A method, device and storage medium for grinding non-standard metal sheets
By grouping and grinding non-standard metal sheets and setting priorities based on thickness, the problem of uneven grinding in existing technologies is solved, and efficient and high-quality grinding of non-standard metal sheets is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHUHAI FENGGU ELECTRONICS TECH CO LTD
- Filing Date
- 2025-11-24
- Publication Date
- 2026-06-23
AI Technical Summary
Existing technology cannot simultaneously and efficiently grind non-standard metal sheets of different models or sizes, resulting in uneven grinding quality and problems of under-grinding or over-grinding.
By acquiring the position and thickness information of non-standard metal sheets, they are divided into grinding groups of different thicknesses. The grinding priority is set according to the thickness, and the grinding mechanism is used to grind the groups in sequence to ensure that the non-standard metal sheets in each group can be effectively ground.
It achieves high-quality grinding of non-standard metal sheets, avoiding under- or over-grinding, and improving grinding efficiency and quality consistency.
Smart Images
Figure CN121491818B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to, but is not limited to, the field of metal processing technology, and particularly to a method, equipment, and storage medium for grinding non-standard metal sheets. Background Technology
[0002] Current technology can only grind multiple standard metal sheets of the same type and size simultaneously. If non-standard metal sheets of different types or sizes are present during grinding, some metal sheets will not be ground or will be under-ground, thus reducing the grinding quality of the non-standard metal sheets. Summary of the Invention
[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.
[0004] The main objective of this invention is to provide a method, apparatus, and storage medium for polishing non-standard metal sheets, which can polish non-standard metal sheets with high polishing quality.
[0005] In a first aspect, embodiments of the present invention provide a method for grinding non-standard metal sheets, applied to a grinding device for non-standard metal sheets. The grinding device for non-standard metal sheets includes a support mechanism, a grinding mechanism, and a placement mechanism disposed at the same workstation. The placement mechanism is slidably connected to the support mechanism. The placement mechanism holds N non-standard metal sheets, where N represents a positive integer greater than or equal to 2. The grinding mechanism is disposed above the placement mechanism and is fixedly connected to the support mechanism. The grinding method for non-standard metal sheets includes:
[0006] Obtain the metal sheet information on the placement mechanism, wherein the metal sheet information represents the pose and thickness information of N non-standard metal sheets;
[0007] Based on the thickness information, N non-standard metal sheets are divided into M polishing groups, where M represents a positive integer greater than or equal to 1 and M is less than or equal to N. Non-standard metal sheets in the same polishing group have the same thickness, and different polishing groups have different polishing priorities. The polishing priority is positively correlated with the thickness of the non-standard metal sheet.
[0008] According to the grinding priority, the grinding mechanism is controlled sequentially to grind the M non-standard metal sheets in the grinding group to obtain the target metal sheet.
[0009] In some optional embodiments, dividing the N non-standard metal sheets into M polishing groups based on the thickness information includes:
[0010] Based on the thickness indicated by the thickness information, N non-standard metal sheets are sorted by thickness to obtain a thickness sorting table. The thickness sorting table is sorted according to the thickness, and non-standard metal sheets with the same thickness have the same sorting number.
[0011] According to the arrangement order of the thickness sorting table, non-standard metal sheets with the same sorting number are divided into a grinding group to obtain M grinding groups.
[0012] In some optional embodiments, after dividing the N non-standard metal sheets into M polishing groups based on the thickness information, the method further includes:
[0013] According to the polishing priority of the M polishing groups, each of the polishing groups is processed sequentially as follows:
[0014] Obtain the target quantity and target position of the non-standard metal sheets in the grinding group, wherein the target quantity represents the number of non-standard metal sheets in the grinding group, and the target position represents the spatial coordinate position of the non-standard metal sheets in the grinding group;
[0015] The grinding center of the grinding group is determined based on the target location and the target quantity. The grinding center represents the central position where the grinding head of the grinding mechanism grinds the grinding group.
[0016] In some optional embodiments, determining the polishing center of the polishing group based on the target location and the target quantity includes:
[0017] The first circumcircle of the target number of non-standard metal sheets is determined based on the target location;
[0018] Obtain the grinding area of the grinding head, wherein the grinding area represents the surface area of the grinding head used for grinding;
[0019] When the polishing area is greater than or equal to the first area, the center of the first circumcircle is configured as the polishing center, and the first area represents the area of the first circumcircle.
[0020] When the polishing area is smaller than the first area, the first circumscribed circle is divided into at least two second circumscribed circles, and the different second circumscribed circles do not cover the non-standard metal sheet.
[0021] The center of the second circumcircle is configured as the polishing center, and one second circumcircle corresponds to one polishing center.
[0022] In some optional embodiments, splitting the first circumcircle into at least two second circumcircles includes:
[0023] After the grinding circle corresponding to the grinding head is internally tangent to the first circumcircle, the grinding circle is configured with the third circumcircle, and the area of the grinding circle is equal to the grinding area.
[0024] At least one fourth circumscribed circle is provided for the non-standard metal sheet outside the third circumscribed circle. The fourth circumscribed circle and the third circumscribed circle do not cover each other with non-standard metal sheets. Both the fourth circumscribed circle and the third circumscribed circle belong to the second circumscribed circle.
[0025] In some optional embodiments, the step of sequentially controlling the grinding mechanism to grind the M non-standard metal sheets in the grinding groups according to the grinding priority to obtain the target metal sheet includes:
[0026] According to the grinding priority, the grinding head is moved sequentially to the grinding center of the M grinding groups;
[0027] The target metal sheet is obtained by controlling the grinding head to grind at each of the grinding centers. After the grinding group is completed, the material is unloaded, and after the unloading is completed, the next grinding group is ground.
[0028] In some optional embodiments, before controlling the grinding head to grind the target metal sheet at each of the grinding centers, the method further includes:
[0029] The contact positions of each non-standard metal piece with the grinding head after the grinding head is located at the grinding center are obtained;
[0030] The target grinding degree of the grinding head is determined based on the surface roughness of the non-standard metal sheet and a preset roughness, wherein the target grinding degree indicates the difference between the surface roughness and the preset roughness;
[0031] The grinding pressure at each position of the grinding head is determined based on the contact position and the degree of grinding.
[0032] The hardness of the grinding media at each position of the grinding head is set according to the grinding pressure, and the grinding media covers the grinding head.
[0033] In some optional embodiments, controlling the grinding head to grind at each of the grinding centers to obtain the target metal sheet includes:
[0034] The grinding head is controlled to grind the grinding center with a first pressure, and the first degree of grinding per unit time is recorded.
[0035] The second pressure is obtained by controlling the grinding head to increase the unit pressure, and grinding is performed at the grinding center, and the second grinding degree is recorded per unit time.
[0036] When the second degree of polishing is greater than the first degree of polishing, the second pressure is increased by a unit pressure to obtain a third pressure, and the polishing head is controlled to polish the polishing center with the third pressure, and the third degree of polishing is recorded per unit time; when the third degree of polishing is greater than the second degree of polishing, the third pressure is configured as the target pressure; when the third degree of polishing is less than or equal to the second degree of polishing, the second pressure is configured as the target pressure.
[0037] When the second degree of polishing is less than or equal to the first degree of polishing, the first pressure is subtracted from the unit pressure to obtain the fourth pressure, and the polishing head is controlled to polish at the polishing center, and the fourth degree of polishing per unit time is recorded; when the fourth degree of polishing is less than the first degree of polishing, the first pressure is configured as the target pressure; when the fourth degree of polishing is greater than or equal to the first degree of polishing, the fourth pressure is configured as the target pressure.
[0038] The grinding head is controlled to grind the grinding center with the target pressure so that the surface roughness of the non-standard metal sheet is less than or equal to the preset roughness.
[0039] In a second aspect, embodiments of the present invention provide a grinding device for non-standard metal sheets, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the grinding method for non-standard metal sheets described in the first aspect.
[0040] Thirdly, embodiments of the present invention provide a computer storage medium storing computer-executable instructions, the computer-executable instructions being used to execute the polishing method for non-standard metal sheets described in the first aspect.
[0041] The beneficial effects of this invention include: acquiring metal sheet information on the placement mechanism, wherein the metal sheet information represents the pose and thickness information of N non-standard metal sheets; dividing the N non-standard metal sheets into M grinding groups based on the thickness information, where M represents a positive integer greater than or equal to 1 and less than or equal to N, the non-standard metal sheets in the same grinding group have the same thickness, and different grinding groups have different grinding priorities, the grinding priority being positively correlated with the thickness of the non-standard metal sheet; and sequentially controlling the grinding mechanism to grind the non-standard metal sheets in the M grinding groups according to the grinding priority to obtain the target metal sheet. In the technical solution of this embodiment, by grouping the non-standard metal sheets according to their thickness, group grinding is performed, enabling non-standard metal sheets of the same thickness to be ground synchronously, and ensuring that non-standard metal sheets of different thicknesses can be ground, reducing over-grinding or under-grinding, and improving the grinding quality of non-standard metal sheets. Therefore, this application can grind non-standard metal sheets with high grinding quality.
[0042] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description
[0043] Figure 1 This is a schematic diagram of a system platform architecture for performing grinding of non-standard metal sheets according to an embodiment of the present invention;
[0044] Figure 2 This is a flowchart of a method for polishing non-standard metal sheets according to an embodiment of the present invention;
[0045] Figure 3 This is a schematic diagram of the first circumscribed circle provided in one embodiment of the present invention;
[0046] Figure 4 This is a schematic diagram of a first circumscribed circle being split into a third circumscribed circle and a fourth circumscribed circle according to an embodiment of the present invention.
[0047] Figure label:
[0048] System platform architecture 1000, processor 1100, memory 1200;
[0049] First circumcircle 100, non-standard metal sheet 200, third circumcircle 300, fourth circumcircle 400. Detailed Implementation
[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.
[0051] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.
[0052] The embodiments of the present invention will be further described below with reference to the accompanying drawings.
[0053] like Figure 1 As shown, Figure 1 This is a schematic diagram of a system platform architecture for performing a grinding method for non-standard metal sheets, provided by an embodiment of the present invention.
[0054] exist Figure 1 In the example, the system platform architecture 1000 includes a processor 1100 and a memory 1200, which can be connected via a bus or other means. Figure 1 Taking the example of a connection between China and Israel via a bus.
[0055] Memory 1200, 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 1200 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 1200 may optionally include memory remotely located relative to processor 1100, and these remote memories can be connected via a network to a polishing device for non-standard metal sheets. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
[0056] Those skilled in the art will understand that the system platform architecture 1000 can be applied to 5G communication network systems and subsequent evolved mobile communication network systems, etc., and this embodiment does not specifically limit it.
[0057] It will be understood by those skilled in the art that Figure 1 The system platform architecture 1000 shown does not constitute a limitation on the embodiments of the present invention. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0058] Reference Figure 2-4 , Figure 2 This invention provides a flowchart of a method for polishing non-standard metal sheets. The method is applied to a polishing device for non-standard metal sheets. The polishing device includes a support mechanism, a polishing mechanism, and a placement mechanism arranged at the same workstation. The placement mechanism is slidably connected to the support mechanism. The placement mechanism holds N non-standard metal sheets 200, where N represents a positive integer greater than or equal to 2. The polishing mechanism is positioned above the placement mechanism and is fixedly connected to the support mechanism. The polishing method for non-standard metal sheets in this embodiment may include, but is not limited to:
[0059] Step S100: Obtain the metal sheet information on the placement mechanism. The metal sheet information represents the pose and thickness information of N non-standard metal sheets 200.
[0060] It should be noted that the pose information of this application can be obtained through a vision acquisition device, an image acquisition device, a laser detection device, etc., and is not specifically limited here. The placement mechanism is provided with multiple placement slots for limiting the non-standard metal pieces 200. Specifically, the diameter of the placement slot matches the diameter of the non-standard metal piece 200, and the depth of the placement slot is less than the thickness of any non-standard metal piece 200.
[0061] Specifically, after the placement mechanism carries N non-standard metal sheets 200 and slides them onto the support mechanism to the designated inspection station, a positioning signal is triggered to bring the mechanism to a standstill (this can be a locking structure such as a locking slot or an electric locking component, which is not specifically limited here), avoiding displacement interference during the inspection process. Then, an obliquely polarized strip light source is turned on to eliminate surface reflections on the metal sheets. Simultaneously, an industrial camera fixed above the support mechanism is activated to capture a panoramic view of the placement mechanism from a vertical perspective, obtaining a clear image containing all the metal sheets. The acquired image is then processed for grayscale conversion, filtering and denoising, and threshold segmentation to clearly distinguish the metal sheets from the background area, resulting in a binarized image. The edge contour of each metal sheet is then extracted using the Canny algorithm to eliminate interference from grooves or surface impurities in the placement mechanism. Next, the geometric centroid of each metal sheet contour is calculated to determine its X-axis and Y-axis positions in the physical coordinate system. Simultaneously, the minimum bounding rectangle algorithm is used to measure the angle between the long side of the metal sheet and the X-axis of the coordinate system to determine its rotational attitude (i.e., attitude information). Finally, the image pixel coordinates are converted to actual physical coordinates using camera calibration parameters to ensure consistency with the coordinate system of the subsequent grinding mechanism.
[0062] Based on the acquired pose information of the metal sheets, the laser contour sensor (or spectral confocal sensor) mounted on the movable slide is controlled to move sequentially above each metal sheet. For regularly shaped metal sheets, 3 to 5 lines are scanned along their long side, while for irregularly shaped metal sheets, a grid scan is performed using a 5×5 point matrix to ensure coverage of the entire surface of the metal sheet. The laser contour sensor simultaneously measures the height of the upper surface of the metal sheet and the height of the reference surface of the placement mechanism (the height of the reference surface is pre-calibrated and can be the height of the bottom or top of the placement slot, which is not limited here). The thickness can be calculated based on the difference between the height of the upper surface of the metal sheet and the height of the reference surface of the placement mechanism. The average value of multiple measurements of the same metal sheet is taken as the final thickness of the metal sheet to avoid random errors.
[0063] Each metal sheet is associated with its unique ID and corresponding pose information (X coordinate, Y coordinate, rotation angle) and thickness information to form structured data (such as JSON format), which is the metal sheet information. This metal sheet information is then transmitted to the grinding control system.
[0064] Step S200: Based on the thickness information, divide the N non-standard metal sheets 200 into M polishing groups, where M represents a positive integer greater than or equal to 1 and M is less than or equal to N. Non-standard metal sheets 200 in the same polishing group have the same thickness, and different polishing groups have different polishing priorities. The polishing priority is positively correlated with the thickness of the non-standard metal sheets 200.
[0065] Specifically, the thickness data of the acquired N non-standard metal sheets (200) are extracted and categorized based on the thickness value of each sheet. Metal sheets with identical thicknesses are grouped together to form M grinding groups (the number of M depends on the actual thickness values, with a minimum of 1 group and a maximum of the total number of metal sheets N). For example, if the thicknesses of 5 metal sheets are 2.1mm, 2.3mm, 2.1mm, 2.5mm, and 2.3mm respectively, they can be divided into 3 grinding groups, corresponding to thicknesses of 2.1mm, 2.3mm, and 2.5mm respectively.
[0066] M sanding groups are assigned different sanding priorities. The priority rule is that the greater the thickness, the higher the priority; that is, the group with the largest thickness value is ranked first, followed by the next thickest group, and so on, with the group with the smallest thickness having the lowest priority. Continuing the example above, the group corresponding to 2.5mm has the highest priority, the group corresponding to 2.3mm has the second highest priority, and the group corresponding to 2.1mm has the lowest priority.
[0067] This grouping method allows metal sheets within the same group to be ground using the same grinding parameters (such as grinding depth and pressure). The priority setting based on thickness ensures that thicker metal sheets are ground first, which improves grinding efficiency and avoids uneven grinding caused by thickness differences.
[0068] In some optional embodiments, dividing the N non-standard metal sheets 200 into M polishing groups based on the thickness information includes:
[0069] S210, according to the thickness indicated by the thickness information, the N non-standard metal sheets 200 are sorted by thickness to obtain a thickness sorting table. The thickness sorting table is sorted according to the thickness. Non-standard metal sheets 200 with the same thickness have the same sorting number.
[0070] Specifically, the thickness of N non-standard metal sheets (200) is sorted. Based on the thickness information of each metal sheet, they are arranged in descending order of thickness value to form a thickness sorting table. Metal sheets with the same thickness are assigned the same sort number in the sorting table, while metal sheets with different thicknesses are assigned different sort numbers. For example, if six metal sheets have thicknesses of 1.8mm, 2.2mm, 1.8mm, 2.5mm, 2.2mm, and 2.5mm, after sorting them from largest to smallest, the 2.5mm sheet has a sort number of 1, the 2.2mm sheet has a sort number of 2, and the 1.8mm sheet has a sort number of 3, forming a thickness sorting table containing sheets with the same sort number.
[0071] S220, according to the arrangement order of the thickness sorting table, the non-standard metal sheets 200 with the same sorting number are divided into a grinding group to obtain M grinding groups.
[0072] Specifically, following the order of the sorting table, all metal sheets with the same sorting number are grouped together, resulting in M polishing groups. The number of sorting numbers corresponds to the value of M, and the metal sheets within each group have the same thickness. Using the example above, the 2.5mm metal sheet corresponding to sorting number 1 forms group 1, the 2.2mm metal sheet corresponding to sorting number 2 forms group 2, and the 1.8mm metal sheet corresponding to sorting number 3 forms group 3, resulting in a total of 3 polishing groups (M=3).
[0073] In some optional embodiments, after dividing the N non-standard metal sheets 200 into M polishing groups based on the thickness information, the method further includes:
[0074] According to the polishing priority of the M polishing groups, each of the polishing groups is processed sequentially as follows:
[0075] S230, obtain the target quantity and target position of the non-standard metal sheets in the grinding group, wherein the target quantity represents the number of non-standard metal sheets 200 in the grinding group, and the target position represents the spatial coordinate position of the non-standard metal sheets 200 in the grinding group;
[0076] S240, determine the grinding center of the grinding group according to the target position and the target quantity, the grinding center representing the center position of the grinding head of the grinding mechanism grinding the grinding group.
[0077] Specifically, after dividing N non-standard metal sheets 200 into M grinding groups based on thickness information, the operation is performed on each grinding group sequentially according to grinding priority (the greater the thickness, the higher the priority):
[0078] First, obtain the target quantity and target position of the current grinding group. The target quantity is the total number of non-standard metal pieces 200 within the group (e.g., if a group contains 3 metal pieces, the target quantity is 3); the target position is the spatial coordinate position of each metal piece within the group on the placement mechanism (i.e., the previously obtained X-axis and Y-axis physical coordinates). Then, based on these target positions and target quantities, calculate the grinding center of the grinding group, which is the core reference position when the grinding head of the grinding mechanism grinds this group.
[0079] In some optional embodiments, determining the polishing center of the polishing group based on the target location and the target quantity includes:
[0080] S241, determine the first circumcircle 100 of the non-standard metal sheets 200 of the target quantity based on the target position;
[0081] Specifically, based on the target positions (spatial coordinates) of all non-standard metal pieces 200 within the grinding group, the smallest circumscribed circle (i.e., the first circumscribed circle 100) that can completely contain these metal pieces is calculated, thereby defining the overall distribution range of all metal pieces in the group.
[0082] S242, Obtain the grinding area of the grinding head, wherein the grinding area represents the surface area of the grinding head used for grinding;
[0083] Specifically, the grinding area refers to the surface area that the grinding head can cover in a single operation, which is determined by the size of the grinding head (such as its diameter).
[0084] S243, when the polishing area is greater than or equal to the first area, the center of the first circumscribed circle 100 is configured as the polishing center, and the first area represents the area of the first circumscribed circle 100.
[0085] Specifically, refer to Figure 3If the grinding area of the grinding head is greater than or equal to the first area, it means that a single grinding can cover all the metal sheets in the group. In this case, the center of the first circumscribed circle 100 is directly set as the grinding center of the grinding group.
[0086] S244, when the grinding area is smaller than the first area, the first outer circle 100 is divided into at least two second outer circles, and the different second outer circles do not cover the non-standard metal sheet 200.
[0087] Specifically, if the grinding area of the grinding head is smaller than the first area, it indicates that a single grinding operation cannot cover all the metal sheets. In this case, the first circumscribed circle 100 needs to be divided into at least two second circumscribed circles. During the division, it must be ensured that each second circumscribed circle contains a portion of the metal sheet, and the coverage areas of different second circumscribed circles do not overlap (i.e., they do not cover each other's metal sheets to avoid repeated grinding), ensuring that all metal sheets can be completely contained by the second circumscribed circle.
[0088] S245, the center of the second circumcircle is configured as the polishing center, and one second circumcircle corresponds to one polishing center.
[0089] Specifically, the center of each second circumcircle serves as a corresponding grinding center, with one second circumcircle corresponding to one grinding center. During grinding, the grinding head will work sequentially at these center positions, covering all non-standard metal pieces 200 in the group through multiple grinding passes. For example, if a grinding group has 4 non-standard metal pieces 200, and its first circumcircle 100 has an area of 100cm², while the grinding head's grinding area is 60cm² (less than 100cm²), then the first circumcircle 100 is divided into two second circumcircles (with areas of 55cm² and 50cm² respectively), each containing 2 non-standard metal pieces 200 that do not overlap. The centers of the two second circumcircles serve as two grinding centers, and the grinding head sequentially completes the grinding of the group at these two center positions.
[0090] In some optional embodiments, dividing the first circumcircle 100 into at least two second circumcircles includes:
[0091] S2441, after the grinding circle corresponding to the grinding head is internally tangent to the first circumcircle 100, the grinding circle is configured with the third circumcircle 300, and the area of the grinding circle is equal to the grinding area.
[0092] Specifically, based on the grinding area of the grinding head, a corresponding circle (i.e., a grinding circle, the area of which is equal to the grinding area) is determined. This grinding circle is internally tangent to the first circumcircle 100, so that the circumference of the grinding circle is tangent to the circumference of the first circumcircle 100 at a certain point, and the entire grinding circle is located inside the first circumcircle 100. At this time, this internally tangent grinding circle is configured as the third circumcircle 300, the function of which is to cover part of the non-standard metal sheet 200 within the first circumcircle 100.
[0093] S2442, at least one fourth circumcircle 400 is provided for the non-standard metal sheet 200 outside the third circumcircle 300, the fourth circumcircle 400 and the third circumcircle 300 do not cover each other's non-standard metal sheet 200, and the fourth circumcircle 400 and the third circumcircle 300 both belong to the second circumcircle.
[0094] Specifically, for non-standard metal pieces 200 located outside the third circumcircle 300 (i.e., non-standard metal pieces 200 still within the first circumcircle 100 but not within the third circumcircle 300), at least one fourth circumcircle 400 is provided for them. Each fourth circumcircle 400 must meet two conditions: first, it can completely contain the partially uncovered metal pieces; second, it does not overlap with the non-standard metal pieces 200 covered by the third circumcircle 300 and other fourth circumcircles 400 (if there are multiple), and will not cover the non-standard metal pieces 200 contained in the other.
[0095] The third circumscribed circle 300 and all fourth circumscribed circles 400 belong to the second circumscribed circle (the second circumscribed circle is only used to characterize the circumscribed circle type of the third circumscribed circle 300 and the fourth circumscribed circle 400), achieving complete coverage of all non-standard metal pieces 200 within the first circumscribed circle 100, and the area of each second circumscribed circle does not exceed the grinding area of the grinding head (because the area of the third circumscribed circle 300 is equal to the grinding area, the area of the fourth circumscribed circle 400 must also be less than or equal to the grinding area to adapt to the working range of the grinding head). For example: refer to Figure 4 The first circumcircle 100 contains five non-standard metal pieces 200. A third circumcircle 300 is formed by grinding a circle that is internally tangent to the first circumcircle 100, covering three of the non-standard metal pieces 200. The remaining two non-standard metal pieces 200 are covered by a fourth circumcircle 400, and this fourth circumcircle 400 does not overlap with the non-standard metal pieces 200 covered by the third circumcircle 300. At this point, the third circumcircle 300 and the fourth circumcircle 400 together serve as the second circumcircle, completing the separation of the first circumcircle 100.
[0096] Step S300: According to the grinding priority, the grinding mechanism is controlled to grind the M non-standard metal sheets 200 of the grinding group in sequence to obtain the target metal sheet.
[0097] Specifically, the thickness information (priority determination criterion) of each of the M grinding groups is extracted, and grinding is performed sequentially from the group with the largest thickness to the group with the smallest thickness. For example, if the thicknesses of the M=3 groups are 2.5mm (priority 1), 2.3mm (priority 2), and 2.1mm (priority 3), the grinding order is 2.5mm group → 2.3mm group → 2.1mm group. After all M groups have been ground, a final overall acceptance test is performed on all N non-standard metal sheets 200: the thickness, surface roughness, and edge integrity (no chips, no burrs) of each non-standard metal sheet 200 are checked one by one; after passing the acceptance test, the placement mechanism slides to the unloading station to complete the output of the target metal sheet; if there are individual defective products, they are marked separately and re-ground to ensure that all final outputs meet the standards.
[0098] In some optional embodiments, the step of sequentially controlling the grinding mechanism to grind the M non-standard metal sheets 200 in the grinding group according to the grinding priority to obtain the target metal sheet includes:
[0099] S310, according to the grinding priority, the grinding head is moved sequentially to the grinding center of the M grinding groups;
[0100] S320, the grinding head is controlled to grind each of the grinding centers to obtain the target metal sheet, wherein the grinding group is unloaded after grinding is completed, and the next grinding group is ground after unloading is completed.
[0101] Specifically, based on the rule that the greater the thickness, the higher the priority, the grinding order of the M grinding groups is determined, starting with the group with the highest priority. The system retrieves the grinding center of the current group to be ground (if the group is divided into multiple grinding centers, they are retrieved in a preset order (such as from left to right, from front to back), and drives the X / Y axis motion module of the grinding mechanism to precisely move the grinding head to the position of the first grinding center, ensuring that the center of the grinding head is aligned with the grinding center of the group, thus preparing to cover all the metal sheets in the group.
[0102] After the grinding head is moved into position, the system controls the grinding head to descend to the specified working height according to the preset grinding parameters for that group (such as grinding depth, pressure, rotation speed, and feed speed). After contacting the surface of the metal sheet, the grinding action is initiated. If it is a single grinding center, the grinding head uses the center as a reference and covers the entire grinding range of the metal sheet in that group in a spiral or reciprocating path. If it is multiple grinding centers, the above grinding action is repeated at each center position in turn until all metal sheets in the current group have been ground.
[0103] After all the metal sheets in the current grinding group have been ground, the placement mechanism slides to the unloading station. A robotic arm or pneumatic suction cup, among other unloading devices, removes the ground metal sheets from the placement mechanism, completing the unloading process. During unloading, the system simultaneously checks whether the placement mechanism is empty to ensure that no residual metal sheets will affect the grinding of the next group.
[0104] After the current group of materials is unloaded, the placement mechanism slides back to the grinding station. The system retrieves the grinding center data of the next grinding group according to the grinding priority order, and repeats the process of the grinding head moving to the new grinding center, the grinding head performing grinding, and the next group of materials being unloaded, until all M grinding groups have completed grinding and unloading, and all non-standard metal sheets 200 are converted into target metal sheets that meet the requirements.
[0105] In some optional embodiments, before controlling the grinding head to grind the target metal sheet at each of the grinding centers, the method further includes:
[0106] S311, Obtain the contact positions between the grinding head and each non-standard metal piece 200 after the grinding head is located at the grinding center;
[0107] Specifically, once the grinding head is moved to the grinding center and adjusted to the working height, the contact positions of all non-standard metal sheets 200 corresponding to the grinding center with the grinding head are detected in real time by a three-dimensional vision sensor (such as a structured light scanner) or a pressure-sensitive array installed on the grinding head or support mechanism. That is, the three-dimensional coordinate points of the actual contact between the surface of the metal sheet and the grinding medium of the grinding head.
[0108] S312, the target grinding degree of the grinding head is determined based on the surface roughness of the non-standard metal sheet 200 and the preset roughness, wherein the target grinding degree indicates the difference between the surface roughness and the preset roughness;
[0109] Specifically, the surface roughness data (such as Ra value) of the current non-standard metal sheet 200 is collected by a surface roughness tester (such as a laser confocal microscope), and compared with the preset target roughness (determined according to process requirements, not limited here). The difference between the two is calculated, and the difference is the target polishing degree, which is used to quantify the amount of surface material to be removed and the fineness of polishing (the larger the difference, the higher the intensity of polishing required).
[0110] S313, determine the grinding pressure at each position of the grinding head according to the contact position and the grinding degree;
[0111] Specifically, for each contact position, a corresponding pressure is allocated based on the target grinding degree; the target grinding degree determines the amount of grinding required at each position of the grinding head; due to the difference in linear velocity at different parts of the grinding head (the linear velocity is faster the farther away from the center of the grinding head), a smaller grinding pressure is set at the position with a higher linear velocity to improve cutting efficiency, thereby enabling the non-standard metal pieces 200 at each position of the grinding head to be ground synchronously and accurately, and simultaneously grinding different non-standard metal pieces 200 at different positions.
[0112] S314, The hardness of the grinding medium at each position of the grinding head is set according to the grinding pressure, and the grinding medium covers the grinding head.
[0113] Specifically, the hardness of the polishing media must be matched to the pressure at the corresponding location: higher hardness polishing media (such as 800-grit alumina hard cloth sandpaper or high-density nylon wheels) should be used in high-pressure areas (such as edges or areas with low grinding requirements); lower hardness polishing media (such as 1200-grit soft cloth sandpaper or low-density sponge wheels) should be used in low-pressure areas (such as edges or areas with low grinding requirements). The pressure is buffered by the deformation of the media itself, avoiding scratches or over-polishing. If the polishing head has a modular design, the corresponding media module can be directly replaced; if it is a one-piece polishing head, hardness zoning is achieved by pre-fitting media splicing layers of different hardnesses, but specific details are not limited here.
[0114] In some optional embodiments, controlling the grinding head to grind at each of the grinding centers to obtain the target metal sheet includes:
[0115] S330, control the grinding head to grind the grinding center with a first pressure, and record the first degree of grinding per unit time;
[0116] Specifically, the grinding head is controlled to grind at the grinding center with a first pressure (initial set pressure), and the first degree of grinding per unit time is recorded (i.e., the amount of improvement in surface roughness per unit time under this pressure, such as from...). Down to The degree of polishing is ).
[0117] S331, control the grinding head to increase the unit pressure to obtain the second pressure, perform grinding at the grinding center, and record the second grinding degree per unit time;
[0118] Specifically, the pressure of the grinding head is increased by one unit pressure (e.g., from 0.2MPa to 0.3MPa) to obtain a second pressure. Grinding continues at the same grinding center, and the second grinding degree is recorded per unit time.
[0119] S332, when the second degree of polishing is greater than the first degree of polishing, the second pressure is increased by a unit pressure to obtain a third pressure, and the polishing head is controlled to polish the polishing center with the third pressure, and the third degree of polishing per unit time is recorded; when the third degree of polishing is greater than the second degree of polishing, the third pressure is configured as the target pressure; when the third degree of polishing is less than or equal to the second degree of polishing, the second pressure is configured as the target pressure;
[0120] Specifically, if the second degree of polishing is greater than the first degree of polishing (indicating that increasing pressure can improve polishing efficiency), then increase the pressure by one unit to the third pressure (e.g., 0.4 MPa), polish again, and record the third degree of polishing. If the third degree of polishing is greater than the second degree of polishing (pressure can still improve efficiency), then set the third pressure as the target pressure; if the third degree of polishing is less than or equal to the second degree of polishing (increasing pressure can no longer improve efficiency), then set the second pressure as the target pressure.
[0121] S333, when the second degree of polishing is less than or equal to the first degree of polishing, the first pressure is subtracted from the unit pressure to obtain the fourth pressure, and the polishing head is controlled to polish at the polishing center, and the fourth degree of polishing per unit time is recorded; when the fourth degree of polishing is less than the first degree of polishing, the first pressure is configured as the target pressure; when the fourth degree of polishing is greater than or equal to the first degree of polishing, the fourth pressure is configured as the target pressure.
[0122] Specifically, if the second degree of polishing is less than or equal to the first degree of polishing (indicating that increasing pressure has not improved efficiency), then reduce the pressure by one unit to the fourth pressure (e.g., 0.1 MPa), polish, and record the fourth degree of polishing. If the fourth degree of polishing is less than the first degree of polishing (reducing pressure leads to a decrease in efficiency), then set the first pressure as the target pressure; if the fourth degree of polishing is greater than or equal to the first degree of polishing (reducing pressure actually improves efficiency), then set the fourth pressure as the target pressure.
[0123] S334, control the grinding head to grind the grinding center with the target pressure so that the surface roughness of the non-standard metal sheet 200 is less than or equal to the preset roughness.
[0124] Specifically, after determining the target pressure, the grinding head is controlled to continuously grind at that pressure at the grinding center until the surface roughness of the non-standard metal sheet 200 is reduced to the preset roughness (or below), ultimately obtaining a target metal sheet that meets the requirements. By gradually testing and comparing efficiency through unit pressure changes, the optimal pressure suitable for the current metal sheet is dynamically found, ensuring grinding efficiency while avoiding over-grinding or under-grinding due to improper pressure.
[0125] Implementing this embodiment of the invention has the following beneficial effects: Information about the metal sheets on the placement mechanism is obtained, where the metal sheet information represents the pose and thickness information of N non-standard metal sheets 200; based on the thickness information, the N non-standard metal sheets 200 are divided into M grinding groups, where M represents a positive integer greater than or equal to 1 and less than or equal to N. Non-standard metal sheets 200 within the same grinding group have the same thickness, and different grinding groups have different grinding priorities, which are positively correlated with the thickness of the non-standard metal sheets 200; according to the grinding priority, the grinding mechanism is sequentially controlled to grind the M grinding groups of non-standard metal sheets 200 to obtain the target metal sheet. In this embodiment, by grouping the non-standard metal sheets 200 according to their thickness, group grinding is performed, allowing non-standard metal sheets 200 of the same thickness to be ground synchronously, and ensuring that non-standard metal sheets 200 of different thicknesses can be ground, reducing over-grinding or under-grinding and improving the grinding quality of the non-standard metal sheets. Therefore, this application is able to polish non-standard metal sheets 200 with high polishing quality.
[0126] In addition, one embodiment of the present invention provides a grinding device for non-standard metal sheets, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor.
[0127] The processor and memory can be connected via a bus or other means.
[0128] It should be noted that the computer in this embodiment may correspond to, for example, including, Figure 1 The memory and processor in the illustrated embodiment can constitute Figure 1 The system architecture platform shown in the embodiment is part of the same inventive concept, and therefore has the same implementation principle and beneficial effects, which will not be described in detail here.
[0129] The non-transient software program and instructions required to implement the methods of the above embodiments are stored in memory. When executed by a processor, the non-standard metal sheet polishing method of the above embodiments is performed, for example, the method described above is executed. Figure 2 Method steps S100 to S300.
[0130] Furthermore, one embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions. When these computer-executable instructions are used to execute the non-standard metal sheet grinding method of the aforementioned non-standard metal sheet grinding apparatus, for example, to execute the above-described... Figure 2 Method steps S100 to S300.
[0131] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as processors, such as central processing units, digital signal processors, or microprocessors executing software, or as hardware, or as integrated circuits, such as application-specific integrated circuits. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.
[0132] The above provides a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.
Claims
1. A method for polishing non-standard metal sheets, characterized in that, A grinding device for non-standard metal sheets, comprising a support mechanism, a grinding mechanism, and a placement mechanism arranged at the same workstation, wherein the placement mechanism is slidably connected to the support mechanism, and holds N non-standard metal sheets, where N represents a positive integer greater than or equal to 2; the grinding mechanism is positioned above the placement mechanism and is fixedly connected to the support mechanism; and the grinding method for the non-standard metal sheets includes: Obtain the metal sheet information on the placement mechanism, wherein the metal sheet information represents the pose and thickness information of N non-standard metal sheets; Based on the thickness information, N non-standard metal sheets are divided into M polishing groups, where M represents a positive integer greater than or equal to 1 and less than or equal to N. Non-standard metal sheets within the same polishing group have the same thickness, and different polishing groups have different polishing priorities, which are positively correlated with the thickness of the non-standard metal sheets. Dividing the N non-standard metal sheets into M polishing groups based on the thickness information includes: sorting the N non-standard metal sheets sequentially according to the thickness indicated by the thickness information to obtain a thickness sorting table, where the thickness sorting table is sorted sequentially according to the thickness, and non-standard metal sheets with the same thickness have the same sorting number; and then, according to the arrangement order of the thickness sorting table, dividing the non-standard metal sheets with the same sorting number into one polishing group to obtain M polishing groups. According to the grinding priority, the grinding mechanism is controlled sequentially to grind the M non-standard metal sheets in the grinding group to obtain the target metal sheet.
2. The polishing method for non-standard metal sheets according to claim 1, characterized in that, After dividing the N non-standard metal sheets into M polishing groups based on the thickness information, the process further includes: According to the polishing priority of the M polishing groups, each of the polishing groups is processed sequentially as follows: Obtain the target quantity and target position of the non-standard metal sheets in the grinding group, wherein the target quantity represents the number of non-standard metal sheets in the grinding group, and the target position represents the spatial coordinate position of the non-standard metal sheets in the grinding group; The grinding center of the grinding group is determined based on the target location and the target quantity. The grinding center represents the central position where the grinding head of the grinding mechanism grinds the grinding group.
3. The polishing method for non-standard metal sheets according to claim 2, characterized in that, Determining the polishing center of the polishing group based on the target location and the target quantity includes: The first circumcircle of the target number of non-standard metal sheets is determined based on the target location; Obtain the grinding area of the grinding head, wherein the grinding area represents the surface area of the grinding head used for grinding; When the polishing area is greater than or equal to the first area, the center of the first circumcircle is configured as the polishing center, and the first area represents the area of the first circumcircle. When the polishing area is smaller than the first area, the first circumscribed circle is divided into at least two second circumscribed circles, and the different second circumscribed circles do not cover the non-standard metal sheet. The center of the second circumcircle is configured as the polishing center, and one second circumcircle corresponds to one polishing center.
4. The polishing method for non-standard metal sheets according to claim 3, characterized in that, The step of dividing the first circumcircle into at least two second circumcircles includes: After the grinding circle corresponding to the grinding head is internally tangent to the first circumcircle, the grinding circle is configured with the third circumcircle, and the area of the grinding circle is equal to the grinding area. At least one fourth circumscribed circle is provided for the non-standard metal sheet outside the third circumscribed circle. The fourth circumscribed circle and the third circumscribed circle do not cover each other with non-standard metal sheets. Both the fourth circumscribed circle and the third circumscribed circle belong to the second circumscribed circle.
5. The polishing method for non-standard metal sheets according to claim 2, characterized in that, The step of sequentially controlling the grinding mechanism to grind the M non-standard metal sheets in the grinding groups according to the grinding priority to obtain the target metal sheet includes: According to the grinding priority, the grinding head is moved sequentially to the grinding center of the M grinding groups; The target metal sheet is obtained by controlling the grinding head to grind at each of the grinding centers. After the grinding group is completed, the material is unloaded, and after the unloading is completed, the next grinding group is ground.
6. The polishing method for non-standard metal sheets according to claim 5, characterized in that, Before the step of controlling the grinding head to grind at each of the grinding centers to obtain the target metal sheet, the method further includes: The contact positions of each non-standard metal piece with the grinding head after the grinding head is located at the grinding center are obtained; The target grinding degree of the grinding head is determined based on the surface roughness of the non-standard metal sheet and a preset roughness, wherein the target grinding degree indicates the difference between the surface roughness and the preset roughness; The grinding pressure at each position of the grinding head is determined based on the contact position and the degree of grinding. The hardness of the grinding media at each position of the grinding head is set according to the grinding pressure, and the grinding media covers the grinding head.
7. The polishing method for non-standard metal sheets according to claim 6, characterized in that, The process of controlling the grinding head to perform grinding at each of the grinding centers to obtain the target metal sheet includes: The grinding head is controlled to grind the grinding center with a first pressure, and the first degree of grinding per unit time is recorded. The second pressure is obtained by controlling the grinding head to increase the unit pressure, and grinding is performed at the grinding center, and the second grinding degree is recorded per unit time. When the second degree of polishing is greater than the first degree of polishing, the second pressure is increased by a unit pressure to obtain a third pressure, and the polishing head is controlled to polish the polishing center with the third pressure, and the third degree of polishing is recorded per unit time; when the third degree of polishing is greater than the second degree of polishing, the third pressure is configured as the target pressure; when the third degree of polishing is less than or equal to the second degree of polishing, the second pressure is configured as the target pressure. When the second degree of polishing is less than or equal to the first degree of polishing, the first pressure is subtracted from the unit pressure to obtain the fourth pressure, and the polishing head is controlled to polish at the polishing center, and the fourth degree of polishing per unit time is recorded; when the fourth degree of polishing is less than the first degree of polishing, the first pressure is configured as the target pressure; when the fourth degree of polishing is greater than or equal to the first degree of polishing, the fourth pressure is configured as the target pressure. The grinding head is controlled to grind the grinding center with the target pressure so that the surface roughness of the non-standard metal sheet is less than or equal to the preset roughness.
8. A grinding device for non-standard metal sheets, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the polishing method for non-standard metal sheets according to any one of claims 1-7.
9. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions for performing the grinding method for non-standard metal sheets according to any one of claims 1-7.