Intelligent damage-resistant precision polishing brush system and method

Abstract

The present invention relates to the field of precision polishing, and in particular to an intelligent anti-damage precision polishing brush system and method. It includes: scanning and collecting height data of each contact point on the surface to be polished, calculating the average height of the surface to be polished, and calculating the overall roughness and local roughness of the surface to be polished; using an intelligent polishing force distribution algorithm to calculate the local polishing force, and using a contact time dynamic control algorithm to dynamically adjust the polishing time of each contact point during the polishing process; using a polishing brush motion trajectory optimization algorithm to optimize the polishing brush motion trajectory; using a comprehensive damage assessment algorithm to calculate the comprehensive damage degree, and deciding whether to end the polishing process based on the judgment of the comprehensive damage degree and the maximum damage threshold and the roughness difference. It solves the technical problem that in traditional polishing technology, only the overall roughness is relied on for surface quality assessment, and the difference in local microscopic features of the surface cannot be captured, resulting in the inability to accurately identify defects or uneven areas.

Description

Technical Field

[0001] The invention relates to the field of precision polishing, and in particular to an intelligent damage-proof precision polishing brush system and method. Background Art

[0002] With the advancement of science and technology and the development of manufacturing technology, modern industry has higher and higher requirements for precision machining in many fields, and the requirements for surface finish and machining accuracy are becoming increasingly stringent. Precision polishing, as one of the key processes to improve surface quality, remove microscopic defects and improve appearance, is widely used in optical devices, semiconductors, microelectronics, precision instruments, aerospace and other industries. In the process of precision polishing, especially when the surface smoothness and surface flatness are extremely high, the performance of the polishing tool plays a decisive role in the processing effect.

[0003] However, traditional polishing brush systems often rely on manual experience or are based on simple control methods, lacking intelligent control of the polishing process, which can easily lead to damage to the polishing surface, reduce product quality, and even cause defective products in the production process. Therefore, an intelligent anti-damage precision polishing brush system and method have emerged, which can greatly reduce the damage problems caused by excessive grinding or improper operation, and help improve the accuracy and reliability of products. With the continuous development of technology and the continuous optimization of intelligent algorithms, the intelligent anti-damage precision polishing brush system will play a more important role in the field of high-precision processing in the future, and will help to further improve the product quality of various industries and meet high-standard surface processing requirements, thereby providing a solid technical guarantee for the development of the manufacturing industry and promoting the upgrading and progress of the manufacturing industry.

[0004] However, the existing precision polishing brush method has the following technical problems: in traditional polishing technology, only the overall roughness is relied upon for surface quality assessment, which cannot capture the differences in local microscopic features of the surface, resulting in the inability to accurately identify defects or uneven areas; the distribution of traditional polishing force adopts an average force application method, which cannot be intelligently adjusted for the roughness and height differences in different surface areas, which may lead to over-polishing or surface damage; the traditional polishing time control is single, and the polishing time of each contact point cannot be dynamically adjusted, resulting in over-polishing or insufficient treatment of local areas, reducing the polishing quality; the motion trajectory of traditional polishing equipment is difficult to adapt to changes in local surface roughness and polishing effect, resulting in poor polishing uniformity; it is difficult to effectively evaluate polishing damage in the traditional polishing process, especially the irreversible damage to the surface caused by over-polishing; the traditional polishing method lacks clear quality assessment standards and cannot flexibly determine the termination time of the polishing process, resulting in unstable quality or excessively long processing time. Summary of the invention

[0005] The present invention provides an intelligent damage-proof precision polishing brush system and method to solve the problems in traditional polishing technology that only rely on overall roughness for surface quality assessment, cannot capture differences in local microscopic features of the surface, and cannot accurately identify defects or uneven areas; the distribution of traditional polishing force adopts an average force application method, cannot be intelligently adjusted for roughness and height differences in different surface areas, which may lead to over-polishing or surface damage; traditional polishing time control is single, and fails to dynamically adjust the polishing time of each contact point, resulting in over-polishing or insufficient processing of local areas, reducing polishing quality; the motion trajectory of traditional polishing equipment is difficult to adapt to changes in local surface roughness and polishing effect, resulting in poor polishing uniformity; the traditional polishing process is difficult to effectively assess polishing damage, especially the irreversible damage to the surface caused by over-polishing; the traditional polishing method lacks clear quality assessment standards, and cannot flexibly judge the termination time of the polishing process, resulting in technical problems such as unstable quality or excessively long processing time.

[0006] The present invention provides an intelligent damage-resistant precision polishing brush system and method, which specifically includes the following technical solutions:

[0007] An intelligent damage-resistant precision polishing brush method comprises the following steps:

[0008] S1: Scan and collect height data of each contact point on the surface to be polished, and calculate the average height of the surface to be polished; calculate the overall roughness and local roughness of the surface to be polished based on the height data of each contact point on the surface to be polished and the average height of the surface to be polished;

[0009] S2: Based on the height data, average height and local roughness of each contact point on the surface to be polished, the local polishing force is calculated using an intelligent polishing force distribution algorithm; based on the local polishing force, combined with the overall roughness and local roughness of the surface to be polished, the polishing time of each contact point during the polishing process is dynamically adjusted using a contact time dynamic control algorithm;

[0010] S3: Optimizing the motion trajectory of the polishing brush using a polishing brush motion trajectory optimization algorithm based on the local roughness of the surface to be polished, the local polishing force and the polishing time of each contact point;

[0011] S4: After completing a polishing process, the height data of each contact point on the polished surface is obtained, and combined with the height data of each contact point on the surface to be polished, the comprehensive damage degree is calculated using a comprehensive damage assessment algorithm. Whether to end the polishing process is determined based on the judgment of the comprehensive damage degree and the maximum damage threshold and the roughness difference.

[0012] Preferably, the S2 specifically includes:

[0013] The intelligent polishing force distribution algorithm, for each contact point on the surface to be polished, the magnitude of the local polishing force is proportional to the local roughness of the surface to be polished, and inversely proportional to the height data of each contact point on the surface to be polished; and an exponential function is introduced to obtain the local polishing force, the specific formula is:

[0014]

[0015] in, Represents each contact point Local polishing force; represents the bristle stiffness coefficient; Indicates each contact point on the surface to be polished The local roughness of Indicates each contact point on the surface to be polished Height data; represents a very small constant that avoids the denominator being zero; represents the exponential function; Represents the smoothness factor that adjusts the polishing force distribution; Indicates each contact point on the surface to be polished The absolute value of the deviation between the height data and the average height of the surface to be polished.

[0016] Preferably, the S2 specifically includes:

[0017] In the implementation process of the contact time dynamic control algorithm, there is an inverse relationship between the polishing time of each contact point and the local polishing force. When the local polishing force increases, the efficiency of the surface polishing process is improved and the polishing time required for each contact point is shortened. Conversely, when the local polishing force decreases, the polishing time of each contact point needs to be increased.

[0018] Preferably, the S2 specifically includes:

[0019] In the process of implementing the contact time dynamic control algorithm, the material wear resistance parameters and nonlinear suppression mechanism are introduced to adjust the polishing time of each contact point. The calculation formula of the polishing time of each contact point is:

[0020]

[0021] in, Represents each contact point The contact time, i.e. the polishing time of each contact point; represents the time adjustment coefficient; Represents each contact point Local polishing force; represents a very small constant that avoids the denominator being zero; represents the time correction factor; Indicates the overall roughness of the surface to be polished; Indicates the wear resistance parameter of the material; represents the nonlinear suppression term; represents the hyperbolic tangent function; represents the nonlinear adjustment factor; It indicates the absolute value of the difference between the local roughness and the overall roughness of the surface to be polished; Indicates each contact point on the surface to be polished local roughness.

[0022] Preferably, the S3 specifically includes:

[0023] In the process of implementing the polishing brush motion trajectory optimization algorithm, the motion trajectory of the polishing brush is adjusted by minimizing the error term. The calculation formula of the polishing brush motion trajectory is:

[0024]

[0025] in, Indicates at time The position of the polishing brush, i.e. the movement trajectory of the polishing brush; Indicates taking the minimum value; Indicates the surface area to be polished Perform double integration; Indicates the surface area to be polished A very small area element on ; represents the error term; Indicates the target roughness; Indicates each contact point on the surface to be polished The local roughness of represents the brush pressure attenuation factor; Represents each contact point Local polishing force; Represents each contact point contact time, that is, the polishing time of each contact point.

[0026] Preferably, the S4 specifically includes:

[0027] The comprehensive damage assessment algorithm evaluates the surface damage during the polishing process by analyzing the difference between the height data of each contact point on the polished surface and the height data of each contact point on the surface to be polished. When the height data of each contact point on the polished surface is higher than the height data of each contact point on the surface to be polished, the comprehensive damage degree is calculated. The calculation formula for the comprehensive damage degree is:

[0028]

[0029] in, Indicates the comprehensive degree of injury; Indicates taking the maximum value; Represents each contact point on the polished surface Height data; Indicates each contact point on the surface to be polished Height data; Indicates the change of the height data of each contact point on the polished surface relative to the height data of each contact point on the surface to be polished; represents the over-polishing damage weight; Indicates the minimum height of the surface to be polished.

[0030] Preferably, the S4 specifically includes:

[0031] When the absolute value of the difference between the overall roughness of the polished surface and the target roughness is less than the tolerance error and the comprehensive damage degree is less than the maximum damage threshold, polishing is completed; when the absolute value of the difference between the overall roughness of the polished surface and the target roughness is greater than or equal to the tolerance error or the comprehensive damage degree is greater than or equal to the maximum damage threshold, polishing continues.

[0032] An intelligent damage-resistant precision polishing brush system, comprising the following parts:

[0033] Data acquisition module, data processing module, polishing force calculation module, polishing time calculation module, polishing brush motion trajectory optimization module, polishing damage assessment module, polishing process end judgment module;

[0034] Data acquisition module: scans and collects the height data of each contact point on the surface to be polished, and outputs the height data of each contact point on the surface to be polished to the data processing module, the polishing force calculation module, and the polishing damage assessment module;

[0035] Data processing module: based on the height data of each contact point of the surface to be polished obtained from the data acquisition module, the average height of the surface to be polished is calculated, and the overall roughness and local roughness of the surface to be polished are calculated, and the average height of the surface to be polished, the overall roughness and local roughness of the surface to be polished are output to the polishing force calculation module, the polishing time calculation module and the polishing brush motion trajectory optimization module;

[0036] Polishing force calculation module: Based on the height data of each contact point of the surface to be polished from the data acquisition module, the average height and local roughness of the surface to be polished from the data processing module, the local polishing force is calculated using the intelligent polishing force distribution algorithm, and the local polishing force is output to the polishing time calculation module and the polishing brush motion trajectory optimization module;

[0037] Polishing time calculation module: Based on the overall roughness and local roughness of the surface to be polished from the data processing module and the local polishing force from the polishing force calculation module, the polishing time of each contact point in the polishing process is dynamically adjusted using the contact time dynamic control algorithm, and the polishing time of each contact point is output to the polishing brush motion trajectory optimization module;

[0038] Polishing brush motion trajectory optimization module: Based on the overall roughness and local roughness of the surface to be polished from the data processing module, the local polishing force from the polishing force calculation module, and the polishing time of each contact point from the polishing time calculation module, the polishing brush motion trajectory optimization algorithm is used to optimize the polishing brush motion trajectory, and after completing a polishing trajectory, the module enters the polishing damage assessment module;

[0039] Polishing damage assessment module: After completing a polishing track, the height data of each contact point on the polished surface is obtained, and combined with the height data of each contact point on the surface to be polished from the data acquisition module, the comprehensive damage degree is calculated using the comprehensive damage assessment algorithm, and the comprehensive damage degree is output to the polishing process end judgment module;

[0040] Polishing process end judgment module: based on the comprehensive damage degree of the polishing damage assessment module and the judgment of the maximum damage threshold and the roughness difference, it is decided whether to end the polishing process.

[0041] The beneficial effects of the technical solution of the present invention are:

[0042] 1. The calculation of the overall roughness and local roughness of the surface to be polished is introduced, so that the polishing process can process different areas in a refined manner.

[0043] 2. Design an intelligent polishing force distribution algorithm to combine the local roughness of the surface to be polished with the surface height difference, calculate the local polishing force, ensure the uniformity of the surface treatment effect to be polished, introduce exponential function and nonlinear suppression mechanism to avoid local over-polishing or damage, and further optimize the polishing effect by dynamically adjusting the polishing time of each contact point.

[0044] 3. Through the inverse relationship between the local polishing force and the polishing time of each contact point, the polishing time of each contact point is dynamically adjusted, and further optimized in combination with the material wear resistance parameters, which can effectively improve the polishing efficiency and avoid over-polishing or uneven polishing.

[0045] 4. Based on the local roughness, local polishing force and polishing time of each contact point, the motion trajectory of the polishing brush is optimized. The goal is to minimize the difference between the local roughness and the target roughness. The error term is minimized using the double integration method to ensure that the adjustment of the motion trajectory of the polishing brush can effectively optimize the polishing effect of the entire surface.

[0046] 5. The introduction of a comprehensive damage assessment algorithm not only evaluates the removal or addition of surface material during the polishing process, but also takes into account over-polishing damage, making it comprehensive.

[0047] 6. Whether to end the polishing process is determined based on the comprehensive damage degree, the maximum damage threshold and the roughness difference, which avoids surface damage caused by excessive polishing and provides a flexible iterative optimization mechanism so that the polishing process can be continuously adjusted until all quality control standards are met, thereby ensuring high precision and high quality of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a structural diagram of an intelligent damage-resistant precision polishing brush system according to the present invention;

[0049] Figure 2 The present invention provides a flow chart of an intelligent anti-damage precision polishing brush method. DETAILED DESCRIPTION

[0050] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0052] The specific scheme of an intelligent damage-proof precision polishing brush system and method provided by the present invention is described in detail below with reference to the accompanying drawings.

[0053] See attached Figure 1 , which shows a structure diagram of an intelligent anti-damage precision polishing brush system provided by an embodiment of the present invention, the system includes the following parts:

[0054] Data acquisition module, data processing module, polishing force calculation module, polishing time calculation module, polishing brush motion trajectory optimization module, polishing damage assessment module, polishing process end judgment module;

[0055] Data acquisition module: uses a sensor to scan the surface to be polished, collects height data of each contact point on the surface to be polished, and outputs the height data of each contact point on the surface to be polished to the data processing module, the polishing force calculation module, and the polishing damage assessment module;

[0056] Data processing module: based on the height data of each contact point of the surface to be polished obtained from the data acquisition module, the average height of the surface to be polished is calculated, and the overall roughness and local roughness of the surface to be polished are further calculated, and the average height of the surface to be polished, the overall roughness and local roughness of the surface to be polished are output to the polishing force calculation module, the polishing time calculation module and the polishing brush motion trajectory optimization module;

[0057] Polishing force calculation module: Based on the height data of each contact point of the surface to be polished from the data acquisition module, the average height and local roughness of the surface to be polished from the data processing module, the local polishing force is calculated using the intelligent polishing force distribution algorithm, and the local polishing force is output to the polishing time calculation module and the polishing brush motion trajectory optimization module;

[0058] Polishing time calculation module: Based on the overall roughness and local roughness of the surface to be polished from the data processing module and the local polishing force from the polishing force calculation module, the polishing time of each contact point in the precision polishing process is dynamically adjusted using the contact time dynamic control algorithm, and the polishing time of each contact point is output to the polishing brush motion trajectory optimization module;

[0059] Polishing brush motion trajectory optimization module: Based on the overall roughness and local roughness of the surface to be polished from the data processing module, the local polishing force from the polishing force calculation module, and the polishing time of each contact point from the polishing time calculation module, the polishing brush motion trajectory optimization algorithm is used to optimize the polishing brush motion trajectory, and after completing a polishing trajectory, the module enters the polishing damage assessment module;

[0060] Polishing damage assessment module: After completing a polishing track, the height data of each contact point on the polished surface is obtained, and combined with the height data of each contact point on the surface to be polished from the data acquisition module, the comprehensive damage degree is calculated using the comprehensive damage assessment algorithm, and the comprehensive damage degree is output to the polishing process end judgment module;

[0061] Polishing process end judgment module: based on the comprehensive damage degree of the polishing damage assessment module and the judgment of the maximum damage threshold and the roughness difference, it is decided whether to end the polishing process.

[0062] See attached Figure 2 , which shows a flow chart of an intelligent anti-damage precision polishing brush method provided by an embodiment of the present invention, the method comprising the following steps:

[0063] S1, scanning and collecting height data of each contact point on the surface to be polished, and calculating the average height of the surface to be polished; based on the height data of each contact point on the surface to be polished and the average height of the surface to be polished, calculating the overall roughness and local roughness of the surface to be polished;

[0064] Use a sensor (such as a laser measuring instrument or a tactile sensor) to scan the surface to be polished and collect height data at each contact point on the surface to be polished. ,generate The two-dimensional matrix is ​​used to calculate the average height of the surface to be polished. The formula is as follows:

[0065]

[0066] in, Indicates the average height of the surface to be polished; represents the number of rows of the matrix, i.e. the number of rows of contact points on the surface to be polished; It represents the number of columns of the matrix, i.e. the number of columns of contact points on the surface to be polished; Indicates the matrix Row, No. The height value of the column, that is, each contact point of the surface to be polished Height data;

[0067] According to the height data of each contact point on the surface to be polished and the average height of the surface to be polished, the overall roughness of the surface to be polished is further calculated, and the formula is as follows:

[0068]

[0069] in, Indicates the overall roughness of the surface to be polished, reflecting the average level of height deviation of the entire surface to be polished; Represents the double summation symbol, indicating the and The two dimensions of are summed; Indicates each contact point on the surface to be polished The square of the deviation between the height data and the average height of the surface to be polished;

[0070] Since the overall roughness of the surface to be polished can only give a rough average value, it is difficult to accurately capture the differences in the local microscopic features of the surface to be polished. It is necessary to calculate the local roughness of the surface to be polished to help precisely control the polishing process;

[0071] The local roughness calculation formula of the surface to be polished is as follows:

[0072]

[0073] in, Indicates each contact point on the surface to be polished The local roughness of represents the coordinates of all contact points in the neighborhood, Select the center point for the radius The radius of the surrounding contact points can be set according to the specific implementation scenario and is not limited here; It represents the number of contact points in the neighborhood, reflecting the range of the neighborhood considered when calculating the local roughness of the surface to be polished; represents the contact points in the neighborhood, represents the row coordinates, Represents column coordinates; Represents all the contact points The points in the neighborhood are summed; Indicates contact point The average height of the surface to be polished in the neighborhood reflects the surface height level in the neighborhood;

[0074] By analyzing the local roughness of the surface to be polished, it is possible to identify and deal with the defects or unevenness of the surface to be polished in a targeted manner, thereby optimizing the surface polishing effect;

[0075] S2. Based on the height data, average height and local roughness of each contact point of the surface to be polished, the local polishing force is calculated using an intelligent polishing force distribution algorithm; based on the local polishing force, combined with the overall roughness and local roughness of the surface to be polished, the polishing time of each contact point in the polishing process is dynamically adjusted using a contact time dynamic control algorithm;

[0076] Based on the height data, average height and local roughness of each contact point on the surface to be polished, the local polishing force is calculated using an intelligent polishing force distribution algorithm to achieve intelligent processing of different areas of the surface to be polished;

[0077] The intelligent polishing force distribution algorithm, for each contact point on the surface to be polished, the magnitude of the local polishing force is proportional to the local roughness of the surface to be polished, and inversely proportional to the height data of each contact point on the surface to be polished. In order to avoid zero division errors, a very small constant is introduced to avoid the denominator being zero, so as to avoid division by zero.

[0078] The distribution of local polishing force is also regulated by the absolute value of the deviation between the height data of each contact point on the surface to be polished and the average height of the surface to be polished. An exponential function is introduced to suppress the polishing force in the area where the deviation between the height data of each contact point on the surface to be polished and the average height of the surface to be polished is too large, and is used to adjust the polishing force in the area where the local height deviation is extremely large to prevent over-polishing or damage.

[0079] The calculation formula of local polishing force is:

[0080]

[0081] in, Represents each contact point The local polishing force is used to smooth the surface and remove uneven parts; It represents the bristle rigidity coefficient, that is, the pressure coefficient when the hardness of the brush contacts the surface to be polished, which is determined by the physical properties of the bristles; Indicates each contact point on the surface to be polished The local roughness of Indicates the matrix Row, No. The height value of the column, that is, each contact point of the surface to be polished Height data; Represents a very small constant that prevents the denominator from being zero, used to avoid division by zero; represents an exponential function, which is used to suppress the polishing force in the area where the height data of each contact point on the surface to be polished deviates too much from the average height of the surface to be polished, and is used to adjust the polishing force in the area where the local height deviation is extremely large to prevent over-polishing or damage; Indicates the smoothness factor for adjusting the polishing force distribution, which is used to control the influence of the height deviation of the surface to be polished on the polishing force. It can be set according to the specific implementation scenario and is not limited here; Indicates each contact point on the surface to be polished The absolute value of the deviation between the height data and the average height of the surface to be polished;

[0082] Further based on the local polishing force, combined with the overall roughness and local roughness of the surface to be polished, the contact time dynamic control algorithm is used to dynamically adjust the polishing time of each contact point during the precision polishing process to optimize the surface treatment effect and avoid over-polishing or local damage;

[0083] During the precision polishing process, there is an inverse relationship between the polishing time of each contact point and the local polishing force. When the local polishing force is enhanced, the efficiency of the surface polishing treatment is improved, and the polishing time required for each contact point is shortened. On the contrary, if the local polishing force is weakened, the polishing time of each contact point needs to be increased to ensure the surface treatment effect.

[0084] The material wear resistance parameter is introduced to correct the polishing time of each contact point. The stronger the wear resistance of the material, the shorter the polishing time required for each contact point; conversely, the longer the polishing time required for each contact point, ensuring the best polishing effect on different materials;

[0085] During the precision polishing process, the roughness of each area of ​​the surface to be polished will change. Areas with extremely large local roughness or deviation from the overall roughness level may cause over-polishing or uneven polishing. The polishing time of each contact point needs to be adjusted through a nonlinear suppression mechanism. Specifically, when the local roughness of the surface to be polished is extremely different from the overall roughness, the polishing time of each contact point should be appropriately reduced to prevent over-polishing of the local area.

[0086] The calculation formula for the polishing time of each contact point is:

[0087]

[0088] in, Represents each contact point The contact time, i.e. the polishing time at each contact point, determines the local polishing force acting on the contact point. Length of time; It represents the time adjustment coefficient, which is used to control the polishing time of each contact point. It can be set according to the specific implementation scenario and is not limited here; Represents each contact point The local polishing force is used to smooth the surface and remove uneven parts; Represents a very small constant that prevents the denominator from being zero, used to avoid division by zero; It represents the time correction factor, which is determined by the wear resistance of the material and the overall roughness of the surface to be polished; Indicates the overall roughness of the surface to be polished, reflecting the average level of height deviation of the entire surface to be polished; Indicates the wear resistance parameter of the material, reflects the durability of the material surface to the local polishing force, and affects the polishing time of each contact point in the polishing process; represents a nonlinear inhibition term, which is used to dynamically adjust the polishing time of each contact point in the area where the local roughness of the surface to be polished is very different from the overall roughness, so as to avoid over-polishing or damage; represents the hyperbolic tangent function, which is used to smoothly adjust the precision polishing process to ensure that the polishing time of each contact point is not too long or too short; represents the nonlinear adjustment factor, which is used to control the influence of roughness difference on the polishing time of each contact point; It indicates the absolute value of the difference between the local roughness and the overall roughness of the surface to be polished; Indicates each contact point on the surface to be polished The local roughness of

[0089] S3, optimizing the motion trajectory of the polishing brush using a polishing brush motion trajectory optimization algorithm based on the local roughness of the surface to be polished, the local polishing force and the polishing time of each contact point;

[0090] By considering the combined effects of the local roughness of the surface to be polished, the local polishing force and the polishing time of each contact point, the polishing brush motion trajectory is optimized using the polishing brush motion trajectory optimization algorithm. By minimizing the error term, the motion trajectory of the polishing brush is adjusted to control the uniformity of the polishing effect.

[0091] The core of the polishing brush motion trajectory optimization algorithm is to construct an error term to describe the difference between the local roughness of each contact point on the surface to be polished and the target roughness. The local roughness is processed by the local polishing force and the polishing time of each contact point combined with the brush pressure attenuation factor. The goal of the error term is to minimize the deviation between the local roughness of each contact point and the target roughness.

[0092] In order to minimize the error term, the polishing brush motion trajectory is optimized by adjusting it. Specifically, the motion trajectory of the polishing brush will change with the polishing force of each local area and the polishing time of each contact point. By dynamically adjusting the motion trajectory of the polishing brush in the entire surface area to be polished, it can be ensured that the polishing effect of all areas is as close to the target roughness as possible.

[0093] The calculation formula of the polishing brush motion trajectory is:

[0094]

[0095] in, Indicates at time The position of the polishing brush, i.e. the movement trajectory of the polishing brush; Indicates taking the minimum value; Indicates the surface area to be polished Perform double integration; Indicates the surface area to be polished A very small area element on the surface to be polished is used in the double integration process to refine the error calculation of each contact point on the surface to be polished, so as to accurately optimize the entire surface area to be polished; represents the error term. The square operation amplifies the error greatly and smoothes the error at the same time, ensuring the stability of the precision polishing process. Indicates the target roughness, which can be set according to the specific implementation scenario and is not limited here; Indicates each contact point on the surface to be polished The local roughness of It represents the brush pressure attenuation factor. As the pressure applied by the brush increases, the adjustment amplitude of the polishing brush motion trajectory will be attenuated to a certain extent. Represents each contact point The local polishing force is used to smooth the surface and remove uneven parts; Represents each contact point The contact time, that is, the polishing time of each contact point, determines the polishing force acting on each contact point. Length of time;

[0096] S4. After completing a polishing process, the height data of each contact point on the polished surface is obtained, and the comprehensive damage degree is calculated using a comprehensive damage assessment algorithm in combination with the height data of each contact point on the surface to be polished. Whether to end the polishing process is determined based on the judgment of the comprehensive damage degree and the maximum damage threshold and the roughness difference;

[0097] After completing a precision polishing process, the height data of each contact point on the polished surface is obtained, and combined with the height data of each contact point on the surface to be polished, the comprehensive damage degree is calculated using a comprehensive damage assessment algorithm;

[0098] The comprehensive damage assessment algorithm evaluates the removal or increase of surface material during the polishing process by analyzing the difference between the height data of each contact point on the polished surface and the height data of each contact point on the surface to be polished. In order to avoid the negative value in the calculation from having an adverse effect on the final damage assessment, the comprehensive damage degree is only calculated when the height data of each contact point on the polished surface is higher than the height data of each contact point on the surface to be polished.

[0099] The consideration of over-polishing damage is introduced. When the height data of each contact point on the polished surface is lower than the lowest point of the height data of each contact point on the surface to be polished, over-polishing occurs. The over-polishing damage weight is used for weighted processing to adjust the influence of over-polishing on the comprehensive damage degree.

[0100] The calculation formula for the comprehensive damage degree is:

[0101]

[0102] in, Indicates the comprehensive damage degree, which is a quantitative assessment of surface damage during polishing; Indicates taking the maximum value; Represents each contact point on the polished surface Height data; Indicates the matrix Row, No. The height value of the column, that is, each contact point of the surface to be polished Height data; Indicates the change of the height data of each contact point on the polished surface relative to the height data of each contact point on the surface to be polished; It is a measure of the possible damage to the surface caused by the polishing process, especially the increase in surface height; Represents the over-polishing damage weight, which is used to adjust the effect of over-polishing on the comprehensive damage degree; Indicates the minimum height of the surface to be polished; It means ensuring that over-polishing damage is only counted when the height data of each contact surface of the polished surface is lower than the minimum height of the surface to be polished, otherwise the damage is zero, which is used to evaluate the impact of over-polishing;

[0103] The polishing process is terminated based on the comprehensive damage degree judgment and the roughness difference to ensure that the polishing quality meets the expected standard; when the absolute value of the difference between the overall roughness of the polished surface and the target roughness is less than the tolerance error and the comprehensive damage degree is less than the maximum damage threshold, the polishing is terminated; when the absolute value of the difference between the overall roughness of the polished surface and the target roughness is greater than or equal to the tolerance error or the comprehensive damage degree is greater than or equal to the maximum damage threshold, the polishing is continued;

[0104] The judgment formula is as follows:

[0105]

[0106] in, Indicates the overall roughness of the surface after polishing; Indicates the target roughness; It indicates the absolute value of the difference between the overall roughness of the polished surface and the target roughness; Indicates tolerance error, which can be set according to the specific implementation scenario and is not limited here; Indicates the maximum damage threshold, which can be set according to the specific implementation scenario and is not limited here;

[0107] Whether to end the polishing process is determined based on the comprehensive damage degree, the maximum damage threshold and the roughness difference, avoiding surface damage caused by excessive polishing. A flexible iterative optimization mechanism is provided so that the polishing process can be continuously adjusted until all quality control standards are met, thereby ensuring high precision and high quality of the product.

[0108] In summary, an intelligent damage-resistant precision polishing brush system and method are completed.

[0109] The order of the embodiments of the invention is for description only and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0110] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0111] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. An intelligent anti-damage precision polishing brush method, characterized in that, The following steps are involved: S1: Scan and collect the height data of each contact point on the surface to be polished, and calculate the average height of the surface to be polished; Calculating the overall roughness and local roughness of the surface to be polished based on the height data of each contact point of the surface to be polished and the average height of the surface to be polished; S2: Based on the height data, average height and local roughness of each contact point on the surface to be polished, the local polishing force is calculated using an intelligent polishing force distribution algorithm. For each contact point on the surface to be polished, the magnitude of the local polishing force is proportional to the local roughness of the surface to be polished and inversely proportional to the height data of each contact point on the surface to be polished; and an exponential function is introduced to obtain the local polishing force. The specific formula is: in, Represents each contact point Local polishing force; represents the bristle stiffness coefficient; Indicates each contact point on the surface to be polished The local roughness of Indicates each contact point on the surface to be polished Height data; represents a very small constant that avoids the denominator being zero; represents the exponential function; represents the smoothness factor that adjusts the polishing force distribution; Indicates each contact point on the surface to be polished The absolute value of the deviation between the height data and the average height of the surface to be polished; Based on the local polishing force, combined with the overall roughness and local roughness of the surface to be polished, the contact time dynamic control algorithm is used to dynamically adjust the polishing time of each contact point in the polishing process. In the implementation of the contact time dynamic control algorithm, there is an inverse relationship between the polishing time of each contact point and the local polishing force. When the local polishing force is enhanced, the efficiency of the surface polishing process is improved, and the polishing time required for each contact point is shortened. On the contrary, when the local polishing force is weakened, the polishing time of each contact point needs to be increased. The material wear resistance parameters and nonlinear suppression mechanism are introduced to adjust the polishing time of each contact point. The calculation formula of the polishing time of each contact point is: in, Represents each contact point The contact time, i.e. the polishing time of each contact point; represents the time adjustment coefficient; Represents each contact point Local polishing force; represents a very small constant that avoids the denominator being zero; represents the time correction factor; Indicates the overall roughness of the surface to be polished; Indicates the wear resistance parameter of the material; represents the nonlinear suppression term; represents the hyperbolic tangent function; represents the nonlinear adjustment factor; It indicates the absolute value of the difference between the local roughness and the overall roughness of the surface to be polished; Indicates each contact point on the surface to be polished The local roughness of S3: Based on the local roughness of the surface to be polished, the local polishing force and the polishing time of each contact point, the polishing brush motion trajectory is optimized using the polishing brush motion trajectory optimization algorithm. In the process of implementing the polishing brush motion trajectory optimization algorithm, the motion trajectory of the polishing brush is adjusted by minimizing the error term. The calculation formula of the polishing brush motion trajectory is: in, Indicates at time The position of the polishing brush, i.e. the movement trajectory of the polishing brush; Indicates taking the minimum value; Indicates the surface area to be polished Perform double integration; Indicates the surface area to be polished A very small area element on ; represents the error term; Indicates the target roughness; Indicates each contact point on the surface to be polished The local roughness of represents the brush pressure attenuation factor; Represents each contact point Local polishing force; Represents each contact point The contact time, i.e. the polishing time of each contact point; S4: After completing a polishing process, the height data of each contact point on the polished surface is obtained, and combined with the height data of each contact point on the surface to be polished, the comprehensive damage degree is calculated using a comprehensive damage assessment algorithm. The comprehensive damage assessment algorithm evaluates the surface damage during the polishing process by analyzing the difference between the height data of each contact point on the polished surface and the height data of each contact point on the surface to be polished. When the height data of each contact point on the polished surface is higher than the height data of each contact point on the surface to be polished, the comprehensive damage degree is included. The calculation formula for the comprehensive damage degree is: in, Indicates the comprehensive degree of injury; Indicates taking the maximum value; Represents each contact point on the polished surface Height data; Indicates each contact point on the surface to be polished Height data; Indicates the change of the height data of each contact point on the polished surface relative to the height data of each contact point on the surface to be polished; represents the over-polishing damage weight; Indicates the minimum height of the surface to be polished; Whether to end the polishing process is determined based on the comprehensive damage degree, the maximum damage threshold and the roughness difference.

2. An intelligent anti-damage precision polishing brush method according to claim 1, characterized in that: The S4 specifically includes: When the absolute value of the difference between the overall roughness of the polished surface and the target roughness is less than the tolerance error and the comprehensive damage degree is less than the maximum damage threshold, polishing is completed; when the absolute value of the difference between the overall roughness of the polished surface and the target roughness is greater than or equal to the tolerance error or the comprehensive damage degree is greater than or equal to the maximum damage threshold, polishing continues.

3. An intelligent anti-damage precision polishing brush system, applied to the intelligent anti-damage precision polishing brush method according to claim 1, characterized in that: Includes the following sections: Data acquisition module, data processing module, polishing force calculation module, polishing time calculation module, polishing brush motion trajectory optimization module, polishing damage assessment module, polishing process end judgment module; Data acquisition module: scans and collects the height data of each contact point on the surface to be polished, and outputs the height data of each contact point on the surface to be polished to the data processing module, the polishing force calculation module, and the polishing damage assessment module; Data processing module: based on the height data of each contact point of the surface to be polished obtained from the data acquisition module, the average height of the surface to be polished is calculated, and the overall roughness and local roughness of the surface to be polished are calculated, and the average height of the surface to be polished, the overall roughness and local roughness of the surface to be polished are output to the polishing force calculation module, the polishing time calculation module and the polishing brush motion trajectory optimization module; Polishing force calculation module: Based on the height data of each contact point of the surface to be polished from the data acquisition module, the average height and local roughness of the surface to be polished from the data processing module, the local polishing force is calculated using the intelligent polishing force distribution algorithm, and the local polishing force is output to the polishing time calculation module and the polishing brush motion trajectory optimization module; Polishing time calculation module: Based on the overall roughness and local roughness of the surface to be polished from the data processing module and the local polishing force from the polishing force calculation module, the polishing time of each contact point in the polishing process is dynamically adjusted using the contact time dynamic control algorithm, and the polishing time of each contact point is output to the polishing brush motion trajectory optimization module; Polishing brush motion trajectory optimization module: Based on the overall roughness and local roughness of the surface to be polished from the data processing module, the local polishing force from the polishing force calculation module, and the polishing time of each contact point from the polishing time calculation module, the polishing brush motion trajectory optimization algorithm is used to optimize the polishing brush motion trajectory, and after completing a polishing trajectory, the module enters the polishing damage assessment module; Polishing damage assessment module: After completing a polishing track, the height data of each contact point on the polished surface is obtained, and combined with the height data of each contact point on the surface to be polished from the data acquisition module, the comprehensive damage degree is calculated using the comprehensive damage assessment algorithm, and the comprehensive damage degree is output to the polishing process end judgment module; Polishing process end judgment module: based on the comprehensive damage degree of the polishing damage assessment module and the judgment of the maximum damage threshold and the roughness difference, it is decided whether to end the polishing process.

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