A Grinding Control System for Automobile Parts

Abstract

The present invention discloses a grinding control system for automobile parts, and relates to the technical field of automobile parts grinding control. The system ensures that the grinding tool always maintains the best focal length and precise position during operation by accurately controlling the first focusing instruction, the first translation instruction and the first rotation instruction. The strain sensor is introduced to monitor the deformation of the workpiece in real time, so that the deformation can be detected in time during the grinding process and the deformation can be compensated in real time. The system can optimize the temperature control management for different workpiece materials by considering the thermal conductivity k and the thermal conductivity factor Rczz of different materials. The comprehensive grinding quality index Mzqs takes into account multiple factors such as stress distribution, heat conduction, cooling efficiency and surface finish, and generates a processing quality grade after providing a comprehensive evaluation of the grinding quality, and adjusts the parameters including the grinding depth, the workpiece feed speed and the cooling system according to the grade results, thereby improving the processing quality of the final workpiece.

Description

Technical Field

[0001] The invention relates to the technical field of automobile parts grinding control, in particular to an automobile parts grinding control system. Background Art

[0002] In the manufacturing process of automobile engines, the machining accuracy of cylinder bores and joint surfaces directly affects the working performance, sealing and service life of the engine. As one of the key components of the engine, the cylinder bore has very high requirements for its shape and size accuracy. Any slight error may lead to poor sealing of the cylinder, affecting the compression ratio and power output of the engine. Therefore, precise cylinder bore grinding technology is the key to ensuring engine quality and performance.

[0003] During the grinding process, the accuracy of the positioning system directly affects the accuracy of the grinding path. Traditional positioning methods usually use mechanical positioning methods, which are easily disturbed by factors such as vibration and friction during the grinding process, resulting in the accumulation of position errors. In addition, the processing of cylinder holes and joint surfaces usually requires higher cutting stress, especially during the grinding process, where the cutting stress is mainly generated by the interaction between the abrasive particles and the workpiece surface. As the cutting stress increases, local areas of the workpiece will deform, especially during the grinding process, where the workpiece will undergo plastic deformation or elastic deformation due to the effect of stress. Materials will expand when heated, especially materials such as aluminum alloys and cast iron, which expand more significantly at high temperatures. Since these materials do not have sufficient thermal compensation measures during the processing process, temperature changes will cause fluctuations in the size of the workpiece, resulting in the processing dimensions of the cylinder hole or joint surface exceeding the design tolerance range. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides an automobile parts grinding control system to solve the problems mentioned in the background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automobile parts grinding control system, including a positioning adjustment module, a dynamic deformation detection module, a grinding characteristic analysis module and a comprehensive optimization control module;

[0006] The positioning and adjustment module is used to perform real-time positioning and adjustment of the cylinder body or cylinder head on the grinding station through a high-precision laser distance measuring device and visual recognition technology, obtain spatial position data, construct a three-dimensional coordinate system of the cylinder hole and the joint surface, determine the center point of the grinding area and the grinding path, drive the mechanical arm to control the grinding tool, and obtain a first focusing instruction, a first translation instruction, and a first rotation instruction according to the center point of the grinding area and the grinding path;

[0007] The dynamic deformation detection module is used to collect the deformation data of the cylinder body or cylinder head in the grinding area using a strain sensor to analyze and obtain the deformation characteristic factor Ftyz and evaluate it to calculate the first correction value or the second corrected value Correcting the first focusing instruction, the first translation instruction, and the first rotation instruction accordingly;

[0008] The grinding characteristic analysis module is used to record the equipment operating parameters during the grinding process, including the cutting stress fluctuation, cutting temperature distribution, coolant flow change and surface finish characteristics, generate a first data set and construct a comprehensive grinding quality index Mzqs;

[0009] The comprehensive optimization control module is used to set a quality assessment threshold Kq, which is compared with the comprehensive grinding quality index Mzqs to generate a processing quality grade, and adjust the grinding depth, workpiece feed speed and cooling system parameters according to the processing quality grade.

[0010] Preferably, the positioning adjustment module includes a positioning unit, a laser ranging unit and a coordinate construction unit;

[0011] The positioning unit is used to use a high-precision visual recognition camera installed on the robot arm to initially identify the overall structure of the cylinder block or cylinder head, determine the relative position of the cylinder hole and the joint surface, and obtain preliminary position information;

[0012] The laser distance measuring unit is used to measure the key points of the cylinder bore and the joint surface multiple times through the laser distance measuring device to obtain the spatial position data of the area to be ground;

[0013] The coordinate construction unit is used to establish a three-dimensional coordinate system based on the spatial position data and preliminary position information provided by the positioning unit and the laser ranging unit, and mark the position and boundary of the cylinder hole and the joint surface in the three-dimensional coordinate system.

[0014] Preferably, the positioning adjustment module further includes an initial instruction unit, which is used to interact with the data in the three-dimensional coordinate system, and determine the center point and grinding path of the grinding area through the robot arm control system, and obtain the first focusing instruction, the first translation instruction and the first rotation instruction;

[0015] The initial instruction unit includes a first focus instruction generating subunit, and the first focus instruction generating subunit is used to obtain the first focus instruction through the following steps:

[0016] S11. Position data analysis: Analyze the center point of the grinding area and the data in the three-dimensional coordinate system, and extract the target height of the center point on the Z axis. ;

[0017] S12, according to the current height of the grinding tool on the robot arm and target height , calculate the required focus offset , specifically:

[0018] S13, according to the required focus offset , set the Z-axis moving step length of the focus adjustment of the grinding tool on the robot arm and Z axis moving speed , get the best focal length , and according to the desired focus offset and Z-axis moving step length , calculate the number of steps required for focusing :

[0019] ;

[0020] when When , the step direction is positive, so that the focus of the grinding tool on the robot arm moves upward;

[0021] when When , the step direction is negative, so that the focus of the grinding tool on the robot arm moves downward;

[0022] S14, calculate and set the required focus offset , Z-axis moving step length , Z axis moving speed , Best focal length and the number of steps required for focusing , combined into a first focusing instruction, instructing the movement of the robot arm in the Z-axis direction, and sending the first focusing instruction to the robot arm control system through the communication interface. The robot arm control system parses the first focusing instruction and performs a dynamic focusing operation.

[0023] Preferably, the initial instruction unit further includes a first translation instruction generating subunit, and the first translation instruction generating subunit is used to obtain the first translation instruction through the following steps:

[0024] S21, analyzing the center point of the grinding area and the data in the three-dimensional coordinate system, extracting the plane coordinates of the grinding area target on the X-axis and Y-axis as follows: and ;

[0025] S22, obtain the positions of the current plane of the grinding tool on the robot arm on the X-axis and Y-axis respectively and ;

[0026] The X-axis translation offset is calculated by the following formula and Y-axis translation offset Y:

[0027] ;

[0028] ;

[0029] According to the X-axis translation offset and Y-axis translation offset Y, determines the translation direction:

[0030] when When the grinding tool on the robot arm is moved in the positive X direction;

[0031] when When the grinding tool on the robot arm is moved in the negative X direction;

[0032] when When the grinding tool on the robot arm is moved in the positive Y direction;

[0033] when When the grinding tool on the robot arm is moved in the negative Y direction;

[0034] S23, based on X-axis translation offset and Y-axis translation offset Y, use the step-by-step moving method in the path planning algorithm to set the moving distance of each step The following conditions are met:

[0035] ;

[0036] In the formula, It refers to the minimum translation distance of the robot arm in the X-axis direction each time; It refers to the minimum translation distance that the robot arm can perform each time in the Y-axis direction; through this minimum step length limit, it is ensured that each operation will not be too small;

[0037] S24. When performing translation, the target offset is the X-axis translation offset and Y-axis translation offset Y, and the minimum step length of the robot arm is limited to and , the number of translation steps of the X axis is calculated by the following formula And the number of translation steps on the Y axis :

[0038]

[0039] S25, set the moving speed of the robot arm in the X and Y axis directions to and , combined with the number of translation steps on the X axis And the number of translation steps on the Y axis , combined into a first translation instruction, instructing the movement of the robot arm in the X-axis and Y-axis directions, and sending the first translation instruction to the robot arm control system through the communication interface. The robot arm control system parses the first translation instruction and performs dynamic translation operations.

[0040] Preferably, the initial instruction unit further includes a first rotation instruction generating subunit, and the first rotation instruction generating subunit is used to obtain the first rotation instruction through the following steps:

[0041] S31. Analyze the center point of the grinding area and the data in the three-dimensional coordinate system, extract the rotation center of the area to be ground, including the center point of the cylinder hole or the center point of the joint surface; calculate the difference between the current angle of the grinding tool on the robot arm and the target angle, and obtain the rotation offset by the following formula :

[0042] ;

[0043] In the formula, is the target angle, is the current angle of the grinding tool on the current robot arm;

[0044] S32, based on rotation offset The value of determines the direction of rotation. A positive value indicates clockwise rotation; if A negative value indicates counterclockwise rotation;

[0045] S33, according to the rotation offset Size, set the rotation speed , based on the rotation offset and rotation speed , combined to generate the first rotation instruction.

[0046] Preferably, the dynamic deformation detection module includes a deformation data acquisition unit, a deformation characteristic factor calculation unit and a first correction unit;

[0047] The deformation data acquisition unit is used to acquire deformation data of the cylinder body or cylinder head in the grinding area by using a strain sensor;

[0048] The deformation characteristic factor calculation unit is used to obtain the deformation characteristic factor Ftyz by calculating according to the deformation data of the cylinder body or cylinder head in the grinding area through the following formula:

[0049] ;

[0050] in, , and are the deformation of the cylinder block or cylinder head in the length, width and height directions respectively, , and They are the original dimensions of the cylinder block or cylinder head in length, width and height before grinding;

[0051] The deformation threshold F is preset, and the deformation characteristic factor Ftyz is compared and evaluated with the deformation threshold F to obtain the deformation evaluation result, including:

[0052] When the deformation characteristic factor Ftyz> deformation threshold F, the correction process is triggered, and the difference between the deformation characteristic factor Ftyz> deformation threshold F is calculated to obtain the first correction value ;

[0053] When the deformation characteristic factor Ftyz=the deformation threshold F, the deformation is considered acceptable, and the first focusing instruction, the first translation instruction, and the first rotation instruction are continued to be executed;

[0054] When the deformation characteristic factor Ftyz < deformation threshold F, the correction process is triggered, and the difference between the deformation characteristic factor Ftyz < deformation threshold F is calculated to obtain the second correction value .

[0055] Preferably, the first correction unit is used to perform corresponding corrections on the first focusing instruction, the first translation instruction and the first rotation instruction according to the deformation evaluation result, specifically including:

[0056] When the correction process is triggered, according to the first correction value , adjust the Z-axis moving step of the focus according to the first correction value value, increase the focusing step length, and focus the grinding tool on the robot arm upward by 30%; according to the second correction value If the value is too low, the step size will be reduced or adjusted in the opposite direction by 30%;

[0057] Based on the first correction value or the second corrected value , according to the X-axis translation offset and Y-axis translation offset Y, reset the translation direction according to the first correction value , then increase the movement by 30% in the corresponding axial direction, according to the second correction value , then the movement in the corresponding axial direction is reduced by 30%;

[0058] Based on the first correction value or the second corrected value , recalculate the new rotation angle and rotation speed, generate a revised second rotation instruction, and correct the first rotation instruction.

[0059] Preferably, the grinding characteristic analysis module includes a data acquisition unit, a grinding quality analysis unit and a third comprehensive estimation unit.

[0060] The data acquisition unit is used to record the equipment operating parameters during the grinding process, including the cutting stress fluctuation, cutting temperature distribution, coolant flow rate change and surface finish characteristics, to establish a first data set;

[0061] The first data set includes: the maximum stress in the grinding area , minimum stress in the grinding area , material thermal conductivity k, grinding area contact area A with the grinding tool on the robot arm, average thickness Hd of the heat conduction path, coolant input flow rate , Coolant discharge flow and the average roughness of the ground surface ;

[0062] The grinding quality analysis unit is used to perform analysis based on the dimensionless processing of the first data set to calculate the stress distribution factor Ysfz, the heat conduction factor Rczz, the cooling efficiency factor Lqxz and the surface finish index Spgz. The specific formula is:

[0063] ;

[0064] ;

[0065] ;

[0066] ;

[0067] In the formula, represents the maximum stress in the grinding area, represents the minimum stress in the grinding area, represents the average stress in the grinding area; Indicates the thermal conductivity of the material. For the cylinder block or cylinder head material, it includes the following material thermal conductivity: cast iron thermal conductivity 42-52W / m·K, aluminum alloy thermal conductivity 140-200W / m·K, magnesium alloy thermal conductivity 80-2100W / m·K, stainless steel thermal conductivity 16-25W / m·K, copper alloy thermal conductivity 200-230W / m·K and carbon composite material thermal conductivity 10-150W / m·K; A indicates the contact area of ​​the grinding area with the grinding tool on the robot arm, and Hd indicates the average thickness of the heat conduction path;

[0068] Indicates the flow rate of coolant input, Indicates the flow rate of coolant discharge, Indicates the average roughness of the ground surface, unit: μm; Indicates the maximum roughness allowed.

[0069] Preferably, the third comprehensive estimation unit is used to generate a comprehensive grinding quality index Mzqs through the following correlation formula after dimensionless processing of the stress distribution factor Ysfz, the heat conduction factor Rczz, the cooling efficiency factor Lqxz and the surface finish index Spgz:

[0070] ;

[0071] In the formula, , , and They represent the weight coefficients of stress distribution factor Ysfz, heat conduction factor Rczz, cooling efficiency factor Lqxz and surface finish index Spgz respectively. Represents the first correction constant.

[0072] Preferably, the comprehensive optimization control module includes a quality assessment unit and a control unit;

[0073] The quality assessment unit is used to set a quality assessment threshold Kq, and compare the quality assessment threshold Kq with the comprehensive grinding quality index Mzqs to generate a processing quality grade, including:

[0074] If the comprehensive grinding quality index Mzqs ≥ the quality assessment threshold Kq, it means that the grinding quality meets the standard and the first level is generated;

[0075] If the quality assessment threshold Kq*80%≤comprehensive grinding quality index Mzqs<quality assessment threshold Kq, it means that the grinding quality does not meet the standard and the second level is generated;

[0076] If the comprehensive grinding quality index Mzqs is less than the quality assessment threshold Kq*80%, it means that the grinding quality does not meet the standard and the third level is generated;

[0077] The control unit is used to adjust the grinding depth, workpiece feed speed and cooling system parameters according to the grade result, specifically:

[0078] At the first level, it means that the grinding depth, workpiece feed speed and coolant flow rate all maintain the current process parameters;

[0079] At the second level, the first control strategy is generated, including reducing the grinding depth by 5%-10%, reducing the workpiece feed speed by 5%-10% to reduce the risk of overheating, and increasing the coolant flow by 10%-15% to reduce the temperature;

[0080] At the third level, the second control strategy is generated, including reducing the grinding depth by 11%-20%, reducing the workpiece feed speed by 11%-20% to reduce the risk of overheating, and increasing the coolant flow by 16%-25% to reduce the temperature.

[0081] The present invention provides a grinding control system for automobile parts. It has the following beneficial effects:

[0082] (1) The first focusing instruction can accurately control the focusing operation of the grinding tool on the robot arm by parsing the data in the three-dimensional coordinate system and calculating the required focus offset, ensuring that the grinding tool is aligned with the target position in the Z-axis direction, thereby obtaining the best focal length and improving the grinding accuracy. The minimum step length limit ensures the translation accuracy of each operation, thereby avoiding excessive movement errors and improving the accuracy and stability of the grinding process. During the translation process, the step-by-step movement method in the path planning algorithm can be used to intelligently calculate the movement distance of each step, avoiding excessive micro-operations of the robot arm, improving work efficiency and reducing wear on the robot arm. By calculating the deviation between the current angle of the robot arm and the target angle, the rotation direction and speed of the grinding tool can be accurately controlled, so that the grinding tool can be accurately operated according to the set rotation path. Whether rotating clockwise or counterclockwise, the rotation speed can be dynamically adjusted according to the rotation offset to ensure rotation accuracy and avoid processing errors.

[0083] (2) As the cutting stress increases, the workpiece, especially the thin-walled part, is prone to deformation, which has a negative impact on the grinding accuracy. The traditional grinding system cannot monitor the deformation changes of the workpiece in real time, resulting in the failure to adjust the parameters in time to cope with the deformation changes during the processing. The present application can collect the deformation data of the workpiece in real time by installing a strain sensor in the grinding area, and evaluate the deformation characteristic factor Ftyz through a feedback loop to calculate and obtain the first correction value or the second corrected value The first focusing instruction, the first translation instruction and the first rotation instruction are transmitted to the control system to ensure the processing accuracy. The introduction of deformation monitoring technology enables the errors generated during the grinding process to be compensated in real time.

[0084] (3) By incorporating the thermal conductivity k of different materials into the calculation of the heat conduction factor Rczz, it is possible to make fine adjustments to the different heat conduction characteristics of different materials (such as cast iron, aluminum alloy, stainless steel, etc.) during the grinding process, ensuring the optimization of temperature control and heat management during the grinding process, thereby avoiding workpiece deformation or grinding tool damage caused by excessive temperature.

[0085] (4) The comprehensive grinding quality index Mzqs takes into account the stress distribution factor Ysfz, the heat conduction factor Rczz, the cooling efficiency factor Lqxz and the surface finish index Spgz, which makes the evaluation of grinding quality more comprehensive and avoids quality problems that may be missed by single factor analysis. The quality assessment unit can accurately evaluate the grinding quality level by setting the quality assessment threshold Kq and comparing the comprehensive grinding quality index Mzqs with Kq. When it is lower than the set quality assessment threshold Kq, it is reasonably classified according to different degrees of lower than Kq. For the second and third levels of grinding quality, the control unit effectively avoids overheating caused by excessive temperature by reducing the grinding depth and workpiece feed speed and increasing the coolant flow accordingly. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 The present invention is a schematic diagram of the flowchart of a control system for grinding automobile parts. DETAILED DESCRIPTION

[0087] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of 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.

[0088] Example 1

[0089] See also Figure 1 , the present invention provides an automobile parts grinding control system, including a positioning adjustment module, a dynamic deformation detection module, a grinding characteristic analysis module and a comprehensive optimization control module;

[0090] The positioning and adjustment module is used to perform real-time positioning and adjustment of the cylinder body or cylinder head on the grinding station through a high-precision laser distance measuring device and visual recognition technology, obtain spatial position data, construct a three-dimensional coordinate system of the cylinder hole and the joint surface, determine the center point of the grinding area and the grinding path, drive the mechanical arm to control the grinding tool, and obtain the first focusing instruction, the first translation instruction and the first rotation instruction according to the center point of the grinding area and the grinding path; the visual recognition technology can quickly and accurately identify the overall structure of the workpiece and its relative position, while the laser distance measuring technology can provide high-precision spatial position data. By combining the advantages of the two, the shortcomings of the traditional method can be effectively compensated.

[0091] The dynamic deformation detection module is used to collect the deformation data of the cylinder body or cylinder head in the grinding area using a strain sensor to analyze and obtain the deformation characteristic factor Ftyz and evaluate it to calculate the first correction value or the second corrected value Correcting the first focusing instruction, the first translation instruction, and the first rotation instruction accordingly;

[0092] The grinding characteristic analysis module is used to record the equipment operating parameters during the grinding process, including the cutting stress fluctuation, cutting temperature distribution, coolant flow change and surface finish characteristics, generate a first data set and construct a comprehensive grinding quality index Mzqs;

[0093] The comprehensive optimization control module is used to set a quality assessment threshold Kq, which is compared with the comprehensive grinding quality index Mzqs to generate a processing quality grade, and adjust the grinding depth, workpiece feed speed and cooling system parameters according to the processing quality grade.

[0094] In this embodiment, through the synergistic effect of the positioning adjustment module and the dynamic deformation detection module, the grinding path of the cylinder hole and the joint surface and the deformation correction during the grinding process can be accurately controlled, ensuring that small errors in the processing process are compensated in time, greatly improving the processing accuracy.

[0095] During the grinding process, as the cutting stress increases, the workpiece, especially the thin-walled part, is prone to deformation, which has a negative impact on the grinding accuracy. The traditional grinding system cannot monitor the deformation changes of the workpiece in real time, resulting in the failure to adjust the parameters in time to cope with the deformation changes during the processing. This application can collect the deformation data of the workpiece in real time by installing a strain sensor in the grinding area, and evaluate the deformation characteristic factor Ftyz through a feedback loop to calculate and obtain the first correction value or the second corrected value The first focusing instruction, the first translation instruction and the first rotation instruction are transmitted to the control system to ensure the processing accuracy. The introduction of deformation monitoring technology enables the errors generated during the grinding process to be compensated in real time.

[0096] During the grinding process, factors such as cutting stress, grinding temperature, and coolant flow have an important impact on processing accuracy. How to automatically adjust these parameters during the grinding process is the key to improving accuracy. Existing traditional grinding equipment generally relies on manual or preset static control methods and cannot adapt to the dynamically changing grinding process. The intelligent optimization control system monitors the operating parameters of the equipment in real time, and uses algorithms such as path planning and dynamic correction to make real-time adjustments based on the actual situation during the grinding process. By setting appropriate quality assessment thresholds and comprehensive grinding quality indexes, the system can dynamically adjust parameters such as grinding depth, feed speed, and cooling system to achieve the purpose of optimizing the grinding process.

[0097] Example 2

[0098] This embodiment is explained in Example 1, please refer to Figure 1 ,Specifically, the positioning adjustment module includes a positioning unit, a laser ranging unit and a coordinate construction unit;

[0099] The positioning unit is used to use a high-precision visual recognition camera installed on the robot arm to initially identify the overall structure of the cylinder block or cylinder head, determine the relative position of the cylinder hole and the joint surface, and obtain preliminary position information;

[0100] The laser distance measuring unit is used to measure the key points of the cylinder bore and the joint surface multiple times through the laser distance measuring device to obtain the spatial position data of the area to be ground;

[0101] The coordinate construction unit is used to establish a three-dimensional coordinate system based on the spatial position data and preliminary position information provided by the positioning unit and the laser ranging unit, and mark the position and boundary of the cylinder hole and the joint surface in the three-dimensional coordinate system.

[0102] In this embodiment, the positioning unit performs preliminary identification of the cylinder block or cylinder head through a high-precision visual recognition camera, and can quickly and accurately determine the relative position of the cylinder hole and the joint surface. This process not only ensures the accurate positioning of the workpiece during the grinding process, but also effectively reduces the accumulation of errors before grinding, ensuring the processing accuracy of the cylinder hole and the joint surface during subsequent processing. The laser ranging unit obtains the spatial position data of the area to be ground by measuring key points multiple times, and combines it with the preliminary position information provided by the positioning unit. This laser ranging method can provide more accurate spatial data than traditional mechanical measurement, effectively avoiding the interference of mechanical errors and human errors. The coordinate construction unit establishes an accurate three-dimensional coordinate system based on the spatial position data and preliminary position information provided by the positioning unit and the laser ranging unit, and marks the position and boundary of the cylinder hole and the joint surface in this coordinate system. Through the dynamic adjustment of the three-dimensional coordinate system, more flexible and accurate grinding path planning can be achieved, making the movement of the robot arm more accurate and smooth, ensuring the stability and efficiency of the grinding process.

[0103] Example 3

[0104] This embodiment is explained in Example 2. Please refer to Figure 1 Specifically, the positioning adjustment module also includes an initial instruction unit, which is used to interact with the data in the three-dimensional coordinate system, and determine the center point and grinding path of the grinding area through the robot arm control system, and obtain the first focusing instruction, the first translation instruction and the first rotation instruction;

[0105] The initial instruction unit includes a first focus instruction generating subunit, and the first focus instruction generating subunit is used to obtain the first focus instruction through the following steps:

[0106] S11. Position data analysis: Analyze the center point of the grinding area and the data in the three-dimensional coordinate system, and extract the target height of the center point on the Z axis. ;

[0107] S12, according to the current height of the grinding tool on the robot arm and target height , calculate the required focus offset , specifically:

[0108] S13, according to the required focus offset , set the Z-axis moving step length of the focus adjustment of the grinding tool on the robot arm and Z axis moving speed , get the best focal length , and according to the desired focus offset and Z-axis moving step length , calculate the number of steps required for focusing :

[0109] ;

[0110] when When , the step direction is positive, so that the focus of the grinding tool on the robot arm moves upward;

[0111] when When , the step direction is negative, so that the focus of the grinding tool on the robot arm moves downward;

[0112] S14, calculate and set the required focus offset Z-axis moving step length Axis moving speed , Best focal length and the number of steps required for focusing , combined into a first focusing instruction, instructing the movement of the robot arm in the Z-axis direction, and sending the first focusing instruction to the robot arm control system through the communication interface. The robot arm control system parses the first focusing instruction and performs a dynamic focusing operation.

[0113] The first focus instruction can accurately control the focus operation of the grinding tool on the robot arm by parsing the data in the three-dimensional coordinate system and calculating the required focus offset, ensuring that the grinding tool is aligned with the target position in the Z-axis direction, thereby obtaining the best focal length and improving grinding accuracy. Automated instruction generation and execution reduces manual errors and time consumption, making the grinding process more efficient and reliable, and ensuring the continuous and stable operation of the production line.

[0114] Specifically, the initial instruction unit further includes a first translation instruction generating subunit, and the first translation instruction generating subunit is used to obtain the first translation instruction through the following steps:

[0115] S21, analyzing the center point of the grinding area and the data in the three-dimensional coordinate system, extracting the plane coordinates of the grinding area target on the X-axis and Y-axis as follows: and ;

[0116] S22, obtain the positions of the current plane of the grinding tool on the robot arm on the X-axis and Y-axis respectively and ;

[0117] The X-axis translation offset is calculated by the following formula and Y-axis translation offset Y:

[0118] ;

[0119] ;

[0120] According to the X-axis translation offset and Y-axis translation offset Y, determines the translation direction:

[0121] when When the grinding tool on the robot arm is moved in the positive X direction;

[0122] when When the grinding tool on the robot arm is moved in the negative X direction;

[0123] when When the grinding tool on the robot arm is moved in the positive Y direction;

[0124] when When the grinding tool on the robot arm is moved in the negative Y direction;

[0125] S23, based on X-axis translation offset and Y-axis translation offset Y, use the step-by-step moving method in the path planning algorithm to set the moving distance of each step The following conditions are met:

[0126] ;

[0127] In the formula, It refers to the minimum translation distance of the robot arm in the X-axis direction each time; It refers to the minimum translation distance that the robot arm can perform each time in the Y-axis direction; through this minimum step length limit, it is ensured that each operation will not be too small;

[0128] S24. When performing translation, the target offset is the X-axis translation offset and Y-axis translation offset Y, and the minimum step length of the robot arm is limited to and , the number of translation steps of the X axis is calculated by the following formula And the number of translation steps on the Y axis :

[0129]

[0130] S25, set the moving speed of the robot arm in the X and Y axis directions to and , combined with the number of translation steps on the X axis And the number of translation steps on the Y axis , combined into a first translation instruction, instructing the robot to move in the X-axis and Y-axis directions, and sending the first translation instruction to the robot control system through the communication interface. The robot control system parses the first translation instruction and performs dynamic translation operations. By parsing the data in the three-dimensional coordinate system and calculating the translation offset, the movement path of the robot can be accurately controlled to ensure that the grinding tool is accurately translated in the X-axis and Y-axis directions. This process ensures the translation accuracy of each operation through the minimum step length limit, thereby avoiding excessive movement errors and improving the accuracy and stability of the grinding process. During the translation process, the step-by-step movement method in the path planning algorithm can be used to intelligently calculate the movement distance of each step, avoid excessive micro-operations of the robot, improve work efficiency and reduce wear on the robot.

[0131] The initial instruction unit further includes a first rotation instruction generating subunit, and the first rotation instruction generating subunit is used to obtain the first rotation instruction through the following steps:

[0132] S31. Analyze the center point of the grinding area and the data in the three-dimensional coordinate system, extract the rotation center of the area to be ground, including the center point of the cylinder hole or the center point of the joint surface; calculate the difference between the current angle of the grinding tool on the robot arm and the target angle, and obtain the rotation offset by the following formula :

[0133] ;

[0134] In the formula, is the target angle, is the current angle of the grinding tool on the current robot arm;

[0135] S32, based on rotation offset The value of determines the direction of rotation. A positive value indicates clockwise rotation; if A negative value indicates counterclockwise rotation;

[0136] S33, according to the rotation offset Size, set the rotation speed , based on the rotation offset and rotation speed , combined to generate the first rotation instruction. By calculating the deviation between the current angle of the robot arm and the target angle, the rotation direction and speed of the grinding tool can be accurately controlled, so that the grinding tool can be accurately operated according to the set rotation path. Whether rotating clockwise or counterclockwise, the rotation speed can be dynamically adjusted according to the rotation offset to ensure rotation accuracy and avoid processing errors.

[0137] Example 4

[0138] This embodiment is explained in Example 1, please refer to Figure 1 ,Specifically, the dynamic deformation detection module includes a deformation data acquisition unit, a deformation characteristic factor calculation unit and a first correction unit;

[0139] The deformation data acquisition unit is used to acquire deformation data of the cylinder body or cylinder head in the grinding area by using a strain sensor;

[0140] The deformation characteristic factor calculation unit is used to obtain the deformation characteristic factor Ftyz by calculating according to the deformation data of the cylinder body or cylinder head in the grinding area through the following formula:

[0141] ;

[0142] in, , and are the deformation of the cylinder block or cylinder head in the length, width and height directions respectively, , and They are the original dimensions of the cylinder block or cylinder head in length, width and height before grinding;

[0143] The deformation threshold F is preset, and the deformation characteristic factor Ftyz is compared and evaluated with the deformation threshold F to obtain the deformation evaluation result, including:

[0144] When the deformation characteristic factor Ftyz> deformation threshold F, the correction process is triggered, and the difference between the deformation characteristic factor Ftyz> deformation threshold F is calculated to obtain the first correction value ;

[0145] When the deformation characteristic factor Ftyz=the deformation threshold F, the deformation is considered acceptable, and the first focusing instruction, the first translation instruction, and the first rotation instruction are continued to be executed;

[0146] When the deformation characteristic factor Ftyz < deformation threshold F, the correction process is triggered, and the difference between the deformation characteristic factor Ftyz < deformation threshold F is calculated to obtain the second correction value .

[0147] The first correction unit is used to perform corresponding corrections on the first focusing instruction, the first translation instruction and the first rotation instruction according to the deformation evaluation result, specifically including:

[0148] When the correction process is triggered, according to the first correction value , adjust the Z-axis moving step of the focus according to the first correction value value, increase the focusing step length, and focus the grinding tool on the robot arm upward by 30%; according to the second correction value If the value is too low, the step size will be reduced or adjusted in the opposite direction by 30%;

[0149] Based on the first correction value or the second corrected value , according to the X-axis translation offset and Y-axis translation offset Y, reset the translation direction according to the first correction value , then increase the movement by 30% in the corresponding axial direction, according to the second correction value , then the movement in the corresponding axial direction is reduced by 30%;

[0150] Based on the first correction value or the second corrected value , recalculate the new rotation angle and rotation speed, generate a revised second rotation instruction, and correct the first rotation instruction.

[0151] In this embodiment, the deformation data of the cylinder body or cylinder head is collected in real time by strain sensors, and the system can promptly understand the deformation that may occur during the grinding process. When the deformation characteristic factor Ftyz exceeds or falls below the deformation threshold F, the correction process is immediately triggered to ensure that the robot arm always maintains an accurate operation path when performing grinding tasks. This real-time feedback mechanism can effectively avoid processing errors caused by deformation. When the deformation characteristic factor is not equal to the preset deformation threshold F, the system will dynamically adjust the first focusing instruction, the first translation instruction, and the first rotation instruction according to the actual difference in deformation. For example, during the focusing process, adjust the step size of the Z axis so that the grinding tool is focused up or down by 30% to ensure a high degree of accuracy during the grinding process; in translation and rotation operations, according to the first correction value or the second corrected value Adjust the direction of movement and step length to compensate for the error caused by deformation. This correction mechanism effectively improves the processing accuracy. The system's automated correction mechanism reduces the complexity and error rate of manual operation. The operator only needs to set and monitor the system operation, which significantly improves production efficiency. At the same time, the automatic correction mechanism improves the intelligence level of the system and reduces the dependence on the skills of professionals. Whether it is a cylinder block or a cylinder head, the system can automatically adapt and make corresponding adjustments under different deformation conditions and grinding requirements.

[0152] Example 5

[0153] This embodiment is explained in Example 1, please refer to Figure 1 Specifically, the grinding characteristic analysis module includes a data acquisition unit, a grinding quality analysis unit and a third comprehensive estimation unit.

[0154] The data acquisition unit is used to record the equipment operating parameters during the grinding process, including the cutting stress fluctuation, cutting temperature distribution, coolant flow rate change and surface finish characteristics, to establish a first data set;

[0155] The first data set includes: the maximum stress in the grinding area , minimum stress in the grinding area , material thermal conductivity k, grinding area contact area A with the grinding tool on the robot arm, average thickness Hd of the heat conduction path, coolant input flow rate , Coolant discharge flow and the average roughness of the ground surface ;

[0156] The grinding quality analysis unit is used to perform analysis based on the dimensionless processing of the first data set to calculate the stress distribution factor Ysfz, the heat conduction factor Rczz, the cooling efficiency factor Lqxz and the surface finish index Spgz. The specific formula is:

[0157] ;

[0158] ;

[0159] ;

[0160] ;

[0161] In the formula, represents the maximum stress in the grinding area, represents the minimum stress in the grinding area, represents the average stress in the grinding area; Indicates the thermal conductivity of the material. For the cylinder block or cylinder head material, it includes the following material thermal conductivity: cast iron thermal conductivity 42-52W / m·K, aluminum alloy thermal conductivity 140-200W / m·K, magnesium alloy thermal conductivity 80-2100W / m·K, stainless steel thermal conductivity 16-25W / m·K, copper alloy thermal conductivity 200-230W / m·K and carbon composite material thermal conductivity 10-150W / m·K; A indicates the contact area of ​​the grinding area with the grinding tool on the robot arm, and Hd indicates the average thickness of the heat conduction path;

[0162] Indicates the flow rate of coolant input, Indicates the flow rate of coolant discharge, Indicates the average roughness of the ground surface, unit: μm; Indicates the maximum roughness allowed.

[0163] The calculation of stress distribution factor Ysfz and heat conduction factor Rczz helps to analyze the stress concentration during grinding and its influence on the material, and also can evaluate the heat conduction efficiency during grinding. These two factors can effectively predict the deformation or damage of the material caused by heat accumulation or excessive stress, so as to take corresponding control measures.

[0164] By analyzing the cooling efficiency factor Lqxz and the surface finish index Spgz, the system is able to evaluate the cooling effect and the grinding surface quality. The evaluation of these factors helps to adjust the coolant flow in real time to ensure the cooling effect, thereby improving the machining accuracy and surface finish and reducing the surface defects that may occur during the grinding process.

[0165] This embodiment incorporates the thermal conductivity of different materials into the calculation, and can make fine adjustments to the different thermal conductivity characteristics exhibited by different materials (such as cast iron, aluminum alloy, stainless steel, etc.) during the grinding process, thereby ensuring the optimization of temperature control and heat management of the grinding process, thereby avoiding workpiece deformation or grinding tool damage due to excessive temperature.

[0166] The third comprehensive estimation unit is used to process the stress distribution factor Ysfz, the heat conduction factor Rczz, the cooling efficiency factor Lqxz and the surface finish index Spgz dimensionlessly, and generate the comprehensive grinding quality index Mzqs through the following associated formula:

[0167] ;

[0168] In the formula, , , and They represent the weight coefficients of stress distribution factor Ysfz, heat conduction factor Rczz, cooling efficiency factor Lqxz and surface finish index Spgz respectively, and the sum of the weight coefficients is 1. Represents the first correction constant. Different factors are given different priorities through weight coefficients. This allows flexible adjustment of the importance of each factor according to the different needs of the actual grinding task. For example, in precision machining tasks, more attention may be paid to surface finish and heat conduction, while in mass machining, cooling efficiency may be more critical. By flexibly setting the weight coefficients, optimization adjustments can be made according to actual machining needs.

[0169] The grinding quality index Mzqs comprehensive index takes into account multiple key quality factors, including stress distribution, heat conduction efficiency, cooling effect and surface finish. This makes the evaluation of grinding quality more comprehensive and avoids quality problems that may be missed by single factor analysis. For example, the stress distribution factor helps to evaluate the stress of the material during the grinding process, the heat conduction factor focuses on temperature management, while the cooling efficiency factor and the surface finish index involve thermal management and final surface quality, respectively. The comprehensive grinding quality index Mzqs can identify unqualified processing conditions in a timely manner and make optimized adjustments. This dynamic feedback can effectively avoid material waste, tool loss and rework caused by inappropriate grinding parameters, thereby reducing production costs.

[0170] Example 6

[0171] This embodiment is explained in Example 5. Please refer to Figure 1 ,Specifically, the comprehensive optimization control module includes a quality assessment unit and a control unit;

[0172] The quality assessment unit is used to set a quality assessment threshold Kq, and compare the quality assessment threshold Kq with the comprehensive grinding quality index Mzqs to generate a processing quality grade, including:

[0173] If the comprehensive grinding quality index Mzqs ≥ the quality assessment threshold Kq, it means that the grinding quality meets the standard and the first level is generated;

[0174] If the quality assessment threshold Kq*80%≤comprehensive grinding quality index Mzqs<quality assessment threshold Kq, it means that the grinding quality does not meet the standard and the second level is generated;

[0175] If the comprehensive grinding quality index Mzqs is less than the quality assessment threshold Kq*80%, it means that the grinding quality does not meet the standard and the third level is generated;

[0176] The control unit is used to adjust the grinding depth, workpiece feed speed and cooling system parameters according to the grade result, specifically:

[0177] At the first level, it means that the grinding depth, workpiece feed speed and coolant flow rate all maintain the current process parameters;

[0178] At the second level, the first control strategy is generated, including reducing the grinding depth by 5%-10%, reducing the workpiece feed speed by 5%-10% to reduce the risk of overheating, and increasing the coolant flow by 10%-15% to reduce the temperature;

[0179] At the third level, the second control strategy is generated, including reducing the grinding depth by 11%-20%, reducing the workpiece feed speed by 11%-20% to reduce the risk of overheating, and increasing the coolant flow by 16%-25% to reduce the temperature.

[0180] In this embodiment, the quality assessment unit can accurately assess the grinding quality level by setting a quality assessment threshold Kq and comparing the comprehensive grinding quality index Mzqs with Kq. When the grinding quality index Kq is higher than the set quality assessment threshold Kq, it can be judged that the grinding quality meets the standard; when it is lower than the set quality assessment threshold Kq, it is reasonably classified according to different degrees of lower than. This quality grading mechanism makes the quality assessment of the grinding process more refined, which is convenient for operators to find potential problems in time. The control unit automatically generates corresponding control strategies based on the assessed quality level, thereby realizing adaptive grinding process optimization. Different quality levels correspond to different grinding parameter adjustment strategies. By real-time monitoring and adjusting the grinding depth, workpiece feed speed and cooling system parameters, the processing quality problems caused by improper grinding parameters can be effectively avoided, and the product quality can be guaranteed. For the second and third level grinding quality conditions, the control unit effectively avoids overheating caused by excessive temperature by reducing the grinding depth and workpiece feed speed, and increasing the coolant flow accordingly. Especially in the third level, the increase in coolant flow and the reduction in grinding depth and workpiece feed speed are greater, thereby enhancing the temperature control effect and avoiding adverse effects on the workpiece caused by overheating.

[0181] The threshold is set to facilitate comparison. The size of the threshold depends on the amount of sample data and the number of bases set by technicians in this field for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantized value.

[0182] The above formulas are obtained by collecting a large amount of data for software simulation and selecting a formula that is close to the actual value. The coefficients in the formula are set by technical personnel in this field according to actual conditions. The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited to this. Any technical personnel familiar with the technical field within the technical scope disclosed by the present invention, according to the technical solution and the inventive concept of the present invention, make equivalent replacement or change, which should be covered within the protection scope of the present invention.

Claims

1. An automobile parts grinding control system, characterized in that: It includes positioning adjustment module, dynamic deformation detection module, grinding characteristic analysis module and comprehensive optimization control module; The positioning and adjustment module is used to perform real-time positioning and adjustment of the cylinder body or cylinder head on the grinding station through a high-precision laser distance measuring device and visual recognition technology, obtain spatial position data, construct a three-dimensional coordinate system of the cylinder hole and the joint surface, determine the center point of the grinding area and the grinding path, drive the mechanical arm to control the grinding tool, and obtain a first focusing instruction, a first translation instruction, and a first rotation instruction according to the center point of the grinding area and the grinding path; The dynamic deformation detection module is used to collect the deformation data of the cylinder body or cylinder head in the grinding area using a strain sensor to analyze and obtain the deformation characteristic factor Ftyz and evaluate it to calculate the first correction value or the second corrected value Correcting the first focusing instruction, the first translation instruction, and the first rotation instruction accordingly; The dynamic deformation detection module includes a deformation data acquisition unit, a deformation characteristic factor calculation unit and a first correction unit; The deformation data acquisition unit is used to acquire deformation data of the cylinder body or cylinder head in the grinding area by using a strain sensor; The deformation characteristic factor calculation unit is used to obtain the deformation characteristic factor Ftyz by calculating according to the deformation data of the cylinder body or cylinder head in the grinding area through the following formula: ； in, , and are the deformation of the cylinder block or cylinder head in the length, width and height directions respectively, , and They are the original dimensions of the cylinder block or cylinder head in length, width and height before grinding; The deformation threshold F is preset, and the deformation characteristic factor Ftyz is compared and evaluated with the deformation threshold F to obtain the deformation evaluation result, including: When the deformation characteristic factor Ftyz> deformation threshold F, the correction process is triggered, and the difference between the deformation characteristic factor Ftyz> deformation threshold F is calculated to obtain the first correction value ; When the deformation characteristic factor Ftyz=the deformation threshold F, the deformation is considered acceptable, and the first focusing instruction, the first translation instruction, and the first rotation instruction are continued to be executed; When the deformation characteristic factor Ftyz < deformation threshold F, the correction process is triggered, and the difference between the deformation characteristic factor Ftyz < deformation threshold F is calculated to obtain the second correction value ; The first correction unit is used to perform corresponding corrections on the first focus instruction, the first translation instruction and the first rotation instruction according to the deformation evaluation result, specifically including: When the correction process is triggered: based on the first correction value , adjust the Z-axis moving step of the focus according to the first correction value value, increase the focusing step length, and focus the grinding tool on the robot arm upward by 30%; according to the second correction value If the value is too low, the step size will be reduced or adjusted in the opposite direction by 30%; Based on the first correction value or the second corrected value , according to the X-axis translation offset and Y-axis translation offset Y, reset the translation direction according to the first correction value , then increase the movement by 30% in the corresponding axial direction, according to the second correction value , then the movement in the corresponding axial direction is reduced by 30%; Based on the first correction value or the second corrected value , recalculate the new rotation angle and rotation speed, generate a revised second rotation instruction, and correct the first rotation instruction; The grinding characteristic analysis module is used to record the equipment operating parameters during the grinding process, including the cutting stress fluctuation, cutting temperature distribution, coolant flow change and surface finish characteristics, generate a first data set and construct a comprehensive grinding quality index Mzqs; The grinding characteristic analysis module includes a data acquisition unit, a grinding quality analysis unit and a third comprehensive estimation unit. The data acquisition unit is used to record the equipment operating parameters during the grinding process, including the cutting stress fluctuation, cutting temperature distribution, coolant flow rate change and surface finish characteristics, to establish a first data set; The first data set includes: the maximum stress in the grinding area , minimum stress in the grinding area , material thermal conductivity k, grinding area contact area A with the grinding tool on the robot arm, average thickness Hd of the heat conduction path, coolant input flow rate , Coolant discharge flow and the average roughness of the ground surface ; The grinding quality analysis unit is used to perform analysis based on the dimensionless processing of the first data set to calculate the stress distribution factor Ysfz, the heat conduction factor Rczz, the cooling efficiency factor Lqxz and the surface finish index Spgz. The specific formula is: ； ； ； ； In the formula, represents the maximum stress in the grinding area, represents the minimum stress in the grinding area, represents the average stress in the grinding area; Indicates the thermal conductivity of the material. For the cylinder block or cylinder head material, it includes the following material thermal conductivity: cast iron thermal conductivity 42-52W / m·K, aluminum alloy thermal conductivity 140-200W / m·K, magnesium alloy thermal conductivity 80-2100W / m·K, stainless steel thermal conductivity 16-25W / m·K, copper alloy thermal conductivity 200-230W / m·K and carbon composite material thermal conductivity 10-150W / m·K; A indicates the contact area of ​​the grinding area with the grinding tool on the robot arm, and Hd indicates the average thickness of the heat conduction path; Indicates the flow rate of coolant input, Indicates the flow rate of coolant discharge, Indicates the average roughness of the ground surface, unit: μm; Indicates the maximum roughness allowed; The third comprehensive estimation unit is used to process the stress distribution factor Ysfz, the heat conduction factor Rczz, the cooling efficiency factor Lqxz and the surface finish index Spgz dimensionlessly, and generate the comprehensive grinding quality index Mzqs through the following associated formula: ； In the formula, , , and They represent the weight coefficients of stress distribution factor Ysfz, heat conduction factor Rczz, cooling efficiency factor Lqxz and surface finish index Spgz respectively. represents the first correction constant; The comprehensive optimization control module is used to set a quality assessment threshold Kq, which is compared with the comprehensive grinding quality index Mzqs to generate a processing quality grade, and adjust the grinding depth, workpiece feed speed and cooling system parameters according to the processing quality grade.

2. The automotive parts grinding control system according to claim 1, characterized in that: The positioning adjustment module includes a positioning unit, a laser ranging unit and a coordinate construction unit; The positioning unit is used to use a high-precision visual recognition camera installed on the robot arm to initially identify the overall structure of the cylinder block or cylinder head, determine the relative position of the cylinder hole and the joint surface, and obtain preliminary position information; The laser distance measuring unit is used to measure the key points of the cylinder bore and the joint surface multiple times through the laser distance measuring device to obtain the spatial position data of the area to be ground; The coordinate construction unit is used to establish a three-dimensional coordinate system based on the spatial position data and preliminary position information provided by the positioning unit and the laser ranging unit, and mark the position and boundary of the cylinder hole and the joint surface in the three-dimensional coordinate system.

3. The automotive parts grinding control system according to claim 2, characterized in that: The positioning adjustment module also includes an initial instruction unit, which is used to interact with the data in the three-dimensional coordinate system, and determine the center point and grinding path of the grinding area through the robot arm control system, and obtain the first focusing instruction, the first translation instruction and the first rotation instruction; The initial instruction unit includes a first focus instruction generating subunit, and the first focus instruction generating subunit is used to obtain the first focus instruction through the following steps: S11. Position data analysis: Analyze the center point of the grinding area and the data in the three-dimensional coordinate system, and extract the target height of the center point on the Z axis. ; S12, according to the current height of the grinding tool on the robot arm and target height , calculate the required focus offset , specifically: ; S13, according to the required focus offset , set the Z-axis moving step length of the focus adjustment of the grinding tool on the robot arm and Z axis moving speed , get the best focal length , and according to the desired focus offset and Z-axis moving step length , calculate the number of steps required for focusing : ； when When , the step direction is positive, so that the focus of the grinding tool on the robot arm moves upward; when When , the step direction is negative, so that the focus of the grinding tool on the robot arm moves downward; S14, calculate and set the required focus offset , Z-axis moving step length , Z axis moving speed , Best focal length and the number of steps required for focusing , combined into a first focusing instruction, instructing the movement of the robot arm in the Z-axis direction, and sending the first focusing instruction to the robot arm control system through the communication interface. The robot arm control system parses the first focusing instruction and performs a dynamic focusing operation.

4. The automotive parts grinding control system according to claim 3, characterized in that: The initial instruction unit further includes a first translation instruction generating subunit, and the first translation instruction generating subunit is used to obtain the first translation instruction through the following steps: S21, analyzing the center point of the grinding area and the data in the three-dimensional coordinate system, extracting the plane coordinates of the grinding area target on the X-axis and Y-axis as follows: and ; S22, obtain the positions of the current plane of the grinding tool on the robot arm on the X-axis and Y-axis respectively and ; The X-axis translation offset is calculated by the following formula and Y-axis translation offset Y: ； ； According to the X-axis translation offset and Y-axis translation offset Y, determines the translation direction: when When the grinding tool on the robot arm is moved in the positive X direction; when When the grinding tool on the robot arm is moved in the negative X direction; when When the grinding tool on the robot arm is moved in the positive Y direction; when When the grinding tool on the robot arm is moved in the negative Y direction; S23, based on X-axis translation offset and Y-axis translation offset Y, use the step-by-step moving method in the path planning algorithm to set the moving distance of each step The following conditions are met: ； In the formula, It refers to the minimum translation distance of the robot arm in the X-axis direction each time; It refers to the minimum translation distance that the robot arm can perform each time in the Y-axis direction; through this minimum step length limit, it is ensured that each operation will not be too small; S24. When performing translation, the target offset is the X-axis translation offset and Y-axis translation offset Y, and the minimum step length of the robot arm is limited to and , the number of translation steps of the X axis is calculated by the following formula And the number of translation steps on the Y axis : ； S25, set the moving speed of the robot arm in the X and Y axis directions to and , combined with the number of translation steps on the X axis And the number of translation steps on the Y axis , combined into a first translation instruction, instructing the movement of the robot arm in the X-axis and Y-axis directions, and sending the first translation instruction to the robot arm control system through the communication interface. The robot arm control system parses the first translation instruction and performs dynamic translation operations.

5. The automobile parts grinding control system according to claim 4, characterized in that: The initial instruction unit further includes a first rotation instruction generating subunit, and the first rotation instruction generating subunit is used to obtain the first rotation instruction through the following steps: S31. Analyze the center point of the grinding area and the data in the three-dimensional coordinate system, extract the rotation center of the area to be ground, including the center point of the cylinder hole or the center point of the joint surface; calculate the difference between the current angle of the grinding tool on the robot arm and the target angle, and obtain the rotation offset by the following formula : ； In the formula, is the target angle, is the current angle of the grinding tool on the current robot arm; S32, based on rotation offset The value of determines the direction of rotation. A positive value indicates clockwise rotation; if A negative value indicates counterclockwise rotation; S33, according to the rotation offset Size, set the rotation speed , based on the rotation offset and rotation speed , combined to generate the first rotation instruction.

6. The automobile parts grinding control system according to claim 1, characterized in that: The comprehensive optimization control module includes a quality assessment unit and a control unit; The quality assessment unit is used to set a quality assessment threshold Kq, and compare the quality assessment threshold Kq with the comprehensive grinding quality index Mzqs to generate a processing quality grade, including: If the comprehensive grinding quality index Mzqs ≥ the quality assessment threshold Kq, it means that the grinding quality meets the standard and the first level is generated; If the quality assessment threshold Kq×80%≤comprehensive grinding quality index Mzqs<quality assessment threshold Kq, it means that the grinding quality does not meet the standard and the second level is generated; If the comprehensive grinding quality index Mzqs is less than the quality assessment threshold Kq×80%, it means that the grinding quality does not meet the standard and the third level is generated; The control unit is used to adjust the grinding depth, workpiece feed speed and cooling system parameters according to the grade result, specifically: At the first level, it means that the grinding depth, workpiece feed speed and coolant flow rate all maintain the current process parameters; At the second level, the first control strategy is generated, including reducing the grinding depth by 5%-10%, reducing the workpiece feed speed by 5%-10% to reduce the risk of overheating, and increasing the coolant flow by 10%-15% to reduce the temperature; At the third level, the second control strategy is generated, including reducing the grinding depth by 11%-20%, reducing the workpiece feed speed by 11%-20% to reduce the risk of overheating, and increasing the coolant flow by 16%-25% to reduce the temperature.

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