Method and device for determining operation parameters of pneumatic eccentric grinding head

Abstract

According to the method and device for determining the operation parameters of the pneumatic eccentric grinding head, Y-direction force signals of the pneumatic eccentric grinding head are collected in real time through a multi-dimensional force sensor, the Z axis of the multi-dimensional force sensor is coaxial with an active rotating shaft of the pneumatic eccentric grinding head, and the situation that the accuracy of first vibration frequency calculation is affected by deflection of the multi-dimensional force sensor is avoided; for the collected second vibration frequency of the pneumatic eccentric grinding head with the accidental noise in the grinding process, the first vibration frequency calculated based on the Y-direction force signal is introduced, noise reduction of the accidental noise is achieved, and the accuracy of the determined vibration frequency of the pneumatic eccentric grinding head is improved; the non-contact type first vibration frequency and the non-contact type second vibration frequency are determined, the grinding process is prevented from being interfered, compared with contact type measurement, the vibration speed of the pneumatic eccentric grinding head is obtained through calculation based on the result of non-contact type measurement, the accuracy of the vibration speed is improved, and support is provided for improving the working efficiency and quality of robot grinding.

Description

Technical Field

[0001] This article relates to automated grinding technology, and more particularly to a method and apparatus for determining the operating parameters of a pneumatic eccentric grinding head. Background Technology

[0002] In the aerospace industry, material surface removal is a crucial indicator in robotic grinding and a vital step in various surface treatments such as paint repair, paint activation, and mold release agent removal. A key challenge in grinding is precisely controlling the material surface removal amount by manipulating grinding parameters. To address this, scholars both domestically and internationally have conducted extensive research on grinding modeling, establishing predictive models for various surface quality indicators, including surface roughness. One key principle in establishing grinding removal models is based on Preston's empirical formula and Hertzian contact theory, establishing the relationship between removal amount and process parameters such as grinding force, robot speed, and the vibration velocity of the pneumatic eccentric grinding head. While this modeling method offers good physical interpretability, its accuracy and generalization ability are relatively low due to the difficulty in accurately characterizing the influence of air source pressure on the vibration velocity and turnover speed of the pneumatic eccentric grinding head. Another technique involves using a vibration meter, which is manually brought close to the pneumatic eccentric grinding head to measure its vibration velocity. This measurement requires the vibration meter to be in direct contact with the grinding head, interfering with the grinding process and thus affecting measurement and modeling accuracy.

[0003] How to improve the measurement quality of vibration speed and turnover speed of pneumatic eccentric grinding head without interfering with the grinding process, thereby improving the working efficiency and quality of robotic grinding, has become a problem to be solved. Summary of the Invention

[0004] This application provides a method for determining the operating parameters of a pneumatic eccentric grinding head, including: The Y-axis force signal during the grinding process of the pneumatic eccentric grinding head is collected in real time by a multi-dimensional force sensor. The Z-axis of the multi-dimensional force sensor is coaxial with the active rotation axis of the eccentric grinding head, and the Y-axis force signal is a force signal perpendicular to the rotation axis. The first vibration frequency is calculated based on the collected Y-axis force signal; Based on the calculated first and second vibration frequencies, the vibration frequency of the pneumatic eccentric grinding head is determined, and the vibration velocity of the pneumatic eccentric grinding head is calculated based on the determined vibration frequency. The second vibration frequency is the vibration frequency of the pneumatic eccentric grinding head during the grinding process, which is collected in real time by a vibration sensor.

[0005] On the other hand, this application embodiment also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the above-described method for determining the operating parameters of a pneumatic eccentric grinding head.

[0006] Furthermore, embodiments of this application also provide a terminal, including: a memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute computer programs in memory; When the computer program is executed by the processor, it implements the method described above for determining the operating parameters of the pneumatic eccentric grinding head.

[0007] Furthermore, embodiments of this application also provide a device for determining the operating parameters of a pneumatic eccentric grinding head, comprising: a force signal acquisition unit, a calculation unit, and a determination unit; wherein, The force signal acquisition unit is set to acquire the Y-axis force signal in real time during the grinding process of the pneumatic eccentric grinding head through a multi-dimensional force sensor. The Z-axis of the multi-dimensional force sensor is coaxial with the active rotation axis of the eccentric grinding head, and the Y-axis force signal is a force signal perpendicular to the rotation axis. The calculation unit is set to calculate the first vibration frequency based on the acquired Y-axis force signal; The determination unit is configured to: determine the vibration frequency of the pneumatic eccentric grinding head based on the calculated first vibration frequency and second vibration frequency, and calculate the vibration velocity of the pneumatic eccentric grinding head based on the determined vibration frequency of the pneumatic eccentric grinding head, wherein the second vibration frequency is the vibration frequency of the pneumatic eccentric grinding head during the grinding process, which is collected in real time by the vibration sensor.

[0008] This embodiment of the invention acquires the Y-axis force signal of the pneumatic eccentric grinding head in real time using a multi-dimensional force sensor. The Z-axis of the multi-dimensional force sensor is coaxial with the active rotation axis of the pneumatic eccentric grinding head, avoiding the influence of the multi-dimensional force sensor deflection on the accuracy of the first vibration frequency calculation. For the second vibration frequency of the pneumatic eccentric grinding head during the grinding process, which contains occasional noise, noise reduction is achieved by introducing the first vibration frequency calculated based on the Y-axis force signal, thereby improving the accuracy of the determined vibration frequency of the pneumatic eccentric grinding head. The non-contact determination of the first and second vibration frequencies avoids interference with the grinding process. Compared with contact measurement, the vibration velocity of the pneumatic eccentric grinding head is calculated based on the results of non-contact measurement, improving the accuracy of the vibration velocity and providing support for improving the working efficiency and quality of robotic grinding.

[0009] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0010] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0011] Figure 1 This is a flowchart illustrating a method for determining the operating parameters of a pneumatic eccentric grinding head according to an embodiment of the present disclosure; Figure 2 This is a flowchart of a method for calculating a first vibration frequency according to an embodiment of the present disclosure; Figure 3 This is a schematic diagram of the installation of the multi-dimensional force sensor according to an embodiment of this disclosure; Figure 4 This is a graph of the Y-direction force signal according to an embodiment of this disclosure; Figure 5 This is a schematic diagram of the frequency curve after discrete Fourier transform according to an embodiment of the present disclosure; Figure 6 This is a schematic diagram of the installation of the high-frequency laser sensor according to an embodiment of this disclosure; Figure 7 This is a schematic diagram of the pneumatic eccentric grinding head motion mechanism according to an embodiment of this disclosure; Figure 8 A structural block diagram of the apparatus for determining the operating parameters of a pneumatic eccentric grinding head according to an embodiment of this disclosure; Figure 9 This is a schematic diagram of a device for determining the operating parameters of a pneumatic eccentric grinding head according to an embodiment of this disclosure. Detailed Implementation

[0012] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0013] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0014] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0015] Figure 1 A flowchart of the method for determining the operating parameters of a pneumatic eccentric grinding head according to an embodiment of this disclosure is shown below. Figure 1 As shown, it includes: Step 101: Collect the Y-axis force signal in real time during the grinding process of the pneumatic eccentric grinding head using a multi-dimensional force sensor. The Z-axis of the multi-dimensional force sensor is coaxial with the active rotation axis of the eccentric grinding head, and the Y-axis force signal is a force signal perpendicular to the rotation axis. Step 102: Calculate the first vibration frequency based on the collected Y-axis force signal; Step 103: Determine the vibration frequency of the pneumatic eccentric grinding head based on the calculated first and second vibration frequencies, and calculate the vibration velocity of the pneumatic eccentric grinding head based on the determined vibration frequency. The second vibration frequency is the vibration frequency of the pneumatic eccentric grinding head during the grinding process, which is collected in real time by the vibration sensor.

[0016] This embodiment obtains the Y-axis force signal of the pneumatic eccentric grinding head through a multi-dimensional force sensor. The Z-axis of the multi-dimensional force sensor is coaxial with the active rotation axis of the eccentric grinding head, avoiding the influence of the multi-dimensional force sensor deflection on the accuracy of the first vibration frequency calculation. For the second vibration frequency of the pneumatic eccentric grinding head during the grinding process, which is subject to occasional noise, noise reduction processing is achieved by introducing the first vibration frequency calculated based on the Y-axis force signal, thereby improving the accuracy of the determined vibration frequency of the pneumatic eccentric grinding head. The measurement of the first and second vibration frequencies in this embodiment is a non-contact measurement that does not require direct contact with the pneumatic eccentric grinding head. Non-contact measurement avoids interference with the grinding process, unlike contact measurement which is subject to interference. The vibration velocity of the pneumatic eccentric grinding head is calculated based on the results of non-contact measurement, improving the accuracy of the vibration velocity and providing support for improving the working efficiency and quality of robotic grinding.

[0017] In one exemplary instance, the multi-dimensional force sensor of this disclosure embodiment may include: a two-dimensional, three-dimensional, or six-dimensional component force sensor.

[0018] In one exemplary instance, the multi-dimensional force sensor and vibration sensor of this disclosure embodiment are mounted and fixed through a shared adapter plate.

[0019] The embodiments disclosed herein can be installed based on the measurement requirements of multi-dimensional force sensors and vibration sensors, as long as the measurement of the Y-axis force signal and the second vibration frequency can be achieved. The embodiments disclosed herein do not impose any restrictions on the specific installation.

[0020] Based on the above measurement requirements, the embodiments of this disclosure can be installed by those skilled in the art with reference to relevant principles, as long as the measurement of the Y-axis force signal and the second vibration frequency can be achieved. The embodiments of this disclosure do not limit the installation method.

[0021] In one exemplary instance, this embodiment of the disclosure calculates a first vibration frequency based on a collected Y-axis force signal, including: The Y-axis force signal is preprocessed using the Hanning window; The first vibration frequency is calculated based on the preprocessed Y-axis force signal.

[0022] Figure 2 A flowchart of the method for calculating the first vibration frequency according to an embodiment of this disclosure is shown below. Figure 2 As shown, it includes: Step 200: Preprocess the Y-direction force signal using the Hanning window; Step 201: Extract the signal intensity of each frequency component of the preprocessed Y-direction force signal using Discrete Fourier Transform (DFT); Step 202: Retain the positive frequency of the signal strength of each extracted frequency component, and determine the index of the frequency component with the maximum signal strength; Step 203: Calculate the first vibration frequency based on the index of the frequency component with the maximum signal intensity, the sampling frequency of the Y-axis force signal, and the size of the Fourier transform window.

[0023] Figure 3 This is a schematic diagram of the installation of the multi-dimensional force sensor according to an embodiment of this disclosure, as shown below. Figure 3 As shown, the Z-axis of the multi-dimensional force sensor 12 and the active rotation axis 13 of the pneumatic eccentric grinding head 30 are coaxially mounted. Since the rotation of the pneumatic eccentric grinding head 30 will generate a periodic pulling force on the force sensor, the Y-axis force signal of the multi-dimensional force sensor 12 is collected in real time during the grinding process. The vibration sensor 10 is mounted through the vibration sensor bracket 11, and the Z-axis is marked on the vibration sensor 10. In this embodiment, the actual Y-axis force signal is usually non-periodic, and direct truncation will lead to spectral leakage, i.e., sidelobe interference. The Hann window is used to preprocess the Y-axis force signal to suppress leakage. ; ; In the formula, For the Y-axis force signal of the multi-dimensional force sensor, t To extract the acquisition time (one-dimensional data position) of the Y-axis force signal. N To determine the number of sampling points for real-time acquisition of Y-axis force signals, This is the preprocessed Y-axis force signal; for example, using 80# sandpaper, an air source pressure of 7.5 Bar, a grinding force of 80 N, and a sampling frequency of 200 Hz, the Y-axis force signal from the multi-dimensional force sensor is acquired as follows. Figure 4 As shown.

[0024] The preprocessed Y-axis force signal is then extracted using Discrete Fourier Transform (DFT) to obtain all frequency components of the Y-axis force signal. The signal intensity of each frequency component is used to obtain the first vibration mentioned above, based on the main frequency of the extracted Y-axis force signal, through the following processing: The frequency extracted from the Y-direction force signal after DFT transformation is calculated using the following formula. Corresponding signal strength : ; In the formula, The frequency extracted after DFT transformation The corresponding signal strength, For the time of data collection t The corresponding preprocessed Y-axis force signal, iThe imaginary unit; After DFT transformation, referring to related technologies, this embodiment of the disclosure only retains the positive frequency component of the signal strength. The dominant frequency of the Y-direction force signal is shown in the following formula: ; In the formula, f m The first vibration frequency, j For frequency signal strength The index of the maximum signal strength. f s The sampling frequency of the Y-axis force signal. W This is the size of the Fourier transform window.

[0025] This embodiment assumes a grinding force of 80N, a sampling frequency of 200Hz for the Y-axis force signal, and that the Y-axis force signal is acquired by a multi-dimensional force sensor. The frequency curve after discrete Fourier transform is shown below. Figure 5 As shown, the index of the maximum amplitude. j =339, corresponding to the main frequency f m = 67.8Hz.

[0026] In one exemplary instance, the second vibration frequency is f w In this embodiment, the vibration frequency of the pneumatic eccentric grinding head is determined by fusing the first and second vibration frequencies using a two-dimensional Kalman filter and the following formula. f : ; With a grinding force of 80N, the multi-dimensional force sensor and vibration sensor collect data at a frequency of 200Hz, obtaining the vibration frequency of the multi-dimensional force sensor. f m = 67.8Hz, vibration frequency of the vibration sensor f w =67Hz, the two-dimensional Kalman filter noise matrix Q and identity matrix F are set as follows: ; The vibration frequency of the pneumatic eccentric grinding head after data fusion f =67.3Hz.

[0027] In one exemplary instance, based on the determined vibration frequency of the pneumatic eccentric grinding head... f The vibration velocity of the pneumatic eccentric grinding head is calculated using the following formula in this embodiment: ; Assuming the automated grinding system uses 80# sandpaper, an air source pressure of 7.5 Bar, and grinding forces of 10N, 20N, 30N, 40N, 50N, and 60N respectively, data from multi-dimensional force sensors and vibration sensors are collected. Table 1 shows the vibration velocity of the pneumatic eccentric grinding head obtained by calculation after the measurement data collected by multi-dimensional force sensors and vibration sensors under different grinding forces in this embodiment of the present disclosure. The error between the calculated vibration velocity and the actual vibration speed does not exceed 3%.

[0028] Table 1

[0029] In one exemplary instance, the method of this disclosure embodiment further includes: The rotational speed of the pneumatic eccentric grinding head was determined using photoelectric measurement methods.

[0030] This embodiment of the invention is based on a photoelectric measurement method, which is a non-contact measurement method that does not require direct contact with the pneumatic eccentric grinding head. This method achieves accurate measurement of the rotational speed of the pneumatic eccentric grinding head without interfering with the grinding process.

[0031] In one exemplary instance, the photoelectric measurement method of this disclosure includes the following structure: A high-frequency laser sensor based on the photoelectric effect and one or more reflectors; The reflector is located on the upper surface of the tray of the pneumatic eccentric grinding head, which is the other side of the pneumatic eccentric grinding head besides the working surface.

[0032] This embodiment employs a high-frequency laser sensor based on the photoelectric effect. When the measuring laser (e.g., infrared light) output by the high-frequency laser sensor illuminates the reflector on the tray surface of the pneumatic eccentric grinding head, the light is reflected back. The infrared receiver tube converts the received reflected light signal into an electrical signal, which can be amplified and shaped to output a square wave pulse signal.

[0033] In one exemplary instance, a high-frequency laser sensor outputs a measuring laser to illuminate a reflector on the surface of the tray of the pneumatic eccentric grinding head. The sensor receives the reflected light signal from the reflector, converts it into an electrical signal, amplifies and shapes the electrical signal to output a square wave pulse signal, and calculates the grinding head rotation speed by measuring the frequency of the square wave pulse signal and combining this with the number of reflectors on the tray surface using the following formula: ; In the formula, f t The frequency of the square wave pulse signal, N r The number of reflective strips set on the surface of the tray.

[0034] The hardware components for determining vibration velocity include vibration sensor 10, vibration sensor bracket 11, and multi-dimensional force sensor 12; the hardware components for determining rotational speed include reflector 20, high-frequency laser sensor 21, and high-frequency laser sensor bracket 22; and various pneumatic eccentric grinding heads 30 are compatiblely installed using a grinding head quick-change tool and a 32-grinding head clamp. Figure 6 This is a schematic diagram of the installation of the high-frequency laser sensor according to an embodiment of this disclosure, as shown below. Figure 6 As shown, the high-frequency laser sensor 21 is mounted via the high-frequency laser sensor bracket 22. The distance between the high-frequency laser sensor 21 and the pneumatic eccentric grinding head 30, as indicated by reference numeral 22, is 120mm; assuming the number of reflectors... N r =1, the automated grinding system uses 80# sandpaper, air source pressure 7.5 Bar, and grinding force is set to 0N, 10N, 20N, 30N, 40N, 50N and 60N respectively. Table 2 shows the turnover speed obtained by collecting high frequency laser sensor data under different grinding forces in the embodiments of this disclosure.

[0035] Table 2

[0036] In one exemplary instance, the high-frequency laser sensor of this disclosure is mounted via a high-frequency laser sensor bracket, and various pneumatic eccentric grinding heads are compatible and installed via a grinding head clamp and a grinding head quick-change tool.

[0037] In one exemplary instance, see Figure 7 The linear velocity of any point on the pneumatic eccentric grinding head tray can be calculated using the following formula: ; In the formula, v v It is the linear velocity of eccentric vibration. v t It is the turnover linear speed. and These are the phase angles, calculated using the following formula: ; In the formula, r v It is the radius of eccentric vibration. r t It is the distance between any point on the pallet and the center of the pallet. t For example, the eccentric vibration radius of a pneumatic eccentric grinding head; for example, the running time. r v =2.5mm, a point on the tray P radius from the center of the tray r t=20mm, the automated grinding system uses 80# sandpaper, air pressure 7.5Bar, and grinding force set to 60N. t When =0, point P The linear velocity is 1517.63 mm / s.

[0038] This disclosure also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the above-described method for determining the operating parameters of a pneumatic eccentric grinding head.

[0039] This disclosure also provides a terminal, including: a memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute computer programs in memory; When the computer program is executed by the processor, it implements the method described above for determining the operating parameters of the pneumatic eccentric grinding head.

[0040] Figure 8 A structural block diagram of the apparatus for determining the operating parameters of a pneumatic eccentric grinding head according to an embodiment of this disclosure is shown below. Figure 8 As shown, it includes: a force signal acquisition unit, a calculation unit, and a determination unit; wherein, The force signal acquisition unit is set to acquire the Y-axis force signal in real time during the grinding process of the pneumatic eccentric grinding head through a multi-dimensional force sensor. The Z-axis of the multi-dimensional force sensor is coaxial with the active rotation axis of the eccentric grinding head, and the Y-axis force signal is a force signal perpendicular to the rotation axis. The calculation unit is set to calculate the first vibration frequency based on the acquired Y-axis force signal; The determination unit is configured to: determine the vibration frequency of the pneumatic eccentric grinding head based on the calculated first vibration frequency and second vibration frequency, and calculate the vibration velocity of the pneumatic eccentric grinding head based on the determined vibration frequency of the pneumatic eccentric grinding head, wherein the second vibration frequency is the vibration frequency of the pneumatic eccentric grinding head during the grinding process, which is collected in real time by the vibration sensor.

[0041] Among them, multidimensional force sensors include any one of the following: two-dimensional, three-dimensional, or six-dimensional component force sensors.

[0042] In one exemplary instance, the multi-dimensional force sensor and vibration sensor of the device in this embodiment of the disclosure are mounted and fixed through a shared adapter plate.

[0043] Figure 9 This is a schematic diagram of the apparatus for determining the operating parameters of a pneumatic eccentric grinding head according to an embodiment of this disclosure, as shown below. Figure 5As shown in the embodiment of this disclosure, the device for determining the operating parameters of a pneumatic eccentric grinding head includes a vibration sensor 10, a vibration sensor bracket 11, and a multi-dimensional force sensor 12 as hardware components for determining vibration velocity, and a reflector 20, a high-frequency laser sensor 21, and a high-frequency laser sensor bracket 22 as hardware components for determining turnover speed. Multiple pneumatic eccentric grinding heads 30 are compatiblely installed using a quick-change tool and a 32-grinding head fixture. The Z-axis of the multi-dimensional force sensor is coaxial with the floating head and the active rotation axis of the pneumatic eccentric grinding head. The high-frequency laser sensor emits a measuring laser that illuminates the reflector on the tray of the pneumatic eccentric grinding head, and the installation position is within the working range of the high-frequency laser sensor.

[0044] In one exemplary instance, the computing unit of this disclosure embodiment is configured as follows: The Y-axis force signal is preprocessed using the Hanning window; The first vibration frequency is calculated based on the preprocessed Y-axis force signal.

[0045] In one exemplary instance, the computing unit of this disclosure embodiment is configured as follows: Preprocessing of the Y-direction force signal through a Hanning window; The signal intensity of each frequency component of the Y-direction force signal is extracted using the Discrete Fourier Transform (DFT). Retain the positive frequency of the signal strength of each extracted frequency component, and determine the index of the frequency component with the maximum signal strength; The first vibration frequency is determined based on the index of the frequency component with the maximum signal strength, the sampling frequency of the Y-axis force signal, and the size of the Fourier transform window.

[0046] In one exemplary instance, the second vibration frequency is In this embodiment, the determining unit is configured to determine the vibration frequency of the pneumatic eccentric grinding head by fusing the first vibration frequency and the second vibration frequency using a two-dimensional Kalman filter and the following formula. f : ; In the formula, This is the first vibration frequency.

[0047] In one exemplary instance, the apparatus of this disclosure further includes a turnover speed determination unit, configured to: The rotational speed of the pneumatic eccentric grinding head was determined using photoelectric measurement methods.

[0048] In one exemplary embodiment, the photoelectric measurement method of this disclosure includes the following structural components: a high-frequency laser sensor with photoelectric effect and one or more reflectors disposed on the upper surface of the tray of the pneumatic eccentric grinding head; the turnover speed determination unit is configured to calculate the turnover speed using the following formula: ; In the formula, The square wave pulse signal has a frequency that is obtained through the following processing: a high-frequency laser sensor outputs a measurement laser, which illuminates a reflector. The reflected light signal is converted into an electrical signal, which is then amplified and shaped to output a square wave pulse signal. N r The number of reflective strips set on the upper surface of the tray.

[0049] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may 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 medium" 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 include, but are 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 can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain 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.

Claims

1. A method for determining the operating parameters of a pneumatic eccentric grinding head, characterized in that, include: The Y-axis force signal during the grinding process of the pneumatic eccentric grinding head is collected in real time by a multi-dimensional force sensor. The Z-axis of the multi-dimensional force sensor is coaxial with the active rotation axis of the pneumatic eccentric grinding head, and the Y-axis force signal is a force signal perpendicular to the rotation axis. The first vibration frequency is calculated based on the collected Y-axis force signal; Based on the calculated first and second vibration frequencies, the vibration frequency of the pneumatic eccentric grinding head is determined, and the vibration velocity of the pneumatic eccentric grinding head is calculated based on the determined vibration frequency. The second vibration frequency is the vibration frequency of the pneumatic eccentric grinding head during the grinding process, which is collected in real time by a vibration sensor.

2. The method according to claim 1, characterized in that, The multidimensional force sensor includes any one of the following: two-dimensional, three-dimensional, or six-dimensional component force sensors.

3. The method according to claim 1, characterized in that, The multidimensional force sensor and the vibration sensor are mounted and fixed using a shared adapter plate.

4. The method according to claim 1, characterized in that, The calculation of the first vibration frequency based on the acquired Y-axis force signal includes: The Y-axis force signal is preprocessed using the Hanning window; The first vibration frequency is calculated based on the preprocessed Y-direction force signal.

5. The method according to any one of claims 1 to 4, characterized in that, Determining the vibration frequency of the pneumatic eccentric grinding head based on the calculated first and second vibration frequencies includes fusing the first and second vibration frequencies using the following two-dimensional Kalman filter formula to obtain the vibration frequency of the pneumatic eccentric grinding head. f : ； In the formula, The first vibration frequency, This is the second vibration frequency.

6. The method according to any one of claims 1 to 4, characterized in that, The method further includes: The rotational speed of the pneumatic eccentric grinding head was determined using a photoelectric measurement method.

7. The method according to claim 6, characterized in that, The photoelectric measurement method comprises the following structural components: A high-frequency laser sensor with photoelectric effect and one or more reflective sheets disposed on the upper surface of the tray of the pneumatic eccentric grinding head, the upper surface of the tray being the other side of the pneumatic eccentric grinding head besides the working surface, the turnover speed being calculated by the following formula: ； In the formula, The square wave pulse signal has a frequency specified in the standard definition. This square wave pulse signal is obtained through the following processing: the high-frequency laser sensor outputs a measurement laser, which illuminates the reflector, converting the reflected light signal into an electrical signal. This electrical signal is then amplified and shaped before being output as the square wave pulse signal. N r The number of reflective sheets provided on the surface of the tray.

8. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method for determining the operating parameters of a pneumatic eccentric grinding head as described in any one of claims 1 to 7.

9. A terminal, comprising: A memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute computer programs in memory; When the computer program is executed by the processor, it implements the method for determining the operating parameters of the pneumatic eccentric grinding head as described in any one of claims 1 to 7.

10. A device for determining the operating parameters of a pneumatic eccentric grinding head, characterized in that, include: The system comprises a force signal acquisition unit, a calculation unit, and a determination unit; among which, The force signal acquisition unit is set to acquire the Y-axis force signal in real time during the grinding process of the pneumatic eccentric grinding head through a multi-dimensional force sensor. The Z-axis of the multi-dimensional force sensor is coaxial with the active rotation axis of the eccentric grinding head, and the Y-axis force signal is a force signal perpendicular to the rotation axis. The calculation unit is set to calculate the first vibration frequency based on the acquired Y-axis force signal; The determination unit is configured to: determine the vibration frequency of the pneumatic eccentric grinding head based on the calculated first vibration frequency and second vibration frequency, and calculate the vibration velocity of the pneumatic eccentric grinding head based on the determined vibration frequency of the pneumatic eccentric grinding head, wherein the second vibration frequency is the vibration frequency of the pneumatic eccentric grinding head during the grinding process, which is collected in real time by the vibration sensor.

Images