Grinding equipment, grinding head control method and device thereof, equipment and storage medium

Abstract

The invention discloses grinding equipment, a grinding head control method, device and equipment thereof and a storage medium. The grinding equipment comprises a grinding head and a control device, the mounting frame is connected with the polishing head; the mounting plate is connected with one end, away from the polishing head, of the mounting frame; comprising a first sliding rail provided with a first sliding block and a second sliding block and a second sliding rail provided with a third sliding block and a fourth sliding block which are parallel to each other, a mounting frame is connected with the first sliding block and the third sliding block, and a mounting plate is connected with the second sliding block and the fourth sliding block; the first pressure sensor is connected with the second sliding block; the second pressure sensor is connected with the fourth sliding block; the driving motor is connected with the first sliding block and the third sliding block, and the second sliding block and the fourth sliding block are not connected with the driving motor. And when it is detected that the reading difference value of the two pressure sensors of the running grinding head is larger than a preset threshold value, the first sliding block and the third sliding block are controlled by the driving motor to slide on the corresponding sliding rails, so that stress balance can be achieved when the grinding head grinds the target workpiece.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of grinding technology, and in particular to a grinding device and a grinding head control method, device, equipment, and storage medium thereof. Background Art

[0002] During the grinding process of workpieces such as frames and tiles, grinding and polishing equipment is required to remove minor surface flaws and unevenness, resulting in a smooth and even surface. The grinding head of the grinding and polishing equipment is in direct contact with the workpiece. After long-term use, the abrasive on the surface of the grinding head will wear out to a certain extent. This wear causes the surface roughness of the grinding head to become inconsistent, resulting in an unbalanced distribution of friction on the surface of the grinding head. This condition causes uneven force on the grinding head during the workpiece grinding process, which in turn affects the workpiece processing quality. Summary of the Invention

[0003] The embodiments of the present application provide a grinding device and a grinding head control method, device, equipment, and storage medium thereof, which can effectively control the uniform force applied to the grinding head during the grinding process and ensure the processing quality of the workpiece.

[0004] In a first aspect, an embodiment of the present application provides a grinding device, comprising: grinding head; a mounting frame connected to the grinding head; A mounting plate, wherein one end of the mounting frame away from the grinding head is connected to the mounting plate via a connecting rod; A slide rail assembly, the slide rail assembly comprising a first slide rail and a second slide rail parallel to each other, the first slide rail being provided with a first slider and a second slider, the second slide rail being provided with a third slider and a fourth slider, the mounting frame being fixedly connected to the first slider and the third slider respectively, and the mounting plate being fixedly connected to the second slider and the fourth slider respectively; a first pressure sensor connected to the second slider; a second pressure sensor connected to the fourth slider; A driving motor is connected to the first slider and the third slider, and the second slider and the fourth slider are not connected to the driving motor.

[0005] In a second aspect, an embodiment of the present application provides a grinding head control method, which is applied to the grinding device of the first aspect, and the method includes: When the grinding head starts grinding a target workpiece, detecting a first reading of the first pressure sensor and a second reading of the second pressure sensor, wherein the first reading is used to indicate a force value on a first side of the grinding head surface, and the second reading is used to indicate a force value on a second side of the grinding head surface, the first side being opposite to the second side; When the absolute value of the first difference between the first reading and the second reading exceeds a first threshold, based on the first reading and the second reading, the first slider is driven by the drive motor to slide a first distance on the first slide rail, and the third slider is driven to slide a second distance on the second slide rail.

[0006] In some embodiments, based on the first reading and the second reading, driving the first slider to slide a first distance on the first slide rail, and driving the third slider to slide a second distance on the second slide rail by the drive motor includes: determining the diameter of the grinding head; Inputting the diameter, the first reading, the second reading, and the absolute value of the first difference into a preset formula to calculate a target adjustment amount, wherein the target adjustment amount is used to indicate the height difference between the first side and the second side of the grinding head in the horizontal direction; The first distance and the second distance are determined based on the first difference and the target adjustment amount, and the first slider is driven by the drive motor to slide a first distance on the first slide rail, and the third slider is driven to slide a second distance on the second slide rail, wherein the difference between the first distance and the second distance is the target adjustment amount.

[0007] In some embodiments, after driving the first slider to slide a first distance on the first slide rail and driving the third slider to slide a second distance on the second slide rail by the drive motor, the method further includes: detecting the current first difference, and when the absolute value of the first difference is less than the first threshold, recording the first difference before adjusting the slider and the corresponding target adjustment amount; establishing an adjustment mapping table based on the recorded first difference and the corresponding target adjustment amount, wherein the adjustment mapping table is used to represent a mapping relationship between the first difference between the first reading and the second reading and the adjustment amount of the slider; When it is detected again that the absolute value of the first difference exceeds the first threshold, the adjustment amount corresponding to the current first difference in the adjustment mapping table is determined as the target adjustment amount, the first distance and the second distance are determined based on the current first difference and the currently determined target adjustment amount, and the first slider is driven by the drive motor to slide the first distance on the first slide rail, and the third slider is driven to slide the second distance on the second slide rail.

[0008] In some embodiments, the first slide rail and the second slide rail have the same slide rail length, the first distance and the second distance are determined based on the first difference and the target adjustment amount, and the first slider is driven by the drive motor to slide the first distance on the first slide rail, and the third slider is driven to slide the second distance on the second slide rail, including: determining a current first position of the first slider on the first slide rail, and determining a second position of the third slider on the second slide rail, and determining an allowable adjustment amount based on the first position, the second position, and the length of the slide rail, wherein the allowable adjustment amount is a maximum displacement difference that the first slider and the third slider can adjust on the corresponding slide rail without colliding with the physical limits of the first slide rail and the second slide rail; When the first difference is less than 0 and the target adjustment amount is less than or equal to the allowable adjustment amount, the first distance and the second distance are calculated based on the target adjustment amount, the first slider is driven by the drive motor to slide the first distance on the first slide rail in a direction away from the second slider, and the third slider is driven to slide the second distance on the second slide rail in a direction close to the fourth slider, wherein the difference between the first position and the second position after the adjustment is completed is the target adjustment amount; When the first difference is greater than 0 and the target adjustment amount is less than or equal to the allowable adjustment amount, the first distance and the second distance are calculated based on the target adjustment amount, and the first slider is driven by the drive motor to slide the first distance on the first slide rail toward the second slider, and the third slider is driven to slide the second distance on the second slide rail toward the fourth slider; When the target adjustment amount is greater than the allowable adjustment amount, the rotation speed of the drive motor is reduced to drive the first slider and the third slider to slide on the corresponding slide rails for a reference distance through the drive motor until the target adjustment amount is less than the allowable adjustment amount.

[0009] In some embodiments, after determining the first distance and the second distance based on the first difference and the target adjustment amount, the method further includes: Determining a target time period for driving the first slider to slide on the first slide rail to complete the first distance, and for driving the third slider to slide on the second slide rail to complete the second distance, by the drive motor; The readings of the first pressure sensor and the second pressure sensor within the target time period are deleted.

[0010] In some embodiments, after driving the first slider to slide a first distance on the first slide rail and driving the third slider to slide a second distance on the second slide rail by the drive motor, the method further includes: determining a reference number of times that the absolute value of the first difference is detected to exceed the first threshold, and a second difference corresponding to each time the absolute value of the first difference exceeds the first threshold, wherein the second difference is the difference between the first difference and the first threshold; generating a target curve based on all the second differences in chronological order; When the target curve indicates that the second difference has an increasing trend over time, and the number of reference times within a preset time period exceeds a second threshold, an alarm message is generated based on the target curve and the reference times.

[0011] In a third aspect, an embodiment of the present application provides a control device comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the grinding head control method as described in the second aspect.

[0012] In a fourth aspect, an embodiment of the present application further provides an electronic device comprising the control device of the third aspect.

[0013] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the grinding head control method as described in the second aspect.

[0014] The embodiment of the present application provides a grinding device and a grinding head control method, device, equipment, and storage medium thereof, the grinding device comprising: a grinding head; a mounting frame, the mounting frame being connected to the grinding head; a mounting plate, the mounting frame being connected to the mounting plate at one end away from the grinding head by a connecting rod; a slide rail assembly, the slide rail assembly comprising a first slide rail and a second slide rail parallel to each other, the first slide rail being provided with a first slider and a second slider, the second slide rail being provided with a third slider and a fourth slider, the mounting frame being fixedly connected to the first slider and the third slider, respectively, and the mounting plate being fixedly connected to the second slider and the fourth slider, respectively; a first pressure sensor, the first pressure sensor being connected to the second slider; a second pressure sensor, the second pressure sensor being connected to the fourth slider; a drive motor, the drive motor being connected to the first slider and the third slider, and the second slider and the fourth slider being not connected to the drive motor. According to the solution provided in the embodiment of the present application, when the grinding head detects that the difference in readings of the two pressure sensors is greater than a preset threshold during operation, the driving motor can be used to control the first slider and the third slider at the far end to slide on their respective slide rails to adjust the force on both sides of the contact surface between the grinding head and the target workpiece, so that the force can be balanced when the grinding head grinds the target workpiece after adjustment, thereby effectively ensuring the processing quality of the target workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of a grinding device provided by one embodiment of the present application; Figure 2 is a flowchart of the steps of a grinding head control method provided by another embodiment of the present application; Figure 3 This is a structural diagram of a control device provided in another embodiment of the present application.

[0016] Reference numerals: Grinding head 110 ; mounting frame 120 ; connecting rod 121 ; first connecting plate 122 ; mounting plate 130 ; second connecting plate 131 ; first slide rail 141 ; first slider 1411 , second slider 1412 ; second slide rail 142 ; third slider 1421 ; fourth slider 1422 ; first pressure sensor 150 ; second pressure sensor 160 . DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0018] It is understood that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. The terms "first," "second," and the like in the specification, claims, or accompanying drawings are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0019] During the grinding process of workpieces such as frames and tiles, grinding and polishing equipment is required to remove minor surface flaws and unevenness, resulting in a smooth and even surface. The grinding head of the grinding and polishing equipment is in direct contact with the workpiece. After long-term use, the abrasive on the surface of the grinding head will wear out to a certain extent. This wear causes the surface roughness of the grinding head to become inconsistent, resulting in an unbalanced distribution of friction on the surface of the grinding head. This condition causes uneven force on the grinding head during the workpiece grinding process, which in turn affects the workpiece processing quality.

[0020] To solve the above-mentioned problems, the embodiments of the present application provide a grinding device and a grinding head control method, device, equipment, and storage medium thereof, the grinding device comprising: a grinding head; a mounting frame, the mounting frame being connected to the grinding head; a mounting plate, the mounting frame being connected to the mounting plate at one end away from the grinding head by a connecting rod; a slide rail assembly, the slide rail assembly comprising a first slide rail and a second slide rail parallel to each other, the first slide rail being provided with a first slider and a second slider, the second slide rail being provided with a third slider and a fourth slider, the mounting frame being fixedly connected to the first slider and the third slider, respectively, and the mounting plate being fixedly connected to the second slider and the fourth slider, respectively; a first pressure sensor, the first pressure sensor being connected to the second slider; a second pressure sensor, the second pressure sensor being connected to the fourth slider; a drive motor, the drive motor being connected to the first slider and the third slider, and the second slider and the fourth slider being not connected to the drive motor. According to the solution provided in the embodiment of the present application, when the grinding head detects that the difference in readings of the two pressure sensors is greater than a preset threshold during operation, the first slider and the third slider can be controlled by the driving motor to slide on their respective slide rails to adjust the force on both sides of the contact surface between the grinding head and the target workpiece, so that the force can be balanced when the grinding head grinds the target workpiece after adjustment, thereby effectively ensuring the processing quality of the target workpiece.

[0021] The embodiments of the present application are further described below with reference to the accompanying drawings.

[0022] refer to Figure 1 , Figure 1 : is a structural diagram of a grinding device provided in one embodiment of the present application. The embodiment of the present application provides a grinding device 100, including: grinding head 110; A mounting frame 120 , the mounting frame 120 being connected to the grinding head 110 ; The mounting plate 130 is connected to the mounting plate 130 via a connecting rod 121 at one end of the mounting frame 120 away from the grinding head 110; The slide rail assembly includes a first slide rail 141 and a second slide rail 142 that are parallel to each other. The first slide rail 141 is provided with a first slider 1411 and a second slider 1412. The second slide rail 142 is provided with a third slider 1421 and a fourth slider 1422. The mounting frame 120 is fixedly connected to the first slider 1411 and the third slider 1421, respectively. The mounting plate 130 is fixedly connected to the second slider 1412 and the fourth slider 1422, respectively. A first pressure sensor 150 , the first pressure sensor 150 is connected to the second slider 1412 ; A second pressure sensor 160 , the second pressure sensor 160 is connected to the fourth slider 1422 ; A driving motor is connected to the first slider 1411 and the third slider 1421 , while the second slider 1412 and the fourth slider 1422 are not connected to the driving motor.

[0023] Understandably, the reference Figure 1The grinding device 100 of this embodiment includes a grinding head 110 connected to a mounting frame 120, the mounting frame 120 is connected to a mounting plate 130 via a connecting rod 121, the mounting frame 120 is connected to the mounting plate 130 via a connecting rod 121, the two ends of the top of the mounting frame 120 are respectively connected to a first slider 1411 and a third slider 1421, the first slider 1411 is slidably connected to the first slide rail 141, the third slider 1421 is slidably connected to the second slide rail 142, and the top of the mounting plate 130 is connected to the first slide rail 141. The two ends are respectively connected to the second slider 1412 and the fourth slider 1422, the second slider 1412 is slidably connected to the first slide rail 141, and the fourth slider 1422 is slidably connected to the second slide rail 142. In addition, the driving motor is respectively connected to the first slider 1411 and the third slider 1421, and is not connected to the second slider 1412 and the fourth slider 1422. The second slider 1412 is connected to the first pressure sensor 150, and the fourth slider 1422 is connected to the second pressure sensor 160.It can be seen that, based on this structural basis, when the polishing head 110 is in a running state, i.e., in the process of polishing the target workpiece, the forces received by the two sides of the surface of the polishing head 110 can be detected by the first pressure sensor 150 and the second pressure sensor 160. Specifically, the driving motor is connected to the first sliding block 1411 and the second sliding block 1412, respectively, and the first side of the surface of the polishing head 110 corresponding to the position of the first sliding block 1411 or the second side of the surface of the polishing head 110 corresponding to the position of the second sliding block 1412 will be subjected to force during polishing. For the first side, the polishing head 110 pushes the mounting bracket 120 to the side of the first sliding block 1411 under the action of the force, so that the first sliding block 1411 moves in the direction of approaching the second sliding block 1412. Since the mounting bracket 120 is connected to the mounting plate 130 through the connecting rod 121, the end of the mounting plate 130 connected to the second sliding block 1412 is driven by the mounting bracket 120 to push the second sliding block 1412 to move in the direction of approaching the first pressure sensor 150. In this way, the first pressure sensor 150 connected to the second sliding block 1412 can detect the first reading of the first side of the polishing head 110. Similarly, for the second side, the polishing head 110 pushes the mounting bracket 120 to the side of the third sliding block 1421 under the action of the force, so that the third sliding block 1421 moves on the second sliding rail 142 in the direction of approaching the fourth sliding block 1422. Since the mounting bracket 120 is connected to the mounting plate 130 through the connecting rod 121, the end of the mounting plate 130 connected to the fourth sliding block 1422 is driven by the mounting bracket 120 to push the fourth sliding block 1422 to move in the direction of approaching the second pressure sensor 160. In this way, the second pressure sensor 160 connected to the fourth sliding block 1422 can detect the second reading of the second side of the polishing head 110. In this way, the polishing device 100 can judge whether the surface of the polishing head 110 is uniformly stressed based on the stress readings of the first pressure sensor 150 and the second pressure sensor 160, and in the case where the surface of the polishing head 110 is not uniformly stressed (for example, the difference between the readings of the two pressure sensors is greater than a preset threshold), the first sliding block 1411 and the third sliding block 1421 of the polishing head 110 can be controlled to slide on the respective sliding rails by the driving motor to adjust the stress on the two sides of the contact surface of the polishing head 110 and the target workpiece, so that the polishing head 110 can be balanced after adjustment when polishing the target workpiece, thereby ensuring the processing quality of the target workpiece.

[0024] It should be noted that the connection mode of the mounting bracket 120 and the first sliding block 1411 and the third sliding block 1421 is not limited, and the connection mode between the mounting plate 130 and the second sliding block 1412 and the fourth sliding block 1422 is also not limited. For example, Figure 1As shown, the mounting frame 120 is connected to the first slider 1411 and the third slider 1421 through the first connecting plate 122, and the first slider 1411 and the third slider 1421 are respectively connected to the two ends of the first connecting plate 122; the mounting plate 130 is connected to the second slider 1412 and the fourth slider 1422 through the second connecting plate 131, and the second slider 1412 and the fourth slider 1422 are respectively connected to the two ends of the second connecting plate 131.

[0025] It should be noted that the connecting rods 121 in this embodiment are respectively connected to the mounting frame 120 and the mounting plate 130, and are used to transmit the forces on the opposite sides of the surface of the grinding head 110 to the corresponding pressure sensors. In order to improve the reading accuracy of the first pressure sensor 150 and the second pressure sensor 160, a plurality of connecting rods 121 are provided in this embodiment. The connecting rods 121 are connected symmetrically between the mounting frame 120 and the mounting plate 130, such as Figure 1 As shown, two connecting rods 121 are provided on one side of the mounting frame 120 and the mounting plate 130 close to the first slide rail 141 , and correspondingly, two connecting rods 121 are provided on one side of the mounting frame 120 and the mounting plate 130 close to the second slide rail 142 .

[0026] It should be noted that the driving motor of this embodiment is connected to the first slider 1411 and the third slider 1421, so that when the height of both sides of the grinding head 110 needs to be adjusted to balance the force on the surface of the grinding head 110, only the first slider 1411 and the third slider 1421 are driven for adjustment, and the driving motor is not connected to the second slider 1412 and the fourth slider 1422. This can avoid pushing the second slider 1412 and the fourth slider 1422 when the driving motor adjusts the sliding distance of the first slider 1411 and the third slider 1421 on their respective slide rails, thereby affecting the frequent changes in the readings of the pressure sensor.

[0027] refer to Figure 2 , Figure 2 1 is a flowchart of a method for controlling a grinding head based on a grinding device 100 according to another embodiment of the present application. The embodiment of the present application provides a method for controlling a grinding head based on a grinding device 100. The method is applied to the grinding device 100 according to the above embodiment. The method includes but is not limited to the following steps: In step S10, when the grinding head starts grinding the target workpiece, a first reading of the first pressure sensor and a second reading of the second pressure sensor are detected, wherein the first reading is used to indicate the force value of the first side of the grinding head surface, and the second reading is used to indicate the force value of the second side of the grinding head surface, the first side being opposite to the second side.

[0028] It can be understood that since the first reading is used to indicate the force value on the first side of the grinding head surface, and the second reading is used to indicate the force value on the second side of the grinding head surface, the first side is opposite to the second side, and, with reference to Figure 1 As described in the above embodiments, by detecting the readings of the first pressure sensor and the second pressure sensor, the force conditions on the opposite sides of the grinding head in operation at the far end can be detected, thereby determining whether there is uneven force on the surface of the grinding head during the process of grinding the workpiece, and providing an effective data basis for subsequently determining the adjustment scales of the second slider and the fourth slider on the corresponding slide rail to achieve balanced force conditions on the surface of the grinding head.

[0029] It should be noted that, in the embodiment of the present application, the first reading and the second reading may be detected in real time, or the first reading and the second reading may be detected periodically.

[0030] In step S20, when the absolute value of the first difference between the first reading and the second reading exceeds a first threshold, based on the first reading and the second reading, the first slider is driven by the driving motor to slide a first distance on the first slide rail, and the third slider is driven to slide a second distance on the second slide rail.

[0031] Specifically, the first threshold value of this embodiment is a preset boundary value of the first difference between the force value on the first side (i.e., the first reading) and the force value on the second side (i.e., the second reading) to ensure that the force on the surface of the grinding head is uniform. When the absolute value of the first difference exceeds the first threshold value, it indicates that the force on the two sides of the current grinding head surface is uneven. When the first difference is less than the first threshold value, it indicates that the force on the current grinding head surface is uniform.

[0032] It can be understood that, referring to the description of the above embodiment, when the absolute value of the first difference between the first reading and the second reading exceeds the first threshold value, it indicates that the force on both sides of the current grinding head is uneven. Based on the first reading and the second reading, the first distance and the second distance that the first slider and the third slider should slide on their corresponding slide rails are respectively determined by the internal preset strategy of the grinding device 100, and the first slider and the third slider are driven by the driving motor to achieve, that is, by adjusting the height difference on both sides of the grinding head surface where the force is uneven, the force on both sides of the grinding head is balanced, so that the adjusted grinding head can be subjected to balanced force when grinding the target workpiece, thereby ensuring the processing quality of the target workpiece.

[0033] Specifically, in some embodiments, Figure 2 Step S20 includes but is not limited to the following steps: Step S21, determining the diameter of the grinding head; Step S22: Inputting the diameter, the first reading, the second reading, and the absolute value of the first difference into a preset formula to calculate a target adjustment amount, wherein the target adjustment amount is used to indicate the height difference between the first side and the second side of the grinding head in the horizontal direction; Step S23, determining a first distance and a second distance based on the first difference and the target adjustment amount; Step S24 , driving the first slider to slide a first distance on the first slide rail, and driving the third slider to slide a second distance on the second slide rail by a driving motor, wherein the difference between the first distance and the second distance is the target adjustment amount.

[0034] It should be noted that the expression of the preset formula in this embodiment is as follows: ; in, is the target adjustment amount, k is a preset empirical coefficient (ranging from 0.1 to 0.3), D is the diameter of the grinding head, is the first difference, is the first reading, This is the second reading.

[0035] It should be noted that, in this embodiment, after the target adjustment amount is calculated based on a preset formula, and the drive motor is controlled based on the target adjustment amount to drive the first slider to slide the first distance on the first slide rail, and to drive the third slider to slide the second distance on the second slide rail, the first reading and the second reading can be detected again to verify whether the force condition after the adjustment operation meets the standard. If the first difference still exceeds the first threshold, the new target adjustment amount is calculated again by the preset formula and the newly detected first reading, second reading and first difference, and the adjustment is made until the first difference is less than the first threshold. It is also possible to wait for the next time node of detecting the first reading and the second reading. If the first difference between the first reading and the second reading is greater than the first threshold, the new target adjustment amount is calculated again based on the first reading, the second reading, the current first difference and the preset formula, and the adjustment is made.

[0036] In addition, in some embodiments, after executing step S23, the grinding head control method based on the grinding device 100 provided in the application embodiment further includes but is not limited to the following steps: Step S231, determining a target time period for driving the first slider to slide on the first slide rail to complete a first distance, and for driving the third slider to slide on the second slide rail to complete a second distance; Step S232: Delete the readings of the first pressure sensor and the second pressure sensor within the target time period.

[0037] Understandably, the reference Figure 1Since the mounting frame is connected to the mounting plate, and the first slider and the third slider are respectively connected to the two ends of the top of the mounting frame, and the second slider and the fourth slider are respectively connected to the two ends of the top of the mounting plate, when the driving motor is controlled to drive the first slider and the third slider to slide on their respective slide rails, the mounting frame will be driven to move, and the mounting plate will be driven by the mounting frame, thereby driving the displacement of the second slider and the fourth slider, resulting in changes in the readings of the first pressure sensor and the second pressure sensor. The pressure sensor readings collected during the process of adjusting the displacement of the first slider and the third slider on their respective slide rails within the target time period are inaccurate and cannot be used to determine whether the force on the surface of the grinding head is uniform. Therefore, this embodiment deletes the readings of the first pressure sensor and the second pressure sensor within the target time period, which can avoid affecting the accuracy of determining whether the force on the surface of the grinding head is uniform.

[0038] Additionally, in some embodiments, when executing Figure 2 After step S20, the grinding head control method based on the grinding device 100 provided in the embodiment of the application further includes but is not limited to the following steps: Step S31, detecting the current first difference value, and when the absolute value of the first difference value is less than a first threshold value, recording the first difference value before adjusting the slider and the corresponding target adjustment amount; Step S32: establishing an adjustment mapping table based on the recorded first difference and the corresponding target adjustment amount, wherein the adjustment mapping table is used to represent a mapping relationship between the first difference between the first reading and the second reading and the adjustment amount of the slider; In step S33, when it is detected again that the absolute value of the first difference exceeds the first threshold, the adjustment amount corresponding to the current first difference in the adjustment mapping table is determined as the target adjustment amount, and the first distance and the second distance are determined based on the current first difference and the currently determined target adjustment amount, and the first slider is driven by the driving motor to slide the first distance on the first slide rail, and the third slider is driven to slide the second distance on the second slide rail.

[0039] It is understandable that if each time it is detected that the first difference between the first reading and the second reading is greater than the first threshold, the algorithm corresponding to the preset formula is called in real time to calculate the target adjustment amount once, there is a calculation delay, and it is impossible to quickly adjust the grinding head with uneven force. Based on this, this embodiment also provides a method: when the absolute value of the first difference is less than the first threshold, the first difference before the adjustment slider and the corresponding target adjustment amount are recorded, and an adjustment mapping table is established based on the recorded first difference and the corresponding target adjustment amount. The adjustment mapping table is used to characterize the mapping relationship between the first difference between the first reading and the second reading and the adjustment amount of the slider. In this way, when the absolute value of the first difference is detected again to exceed the first threshold, the adjustment amount corresponding to the current first difference in the adjustment mapping table is determined as the target adjustment amount, and the first distance and the second distance are determined based on the current first difference and the currently determined target adjustment amount, and the first slider is driven by the drive motor to slide the first distance on the first slide rail, and the third slider is driven to slide the second distance on the second slide rail. That is to say, by recording the first difference and target adjustment amount in the process of adjusting the displacement of the first slider and the third slider in the corresponding slide rail each time according to steps S21 to S24 over a period of time, and establishing an adjustment mapping table, when the absolute value of the first difference exceeds the first threshold again (that is, when the grinding head is unevenly stressed), the target adjustment amount required can be quickly determined by looking up the table based on the first difference, thereby achieving rapid balancing of the force on the surface of the grinding head and ensuring the quality of the workpiece.

[0040] Specifically, in some embodiments, the first slide rail and the second slide rail have the same slide rail length, and step S24 includes but is not limited to the following steps: Step S241: Determine the current first position of the first slider on the first rail, determine the current second position of the third slider on the second rail, and determine an allowable adjustment amount based on the first and second positions and the rail length, where the allowable adjustment amount is the maximum displacement difference that the first and third sliders can adjust on the corresponding rails without colliding with the physical limits of the first and second rails. Step S242: When the first difference is less than 0 and the target adjustment amount is less than or equal to the allowable adjustment amount, a first distance and a second distance are calculated based on the target adjustment amount, and the first slider is driven by the drive motor to slide the first distance on the first slide rail in a direction away from the second slider, and the third slider is driven on the second slide rail in a direction toward the fourth slider for a second distance, wherein the difference between the first position and the second position after the adjustment is completed is the target adjustment amount. Step S243: When the first difference is greater than 0 and the target adjustment amount is less than or equal to the allowable adjustment amount, a first distance and a second distance are calculated based on the target adjustment amount, and the first slider is driven by the drive motor to slide on the first slide rail toward the second slider by the first distance, and the third slider is driven on the second slide rail toward the fourth slider by the second distance. Step S244, when the target adjustment amount is greater than the allowable adjustment amount, reduce the rotation speed of the drive motor to drive the first slider and the third slider to slide on the corresponding slide rails for a reference distance through the drive motor until the target adjustment amount is less than the allowable adjustment amount.

[0041] It can be understood that the first slide rail and the second slide rail both have a fixed sliding stroke. After determining the target adjustment amount, it is also necessary to determine whether the target adjustment amount is less than or equal to the current allowable adjustment amount of the first slide rail and the second slide rail, so as to avoid collision with the physical limit of the corresponding slide rail in the process of driving the first slider to slide the first distance and driving the third slider to slide the second distance, resulting in adjustment failure, force deterioration or even equipment damage.

[0042] Specifically, the formula for calculating the allowable adjustment amount in this embodiment is as follows: Δ h allow =2×min(Δ L 1,Δ L 2); Δ L 1= L max - P 1； ; Δ L 2= P 2; Among them, Δ h allow is the allowable adjustment amount, Δ L 1 is the remaining travel of the first slider on the first slide rail, Δ L 2 is the remaining travel of the third slider on the second slide rail, L max is the length of the slide rail, P 1 is the first position, P 2 is the second position.

[0043] It can be understood that the first difference greater than 0 indicates that the force on the first side of the polishing head surface is greater than the force on the second side, and the first difference less than 0 indicates that the force on the first side of the polishing head surface is less than the force on the second side. In the case that the first difference is less than 0 and the target adjustment amount is less than or equal to the allowable adjustment amount, the first slider is driven to slide on the first sliding rail by a first distance away from the second slider, and the third slider is driven to slide on the second sliding rail by a second distance towards the fourth slider, wherein the difference between the first distance and the second distance is the target adjustment amount; in the case that the first difference is greater than 0 and the target adjustment amount is less than or equal to the allowable adjustment amount, the first distance and the second distance are calculated based on the target adjustment amount, the first slider is driven to slide on the first sliding rail by the first distance towards the second slider, and the third slider is driven to slide on the second sliding rail by the second distance away from the fourth slider, that is, the side with greater force is adjusted to be closer to the contact target workpiece on the other side, so as to balance the cutting force, so as to balance the forces on both sides of the polishing head surface.

[0044] In addition, in the case that the target adjustment amount is greater than the allowable adjustment amount, the embodiment reduces the speed of the driving motor to drive the first slider and the third slider to slide on the corresponding sliding rail by a reference distance until the target adjustment amount is less than the allowable adjustment amount. It can be understood that in the case that the target adjustment amount is greater than the allowable adjustment amount, it indicates that the adjustable stroke is not enough to achieve the effect of balancing the force, and the embodiment first controls the driving motor to drive the first slider and the third slider to slide on the corresponding sliding rail by a reference distance (reverse movement), that is, to release the stroke first and then optimize the force. In this process, in order to avoid short-term force deterioration, the embodiment reduces the speed of the driving motor, reduces the moving speed of the slider, and reduces the impact until the target adjustment amount is less than the allowable adjustment amount. In this way, it can avoid the situation that the insufficient allowable adjustment amount cannot guarantee the adjustment effect of uniform force, improve the service life of the polishing head, and guarantee the quality of the target workpiece.

[0045] It should be noted that in the adjustment process, the specific allocation of the target adjustment amount in the first distance and the second distance in the embodiment of the application is a uniform adjustment mode. For example, the embodiment takes the direction close to the first pressure sensor and the second pressure sensor as the positive direction, and the direction away from the first pressure sensor and the second pressure sensor as the negative direction. When the first difference is greater than 0 and the target adjustment amount is 2mm, the first distance is determined to be +1mm and the second distance is determined to be -1mm.

[0046] In addition, in some embodiments, after step S20 is performed, Figure 2 The polishing head control method based on the polishing device 100 provided by the application embodiment further includes but is not limited to the following steps after step S20 is performed: Step S34, determining a reference number of times the absolute value of the first difference exceeds the first threshold, and a second difference corresponding to each time the absolute value of the first difference exceeds the first threshold, wherein the second difference is the difference between the first difference and the first threshold; Step S35, generating a target curve based on all the second differences in chronological order; Step S36 : When the target curve indicates that the second difference has an increasing trend over time, and the number of reference times within a preset time period exceeds a second threshold, an alarm message is generated based on the target curve and the reference times.

[0047] It is understandable that the key to ensuring the quality of the target workpiece lies in the ability to evenly apply force to the surface of the grinding head when grinding the workpiece. If the second difference in the target curve generated based on the reference number of times the absolute value of the first difference exceeds the first threshold, and the second difference corresponding to each time the absolute value of the first difference exceeds the first threshold, shows an increasing trend over time, and the number of reference times within a preset time period exceeds the second threshold, it indicates that the current grinding head has a major hardware defect, and that multiple balanced force adjustment operations have not improved the situation, making it impossible to ensure the quality of the workpiece. At this time, an alarm message is generated and sent, suggesting that relevant personnel replace the grinding head with a new one.

[0048] like Figure 3 As shown, Figure 3 : is a structural diagram of a control device provided in one embodiment of the present application. The present invention also provides a control device 300, comprising: The processor 310 may be implemented as a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured to execute relevant programs to implement the technical solutions provided in the embodiments of the present application. The memory 320 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 320 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 320 and is called by the processor 310 to execute the grinding head control method of the embodiments of this application. Input / output interface 330, used to implement information input and output; Communication interface 340, used to implement communication interaction between the apparatus and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, Wi-Fi, Bluetooth, etc.); bus 350 , which transmits information between various components of the device (e.g., processor 310 , memory 320 , input / output interface 330 , and communication interface 340 ); The processor 310 , the memory 320 , the input / output interface 330 and the communication interface 340 are connected to each other in communication within the device via the bus 350 .

[0049] In addition, an embodiment of the present application further provides an electronic device, including the control device 300 of the above embodiment.

[0050] In addition, an embodiment of the present application further provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned grinding head control method is implemented.

[0051] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely located relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned networks include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0052] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0053] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above implementation. Those skilled in the art can also make various equivalent modifications or substitutions under the shared conditions that do not violate the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A grinding device, characterized in that: include: grinding head; a mounting frame connected to the grinding head; A mounting plate, wherein one end of the mounting frame away from the grinding head is connected to the mounting plate via a connecting rod; A slide rail assembly, the slide rail assembly comprising a first slide rail and a second slide rail parallel to each other, the first slide rail being provided with a first slider and a second slider, the second slide rail being provided with a third slider and a fourth slider, the mounting frame being fixedly connected to the first slider and the third slider respectively, and the mounting plate being fixedly connected to the second slider and the fourth slider respectively; a first pressure sensor connected to the second slider; a second pressure sensor connected to the fourth slider; A driving motor is connected to the first slider and the third slider, and the second slider and the fourth slider are not connected to the driving motor.

2. A grinding head control method, characterized in that: Applied to the grinding device according to claim 1, the method comprises: When the grinding head starts grinding a target workpiece, detecting a first reading of the first pressure sensor and a second reading of the second pressure sensor, wherein the first reading is used to indicate a force value on a first side of the grinding head surface, and the second reading is used to indicate a force value on a second side of the grinding head surface, the first side being opposite to the second side; When the absolute value of the first difference between the first reading and the second reading exceeds a first threshold, based on the first reading and the second reading, the first slider is driven by the drive motor to slide a first distance on the first slide rail, and the third slider is driven to slide a second distance on the second slide rail.

3. The grinding head control method according to claim 2, characterized in that: Based on the first reading and the second reading, driving the first slider to slide a first distance on the first slide rail, and driving the third slider to slide a second distance on the second slide rail by the driving motor, comprises: determining the diameter of the grinding head; Inputting the diameter, the first reading, the second reading, and the absolute value of the first difference into a preset formula to calculate a target adjustment amount, wherein the target adjustment amount is used to indicate the height difference between the first side and the second side of the grinding head in the horizontal direction; determining the first distance and the second distance based on the first difference and the target adjustment amount; The driving motor drives the first slider to slide a first distance on the first slide rail, and drives the third slider to slide a second distance on the second slide rail, wherein the difference between the first distance and the second distance is the target adjustment amount.

4. The grinding head control method according to claim 3, characterized in that: After driving the first slider to slide a first distance on the first slide rail and driving the third slider to slide a second distance on the second slide rail by the driving motor, the method further includes: detecting the current first difference, and when the absolute value of the first difference is less than the first threshold, recording the first difference before adjusting the slider and the corresponding target adjustment amount; establishing an adjustment mapping table based on the recorded first difference and the corresponding target adjustment amount, wherein the adjustment mapping table is used to represent a mapping relationship between the first difference between the first reading and the second reading and the adjustment amount of the slider; When it is detected again that the absolute value of the first difference exceeds the first threshold, the adjustment amount corresponding to the current first difference in the adjustment mapping table is determined as the target adjustment amount, the first distance and the second distance are determined based on the current first difference and the currently determined target adjustment amount, and the first slider is driven by the drive motor to slide the first distance on the first slide rail, and the third slider is driven to slide the second distance on the second slide rail.

5. The grinding head control method according to claim 3 or 4, characterized in that: The first slide rail and the second slide rail have the same slide rail length, the first distance and the second distance are determined based on the first difference and the target adjustment amount, and the first slider is driven by the drive motor to slide the first distance on the first slide rail, and the third slider is driven to slide the second distance on the second slide rail, including: determining a current first position of the first slider on the first slide rail, and determining a second position of the third slider on the second slide rail, and determining an allowable adjustment amount based on the first position, the second position, and the length of the slide rail, wherein the allowable adjustment amount is a maximum displacement difference that the first slider and the third slider can adjust on the corresponding slide rail without colliding with the physical limits of the first slide rail and the second slide rail; When the first difference is less than 0 and the target adjustment amount is less than or equal to the allowable adjustment amount, the first distance and the second distance are calculated based on the target adjustment amount, the first slider is driven by the drive motor to slide the first distance on the first slide rail in a direction away from the second slider, and the third slider is driven to slide the second distance on the second slide rail in a direction close to the fourth slider, wherein the difference between the first position and the second position after the adjustment is completed is the target adjustment amount; When the first difference is greater than 0 and the target adjustment amount is less than or equal to the allowable adjustment amount, the first distance and the second distance are calculated based on the target adjustment amount, and the first slider is driven by the drive motor to slide the first distance on the first slide rail toward the second slider, and the third slider is driven to slide the second distance on the second slide rail toward the fourth slider; When the target adjustment amount is greater than the allowable adjustment amount, the rotation speed of the drive motor is reduced to drive the first slider and the third slider to slide on the corresponding slide rails for a reference distance through the drive motor until the target adjustment amount is less than the allowable adjustment amount.

6. The grinding head control method according to claim 3, characterized in that: After determining the first distance and the second distance based on the first difference and the target adjustment amount, the method further includes: Determining a target time period for driving the first slider to slide on the first slide rail to complete the first distance, and for driving the third slider to slide on the second slide rail to complete the second distance, by the drive motor; The readings of the first pressure sensor and the second pressure sensor within the target time period are deleted.

7. The grinding head control method according to claim 2, characterized in that: After driving the first slider to slide a first distance on the first slide rail and driving the third slider to slide a second distance on the second slide rail by the driving motor, the method further includes: determining a reference number of times that the absolute value of the first difference is detected to exceed the first threshold, and a second difference corresponding to each time the absolute value of the first difference exceeds the first threshold, wherein the second difference is the difference between the first difference and the first threshold; generating a target curve based on all the second differences in chronological order; When the target curve indicates that the second difference has an increasing trend over time, and the number of reference times within a preset time period exceeds a second threshold, an alarm message is generated based on the target curve and the reference times.

8. A control device, characterized in that: The device comprises at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor to execute the grinding head control method according to any one of claims 2 to 7.

9. An electronic device, characterized in that: Comprising the control device according to claim 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the grinding head control method according to any one of claims 2 to 7.

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