Multi-axis linkage percussion bit grinding and polishing automatic regulation and control method

Abstract

The invention provides a multi-axis linkage percussion bit grinding and polishing automatic regulation and control method, and relates to the technical field of grinding and polishing. The method comprises the steps that basic configuration information of grinding and polishing equipment is read; the training control decision module comprises a parameter control decision block and a multi-axis conversion block; a programmable logic block is constructed, parallel connection of multiple parallel blocks is carried out, and a control gate array is generated and used for carrying out multi-axis autonomous control; reading the grinding and polishing requirements of the percussion bit; the control decision module is combined to carry out control decision and multi-axis conversion of the whole grinding and polishing cycle, a multi-axis control strategy is determined, and multi-axis conversion comprises staged strategy allocation and neighborhood stage docking; and programming is carried out, logic block matching and programming are carried out in response to the control gate array, and the grinding and polishing equipment is controlled to carry out grinding and polishing regulation and control on the percussion bit. The technical problems that in the prior art, grinding and polishing equipment lacks self-adaptive adjusting capacity, and the grinding effect and efficiency are affected are solved.

Description

Technical Field

[0001] This invention relates to the field of grinding and polishing technology, specifically to an automated control method for grinding and polishing impact drill bits with multi-axis linkage. Background Technology

[0002] To ensure the efficiency and durability of impact drill bits during use, the grinding and polishing process is crucial. Grinding and polishing improve the surface quality of the drill bit, reduce friction, and enhance wear resistance and impact resistance. However, traditional grinding and polishing processes often face numerous technical challenges when dealing with complex drill bit geometries and varying processing requirements. In actual production, the materials, shapes, and wear conditions of impact drill bits vary, and the grinding and polishing parameters need to be adjusted according to specific circumstances. Traditional grinding and polishing equipment typically lacks adaptive adjustment capabilities and struggles to adjust grinding parameters based on real-time feedback. This results in the equipment being unable to adjust parameters promptly when handling different drill bits or dealing with wear and malfunctions, affecting grinding effectiveness and efficiency. Summary of the Invention

[0003] This application provides an automated control method for grinding and polishing impact drill bits with multi-axis linkage, aiming to solve the technical problem that existing grinding and polishing equipment lacks adaptive adjustment capabilities, resulting in the equipment being unable to adjust parameters in a timely manner when dealing with different situations, thus affecting the grinding effect and efficiency.

[0004] This application discloses an automated control method for multi-axis linkage impact drill bit grinding and polishing. The method includes: reading basic configuration information of a grinding and polishing equipment, wherein the grinding and polishing equipment is in a multi-axis linkage grinding mode; training a control decision module based on the basic configuration information, wherein the control decision module includes a parameter control decision block and a multi-axis conversion block; constructing a programmable logic block and connecting multiple parallel blocks in parallel to generate a control gate array, wherein the control gate array is used for multi-axis autonomous control; reading the grinding and polishing requirements of the impact drill bit, wherein the grinding and polishing requirements are determined based on the span before and after grinding; identifying the grinding and polishing requirements, and combining the control decision module to perform control decisions and multi-axis conversions throughout the grinding and polishing cycle, determining a multi-axis control strategy, wherein the multi-axis conversion includes staged strategy allocation and neighboring stage docking; programming the multi-axis control strategy, responding to the control gate array, performing logic block matching and programming, and controlling the grinding and polishing equipment to control the grinding and polishing of the impact drill bit.

[0005] One or more technical solutions provided in this application have at least the following technical effects or advantages: By reading the equipment's basic configuration information, the multi-axis linkage mode of the equipment is determined, laying the foundation for subsequent control decisions. Based on the equipment's basic configuration information, a control decision module containing parameter control decision blocks and multi-axis conversion blocks is trained, enabling the system to make precise control decisions according to actual needs. Programmable logic blocks are constructed and multiple parallel blocks are connected in parallel to generate a control gate array, realizing multi-axis autonomous control. The application of programmable logic blocks improves the system's flexibility and response speed. Based on the span before and after grinding, grinding and polishing requirements are read and determined, ensuring that control decisions can adapt to actual processing needs, further improving the accuracy of grinding effects. Combined with the control decision module, full-cycle control decisions and multi-axis conversions are performed to determine the multi-axis control strategy. Through phased strategy allocation and neighboring phase docking, seamless connection and coordinated control between stages are achieved. The multi-axis control strategy is programmed, responding to the control gate array, and logic block matching and programming are performed to ensure that the equipment can efficiently execute grinding and polishing tasks. Through precise matching and programming of logic blocks, automation and efficiency of control are achieved.

[0006] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0007] Figure 1 This application provides a schematic flowchart of an automated control method for grinding and polishing impact drill bits with multi-axis linkage. Figure 2 This application provides a schematic diagram of the control decision-making process for the entire grinding and polishing cycle in an automated control method for multi-axis linkage impact drill bit grinding and polishing. Detailed Implementation

[0008] This application provides an automated control method for grinding and polishing impact drill bits with multi-axis linkage, which solves the technical problem in the prior art where grinding and polishing equipment lacks adaptive adjustment capabilities, resulting in the equipment being unable to adjust parameters in a timely manner when dealing with different situations, thus affecting the grinding effect and efficiency.

[0009] After introducing the basic principles of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0010] like Figure 1 As shown in the figure, this application provides an automated control method for grinding and polishing multi-axis linkage impact drill bits, the method comprising: Read the basic configuration information of the grinding and polishing equipment, which is a multi-axis linkage grinding mode.

[0011] The grinding and polishing equipment is connected via wired or wireless means, and its basic configuration information is read from the equipment's memory or external configuration file. This includes, but is not limited to, the number and type of axes in the multi-axis linkage mode, the movement range and limit positions of each axis, the speed and acceleration parameters of each axis, and the type and specifications of the grinding head. The grinding and polishing equipment is in a multi-axis linkage grinding mode, meaning the equipment can control multiple axes, typically X, Y, and Z axes, to move simultaneously to achieve complex grinding and polishing paths. This mode can improve processing accuracy and efficiency.

[0012] Based on the aforementioned basic configuration information, a control decision module is trained, which includes a parameter control decision block and a multi-axis conversion block.

[0013] The control decision module includes a parameter control decision block and a multi-axis conversion block. The parameter control decision block is responsible for determining key parameters in the grinding and polishing process, such as speed, feed rate, and pressure. It dynamically adjusts these parameters based on the input configuration information and real-time feedback to ensure optimal grinding results. The multi-axis conversion block manages and controls the coordinated operation of multiple axes. It dynamically adjusts the movement of each axis based on the grinding and polishing path and strategy to ensure coordinated operation of the multiple axes.

[0014] Based on the basic configuration information, a training dataset is generated, and a suitable machine learning or control algorithm, such as neural networks, fuzzy logic control, or reinforcement learning, is selected to train the control decision module. During training, the basic configuration information and simulated polishing requirements are input to train the parameter control decision block, enabling it to output appropriate control parameters under different conditions. The polishing path and stage strategy are input to train the multi-axis transformation block, enabling it to achieve coordinated control of multiple axes. A subset of data is used for model validation to evaluate the training effect and ensure the model can accurately predict and adjust control parameters. Based on the validation results, the model is optimized by adjusting algorithm parameters or training data to improve model performance and accuracy.

[0015] A programmable logic block is constructed and multiple parallel blocks are connected in parallel to generate a control gate array, which is used for multi-axis autonomous control.

[0016] Based on the basic configuration information and control decision module, the logical functions that need to be implemented are determined. These functions include speed control, path planning, and inter-axis coordination. These logical functions are decomposed into multiple programmable logic blocks. Each logic block implements a specific function and includes an input interface, processing logic, and an output interface. The input interface receives data from sensors and the control module, the processing logic performs calculations and decisions, and the output interface sends control commands to the actuator.

[0017] Design the structure of parallel blocks according to the logical functions to be executed in parallel. Each parallel block works independently and does not interfere with each other. Define the communication mechanism between blocks to ensure that information can be successfully transmitted between different logical blocks. This can be achieved through shared memory, message passing, etc. Design a synchronization mechanism to ensure that all parallel blocks can work in coordination and avoid resource competition and data conflicts.

[0018] Based on the parallel logic blocks, a control gate array is designed. The control gate array contains multiple control units, each corresponding to a logic block or a group of logic blocks. The programs and communication mechanisms of all logic blocks are integrated into the control gate array. The control gate array is used to execute multi-axis autonomous control tasks, thereby achieving precise grinding and polishing control of the impact drill bit.

[0019] Read the grinding and polishing requirements of the impact drill bit, which are determined based on the span before and after grinding.

[0020] Determining the state before and after grinding involves collecting data on the state of the impact drill bit before grinding. This data can be obtained through vision sensors, measuring instruments, or other inspection equipment. Key parameters include the drill bit's size, shape, surface roughness, and defect information. The target state after grinding is then defined, specifying the ideal size, shape, and surface quality the drill bit needs to achieve. These targets can be determined based on design specifications, usage requirements, or customer needs. Based on the differences in state before and after grinding, the grinding span is calculated. This includes calculating the thickness of material to be removed, the shape errors to be adjusted, and the required surface quality improvement. This span is then quantified into specific numerical indicators to facilitate subsequent grinding and polishing control decisions.

[0021] The grinding and polishing requirements are identified, and the control decision module is used to make control decisions and perform multi-axis conversions throughout the grinding and polishing cycle to determine the multi-axis control strategy. The multi-axis conversion includes phased strategy allocation and neighboring phase docking.

[0022] Input the grinding and polishing requirements into the parameter control decision block. The parameter control decision block generates a complete control decision based on the requirements and equipment configuration information to ensure that all requirements are met throughout the grinding and polishing cycle and to obtain the control parameters for the entire cycle, such as speed, feed rate and pressure.

[0023] The grinding and polishing process is divided into multiple stages, such as rough grinding, fine grinding, and polishing. Specific strategies are assigned to each stage, defining the goals and tasks for each. By integrating the control strategies and multi-axis switching strategies of each stage, a complete multi-axis control strategy is generated. Multi-axis switching refers to the need for different axis movements and control strategies at different stages of the grinding and polishing process; it involves adjusting the motion state of each axis according to specific requirements.

[0024] The multi-axis control strategy is programmed, and in response to the control gate array, logic block matching and programming are performed to control the grinding and polishing equipment to adjust the grinding and polishing of the impact drill bit.

[0025] The multi-axis control strategy, including the control parameters for each stage, such as speed, feed rate, pressure, and axis motion trajectory, is refined into specific program instructions for execution on the equipment. Specifically, a suitable programming language, such as C, C++, Python, or PLC language, is used to translate the multi-axis control strategy into program code. Each program module corresponds to a different part of the control strategy, such as the rough grinding, fine grinding, and polishing stages.

[0026] According to the requirements of the control strategy, the program is matched with the corresponding logic block. Through the programming interface, such as API or driver, the program instructions are passed to the logic block in the control gate array so that it can perform specific grinding and polishing operations.

[0027] Based on the analysis results and the programmed control strategy, a control program for the grinding and polishing equipment was developed, including start and stop commands, motion control commands for each axis, and status monitoring commands. The control program was debugged in a simulation environment to ensure it could correctly execute all operations. The debugged control program was then deployed to the actual equipment to control the grinding and polishing equipment for impact drill bit grinding and polishing, achieving efficient and precise processing operations.

[0028] Furthermore, such as Figure 2 As shown, before making control decisions for the entire grinding and polishing cycle, the following steps are included: The grinding and polishing requirements are identified, and the area is divided based on geometric characteristics. The first constraint is determined based on commonalities and differences. The second constraint is determined based on surface features. The first constraint and the second constraint are fitted together to make control decisions for the entire grinding and polishing cycle.

[0029] The analysis yields grinding and polishing requirements, including material removal, surface roughness improvement, and defect removal. The geometry and structural characteristics of the impact drill bit are analyzed, such as diameter, length, surface curvature, and cutting edge angle. Based on these geometric characteristics, the impact drill bit is divided into several local regions, such as the cutting edge region, shank region, and tip region. The grinding requirements and process specifications for each region may differ. Common constraints for all local regions are determined, such as the total material removal and overall surface roughness improvement targets. For each local region, specific constraints are determined; for example, the cutting edge region may require higher precision and a smoother surface, while the shank region may have lower surface roughness requirements. These common and specific constraints are used as the primary constraints.

[0030] Surface analysis instruments, such as 3D microscopes and surface roughness meters, are used to inspect the surface characteristics of various local areas of the impact drill bit, recording information such as surface roughness, surface texture, and defect distribution in each area. For each local area, a surface roughness target is determined. Based on the type and depth of surface defects, the amount of material to be removed and the corresponding process parameters are determined. For areas with special requirements, such as maintaining a specific surface texture, appropriate process parameters are set to avoid damaging these features. This determines the second constraint condition.

[0031] By comprehensively considering the first and second constraints, a holistic constraint is formed. Based on this constraint, the various stages of the entire grinding and polishing process are analyzed, and the control parameters for each stage are determined to ensure that each stage can achieve the expected grinding effect. According to the needs of different stages, the control strategy is distributed to ensure seamless connection between each stage.

[0032] Furthermore, multi-axis conversion includes: Obtain the grinding and polishing cycle strategy and divide it into multiple stage strategies; identify the first stage strategy, perform multi-axis concurrent strategy allocation, and determine N concurrent sub-strategies; traverse the N concurrent sub-strategies, perform multi-axis conversion processing, and determine the first multi-axis control strategy; traverse the multiple stage strategies, perform strategy multi-axis conversion for each strategy stage, and perform neighborhood stage docking to generate the multi-axis control strategy.

[0033] Based on the grinding and polishing requirements and control decisions, a comprehensive grinding and polishing cycle strategy is determined. This strategy includes the overall timeline for grinding and polishing, the objectives of each stage, and the key control parameters. Multiple phased strategies are implemented, including: a rough grinding stage, whose main objective is to quickly remove a large amount of material to achieve the initial geometric shape requirements; a fine grinding stage, which further improves surface quality and precision based on the rough grinding; and a polishing stage, the final meticulous grinding to achieve the final surface finish and precision requirements. Control parameters are refined according to the specific objectives and requirements of each stage, forming a phased strategy.

[0034] Identify the first-stage strategy from the cyclical strategy, such as the rough grinding stage, clarify its objectives and control parameters, and distribute the multi-axis concurrent strategy. Specifically, analyze the control requirements of the rough grinding stage, determine the motion and control tasks of each axis, decompose the total control task into multiple concurrent sub-tasks, each sub-task corresponds to the specific operation of one axis or a group of axes, determine the specific operating parameters of each axis, such as motion path, speed, feed rate, etc., form N concurrent sub-strategies, and ensure that each axis can work in coordination to achieve the objectives of the rough grinding stage.

[0035] Each concurrent sub-strategy is iterated one by one to check its compatibility and coordination with the overall control strategy, ensuring that no conflict or interference occurs during the execution of each sub-strategy. Based on the specific requirements of the sub-strategy, multi-axis transformation processing is performed, including synchronization of axis motion, adjustment of path planning, and optimization of motion parameters, ensuring that all axes can coordinate and achieve optimal working conditions during execution. The results of all concurrent sub-strategies and multi-axis transformation processing are combined to form a complete first multi-axis control strategy, used to achieve the goals of the rough grinding stage.

[0036] Following a cyclical strategy, all phased strategies are iterated one by one. Each phased strategy is analyzed and decomposed in detail to form specific control tasks and parameters. Multi-axis conversion processing is then performed to ensure that the motion and control parameters of each axis meet the requirements of that phase. The motion path, speed, and feed rate of each axis are adjusted to ensure optimal results in each phase. Neighboring phase docking is performed between phased strategies to ensure a smooth transition between phases. The docking points and transition conditions for each phase are determined to ensure seamless integration of control strategies. By combining the multi-axis control strategies of each phase and the results of neighboring phase docking, a final multi-axis control strategy is generated. This strategy can be executed throughout the entire grinding and polishing cycle to achieve the desired grinding effect.

[0037] Furthermore, the multi-axis conversion process includes: Determine the overall coordinate system, and based on the linkage multi-axis, determine the axial coordinate system centered on the mechanical axis; based on the overall coordinate system and the axial coordinate system, determine the coordinate transformation relationship, wherein the coordinate transformation relationship corresponds one-to-one with the linkage multi-axis; based on the coordinate transformation relationship, perform strategy multi-axis transformation on each stage strategy.

[0038] Establish a global coordinate system for the grinding and polishing equipment, such as a three-dimensional Cartesian coordinate system (X, Y, Z). Select a fixed reference point on the equipment as the origin of the coordinate system; this point is usually the center or reference point of the equipment. Analyze the equipment's multi-axis system, such as the X-axis, Y-axis, and Z-axis, and their interrelationships. Set an independent axial coordinate system for each mechanical axis. The origin of each axial coordinate system is usually set at the reference position of that axis. Establish the relationship between each axial coordinate system and the overall machine coordinate system, ensuring that they can be correctly transformed and correspond.

[0039] Based on the equipment's operational requirements, determine the scenarios and purposes for coordinate transformation, such as transformation from the overall coordinate system to coordinate systems along each axis, or transformation between coordinate systems along each axis. Define the parameters required for the transformation, such as rotation angle and translation distance.

[0040] Mathematical models, such as homogeneous coordinate transformation matrices, are used to describe the transformation relationship between the overall coordinate system and the axial coordinate system. A transformation matrix is ​​established for each pair of coordinate system relationships. For three-dimensional space, a 4x4 homogeneous coordinate transformation matrix is ​​usually used. Each transformation matrix can map the relationship between the overall coordinate system and the axial coordinate system.

[0041] Based on the specific requirements of each stage strategy, the strategy parameters that require multi-axis transformation are determined. Each stage strategy is decomposed into specific control commands, which need to be executed in different axial coordinate systems. Using the determined coordinate transformation relationship, the control commands of each stage strategy are transformed from the whole machine coordinate system to the corresponding axial coordinate system. During the transformation process, the control parameters are adjusted to adapt to the characteristics of different axial coordinate systems to ensure that the transformed commands can be executed accurately.

[0042] Furthermore, prior to the multi-axis conversion process, the following steps are included: Determine the shaft anisotropy, wherein the shaft anisotropy includes at least the shaft degrees of freedom and the shaft service state, and the shaft degrees of freedom are determined based on the superposition of the shaft joint degrees of freedom; based on the shaft degrees of freedom, perform screening constraints for shaft transformation; based on the shaft service state, perform shaft transformation compensation correction based on the state difference.

[0043] The degree of freedom of each mechanical axis refers to the direction and rotation in which the axis can move independently in space. Typically, the degree of freedom of an axis can be linear or rotational, such as translation in the X, Y, and Z directions, or rotation about the X, Y, and Z axes. If an axis system contains multiple joints, such as a robotic arm, the total degree of freedom is the sum of the degrees of freedom of each joint. For example, a three-joint robotic arm may have 6 degrees of freedom, namely 3 linear translations plus 3 rotations.

[0044] The service status of an axis includes its current operating status, such as position, speed, and acceleration, and its health status, such as wear level and service life. These statuses can be acquired through sensors and monitoring systems to collect real-time status data for each axis.

[0045] Determine the specific conversion requirements for each axis at different grinding stages. For example, in the rough grinding stage, a conversion between high speed and high acceleration may be required; while in the fine grinding stage, a conversion between high precision and low speed is needed. Based on the degrees of freedom and specific requirements of each axis, define the constraints during the conversion, including the range of motion, speed limits, acceleration limits, etc.

[0046] Check whether the degree of freedom of each axis meets the requirements of the current grinding stage. For example, if a certain stage requires three-axis linkage, select the axes with the corresponding degree of freedom, apply the screening constraint criteria, and select the most suitable axis for the current grinding stage to ensure that it can meet the requirements and is within the working range.

[0047] State difference refers to the discrepancy between the actual state and the ideal state of a current axis. Examples include the difference between the actual position and the target position, or the difference between the actual speed and the expected speed. Using sensor data and a monitoring system, the state difference of each axis is analyzed to identify the parts that need compensation and correction. Based on the state difference, a compensation strategy is formulated. For example, if the axis position deviates from the target position, the control command needs to be adjusted to return it to the correct position. Control algorithms, such as PID control and fuzzy control, are used to correct the axis's motion in real time to compensate for the state difference. The compensation and correction commands are applied to the control system to adjust the axis's motion parameters in real time, ensuring it runs on the expected trajectory.

[0048] Furthermore, the execution of the neighborhood stage docking to generate the multi-axis control strategy includes: Identify multi-stage multi-axis control strategies, perform axis docking mapping for neighboring stages, and determine axis docking groups, where each axis docking group corresponds to a complete grinding and polishing cycle; traverse the axis docking groups, perform docking correlation analysis, and determine docking constraint features, where the docking constraint features are identified by axis numbers and stage nodes, and the docking constraint features can be empty; based on the docking constraint features, combine the multi-stage multi-axis control strategies to generate the multi-axis control strategy.

[0049] The multi-axis control strategies for each stage are obtained, and neighboring stages (transition periods between two adjacent stages) are identified. The control strategies of adjacent stages are then mapped to ensure seamless transition of motion and control parameters for each axis during the transition. Specifically, interpolation and smooth transition algorithms are used to map the end state of one stage to the start state of the next. Through this mapping, an axis docking group is determined for each neighboring stage, containing all axes docked in that stage and their control parameters. This ensures that all axis docking groups cover the entire grinding and polishing cycle, from the rough grinding stage to the final polishing stage.

[0050] The process iterates through each neighboring stage of the axis docking group, checking the control parameters and docking status of each group. It analyzes the correlation of control parameters within each axis docking group, such as whether a speed change on one axis affects the motion of other axes. It identifies the constraint characteristics in each axis docking group, which indicate which axes require special handling or adjustment during docking. The docking constraint characteristics are recorded, including the axis number (to identify the specific axis) and the stage node (to identify the specific transition stage). If some docking groups lack specific constraint characteristics, they are marked as empty.

[0051] By utilizing docking constraint features, multi-axis control strategies at each stage are combined. For example, a smooth transition method is employed to ensure a smooth transition of motion parameters for each axis during docking, avoiding abrupt changes or inconsistencies. This integrates the control strategies from all stages into a complete multi-axis control strategy that covers the entire grinding and polishing cycle, ensuring that the grinding and polishing of the impact drill bit achieves the desired results.

[0052] Furthermore, after the grinding, polishing, and adjustment of the impact drill bit, the process includes: The grinding and polishing equipment is multi-axis autonomous and has a multi-axis parallel structure. It synchronously monitors the grinding and polishing of the impact drill bit. If a mechanical axis malfunctions, it generates an axis replacement command. Based on the axis replacement command, it controls and cuts off the faulty mechanical axis, adjusts the logic control program of the faulty mechanical axis for axis replacement compensation, and transfers control to the replacement mechanical axis for continued polishing and grinding control.

[0053] The grinding and polishing equipment is configured with a multi-axis parallel structure, meaning that multiple axes can work simultaneously and move in different directions and positions at the same time. It has multi-axis autonomy, meaning that each axis can work independently according to the control strategy while coordinating with other axes to ensure the continuity and efficiency of the overall work.

[0054] Sensors are installed on each mechanical axis to monitor key parameters such as axis position, speed, acceleration, temperature, and wear in real time. A data acquisition system acquires the monitoring data from each axis in real time, and the control system processes and analyzes the data. Fault determination criteria for mechanical axes are set, such as position deviation exceeding a certain range, abnormal speed, or excessively high temperature. A fault detection algorithm is used to analyze the monitoring data in real time to determine whether a mechanical axis fault exists. When a mechanical axis fault is detected, an axis replacement command is automatically generated, instructing a spare axis to take over the work of the faulty axis.

[0055] Based on the shaft replacement command, the operation of the faulty mechanical shaft is immediately stopped, its power supply and control signals are cut off to ensure safety, the faulty shaft is marked in the control system, and preparations are made for control transfer.

[0056] Because the positions of the spare axis and the faulty axis may differ, position compensation is required. The difference between the initial position of the spare axis and the final position of the faulty axis is calculated. Based on the calculation results, the control parameters of the faulty axis are transferred to the coordinate system of the spare axis for compensation and correction, keeping the force parameters constant to ensure consistency in the polishing trajectory and grinding effect. The control program of the faulty axis is then transferred to the spare axis to ensure that the spare axis can seamlessly take over the work of the faulty axis. The spare axis continues the grinding and polishing work according to the adjusted control program, ensuring the continuity and quality of the overall work.

[0057] Furthermore, after the grinding, polishing, and adjustment of the impact drill bit, the process includes: A position feedback unit and a force feedback unit are constructed, and a digital feedback device is trained. The position feedback unit and the force feedback unit are connected by an anti-resistance coordination branch. The grinding and polishing of the impact drill bit are monitored synchronously and the data is transmitted back to the digital feedback device. Based on the position feedback unit and the force feedback unit, control deviation feedback and adjustment are performed. Based on the anti-resistance coordination branch, anti-resistance adjustment is performed to improve control stability and smoothness, and the response is sent to the position feedback unit and the force feedback unit.

[0058] A position feedback unit is constructed. Specifically, high-precision position sensors, such as laser rangefinders and linear encoders, are installed at key positions of the grinding and polishing equipment to monitor the position of the drill bit and worktable in real time. The position data is acquired in real time using a data acquisition system and transmitted to the control system for processing.

[0059] A force feedback unit is constructed. Specifically, force sensors, such as piezoelectric force sensors or strain gauges, are installed on the grinding and polishing head or mechanical shaft to monitor force changes in real time during the grinding and polishing process. Force data is acquired in real time through a data acquisition system and transmitted to the control system for processing.

[0060] Select a suitable feedback control algorithm, such as PID control, fuzzy control, or neural network, to process position and force feedback data. Use historical and simulation data to train the digital feedback unit, optimize the parameters of the feedback algorithm, and ensure that it can accurately reflect changes in position and force. Connect the position feedback unit and the force feedback unit to the resistance coordination branch to ensure that their data can be processed collaboratively. Design a resistance adjustment mechanism in the resistance coordination branch to adjust the resistance during the grinding and polishing process in real time, ensuring the stability and smoothness of the processing.

[0061] The grinding and polishing process of the impact drill bit is monitored in real time, and the real-time monitoring data is transmitted to the digital feedback unit through the communication network. The digital feedback unit receives and processes the real-time data.

[0062] The real-time monitored position and force information is compared with the preset target value to calculate the control deviation. The magnitude and direction of the deviation are analyzed. Based on the feedback control algorithm, the control parameters of the grinding and polishing equipment are adjusted in real time to compensate for the detected deviation. This includes dynamically adjusting control parameters such as feed rate, pressure, and speed to ensure the accuracy and effect of the grinding and polishing process.

[0063] By analyzing the changes in resistance during the grinding and polishing process through the resistance coordination branch, and adjusting the resistance in real time based on the analysis results, the response is sent to the position feedback unit and the force feedback unit to ensure the stability and smoothness of the processing. Adjusting the resistance avoids vibration and instability during processing, ensuring high quality and consistency in grinding and polishing.

[0064] In summary, the automated control method for grinding and polishing multi-axis linkage impact drill bits provided in this application has the following technical effects: By reading the equipment's basic configuration information, the multi-axis linkage mode of the equipment is determined, laying the foundation for subsequent control decisions. Based on the equipment's basic configuration information, a control decision module containing parameter control decision blocks and multi-axis conversion blocks is trained, enabling the system to make precise control decisions according to actual needs. Programmable logic blocks are constructed and multiple parallel blocks are connected in parallel to generate a control gate array, realizing multi-axis autonomous control. The application of programmable logic blocks improves the system's flexibility and response speed. Based on the span before and after grinding, grinding and polishing requirements are read and determined, ensuring that control decisions can adapt to actual processing needs, further improving the accuracy of grinding effects. Combined with the control decision module, full-cycle control decisions and multi-axis conversions are performed to determine the multi-axis control strategy. Through phased strategy allocation and neighboring phase docking, seamless connection and coordinated control between stages are achieved. The multi-axis control strategy is programmed, responding to the control gate array, and logic block matching and programming are performed to ensure that the equipment can efficiently execute grinding and polishing tasks. Through precise matching and programming of logic blocks, automation and efficiency of control are achieved.

[0065] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automated control method for grinding and polishing multi-axis linkage impact drill bits, characterized in that, The method includes: Read the basic configuration information of the grinding and polishing equipment, which is a multi-axis linkage grinding mode; Based on the basic configuration information, a control decision module is trained, which includes a parameter control decision block and a multi-axis conversion block. A programmable logic block is constructed and multiple parallel blocks are connected in parallel to generate a control gate array, which is used for multi-axis autonomous control. Read the grinding and polishing requirements of the impact drill bit, which are determined based on the span before and after grinding; Identify the grinding and polishing requirements, and in conjunction with the control decision module, perform control decisions and multi-axis conversions throughout the grinding and polishing cycle to determine the multi-axis control strategy. The multi-axis conversion includes phased strategy allocation and neighboring phase docking. The multi-axis control strategy is programmed, and in response to the control gate array, logic block matching and programming are performed to control the grinding and polishing equipment to adjust the grinding and polishing of the impact drill bit.

2. The automated control method for grinding and polishing multi-axis linkage impact drill bits as described in claim 1, characterized in that, Before making control decisions for the entire grinding and polishing cycle, the following are included: Identify the grinding and polishing requirements, divide the region based on geometric characteristics, and determine the first constraint condition based on commonalities and differences; Based on surface features, determine the second constraint condition; By fitting the first constraint condition with the second constraint condition, control decisions are made for the entire grinding and polishing cycle.

3. The automated control method for grinding and polishing multi-axis linkage impact drill bits as described in claim 1, characterized in that, Perform multi-axis conversion, including: Obtain the grinding and polishing cycle strategy and divide it into multiple phased strategies; Identify the first-stage strategy, distribute the multi-axis concurrent strategy, and determine N concurrent sub-strategies; Traverse the N concurrent sub-strategies, perform multi-axis conversion processing, and determine the first multi-axis control strategy; The system iterates through the multiple phased strategies, performs multi-axis transformation on each strategy phase, and performs neighborhood phase docking to generate the multi-axis control strategy.

4. The automated control method for grinding and polishing multi-axis linkage impact drill bits as described in claim 3, characterized in that, The multi-axis conversion process includes: Determine the overall machine coordinate system, and based on the linkage of multiple axes, determine the axial coordinate system centered on the mechanical axis; Based on the overall coordinate system and the axial coordinate system, a coordinate transformation relationship is determined, wherein the coordinate transformation relationship corresponds one-to-one with the linkage multi-axis; Based on the coordinate transformation relationship, multi-axis transformation of the strategy at each stage is performed.

5. The automated control method for grinding and polishing multi-axis linkage impact drill bits as described in claim 4, characterized in that, Before performing the multi-axis conversion process, the following are included: Determine the shaft anisotropy, wherein the shaft anisotropy includes at least the shaft degrees of freedom and the shaft service state, and the shaft degrees of freedom are determined based on the superposition of the degrees of freedom of the shaft joints; Based on the aforementioned axis degrees of freedom, the sieve constraints for axis transformation are determined. Based on the shaft's service status, shaft conversion compensation correction is performed based on the status difference.

6. The automated control method for grinding and polishing multi-axis linkage impact drill bits as described in claim 3, characterized in that, The execution of the neighborhood phase docking, generating the multi-axis control strategy, includes: Identify multi-stage multi-axis control strategies, perform axis docking mapping in the neighborhood stage, and determine axis docking groups, where each axis docking group corresponds to a complete grinding and polishing cycle; Traverse the axis docking groups, perform docking correlation analysis, and determine docking constraint features. The docking constraint features are identified by axis number and stage node, and the docking constraint features can be empty. Based on the aforementioned docking constraint features, the multi-stage multi-axis control strategy is docked and combined to generate the multi-axis control strategy.

7. The automated control method for grinding and polishing multi-axis linkage impact drill bits as described in claim 1, characterized in that, After the grinding, polishing and adjustment of the impact drill bit, include: The grinding and polishing equipment has multi-axis autonomy and is a multi-axis parallel structure; Simultaneously monitor the grinding and polishing of the impact drill bit; if a mechanical shaft fault is found, generate a shaft replacement command. Based on the shaft replacement command, the faulty mechanical shaft is controlled to be cut off, the logic control program of the faulty mechanical shaft is adjusted to compensate for shaft replacement, the control is transferred to the replacement mechanical shaft, and the polishing and grinding control is carried out.

8. The automated control method for grinding and polishing multi-axis linkage impact drill bits as described in claim 1, characterized in that, After the grinding, polishing, and adjustment of the impact drill bit, the process includes: Construct a position feedback unit and a force feedback unit, and train a digital feedback device, wherein the position feedback unit and the force feedback unit are connected by an impedance coordination branch; Simultaneously monitor the grinding and polishing of the impact drill bit and transmit the data back to the digital feedback device; Based on the position feedback unit and the force feedback unit, control deviation feedback regulation is performed; Based on the aforementioned resistance coordination branch, resistance adjustment is performed to improve control stability and smoothness, and the response is sent to the position feedback unit and the force feedback unit.

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