Intelligent control system and method for a grinding repair machine

Abstract

The present invention relates to the technical field of grinding repair machines, and provides an intelligent control system and method for a grinding repair machine. A natural frequency calculation module is used to obtain a to-be-repaired object corresponding to the grinding repair machine and calculate the natural frequency of the object corresponding to the to-be-repaired object; a damage depth coefficient calculation module is used to collect an object image corresponding to the to-be-repaired object, determine the damage position and its corresponding damage type in the to-be-repaired object, and calculate the damage depth coefficient corresponding to the damage position; a cutting interference length calculation module is used to determine a grinding device corresponding to the grinding repair machine, measure the cutting depth corresponding to the grinding device, and calculate the cutting interference length corresponding to the grinding device; a grinding control parameter setting module is used to set the grinding technical parameters corresponding to the grinding device, and use the grinding repair machine to control the grinding device to perform a repair process on the to-be-repaired object to obtain a repair result. The present invention aims to improve the accuracy of the intelligent control of the grinding repair machine.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding and repairing machines, and particularly to an intelligent control system and method for a grinding and repairing machine. Background Art

[0002] A grinding and repairing machine is a mechanical device specifically used for grinding and repairing various workpieces. Its main functions include: restoring the dimensional accuracy and shape accuracy of workpieces, improving the surface quality of workpieces, eliminating internal stresses, etc. The application fields include the machinery manufacturing industry, the automotive industry, mold manufacturing, etc. The most important part in the grinding process of a grinding and repairing machine is the grinding disc. By selecting the grinding disc and controlling its parameters, the grinding accuracy of the grinding and repairing machine can be improved.

[0003] The existing control of grinding and repairing machines uses an open-loop control method, which is controlled according to preset fixed parameters without considering the feedback information in the actual grinding process. This method does not consider whether the grinding disc adapts to the material characteristics of the workpiece, the initial state and the changes in the processing environment, resulting in poor adaptability to different workpieces and ultimately poor grinding effects. Summary of the Invention

[0004] The present invention provides an intelligent control system and method for a grinding and repairing machine, and its main purpose is to improve the accuracy of intelligent control of the grinding and repairing machine.

[0005] To achieve the above object, an intelligent control system for a grinding and repairing machine provided by the present invention includes: a natural frequency calculation module, a damage depth coefficient calculation module, a cutting interference length calculation module, and a grinding technology parameter setting module.

[0006] The natural frequency calculation module is used to obtain the workpiece to be repaired corresponding to the grinding and repairing machine, collect the physical parameters of the workpiece to be repaired, and calculate the natural frequency of the workpiece to be repaired based on the physical parameters.

[0007] The damage depth coefficient calculation module is used to collect the workpiece image corresponding to the workpiece to be repaired, determine the damage position and its corresponding damage type in the workpiece to be repaired based on the workpiece image, perform ultrasonic detection on the damage position to obtain ultrasonic detection data, and calculate the damage depth coefficient corresponding to the damage position based on the ultrasonic detection data.

[0008] The cutting interference length calculation module is used to determine the grinding device corresponding to the grinding and repairing machine based on the damage type and the natural frequency of the workpiece, measure the cutting depth corresponding to the grinding device, determine the workpiece diameter of the workpiece to be repaired, and calculate the cutting interference length corresponding to the grinding device by combining the cutting depth and the workpiece diameter.

[0009] The grinding technical parameter setting module is used to set the grinding technical parameters corresponding to the grinding device in combination with the cutting interference length and the damage depth coefficient, and according to the grinding technical parameters, use the grinding repair machine to control the grinding device to repair the object to be repaired, so as to obtain a repair result.

[0010] Optionally, calculating the natural frequency of the object to be repaired based on the physical parameters includes:

[0011] Extracting the object volume parameter and the object mass parameter of the object to be repaired from the physical parameters;

[0012] Combining the object volume parameter and the object mass parameter to calculate the object density corresponding to the object to be repaired;

[0013] Detecting the object material corresponding to the object to be repaired, and determining the object elastic modulus corresponding to the object to be repaired according to the object material;

[0014] Measuring the object span of the object to be repaired, and combining the object density, the object elastic modulus, and the object span to calculate the natural frequency of the object to be repaired.

[0015] Optionally, determining the damage position and its corresponding damage type in the object to be repaired based on the object image includes:

[0016] Performing image segmentation processing on the object image to obtain a target object image;

[0017] Performing grayscale processing on the target object image to obtain a grayscale object image;

[0018] Calculating the grayscale difference coefficient corresponding to the grayscale object image, and marking the damaged image area in the grayscale object image according to the grayscale difference coefficient;

[0019] Based on the damaged image area, determining the damage position in the object to be repaired, and extracting the region features corresponding to the damaged image area;

[0020] Based on the region features, analyzing the damage type of the damage position.

[0021] Optionally, performing image segmentation processing on the object image to obtain a target object image includes:

[0022] Detecting the object main image in the object image;

[0023] Performing denoising processing on the object main image to obtain a denoised main image;

[0024] Perform contrast stretching on the denoised main image to obtain an enhanced main image;

[0025] Perform image segmentation processing on the enhanced main image to obtain a target object image.

[0026] Optionally, calculating the damage depth coefficient corresponding to the damage position based on the ultrasonic detection data includes:

[0027] Perform visualization processing on the ultrasonic detection data to obtain visualized ultrasonic data, and identify the discrete ultrasonic data in the visualized ultrasonic data;

[0028] Perform elimination processing on the discrete ultrasonic data in the ultrasonic detection data to obtain target ultrasonic data;

[0029] Extract the damage echo period and damage echo amplitude of the damage position from the target ultrasonic data;

[0030] Combine the echo period and the echo amplitude, and calculate the damage depth coefficient corresponding to the damage position through the following formula.

[0031] Optionally, determining the grinding device corresponding to the grinding repair machine based on the damage type and the natural frequency of the object includes:

[0032] Analyze the repair process corresponding to the object to be repaired based on the damage type;

[0033] Determine the grinding type of the object to be repaired based on the repair process;

[0034] Based on the grinding type, screen out a preliminary grinding device from a preset device library;

[0035] Query the grinding conditions corresponding to the preliminary grinding device;

[0036] Based on the grinding conditions and the natural frequency of the object, determine the grinding device corresponding to the grinding repair machine from the preliminary grinding devices.

[0037] Optionally, combining the cutting depth and the object diameter to calculate the cutting interference length corresponding to the grinding device includes:

[0038] Obtain the placement spindle of the grinding device in the grinding repair machine, and query the spindle speed of the placement spindle;

[0039] Detect the vibration signal of the grinding device, and based on the vibration signal, analyze the vibration frequency and device amplitude of the grinding device;

[0040] Combined with the cutting depth, the spindle speed, the amplitude of the device, and the vibration frequency, calculate the cutting interference length corresponding to the grinding device through the following formula.

[0041] Optionally, combined with the cutting interference length, the damage position, and the damage depth coefficient, set the grinding technical parameters corresponding to the grinding device, including:

[0042] Obtain the grinding requirements corresponding to the grinding device, and according to the grinding requirements, determine the repair accuracy of the object to be repaired and its corresponding object smoothness;

[0043] Detect the damage depth and damage area of the damage position, and calculate the average damage degree of the damage position according to the damage depth and the damage depth coefficient;

[0044] Combined with the object smoothness, the repair accuracy, the average damage degree, and the damage area, calculate the object removal amount corresponding to the object to be repaired;

[0045] Set the grinding technical parameters corresponding to the grinding device according to the object removal amount.

[0046] Optionally, the combined object smoothness, repair accuracy, average damage degree, and damage area to calculate the object removal amount corresponding to the object to be repaired includes:

[0047] Evaluate the current roughness of the object to be repaired and calculate the damage degree variance of the average damage degree;

[0048] Combined with the current roughness, the object smoothness, the damage degree variance, the repair accuracy, the average damage degree, and the damage area, calculate the object removal amount corresponding to the object to be repaired.

[0049] An intelligent control method for a grinding repair machine, characterized in that the method includes:

[0050] Obtain the object to be repaired corresponding to the grinding repair machine, collect the physical parameters of the object to be repaired, and calculate the natural frequency of the object corresponding to the object to be repaired based on the physical parameters;

[0051] Collect the object image corresponding to the object to be repaired, determine the damage position and its corresponding damage type in the object to be repaired based on the object image, perform ultrasonic detection on the damage position, obtain ultrasonic detection data, and calculate the damage depth coefficient corresponding to the damage position based on the ultrasonic detection data;

[0052] Based on the damage type and the natural frequency of the object, determine the grinding device corresponding to the grinding repair machine, measure the cutting depth corresponding to the grinding device, and determine the object diameter of the object to be repaired. Combine the cutting depth and the object diameter to calculate the cutting interference length corresponding to the grinding device;

[0053] Combine the cutting interference length and the damage depth coefficient to set the grinding technical parameters corresponding to the grinding device. According to the grinding technical parameters, use the grinding repair machine to control the grinding device to repair the object to be repaired, and obtain a repair result.

[0054] In the present invention, by calculating the natural frequency of the object to be repaired based on the physical parameters, the inherent vibration frequency corresponding to the object to be repaired can be obtained, thereby avoiding damage to the object to be repaired caused by frequency resonance during subsequent repair. In the present invention, based on the object image, the damage position and its corresponding damage type in the object to be repaired are determined, and then the detailed damage position and corresponding damage type of the object to be repaired are obtained, which is convenient for setting subsequent grinding control parameters. In the present invention, based on the damage type and the natural frequency of the object, the grinding device corresponding to the grinding repair machine is determined, and the best grinding device corresponding to the object to be repaired can be selected to improve the repair efficiency of the object to be repaired subsequently. In the present invention, by combining the cutting interference length and the damage depth coefficient, the grinding technical parameters corresponding to the grinding device are set, which is convenient for improving the repair efficiency of the grinding device for the object to be repaired subsequently. Therefore, an intelligent control system and method for a grinding repair machine provided by an embodiment of the present invention can improve the accuracy of intelligent control of the grinding repair machine. Description of the Drawings

[0055] Figure 1 It is a functional module diagram of an intelligent control system for a grinding repair machine provided by an embodiment of the present invention;

[0056] Figure 2 It is a schematic flowchart of an intelligent control method for a grinding repair machine provided by an embodiment of the present invention.

[0057] The realization, functional characteristics and advantages of the purpose of the present invention will be further described in conjunction with the embodiments with reference to the drawings. Detailed Embodiments

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

[0059] In addition, the sequence of steps in the following method embodiments is only an example and is not strictly limited.

[0060] In fact, the server device deployed by the intelligent control system of the grinding repair machine may be composed of one or more devices. The above-mentioned intelligent control system of the grinding repair machine can be implemented as: a service instance, a virtual machine, or a hardware device. For example, the intelligent control system of the grinding repair machine can be implemented as a service instance deployed on one or more devices in a cloud node. Briefly speaking, the live broadcast service system can be understood as a software deployed on a cloud node for providing the intelligent control service of the grinding repair machine to each client. Or, the intelligent control system of the grinding repair machine can also be implemented as a virtual machine deployed on one or more devices in a cloud node. An application software for managing each client is installed in the virtual machine. Or, the intelligent control system of the grinding repair machine can also be implemented as a server composed of many identical or different types of hardware devices, and one or more hardware devices are set to provide the intelligent control service of the grinding repair machine to each client.

[0061] In terms of implementation form, the intelligent control system of the grinding repair machine and the client adapt to each other. That is, if the intelligent control system of the grinding repair machine is an application installed on a cloud service platform, the client is a client that establishes a communication connection with the application; or if the intelligent control system of the grinding repair machine is implemented as a website, the client is implemented as a web page; or if the intelligent control system of the grinding repair machine is implemented as a cloud service platform, the client is implemented as a small program in an instant messaging application.

[0062] Refer to Figure 1 As shown, it is a functional module diagram of the intelligent control system of the grinding repair machine provided by an embodiment of the present invention.

[0063] The intelligent control system 100 of the grinding and repairing machine described in the present invention can be set in a cloud server. In terms of implementation form, it can be used as one or more service devices, or can be installed as an application on the cloud (such as the server of a live service operator, a server cluster, etc.), or can also be developed into a website. According to the functions achieved, the intelligent control system 100 of the grinding and repairing machine includes a natural frequency calculation module 101, a damage depth coefficient calculation module 102, a cutting interference length calculation module 103, and a grinding control parameter setting module 104.

[0064] In the embodiment of the present invention, in the tracking of the intelligent control of the grinding and repairing machine, each of the above modules can be independently implemented and called with other modules. Here, the call can be understood as that a certain module can be connected to multiple modules of another type and provide corresponding services for the multiple modules it is connected to. In the intelligent control system of the grinding and repairing machine provided by the embodiment of the present invention, without modifying the program code, the applicable range of the intelligent control architecture of the grinding and repairing machine can be adjusted by adding modules and directly calling, so as to achieve cluster-level horizontal expansion, so as to achieve the purpose of quickly and flexibly expanding the intelligent control system of the grinding and repairing machine. In practical applications, the above modules can be set in the same device or different devices, or can also be set in virtual devices, such as service instances in a cloud server.

[0065] The following will be described in detail with specific embodiments for each component and the specific working process of the intelligent control system of the grinding and repairing machine.

[0066] The natural frequency calculation module 101 is used to obtain the object to be repaired corresponding to the grinding and repairing machine, collect the physical parameters of the object to be repaired, and calculate the natural frequency of the object corresponding to the object to be repaired based on the physical parameters.

[0067] In the present invention, by calculating the natural frequency of the object corresponding to the object to be repaired based on the physical parameters, the natural vibration frequency corresponding to the object to be repaired can be obtained, thereby avoiding damage to the object to be repaired caused by frequency resonance during subsequent repair. Among them, the grinding and repairing machine is a device for repairing the surface of parts, the object to be repaired is an object that needs to be subjected to surface repair treatment, such as a component, the physical parameter is a description of the physical properties of the object to be repaired, such as the surface area of the material, and the natural frequency of the object is the natural vibration frequency corresponding to the object to be repaired. Further, the physical parameters of the object to be repaired can be realized by corresponding collection tools, such as a laser rangefinder or an important measuring scale.

[0068] As an embodiment of the present invention, calculating the natural frequency of the object to be repaired based on the physical parameters includes: extracting the object volume parameter and the object mass parameter of the object to be repaired from the physical parameters, combining the object volume parameter and the object mass parameter, calculating the object density corresponding to the object to be repaired, detecting the object material corresponding to the object to be repaired, determining the object elastic modulus corresponding to the object to be repaired according to the object material, measuring the object span of the object to be repaired, and combining the object density, the object elastic modulus, and the object span to calculate the natural frequency of the object to be repaired through the following formula:

[0069]

[0070] Wherein, A represents the natural frequency of the object corresponding to the object to be repaired, B represents the object elastic modulus, D represents the area moment of inertia, ρ represents the object density, α represents the bearing strength of the object to be repaired, and E represents the object span.

[0071] Wherein, the object elastic modulus is the ability of the object to be repaired to resist elastic deformation, the object span is the length of the object to be repaired, the area moment of inertia is the ability of the object to be repaired to resist torsion, and the bearing strength represents the maximum load borne by the object to be repaired. Further, the object density can be obtained by calculating the ratio of the object mass parameter to the object volume parameter; the object elastic modulus can be obtained by querying the elastic modulus corresponding to the object material, determining the material proportion of the object material, multiplying the material proportion by the corresponding elastic modulus and summing them; the area moment of inertia and the bearing strength can be obtained by querying the engineering manual of the object to be repaired.

[0072] The damage depth coefficient calculation module 102 is configured to collect the object image corresponding to the object to be repaired, determine the damage position and the corresponding damage type in the object to be repaired based on the object image, perform ultrasonic detection on the damage position to obtain ultrasonic detection data, and calculate the damage depth coefficient corresponding to the damage position based on the ultrasonic detection data.

[0073] The present invention determines the damage position and the corresponding damage type in the object to be repaired based on the object image, and further obtains the detailed damage position and the corresponding damage type of the object to be repaired, which is convenient for setting the subsequent grinding control parameters. Wherein, the damage position is the specific degree of damage in the object to be repaired, and the damage type is the type of damage to the object to be repaired, such as scratches. Further, the object image corresponding to the object to be repaired can be collected by a camera.

[0074] As an embodiment of the present invention, determining the damage position and its corresponding damage type in the object to be repaired based on the object image includes: performing image segmentation processing on the object image to obtain a target object image, performing grayscale processing on the target object image to obtain a grayscale object image, calculating the grayscale difference coefficient corresponding to the grayscale object image, marking the damaged image area in the grayscale object image according to the grayscale difference coefficient, determining the damage position in the object to be repaired based on the damaged image area, extracting the regional features corresponding to the damaged image area, and analyzing the damage type of the damage position based on the regional features.

[0075] Among them, the target object image is the image in which the object main body in the object image is retained. The grayscale difference coefficient represents the difference value between the pixels in the grayscale object image. The damaged image area is the image area where the grayscale object image is damaged. The regional feature is the regional representation of the damaged image area, such as the shape of the area.

[0076] Further, the grayscale processing of the target object image can be achieved by the weighted average method; the average difference coefficient of the grayscale difference coefficient can be calculated, and the grayscale difference coefficient is compared with the average difference coefficient. If the grayscale difference coefficient is greater than the average difference coefficient, the corresponding pixel points are marked, and finally the pixel points are connected to obtain the damaged image area in the grayscale object image; the regional features corresponding to the damaged image area can be extracted by a feature extraction algorithm, such as the SIFT algorithm; the regional features are compared with the existing damage features to analyze the damage type of the damage position.

[0077] Optionally, as an alternative embodiment of the present invention, performing image segmentation processing on the object image to obtain a target object image includes: detecting the object main body image in the object image, performing denoising processing on the object main body image to obtain a denoised main body image, performing contrast stretching on the denoised main body image to obtain an enhanced main body image, and performing image segmentation processing on the enhanced main body image to obtain a target object image.

[0078] Among them, the object main body image is the image in the object image that only contains the object to be repaired. The denoised main body image is the image obtained after removing the noise interference in the object main body image. The enhanced main body image is the image obtained after enhancing the visual effect of the denoised main body image. Further, the detection of the object main body image in the object image can be achieved through an object detection algorithm, such as the YOLOv2 algorithm; the denoising process of the object main body image can be achieved through a low-pass filter; the contrast stretching of the denoised main body image can be achieved through the histogram equalization method; the image segmentation process of the enhanced main body image can be achieved through a threshold segmentation algorithm.

[0079] Further, as an optional embodiment of the present invention, calculating the gray-scale difference coefficient corresponding to the gray-scale object image includes:

[0080] Calculating the gray-scale difference coefficient corresponding to the gray-scale object image through the following formula:

[0081] Fm(m x ,m y ) = γ(m x+1 ,m y ) - γ(m x ,m y )

[0082] Fn(n x ,n y ) = γ(n x ,n y+1 ) - γ(n x ,n y )

[0083] F(m,n) = Fm(m x ,m y ) + Fn(n x ,n y )

[0084] Among them, F(m,n) represents the gray-scale difference coefficient corresponding to the gray-scale object image. Fm(m x ,m y ) represents the horizontal gradient value corresponding to the pixel point coordinates (m x ,m y ) in the gray-scale object image. x, y, x + 1, and y + 1 all represent the pixel point coordinate serial numbers in the gray-scale object image. Fn(n x ,n y ) represents the vertical gradient value corresponding to the pixel point coordinates (n x ,n y ) in the gray-scale object image. γ(m x+1 ,m y) represents the pixel gray value corresponding to the pixel point coordinates (m x+1 , m y ) in the grayscale object image, and γ(m x , m y ) represents the pixel gray value corresponding to the pixel point coordinates (m x , m y ) in the grayscale object image. γ(n x , n y+1 ) represents the pixel gray value corresponding to the pixel point coordinates (n x , n y+1 ) in the grayscale object image, and γ(n x , n y ) represents the pixel gray value corresponding to the pixel point coordinates (n x , n y ) in the grayscale object image.

[0085] Based on the ultrasonic detection data, the present invention calculates the damage depth coefficient corresponding to the damage position, and can obtain the quantization value of the damage depth corresponding to the damage position, thereby facilitating the setting of relevant parameters for subsequent repair of the damage position. The ultrasonic detection data is the data obtained by detecting the damage position through an ultrasonic device, and the damage depth coefficient is the quantization value of the damage depth corresponding to the damage position.

[0086] As an embodiment of the present invention, calculating the damage depth coefficient corresponding to the damage position based on the ultrasonic detection data includes: performing visualization processing on the ultrasonic detection data to obtain visualized ultrasonic data, identifying the discrete ultrasonic data in the visualized ultrasonic data, performing removal processing on the discrete ultrasonic data in the ultrasonic detection data to obtain target ultrasonic data, extracting the damage echo period and damage echo amplitude of the damage position from the target ultrasonic data, and combining the echo period and the echo amplitude to calculate the damage depth coefficient corresponding to the damage position through the following formula:

[0087]

[0088] where G represents the damage depth coefficient corresponding to the damage position, V represents the ultrasonic propagation speed, t represents the ultrasonic echo time, T represents the thickness of the object to be repaired, H β represents the echo amplitude, H0 represents the standard echo amplitude of the object to be repaired, and β represents the influence weight.

[0089] Among them, the discrete ultrasonic data is the abnormal data in the visualized ultrasonic data. The damage echo period and the damage echo amplitude are respectively the time for the ultrasonic wave to return from the bottom of the damage position and the signal intensity of the ultrasonic wave return in the target ultrasonic data. The standard echo amplitude is the signal intensity of the ultrasonic wave return when the object to be repaired has no damage, which can be obtained by querying the technical literature of the object to be repaired. The influence weight represents the influence degree of the echo amplitude on the damage depth coefficient, which is determined through experiments or experience. Further, the visualization processing of the ultrasonic detection data can be realized by a visualization tool, such as the Visio drawing tool; the identification of the discrete ultrasonic data in the visualized ultrasonic data can be realized by an edge detection algorithm, such as the Canny operator; the object thickness of the object to be repaired can be measured by a measuring tool, such as a vernier caliper.

[0090] The cutting interference length calculation module 103 is configured to determine the grinding device corresponding to the grinding repair machine based on the damage type and the natural frequency of the object, measure the cutting depth corresponding to the grinding device, determine the object diameter of the object to be repaired, and calculate the cutting interference length corresponding to the grinding device by combining the cutting depth and the object diameter.

[0091] In the present invention, by determining the grinding device corresponding to the grinding repair machine based on the damage type and the natural frequency of the object, the best grinding device corresponding to the object to be repaired can be selected to improve the repair efficiency of the subsequent object to be repaired. Among them, the grinding device is a key component of the grinding repair machine for repairing the object to be repaired, and is generally grinding discs of different shapes and thicknesses.

[0092] As an embodiment of the present invention, determining the grinding device corresponding to the grinding repair machine based on the damage type and the natural frequency of the object includes: analyzing the repair process corresponding to the object to be repaired based on the damage type, determining the grinding type of the object to be repaired based on the repair process, screening out a preliminary grinding device from a preset device library based on the grinding type, querying the grinding conditions corresponding to the preliminary grinding device, and determining the grinding device corresponding to the grinding repair machine from the preliminary grinding devices based on the grinding conditions and the natural frequency of the object.

[0093] Among them, the repair process is the repair step corresponding to the object to be repaired. For example, if the damage type is a surface scratch, the corresponding repair process is as follows: Cleaning: Remove dirt and impurities around the scratch. Grinding: Use a finer-grit grinding disc for mild grinding to remove the trace of the scratch. Polishing: Use polishing paste and a polishing wheel for polishing to restore the surface to smoothness. The preset device library is a pre-constructed database of grinding devices. The preliminary grinding device is the device in the device library that meets the grinding type. The grinding conditions are the descriptions of the grinding attributes corresponding to the preliminary grinding device, such as grinding pressure and grinding speed.

[0094] Optionally, based on the repair process, determine the grinding type of the object to be repaired. For example, if the repair process in the repair process is to remove deeper damage, the grinding type is the rough grinding type; the grinding conditions corresponding to the preliminary grinding device can be obtained by querying the official website of the manufacturer; screen out the conditions that match the natural frequency of the object from the grinding conditions, so as to determine the grinding device corresponding to the grinding repair machine from the preliminary grinding devices.

[0095] The present invention combines the cutting depth and the object diameter to calculate the cutting interference length corresponding to the grinding device. The cutting interference length can be used to understand the effective contact length when the grinding device interacts with the surface of the object to be repaired and generates a grinding effect, which is convenient for subsequent setting and processing of grinding technical parameters. Among them, the cutting depth is the depth at which the abrasive grains on the grinding device cut into the workpiece, and the cutting interference length represents the length of the grinding effect generated when the grinding device works. Further, the cutting depth corresponding to the grinding device can be measured by an interferometer.

[0096] As an embodiment of the present invention, the combination of the cutting depth and the object diameter to calculate the cutting interference length corresponding to the grinding device includes: obtaining the mounting spindle of the grinding device in the grinding repair machine, querying the spindle speed of the mounting spindle, and detecting the vibration signal of the grinding device. Based on the vibration signal, analyze the vibration frequency and device amplitude of the grinding device. Combine the cutting depth, the spindle speed, the device amplitude, and the vibration frequency, and calculate the cutting interference length corresponding to the grinding device through the following formula:

[0097]

[0098] Among them, K represents the cutting interference length corresponding to the grinding device, d represents the spindle speed, L represents the object diameter, ω represents the vibration frequency, q represents the cutting depth, and M represents the device amplitude.

[0099] Among them, the placement spindle is the rotating body of the installation position of the grinding device in the grinding repair machine. The spindle speed is the rotational speed of the placement spindle during operation. The vibration signal is the signal generated due to vibration during the operation of the grinding device. The vibration frequency and the device amplitude are respectively the number of vibrations per unit time and the displacement generated by vibration during the operation of the grinding device. Further, the placement spindle of the grinding device in the grinding repair machine can be obtained through a technical manual; the spindle speed of the placement spindle can be queried through the equipment operation manual of the grinding repair machine; the detection of the vibration signal of the grinding device can be achieved through a vibration sensor; the vibration frequency and the device amplitude of the grinding device can be analyzed through a spectrum analyzer.

[0100] The grinding control parameter setting module 104 is used to set the corresponding grinding technical parameters of the grinding device in combination with the cutting interference length and the damage depth coefficient, and control the grinding device to perform a repair process on the object to be repaired according to the grinding technical parameters by using the grinding repair machine, so as to obtain a repair result.

[0101] The present invention sets the corresponding grinding technical parameters of the grinding device by combining the cutting interference length and the damage depth coefficient, which is convenient for improving the repair efficiency of the subsequent grinding device for the object to be repaired. Among them, the grinding technical parameters are the control parameters of the grinding device, and the material removal amount of the object to be repaired can be determined according to the grinding requirements. According to the material removal amount, the steps for setting the corresponding grinding technical parameters of the grinding device are as follows:

[0102] As an embodiment of the present invention, setting the corresponding grinding technical parameters of the grinding device by combining the cutting interference length, the damage position and the damage depth coefficient includes: obtaining the grinding requirements corresponding to the grinding device, determining the repair accuracy of the object to be repaired and its corresponding object smoothness according to the grinding requirements, detecting the damage depth and damage area of the damage position, calculating the average damage degree of the damage position according to the damage depth and the damage depth coefficient, calculating the object removal amount corresponding to the object to be repaired by combining the object smoothness, the repair accuracy, the average damage degree and the damage area, and setting the corresponding grinding technical parameters of the grinding device according to the object removal amount.

[0103] Among them, the grinding requirements are the repair degree that the object to be repaired needs to achieve. The repair accuracy is the repair accuracy that the object to be repaired needs to achieve. The object smoothness is the smoothness of the object to be repaired after the repair is completed. The average damage degree represents the distribution of the damage depth in the damage area. The object removal amount represents the amount of object material that the object to be repaired needs to remove.

[0104] Further, the grinding requirements corresponding to the grinding device can be obtained from engineering drawings and specifications; extract the precision requirements in the grinding requirements, and determine the repair precision of the object to be repaired and its corresponding object smoothness according to the precision requirements; the detection of the damage depth and damage area at the damage position can be obtained by a laser scanner; by calculating the product of the damage depth and the damage depth coefficient, the average damage degree of the damage position is obtained; according to the object removal amount, set the grinding technical parameters corresponding to the grinding device. For example, if the object removal amount is 5 cubic millimeters, select a suitable abrasive: if the object removal amount is small (such as less than 5 cubic millimeters), select a finer abrasive, such as 1000-1500 mesh silicon carbide abrasive, and if the object removal amount is large (such as greater than 5 cubic millimeters), use a coarser abrasive, such as 600-800 mesh alumina abrasive, and set the grinding pressure: for a smaller object removal amount, set the grinding pressure at 2-3 Newtons, and when the object removal amount is large, the pressure can be increased to 4-6 Newtons, adjust the grinding speed: when the removal amount is small, the grinding speed can be set at 800-1000 revolutions per minute, and when the removal amount is large, the speed is increased to 1200-1500 revolutions per minute, and determine the grinding time: based on the object removal amount, the selected abrasive, the grinding pressure and speed, estimate the grinding time through empirical formulas or experimental data. For example, for the above 5 cubic millimeter removal amount, using the above parameters, the estimated grinding time is about 30 minutes, so as to obtain the grinding technical parameters corresponding to the grinding device.

[0105] Optionally, as an alternative embodiment of the present invention, calculating the object removal amount corresponding to the object to be repaired in combination with the object smoothness, the repair precision, the average damage degree and the damage area includes: evaluating the current roughness of the object to be repaired, calculating the damage degree variance of the average damage degree, and combining the current roughness, the object smoothness, the damage degree variance, the repair precision, the average damage degree and the damage area, and calculating the object removal amount corresponding to the object to be repaired through the following formula:

[0106] N = P × [(R max - R min ) + y × (1 + σ y ) + (Q req - Q cur )]

[0107] Wherein, N represents the object removal amount corresponding to the object to be repaired, P represents the damage area, R max and R min represent the upper dimension limit and the lower dimension limit in the repair precision, y represents the average damage degree, σ y represents the damage degree variance, Q req represents the object smoothness, Qcur Represents the current roughness.

[0108] Wherein, the current roughness is the surface roughness of the object to be repaired before repair, and the damage degree variance represents the dispersion degree of the average damage degree. Further, the evaluation of the current roughness of the object to be repaired can be realized by a roughness tester.

[0109] Finally, the present invention uses the grinding repair machine to control the grinding device to repair the object to be repaired, thereby repairing the damage in the object to be repaired and facilitating the subsequent use of the object to be repaired.

[0110] Based on the physical parameters, the present invention calculates the natural frequency of the object corresponding to the object to be repaired, and can obtain the natural vibration frequency corresponding to the object to be repaired, thereby avoiding damage to the object to be repaired caused by frequency resonance during subsequent repair. Based on the object image, the present invention determines the damage position and its corresponding damage type in the object to be repaired, and then obtains the detailed damage position and corresponding damage types of the object to be repaired, which is convenient for setting subsequent grinding control parameters. Based on the damage type and the natural frequency of the object, the present invention determines the grinding device corresponding to the grinding repair machine, and can select the best grinding device corresponding to the object to be repaired to improve the repair efficiency of the object to be repaired in the subsequent process. By combining the cutting interference length and the damage depth coefficient, the present invention sets the grinding technical parameters corresponding to the grinding device, which is convenient for improving the repair efficiency of the grinding device for the object to be repaired. Therefore, the intelligent control system and method of a grinding repair machine provided by the embodiments of the present invention can improve the accuracy of the intelligent control of the grinding repair machine.

[0111] Refer to Figure 2 As shown, it is a schematic flow chart of the intelligent control method of the grinding repair machine provided by an embodiment of the present invention. In this embodiment, the intelligent control method of the grinding repair machine includes:

[0112] Obtain the object to be repaired corresponding to the grinding repair machine, collect the physical parameters of the object to be repaired, and calculate the natural frequency of the object corresponding to the object to be repaired based on the physical parameters;

[0113] Collect the object image corresponding to the object to be repaired, determine the damage position and its corresponding damage type in the object to be repaired based on the object image, perform ultrasonic detection on the damage position to obtain ultrasonic detection data, and calculate the damage depth coefficient corresponding to the damage position based on the ultrasonic detection data;

[0114] Based on the damage type and the natural frequency of the object, determine the grinding device corresponding to the grinding repair machine, measure the cutting depth corresponding to the grinding device, and determine the object diameter of the object to be repaired. Combine the cutting depth and the object diameter to calculate the cutting interference length corresponding to the grinding device;

[0115] Combine the cutting interference length and the damage depth coefficient, set the grinding technical parameters corresponding to the grinding device, and according to the grinding technical parameters, use the grinding repair machine to control the grinding device to repair the object to be repaired, and obtain a repair result.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An intelligent control system for a grinding and repairing machine, characterized in that: The intelligent control system includes: natural frequency calculation module, damage depth coefficient calculation module, cutting interference length calculation module, grinding control parameter setting module; A natural frequency calculation module is used to obtain the object to be repaired corresponding to the grinding and repairing machine, collect physical parameters of the object to be repaired, and calculate the object natural frequency corresponding to the object to be repaired based on the physical parameters; A damage depth coefficient calculation module is used to collect an object image corresponding to the object to be repaired, determine the damage position in the object to be repaired and its corresponding damage type based on the object image, perform ultrasonic detection on the damage position to obtain ultrasonic detection data, and calculate the damage depth coefficient corresponding to the damage position based on the ultrasonic detection data; A cutting interference length calculation module is used to determine the grinding device corresponding to the grinding repair machine based on the damage type and the natural frequency of the object, measure the cutting depth corresponding to the grinding device, and determine the object diameter of the object to be repaired, and calculate the cutting interference length corresponding to the grinding device in combination with the cutting depth and the object diameter; The grinding control parameter setting module is used to set the grinding technical parameters corresponding to the grinding device in combination with the cutting interference length and the damage depth coefficient. According to the grinding technical parameters, the grinding device is controlled by the grinding repair machine to repair the object to be repaired to obtain the repair result; Based on the ultrasonic detection data, the damage depth coefficient corresponding to the damage location is calculated, including: Performing visualization processing on the ultrasonic detection data to obtain visualized ultrasonic data, and identifying discrete ultrasonic data in the visualized ultrasonic data; The discrete ultrasonic data are eliminated in the ultrasonic detection data to obtain the target ultrasonic data; Extracting the damage echo period and damage echo amplitude of the damage position from the target ultrasonic data; Combining the echo period and echo amplitude, the damage depth coefficient corresponding to the damage position is calculated using the following formula: Where G represents the damage depth coefficient corresponding to the damage position, V represents the ultrasonic propagation velocity, t represents the ultrasonic echo time, T represents the thickness of the object to be repaired, and H β represents the echo amplitude, H0 represents the standard echo amplitude of the object to be repaired, and β represents the influence weight; Combine the cutting depth and the object diameter to calculate the corresponding cutting interference length of the grinding device, including: Obtain the placement spindle of the grinding device in the grinding and repairing machine, and query the spindle speed of the placement spindle; Detecting a vibration signal of the grinding device, and analyzing the vibration frequency and device amplitude of the grinding device based on the vibration signal; Combined with the cutting depth, spindle speed, device amplitude and vibration frequency, the cutting interference length corresponding to the grinding device is calculated: Among them, K represents the cutting interference length corresponding to the grinding device, d represents the spindle speed, L represents the object diameter, ω represents the vibration frequency, q represents the cutting depth, and M represents the device amplitude.

2. The intelligent control system of a grinding and repairing machine according to claim 1, characterized in that: Based on the physical parameters, the natural frequency of the object to be repaired is calculated, including: Extracting object volume parameters and object mass parameters of the object to be repaired from the physical parameters; Combining the object volume parameter and the object mass parameter, the object density corresponding to the object to be repaired is calculated; Detecting the material of the object to be repaired, and determining the elastic modulus of the object to be repaired according to the material of the object; The object span of the object to be repaired is measured, and the object natural frequency corresponding to the object to be repaired is calculated by combining the object density, the object elastic modulus, and the object span.

3. The intelligent control system of a grinding and repairing machine according to claim 1, characterized in that: Based on the object image, determine the damage location and corresponding damage type in the object to be repaired, including: Perform image segmentation processing on the object image to obtain the target object image; Performing grayscale processing on the target object image to obtain a grayscale object image; Calculate the grayscale difference coefficient corresponding to the grayscale object image, and mark the damaged image area in the grayscale object image according to the grayscale difference coefficient; Based on the damaged image area, determine the damaged position in the object to be repaired, and extract the regional features corresponding to the damaged image area; Based on the regional characteristics, the damage type of the damage location is analyzed.

4. The intelligent control system of a grinding and repairing machine as claimed in claim 3, characterized in that: Perform image segmentation on the object image to obtain the target object image, including: Detecting an object main body image in an object image; De-noising the main image of the object to obtain a denoised main image; Performing contrast stretching on the denoised subject image to obtain an enhanced subject image; Perform image segmentation processing on the enhanced subject image to obtain the target object image.

5. The intelligent control system of a grinding and repairing machine according to claim 1, characterized in that: Based on the damage type and the natural frequency of the object, determine the grinding device corresponding to the grinding repair machine, including: Analyze the repair process corresponding to the object to be repaired based on the damage type; Determine the grinding type of the object to be repaired based on the repair process; Based on the grinding type, a preliminary grinding device is selected from a preset device library; Query the grinding conditions corresponding to the preliminary grinding device; Based on the grinding conditions and the natural frequency of the object, the grinding device corresponding to the grinding repair machine is determined from the preliminary grinding devices.

6. The intelligent control system of a grinding and repairing machine according to claim 1, characterized in that: Combined with the cutting interference length, damage position and damage depth coefficient, the corresponding grinding technical parameters of the grinding device are set, including: Obtaining the grinding requirements corresponding to the grinding device, and determining the repair accuracy of the object to be repaired and the corresponding object smoothness according to the grinding requirements; Detect the damage depth and damage area of ​​the damage location, and calculate the average damage degree of the damage location based on the damage depth and damage depth coefficient; The object removal amount corresponding to the object to be repaired is calculated by combining the object smoothness, repair accuracy, average damage degree and damage area; According to the amount of object removal, the grinding technical parameters corresponding to the grinding device are set.

7. The intelligent control system of a grinding and repairing machine as claimed in claim 6, characterized in that: Combined with the object smoothness, repair accuracy, average damage degree and damage area, the object removal amount corresponding to the object to be repaired is calculated, including: Evaluate the current roughness of the object to be repaired and calculate the damage variance of the average damage degree; The object removal amount corresponding to the object to be repaired is calculated by combining the current roughness, object smoothness, damage variance, repair accuracy, average damage degree and damage area.

8. An intelligent control method for a grinding and repairing machine, the method is implemented based on the system of claim 1, characterized in that: Methods include: Obtaining an object to be repaired corresponding to the grinding repair machine, collecting physical parameters of the object to be repaired, and calculating the natural frequency of the object corresponding to the object to be repaired based on the physical parameters; Collecting an object image corresponding to the object to be repaired, determining the damage location and the corresponding damage type in the object to be repaired based on the object image, performing ultrasonic detection on the damage location to obtain ultrasonic detection data, and calculating the damage depth coefficient corresponding to the damage location based on the ultrasonic detection data; Based on the damage type and the natural frequency of the object, determine the grinding device corresponding to the grinding repair machine, measure the cutting depth corresponding to the grinding device, and determine the object diameter of the object to be repaired. Combine the cutting depth and the object diameter to calculate the cutting interference length corresponding to the grinding device; In combination with the cutting interference length and the damage depth coefficient, the grinding technical parameters corresponding to the grinding device are set. According to the grinding technical parameters, the grinding device is controlled by the grinding repair machine to repair the object to be repaired to obtain the repair result.

Images