Flatness detection method, detection device and system of pressure maintaining head and leveling method

Abstract

The invention discloses a flatness detection method, detection device and system of a pressure maintaining head and a leveling method, and relates to the technical field of pressure maintaining devices.The flatness detection method of the pressure maintaining head comprises the steps that pressure distribution data of the pressure maintaining head to be detected on electronic pressure sensing paper is obtained; the flatness of the to-be-tested pressure maintaining head is determined according to the pressure distribution data, when it is determined that the pressure maintaining head is in an inclined state, the pressure distribution data is input into a pressure head indentation data model, and inclination information of the to-be-tested pressure maintaining head is determined through the pressure head indentation data model; wherein the indenter indentation data model is a mathematical model used for determining inclination information of the to-be-tested pressure maintaining head according to the pressure distribution data. According to the technical scheme provided by the invention, accurate adjustment information is provided for leveling of the pressure maintaining head while the pressure maintaining head flatness detection efficiency and the detection result accuracy are improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of pressure maintaining devices, and in particular, to a flatness detection method, a detection device, a system and a leveling method for a pressure maintaining head. Background Art

[0002] The pressure maintaining head is a mechanical component in a forming device (such as an injection molding machine or a die casting machine) that is responsible for continuously applying pressure during the pressure maintaining stage. Through precise pressure and time control, it can ensure the density and dimensional accuracy of the product, and achieve efficient and high-quality manufacturing of the product.

[0003] After the pressure maintaining head is installed, it is necessary to detect its flatness to determine whether the pressing surface of the head is parallel to the work station to be pressure maintained. In the related art, the detection method for the flatness of the pressure maintaining head is as follows: Manually cut the pressure test paper, then control the pressure maintaining head to form an indentation on the pressure test paper, and judge the pressure condition by the presence or absence and depth of the indentation color. The operation is cumbersome and the efficiency is low. Moreover, by judging the pressure condition through the presence or absence and depth of the indentation color, the pressure magnitude cannot be numerically presented, and the human factor accounts for too large a proportion, so the flatness of the pressure maintaining head cannot be accurately judged, and the accurate inclination information of the pressure maintaining head (such as the inclination position and inclination degree) cannot be given. Only the deflection direction of the head can be roughly judged by referring to the indentation, and the specific adjustment of the head to the horizontal can only rely on the experience of the personnel, which is not conducive to the leveling of the pressure maintaining head. Therefore, how to improve the detection efficiency and accuracy of the flatness of the pressure maintaining head while providing accurate adjustment information for the leveling of the pressure maintaining head has become an urgent technical problem to be solved. Summary of the Invention

[0004] The embodiments of the present invention provide a flatness detection method, a detection device, a system and a leveling method for a pressure maintaining head, so as to improve the detection efficiency and accuracy of the flatness of the pressure maintaining head while providing accurate adjustment information for the leveling of the pressure maintaining head.

[0005] According to one aspect of the present invention, there is provided a flatness detection method for a pressure maintaining head, including: Obtaining pressure distribution data of the pressure maintaining head to be measured on an electronic pressure-sensitive paper; Determining the flatness of the pressure maintaining head to be measured according to the pressure distribution data, and when it is determined that the head is in an inclined state, Inputting the pressure distribution data into a head indentation data model, and determining the inclination information of the pressure maintaining head to be measured through the head indentation data model; wherein, the head indentation data model is a mathematical model for determining the inclination information of the pressure maintaining head to be measured according to the pressure distribution data.

[0006] Optionally, before determining the inclination information of the pressure maintaining head to be measured through the head indentation data model, it further includes: Obtain the pressure distribution data of the training pressure head on the electronic pressure-sensitive paper when the training pressure head is in various inclined states, and form a training data set; Based on the training data set, establish the pressure head indentation data model.

[0007] Optionally, obtaining the pressure distribution data of the training pressure head on the electronic pressure-sensitive paper when the training pressure head is in different inclined states includes: Control the pressure surface of the training pressure head to be parallel to a support surface, and place the electronic pressure-sensitive paper on the support surface; By adjusting at least one of the position and thickness of the gasket provided between the training pressure head and the pressing member, different inclined states of the training pressure head are obtained, and after each adjustment of the inclined state of the training pressure head, control the training pressure head to move towards the support surface, and collect the pressure distribution data of the entire pressure surface of the training pressure head on the electronic pressure-sensitive paper; The establishing the pressure head indentation data model based on the training data set includes: Based on the training data set, establish the pressure head indentation data model through a deep learning algorithm; wherein, the pressure head indentation data model is a mathematical model of the corresponding relationship between the pressure distribution data and the position and thickness of the gasket.

[0008] Optionally, a plurality of angle scale lines are provided on the contact surface where the training pressure head contacts the pressing member; The adjusting at least one of the position and thickness of the gasket provided on the contact surface where the training pressure head contacts the pressing member to obtain different inclined states of the training pressure head includes: Successively set gaskets with different thicknesses on each angle scale line of the contact surface where the training pressure head contacts the pressing member to obtain different inclined states of the training pressure head; And / or, synchronously adjust the thicknesses of the gaskets on at least two angle scale lines multiple times to obtain different inclined states of the training pressure head.

[0009] Optionally, obtaining the pressure distribution data of the pressure head to be measured on the electronic pressure-sensitive paper includes: Place the electronic pressure-sensitive paper on the surface to be pressure-maintained or a support surface parallel to the surface to be pressure-maintained; Control the pressure head to be measured to move towards the surface to be pressure-maintained or a support surface parallel to the surface to be pressure-maintained, and collect the pressure data of each force-receiving point on the entire pressure surface of the pressure head to be measured on the electronic pressure-sensitive paper; Determine the pressure distribution data of the entire pressure surface of the pressure head to be measured on the electronic pressure-sensitive paper according to the pressure data of each force-receiving point; And / or, after obtaining the pressure distribution data of the pressure-holding head to be measured on the electronic pressure-sensitive paper, it further includes: Generating a pressure distribution map based on the pressure distribution data and displaying it.

[0010] Optionally, determining the tilt information of the pressure-holding head to be measured through the indenter indentation data model includes: Determining the tilt position and tilt degree of the pressure-holding head to be measured relative to the surface to be pressure-held through the indenter indentation data model according to the pressure distribution data of the pressure-holding head to be measured on the electronic pressure-sensitive paper.

[0011] Optionally, the indenter indentation data model is a mathematical model of the corresponding relationship between pressure distribution data, gasket position, and gasket thickness; Determining the tilt position and tilt degree of the pressure-holding head to be measured relative to the surface to be pressure-held through the indenter indentation data model according to the pressure distribution data of the pressure-holding head to be measured on the electronic pressure-sensitive paper includes: Determining the gasket position and gasket thickness corresponding to the pressure distribution data through the indenter indentation data model according to the pressure distribution data of the pressure-holding head to be measured on the electronic pressure-sensitive paper; Determining the tilt position of the pressure-holding head to be measured relative to the surface to be pressure-held according to the gasket position; Determining the tilt degree of the pressure-holding head to be measured relative to the surface to be pressure-held according to the gasket thickness.

[0012] According to another aspect of the present invention, a method for leveling a pressure-holding head is provided, including: Detecting the flatness of the pressure-holding head to be adjusted through the flatness detection method of the pressure-holding head according to any embodiment of the present invention; If the pressure-holding head to be adjusted is in a tilted state, then according to the tilt information of the pressure-holding head to be measured, adjusting the gasket position and gasket thickness between the pressure-holding head to be adjusted and the pressing member to level the pressure-holding head to be adjusted.

[0013] According to another aspect of the present invention, a flatness detection device for a pressure-holding head is provided, including: An acquisition unit for acquiring the pressure distribution data of the pressure-holding head to be measured on the electronic pressure-sensitive paper; A judgment unit for determining the flatness of the pressure-holding head to be measured according to the pressure distribution map; An indenter indentation data model storage unit for storing the indenter indentation data model to determine the tilt information of the pressure-holding head to be measured through the indenter indentation data model according to the pressure distribution data when it is determined that the pressure-holding head is in a tilted state.

[0014] According to another aspect of the present invention, a flatness detection system for a pressure-holding head is provided, including: The host computer includes the flatness detection device of the pressure maintaining head according to any embodiment of the present invention; The electronic pressure-sensitive paper is used to convert the pressure of each force-receiving point of the pressure maintaining head to be measured on the electronic pressure-sensitive paper into an electrical signal; The signal acquisition and processing unit is electrically connected to the electronic pressure-sensitive paper and the host computer. The signal acquisition and processing unit is used to acquire the electrical signals converted by the electronic pressure-sensitive paper, and process each electrical signal into pressure data to form pressure distribution data and then send it to the host computer; The host computer is further connected to the motion control unit of the pressure maintaining head to be measured, and the host computer is further used to send a control instruction to the motion control unit to control the motion of the pressure maintaining head to be measured.

[0015] The technical solution provided by the embodiment of the present invention uses the electronic pressure-sensitive paper to sense the pressure of the pressure maintaining head to be measured, and can collect the pressure distribution data of the pressure maintaining head to be measured, so that the pressure magnitude of the pressure maintaining head to be measured can be numerically presented, replacing the manual judgment method based on the depth of the indentation color. Therefore, the detection efficiency and the accuracy of the detection result can be improved. In addition, the obtained pressure distribution data is input into the trained pressure head indentation data model, and the pressure head indentation data model analyzes the inclination state of the pressure maintaining head based on the pressure distribution data to determine the inclination information of the pressure maintaining head, which can specifically include the inclination position and the inclination degree, and can provide accurate adjustment information for the leveling of the pressure maintaining head, without relying on manual experience for leveling, which is beneficial to the leveling of the pressure maintaining head.

[0016] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 is a flowchart of a method for detecting the flatness of a pressure maintaining head provided by an embodiment of the present invention; Figure 2 is a two-dimensional pressure distribution diagram generated according to the pressure distribution data of the pressure maintaining head collected by an embodiment of the present invention; Figure 3 is a three-dimensional pressure distribution diagram generated according to the pressure distribution data of the pressure maintaining head collected by an embodiment of the present invention; Figure 4 It is a three-dimensional curve pressure distribution diagram generated according to the pressure distribution data of the pressure head collected in the embodiments of the present invention; Figure 5 It is a flowchart of another flatness detection method for the pressure head provided in the embodiments of the present invention; Figure 6 It is a schematic structural diagram of a pressure head assembly provided in the embodiments of the present invention; Figure 7 It is a schematic structural diagram during the movement of the pressure head towards the electronic pressure-sensitive paper provided in the embodiments of the present invention; Figure 8 It is a schematic structural diagram of a pressure head provided in the embodiments of the present invention; Figure 9 It is a flowchart of another flatness detection method for the pressure head provided in the embodiments of the present invention; Figure 10 It is a flowchart of another flatness detection method for the pressure head provided in the embodiments of the present invention; Figure 11 It is a structural block diagram of a flatness detection device for a pressure head provided in the embodiments of the present invention; Figure 12 It is a structural block diagram of a flatness detection system for a pressure head provided in the embodiments of the present invention. Detailed implementation manners

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings, rather than all the structures.

[0020] The embodiments of the present invention provide a flatness detection method for a pressure head, Figure 1 It is a flowchart of a flatness detection method for a pressure head provided in the embodiments of the present invention. Refer to Figure 1 , the flatness detection method for the pressure head includes: S110. Obtain the pressure distribution data of the pressure head to be measured on the electronic pressure-sensitive paper.

[0021] Specifically, the electronic pressure-sensitive paper includes a flexible sensor array. When pressure is applied, the sensor can convert the pressure signal into an electrical signal. The electronic pressure-sensitive paper is electrically connected to a signal acquisition and processing unit, which can collect the electrical signal converted by the sensor and process it into pressure data. By collecting the electrical signals of each force-receiving point on the entire pressing surface of the pressure-holding head to be measured on the electronic pressure-sensitive paper and processing each electrical signal into pressure data, the pressure distribution data of the pressure-holding head to be measured on the electronic pressure-sensitive paper can be obtained, enabling the pressure magnitude of the pressure-holding head to be measured to be numerically presented.

[0022] S120. Determine the flatness of the pressure-holding head to be measured according to the pressure distribution data.

[0023] Specifically, after obtaining the pressure distribution data of the pressure-holding head to be measured on the electronic pressure-sensitive paper, the flatness of the pressure-holding head to be measured can be determined according to the pressure distribution data, without the need to visually judge the pressure condition based on the presence or absence and depth of the indentation color by the human eye, thereby improving the accuracy of the detection result of the flatness of the pressure-holding head to be measured. Among them, the flatness of the pressure-holding head to be measured can be determined based on a preset judgment condition according to the pressure distribution data. Exemplarily, it can be judged according to the magnitude of the pressure data in the edge area of the pressure-holding head and the data in the middle area of the pressure-holding head. If the pressure data gradually increases or decreases from one side of the central area to the opposite side, it is determined that the pressure-holding head to be measured is in an inclined state; or, the pressure distribution data of the pressure-holding head to be measured on the electronic pressure-sensitive paper can be judged by region. Specifically, the average value of the pressure data of each region can be calculated, and then it is judged whether the difference between the average values of the pressure data of any two regions is less than a preset difference. If so, it is determined that the pressure-holding head to be measured is in a flat state; if not, it is determined that the pressure-holding head to be measured is in an inclined state. The pressure distribution data can also be used to generate a pressure distribution map for display, making the pressure distribution data visual and enabling an intuitive judgment of the flatness of the pressure-holding head to be measured.

[0024] Exemplarily, Figure 2 is a two-dimensional pressure distribution map generated according to the pressure distribution data of the pressure-holding head collected in an embodiment of the present invention. Figure 3 is a three-dimensional pressure distribution map generated according to the pressure distribution data of the pressure-holding head collected in an embodiment of the present invention. Refer to Figure 2 and Figure 3 , the pressure distribution map can be a two-dimensional pressure distribution map or a three-dimensional pressure distribution map. Among them, red represents the maximum pressure, and the distribution is distinguished by colors from the largest pressure to the smallest pressure, in turn being red, yellow, green, and blue. Figure 4 is a three-dimensional curve pressure distribution map generated according to the pressure distribution data of the pressure-holding head collected in an embodiment of the present invention. Refer to Figure 4, the pressure distribution diagram can also be a three-dimensional curve pressure distribution diagram, where the Z-axis represents the pressure magnitude, and the area formed by the X-axis and the Y-axis represents the pressure area.

[0025] S130. When it is determined that the pressure-holding head to be measured is in an inclined state, input the pressure distribution data into the indenter indentation data model, and determine the inclination information of the pressure-holding head to be measured through the indenter indentation data model; wherein, the indenter indentation data model is a mathematical model for determining the inclination information of the pressure-holding head to be measured according to the pressure distribution data.

[0026] Specifically, if the pressure-holding head to be measured is in an inclined state, the pressure-holding head to be measured needs to be leveled subsequently. In the embodiment of the present invention, when it is determined that the pressure-holding head to be measured is in an inclined state, the obtained pressure distribution data is input into the indenter indentation data model, and the indenter indentation data model determines the inclination information of the pressure-holding head to be measured according to the pressure distribution data. Among them, the indenter indentation data model is a mathematical model established by AI training through Python based on a large amount of experimental data. The inclination information may include the inclination position and inclination degree of the pressure-holding head to be measured relative to the position to be pressure-held. The inclination position can be understood as the position of the connection line of the high and low points in the pressure-holding surface of the indenter, and the inclination degree can be understood as the height difference between the high point position and the low point position in the pressure-holding surface of the indenter.

[0027] The flatness detection method of the pressure-holding head provided by the embodiment of the present invention uses an electronic pressure-sensitive paper to sense the pressure of the pressure-holding head to be measured, and can collect the pressure distribution data of the pressure-holding head to be measured, so that the pressure magnitude of the pressure-holding head to be measured can be numerically presented, replacing the manual judgment method based on the depth of the indentation color, thereby improving the detection efficiency and the accuracy of the detection result; moreover, the traditional pressure (pressure-sensitive) test paper cannot be saved after testing and is easily affected by temperature and humidity (the color will change), which is not conducive to storage and subsequent data analysis; in addition, the rotation of the pressure-sensitive paper when it is taken out after testing may cause misjudgment of the orientation of the high and low points of the uneven surface of the indenter. The embodiment of the present invention uses an electronic pressure-sensitive paper to collect the pressure distribution data of the pressure-holding head to be measured, can store the pressure distribution data, and also avoids the problem of misjudgment of the orientation of the high and low points of the uneven surface of the indenter caused by the rotation of the pressure-sensitive paper in the related art; by inputting the obtained pressure distribution data into the trained indenter indentation data model, using the indenter indentation data model to analyze the inclination state of the pressure-holding head based on the pressure distribution data, and determining the inclination information of the pressure-holding head, it can provide accurate adjustment information for the leveling of the pressure-holding head, and there is no need to rely on manual experience for leveling, which is beneficial to the leveling of the pressure-holding head.

[0028] Figure 5 is a flowchart of another flatness detection method of the pressure-holding head provided by the embodiment of the present invention. Refer to Figure 5 , the flatness detection method of the pressure-holding head includes: S210. Obtain the pressure distribution data of the training pressure head on the electronic pressure-sensitive paper when the training pressure head is in various inclined states, and form a training data set.

[0029] S220. Based on the training data set, establish a pressure head indentation data model.

[0030] S230. Obtain the pressure distribution data of the pressure head to be tested on the electronic pressure-sensitive paper.

[0031] S240. Determine the flatness of the pressure head to be tested according to the pressure distribution data.

[0032] S250. When it is determined that the pressure head to be tested is in an inclined state, input the pressure distribution data into the pressure head indentation data model, and determine the inclination information of the pressure head to be tested through the pressure head indentation data model; wherein, the pressure head indentation data model is a mathematical model for determining the inclination information of the pressure head to be tested according to the pressure distribution data.

[0033] Specifically, before the step of determining the inclination information of the pressure head to be tested through the pressure head indentation data model, it also includes: establishing a pressure head indentation data model. The specific steps of establishing a pressure head indentation data model may include: obtaining the pressure distribution data of the training pressure head on the electronic pressure-sensitive paper when the training pressure head is in various inclined states, and forming a training data set; based on the training data set, establishing a pressure head indentation data model through a deep learning algorithm. Among them, the training pressure head can be understood as the pressure head used to obtain training data, which can be the same pressure head as the pressure head to be tested or a different pressure head. Deep learning is a machine learning technology that uses a multi-layer neural network for classification and prediction. It can process a large amount of data and learn complex features and patterns from it, so as to achieve more accurate prediction and classification. Python is a programming language in the field of deep learning. Combining relevant libraries and frameworks (such as TensorFlow, PyTorch) can efficiently implement deep learning algorithms. The Convolutional Neural Network (CNN) is the core model for processing grid data in deep learning. In the embodiments of the present invention, a Python deep learning AI algorithm can be used to train the data model based on the training data set to obtain a pressure head imprint data model.

[0034] In the technical solution provided by the embodiment of the present invention, by obtaining the pressure distribution data of the training pressure head on the electronic pressure-sensitive paper when the training pressure head is in various inclined states, a training data set is formed; based on the training data set, a pressure head indentation data model is established; the trained pressure head indentation data model can be imported into the original control system of the device, and the pressure distribution data of the pressure head to be measured is input into the trained pressure head indentation data model. By using the pressure head indentation data model to analyze the inclined state of the pressure head based on the pressure distribution data, the inclined information of the pressure head can be obtained, providing accurate adjustment information for the leveling of the pressure head.

[0035] Optionally, in step S210, obtaining the pressure distribution data of the training pressure head on the electronic pressure-sensitive paper when the training pressure head is in various inclined states includes: S211. Control the pressing surface of the training pressure head to be parallel to a support surface, and place the electronic pressure-sensitive paper on the support surface.

[0036] S212. By adjusting at least one of the position and thickness of the gasket provided between the training pressure head and the pressing member, different inclined states of the training pressure head are obtained, and after each adjustment of the inclined state of the training pressure head, control the training pressure head to move towards the support surface, and collect the pressure distribution data of the entire pressing surface of the training pressure head on the electronic pressure-sensitive paper.

[0037] Specifically, Figure 6 is a schematic structural diagram of a pressure head assembly provided by an embodiment of the present invention. Refer to Figure 6 , the pressure head assembly includes a pressure head (training pressure head 12) and a pressing member 410. The pressing member 410 is located on the side of the training pressure head 12 away from the support surface. The pressing member 410 is used to apply pressure to the training pressure head 12, so that the training pressure head 12 applies pressure to the electronic pressure-sensitive paper 300 located on the support surface. The pressing member 410 is also used to drive the training pressure head 12 to move.

[0038] In the step of obtaining the pressure distribution data of the training pressure head 12 in various inclined states, refer to Figure 6 , first, install the training pressure head 12 on the pressing member 410, and adjust the training pressure head 12 to be parallel or approximately parallel to the support surface, ensuring that the pressing surface of the training pressure head 12 is flat relative to the support surface. Place the electronic pressure-sensitive paper 300 on the support surface, and the pressing surface of the training pressure head 12 is flat relative to the electronic pressure-sensitive paper 300. Then, by adjusting at least one of the position and thickness of the gasket provided between the training pressure head 12 and the pressing member 410, the inclined state of the training pressure head 12 is adjusted. Figure 7 is a schematic structural diagram of a pressure head moving towards the electronic pressure-sensitive paper in an embodiment of the present invention. Refer to Figure 7, after adjusting the inclination state of the training pressure maintaining head 12 each time, the movement of the pressure applying member 410 is controlled to drive the training pressure maintaining head 12 to press down on the support surface, so as to generate pressure on the electronic pressure-sensitive paper 300 located on the support surface, and the acquisition of the pressure distribution data of the training pressure maintaining head 12 in different inclination states is realized. The support surface used in the training data acquisition process can be the tabletop of a platform 02.

[0039] Among them, the surface of the training pressure maintaining head 12 in contact with the electronic pressure-sensitive paper 300 is the pressure surface S2, and the surface of the training pressure maintaining head 12 opposite to the pressure surface S2 is the contact surface S1 in contact with the pressure applying member 410. The pressure maintaining head may include a pressure head portion 111 and a base portion 112 fixed to the pressure head portion 111. The pressure surface S2 is the surface of the pressure head portion 111 away from the base portion 112, and the contact surface S1 is the surface of the base portion 112 away from the pressure head portion 111.

[0040] A gasket 13 is arranged on the contact surface S1 where the training pressure maintaining head 12 is in contact with the pressure applying member 410, and the pressure surface S2 corresponding to the position where the gasket 13 is located can be raised. Therefore, by arranging the gasket 13 between the training pressure maintaining head 12 and the pressure applying member 410, the training pressure maintaining head 12 can be in an inclined state relative to the electronic pressure-sensitive paper 300. Optionally, the gasket 13 can be arranged in the edge area of the contact surface S1 where the training pressure maintaining head 12 is in contact with the pressure applying member 410, which is convenient for adjusting the training pressure maintaining head 12 into an inclined state.

[0041] The technical solution provided by the embodiment of the present invention can obtain different inclination states of the training pressure maintaining head 12 by adjusting at least one of the position and thickness of the gasket arranged between the training pressure maintaining head 12 and the pressure applying member 410. After adjusting the inclination state of the training pressure maintaining head 12 each time, the training pressure maintaining head 12 is controlled to move towards the support surface, and the pressure distribution data of the entire pressure surface S2 of the training pressure maintaining head 12 on the electronic pressure-sensitive paper 300 is collected, so that the pressure distribution data of the training pressure maintaining head 12 in different inclination states can be obtained, and then a training data set for training the pressure indentation data model can be obtained according to the pressure distribution data in different inclination states.

[0042] Further, Figure 8 is a schematic structural diagram of a pressure maintaining head provided by an embodiment of the present invention. Refer to Figure 7 and Figure 8, a plurality of angular scale lines are provided on the contact surface S1 where the training pressure-holding head 12 contacts the pressing member 410. The gasket 13 can be arranged on the angular scale lines, so as to facilitate the positioning of the setting position of the gasket 13, and can also avoid repeated adjustment of the same position of the training pressure-holding head 12, preventing repeated acquisition of pressure distribution data; in addition, through the angular scale lines, parametric adjustment of the position where the gasket 13 is placed on the contact surface S1 can be realized, ensuring regular adjustment of the inclination state of the training pressure-holding head 12 and reducing the difficulty of adjusting the inclination state.

[0043] On this basis, step S212 obtains different inclination states of the training pressure-holding head 12 by adjusting at least one of the position and the gasket thickness of the gasket 13 arranged on the contact surface S1 where the training pressure-holding head 12 contacts the pressing member 410, including: A1. Gaskets 13 with different thicknesses are sequentially arranged on each angular scale line of the contact surface S1 where the training pressure-holding head 12 contacts the pressing member 410 to obtain different inclination states of the training pressure-holding head 12.

[0044] Exemplarily, refer to Figure 7 and Figure 8 , the shape of the contact surface S1 of the training pressure-holding head 12 is circular, an angular scale line is set every 30 degrees along the circumference of the circular contact surface S1, dividing 360° into 12 equal parts. The angular scale lines include 0° scale line, 30° scale line, 60° scale line, 90° scale line, 120° scale line, 150° scale line, 180° scale line, 210° scale line, 240° scale line, 270° scale line, 300° scale line, 330° scale line, 360° scale line, where the 0° scale line coincides with the 360° scale line. The angular scale lines on the contact surface S1 of the training pressure-holding head 12 can be formed by linear grooves on the surface or drawn by colored lines. The embodiments of the present invention do not limit this. When adjusting different inclination states of the training pressure-holding head 12, gaskets 13 with thicknesses of 0.01 mm, 0.02 mm, 0.03 mm, 0.04 mm, 0.05 mm, 0.06 mm, 0.07 mm, 0.08 mm, 0.09 mm, and 0.1 mm can be sequentially arranged at positions close to the edge of the contact surface on each angular scale line to obtain different inclination states of the training pressure-holding head 12. Arranging gaskets 13 with different thicknesses on the same angular scale line can enable adjustment of different inclination degrees at the position corresponding to the scale line; arranging gaskets 13 with the same thickness on different scale lines can enable adjustment of the same inclination degree at different positions of the training pressure-holding head 12.

[0045] Exemplarily, when obtaining the pressure distribution data of the training pressure-holding head 12 on the electronic pressure-sensitive paper 300 in various inclination states, including: Control the pressing surface S2 of the training pressure-holding head 12 to be parallel to a supporting surface, and place the electronic pressure-sensitive paper 300 on the supporting surface; place the gasket 13 with a thickness of 0.01 mm on the 0° scale line in the contact surface S1 of the pressure-holding head, and control the training pressure-holding head 12 to move towards the supporting surface until the training pressure-holding head 12 presses down to the point where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300, and collect the pressure distribution data, so as to obtain the pressure distribution data corresponding to the 0° scale line and the gasket 13 with a thickness of 0.01 mm; place the gasket 13 with a thickness of 0.02 mm on the 0° scale line in the contact surface S1 of the pressure-holding head, and control the training pressure-holding head 12 to move towards the supporting surface until the training pressure-holding head 12 presses down to the point where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300, and collect the pressure distribution data, so as to obtain the pressure distribution data corresponding to the 0° scale line and the gasket 13 with a thickness of 0.02 mm; place the gasket 13 with a thickness of 0.03 mm on the 0° scale line in the contact surface S1 of the pressure-holding head, and control the training pressure-holding head 12 to move towards the supporting surface until the training pressure-holding head 12 presses down to the point where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300, and collect the pressure distribution data, so as to obtain the pressure distribution data corresponding to the 0° scale line and the gasket 13 with a thickness of 0.03 mm. By analogy with the above steps until the pressure distribution data corresponding to the 0° scale line and the gasket 13 with a thickness of 0.1 mm is obtained. Thus, the pressure distribution data of the gasket 13 with thicknesses of 0.01 mm, 0.02 mm, 0.03 mm, 0.04 mm, 0.05 mm, 0.06 mm, 0.07 mm, 0.08 mm, 0.09 mm, and 0.1 mm is set on the 0° scale line, that is, the pressure distribution data with different degrees of inclination on the 0° scale line is obtained.

[0046] A spacer 13 with a thickness of 0.01 mm is set on the 30° scale line in the contact surface S1 of the holding pressure head. Control the training holding pressure head 12 to move towards the support surface until the training holding pressure head 12 is pressed down to the point where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300, and collect the pressure distribution data, so as to obtain the pressure distribution data corresponding to the 30° scale line and the spacer 13 with a thickness of 0.01 mm; A spacer 13 with a thickness of 0.02 mm is set on the 30° scale line in the contact surface S1 of the holding pressure head. Control the training holding pressure head 12 to move towards the support surface until the holding pressure head is pressed down to the point where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300, and collect the pressure distribution data, so as to obtain the pressure distribution data corresponding to the 30° scale line and the spacer 13 with a thickness of 0.02 mm; A spacer 13 with a thickness of 0.03 mm is set on the 30° scale line in the contact surface S1 of the holding pressure head. Control the training holding pressure head 12 to move towards the support surface until the training holding pressure head 12 is pressed down to the point where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300, and collect the pressure distribution data, so as to obtain the pressure distribution data corresponding to the 30° scale line and the spacer 13 with a thickness of 0.03 mm. By analogy with the above steps until the pressure distribution data corresponding to the 30° scale line and the spacer 13 with a thickness of 0.1 mm is obtained. Thus, the pressure distribution data of the spacers 13 with thicknesses of 0.01 mm, 0.02 mm, 0.03 mm, 0.04 mm, 0.05 mm, 0.06 mm, 0.07 mm, 0.08 mm, 0.09 mm, and 0.1 mm are set on the 30° scale line, that is, the pressure distribution data with different degrees of inclination on the 30° scale line is obtained.

[0047] By analogy, until the pressure distribution data corresponding to the spacers 13 with different thicknesses set on all the angle scale lines is obtained; form a training data set according to the pressure distribution data corresponding to the spacers 13 with different thicknesses set on all the angle scale lines.

[0048] Alternatively, in step S212, at least one of the position and the thickness of the spacer 13 set between the contact surfaces S1 where the training holding pressure head 12 is in contact with the pressing member 410 is adjusted to obtain different inclination states of the training holding pressure head 12, including: A2. Synchronously adjust the thicknesses of the spacers 13 on at least two angle scale lines multiple times to obtain different inclination states of the training holding pressure head 12.

[0049] It can be understood that when the angle scale line is divided more finely, when adjusting the inclination state of the training holding pressure head 12 each time, the thicknesses of the spacers 13 on at least two angle scale lines can be adjusted simultaneously. For example, simultaneously adjust the thicknesses of the spacers 13 on two adjacent angle scale lines, or simultaneously adjust the thicknesses of the spacers 13 on three adjacent angle scale lines, so as to reduce the number of times of obtaining the pressure distribution data and reduce the difficulty of obtaining the training data set.

[0050] Exemplarily, an angular scale line is provided every 15 degrees along the circumference of the circular contact surface S1, dividing 360° into 24 equal parts. The angular scale lines include a 0° scale line, a 15° scale line, a 30° scale line... a 330° scale line, a 345° scale line, and a 360° scale line, where the 0° scale line coincides with the 360° scale line. Two shims 13 with a thickness of 0.01 mm are respectively arranged on the 0° scale line and the 15° scale line of the pressure-holding head contact surface S1. The training pressure-holding head 12 is controlled to move towards the support surface until the training pressure-holding head 12 is pressed down to the point where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300, and the pressure distribution data is collected, so as to obtain the pressure distribution data corresponding to the 0° scale line and the 15° scale line and the shim 13 with a thickness of 0.01 mm; two shims 13 with a thickness of 0.02 mm are respectively arranged on the 0° scale line and the 15° scale line of the pressure-holding head contact surface S1. The training pressure-holding head 12 is controlled to move towards the support surface until the training pressure-holding head 12 is pressed down to the point where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300, and the pressure distribution data is collected, so as to obtain the pressure distribution data corresponding to the 0° scale line and the 15° scale line and the shim 13 with a thickness of 0.02 mm, and so on, until the pressure distribution data corresponding to the 0° scale line and the 15° scale line and the shim 13 with a thickness of 0.1 mm is obtained, thereby obtaining the pressure distribution data of the shims 13 with thicknesses of 0.01 mm, 0.02 mm, 0.03 mm, 0.04 mm, 0.05 mm, 0.06 mm, 0.07 mm, 0.08 mm, 0.09 mm, and 0.1 mm respectively arranged on the 0° scale line and the 15° scale line.

[0051] Then, two spacers 13 with a thickness of 0.01 mm are respectively set on the 30° scale line and the 45° scale line on the contact surface S1 of the holding pressure head. Control the training holding pressure head 12 to move towards the support surface until the training holding pressure head 12 is pressed down to a position where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300, and collect the pressure distribution data, so as to obtain the pressure distribution data corresponding to the 30° scale line and the 45° scale line and the spacer 13 with a thickness of 0.01 mm; two spacers 13 with a thickness of 0.02 mm are respectively set on the 30° scale line and the 45° scale line on the contact surface S1 of the holding pressure head. Control the training holding pressure head 12 to move towards the support surface until the training holding pressure head 12 is pressed down to a position where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300, and collect the pressure distribution data, so as to obtain the pressure distribution data corresponding to the 30° scale line and the 45° scale line and the spacer 13 with a thickness of 0.02 mm, and so on until the pressure distribution data corresponding to the 30° scale line and the 45° scale line and the spacer 13 with a thickness of 0.1 mm is obtained, thereby obtaining the pressure distribution data of the spacers 13 with thicknesses of 0.01 mm, 0.02 mm, 0.03 mm, 0.04 mm, 0.05 mm, 0.06 mm, 0.07 mm, 0.08 mm, 0.09 mm, and 0.1 mm respectively set on the 30° scale line and the 45° scale line.

[0052] And so on, the pressure distribution data when spacers 13 with thicknesses of 0.01 mm, 0.02 mm, 0.03 mm, 0.04 mm, 0.05 mm, 0.06 mm, 0.07 mm, 0.08 mm, 0.09 mm, and 0.1 mm are set on each adjacent two graduation scale lines are respectively obtained, forming a training data set.

[0053] Further, in step S212, by adjusting at least one of the position and the thickness of the spacer 13 set between the contact surface S1 where the training holding pressure head 12 contacts the pressing member 410, different tilting states of the training holding pressure head 12 are obtained, including: A3. Spacers 13 with different thicknesses are successively set on each angle scale line of the contact surface S1 where the training holding pressure head 12 contacts the pressing member 410, and the thicknesses of the spacers 13 on at least two angle scale lines are synchronously adjusted multiple times to obtain different tilting states of the training holding pressure head 12.

[0054] By successively setting spacers 13 with different thicknesses on each angle scale line of the contact surface S1 where the training holding pressure head 12 contacts the pressing member 410, and synchronously adjusting the thicknesses of the spacers 13 on at least two angle scale lines multiple times, different tilting states of the training holding pressure head 12 are obtained, which can enrich the tilting states of the training holding pressure head 12 and increase the number of data in the training data set.

[0055] Figure 9It is a flowchart of another flatness detection method for the pressure head provided by an embodiment of the present invention. Refer to Figure 9 The flatness detection method for the pressure head includes: S310. Obtain the pressure distribution data of the training pressure head on the electronic pressure-sensitive paper when the training pressure head is in various inclined states, and form a training data set.

[0056] S320. Based on the training data set, establish a pressure head indentation data model.

[0057] S330. Place the electronic pressure-sensitive paper on the surface to be pressure-held or a support surface parallel to the surface to be pressure-held.

[0058] S340. Control the pressure head to be measured to move towards the surface to be pressure-held or a support surface parallel to the surface to be pressure-held, and collect the pressure data of each force-bearing point on the entire pressing surface of the pressure head to be measured on the electronic pressure-sensitive paper.

[0059] S350. Determine the pressure distribution data of the entire pressing surface of the pressure head to be measured on the electronic pressure-sensitive paper according to the pressure data of each force-bearing point.

[0060] S360. Determine the flatness of the pressure head to be measured according to the pressure distribution data.

[0061] S370. When it is determined that the pressure head to be measured is in an inclined state, input the pressure distribution data into the pressure head indentation data model, and determine the inclination information of the pressure head to be measured through the pressure head indentation data model; wherein, the pressure head indentation data model is a mathematical model for determining the inclination information of the pressure head to be measured according to the pressure distribution data.

[0062] Specifically, refer to Figure 7 Obtaining the pressure distribution data of the pressure head 11 to be measured on the electronic pressure-sensitive paper 300 includes: placing the electronic pressure-sensitive paper 300 on the surface to be pressure-held or a support surface parallel to the surface to be pressure-held; controlling the pressure head 11 to be measured to move towards the surface to be pressure-held or a support surface parallel to the surface to be pressure-held, and collecting the pressure data of each force-bearing point on the entire pressing surface S2 of the pressure head 11 to be measured on the electronic pressure-sensitive paper 300; determining the pressure distribution data of the entire pressing surface S2 of the pressure head 11 to be measured on the electronic pressure-sensitive paper 300 according to the pressure data of each force-bearing point. Wherein, the surface to be pressure-held can be understood as the surface of the pressure-holding station 01. Control the pressure head 11 to be measured to move towards the surface to be pressure-held or a support surface parallel to the surface to be pressure-held until the pressure head 11 to be measured is pressed down to the point where the pressure data of the entire pressing surface S2 can be collected through the electronic pressure-sensitive paper 300. When obtaining the pressure distribution data of the pressure head 11 to be measured on the electronic pressure-sensitive paper 300, the electronic pressure-sensitive paper 300 can be directly placed on the surface to be pressure-held; the electronic pressure-sensitive paper 300 can also be placed on a support surface parallel to the surface to be pressure-held to prevent the pressure head 11 to be measured from being in an inclined state and affecting the pressure-holding position.

[0063] Figure 10 is a flowchart of another method for detecting the flatness of a pressure-holding head provided by an embodiment of the present invention. Refer to Figure 10 , the method for detecting the flatness of a pressure-holding head includes: S410. Obtain the pressure distribution data of the training pressure-holding head on the electronic pressure-sensitive paper when the training pressure-holding head is in various inclined states, and form a training data set.

[0064] S420. Based on the training data set, establish a pressure head indentation data model.

[0065] S430. Place the electronic pressure-sensitive paper on the surface to be pressure-held or a support surface parallel to the surface to be pressure-held.

[0066] S440. Control the pressure-holding head to be measured to move towards the surface to be pressure-held or a support surface parallel to the surface to be pressure-held, and collect the pressure data of each force-receiving point on the entire pressing surface of the pressure-holding head to be measured on the electronic pressure-sensitive paper.

[0067] S450. Determine the pressure distribution data of the entire pressing surface of the pressure-holding head to be measured on the electronic pressure-sensitive paper according to the pressure data of each force-receiving point.

[0068] S460. Determine the flatness of the pressure-holding head to be measured according to the pressure distribution data.

[0069] S470. When it is determined that the pressure-holding head to be measured is in an inclined state, input the pressure distribution data into the pressure head indentation data model, and determine the gasket position and gasket thickness corresponding to the pressure distribution data through the pressure head indentation data model, so as to determine the inclined position and inclined degree of the pressure-holding head to be measured relative to the surface to be pressure-held.

[0070] Specifically, determining the inclination information of the pressure-holding head 11 to be measured through the pressure head indentation data model includes: determining the inclined position and inclined degree of the pressure-holding head 11 to be measured relative to the surface to be pressure-held through the pressure head indentation data model according to the pressure distribution data of the pressure-holding head 11 on the electronic pressure-sensitive paper 300. Among them, the pressure head indentation data model is a mathematical model of the corresponding relationship between the pressure distribution data and the gasket position and gasket thickness. Determining the inclined position and inclined degree of the pressure-holding head 11 to be measured relative to the surface to be pressure-held through the pressure head indentation data model according to the pressure distribution data of the pressure-holding head 11 on the electronic pressure-sensitive paper 300 may specifically include: determining the gasket position and gasket thickness corresponding to the pressure distribution data through the pressure head indentation data model according to the pressure distribution data of the pressure-holding head 11 on the electronic pressure-sensitive paper 300; determining the inclined position of the pressure-holding head 11 relative to the surface to be pressure-held according to the gasket position; and determining the inclined degree of the pressure-holding head 11 relative to the surface to be pressure-held according to the gasket thickness. The contact surface S1 where the pressure-holding head 11 to be measured contacts the pressure-applying member 410 may also be provided with angle scale lines or may not be provided with angle scale lines.

[0071] Preferably, angle scale lines identical to those on the training pressure head 12 are provided on the contact surface S1 of the pressure head 11 to be tested. When installing the pressure head 11 to be tested, align the scale lines on the pressure head 11 to be tested with the angle scale lines on the training pressure head 12 during the installation of the training pressure head 12. Through the above setting method, the angle scale line corresponding to the gasket position determined by the pressure distribution data of the pressure head to be tested by the pressure head indentation data model is the angle scale line corresponding to the position where the pressure head 11 to be tested is tilted (the position where the pressure head 11 to be tested is raised). The gasket thickness determined by the pressure distribution data of the pressure head 11 to be tested by the pressure head indentation data model is the height of the raised position. When adjusting the flatness of the pressure head 11 to be tested subsequently, a gasket 13 with the determined thickness can be provided on the angle scale line complementary to the determined angle scale line, which is convenient for leveling the pressure head 11 to be tested. Optionally, if a gasket 13 is provided on the angle scale line determined by the pressure head indentation data model in the contact surface S1 of the pressure head 11 to be tested, and the thickness of the gasket 13 is greater than or equal to the gasket thickness determined by the pressure head indentation data model, the pressure head 11 to be tested can also be leveled by thinning or removing the gasket 13 located on the angle scale line determined by the pressure head indentation data model.

[0072] The embodiment of the present invention also provides a method for leveling a pressure head, including: Determine the tilt information of the pressure head to be adjusted through the flatness detection method of the pressure head according to any embodiment of the present invention; According to the tilt information of the pressure head to be adjusted, adjust the position and thickness of the gasket between the pressure head to be adjusted and the pressing member to level the pressure head to be adjusted.

[0073] Among them, according to the tilt information of the pressure head to be adjusted, adjusting the position and thickness of the gasket between the pressure head to be adjusted and the pressing member to level the pressure head to be adjusted can refer to the above embodiments and will not be elaborated here. The method for leveling the pressure head provided by the embodiment of the present invention also has the same technical effect as the flatness detection method of the pressure head.

[0074] The method for leveling the pressure head provided by the embodiment of the present invention can be applied to the adjustment of the initial installation level of the pressure head, and is particularly suitable for occasions with high requirements for the uniformity and magnitude of the pressure of the pressure head. It can not only detect the flatness of the contact surface S1 of the pressure head, but also give suggestions on how to adjust the pressure head (suggesting how many thicknesses of the gasket 13 should be placed in what direction of the pressure head).

[0075] The embodiment of the present invention also provides a flatness detection device for a pressure head, which is used to execute the flatness detection method of the pressure head according to any embodiment of the present invention. Figure 11It is a structural block diagram of a flatness detection device for a pressure maintaining head provided by an embodiment of the present invention. Refer to Figure 11 , the flatness detection device for the pressure maintaining head includes: An acquisition unit 10, configured to acquire pressure distribution data of a pressure maintaining head 11 to be measured on an electronic pressure sensitive paper 300; A judgment unit 20, configured to determine the flatness of the pressure maintaining head 11 to be measured according to the pressure distribution diagram; A head indentation data model storage unit 30, configured to store a head indentation data model, so as to determine the inclination information of the pressure maintaining head 11 to be measured according to the pressure distribution data through the head indentation data model when it is determined that the pressure maintaining head is in an inclined state.

[0076] An embodiment of the present invention also provides a flatness detection system for a pressure maintaining head, Figure 12 It is a structural block diagram of a flatness detection system for a pressure maintaining head provided by an embodiment of the present invention. Refer to Figure 12 , the flatness detection system for the pressure maintaining head includes: A host computer 100, including the flatness detection device for the pressure maintaining head described in any embodiment of the present invention; An electronic pressure sensitive paper 300, which is used to convert the pressure of each force receiving point of the pressure maintaining head 11 to be measured on the electronic pressure sensitive paper into an electrical signal; A signal acquisition and processing unit 200, electrically connected to the electronic pressure sensitive paper 300 and the host computer 100. The data acquisition unit is configured to acquire the electrical signals converted by the electronic pressure sensitive paper, and process each electrical signal into pressure data to form pressure distribution data and then send it to the host computer 100; The host computer 100 is also connected to a motion control unit 400 of the pressure maintaining head 11 to be measured, and the host computer 100 is further configured to send a control instruction to the motion control unit 400 to control the motion of the pressure maintaining head 11 to be measured.

[0077] Specifically, the flatness detection system for the pressure-holding head includes a host computer 100, an electronic pressure-sensitive paper 300, and a signal acquisition and processing unit 200. Among them, the host computer 100 can be a motion control system for the pressure-holding head, used to send control instructions to the motion control unit 400 to control the movement of the pressure-holding head 11 to be measured. The signal acquisition and processing unit 200 is electrically connected to the electronic pressure-sensitive paper 300 and the host computer 100. The signal acquisition and processing unit 200 is used to collect the electrical signals converted by the electronic pressure-sensitive paper 300, and process each electrical signal into pressure data to form pressure distribution data and then send it to the host computer 100; the host computer 100 is integrated with a flatness detection device for the pressure-holding head described in any embodiment of the present invention. The host computer 100 can obtain the pressure distribution data of the pressure-holding head 11 to be measured on the electronic pressure-sensitive paper 300, determine the flatness of the pressure-holding head 11 to be measured according to the pressure distribution map, and display the pressure distribution data of the pressure-holding head 11 to be measured on the electronic pressure-sensitive paper 300 and / or display the pressure distribution map formed by the pressure distribution data on the display interface. The pressure distribution map can be a two-dimensional pressure distribution map, a three-dimensional pressure distribution map, etc.; in addition, the host computer 100 can also detect the tilt information of the pressure-holding head 11 to be measured when the pressure-holding head 11 to be measured is in a tilted state, so as to adjust the pressure-holding head 11 to be measured.

[0078] Note that the above is only the preferred embodiment of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for detecting the flatness of a pressure-maintaining head, characterized in that: include: Obtaining the pressure distribution data of the pressure-maintaining head to be tested on the electronic pressure-sensitive paper; Determine the flatness of the pressure-maintaining head to be tested according to the pressure distribution data, and when it is determined that the pressure-maintaining head is in an inclined state, The pressure distribution data is input into an indentation data model, and the tilt information of the pressure-maintaining head to be tested is determined by the indentation data model; wherein the indentation data model is a mathematical model for determining the tilt information of the pressure-maintaining head to be tested according to the pressure distribution data.

2. The method for detecting the flatness of a pressure-maintaining head according to claim 1, characterized in that: Before determining the tilt information of the pressure-maintaining head to be tested by using the indentation data model, the method further includes: Acquiring pressure distribution data of the training pressure-maintaining head on the electronic pressure-sensitive paper when the training pressure-maintaining head is in various tilted states to form a training data set; Based on the training data set, the indentation data model is established.

3. The method for detecting the flatness of a pressure-maintaining head according to claim 2, characterized in that: Obtaining pressure distribution data of the training pressure-maintaining head on the electronic pressure-sensitive paper when the training pressure-maintaining head is in different tilt states, including: Controlling the pressure surface of the training pressure-maintaining head to be parallel to a supporting surface, and placing the electronic pressure-sensitive paper on the supporting surface; By adjusting at least one of the position and thickness of a gasket provided between the training pressure-maintaining head and the pressure-applying member, different tilting states of the training pressure-maintaining head are obtained, and after each adjustment of the tilting state of the training pressure-maintaining head, the training pressure-maintaining head is controlled to move toward the supporting surface, and pressure distribution data of the entire pressure surface of the training pressure-maintaining head on the electronic pressure-sensitive paper is collected; The step of establishing the indentation data model based on the training data set includes: Based on the training data set, the indentation data model is established through a deep learning algorithm; wherein the indentation data model is a mathematical model of the correspondence between pressure distribution data and gasket position and gasket thickness.

4. The method for detecting the flatness of a pressure-maintaining head according to claim 3, characterized in that: The contact surface between the training pressure-maintaining head and the pressure-applying member is provided with a plurality of angle scale lines; The method of obtaining different tilt states of the training pressure-maintaining head by adjusting at least one of the position and thickness of the gasket provided on the contact surface between the training pressure-maintaining head and the pressure-applying member comprises: Sequentially arranging gaskets of different thicknesses on the angle scale lines of the contact surface between the training pressure-maintaining head and the pressure-applying member to obtain different tilt states of the training pressure-maintaining head; And / or, the thickness of the gasket on at least two angle scale lines is adjusted synchronously multiple times to obtain different tilt states of the training pressure-maintaining head.

5. The method for detecting flatness of a pressure-maintaining head according to claim 1, characterized in that: Obtain the pressure distribution data of the pressure-maintaining head to be tested on the electronic pressure-sensitive paper, including: Placing the electronic pressure-sensitive paper on the surface to be maintained or on a supporting surface parallel to the surface to be maintained; Controlling the pressure-maintaining head to be measured to move toward the pressure-maintaining surface or a supporting surface parallel to the pressure-maintaining surface to be measured, and collecting pressure data of each force-bearing point of the entire pressure surface of the pressure-maintaining head to be measured on the electronic pressure-sensitive paper; Determine the pressure distribution data of the entire pressure surface of the pressure-maintaining head to be tested on the electronic pressure-sensitive paper according to the pressure data of each force-bearing point; And / or, after obtaining the pressure distribution data of the pressure-maintaining head to be tested on the electronic pressure-sensitive paper, the method further includes: A pressure distribution graph is generated according to the pressure distribution data and displayed.

6. The method for detecting the flatness of a pressure-maintaining head according to claim 5, characterized in that: The determining the tilt information of the pressure-maintaining head to be tested by using the indentation data model of the indenter includes: The indentation data model is used to determine the inclination position and degree of the pressure-maintaining head to be tested relative to the pressure-maintaining surface according to the pressure distribution data of the pressure-maintaining head to be tested on the electronic pressure-sensitive paper.

7. The method for detecting the flatness of a pressure-maintaining head according to claim 6, characterized in that: The indentation data model is a mathematical model of the corresponding relationship between pressure distribution data and gasket position and gasket thickness; Determining the tilt position and tilt degree of the pressure-maintaining head to be tested relative to the pressure-maintaining surface according to the pressure distribution data of the pressure-maintaining head to be tested on the electronic pressure-sensitive paper through the pressure-maintaining head indentation data model includes: Determine the gasket position and gasket thickness corresponding to the pressure distribution data according to the pressure distribution data of the pressure-maintaining head to be tested on the electronic pressure-sensitive paper through the indentation data model; Determining the inclined position of the pressure-maintaining head to be measured relative to the pressure-maintaining surface according to the position of the gasket; The degree of inclination of the pressure-maintaining head to be measured relative to the pressure-maintaining surface is determined according to the thickness of the gasket.

8. A method for leveling a pressure-maintaining head, characterized in that: include: Determining the tilt information of the pressure-maintaining head to be adjusted by the flatness detection method of the pressure-maintaining head described in any one of claims 1 to 7; According to the inclination information of the pressure head to be adjusted, the position and thickness of the gasket between the pressure head to be adjusted and the pressure-applying member are adjusted to level the pressure head to be adjusted.

9. A flatness detection device for a pressure-maintaining head, characterized in that: include: An acquisition unit, used for acquiring pressure distribution data of the pressure-maintaining head to be tested on the electronic pressure-sensitive paper; A judgment unit, used for determining the flatness of the pressure-maintaining head to be tested according to the pressure distribution diagram; The indentation head indentation data model storage unit is used to store the indentation head indentation data model so as to determine the inclination information of the pressure maintaining head to be tested according to the pressure distribution data through the indentation head indentation data model when it is determined that the pressure maintaining head is in an inclined state.

10. A flatness detection system for a pressure-maintaining head, characterized in that: include: A host computer, comprising the flatness detection device for the pressure-maintaining head according to claim 9; Electronic pressure-sensitive paper, which is used to convert the pressure of each force-bearing point of the pressure-maintaining head to be tested on the electronic pressure-sensitive paper into an electrical signal; A signal acquisition and processing unit is electrically connected to the electronic pressure-sensitive paper and the host computer, and is used to acquire the electrical signals converted by the electronic pressure-sensitive paper, and process each electrical signal into pressure data to form pressure distribution data, and then send it to the host computer; The host computer is also connected to the motion control unit of the pressure-maintaining head to be tested, and the host computer is also used to send control instructions to the motion control unit to control the movement of the pressure-maintaining head to be tested.

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