Polishing device and polishing head control method, apparatus, device, and storage medium thereof

Abstract

The application discloses a polishing device and a polishing head control method, device and equipment thereof and a storage medium. The polishing device comprises a polishing head, a mounting rack connected with the polishing head, a mounting plate connected with one end of the mounting rack away from the polishing head, a slide rail assembly comprising first and second slide rails provided with first and second sliding blocks and second and fourth slide rails provided with third and fourth sliding blocks, the mounting rack being connected with the first and third sliding blocks, and the mounting plate being connected with the second and fourth sliding blocks, a first pressure sensor connected with the second sliding block, a second pressure sensor connected with the fourth sliding block, a driving motor connected with the first and third sliding blocks, and the second and fourth sliding blocks not being connected with the driving motor. When the reading difference of the two pressure sensors of the running polishing head is greater than a preset threshold, the first and third sliding blocks are controlled to slide on the respective slide rails by the driving motor, so that the polishing head can be balanced when polishing a target workpiece.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of polishing technology, and in particular to a polishing device and a polishing head control method, apparatus, equipment, and storage medium thereof. Background Technology

[0002] In the grinding process of workpieces such as frames and tiles, grinding and polishing equipment is needed to remove minor imperfections and uneven parts from the workpiece surface, resulting in a smooth and even surface. The grinding head of the grinding and polishing equipment comes into direct contact with the workpiece. Over time, the abrasive on the surface of the grinding head will wear down. This wear leads to inconsistent surface roughness, resulting in an uneven distribution of friction. This uneven force distribution during grinding affects the quality of the workpiece. Summary of the Invention

[0003] This application provides a grinding device and a grinding head control method, apparatus, equipment, and storage medium, which can effectively control the uniform force on the grinding head during the grinding process and ensure the processing quality of the workpiece.

[0004] In a first aspect, embodiments of this application provide a polishing apparatus, comprising:

[0005] Grinding head;

[0006] Mounting bracket, which is connected to the grinding head;

[0007] Mounting plate, the end of the mounting bracket away from the grinding head is connected to the mounting plate via a connecting rod;

[0008] A slide rail assembly includes a first slide rail and a second slide rail that are parallel to each other. The first slide rail is provided with a first slider and a second slider. The second slide rail is provided with a third slider and a fourth slider. The mounting bracket is fixedly connected to the first slider and the third slider respectively. The mounting plate is fixedly connected to the second slider and the fourth slider respectively.

[0009] A first pressure sensor is connected to the second slider;

[0010] The second pressure sensor is connected to the fourth slider;

[0011] A drive motor is provided, which is connected to the first slider and the third slider, while the second slider and the fourth slider are not connected to the drive motor.

[0012] Secondly, embodiments of this application provide a grinding head control method, which is applied to the grinding equipment of the first aspect, the method comprising:

[0013] 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 on a first side of the surface of the grinding head, and the second reading is used to indicate the force value on a second side of the surface of the grinding head, with the first side and the second side being opposite each other;

[0014] 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.

[0015] 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 via the drive motor, and driving the third slider to slide a second distance on the second slide rail, includes:

[0016] Determine the diameter of the grinding head;

[0017] The absolute values ​​of the diameter, the first reading, the second reading, and the first difference are input into a preset formula to calculate the target adjustment amount, wherein the target adjustment amount is used to indicate the height difference in the horizontal direction between the first side and the second side of the grinding head;

[0018] 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.

[0019] In some embodiments, after driving the first slider to slide a first distance on the first slide rail by the drive motor and driving the third slider to slide a second distance on the second slide rail, the method further includes:

[0020] Detect the current first difference; when the absolute value of the first difference is less than the first threshold, record the first difference before adjusting the slider and the corresponding target adjustment amount.

[0021] 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.

[0022] When the absolute value of the first difference is detected to exceed the first threshold again, the adjustment amount corresponding to the current first difference in the adjustment mapping table is determined as the target adjustment amount. Based on the current first difference and the currently determined target adjustment amount, the first distance and the second distance are determined. The first slider is driven to slide a first distance on the first slide rail by the drive motor, and the third slider is driven to slide a second distance on the second slide rail.

[0023] In some embodiments, the first slide rail and the second slide rail have the same length. The first distance and the second distance are determined based on the first difference and the target adjustment amount. 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. This includes:

[0024] The first slider is currently at a first position on the first slide rail, and the third slider is at a second position on the second slide rail. Based on the first position, the second position, and the length of the slide rail, an allowable adjustment amount is determined, wherein the allowable adjustment amount is the 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.

[0025] 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 away from the second slider on the first slide rail, and the third slider is driven to slide the second distance closer to the fourth slider on the second slide rail. The difference between the first position and the second position after adjustment is the target adjustment amount.

[0026] 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. The first slider is driven by the drive motor to slide the first distance on the first slide rail towards the direction of the second slider, and the third slider is driven to slide the second distance on the second slide rail away from the fourth slider.

[0027] If the target adjustment amount is greater than the allowable adjustment amount, the speed of the drive motor is reduced so that the first slider and the third slider are driven by the drive motor to slide a reference distance on the corresponding slide rail until the target adjustment amount is less than the allowable adjustment amount.

[0028] 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:

[0029] Determine the target time interval for driving the first slider to slide on the first slide rail to complete the first distance via the drive motor, and for driving the third slider to slide on the second slide rail to complete the second distance;

[0030] Delete the readings of the first pressure sensor and the second pressure sensor within the target time period.

[0031] In some embodiments, after driving the first slider to slide a first distance on the first slide rail by the drive motor and driving the third slider to slide a second distance on the second slide rail, the method further includes:

[0032] Determine 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;

[0033] The target curve is generated based on all the second differences in chronological order.

[0034] When the target curve indicates that the second difference has a numerical increasing trend over time, and the number of reference counts exceeds a second threshold within a preset time period, an alarm message is generated based on the target curve and the number of reference counts.

[0035] Thirdly, embodiments of this application provide a control device, including at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, which, when executed by the at least one control processor, enable the at least one control processor to perform the grinding head control method as described in the second aspect.

[0036] Fourthly, embodiments of this application also provide an electronic device, including the control device of the third aspect.

[0037] Fifthly, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions for performing the grinding head control method as described in the second aspect.

[0038] This application provides a grinding device and a grinding head control method, apparatus, equipment, and storage medium. The grinding device includes: a grinding head; a mounting bracket connected to the grinding head; a mounting plate, with one end of the mounting bracket away from the grinding head connected to the mounting plate via a connecting rod; a slide rail assembly, including a first slide rail and a second slide rail that are parallel to each other, the first slide rail having a first slider and a second slider, the second slide rail having a third slider and a fourth slider, the mounting bracket 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; and a drive motor connected to the first slider and the third slider, while the second slider and the fourth slider are not connected to the drive motor. According to the solution provided in the embodiments of this application, when the grinding head detects that the difference in readings of two pressure sensors is greater than a preset threshold during operation, the first and third sliders at the far end can be controlled by the drive 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 grinding head can be balanced when grinding the target workpiece after adjustment, effectively ensuring the processing quality of the target workpiece. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of a grinding device provided in one embodiment of this application;

[0040] Figure 2 This is a flowchart of the steps of a grinding head control method provided in another embodiment of this application;

[0041] Figure 3 This is a structural diagram of a control device provided in another embodiment of this application.

[0042] Figure label:

[0043] Grinding head 110; mounting bracket 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 Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] It is understandable that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0046] In the grinding process of workpieces such as frames and tiles, grinding and polishing equipment is needed to remove minor imperfections and uneven parts from the workpiece surface, resulting in a smooth and even surface. The grinding head of the grinding and polishing equipment comes into direct contact with the workpiece. Over time, the abrasive on the surface of the grinding head will wear down. This wear leads to inconsistent surface roughness, resulting in an uneven distribution of friction. This uneven force distribution during grinding affects the quality of the workpiece.

[0047] To address the aforementioned problems, this application provides a grinding device and its grinding head control method, apparatus, equipment, and storage medium. The grinding device includes: a grinding head; a mounting bracket connected to the grinding head; a mounting plate, with one end of the mounting bracket away from the grinding head connected to the mounting plate via a connecting rod; a slide rail assembly, comprising a first slide rail and a second slide rail parallel to each other, the first slide rail having a first slider and a second slider, the second slide rail having a third slider and a fourth slider, the mounting bracket 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; and a drive motor connected to the first slider and the third slider, while the second slider and the fourth slider are not connected to the drive motor. According to the solution provided in the embodiments of this application, when the grinding head detects that the difference in readings of two pressure sensors is greater than a preset threshold during operation, the first slider and the third slider can be controlled to slide on their respective slide rails by driving the motor, so as to adjust the force on both sides of the contact surface between the grinding head and the target workpiece, so that the grinding head can be balanced when grinding the target workpiece after adjustment, effectively ensuring the processing quality of the target workpiece.

[0048] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0049] refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a grinding device provided in one embodiment of this application. This embodiment of the application provides a grinding device 100, including:

[0050] Grinding head 110;

[0051] Mounting bracket 120, which is connected to grinding head 110;

[0052] Mounting plate 130, the end of mounting bracket 120 away from grinding head 110 is connected to mounting plate 130 via connecting rod 121;

[0053] 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 bracket 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.

[0054] The first pressure sensor 150 is connected to the second slider 1412;

[0055] The second pressure sensor 160 is connected to the fourth slider 1422;

[0056] The drive 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 drive motor.

[0057] Understandably, reference Figure 1The grinding device 100 in 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 top two ends 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 a first slide rail 141, and the third slider 1421 is slidably connected to a second slide rail 142. The top of the mounting plate 130... 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. The drive motor is connected to the first slider 1411 and the third slider 1421 respectively, but not 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.As can be seen, based on this structural foundation, when the grinding head 110 is in operation, i.e., during the grinding of the target workpiece, the first pressure sensor 150 and the second pressure sensor 160 can detect the forces acting on both sides of the surface of the grinding head 110. Specifically, the drive motor is connected to the first slider 1411 and the second slider 1412 respectively. The first side of the surface of the grinding head 110 corresponding to the position of the first slider 1411 or the second side of the surface of the grinding head 110 corresponding to the position of the second slider 1412 will be subjected to force during the grinding process. Regarding the first side, the grinding head 110 moves towards the second side under the action of the force. The first slider 1411 pushes the mounting bracket 120 in one direction, causing the first slider 1411 to move closer to the second slider 1412. Since the mounting bracket 120 is connected to the mounting plate 130 via the connecting rod 121, the end of the mounting plate 130 connected to the second slider 1412 is driven by the mounting bracket 120 to push the second slider 1412 closer to the first pressure sensor 150. In this way, the first pressure sensor 150 connected to the second slider 1412 can detect the first reading on the first side of the grinding head 110; similarly, for the second side, the grinding head 110 applies force... Pushing the mounting bracket 120 downwards towards one side of the third slider 1421 causes the third slider 1421 to move along the second slide rail 142 towards the fourth slider 1422. Since the mounting bracket 120 is connected to the mounting plate 130 via the connecting rod 121, the end of the mounting plate 130 connected to the fourth slider 1422 is driven by the mounting bracket 120 to push the fourth slider 1422 towards the second pressure sensor 160. Thus, the second pressure sensor 160 connected to the fourth slider 1422 can detect the second reading on the second side of the grinding head 110; thereby, the grinding equipment... The 100 can determine whether the surface of the grinding head 110 is uniformly stressed based on the force readings of the first pressure sensor 150 and the second pressure sensor 160. In the event of uneven stress on the surface of the grinding head 110 (e.g., the difference between the readings of the two pressure sensors is greater than a preset threshold), the 100 can control the first slider 1411 and the third slider 1421 of the grinding head 110 to slide on their respective slide rails via the drive motor to adjust the stress on both sides of the contact surface between the grinding head 110 and the target workpiece. This ensures that the grinding head 110 is subjected to balanced stress when grinding the target workpiece, thereby guaranteeing the processing quality of the target workpiece.

[0058] It should be noted that this embodiment does not limit the connection method between the mounting bracket 120 and the first slider 1411 and the third slider 1421, nor does it limit the connection method between the mounting plate 130 and the second slider 1412 and the fourth slider 1422. The connection can be as follows: Figure 1As shown, the mounting bracket 120 is connected to the first slider 1411 and the third slider 1421 via the first connecting plate 122. 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 via the second connecting plate 131. The second slider 1412 and the fourth slider 1422 are respectively connected to the two ends of the second connecting plate 131.

[0059] It should be noted that in this embodiment, the connecting rod 121 connects the mounting bracket 120 and the mounting plate 130 respectively, and is used to transmit the force 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, multiple connecting rods 121 are provided in this embodiment. The connecting rods 121 are symmetrically distributed between the mounting bracket 120 and the mounting plate 130, such as... Figure 1 As shown, the mounting bracket 120 and the mounting plate 130 are provided with two connecting rods 121 on the side near the first slide rail 141. Correspondingly, the mounting bracket 120 and the mounting plate 130 are provided with two connecting rods 121 on the side near the second slide rail 142.

[0060] It should be noted that in this embodiment, the drive motor is connected to the first slider 1411 and the third slider 1421, so that when it is necessary to adjust the height of both sides of the grinding head 110 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. The drive motor is not connected to the second slider 1412 and the fourth slider 1422. This avoids pushing the second slider 1412 and the fourth slider 1422 when the drive motor adjusts the sliding distance of the first slider 1411 and the third slider 1421 on their respective slide rails, thereby preventing frequent changes in the pressure sensor readings.

[0061] refer to Figure 2 , Figure 2 This is a flowchart illustrating the steps of a grinding head control method based on a grinding device 100 according to another embodiment of this application. This application provides a grinding head control method based on a grinding device 100, which is applied to the grinding device 100 described above. The method includes, but is not limited to, the following steps:

[0062] Step S10: When the grinding head starts grinding the target workpiece, detect the first reading of the first pressure sensor and the second reading of the second pressure sensor, wherein 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, with the first side and the second side being opposite to each other.

[0063] It is understandable that, since the first reading is used to indicate the force value on a first side of the grinding head surface, and the second reading is used to indicate the force value on a second side of the grinding head surface, the first side and the second side are opposite to each other, 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 on the opposite sides of the grinding head that is running at the remote end can be detected. This provides an effective data basis for determining whether there is uneven force on the surface of the grinding head during the grinding process of the workpiece, and for subsequently determining the adjustment scale of the second slider and the fourth slider on the corresponding slide rails to achieve a balanced force on the surface of the grinding head.

[0064] It should be noted that the embodiments of this application may involve real-time detection of the first and second readings, or periodic detection of the first and second readings.

[0065] Step S20: When the absolute value of the first difference between the first reading and the second reading exceeds the 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.

[0066] Specifically, in this embodiment, the first threshold is a boundary value of the first difference between the first force value (i.e., the first reading) on ​​the first side and the force value (i.e., the second reading) on ​​the second side, which is a preset value to ensure that the surface of the grinding head is subjected to uniform force. When the absolute value of the first difference exceeds the first threshold, it indicates that the surface of the grinding head is subjected to uneven force on both sides. When the first difference is less than the first threshold, it indicates that the surface of the grinding head is subjected to uniform force.

[0067] It is understood that, referring to the description of the above embodiments, when the absolute value of the first difference between the first reading and the second reading exceeds the first threshold, 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 respective slide rails are determined by the preset strategy inside the grinding equipment 100, and the first slider and the third slider are driven by the drive motor. That is, by adjusting the height difference between the two 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 balanced when grinding the target workpiece, thus ensuring the processing quality of the target workpiece.

[0068] Specifically, in some embodiments, Figure 2 Step S20 includes, but is not limited to, the following steps:

[0069] Step S21: Determine the diameter of the grinding head;

[0070] Step S22: Input the absolute values ​​of the diameter, the first reading, the second reading and the first difference into the preset formula to calculate the 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;

[0071] Step S23: Determine the first distance and the second distance based on the first difference and the target adjustment amount;

[0072] Step S24: Drive the first slider to slide a first distance on the first slide rail by the drive motor, and drive 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.

[0073] It should be noted that the expression of the preset formula in this embodiment is as follows:

[0074] ;

[0075] in, Adjust the amount to the target. k The preset empirical coefficient (with a value range of 0.1 to 0.3) D The diameter of the grinding head. The first difference, This is the first reading. This is the second reading.

[0076] It should be noted that, in this embodiment, after calculating the target adjustment amount based on the preset formula, and controlling the drive motor to drive the first slider to slide a first distance on the first slide rail and the third slider to slide a second distance on the second slide rail based on the target adjustment amount, the first and second readings 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, a new target adjustment amount is calculated again using the preset formula and the newly detected first and second readings and the first difference, and the adjustment is performed until the first difference is less than the first threshold. Alternatively, the system can wait for the next time node to detect the first and second readings. If the first difference between the first and second readings is greater than the first threshold, a new target adjustment amount is calculated again based on the first and second readings, the current first difference, and the preset formula, and the adjustment is performed.

[0077] In addition, in some embodiments, after performing step S23, the grinding head control method based on the grinding equipment 100 provided in the application embodiment further includes, but is not limited to, the following steps:

[0078] Step S231: Determine the target time period for driving the first slider to slide on the first slide rail to complete the first distance by driving the first slider to slide on the second slide rail to complete the second distance by driving the third slider to slide on the second slide rail.

[0079] Step S232: Delete the readings of the first pressure sensor and the second pressure sensor within the target time period.

[0080] Understandably, reference Figure 1 Because the mounting bracket and the mounting plate are connected, and the first and third sliders are connected to the two ends of the top of the mounting bracket, and the second and fourth sliders are connected to the two ends of the top of the mounting plate, when the drive motor drives the first and third sliders to slide on their respective slide rails, it will cause the mounting bracket to move. The mounting plate is driven by the mounting bracket, which in turn causes the second and fourth sliders to move, resulting in changes in the readings of the first and second pressure sensors. The readings of the pressure sensors collected during the adjustment of the displacement of the first and third sliders 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 and second pressure sensors within the target time period to avoid affecting the accuracy of determining whether the force on the surface of the grinding head is uniform.

[0081] Additionally, in some embodiments, during execution Figure 2 After step S20, the grinding head control method based on the grinding equipment 100 provided in the application embodiment further includes, but is not limited to, the following steps:

[0082] Step S31: Detect the current first difference. When the absolute value of the first difference is less than the first threshold, record the first difference before adjusting the slider and the corresponding target adjustment amount.

[0083] Step S32: Establish an adjustment mapping table 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.

[0084] Step S33: When the absolute value of the first difference is detected to exceed the first threshold again, the adjustment amount corresponding to the current first difference in the adjustment mapping table is determined as the target adjustment amount. Based on the current first difference and the currently determined target adjustment amount, the first distance and the second distance are determined. 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.

[0085] It is understandable that if the first difference between the first reading and the second reading is detected to be greater than the first threshold each time the algorithm corresponding to the preset formula is called in real time to calculate the target adjustment amount once, there will be a calculation delay, which will prevent the grinding head with uneven force from being quickly adjusted. 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 adjusting the 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 to exceed the first threshold again, the adjustment amount corresponding to the current first difference in the adjustment mapping table is determined as the target adjustment amount. Based on the current first difference and the currently determined target adjustment amount, the first distance and the second distance are determined, and the first slider is driven to slide the first distance on the first slide rail by the drive motor, and the third slider is driven to slide the second distance on the second slide rail. In other words, by recording the first difference and target adjustment amount of the displacement of the first and third sliders on the corresponding slide rails 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 (i.e. when the grinding head is subjected to uneven force), the target adjustment amount to be adjusted can be quickly determined by looking up the table based on the first difference, thereby achieving rapid balance of the force on the surface of the grinding head and ensuring the quality of the workpiece.

[0086] Specifically, in some embodiments, the first slide rail and the second slide rail have the same length, and step S24 includes, but is not limited to, the following steps:

[0087] Step S241: Determine the first position of the first slider on the first slide rail and the second position of the third slider on the second slide rail, and determine the allowable adjustment amount based on the first position, the second position and the slide rail length, wherein the allowable adjustment amount is the 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.

[0088] 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, 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 away from the second slider on the first slide rail, and the third slider is driven to slide the second distance closer to the fourth slider on the second slide rail. The difference between the first position and the second position after adjustment is the target adjustment amount.

[0089] 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, 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 towards the direction of the second slider, and the third slider is driven on the second slide rail to slide the second distance away from the fourth slider.

[0090] Step S244: If the target adjustment amount is greater than the allowable adjustment amount, reduce the speed of the drive motor so that the first slider and the third slider can slide a reference distance on the corresponding slide rails until the target adjustment amount is less than the allowable adjustment amount.

[0091] It is understandable that both the first and second slide rails have fixed sliding strokes. 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 and second slide rails. This is to avoid collisions with the physical limits of the corresponding slide rails during the process of driving the first slider to slide a first distance and driving the third slider to slide a second distance, which could lead to adjustment failure, deterioration of force, or even equipment damage.

[0092] Specifically, the formula for calculating the allowable adjustment amount in this embodiment is as follows:

[0093] Δ h allow =2×min(Δ L 1,Δ L 2);

[0094] Δ L 1= L max - P 1； ;

[0095] Δ L 2= P 2;

[0096] Where, Δ h allow To allow for adjustment, Δ L 1 represents the remaining travel of the first slider on the first slide rail, Δ L 2 represents the remaining travel of the third slider on the second slide rail. L max The length of the slide rail. P 1 is the first position. P 2 is the second position.

[0097] It is understandable that a first difference greater than 0 indicates that the force on the first side of the grinding head surface is greater than the force on the second side, and a first difference less than 0 indicates that the force on the first side of the grinding head surface is less than the force on the second side. In this embodiment, 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 slider is driven by the drive motor to slide a first distance away from the second slider on the first slide rail, and the third slider is driven by the drive motor to slide a second distance towards the fourth slider on the second slide rail. The difference between the first distance and the second distance 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. The first slider is driven by the drive motor to slide a first distance towards the second slider on the first slide rail, and the third slider is driven by the drive motor to slide a second distance away from the fourth slider on the second slide rail. That is, whichever side has a greater force, the other side is adjusted to be closer to the target workpiece, thereby balancing the cutting force and achieving the purpose of balancing the forces on both sides of the grinding head surface.

[0098] Furthermore, when the target adjustment amount is greater than the allowable adjustment amount, this embodiment reduces the speed of the drive motor to drive the first and third sliders to slide a reference distance on the corresponding slide rails until the target adjustment amount is less than the allowable adjustment amount. It can be understood that when the target adjustment amount is greater than the allowable adjustment amount, it means that the adjustable stroke is insufficient to achieve the effect of balancing the force. In this embodiment, the drive motor is first controlled to drive the first and third sliders to slide a reference distance on the corresponding slide rails (reverse movement), that is, the stroke is released first and then the force is optimized. In this process, in order to avoid short-term deterioration of the force, this embodiment reduces the speed of the drive motor, reduces the slider movement speed, and reduces impact until the target adjustment amount is less than the allowable adjustment amount. This can avoid the inability to guarantee the uniform force adjustment effect due to insufficient allowable adjustment amount, improve the service life of the grinding head, and ensure the quality of the target workpiece.

[0099] It should be noted that, during the adjustment process, the specific allocation of the target adjustment amount between the first distance and the second distance in this embodiment is an even distribution adjustment method. For example, in this embodiment, the direction closer to the first pressure sensor and the second pressure sensor is defined as the positive direction, and the direction farther away from the first pressure sensor and the second pressure sensor is defined as the negative direction. When the first difference is greater than 0, the target adjustment amount is 2mm, the first distance is determined to be +1mm, and the second distance is determined to be -1mm.

[0100] Additionally, in some embodiments, during execution Figure 2 After step S20, the grinding head control method based on the grinding equipment 100 provided in the application embodiment further includes, but is not limited to, the following steps:

[0101] Step S34: Determine 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, wherein the second difference is the difference between the first difference and the first threshold;

[0102] Step S35: Generate the target curve based on all the second differences in chronological order;

[0103] Step S36: When the target curve represents the second difference with a trend of increasing value over time, and the number of references within a preset time period exceeds the second threshold, an alarm message is generated based on the target curve and the number of references.

[0104] Understandably, the key to ensuring the quality of the target workpiece lies in ensuring uniform force on the surface of the grinding head during grinding. If, based on the reference number of times the absolute value of the first difference exceeds the first threshold, and the second difference in the target curve corresponding to each instance of the absolute value of the first difference exceeding the first threshold shows a trend of increasing value over time, and the number of reference counts within a preset time period exceeds the second threshold, it indicates that the current grinding head has a significant hardware defect. Multiple force balancing adjustments have failed to improve the situation, and workpiece quality cannot be guaranteed. In this case, an alarm message is generated and sent, recommending that relevant personnel replace the grinding head.

[0105] like Figure 3 As shown, Figure 3 This is a structural diagram of a control device provided in one embodiment of this application. The present invention also provides a control device 300, comprising:

[0106] The processor 310 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0107] The memory 320 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 320 can store the operating system and other applications. 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 and executed by the processor 310 using the grinding head control method of the embodiments of this application.

[0108] Input / output interface 330 is used to realize information input and output;

[0109] The communication interface 340 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0110] Bus 350 transmits information between various components of the device (e.g., processor 310, memory 320, input / output interface 330, and communication interface 340);

[0111] The processor 310, memory 320, input / output interface 330 and communication interface 340 are connected to each other within the device via bus 350.

[0112] In addition, this application also provides an electronic device, including the control device 300 described in the above embodiments.

[0113] In addition, this application embodiment also provides a storage medium, which is a computer-readable storage medium, storing a computer program that, when executed by a processor, implements the above-described grinding head control method.

[0114] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate, and may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0115] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can 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 can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is 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 disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0116] The above provides a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A method of controlling a polishing head, characterized by, The application is applied to a polishing device, which comprises a polishing head, a mounting frame connected with the polishing head, a mounting plate connected with the mounting frame through a connecting rod, a 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 sliding block and a second sliding block, the second slide rail being provided with a third sliding block and a fourth sliding block, the mounting frame being fixedly connected with the first sliding block and the third sliding block respectively, the mounting plate being fixedly connected with the second sliding block and the fourth sliding block respectively, a first pressure sensor connected with the second sliding block, a second pressure sensor connected with the fourth sliding block, and a driving motor connected with the first sliding block and the third sliding block, the second sliding block and the fourth sliding block not being connected with the driving motor, and the method comprises the following steps: In the case that the polishing head starts polishing a 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 polishing head surface, and the second reading is used to indicate the force value of the second side of the polishing 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 value, the first sliding block is driven to slide a first distance on the first slide rail and the third sliding block is driven to slide a second distance on the second slide rail based on the first reading and the second reading through the driving motor; Wherein, driving the first sliding block to slide a first distance on the first slide rail and driving the third sliding block to slide a second distance on the second slide rail based on the first reading and the second reading through the driving motor comprises the following steps: Determine the diameter of the polishing head; Input 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 polishing head in the horizontal direction; Determine the first distance and the second distance based on the first difference and the target adjustment amount; Drive the first sliding block to slide a first distance on the first slide rail and drive the third sliding block to slide a second distance on the second slide rail through the driving motor, wherein the difference between the first distance and the second distance is the target adjustment amount.

2. The polishing head control method of claim 1, wherein, After driving the first sliding block to slide a first distance on the first slide rail and driving the third sliding block to slide a second distance on the second slide rail through the driving motor, the method further comprises the following steps: Detect the current first difference, and when the absolute value of the first difference is less than the first threshold value, record the first difference before the adjustment sliding block and the corresponding target adjustment amount. establish an adjustment mapping table based on the first difference value and the corresponding target adjustment amount, the adjustment mapping table being used to represent a mapping relationship between the first difference value between the first reading and the second reading and an adjustment amount of the slider; when the absolute value of the first difference value is detected to exceed the first threshold value again, determining the adjustment amount corresponding to the current first difference value in the adjustment mapping table as a target adjustment amount, determining the first distance and the second distance based on the current first difference value and the currently determined target adjustment amount, and driving the first slider to slide on the first slide rail by a first distance and driving the third slider to slide on the second slide rail by a second distance through the driving motor.

3. The polishing head control method according to claim 1 or 2, characterized by, the slide rail lengths of the first slide rail and the second slide rail are the same, the first distance and the second distance are determined based on the first difference value and the target adjustment amount, and the first slider is driven to slide on the first slide rail by the first distance and the third slider is driven to slide on the second slide rail by the second distance through the driving motor, including: determining a first position of the current first slider on the first slide rail and 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 slide rail length, 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 limit of the first slide rail and the second slide rail; when the first difference value 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 to slide on the first slide rail by the first distance in a direction away from the second slider, and the third slider is driven to slide on the second slide rail by the second distance in a direction close to the fourth slider through the driving motor, wherein the difference between the first position and the second position after adjustment is the target adjustment amount; when the first difference value 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 slide rail by the first distance in a direction close to the second slider, and the third slider is driven to slide on the second slide rail by the second distance in a direction away from the fourth slider through the driving motor; in the case where the target adjustment amount is greater than the allowable adjustment amount, the speed of the driving motor is reduced to drive the first slider and the third slider to slide on the corresponding slide rail by a reference distance through the driving motor until the target adjustment amount is less than the allowable adjustment amount.

4. The polishing head control method of claim 1, wherein, after determining the first distance and the second distance based on the first difference value 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 by the first distance and driving the third slider to slide on the second slide rail by the second distance by the driving motor; deleting the readings of the first pressure sensor and the second pressure sensor in the target time period.

5. The polishing head control method of claim 1, wherein, After driving the first slider to slide on the first slide rail by the first distance and driving the third slider to slide on the second slide rail by the second distance by the driving motor, the method further comprises: determining a reference number of times when the absolute value of the first difference exceeds the first threshold value and a second difference corresponding to each time when the absolute value of the first difference exceeds the first threshold value, wherein the second difference is the difference between the first difference and the first threshold value; generating a target curve in chronological order based on all the second differences; when the target curve represents that the second difference has a trend of increasing in value with time and the number of the reference number of times exceeds a second threshold value in a preset time period, generating an alarm information based on the target curve and the reference number of times.

6. A control device characterized by comprising: The control device comprises at least one control processor and a memory connected in communication 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 perform the polishing head control method according to any one of claims 1 to 5.

7. An electronic device, comprising: The control device according to claim 6.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions for causing a computer to perform the polishing head control method according to any one of claims 1 to 5.

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