Plastic-based coated abrasive tool flatness control method, device and equipment and medium

Abstract

The invention relates to the technical field of coated abrasive tools, in particular to a flatness control method, device and equipment for a plastic-based coated abrasive tool and a medium, and the method comprises the following steps: adding an ironing process after a gluing and drying process of a plastic-based coated abrasive tool roll material, enabling a plastic base material surface of the plastic-based coated abrasive tool roll material to pass through a high-temperature drying cylinder, ironing and cooling; the flatness and ironing process parameters of the plastic base material surface after the ironing process are collected; flatness parameters are set, a closed-loop feedback algorithm is used for monitoring the flatness of the surface of the plastic base material after the ironing process, and ironing process parameters are adjusted. In the ironing process, the plastic base material is heated and cooled through the high-temperature drying cylinder, deformation such as warping and bulging in the gluing and drying process can be effectively eliminated, and the flatness of the surface of the base material is improved. The ironing parameters are monitored and adjusted by adopting a closed-loop feedback algorithm, so that the process parameters are always in the optimal state in the production process, and the process stability and consistency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coated abrasives, and particularly to a method, device, equipment and medium for controlling the flatness of plastic-based coated abrasives. Background Art

[0002] Existing plastic-based coated abrasives are widely used in the processing of fine surfaces such as mobile phone casings and automobile paint surfaces due to their high surface precision, and mainly exist in the forms of discs and abrasive belts.

[0003] In the disc brushing operation, with the improvement of the automation level, the replacement action of the disc is completed by the robot grasping. However, when the disc is uneven, the positioning is prone to deviation, resulting in a low success rate of the robot grasping and affecting the use efficiency. Therefore, the unevenness of the coiled material products and disc products needs to be further improved.

[0004] The information disclosed in this background art section is only intended to deepen the understanding of the overall background art of the present invention, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art known to those skilled in the art. Summary of the Invention

[0005] The present invention provides a method, device, equipment and medium for controlling the flatness of plastic-based coated abrasives, thereby effectively solving the problems in the background art.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: a method for controlling the flatness of plastic-based coated abrasives, including the following steps:

[0007] Add an ironing process after the glue coating and drying process of the plastic-based coated abrasive coiled material, so that the plastic substrate surface passes through a high-temperature drying cylinder and is cooled after ironing;

[0008] Collect the flatness of the plastic substrate surface after the ironing process and the ironing process parameters;

[0009] Set the flatness parameter, use the closed-loop feedback algorithm to monitor the flatness of the plastic substrate surface after the ironing process, and adjust the ironing process parameters.

[0010] Further, the ironing process parameters include: the feeding speed of the plastic substrate, the temperature of the drying cylinder, and the rotation speed of the drying cylinder.

[0011] Further, the use of the closed-loop feedback algorithm to monitor the flatness of the plastic substrate surface after the ironing process and adjust the ironing process parameters includes:

[0012] Calculate the error between the flatness parameter and the measured flatness;

[0013] Set the proportional-integral-derivative (PID) control algorithm and discretize the PID algorithm;

[0014] Turn off the integral and derivative links in the PID algorithm and gradually increase the proportional coefficient until the system output starts to produce continuous oscillations;

[0015] Record the critical proportional gain and oscillation period, and calculate the proportional, integral, and derivative parameters based on the critical proportional gain and oscillation period;

[0016] Adjust the ironing process parameters through the discretized PID algorithm with the calculated proportional, integral, and derivative parameters.

[0017] Further, setting the proportional-integral-derivative (PID) control algorithm and discretizing the PID algorithm includes:

[0018] PID control algorithm:

[0019]

[0020] In the formula, u(t) is the control output, that is, the adjustment value of the ironing process parameters, K p is the proportional coefficient, K i is the integral coefficient, K d is the derivative coefficient, and e(t) is the error between the flatness parameter and the measured flatness;

[0021] Discretizing the PID algorithm:

[0022]

[0023] In the formula, e[k] represents the error at the k-th sampling moment, u[k] represents the control output at the k-th sampling moment, and Δt is the sampling period.

[0024] Further, calculating the proportional, integral, and derivative parameters based on the critical proportional gain and oscillation period includes:

[0025] K p = 0.6K u ;

[0026]

[0027] In the formula, K p is the proportional coefficient, K i is the integral coefficient, K d is the derivative coefficient, K u is the critical proportional gain, and T u is the oscillation period.

[0028] Further, adjusting the ironing process parameters through the discretized PID algorithm further includes: separately setting independent PID controls for the feeding speed, drying cylinder temperature, and drying cylinder rotation speed of the plastic substrate in the ironing process parameters.

[0029] Further, collecting the flatness of the plastic substrate surface after the ironing process includes:

[0030] Scanning the cooled plastic substrate surface using laser profile scanning to determine its flatness.

[0031] The present invention also includes a flatness control device for plastic base coated abrasives, using the method as described above. The device includes:

[0032] An ironing device, which is used to add an ironing process after the glue coating and drying process of the plastic base coated abrasive roll material, so that the plastic substrate surface passes through a high-temperature drying cylinder, and is cooled after ironing;

[0033] A collection unit, which is used to collect the flatness of the plastic substrate surface after the ironing process and the ironing process parameters;

[0034] A closed-loop control unit, which is used to set flatness parameters, monitor the flatness of the plastic substrate surface after the ironing process using a closed-loop feedback algorithm, and adjust the ironing process parameters.

[0035] The present invention also includes a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method as described above is implemented.

[0036] The present invention also includes a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method as described above is implemented.

[0037] The beneficial effects of the present invention are as follows: The ironing process heats and cools the plastic substrate through a high-temperature drying cylinder, which can effectively eliminate deformations such as warping and bulging during the glue coating and drying process, and improve the flatness of the substrate surface. Using a closed-loop feedback algorithm to monitor and adjust the ironing parameters enables the process parameters to always be in the best state during production, improving process stability and consistency. Optimizing the product flatness by dynamically adjusting the ironing parameters can effectively reduce defective products and scrap caused by unevenness, reducing production losses. The improved flatness reduces the positioning deviation of the disc product during the robot grasping process, improving the grasping success rate, and thus enhancing the efficiency of automated operations. Description of the Drawings

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0039] Figure 1 It is a flowchart of the method of the present invention;

[0040] Figure 2 It is a schematic structural diagram of the device of the present invention;

[0041] Figure 3 It is a schematic structural diagram of the computer device of the present invention. Detailed implementation manners

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0043] As Figure 1 shown: A method for controlling the flatness of a plastic-based coated abrasive includes the following steps:

[0044] Add an ironing process after the glue coating and drying process of the plastic-based coated abrasive roll material, so that the plastic substrate surface passes through a high-temperature drying cylinder and is cooled after ironing;

[0045] Collect the flatness of the plastic substrate surface after the ironing process and the ironing process parameters;

[0046] Set the flatness parameter, use the closed-loop feedback algorithm to monitor the flatness of the plastic substrate surface after the ironing process, and adjust the ironing process parameters.

[0047] The ironing process heats and cools the plastic substrate through a high-temperature drying cylinder, which can effectively eliminate deformations such as warping and bulging during the glue coating and drying process, and improve the flatness of the substrate surface. The closed-loop feedback algorithm is used to monitor and adjust the ironing parameters, so that the process parameters are always in the best state during the production process, improving the process stability and consistency. By dynamically adjusting the ironing parameters to optimize the product flatness, it can effectively reduce defective products and scrap caused by unevenness, and reduce production losses. The improved flatness reduces the positioning deviation of the disc product during the robot grasping process, improves the grasping success rate, and thus improves the efficiency of automated operations.

[0048] In this embodiment, the ironing process parameters include: the feeding speed of the plastic substrate, the drying cylinder temperature, and the drying cylinder rotation speed.

[0049] By controlling the feeding speed, the cylinder temperature, and the cylinder rotation speed, the heating and cooling processes of the plastic substrate can be precisely adjusted to ensure more stable flatness. Combining different material characteristics and production environments, the ironing parameters can be flexibly adjusted to meet diverse production requirements.

[0050] The diameter of the cylinder is from 200 mm to 4000 mm, preferably from 500 mm to 3000 mm, and more preferably from 800 mm to 2500 mm; the heating temperature of the cylinder is from 60 °C to 250 °C, preferably from 80 °C to 230 °C, and more preferably from 100 °C to 220 °C; the cylinder can be heated by heat-conducting oil or electric heating; the cylinder can also be a set or multiple sets;

[0051] As a preference of the above embodiment, a closed-loop feedback algorithm is used to monitor the flatness of the plastic substrate surface after the ironing process and adjust the ironing process parameters, including:

[0052] Calculate the error between the flatness parameter and the measured flatness;

[0053] Set the proportional-integral-derivative PID control algorithm and discretize the PID algorithm;

[0054] Turn off the integral and derivative links in the PID algorithm and gradually increase the proportional coefficient until the system output starts to produce continuous oscillations;

[0055] Record the critical proportional gain and the oscillation period, and calculate the proportional, integral, and derivative parameters based on the critical proportional gain and the oscillation period;

[0056] Adjust the ironing process parameters through the calculated proportional, integral, and derivative parameters by the discretized PID algorithm.

[0057] The method of gradually increasing the proportional coefficient, calculating the critical proportional gain and the oscillation period can effectively determine the optimal control parameters, enabling the PID controller to quickly respond and adjust the ironing process parameters. Implementing closed-loop feedback regulation using the PID control algorithm can automatically correct the ironing parameters according to the actual flatness deviation, avoiding unstable factors brought by human intervention. By turning off the integral and derivative links and gradually increasing the proportional coefficient, the best stable point of the system can be quickly found, significantly shortening the parameter tuning time and improving the debugging efficiency. During the dynamic monitoring and adjustment process, the PID algorithm can continuously optimize the parameters, significantly reducing the flatness fluctuation and enhancing the stability of batch products.

[0058] Among them, setting the proportional-integral-derivative PID control algorithm and discretizing the PID algorithm includes:

[0059] PID control algorithm:

[0060]

[0061] In the formula, u(t) is the control output, that is, the adjustment value of the ironing process parameters, and K p is the proportional coefficient, and K i is the integral coefficient, and K d is the differential coefficient, and e(t) is the error between the flatness parameter and the measured flatness;

[0062] Discretize the PID algorithm:

[0063]

[0064] In the formula, e[k] represents the error at the k-th sampling moment, u[k] represents the control output at the k-th sampling moment, and Δt is the sampling period.

[0065] As an optimization of the above embodiment, calculating the proportional, integral, and differential parameters based on the critical proportional gain and the oscillation period includes:

[0066] K p = 0.6K u ;

[0067]

[0068] In the formula, K p is the proportional coefficient, K i is the integral coefficient, K d is the differential coefficient, K u is the critical proportional gain, and T u is the oscillation period.

[0069] In this embodiment, adjusting the ironing process parameters through the discretized PID algorithm further includes: setting independent PID controls for the feeding speed, drying cylinder temperature, and drying cylinder rotation speed of the plastic substrate in the ironing process parameters respectively.

[0070] By setting independent PID controls for the feeding speed, drying cylinder temperature, and drying cylinder rotation speed of the plastic substrate respectively, the interference caused by multi-parameter linkage is avoided, and each parameter can be controlled more precisely. After each parameter is adjusted separately, the system can respond to deviation changes more quickly and stably, reducing the influence of parameter fluctuations on flatness. The independent PID control can determine the optimal values of each parameter more quickly, shorten the debugging time, and improve production efficiency. The independent control of each parameter avoids the mutual interference between parameters and reduces the risk of system instability caused by improper adjustment of one parameter.

[0071] Among them, collecting the flatness of the plastic substrate surface after the ironing process includes:

[0072] Scanning the cooled plastic substrate surface using laser profile scanning to determine its flatness.

[0073] Laser profile scanning has nanoscale or micron-scale accuracy, can accurately capture the minute unevenness on the surface of the plastic substrate, and improve the reliability of measurement. Without physical contact, it avoids scratches or deformations caused by the measurement tool touching the substrate, ensuring the accuracy of data. Laser profile scanning can provide complete 3D surface profile data, facilitating analysis and quickly identifying uneven areas, thereby more effectively adjusting the ironing process parameters.

[0074] As Figure 2 shown, this embodiment also includes a flatness control device for plastic-based coated abrasives. Using the method as described above, the device includes:

[0075] An ironing device, which is used to add an ironing process after the glue coating and drying process of the plastic-based coated abrasive web, so that the plastic substrate surface passes through a high-temperature drying cylinder and is cooled after ironing;

[0076] An acquisition unit, which is used to acquire the flatness of the plastic substrate surface after the ironing process and the ironing process parameters;

[0077] A closed-loop control unit, which is used to set the flatness parameters, monitor the flatness of the plastic substrate surface after the ironing process using a closed-loop feedback algorithm, and adjust the ironing process parameters.

[0078] The ironing process heats and cools the plastic substrate through a high-temperature drying cylinder, which can effectively eliminate deformations such as warping and bulging during the glue coating and drying process, and improve the flatness of the substrate surface. Using a closed-loop feedback algorithm to monitor and adjust the ironing parameters enables the process parameters to always be in the best state during production, improving the process stability and consistency. By dynamically adjusting the ironing parameters to optimize the product flatness, it can effectively reduce defective products and scrap caused by unevenness, reducing production losses. The improved flatness reduces the positioning deviation of the disc product during the robot grasping process, improving the success rate of grasping, and thus enhancing the efficiency of automated operations.

[0079] Please refer to Figure 3 the structural schematic diagram of the computer device provided by the embodiment of the present application shown. A computer device 400 provided by the embodiment of the present application includes: a processor 410 and a memory 420. The memory 420 stores a computer program executable by the processor 410, and when the computer program is executed by the processor 410, it executes the method as described above.

[0080] The embodiment of the present application also provides a storage medium 430. A computer program is stored on the storage medium 430, and when the computer program is run by the processor 410, it executes the method as described above.

[0081] Among them, the storage medium 430 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disc.

[0082] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The meaning of "plurality" is two or more, unless otherwise specifically defined.

[0083] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not have to refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0085] Any process or method description represented in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations where functions may be executed not in the order shown or discussed, including in a substantially simultaneous manner according to the involved functions or in a reverse order, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0086] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing a logical function, and can be embodied specifically in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection portion having one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0087] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0088] Those of ordinary skill in the art can understand that all or part of the steps carried out in the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0089] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disc, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling the flatness of a plastic-based coated abrasive tool, characterized in that: The steps include: After the glue coating and drying process of the plastic-based coated abrasive coil, an ironing process is added, so that the plastic substrate surface passes through a high-temperature drying cylinder and is cooled after ironing; Collect the flatness of the plastic substrate surface after ironing and the ironing process parameters; The flatness parameters are set, and a closed-loop feedback algorithm is used to monitor the flatness of the plastic substrate surface after the ironing process, and the ironing process parameters are adjusted.

2. The method for controlling the flatness of a plastic-based coated abrasive tool according to claim 1, characterized in that: The ironing process parameters include: feeding speed of the plastic substrate, drying drum temperature and drying drum rotation speed.

3. The method for controlling the flatness of a plastic-based coated abrasive tool according to claim 2, characterized in that: The closed-loop feedback algorithm is used to monitor the flatness of the plastic substrate surface after the ironing process and adjust the ironing process parameters, including: Calculate the error between the flatness parameter and the measured flatness; Setting a proportional-integral-derivative PID control algorithm and discretizing the PID algorithm; Turn off the integral and differential links in the PID algorithm, and gradually increase the proportional coefficient until the system output begins to oscillate continuously; Note down the critical proportional gain and the oscillation period, and calculate the proportional, integral and derivative parameters based on the critical proportional gain and the oscillation period; The ironing process parameters are adjusted by the discretized PID algorithm through the calculated proportional, integral and differential parameters.

4. The method for controlling the flatness of a plastic-based coated abrasive tool according to claim 3, characterized in that: The setting of the proportional-integral-differential PID control algorithm and discretization of the PID algorithm include: PID control algorithm: Where u(t) is the control output, i.e. the adjustment value of the ironing process parameter, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, e(t) is the error between the flatness parameter and the measured flatness; The PID algorithm is discretized as follows: Where e[k] represents the error at the kth sampling moment, u[k] represents the control output at the kth sampling moment, and Δt is the sampling period.

5. The method for controlling the flatness of a plastic-based coated abrasive tool according to claim 3, characterized in that: The calculating of proportional, integral and differential parameters based on the critical proportional gain and the oscillation period comprises: K p =0.6K u ; In the formula, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, K u is the critical proportional gain, T u is the oscillation period.

6. The method for controlling the flatness of a plastic-based coated abrasive tool according to claim 3, characterized in that: The adjusting of the ironing process parameters by the discretized PID algorithm also includes: setting independent PID controls for the feeding speed of the plastic substrate, the drying drum temperature and the drying drum speed in the ironing process parameters.

7. The method for controlling the flatness of a plastic-based coated abrasive tool according to claim 1, characterized in that: The collecting of the flatness of the plastic substrate surface after the ironing process comprises: The cooled plastic substrate surface is scanned using laser profiling to determine its flatness.

8. A plastic-based coated abrasive flatness control device, characterized in that: Using the method according to any one of claims 1 to 7, the device comprises: An ironing device, which is used to add an ironing process after the glue coating and drying process of the plastic-based coated abrasive coil, so that the plastic substrate surface passes through a high-temperature drying cylinder and is cooled after ironing; A collection unit, the collection unit is used to collect the flatness of the plastic substrate surface after the ironing process and the ironing process parameters; A closed-loop control unit is used to set flatness parameters, use a closed-loop feedback algorithm to monitor the flatness of the plastic substrate surface after the ironing process, and adjust the ironing process parameters.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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