Grinding and polishing equipment, control method, device and medium for 3D printed products

Abstract

The application discloses a grinding and polishing equipment, a control method and device and a medium for a 3D printing product, and relates to the technical field of grinding and polishing. A first target product clamping unit and a first adjustment value corresponding to the first target product clamping unit are determined from a plurality of product clamping units; a second target product clamping unit and a second adjustment value corresponding to the second target product clamping unit are determined from the plurality of product clamping units based on a second force value, a second average value and second historical force data; and then compensation is performed according to the first adjustment value and the second adjustment value, so that the position of the product can be adjusted, the product being ground is compensated, the force borne by the product during grinding conforms to the change trend of the historical force data, the quality of the product after grinding is ensured, and the consistency of products in a plurality of stations can be improved.

Description

Technical Field

[0001] This application relates to the field of grinding and polishing technology, and in particular to a grinding and polishing equipment, control method, device and medium for 3D printed products. Background Technology

[0002] Existing grinding and polishing equipment has multiple processing stations to improve processing efficiency. However, each processing station operates in a uniform manner, and after a long period of processing, errors are inevitable. Multiple axes are connected to different force control sensors, and if they are not adjusted one by one, the processing quality of the product will be greatly affected. Currently, the precision of each station in multi-station grinding and polishing equipment on the market is not perfect, and the uneven force is affected, which affects the yield of the polished products and cannot guarantee the consistency of products from multiple stations. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a grinding and polishing equipment, control method, apparatus, and medium for 3D printed products, which can improve the quality of the ground products and enhance the consistency of products from multiple workstations.

[0004] The control method for a grinding and polishing device for 3D printed products according to the first aspect of this application is applied to a grinding and polishing device, the grinding and polishing device including a plurality of product clamping assemblies arranged in a row, and a plurality of grinding head assemblies corresponding one-to-one with the product clamping assemblies; the product clamping assembly includes a first driving unit, a second driving unit, a force sensor and a product clamping unit; the product clamping unit is used to clamp the 3D printed product;

[0005] The method includes:

[0006] During the grinding operation of the grinding head assembly, the force detection data of the force sensor of each product clamping assembly is periodically acquired at preset period intervals; the force detection data includes a first force value in a first direction and a second force value in a second direction.

[0007] Calculate the average value among the first force values ​​of each of the force sensors to obtain a first average value;

[0008] Calculate the average value among the second force values ​​of each of the force sensors to obtain a second average value;

[0009] Obtain the first historical strength data in the first direction and the second historical strength data in the second direction;

[0010] Based on the first force value, the first average value, and the first historical force data, a first target product clamping unit and a first adjustment value corresponding to the first target product clamping unit are determined from the plurality of product clamping units;

[0011] Based on the second force value, the second average value, and the second historical force data, a second target product clamping unit and a second adjustment value corresponding to the second target product clamping unit are determined from the plurality of product clamping units;

[0012] The first driving unit that controls the first target product clamping unit drives the corresponding product clamping unit to move the first adjustment value along the first direction;

[0013] The second drive unit that controls the second target product clamping unit drives the corresponding product clamping unit to move the second adjustment value along the second direction.

[0014] The control method for grinding and polishing equipment for 3D printed products according to embodiments of this application has at least the following beneficial effects: The first adjustment value is obtained based on a first average value, and the second adjustment value is obtained based on a second average value, which can improve the consistency between the products on the first target product clamping unit and the second target product clamping unit and other products. The first adjustment value is also obtained based on first historical force data, and the second adjustment value is also obtained based on second historical force data, which can improve the quality of the products on the first target product clamping unit and the second target product clamping unit after grinding. Therefore, this application can compensate for the product being ground by adjusting the product's position, ensuring that the force on the product during grinding conforms to the changing trend of historical force data, thereby guaranteeing the quality of the ground product and improving the consistency of products across multiple workstations.

[0015] A second aspect of this application provides a grinding compensation control device for 3D printed products, applied to a grinding and polishing equipment. The grinding and polishing equipment includes a plurality of product clamping assemblies arranged in a row, and a plurality of grinding head assemblies corresponding one-to-one with the product clamping assemblies. The product clamping assembly includes a first driving unit, a second driving unit, a force sensor, and a product clamping unit. The product clamping unit is used to clamp the 3D printed product.

[0016] The device includes:

[0017] The first acquisition module is used to periodically acquire force detection data of the force sensors of each product clamping component at preset period intervals during the grinding operation of the grinding head assembly; the force detection data includes a first force value in a first direction and a second force value in a second direction.

[0018] The first calculation module is used to calculate the average value among the first force values ​​of each of the force sensors to obtain a first average value;

[0019] The second calculation module is used to calculate the average value among the second force values ​​of each of the force sensors to obtain a second average value;

[0020] The second acquisition module is used to acquire first historical force data in the first direction and second historical force data in the second direction;

[0021] The first determining module is used to determine a first target product clamping unit and a first adjustment value corresponding to the first target product clamping unit from a plurality of product clamping units based on the first force value, the first average value and the first historical force data.

[0022] The second determining module is used to determine a second target product clamping unit and a second adjustment value corresponding to the second target product clamping unit from a plurality of product clamping units based on the second force value, the second average value and the second historical force data;

[0023] The first adjustment execution module is used to control the first drive unit of the first target product clamping unit to drive the corresponding product clamping unit to move the first adjustment value along the first direction.

[0024] The second adjustment execution module is used to control the second drive unit of the second target product clamping unit to drive the corresponding product clamping unit to move the second adjustment value along the second direction.

[0025] A third aspect of this application provides a grinding and polishing apparatus for 3D printed products. The grinding and polishing apparatus for 3D printed products includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the control method for the grinding and polishing apparatus for 3D printed products as described in any one of the first aspects of the embodiment.

[0026] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method for a grinding and polishing apparatus for 3D printed products as described in any of the first aspects of this application.

[0027] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0028] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0029] Figure 1 This is a schematic diagram of the structure of the grinding and polishing equipment according to an embodiment of this application;

[0030] Figure 2 This is a schematic diagram of the structure of the product clamping assembly according to an embodiment of this application;

[0031] Figure 3 This is a flowchart illustrating the steps of a control method for a grinding and polishing equipment for 3D printed products according to an embodiment of this application.

[0032] Figure 4 This is a block diagram of the grinding compensation control device for a 3D printed product according to an embodiment of this application;

[0033] Figure 5 This is a schematic diagram of the structure of a grinding and polishing device for 3D printed products according to an embodiment of this application.

[0034] Figure label:

[0035] Vertical drive device 100; first mounting base 200; rotary drive unit 210;

[0036] Horizontal drive unit 300; second mounting base 400;

[0037] Product clamping assembly 500; first drive unit 510; second drive unit 520; third drive unit 530; force sensor 540; product clamping unit 550;

[0038] Grinding head assembly 600. Detailed Implementation

[0039] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0040] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] First, the grinding and polishing equipment according to embodiments of this application will be described. (Refer to...) Figures 1 to 2 , Figure 1 This is a schematic diagram of the structure of the grinding and polishing equipment according to an embodiment of this application. Figure 2 This is a schematic diagram of the product clamping assembly 500 according to an embodiment of this application. The grinding and polishing equipment includes a horizontal drive device 300, a vertical drive device 100, a first mounting base 200, a second mounting base 400, multiple product clamping assemblies 500, and multiple grinding head assemblies 600. The multiple product clamping assemblies 500 and the multiple grinding head assemblies 600 correspond one-to-one. The first mounting base 200 is mounted on the vertical drive device 100, which drives the first mounting base 200 to move vertically. The multiple grinding head assemblies 600 are sequentially arranged on the first mounting base 200, and each grinding head assembly 600 includes a drive motor, a first grinding head, and a second grinding head. The first grinding head and the second grinding head are respectively arranged on opposite sides of the first mounting base 200. The drive motor drives the first grinding head and the second grinding head to rotate synchronously. During the rotation of the first grinding head and the second grinding head, they contact the product, thereby realizing the grinding operation. It also includes a rotary drive unit 210, which is connected to the first mounting base 200. The rotary drive unit 210 drives the first mounting base 200 to rotate, thereby changing the position of the grinding head in the grinding head assembly 600 relative to the product clamping assembly 500. For example, in the first state, the first grinding head of each grinding head assembly 600 is located below the second grinding head. At this time, the first grinding head is close to the corresponding product clamping assembly 500, and the product on the product clamping assembly 500 can be ground using the first grinding head. The rotary drive unit 210 drives the first mounting base 200 to rotate 180 degrees. At this time, the first grinding head of each grinding head assembly 600 is located above the second grinding head, and the second grinding head can be used to grind (i.e., polish) the product.

[0042] Multiple product clamping assemblies 500 are sequentially disposed on the second mounting base 400. A horizontal drive device 300 drives the second mounting base 400 to reciprocate horizontally, thereby moving each product clamping assembly 500. Each product clamping assembly 500 includes a first drive unit 510, a second drive unit 520, a third drive unit 530, a force sensor 540, and a product clamping unit 550. The first drive unit 510 drives the product clamping unit 550 to reciprocate along the Y-axis, the second drive unit 520 drives the product clamping unit 550 to reciprocate along the Z-axis, and the third drive unit 530 drives the product clamping unit 550 to rotate. The Y-axis direction is horizontal, the Z-axis direction is vertical, the Y-axis direction is the first direction, and the Z-axis direction is the second direction. The product clamping unit 550 is mounted on the force sensor 540. The force sensor 540 can detect the force applied by the grinding head to the product and obtain force detection data, which includes the force in a first direction and the force in a second direction. The product clamping unit 550 is used to clamp the 3D printed product. The 3D printed product can refer to the hinge used to connect two screens in a folding screen. The 3D printed product can also be other products, and this application does not limit it.

[0043] based on Figures 1 to 2 The schematic diagram illustrates a grinding and polishing apparatus, and a control method for such an apparatus for 3D printed products, according to a first aspect embodiment of this application, is presented. Specifically, the grinding and polishing apparatus is equipped with a control system, which is connected to various structures of the apparatus. The control system is used to execute the compensation control method of the embodiments of this application. (Refer to...) Figure 3 , Figure 3 This is a flowchart illustrating the steps of a control method for a grinding and polishing equipment for 3D printed products according to an embodiment of this application. The control method for a grinding and polishing equipment for 3D printed products according to an embodiment of this application includes, but is not limited to, steps S310 to S380.

[0044] Step S310: During the grinding operation of the grinding head assembly, the force detection data of the force sensor of each product clamping assembly is periodically acquired according to a preset period interval; the force detection data includes a first force value in a first direction and a second force value in a second direction.

[0045] It should be noted that this application does not impose specific limitations on the period interval, and those skilled in the art can set the period interval according to the actual situation.

[0046] Step S320: Calculate the average value among the first force values ​​of each force sensor to obtain the first average value;

[0047] Step S330: Calculate the average value between the second force values ​​of each force sensor to obtain the second average value;

[0048] Step S340: Obtain the first historical force data in the first direction and the second historical force data in the second direction;

[0049] It should be noted that each grinding head assembly can be used to grind multiple products. During the grinding process, the grinding heads will wear out. Therefore, when using the same grinding head to grind multiple products sequentially, the forces acting on each product will be different. Therefore, during the grinding process, the forces acting on each product are recorded. For example, the average force of multiple products in the first direction is recorded sequentially to obtain the first historical force data, and the average force of multiple products in the second direction is recorded sequentially to obtain the second historical force data.

[0050] Step S350: Based on the first force value, the first average value and the first historical force data, determine the first target product clamping unit and the first adjustment value corresponding to the first target product clamping unit from multiple product clamping units;

[0051] Step S360: Based on the second force value, the second average value and the second historical force data, determine the second target product clamping unit and the second adjustment value corresponding to the second target product clamping unit from multiple product clamping units;

[0052] Step S370: Control the first drive unit of the first target product clamping unit to drive the corresponding product clamping unit to move along the first direction by a first adjustment value;

[0053] Step S380: Control the second drive unit of the second target product clamping unit to drive the corresponding product clamping unit to move along the second direction by the second adjustment value.

[0054] In this embodiment, through steps S310 to S380 described above, force detection data from a force sensor is acquired during the grinding operation. A first average value among the various first force values ​​and a second average value among the various second force values ​​are calculated. First historical force data and second historical force data corresponding to the current grinding duration are acquired. Based on the first force value, the first average value, and the first historical force data, a first target product clamping unit and a first adjustment value corresponding to the first target product clamping unit are determined from among the multiple product clamping units. Based on the second force value, the second average value, and the second historical force data, a second target product clamping unit and a second adjustment value corresponding to the second target product clamping unit are determined from among the multiple product clamping units. Then, compensation is performed based on the first adjustment value and the second adjustment value. In this way, the position of the product is automatically adjusted during the grinding operation, thereby adjusting the force applied to the product by the grinding head assembly and achieving compensation. Furthermore, since the first adjustment value is obtained based on the first average value and the second adjustment value is obtained based on the second average value, the consistency between the products on the first target product clamping unit and the second target product clamping unit and other products can be improved. The first adjustment value is also obtained based on the first historical force data, and the second adjustment value is also obtained based on the second historical force data, which can improve the quality of the products after polishing on the first target product clamping unit and the second target product clamping unit. Therefore, this application can compensate for the product being polished by adjusting the position of the product, so that the force on the product during polishing conforms to the changing trend of historical force data, thereby ensuring the quality of the polished product and improving the consistency of products from multiple workstations.

[0055] In some embodiments, step S350 may include, but is not limited to, steps S351 to S356.

[0056] Step S351: Calculate the difference between the first force value and the first average value to obtain the first difference;

[0057] Specifically, the first difference = the first strength value - the first average value.

[0058] Step S352: Calculate the first difference average of the first historical strength data;

[0059] In step S352, the difference between adjacent elements in the first historical intensity data is calculated to obtain the first adjacent difference. Then, the average value among all the first adjacent differences is calculated to obtain the first difference average value. The first difference average value can represent the changing trend of each element in the first historical intensity data.

[0060] Step S353: Calculate the difference between the first force value and the last element in the first historical force data to obtain the second difference;

[0061] Specifically, the second difference = the first strength value - the last element in the first historical strength data.

[0062] Step S354: Calculate the difference between the second difference and the average of the first differences to obtain the third difference;

[0063] Specifically, the third difference = the second difference - the average of the first difference.

[0064] Step S355: Determine the first target product clamping unit based on the first difference and the third difference. The absolute value of the first difference corresponding to the first target product clamping unit is greater than the first preset threshold, and the absolute value of the third difference corresponding to the first target product clamping unit is greater than the second preset threshold.

[0065] It is worth noting that the absolute value of the first difference in the first target product clamping unit is greater than the first preset threshold, and the absolute value of the second difference is greater than the second preset threshold, indicating that the product position in the first target product clamping unit deviates significantly in the Y-axis direction, requiring compensation and adjustment. It should be noted that this application does not specifically limit the first and second preset thresholds; those skilled in the art can set them according to actual circumstances.

[0066] Step S356: Determine the first adjustment value based on the first difference and the third difference corresponding to the first target product clamping unit.

[0067] It is worth noting that the control method for the grinding and polishing equipment of 3D printed products in this embodiment of the application obtains a first adjustment value through steps S351 to S356, which facilitates the subsequent driving of the first driving unit of the first target product clamping unit to drive the corresponding product clamping unit to move along the first direction according to the first adjustment value. The first adjustment value can be positive or negative. When the first adjustment value is positive, the first driving unit of the first target product clamping unit drives the corresponding product clamping unit to move along the positive direction of the Y-axis; when the first adjustment value is negative, the first driving unit of the first target product clamping unit drives the corresponding product clamping unit to move along the negative direction of the Y-axis.

[0068] In some embodiments, step S360 includes steps S361 to S366.

[0069] Step S361: Calculate the difference between the second force value and the second average value to obtain the fourth difference;

[0070] Specifically, the fourth difference = the second strength value - the second average value.

[0071] Step S362: Calculate the second difference average of the second historical strength data;

[0072] In step S362, the difference between adjacent elements in the second historical intensity data is calculated to obtain the second adjacent difference. Then, the average value among all the second adjacent differences is calculated to obtain the second difference average value. The second difference average value can represent the changing trend of each element in the second historical intensity data.

[0073] Step S363: Calculate the difference between the second force value and the last element in the second historical force data to obtain the fifth difference;

[0074] Specifically, the fifth difference = the second force value - the last element in the second historical force data.

[0075] Step S364: Calculate the difference between the fifth difference and the average of the second differences to obtain the sixth difference;

[0076] Specifically, the sixth difference = the fifth difference - the average of the second difference.

[0077] Step S365: Determine the second target product clamping unit based on the fourth difference and the sixth difference. The absolute value of the fourth difference corresponding to the second target product clamping unit is greater than the third preset threshold, and the absolute value of the sixth difference corresponding to the second target product clamping unit is greater than the fourth preset threshold.

[0078] It is worth noting that the absolute value of the fourth difference in the second target product clamping unit is greater than the third preset threshold, and the absolute value of the sixth difference is greater than the fourth preset threshold, indicating that the product position in the second target product clamping unit deviates significantly in the Z-axis direction, requiring compensation and adjustment. It should be noted that this application does not specifically limit the third and fourth preset thresholds; those skilled in the art can set them according to actual conditions.

[0079] Step S366: Determine the second adjustment value based on the fourth and sixth differences corresponding to the second target product clamping unit.

[0080] It is worth noting that the control method for the grinding and polishing equipment of 3D printed products in this embodiment of the application obtains a second adjustment value through steps S361 to S366, which facilitates the subsequent driving of the second drive unit of the second target product clamping unit to drive the corresponding product clamping unit to move along the second direction according to the second adjustment value. The second adjustment value can be a positive value or a negative value. When the second adjustment value is positive, the second drive unit of the second target product clamping unit drives the corresponding product clamping unit to move along the positive direction of the Z-axis; when the second adjustment value is negative, the second drive unit of the second target product clamping unit drives the corresponding product clamping unit to move along the negative direction of the Z-axis.

[0081] It is understandable that the first adjustment value is obtained through the first calculation formula, which is:

[0082] ;

[0083] Where X is the first adjustment value, X1 is the first difference, X2 is the third difference, and a and b are preset compensation coefficients;

[0084] The second adjustment value is obtained through the second calculation formula, which is:

[0085] ;

[0086] Where Y is the first adjustment value, Y1 is the fourth difference value, Y2 is the sixth difference value, and c and d are preset compensation coefficients. It should be noted that those skilled in the art can set the values ​​of a, b, c, and d according to the actual situation.

[0087] In some embodiments, steps S410 and S420 may be included before step S310:

[0088] In step S410, each grinding head assembly is driven to descend by the lifting drive device so that the grinding head assembly is close to the corresponding product clamping assembly.

[0089] In step S420, each product clamping assembly is driven by a horizontal drive device to bring the product clamping assembly close to the corresponding grinding head assembly.

[0090] The control method for grinding and polishing equipment for 3D printed products in this application embodiment, through steps S410 to S420, brings the grinding head assembly and the corresponding product clamping assembly closer to each other, so that the first grinding head in the grinding head assembly is close to the product on the corresponding product clamping assembly, which facilitates the first grinding head to grind the product.

[0091] In some embodiments, after step S360, steps S510 to S540 may also be included, but are not limited to.

[0092] Step S510: Detect the first adjustment value and the second adjustment value;

[0093] Step S520: When the absolute value of the first adjustment value is detected to be greater than the first preset adjustment threshold, or the absolute value of the second adjustment value is detected to be greater than the second preset adjustment threshold, the first mounting base is driven to move upward by the lifting drive device so that the grinding head assembly moves away from the product clamping assembly.

[0094] Step S530: Control the rotary drive unit to drive the first mounting base to rotate 180 degrees so that the first grinding head moves away from the corresponding product clamping component and the second grinding head moves closer to the corresponding product clamping component.

[0095] In step S540, the lifting drive device is controlled to drive the first mounting base to descend, so that the second grinding head approaches the corresponding product clamping assembly and grinds the product located on the product clamping assembly.

[0096] It is worth noting that, in this embodiment of the application, the first adjustment value and the second adjustment value are detected through steps S510 to S540. When the absolute value of the first adjustment value is greater than the first preset adjustment threshold, or the absolute value of the second adjustment value is greater than the second preset adjustment threshold, it indicates that the wear of the grinding head is too severe and the adjustment distance is too large. The current grinding head is the first grinding head, which is not suitable for further grinding. Therefore, the first mounting base is driven to move upward by the lifting drive device to move the grinding head assembly away from the product clamping assembly. Then, the rotation drive unit is controlled to drive the first mounting base to rotate 180 degrees so that the first grinding head moves away from the corresponding product clamping assembly and the second grinding head moves closer to the corresponding product clamping assembly. The lifting drive device is then controlled to drive the first mounting base to move downward so that the second grinding head moves closer to the corresponding product clamping assembly and grinds the product located on the product clamping assembly.

[0097] It should be noted that after executing step S530, which is equivalent to replacing the grinding head, when steps S310 to S380 are executed again, the first historical force data and the second historical force data of the second grinding head need to be re-determined. Each first historical force data is associated with one grinding head, and each second historical force data is associated with one grinding head. In addition, those skilled in the art can set a first preset adjustment threshold and a second preset adjustment threshold according to the actual situation.

[0098] In some embodiments, the method further includes the following steps:

[0099] Get the current polishing time;

[0100] If the current polishing time is detected to be longer than the preset time, the third drive unit is controlled to drive the product clamping unit to rotate 180 degrees.

[0101] It is worth noting that the current polishing time refers to the polishing time of the product held by the current product clamping unit. If the current polishing time is longer than the preset time, it indicates that the side of the product facing the grinding head assembly has been polished. Therefore, the third drive unit is controlled to drive the product clamping unit to rotate 180 degrees so that the other side of the product faces the grinding head assembly, so that the grinding head assembly can polish the other side of the product. In some embodiments, the product is a component in a folding screen, such as a hinge for connecting two screens. The product can also be other components, which are not specifically limited in this application.

[0102] The second aspect of this application is based on Figures 1 to 2The illustrated grinding and polishing equipment provides a grinding compensation control device for 3D printed products. (Refer to...) Figure 4 , Figure 4 This is a block diagram of a grinding compensation control device for a 3D printed product according to an embodiment of this application. The grinding compensation control device for the 3D printed product includes:

[0103] The first acquisition module 410 is used to periodically acquire the force detection data of the force sensors of each product clamping component according to a preset period interval during the grinding operation of the grinding head assembly; the force detection data includes a first force value in a first direction and a second force value in a second direction.

[0104] The first calculation module 420 is used to calculate the average value among the first force values ​​of each force sensor to obtain the first average value;

[0105] The second calculation module 430 is used to calculate the average value between the second force values ​​of each force sensor to obtain the second average value;

[0106] The second acquisition module 440 is used to acquire first historical force data in the first direction and second historical force data in the second direction;

[0107] The first determining module 450 is used to determine a first target product clamping unit and a first adjustment value corresponding to the first target product clamping unit from multiple product clamping units based on a first force value, a first average value and first historical force data.

[0108] The second determining module 460 is used to determine a second target product clamping unit and a second adjustment value corresponding to the second target product clamping unit from multiple product clamping units based on a second force value, a second average value and second historical force data.

[0109] The first adjustment execution module 470 is used to control the first drive unit of the first target product clamping unit to drive the corresponding product clamping unit to move the first adjustment value along the first direction.

[0110] The second adjustment execution module 480 is used to control the second drive unit of the second target product clamping unit to drive the corresponding product clamping unit to move the second adjustment value along the second direction.

[0111] The grinding compensation control device for 3D printed products according to a second aspect of this application is used to execute the control method for grinding and polishing equipment for 3D printed products according to a first aspect of this application. During the execution of the method, force detection data from a force sensor is acquired during the grinding operation. A first average value among various first force values ​​and a second average value among various second force values ​​are calculated. First historical force data and second historical force data corresponding to the current grinding duration are acquired. Based on the first force value, the first average value, and the first historical force data, a first target product clamping unit and a first adjustment value corresponding to the first target product clamping unit are determined from a plurality of product clamping units. Based on the second force value, the second average value, and the second historical force data, a second target product clamping unit and a second adjustment value corresponding to the second target product clamping unit are determined from a plurality of product clamping units. Then, compensation is performed based on the first adjustment value and the second adjustment value. Thus, during the grinding operation, the position of the product is automatically adjusted, thereby adjusting the force applied to the product by the grinding head assembly, achieving compensation. Furthermore, the first adjustment value is obtained based on a first average value, and the second adjustment value is obtained based on a second average value, which can improve the consistency between the products on the first target product clamping unit and the second target product clamping unit and other products. The first adjustment value is also obtained based on first historical force data, and the second adjustment value is also obtained based on second historical force data, which can improve the quality of the products on the first target product clamping unit and the second target product clamping unit after polishing. Therefore, this application can compensate for the product being polished by adjusting the position of the product, so that the force on the product during polishing conforms to the changing trend of historical force data, thereby ensuring the quality of the polished product and improving the consistency of products across multiple workstations.

[0112] A third aspect of this application provides a grinding and polishing device for 3D printed products. The device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the control method for the grinding and polishing device for 3D printed products described in the above embodiment. This grinding and polishing device for 3D printed products can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0113] In one embodiment, reference is made to Figure 5 , Figure 5 This illustration shows the hardware structure of a grinding and polishing device for 3D printed products according to an embodiment of this application. The grinding and polishing device for 3D printed products includes:

[0114] The processor 501 can be implemented using a general-purpose CPU (Central Processing Unit), 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.

[0115] The memory 502 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 502 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 502 and is called and executed by the processor 501 to execute the control method for the grinding and polishing equipment of 3D printed products according to the embodiments of this application.

[0116] The input / output interface 503 is used to implement information input and output;

[0117] The communication interface 504 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.).

[0118] Bus 505 transmits information between various components of the device (e.g., processor 501, memory 502, input / output interface 503, and communication interface 504);

[0119] The processor 501, memory 502, input / output interface 503, and communication interface 504 are connected to each other within the device via bus 505.

[0120] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method for a grinding and polishing apparatus for 3D printed products according to the first aspect of this application.

[0121] 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.

[0122] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A control method for grinding and polishing equipment for 3D printed products, characterized in that, This invention relates to a grinding and polishing equipment, which includes multiple product clamping assemblies arranged in an array, and multiple grinding head assemblies corresponding one-to-one with the product clamping assemblies. Each product clamping assembly includes a first driving unit, a second driving unit, a force sensor, and a product clamping unit. The product clamping unit is used to clamp 3D printed products. The method includes: During the grinding operation of the grinding head assembly, the force detection data of the force sensor of each product clamping assembly is periodically acquired at preset period intervals; the force detection data includes a first force value in a first direction and a second force value in a second direction. Calculate the average value among the first force values ​​of each of the force sensors to obtain a first average value; Calculate the average value among the second force values ​​of each of the force sensors to obtain a second average value; Obtain the first historical strength data in the first direction and the second historical strength data in the second direction; Based on the first force value, the first average value, and the first historical force data, a first target product clamping unit and a first adjustment value corresponding to the first target product clamping unit are determined from the plurality of product clamping units; Based on the second force value, the second average value, and the second historical force data, a second target product clamping unit and a second adjustment value corresponding to the second target product clamping unit are determined from the plurality of product clamping units; The first driving unit that controls the first target product clamping unit drives the corresponding product clamping unit to move the first adjustment value along the first direction; The second drive unit that controls the second target product clamping unit drives the corresponding product clamping unit to move the second adjustment value along the second direction; The step of determining the first target product clamping unit and the first adjustment value corresponding to the first target product clamping unit from a plurality of product clamping units based on the first force value, the first average value, and the first historical force data includes: Calculate the difference between the first force value and the first average value to obtain the first difference; Calculate the first difference average of the first historical strength data; Calculate the difference between the first force value and the last element in the first historical force data to obtain the second difference; Calculate the difference between the second difference and the average of the first differences to obtain the third difference; The first target product clamping unit is determined based on the first difference and the third difference. The absolute value of the first difference corresponding to the first target product clamping unit is greater than a first preset threshold, and the absolute value of the third difference corresponding to the first target product clamping unit is greater than a second preset threshold. The first adjustment value is determined based on the first difference and the third difference corresponding to the first target product clamping unit; The step of determining the second target product clamping unit and the second adjustment value corresponding to the second target product clamping unit from a plurality of product clamping units based on the second force value, the second average value, and the second historical force data includes: Calculate the difference between the second force value and the second average value to obtain the fourth difference; Calculate the second difference average of the second historical strength data; Calculate the difference between the second force value and the last element in the second historical force data to obtain the fifth difference; The sixth difference is obtained by calculating the difference between the fifth difference and the average of the second differences; The second target product clamping unit is determined based on the fourth difference and the sixth difference. The absolute value of the fourth difference corresponding to the second target product clamping unit is greater than the third preset threshold, and the absolute value of the sixth difference corresponding to the second target product clamping unit is greater than the fourth preset threshold. The second adjustment value is determined based on the fourth difference and the sixth difference corresponding to the second target product clamping unit.

2. The control method for grinding and polishing equipment for 3D printed products according to claim 1, characterized in that, The first adjustment value is obtained through a first calculation formula, which is: ； Where X is the first adjustment value, X1 is the first difference, X2 is the third difference, and a and b are preset compensation coefficients respectively; The second adjustment value is obtained through a second calculation formula, which is: ； Where Y is the first adjustment value, Y1 is the fourth difference value, Y2 is the sixth difference value, and c and d are preset compensation coefficients.

3. The control method for grinding and polishing equipment for 3D printed products according to claim 1, characterized in that, The grinding and polishing equipment also includes a lifting drive device and a horizontal drive device, with each of the grinding head assemblies connected to the lifting drive device and each of the product clamping assemblies connected to the horizontal drive device. The method further includes: The lifting drive device drives each grinding head assembly to descend, so that the grinding head assembly is close to the corresponding product clamping assembly. The horizontal drive device drives each of the product clamping assemblies to bring the product clamping assemblies close to the corresponding grinding head assembly.

4. The control method for grinding and polishing equipment for 3D printed products according to claim 3, characterized in that, The grinding and polishing equipment also includes a first mounting base and a rotary drive unit. The first mounting base is mounted on a lifting drive device. The grinding head assembly includes a first grinding head and a second grinding head, which are respectively located on opposite sides of the first mounting base. The method further includes: The first adjustment value and the second adjustment value are detected; If the absolute value of the first adjustment value is detected to be greater than the first preset adjustment threshold, or the absolute value of the second adjustment value is detected to be greater than the second preset adjustment threshold, the first mounting base is driven to move upward by the lifting drive device so that the grinding head assembly moves away from the product clamping assembly. The rotary drive unit is controlled to drive the first mounting base to rotate 180 degrees, so that the first grinding head moves away from the corresponding product clamping assembly and the second grinding head moves closer to the corresponding product clamping assembly; The lifting drive device is controlled to drive the first mounting base to descend, so that the second grinding head approaches the corresponding product clamping assembly and grinds the product located on the product clamping assembly.

5. The control method for grinding and polishing equipment for 3D printed products according to claim 1, characterized in that, The product clamping assembly further includes a third driving unit, which is connected to the product clamping unit. The method further includes: Get the current polishing time; If the current polishing time is detected to be longer than the preset time, the third drive unit is controlled to drive the product clamping unit to rotate 180 degrees.

6. A grinding compensation control device for 3D printed products, characterized in that, The control method for executing the grinding and polishing equipment for 3D printed products according to any one of claims 1 to 5 is applied to the grinding and polishing equipment, which includes a plurality of product clamping assemblies arranged in a row, and a plurality of grinding head assemblies corresponding one-to-one with the product clamping assemblies; the product clamping assembly includes a first driving unit, a second driving unit, a force sensor, and a product clamping unit; the product clamping unit is used to clamp the 3D printed product; The device includes: The first acquisition module is used to periodically acquire force detection data of the force sensors of each product clamping component at preset period intervals during the grinding operation of the grinding head assembly; the force detection data includes a first force value in a first direction and a second force value in a second direction. The first calculation module is used to calculate the average value among the first force values ​​of each of the force sensors to obtain a first average value; The second calculation module is used to calculate the average value among the second force values ​​of each of the force sensors to obtain a second average value; The second acquisition module is used to acquire first historical force data in the first direction and second historical force data in the second direction; The first determining module is used to determine a first target product clamping unit and a first adjustment value corresponding to the first target product clamping unit from a plurality of product clamping units based on the first force value, the first average value and the first historical force data. The second determining module is used to determine a second target product clamping unit and a second adjustment value corresponding to the second target product clamping unit from a plurality of product clamping units based on the second force value, the second average value and the second historical force data; The first adjustment execution module is used to control the first drive unit of the first target product clamping unit to drive the corresponding product clamping unit to move the first adjustment value along the first direction. The second adjustment execution module is used to control the second drive unit of the second target product clamping unit to drive the corresponding product clamping unit to move the second adjustment value along the second direction.

7. A grinding and polishing device for 3D printed products, characterized in that, The grinding and polishing equipment for 3D printed products includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the control method for the grinding and polishing equipment for 3D printed products as described in any one of claims 1 to 6.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method for the grinding and polishing equipment for 3D printed products as described in any one of claims 1 to 6.

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