Table tennis bat processing device and method

Abstract

The invention relates to the technical field of table tennis bat processing, and discloses a table tennis bat processing device and method. The table tennis bat processing device comprises a workbench, a bat mounting mechanism, an edge grinding mechanism, a contour detection mechanism and a control end, the racket mounting mechanism is arranged on the workbench and is used for positioning and bearing a plurality of stacked table tennis rackets; the edge grinding mechanism is used for grinding the edges of the stacked table tennis rackets on the racket mounting mechanism; and the contour detection mechanism is used for scanning and detecting the stacking edges of the stacked table tennis bats before polishing. By introducing cooperative work of the contour detection mechanism and the intelligent control end, traditional fixed grinding is upgraded into intelligent self-adaptive machining of firstly measuring, then grinding and simultaneously measuring and calculating, so that the problem of uneven grinding caused by tolerance accumulation is effectively eliminated by performing targeted compensation on geometric deviation of stacked edges, and the machining precision is improved. Therefore, the edge contour of each stacked and polished racket can be highly close to a preset ideal contour.

Description

Technical Field

[0001] This invention relates to the field of table tennis racket processing technology, and more specifically, to a table tennis racket processing apparatus and method. Background Technology

[0002] In the production process of table tennis rackets, after the racket is glued on, the edges of the racket need to be polished to remove burrs, obtain smooth edges, and form an ergonomic grip surface, which directly affects the feel and quality of the racket.

[0003] In existing technologies, to improve efficiency, multiple rackets are often stacked and sanded simultaneously. However, due to inherent thickness tolerances in the production of wooden blades, these minute individual tolerances accumulate and amplify when multiple rackets are stacked. This results in irregular undulations in the radial direction of the stacked edges, with some areas protruding and others recessed. Traditional sanding equipment uses fixed sanding paths and parameters, making it difficult to detect these contour differences caused by accumulated tolerances. This easily leads to over-sanding of protruding areas and under-sanding of recessed areas, resulting in inconsistent edge thickness within the same batch of rackets and affecting the overall product quality.

[0004] Therefore, there is an urgent need for an intelligent processing device that can identify the deviation of the stacked edge contour before grinding and dynamically adjust the grinding strategy accordingly to solve the problem of uneven grinding caused by tolerance accumulation. Summary of the Invention

[0005] The purpose of this invention is to provide a table tennis racket processing device and method to solve the above-mentioned technical problems.

[0006] The present invention solves the above-mentioned technical problems through the following technical solutions: This invention provides a ping-pong paddle processing device, comprising: Workbench; The racket mounting mechanism, set on the workbench, is used to position and support multiple stacked ping-pong rackets; An edge grinding mechanism is used to grind the edges of stacked ping-pong paddles on the paddle mounting mechanism; A contour detection mechanism is used to scan and detect the stacked edges of stacked ping-pong paddles before grinding to obtain geometric deviation information of the stacked edges relative to a preset reference contour. The geometric deviation information includes the amount of deviation of the stacked edges protruding or concave in the radial direction and the distribution of the deviation along the circumferential direction of the stacked edges. The control unit is communicatively connected to the racket mounting mechanism, the edge grinding mechanism, and the contour detection mechanism, and is configured to execute: Receive and process geometric deviation information; An adaptive grinding control strategy is generated based on the deviation and its distribution. The grinding control strategy is as follows: increase the grinding amount for areas identified as radially protruding on the stack edge, and decrease the grinding amount for areas identified as radially recessed. According to the grinding control strategy, the edge grinding mechanism is controlled to perform the corresponding grinding action.

[0007] Preferably, the contour detection mechanism includes a first detection element for acquiring the total thickness information of the stacked rackets, and a second detection element for acquiring real-time radial position information of multiple detection points on the stacked edge along the circumferential direction of the stacking edge; The control terminal is configured to calculate the number of stacked layers based on the total thickness information, and to calculate the geometric deviation information based on the real-time radial position information and the preset reference radial position.

[0008] Preferably, the first detection element is a non-contact distance sensor used to measure the distance to the outermost surface of the stacked rackets; the second detection element is a laser displacement sensor whose scanning optical path is perpendicular to the tangential direction of the stacked edge.

[0009] Preferably, the edge grinding mechanism includes a belt grinding head, a moving platform for driving the belt grinding head to move parallel to the top surface of the worktable, and a micro-motion component for driving the belt grinding head to make precise radial feeds along the stacked edge.

[0010] Preferably, the racket mounting mechanism includes a rotating platform disposed on the top surface of the workbench, a racket clamp mounted on the rotating platform, and a servo clamping member for applying an axially adjustable clamping force to the stacked rackets.

[0011] Preferably, the control terminal is further configured to: determine whether the gap between layers exceeds a preset range based on the total thickness information, the number of stacked layers, and the theoretical total thickness calculated from the standard thickness of a single racket; if it exceeds the range, control the servo clamping component to increase the clamping force to eliminate the gap.

[0012] Preferably, the specific method by which the control terminal generates the grinding control strategy includes: mapping the deviation amount to a feed depth compensation value of the micro-motion driven belt grinding head in the radial direction; and generating a speed adjustment command for controlling the moving platform to drive the belt grinding head to move in the circumferential direction based on the distribution of the deviation amount along the circumferential direction.

[0013] Preferably, the contour detection mechanism further includes a support frame that is fixedly installed on the top surface of the workbench and has a multi-angle adjustment function, and both the first detection element and the second detection element can be detachably installed on the support frame.

[0014] Preferably, the servo clamping component includes a servo hydraulic cylinder mounted on the top surface of the worktable via a flange seat and a clamping head rotatably connected to the telescopic end of the servo hydraulic cylinder. One side of the clamping head is slidably connected to the flange seat via a guide rod.

[0015] A method for manufacturing a table tennis racket includes the following steps: S100, Stacking and Clamping: Stacking and fixing multiple table tennis rackets to the racket mounting mechanism to form the stacked edge to be processed; S200, Contour Deviation Detection: The contour detection mechanism obtains the geometric deviation information of the stacked edge. The geometric deviation information represents whether each point on the edge protrudes or is recessed in the radial direction and the amount of deviation. S300, Adaptive Strategy Generation: Based on geometric deviation information, a grinding control strategy is formulated. The grinding control strategy includes: increasing the grinding time for protruding areas, and shortening the grinding time or avoiding grinding for concave areas. S400, Perform Compensation Grinding: Control the edge grinding mechanism to perform grinding operations on the stacked edges according to the grinding control strategy.

[0016] The beneficial effects of this invention are as follows: This invention upgrades traditional fixed grinding to intelligent adaptive processing by introducing the collaborative work of a contour detection mechanism and an intelligent control terminal. This process involves measuring before grinding and calculating while measuring, thereby effectively eliminating the problem of uneven grinding caused by tolerance accumulation by specifically compensating for the geometric deviations of the stacked edges. This results in the edge contours of each racket after stacking and grinding being highly close to the preset ideal contour, with higher consistency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a table tennis racket processing device according to the present invention; Figure 2 This is a schematic diagram of the structure between the racket mounting mechanism, the edge grinding mechanism, and the contour detection mechanism in a table tennis racket processing device of the present invention. Figure 3 This is a side view of the structure of the racket mounting mechanism, edge grinding mechanism and contour detection mechanism in a table tennis racket processing device of the present invention. Figure 4 This is a schematic diagram of the racket mounting mechanism in a table tennis racket processing device according to the present invention; Figure 5 This is a flowchart of a table tennis racket manufacturing method according to the present invention.

[0018] In the diagram: 10, workbench; 20, racket mounting mechanism; 201, rotating platform; 202, racket clamp; 203, servo hydraulic cylinder; 204, clamping head; 205, guide rod; 30, edge grinding mechanism; 301, grinding head; 302, moving platform; 303, micro-motion component; 40, contour detection mechanism; 401, distance sensor; 402, laser displacement sensor; 403, support frame. Detailed Implementation

[0019] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0020] Example 1 Please refer to the following: Figures 1 to 4 A table tennis racket processing device includes a worktable 10, with a racket mounting mechanism 20 installed in the center of the worktable 10. The racket mounting mechanism 20 includes a rotating platform 201 driven by a servo motor and a servo clamping component located above the rotating platform 201. A racket clamp 202 is bolted to the top of the rotating platform 201. The racket clamp 202 has a contoured groove that matches the shape of the table tennis racket base plate for precise positioning of a single racket. The servo clamping component is mounted on the top surface of the worktable 10 via a flange seat. It includes a servo hydraulic cylinder 203 and a clamping head 204 rotatably connected to the telescopic end of the servo hydraulic cylinder 203. One side of the clamping head 204 is slidably connected to the flange seat via a guide rod 205, so that the clamping head 204 can only move stably in the vertical direction. The bottom surface of the clamping head 204 is provided with a flexible protective layer that comes into direct contact with the racket. A pressure sensor (not shown in the figure) is also installed on the clamping head 204 to provide real-time feedback on the pressure value applied by the servo clamping component to the stacked rackets. When installing the rackets to be polished, the operator stacks multiple (e.g., 5) ping-pong rackets on the racket clamp 202, and then the servo clamping component presses down and provides a stable, real-time adjustable axial clamping force to effectively fix the stacked rackets.

[0021] The contour detection mechanism 40 includes a support frame 403 with multi-angle adjustment function. Two high-precision sensors are detachably mounted on the support frame 403. One of them is a laser rangefinder sensor 401, which serves as the first detection element. Its beam is aligned with the top center of the stacked rackets to accurately measure the distance from itself to the top surface of the rackets. Combined with its known mounting height, the total thickness (H) of the stack can be calculated.total The other is a laser displacement sensor 402, which serves as the second detection element. Its beam is emitted horizontally and precisely aligned with the test point on the stacked edge, with the beam direction perpendicular to the tangent direction (i.e., radial) at that point. When the rotating platform 201 slowly rotates the racket one revolution, the second detection element can continuously acquire the real-time radial position (R) of hundreds of points on the stacked edge. actual ).

[0022] The edge grinding mechanism 30 is mounted on the top surface of the worktable 10 and located on one side of the racket mounting mechanism 20. The edge grinding mechanism 30 includes a two-dimensional moving platform 302 (composed of X-axis and Y-axis linear modules), a micro-actuator 303 (such as a high-precision servo electric cylinder) mounted on the slide of the moving platform 302, and a belt-type grinding head 301 (with an internal motor driving the sanding belt to rotate at high speed) mounted on the piston rod end of the micro-actuator 303. The moving platform 302 is responsible for driving the grinding head 301 to move to the processing position in the horizontal plane and move along a preset circumferential path. The micro-actuator 303 is responsible for performing micron-level precise advance and retreat in the radial direction according to control commands to realize real-time adjustment of the grinding depth.

[0023] The control terminal can be an industrial PLC or industrial PC; it connects to all motors, sensors, and human-machine interfaces via cables; the core logic flow executed by its software program is as follows: Figure 5 As shown: Step 1: After the system starts up, the first step is to perform benchmark calibration, which involves controlling the contour detection mechanism to scan the standard block 40. Step two: After the material is loaded and compacted, the detection process is triggered: the total thickness H of the first inspection piece is obtained by reading its data. total Calculate the number of stacked layers N; read the full-circle scan data of the second detection piece to obtain the actual contour R. actual ; and the preset reference contour radius R ideal By comparison, according to the formula: ΔR = R actual -R ideal (ΔR>0 indicates a protrusion, ΔR<0 indicates a depression), and the deviation at each point is calculated; Step three, next, is to make a strategy decision: The core task of the control end is to convert the detected spatial contour deviation (ΔR[θ]) into precise control commands for the actuators (micro-motion 303 and moving platform 302). This conversion is achieved by establishing a mapping relationship between the deviation and the control parameters. Specifically, it is necessary to calculate the depth compensation sequence for the micro-motion 303 and the speed adjustment sequence for the moving platform 302. The specific process is as follows: Based on the acquired full-circumference radial deviation array ΔR[θ] (where θ is the angular position, for example, from 0° to 360°, with 360 points at 1° intervals), the control unit performs the following core calculations to generate a control sequence that can directly drive the actuator: a. Calculation of depth compensation sequence: Establishment of mapping relationship: A compensation coefficient k (0 < k ≤ 1, usually taking 0.8 - 0.95, determined by calibration through grinding experiments) is preset in the control terminal; this coefficient represents the ratio of converting geometric deviation into actual feed compensation amount, leaving a margin to prevent over - grinding; Calculation of compensation value: For each angular position θ, its corresponding axial feed depth compensation value ΔZ[θ] is determined by the following formula: ΔZ[θ]=k×ΔR[θ]; where: when ΔR[θ]> 0 (protrusion), ΔZ[θ]>0, indicating that the control micro - moving part 303 needs to feed an additional depth of ΔZ[θ] at this point to grind off the protruding part; when ΔR[θ]<0 (depression), ΔZ[θ]<0, indicating that the control micro - moving part 303 needs to retract a depth of |ΔZ[θ]| at this point to reduce the grinding amount of the depression area and achieve avoidance; Sequence generation: Traverse all angular points, calculate a set of ΔZ[θ] corresponding one - to - one with the angular coordinate θ, which constitutes the depth compensation sequence; this sequence will be sent by the control terminal to the driver of the micro - moving part 303 in real - time during the grinding process to control its high - frequency and micro - amplitude precise telescopic movement.

[0024] b. Calculation of speed adjustment sequence: Setting of reference speed: The control terminal presets a reference grinding linear speed V applicable to a uniform profile base ; Analysis of deviation gradient: To adapt to the complexity of the profile undulation, the control terminal calculates the change gradient G[θ] of the radial deviation ΔR[θ] along the circumferential direction; for example, the absolute value of the difference between adjacent point deviations can be used to approximately represent the degree of change at this point: G[θ]=|ΔR[θ]-ΔR[θ - 1]|; Speed adjustment strategy: Adjust the actual grinding speed V[θ] according to the gradient G[θ], and its strategy principle is: increase the speed in the area where the profile changes gently (G[θ] is small) to ensure efficiency; reduce the speed in the area where the profile changes violently (G[θ] is large) to improve grinding accuracy and followability; a specific mapping relationship can be realized through look - up table or piece - wise function, for example: If G[θ]≤G1 (low - gradient threshold), then V[θ]=V base ×F fast (for example, F fast = 1.2); If G1<G[θ]≤G2 (medium - gradient threshold), then V[θ]=V <0000​​​​​​​​​ Sequence generation: Traverse all angle points and calculate a set of V[θ] corresponding one-to-one with the angle coordinate θ, which constitutes the speed adjustment sequence. During the grinding process, the sequence will be converted by the control terminal into speed commands for the motors of each axis of the moving platform 302 to realize adaptive adjustment of the circumferential movement speed.

[0025] Comprehensive control example: Assume that ΔR[120°] = +0.15mm (protrusion) is detected at angle θ = 120°, and the gradient G[120°] near this point is large. The control terminal will calculate: depth compensation command ΔZ[120°] = 0.95 × 0.15 = +0.1425mm (micro-actuator 303 advances); speed command V[120°] = V base ×0.7 (the moving platform 302 decelerates within this angle range); thus, the grinding head 301 will perform fine grinding on the protruding area at a slower speed and with a deeper cut; conversely, in the concave area, it will quickly, shallowly cut or even briefly lift over.

[0026] Step four, finally, perform grinding: control the rotating platform 201 and the moving platform 302 to move together, so that the grinding head 301 moves along the stack edge, while the micro-motion component 303 moves in real time according to the compensation sequence to perform deep grinding or slow grinding on the protruding area, and shallow grinding, fast grinding or skipping on the recessed area.

[0027] Through the above process, the originally abstract geometric deviation information is transformed into specific and executable depth compensation sequences and speed adjustment sequences, thereby enabling the adaptive grinding control strategy to be accurately implemented and achieving intelligent and differentiated compensation grinding of the stacked edges.

[0028] Example 2 Additionally, please refer to the following: Figure 5 In another embodiment of the present invention, a method for processing a ping-pong paddle based on the above-mentioned ping-pong paddle processing device is also provided, which specifically includes the following operation steps: S100, Stacking and clamping: Stacking multiple table tennis rackets and fixing them to the racket mounting mechanism 20 to form a stacked edge to be processed; S200, Contour Deviation Detection: The contour detection mechanism 40 obtains the geometric deviation information of the stacked edge. The geometric deviation information represents whether each point on the edge is convex or concave in the radial direction and the amount of deviation. S300, Adaptive Strategy Generation: Based on geometric deviation information, a grinding control strategy is formulated. The grinding control strategy includes: increasing the grinding time for protruding areas and shortening the grinding time or avoiding grinding for concave areas. S400, Perform compensatory grinding: Control the edge grinding mechanism 30 to perform grinding operations on the stacked edges according to the grinding control strategy.

[0029] This invention upgrades the traditional fixed grinding method to an intelligent adaptive processing method that involves measuring before grinding and calculating while measuring, by introducing the collaborative work of a contour detection mechanism and an intelligent control terminal. Its advantages are: Significantly improves product quality: Through targeted compensation, the problem of uneven grinding caused by the accumulation of tolerances is effectively eliminated, so that the edge contour of each racket after stacking and grinding can be very close to the preset ideal contour, and the consistency is greatly improved. Maintaining high processing efficiency: While achieving high quality, the efficient production mode of stacking and processing multiple rackets simultaneously is retained. Only a rapid automatic detection step is added before polishing, and the overall efficiency is far higher than polishing a single racket or manual polishing. Enhanced equipment intelligence and adaptability: Equipped with functions such as parameter input, automatic calibration, and gap elimination, the equipment can flexibly adapt to the production of rackets of different models and batches with different tolerances. It has a high degree of automation and low skill requirements for operators.

[0030] The embodiments of the present invention have been described above, but the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention, all of which are within the protection scope of the present invention.

Claims

1. A ping-pong paddle processing device, characterized in that, include: Workbench; The racket mounting mechanism, set on the workbench, is used to position and support multiple stacked ping-pong rackets; An edge grinding mechanism is used to grind the edges of stacked ping-pong paddles on the paddle mounting mechanism; A contour detection mechanism is used to scan and detect the stacked edges of stacked ping-pong paddles before grinding to obtain geometric deviation information of the stacked edges relative to a preset reference contour. The geometric deviation information includes the amount of deviation of the stacked edges protruding or concave in the radial direction and the distribution of the deviation along the circumferential direction of the stacked edges. The control unit is communicatively connected to the racket mounting mechanism, the edge grinding mechanism, and the contour detection mechanism, and is configured to execute: Receive and process geometric deviation information; An adaptive grinding control strategy is generated based on the deviation and its distribution. The grinding control strategy is as follows: increase the grinding amount for areas identified as radially protruding on the stack edge, and decrease the grinding amount for areas identified as radially recessed. According to the grinding control strategy, the edge grinding mechanism is controlled to perform the corresponding grinding action.

2. The ping-pong paddle processing device according to claim 1, characterized in that, The contour detection mechanism includes a first detection component for acquiring the total thickness information of the stacked rackets, and a second detection component for acquiring the real-time radial position information of multiple detection points on the stacked edge along the circumferential direction of the stacked edge; The control terminal is configured to calculate the number of stacked layers based on the total thickness information, and to calculate the geometric deviation information based on the real-time radial position information and the preset reference radial position.

3. The ping-pong paddle processing device according to claim 2, characterized in that, The first detection element is a non-contact distance sensor used to measure the distance to the outermost surface of the stacked rackets; the second detection element is a laser displacement sensor whose scanning optical path is perpendicular to the tangential direction of the stacked edge.

4. The ping-pong paddle processing device according to claim 2, characterized in that, The edge polishing mechanism includes a belt polishing head, a moving platform for driving the belt polishing head to move parallel to the top surface of the worktable, and a micro-motion component for driving the belt polishing head to make precise radial feeds along the stacked edge.

5. The ping-pong paddle processing device according to claim 4, characterized in that, The racket mounting mechanism includes a rotating platform on the top surface of the workbench, a racket clamp mounted on the rotating platform, and a servo clamping component for applying an axially adjustable clamping force to the stacked rackets.

6. The ping-pong paddle processing device according to claim 5, characterized in that, The control terminal is further configured to: determine whether the interlayer gap exceeds a preset range based on the total thickness information, the number of stacked layers, and the theoretical total thickness calculated from the standard thickness of a single racket; If the pressure exceeds the range, the servo clamping component is controlled to increase the clamping force to eliminate the gap.

7. A ping-pong paddle processing device according to claim 5, characterized in that, The specific method by which the control terminal generates the grinding control strategy includes: mapping the deviation amount to a feed depth compensation value of the micro-motion driven belt grinding head in the radial direction; and generating a speed adjustment command for controlling the moving platform to drive the belt grinding head to move in the circumferential direction based on the distribution of the deviation amount along the circumferential direction.

8. A ping-pong paddle processing device according to claim 2, characterized in that, The contour detection mechanism also includes a support frame that is fixedly installed on the top surface of the workbench and has multi-angle adjustment function. Both the first detection component and the second detection component can be detachably installed on the support frame.

9. A ping-pong paddle processing device according to claim 5, characterized in that, The servo clamping component includes a servo hydraulic cylinder mounted on the top surface of the worktable via a flange seat and a clamping head rotatably connected to the telescopic end of the servo hydraulic cylinder. One side of the clamping head is slidably connected to the flange seat via a guide rod.

10. A method for processing a ping-pong paddle, using a ping-pong paddle processing apparatus as described in any one of claims 1-9, characterized in that, The following steps are included: S100, Stacking and Clamping: Stacking and fixing multiple table tennis rackets to the racket mounting mechanism to form the stacked edge to be processed; S200, Contour Deviation Detection: The contour detection mechanism obtains the geometric deviation information of the stacked edge. The geometric deviation information represents whether each point on the edge protrudes or is recessed in the radial direction and the amount of deviation. S300, Adaptive Strategy Generation: Based on geometric deviation information, a grinding control strategy is formulated. The grinding control strategy includes: increasing the grinding time for protruding areas and shortening the grinding time or avoiding grinding for concave areas. S400, Perform Compensation Grinding: Control the edge grinding mechanism to perform grinding operations on the stacked edges according to the grinding control strategy.

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