arm to swing, and the grinding drive motor is controlled to move, so that the grinding head moves toward the next workpiece to be ground. ;

[0014] When the present application is used, the preset grinding parameters of each workpiece to be ground can be automatically retrieved, and the grinding head can be controlled to move to the workpiece to be ground to grind it, and the duration of each grinding can be set to avoid over-grinding. After a single grinding is completed, image recognition is used to determine whether the grinding target has been reached. If the grinding target has not been reached, grinding is performed again. In addition, during the grinding stop process, the machine is gradually stopped at the preset grinding end deceleration value to avoid burrs, impact marks and other defects on the workpiece to be ground due to emergency stops. After confirming again that the grinding target has been reached, the grinding completion information is issued. In the grinding work of a single row group, the grinding equipment can be automatically controlled to grind the workpieces to be ground in sequence, and the grinding effect is guaranteed to be good, so that automated and large-scale grinding work can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shown is a schematic diagram of the method steps of a grinding control method provided in one embodiment of the present application.

[0016] Figure 2 Shown is a schematic diagram of the method steps of a grinding control method provided in another embodiment of the present application.

[0017] Figure 3 Shown is a schematic diagram of the method steps of a grinding control method provided in another embodiment of the present application.

[0018] Figure 4 Shown is a schematic diagram of the method steps of a grinding control method provided in another embodiment of the present application.

[0019] Figure 5 Shown is a schematic diagram of a grinder provided by an embodiment of the present application during use.

[0020] Figure 6 Shown is a system schematic diagram of a grinding control system provided in one embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] An exemplary grinding control method is as follows:

[0023] Figure 1 Shown is a schematic diagram of the method steps of a grinding control method provided in one embodiment of the present application. Figure 5 The figure shows a schematic diagram of a grinder provided by an embodiment of the present application in use. The present application provides a grinding control method, wherein the grinding object to be ground includes, for example, a device with a rust layer or a corrosion structure, an electrical device with an oxide layer or an oxide structure, and an electrical contact with an oxide layer or an oxide structure. The grinding control method of the present application is applied to a grinder, such as Figure 5 As shown, the grinding machine includes a base 1, a rotating shaft 2, a swing arm 3, a swing drive mechanism 8, a grinding drive motor 5, a grinding head 6 and a depth sensing camera 10. The rotating shaft 2 is connected to the base 1, the swing arm 3 is rotatably connected to the rotating shaft 2, the swing drive mechanism 8 is configured to drive the swing arm 3 to swing around the rotating shaft 2, the grinding drive motor 5 is movably connected to the swing arm 3, and the moving direction of the grinding drive motor 5 relative to the swing arm 3 is perpendicular to the swing direction of the swing arm 3, for example, the swing arm 3 swings along a vertical plane, and the grinding drive motor 5 reciprocates in a horizontal direction. The grinding head 6 and the grinding drive motor 5 follow, that is, the position of the grinding head 6 relative to the grinding drive motor 5 remains unchanged, and the grinding drive motor 5 is used to drive the grinding head 6 to rotate, that is, a slide rail is provided on the swing arm 3 for the grinding drive motor 5 to reciprocate, and when the swing arm 3 is stationary, the grinding drive motor 5 together with the grinding head 6 can move in a horizontal direction. The depth-sensing camera 10 is disposed on the swing arm 3 , and is used to photograph the grinding target area of ​​the grinder, that is, the shooting direction of the depth-sensing camera 10 is toward the working area of ​​the grinding head 6 , so as to photograph the workpiece 12 to be ground.

[0024] like Figure 1 As shown, the grinding control method includes:

[0025] Step 110 , obtaining first image data of the grinding direction captured by the depth sensing camera 10 .

[0026] In this step, the distance between each object in the shooting direction and the depth-sensing camera 10 can be known from the image captured by the depth-sensing camera 10 .

[0027] Step 120: Identify a plurality of workpieces 12 to be ground in a single row according to the first image data.

[0028] In this step, a plurality of pieces to be ground 12 in a single row group are arranged along the moving direction of the grinding drive motor 5. The pieces to be ground 12 can be extracted from the first image data based on image feature recognition, a plurality of pieces to be ground 12 form a row group, the grinder is installed on the grinding platform 11, and the pieces to be ground 12 are fixed on the grinding platform 11 according to the row group. The arrangement direction of the pieces to be ground 12 in a single row group is set along the moving direction of the grinding drive motor 5, and the grinding head 6 can pass through each piece to be ground 12 when the grinding drive motor 5 reciprocates.

[0029] Step 130 : obtaining a grinding sequence of a plurality of preset workpieces 12 to be ground in a single row.

[0030] In this step, the grinding order is preset. For example, a single row group includes piece No. 1 to be ground, piece No. 2 to be ground, piece No. 3 to be ground, piece No. 4 to be ground, piece No. 5 to be ground, and piece No. 6 to be ground. The preset grinding order is: No. 3, No. 2, No. 1, No. 4, No. 5, No. 6.

[0031] Step 140 , retrieve the preset grinding parameters of each workpiece 12 to be ground in the current row.

[0032] In this step, corresponding preset grinding parameters are set for each workpiece 12 to be ground in advance, and when the grinding work is performed to a certain row, the preset grinding parameters of all the workpieces 12 to be ground in the row are called.

[0033] Step 150, according to the grinding sequence, control the swing drive mechanism 8 to drive the swing arm 3 to swing, and control the grinding drive motor 5 to move, so that the grinding head 6 moves toward the current workpiece 12 to be ground until the grinding head 6 and the current workpiece 12 to be ground are in contact with each other.

[0034] In this step, for example, if the current grinding piece to be ground is piece No. 1, the grinding head 6 is moved toward piece No. 1 through the swing drive mechanism 8 and the grinding drive motor 5, and it can be determined whether the grinding head 6 and the piece to be ground are in contact with each other through machine vision, stress detection, etc.

[0035] Step 160: Adjust the grinding drive motor 5 to the operating parameters corresponding to the preset grinding parameters.

[0036] In this step, the preset grinding parameters include a preset grinding speed, a preset single grinding time, a preset grinding interruption time, and a preset grinding end deceleration value. The preset grinding speed is the rotation speed of the grinding head 6 required for the workpiece 12 to be ground, the preset single grinding time is the single time length for starting and stopping grinding of the workpiece 12 to be ground in a certain grinding, the preset grinding interruption time is the interval time between two adjacent grinding operations of the workpiece 12 to be ground, and the preset grinding end deceleration value is the acceleration at which the workpiece 12 to be ground stops grinding in a certain grinding.

[0037] Step 170 , control the grinding drive motor 5 to start and grind the workpiece 12 at a preset grinding speed.

[0038] Step 180: If the grinding continues for the preset single grinding time, the grinding drive motor 5 is controlled to stop.

[0039] In this step, if the preset single grinding time is continuously run during a single grinding operation, the grinding needs to be stopped to avoid excessive single grinding.

[0040] Step 190 , when the grinding drive motor 5 stops, control the depth sensing camera 10 to capture the second image data of the workpiece 12 to be ground.

[0041] In this step, shooting during shutdown can ensure that the image of the workpiece 12 to be ground is clear. Specifically, the swing drive mechanism 8 can be controlled to drive the swing arm 3 to swing, and the grinding drive motor 5 can be controlled to move, so that the grinding head 6 is away from the workpiece 12 to be ground before shooting, thereby further ensuring the integrity of the shot image. When the grinding drive motor 5 is shut down, it is gradually shut down at a preset grinding end deceleration value.

[0042] Step 200: Obtain a first workpiece surface image according to the second image data, and compare the first workpiece surface image with the grinding target.

[0043] In this step, an image of the workpiece 12 to be ground is obtained from the second image data by feature extraction, that is, a first workpiece surface image corresponding to the workpiece 12 to be ground is obtained. The grinding target can be set in advance. For example, on a device with a rust layer or corrosion structure, the rust layer or corrosion structure in the grinding direction of the grinding head 6 is ground off to achieve the grinding target; on an electrical device with an oxide layer or oxide structure, the oxide layer or oxide structure in the grinding direction of the grinding head 6 is ground off to achieve the grinding target; on an electrical contact with an oxide layer or oxide structure, the oxide layer or oxide structure in the grinding direction of the grinding head 6 is ground off to achieve the grinding target. In this step, the first workpiece surface image and the grinding target are compared by an image recognition algorithm.

[0044] Step 210: If the first workpiece surface image does not meet the grinding target, and the grinding drive motor 5 is stopped for a preset grinding interruption time, the grinding drive motor 5 is controlled to start and grind the workpiece 12 at a preset grinding speed.

[0045] In this step, if the grinding target is not met, the machine will be stopped for a preset grinding interval and then grinding will be performed again to ensure that there is enough time interval between two adjacent grinding operations. This time interval can allow the grinding surface of the workpiece 12 to cool down for a period of time to avoid deformation caused by excessive surface temperature of the workpiece due to multiple grinding. If the grinding target is met this time, the next workpiece 12 to be ground will be ground.

[0046] Step 220: If the first workpiece surface image meets the grinding target, the grinding drive motor 5 is controlled to gradually stop at a preset grinding end deceleration value.

[0047] In this step, the surface image of the first workpiece is continuously captured during the repeated grinding work based on step 210. When the grinding target is reached during the grinding process, the grinding drive motor 5 gradually stops at a preset grinding end deceleration value, thereby avoiding burr defects caused by sudden shutdown and avoiding impact marks caused by emergency stop.

[0048] Step 230: Control the swing drive mechanism 8 to drive the swing arm 3 to swing, and control the grinding drive motor 5 to move, so that the grinding head 6 is away from the current workpiece to be ground.

[0049] Step 240 , control the depth sensing camera 10 to capture the third image data of the workpiece 12 to be ground.

[0050] In this step, after repeated grinding and the grinding head 6 is away from the current workpiece to be ground, the workpiece to be ground 12 is photographed again to obtain third image data.

[0051] Step 250 , obtaining a second workpiece surface image according to the third image data, and if grinding completion confirmation information made according to the second workpiece surface image is obtained, then generating grinding completion information corresponding to the workpiece 12 to be ground.

[0052] In this step, an image of the workpiece 12 to be ground is obtained from the third image data by feature extraction, that is, a second workpiece surface image corresponding to the workpiece 12 to be ground is obtained. The second workpiece surface image is detected by program judgment or manual judgment, and it is confirmed again whether the second workpiece surface image reaches the grinding target. If it passes the detection, a grinding completion confirmation message is issued, and then a grinding completion message is generated to indicate that the current workpiece 12 to be ground has been ground, so as to indicate that the workpiece 12 to be ground does not need to be ground again.

[0053] Step 260: According to the grinding sequence, the swing drive mechanism 8 is controlled to drive the swing arm 3 to swing, and the grinding drive motor 5 is controlled to move, so that the grinding head 6 moves toward the next workpiece 12 to be ground.

[0054] When this embodiment is used, the preset grinding parameters of each workpiece 12 to be ground can be automatically retrieved, and the grinding head 6 can be controlled to move to the workpiece 12 to grind it, and the duration of each grinding can be set to avoid over-grinding. After a single grinding is completed, it is determined by image recognition whether the grinding target is reached. If the grinding target is not reached, grinding is performed again. In addition, during the grinding stop process, the machine is gradually stopped at the preset grinding end deceleration value to avoid burrs, impact marks and other defects on the workpiece 12 to be ground due to emergency stop. After confirming again that the grinding target has been reached, the grinding completion information is issued.

[0055] In one embodiment, if Figure 2 As shown, the grinding control method also includes:

[0056] Step 270 , obtaining the grinding rotation speed of the grinding head 6 .

[0057] Step 280: During the grinding process, if the grinding speed decelerates and the deceleration is greater than the preset deceleration value, and the grinding drive motor 5 is controlled to stop at the emergency deceleration value, and the emergency deceleration value is greater than the preset grinding end deceleration value, if the grinding speed decelerates and the deceleration is greater than the preset grinding end deceleration value.

[0058] When this embodiment is used, during a single grinding process, when it is detected that the grinding speed has decelerated and the deceleration is greater than the preset deceleration value, it means that the resistance encountered by the grinding head 6 is too large, and there may be excessive mutual stress between the grinding head 6 and the workpiece 12 to be ground, or the grinding position of the grinding head 6 is offset to an incorrect position, or other conditions cause the grinding head 6 to decelerate abnormally. At this time, the machine needs to be shut down to protect the workpiece 12 to be ground, the grinding head 6 and the grinding drive motor 5, and the machine is shut down at the emergency deceleration value during the deceleration process to avoid defects such as burrs and impact marks caused by an emergency stop.

[0059] Figure 2 FIG. 2 is a schematic diagram of the steps of a grinding control method provided by another embodiment of the present application. Figure 2 As shown, the grinding control method also includes:

[0060] Step 290 , obtaining the rotational resistance of the swing drive mechanism 8 .

[0061] Step 300: If the rotational resistance is greater than the preset resistance, the grinding drive motor 5 is stopped at the emergency deceleration value, and then the grinding drive motor 5 is controlled to perform reverse rotation at the preset escape speed.

[0062] In this embodiment, the rotation resistance is detected and obtained at the same time as step 270. If the rotation resistance is too large, it means that the grinding head 6 may be entangled by the attached structure (such as wire) of the workpiece to be ground during forward rotation. After stopping, the grinding head 6 is reversed at a preset escape speed, so that the grinding head 6 is relaxed. The preset escape speed is set to be relatively small, for example, 1 rpm, 1.5 rpm or 2 rpm, so as to slowly relax the resistance of the grinding head 6. The time for performing the reverse rotation at the preset escape speed can be set to any value between 5s and 20s.

[0063] In one embodiment, if Figure 2 As shown, the grinding control method also includes:

[0064] Step 310: Control the swing drive mechanism 8 to drive the swing arm 3 to swing, so as to drive the grinding head 6 away from the workpiece to be ground.

[0065] When this embodiment is used, after the preset escape speed is used to execute reverse escape, the swing arm 3 is controlled to swing to drive the grinding head 6 away from the workpiece to be ground.

[0066] In one embodiment, if Figure 2 As shown, the grinding drive motor 5 includes a cooling mechanism, such as a cooling fan or a cooling semiconductor. The grinding control method further includes:

[0067] Step 320: If the rotational resistance is greater than the preset resistance and the temperature of the grinding drive motor 5 is greater than the preset temperature value, the grinding drive motor 5 is controlled to stop and the cooling mechanism is controlled to run at maximum power during the process of the swing drive mechanism 8 driving the swing arm 3 to swing.

[0068] In this embodiment, when the rotation resistance is greater than the preset resistance, the temperature of the grinding drive motor 5 is detected, and the detection object may be the winding temperature of the grinding drive motor 5 or the surface temperature of the motor housing, and the cooling mechanism is disposed on the surface of the grinding drive motor 5. The grinding drive motor 5 is cooled during the swinging of the swing arm 3.

[0069] Figure 3 The figure shows a method step diagram of a grinding control method provided by another embodiment of the present application. In one embodiment, the grinding machine further comprises: a grinding platform 11, the grinding platform 11 is provided with a sliding guide rail 4, the base 1 is slidably connected to the sliding guide rail 4, and the guiding direction of the sliding guide rail 4 is perpendicular to the moving direction of the grinding drive motor 5;

[0070] like Figure 3 As shown, the grinding control method also includes:

[0071] Step 330: If the grinding completion information corresponding to all the workpieces to be ground in a single row group is obtained, the swing drive mechanism 8 is controlled to drive the swing arm 3 to swing to the initial position of the swing arm, and the grinding drive motor 5 is controlled to move to the initial position of the grinding drive motor.

[0072] When this embodiment is used, the base 1 can slide on the sliding guide rail 4, so as to move to different row group positions, so as to grind each row group. When all the pieces to be ground in a single row group are ground, the swing arm 3 and the grinding drive motor 5 both move to the initial position, and then the base 1 moves along the sliding guide rail 4 to the next row group to grind each piece to be ground in the next row group. It should be noted that different pieces to be ground can be set in different rows, and different parts of the same piece to be ground can also be set. For example, the first row group includes: the first surface to be ground of the No. 1 piece to be ground, the first surface to be ground of the No. 2 piece to be ground, and the first surface to be ground of the No. 3 piece to be ground. The second row group includes: the second surface to be ground of the No. 1 piece to be ground, the second surface to be ground of the No. 2 piece to be ground, and the second surface to be ground of the No. 3 piece to be ground. The third row group includes: the third surface to be ground of the No. 1 piece to be ground, the third surface to be ground of the No. 2 piece to be ground, and the third surface to be ground of the No. 3 piece to be ground.

[0073] Specifically, Figure 3 As shown, the grinding control method also includes:

[0074] Step 340: Control the base 1 to slide along the sliding guide rail 4 to the next row group.

[0075] Step 350: retrieve the preset grinding parameters of each workpiece to be ground in the current group.

[0076] In one embodiment, after step 220, Figure 4 As shown, the grinding control method also includes:

[0077] Step 221 , controlling the depth-sensing camera 10 to capture fourth image data of the workpiece to be ground.

[0078] Step 222: Obtain a third workpiece surface image according to the fourth image data.

[0079] Step 223: Identify whether there are impact lines on the surface image of the third workpiece based on a machine vision algorithm.

[0080] Step 224: If there are impact lines, the swing drive mechanism 8 is controlled to drive the swing arm 3 to swing, and the grinding drive motor 5 is controlled to move so that the grinding head 6 and the impact lines are in contact with each other.

[0081] Step 225 , control the grinding drive motor 5 to start and grind the impact grain at a grain grinding speed for a preset grinding time, and the grain grinding speed is lower than the preset grinding speed.

[0082] In this embodiment, the image features of the impact lines are preset, and the image recognition is used to detect whether there are impact lines on the workpiece to be ground. If there are impact lines, the grinding head 6 is controlled to be attached to the impact lines and the grinding work is performed at a lower line grinding speed. The line grinding speed can generally be set to less than half of the preset grinding speed.

[0083] Figure 4 FIG. 2 is a schematic diagram of the steps of a grinding control method provided by another embodiment of the present application. Figure 4 As shown, the grinding control method also includes:

[0084] Step 226: If the number of grinding times for the impact lines exceeds the preset number, then the grinding completion information corresponding to the workpiece to be ground is generated.

[0085] In this embodiment, grinding the impact lines at the line grinding speed for a preset grinding time is counted as one grinding. The upper limit of the line grinding is preset as a preset number of times, for example, 3 times, 5 times, or 7 times. After the upper limit is reached, the grinding of the impact lines is stopped.

[0086] An exemplary grinding control system is as follows:

[0087] Figure 6 The system schematic diagram of a grinding control system provided by an embodiment of the present application is shown. The present application also provides a grinding control system, which is applied to a grinding machine, the grinding machine includes a base 1, a rotating shaft 2, a swing arm 3, a swing drive mechanism 8, a grinding drive motor 5, a grinding head 6 and a depth-sensing camera 10, the rotating shaft 2 is connected to the base 1, the swing arm 3 is rotatably connected to the rotating shaft 2, the swing drive mechanism 8 is configured to drive the swing arm 3 to swing around the rotating shaft 2, the grinding drive motor 5 is movably connected to the swing arm 3, the moving direction of the grinding drive motor 5 relative to the swing arm 3 is perpendicular to the swing direction of the swing arm 3, the grinding drive motor 5 is used to drive the grinding head 6 to rotate, and the depth-sensing camera 10 is arranged on the swing arm 3.

[0088] like Figure 6 As shown, the grinding control system includes: a data acquisition module 601 , a grinding drive module 602 , a grinding degree control module 603 , and a continuous grinding control module 604 .

[0089] The data acquisition module 601 is configured to: obtain the first image data of the grinding direction taken by the depth sensing camera 10; identify multiple pieces to be ground in a single group according to the first image data; arrange the multiple pieces to be ground in a single group along the moving direction of the grinding drive motor 5; obtain the preset grinding order of the multiple pieces to be ground in the single group; and call the preset grinding parameters of each piece to be ground in the current group.

[0090] The grinding drive module 602 is communicatively connected with the data acquisition module 601, and the grinding drive module 602 is configured as follows: according to the grinding sequence, the swing drive mechanism 8 is controlled to drive the swing arm 3 to swing, and the grinding drive motor 5 is controlled to move, so that the grinding head 6 moves toward the workpiece to be ground until the grinding head 6 and the workpiece to be ground are in contact with each other; the grinding drive motor 5 is adjusted to the working condition parameters corresponding to the preset grinding parameters, and the preset grinding parameters include the preset grinding speed, the preset single grinding time, the preset grinding interruption time, and the preset grinding end deceleration value; the grinding drive motor 5 is controlled to start and grind the workpiece to be ground at the preset grinding speed.

[0091] The grinding degree control module 603 is communicatively connected with the grinding drive module 602, and the grinding degree control module 603 is configured as follows: if the grinding continues for a preset single grinding time, the grinding drive motor 5 is controlled to stop; when the grinding drive motor 5 stops, the depth sensing camera 10 is controlled to capture the second image data of the workpiece to be ground; the first workpiece surface image is obtained according to the second image data, and the first workpiece surface image and the grinding target are compared; if the first workpiece surface image does not meet the grinding target, and the grinding drive motor 5 is stopped for a preset grinding interruption time, the grinding drive motor 5 is controlled to start and grind the workpiece to be ground at a preset grinding speed; if the first workpiece surface image meets the grinding target, the grinding drive motor 5 is controlled to gradually stop at a preset grinding end deceleration value.

[0092] The continue grinding control module 604 is connected to the grinding degree control module 603, and the continue grinding control module 604 is configured to: control the swing drive mechanism 8 to drive the swing arm 3 to swing, and control the grinding drive motor 5 to move so that the grinding head 6 is away from the current workpiece to be ground; control the depth sensing camera 10 to capture the third image data of the workpiece to be ground; obtain the second workpiece surface image according to the third image data, and if the grinding completion confirmation information made according to the second workpiece surface image is obtained, then generate the grinding completion information corresponding to the workpiece to be ground; and according to the grinding sequence, control the swing drive mechanism 8 to drive the swing arm 3 to swing, and control the grinding drive motor 5 to move, so that the grinding head 6 moves toward the next workpiece to be ground.

[0093] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0094] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0095] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0096] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features of the present invention.

[0097] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A grinding control method, characterized in that: Applied to a grinding machine, the grinding machine includes a base, a rotating shaft, a swing arm, a swing drive mechanism, a grinding drive motor, a grinding head and a depth-sensing camera, the rotating shaft is connected to the base, the swing arm is rotatably connected to the rotating shaft, the swing drive mechanism is configured to drive the swing arm to swing around the rotating shaft, the grinding drive motor is movably connected to the swing arm, the moving direction of the grinding drive motor relative to the swing arm is perpendicular to the swing direction of the swing arm, the grinding drive motor is used to drive the grinding head to rotate, and the depth-sensing camera is arranged on the swing arm; Among them, the grinding control method includes: Acquire first image data of the grinding direction captured by a depth sensing camera; Identify a plurality of pieces to be ground in a single row according to the first image data; the plurality of pieces to be ground in a single row are arranged along the moving direction of the grinding drive motor; Obtaining a grinding sequence of a plurality of preset workpieces to be ground in a single row group; Retrieve the preset grinding parameters of each workpiece to be ground in the current group; According to the grinding sequence, the swing drive mechanism is controlled to drive the swing arm to swing, and the grinding drive motor is controlled to move, so that the grinding head moves toward the workpiece to be ground currently until the grinding head and the workpiece to be ground currently fit each other; The grinding drive motor is adjusted to the working condition parameters corresponding to the preset grinding parameters, wherein the preset grinding parameters include the preset grinding speed, the preset single grinding time, the preset grinding interruption time, and the preset grinding end deceleration value; Control the grinding drive motor to start and grind the workpiece at a preset grinding speed; If the grinding continues for the preset single grinding time, the grinding drive motor is controlled to stop; When the grinding drive motor stops, controlling the depth sensing camera to capture second image data of the workpiece to be ground; Obtaining a first workpiece surface image according to the second image data, and comparing the first workpiece surface image with the grinding target; If the surface image of the first workpiece does not meet the grinding target, and the grinding drive motor is stopped for a preset grinding interruption time, the grinding drive motor is controlled to start and grind the workpiece at a preset grinding speed; If the first workpiece surface image meets the grinding target, the grinding drive motor is controlled to gradually stop at a preset grinding end deceleration value; Control the swing drive mechanism to drive the swing arm to swing, and control the grinding drive motor to move so that the grinding head is away from the current workpiece to be ground; Controlling the depth-sensing camera to capture third image data of the workpiece to be ground; Obtaining a second workpiece surface image according to the third image data, and generating grinding completion information corresponding to the workpiece to be ground if grinding completion confirmation information made according to the second workpiece surface image is obtained; and According to the grinding sequence, the swing drive mechanism is controlled to drive the swing arm to swing, and the grinding drive motor is controlled to move so that the grinding head moves toward the next workpiece to be ground.

2. The grinding control method according to claim 1, characterized in that: Also includes: Obtaining the grinding speed of the grinding head (6); as well as During the grinding process, if the grinding speed decelerates and the deceleration is greater than the preset deceleration value and the grinding continuous operation does not reach the preset single grinding time, the grinding drive motor (5) is controlled to stop at an emergency deceleration value, and the emergency deceleration value is greater than the preset grinding end deceleration value.

3. The grinding control method according to claim 2, characterized in that: Also includes: Obtaining the rotational resistance of the swing drive mechanism (8); as well as If the rotational resistance is greater than the preset resistance, the grinding drive motor (5) is stopped at the emergency deceleration value, and then the grinding drive motor (5) is controlled to perform reverse rotation at the preset escape speed.

4. The grinding control method according to claim 3, characterized in that: Also includes: The swing drive mechanism (8) is controlled to drive the swing arm (3) to swing, so as to drive the grinding head (6) away from the workpiece to be ground.

5. The grinding control method according to claim 4, characterized in that: The grinding drive motor (5) comprises a cooling mechanism; Wherein, the grinding control method further comprises: If the rotational resistance is greater than the preset resistance, and the temperature of the grinding drive motor (5) is greater than the preset temperature value, then during the process of the swing drive mechanism (8) driving the swing arm (3) to swing, the grinding drive motor (5) is controlled to stop, and the cooling mechanism is controlled to operate at maximum power.

6. The grinding control method according to claim 1, characterized in that: The grinding machine further comprises: a grinding platform (11), the grinding platform (11) being provided with a sliding guide rail (4), the base (1) being slidably connected to the sliding guide rail (4), the guiding direction of the sliding guide rail (4) being perpendicular to the moving direction of the grinding drive motor (5); Wherein, the grinding control method further comprises: If the grinding completion information corresponding to all the workpieces to be ground in a single row group is obtained, the swing drive mechanism (8) is controlled to drive the swing arm (3) to swing to the swing arm initial position, and the grinding drive motor (5) is controlled to move to the grinding drive motor initial position.

7. The grinding control method according to claim 6, characterized in that: Also includes: Controlling the base (1) to slide along the sliding guide rail (4) to the next row group; as well as The preset grinding parameters of each of the workpieces to be ground in the current row are retrieved.

8. The grinding control method according to claim 1, characterized in that: After controlling the grinding drive motor (5) to gradually stop at the preset grinding end deceleration value, the grinding control method further comprises: Controlling the depth-sensing camera (10) to capture fourth image data of the workpiece to be ground; Obtaining a third workpiece surface image according to the fourth image data; Identify whether there are impact lines on the surface image of the third workpiece based on a machine vision algorithm; If the impact lines exist, the swing drive mechanism (8) is controlled to drive the swing arm (3) to swing, and the grinding drive motor (5) is controlled to move so that the grinding head (6) and the impact lines are in contact with each other; and The grinding drive motor (5) is controlled to start and grind the impact lines at a line grinding speed for a preset grinding time, wherein the line grinding speed is lower than the preset grinding speed.

9. The grinding control method according to claim 8, characterized in that: Also includes: If the number of grinding times for the impact lines exceeds a preset number, grinding completion information corresponding to the workpiece to be ground is generated.

10. A grinding control system, characterized in that: Applicable to a grinding machine, the grinding machine comprises a base (1), a rotating shaft (2), a swing arm (3), a swing drive mechanism (8), a grinding drive motor (5), a grinding head (6) and a depth-sensing camera (10), the rotating shaft (2) is connected to the base (1), the swing arm (3) is rotatably connected to the rotating shaft (2), the swing drive mechanism (8) is configured to drive the swing arm (3) to swing around the rotating shaft (2), the grinding drive motor (5) is movably connected to the swing arm (3), the moving direction of the grinding drive motor (5) relative to the swing arm (3) is perpendicular to the swing direction of the swing arm (3), the grinding drive motor (5) is used to drive the grinding head (6) to rotate, and the depth-sensing camera (10) is arranged on the swing arm (3); Wherein, the grinding control system comprises: The data acquisition module is configured to: acquire first image data of the grinding direction captured by the depth sensing camera (10); identify multiple pieces to be ground in a single row group according to the first image data; the multiple pieces to be ground in a single row group are arranged along the active direction of the grinding drive motor (5); acquire a preset grinding sequence of the multiple pieces to be ground in the single row group; and retrieve preset grinding parameters of each piece to be ground in the current row group; A grinding drive module is communicatively connected to the data acquisition module, and the grinding drive module is configured to: according to the grinding sequence, control the swing drive mechanism (8) to drive the swing arm (3) to swing, and control the grinding drive motor (5) to move, so that the grinding head (6) moves toward the workpiece to be ground until the grinding head (6) and the workpiece to be ground are in contact with each other; adjust the grinding drive motor (5) to the working condition parameters corresponding to the preset grinding parameters, the preset grinding parameters including the preset grinding speed, the preset single grinding time, the preset grinding interruption time, and the preset grinding end deceleration value; control the grinding drive motor (5) to start and grind the workpiece to be ground at the preset grinding speed; A grinding degree control module is communicatively connected to the grinding drive module, and the grinding degree control module is configured as follows: if the grinding continues for the preset single grinding time, the grinding drive motor (5) is controlled to stop; when the grinding drive motor (5) is stopped, the depth sensing camera (10) is controlled to capture second image data of the workpiece to be ground; a first workpiece surface image is obtained according to the second image data, and the first workpiece surface image is compared with a grinding target; if the first workpiece surface image does not meet the grinding target and the grinding drive motor (5) is stopped for the preset grinding interruption time, the grinding drive motor (5) is controlled to start and grind the workpiece to be ground at the preset grinding speed; if the first workpiece surface image meets the grinding target, the grinding drive motor (5) is controlled to stop gradually at the preset grinding end deceleration value; A continuing grinding control module is connected to the grinding degree control module, and the continuing grinding control module is configured to: control the swing drive mechanism (8) to drive the swing arm (3) to swing, and control the grinding drive motor (5) to move so that the grinding head (6) is away from the current workpiece to be ground; control the depth-sensing camera (10) to capture the third image data of the workpiece to be ground; obtain a second workpiece surface image based on the third image data, and if grinding completion confirmation information made based on the second workpiece surface image is obtained, then generate grinding completion information corresponding to the workpiece to be ground; and according to the grinding sequence, control the swing drive mechanism (8) to drive the swing arm (3) to swing, and control the grinding drive motor (5) to move, so that the grinding head (6) moves toward the next workpiece to be ground.

Images