A frame waxing control method and device and a storage medium

Abstract

Embodiments of the present application provide a frame waxing control method and device and a storage medium. The method comprises: driving a waxing wheel to perform first waxing treatment on a to-be-processed frame in a first direction by a waxing driving mechanism to obtain a first frame with a first wax layer; driving the waxing wheel to perform second waxing on the first frame in a second direction by the waxing driving mechanism to obtain a second frame with the first wax layer and a second wax layer, the second wax layer having reverse waxing wrinkles; and driving the waxing wheel to perform third waxing treatment on the second frame in the first direction by the waxing driving mechanism to obtain a target frame after the reverse waxing wrinkles are removed. The waxing wheel is automatically driven by the waxing driving mechanism to perform multiple waxing treatments in different directions on the to-be-processed frame in sequence, which can eliminate the wrinkles on the wax layer while meeting the waxing thickness, and the waxing efficiency is high and the waxing quality is good.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of frame processing technology, and particularly to a frame waxing control method, equipment, and storage medium. Background Technology

[0002] The existing frames are waxed manually using a handheld waxing device during production, resulting in poor waxing quality and low waxing efficiency. Summary of the Invention

[0003] The main objective of this invention is to provide a method, device, and storage medium for controlling frame waxing, which can improve the quality and efficiency of frame waxing.

[0004] In a first aspect, embodiments of the present invention provide a frame waxing control method applied to a frame waxing device, the frame waxing device including a frame fixing module and a waxing module, the waxing module including a waxing wheel and a waxing drive mechanism, the frame waxing control method including: The border to be processed is fixed in a preset position by the border fixing module; The first waxing process involves performing one or more waxing treatments on the frame to be processed. The first waxing treatment includes: driving the waxing wheel along a first direction using the waxing driving mechanism to wax the frame once, resulting in a first frame with a first wax layer; and driving the waxing wheel along a second direction using the waxing driving mechanism to wax the first frame a second time, resulting in a second frame with the first direction opposite to the second direction. The second frame has the first wax layer and a second wax layer on top of the first wax layer, with the second wax layer having reverse waxing wrinkles. Before performing the first waxing treatment, the process further includes: acquiring the target waxing thickness of the frame to be processed, the first size information of the waxing wheel, and the second size information of the frame to be processed; determining the contact area between the waxing wheel and the frame to be processed based on the first and second size information; determining the linear speed, waxing rotation speed, and left-right oscillation speed of the waxing wheel moving along the frame to be processed based on the target waxing thickness, the contact area, and the frame size indicated by the second size information; and performing the first waxing treatment based on the linear speed, waxing rotation speed, and left-right oscillation speed. The secondary frame is subjected to a second waxing process, which includes driving the waxing wheel along a first direction to perform three waxing processes on the secondary frame through the waxing drive mechanism, so that the reverse waxing wrinkles are removed to obtain the target frame.

[0005] In some optional embodiments, the waxing wheel is provided with a groove formed by a recessed arc-shaped working surface; the step of obtaining a frame by driving the waxing wheel along a first direction to perform a waxing process on the frame to be processed through the waxing drive mechanism includes: Obtain the first position where waxing begins on the border to be processed and the second position where waxing ends; The waxing drive mechanism drives the waxing wheel to move to the first position so that the groove fits against the waxing surface of the frame to be treated; After applying a first pressure to the waxing wheel, the waxing drive mechanism drives the waxing wheel to move from the first position to the second position along a first direction, rotate in a first clockwise direction, and swing left and right, so that the waxing wheel waxes the frame to be processed once to obtain the first frame. The first clockwise direction represents the clockwise or counterclockwise direction.

[0006] In some optional embodiments, the step of driving the waxing wheel along the second direction by the waxing drive mechanism to perform a second waxing on the primary frame to obtain a secondary frame includes: Obtain the first thickness of the first wax layer and the target waxing thickness; A second pressure is applied to the waxing wheel based on the first thickness and the target waxing thickness; The waxing drive mechanism drives the waxing wheel to move from the second position to the first position along the second direction, rotate in the second clockwise direction, and swing left and right, so that the waxing wheel performs a second waxing on the first frame to obtain the second frame. The second clockwise direction is opposite to the first clockwise direction.

[0007] In some optional embodiments, the step of driving the waxing wheel to perform a third waxing process on the secondary frame along a first direction via the waxing drive mechanism, so as to remove the wrinkles after the reverse waxing and obtain the target frame, includes: Obtain the wrinkle information of the reverse waxing wrinkles, wherein the wrinkle information indicates the wrinkle distribution location information and wrinkle shape information of the reverse waxing wrinkles; Update the first position and the second position according to the fold distribution location information; A third pressure is applied to the waxing wheel based on the wrinkle shape information; The waxing drive mechanism drives the waxing wheel to move from the updated first position to the updated second position along the first direction, rotate in the third clockwise direction, and swing left and right, so that the waxing wheel waxes the secondary frame three times to obtain the target frame. The third clockwise direction is the same as the first clockwise direction.

[0008] In some optional embodiments, determining the contact area between the waxing wheel and the edge to be treated based on the first size information and the second size information includes: The width of the waxing wheel and the radius of the groove are determined based on the first size information; The border width of the border to be processed is determined based on the second size information; The contact length between the groove and the border to be processed is determined based on the border width and the arc radius; The contact area is determined based on the contact length and the wheel surface width.

[0009] In some optional embodiments, determining the linear speed, rotational speed, and lateral oscillation speed of the waxing wheel as it moves along the border to be treated, based on the target waxing thickness, the contact area, and the border dimensions indicated by the second dimensional information, includes: The linear velocity is determined based on the target wax thickness, the contact area, and the border length indicated by the second dimensional information; The waxing rotation speed is determined based on the target waxing thickness, the contact area, and the border width indicated by the second size information; The left-right oscillation speed is determined based on the linear velocity, the waxing rotation speed, and the contact area.

[0010] In some optional embodiments, the border waxing device further includes a border shape detection device and a pose detection device, wherein fixing the border to be processed in a preset position by the border fixing module includes: The border shape information of the border to be processed is obtained by the border shape detection device; The preset pose information of the border is determined based on the border shape information and the preset border waxing position; The pose detection device acquires the real-time pose information of the bounding box to be processed. The border fixing module is adjusted according to the real-time pose information and the preset pose information of the border so that the border to be processed is fixed at the preset position.

[0011] In a second aspect, embodiments of the present invention provide a frame waxing control device, 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 frame waxing control method described in the first aspect.

[0012] Thirdly, a computer storage medium stores computer-executable instructions for performing the edge waxing control method described in the first aspect.

[0013] The beneficial effects of this invention include: when a frame needs to be waxed, the frame to be processed is fixed in a preset position by the frame fixing module; the waxing driving mechanism drives the waxing wheel to perform a first waxing process on the frame to be processed along a first direction to obtain a first frame with a first wax layer; the waxing driving mechanism drives the waxing wheel to perform a second waxing process on the first frame along a second direction to obtain a second frame, the first direction being opposite to the second direction, the second frame having the first wax layer and a second wax layer located on the first wax layer, the second wax layer having reverse waxing wrinkles; the waxing driving mechanism drives the waxing wheel to perform a third waxing process on the second frame along the first direction to remove the reverse waxing wrinkles and obtain the target frame. In the technical solution of this embodiment, the frame fixing module can fix and adjust the position of the frame to be processed, and the waxing driving mechanism drives the waxing wheel to automatically perform multiple waxing processes in different directions on the frame to be processed, which can eliminate wrinkles on the wax layer while meeting the waxing thickness requirements, resulting in high waxing efficiency and good waxing quality.

[0014] 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

[0015] Figure 1 This is a schematic diagram of a system platform architecture for performing border waxing according to an embodiment of the present invention; Figure 2 This is a flowchart of a border waxing control method provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of the contact between the waxing wheel and the frame according to an embodiment of the present invention.

[0016] Figure label: System platform architecture 1000, processor 1100, memory 1200; The frame to be processed is 100, the waxing wheel is 200, and the groove is 210. Detailed Implementation

[0017] 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.

[0018] 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.

[0019] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0020] like Figure 1 As shown, Figure 1 This is a schematic diagram of a system platform architecture for performing a border waxing control method according to an embodiment of the present invention.

[0021] 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.

[0022] 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 to the bezel waxing device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0023] 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.

[0024] 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.

[0025] Reference Figure 2-3 , Figure 2 This invention provides a flowchart of a method for controlling border waxing; the method for controlling border waxing in this embodiment may include, but is not limited to, steps S100, S200, and S300: Step S100: The border to be processed 100 is fixed in a preset position by the border fixing module.

[0026] It should be noted that the frame to be processed 100 in this application includes TV frame, computer frame, car decoration accessory frame, etc. The specific location is not limited here. The preset position is the position where the frame to be processed 100 is waxed and controlled, and it is fixed and positioned by a fixing module.

[0027] Specifically, the border to be processed 100 is fixed in a preset position to prevent it from shifting during waxing, which would affect the waxing effect. The border to be processed 100 is clamped and moved onto the fixing module by a robotic arm or a clamping device with a positioning recognition device. The positioning mark on the fixing module is used to place the border to be processed 100 in the preset position. The specific preset position is matched to the border to be processed 100; different borders to be processed 100 have different preset positions, meaning that borders of the same type in the same batch have the same preset position, thus allowing for batch waxing of the borders to be processed 100. The border 100 to be processed can be placed in a preset pose, and then clamped at a fixed position by a robotic arm or other clamping device and placed on a fixed module. Alternatively, the border 100 to be processed with a random pose can be clamped. The pose recognition device on the robotic arm or other clamping device can identify the pose of the border 100 to be processed and clamp the corresponding clamping part on the border 100 to be processed. At the same time, the pose of the border 100 to be processed can be adjusted by rotating the robotic arm, etc., and then the border 100 to be processed can be transferred to the fixed module. The specific adjustment method and clamping method are not limited here.

[0028] In some optional embodiments, the border waxing device further includes a border shape detection device and a pose detection device, wherein fixing the border to be processed 100 at a preset position by the border fixing module includes: S110. Obtain the border shape information of the border to be processed 100 through the border shape detection device; Specifically, the border shape detection device is used to collect the shape features of the border 100 to be processed, and the pose detection device is used to monitor the position and orientation of the border 100 to be processed in real time during the fixing process.

[0029] The border shape detection device uses visual acquisition and contour scanning to perform all-round scanning and detection on the border to be processed 100 placed at the initial station of the border fixing module, and collects the border shape information of the border to be processed 100. The border shape information includes core shape parameters such as the cross-sectional contour, curvature, length, width, corner angle and flatness of the border surface, to ensure that the collected shape information is complete and accurate.

[0030] S120. Determine the preset pose information of the border based on the border shape information and the preset border waxing position; Specifically, based on the obtained shape information of the frame 100 to be processed, combined with the preset waxing position of the frame (i.e., the area on the frame where the waxing wheel 200 will subsequently wax), the device's built-in control unit performs data calculation and analysis to determine the preset pose information of the frame 100 to be fixed. The preset pose information of the frame includes the preset fixed position and preset posture angle of the frame 100 to be processed, ensuring that after the frame 100 is fixed, its waxing area can be fully exposed within the working range of the waxing wheel 200, and the axis of the frame remains parallel to the feed direction of the waxing wheel 200. The surface of the frame and the groove 210 of the wheel surface of the waxing wheel 200 are precisely fitted, thereby improving the accuracy and quality of waxing.

[0031] S130. Obtain the real-time pose information of the border 100 to be processed through the pose detection device; Specifically, after the border to be processed 100 is initially placed at the initial station of the border fixing module, the pose detection device is activated. This device collects the real-time pose information of the border to be processed 100 in real time. The real-time pose information includes the actual position and actual attitude angle of the border to be processed 100, as well as the offset of the border relative to the preset position (including the position offset in the horizontal and vertical directions, and the attitude angle offset). The collected real-time pose information is transmitted to the equipment control unit in real time for comparison and analysis.

[0032] S140. Adjust the border fixing module according to the real-time pose information and the preset pose information of the border so that the border to be processed 100 is fixed at the preset position.

[0033] Specifically, after receiving the real-time pose information transmitted by the pose detection device, the equipment control unit compares it with the preset pose information of the border, calculating the positional and attitude offsets between the real-time and preset poses. Based on the calculated offsets, the control unit sends an adjustment command to the border fixing module. The border fixing module, according to the adjustment command, uses its built-in positioning fixture and adjustment mechanism to precisely adjust the position and attitude of the initially placed border 100 to be processed: if there is a positional offset, the horizontal and vertical positions of the fixture are adjusted to move the border 100 to the preset fixed position; if there is an attitude offset, the clamping angle of the fixture is adjusted to ensure that the attitude of the border 100 is consistent with the preset pose. During the adjustment process, the pose detection device continuously collects the real-time pose information of the border 100 to be processed and feeds it back to the control unit in real time, forming a closed-loop adjustment until the real-time pose information of the border 100 to be processed completely matches the preset pose information or is within the preset offset range. After the pose adjustment is completed, the frame fixing module starts the locking mechanism to firmly lock the frame 100 to be processed in the preset position, thus completing the fixing of the frame 100 to be processed in the preset position.

[0034] Step S200: Perform one or more first waxing processes on the frame to be processed. The first waxing process includes: driving the waxing wheel along a first direction to wax the frame to be processed once by the waxing driving mechanism to obtain a first frame with a first wax layer; driving the waxing wheel along a second direction to wax the first frame a second time by the waxing driving mechanism to obtain a second frame with the first direction being opposite to the second direction. The second frame has the first wax layer and a second wax layer located on the first wax layer, and the second wax layer has reverse waxing wrinkles.

[0035] Specifically, the first waxing treatment may involve one or more applications, depending on the wax thickness and process requirements; no specific limit is set here. The first waxing treatment is as follows: Reference Figure 3After the frame is fixed, the waxing drive mechanism starts, first driving the waxing wheel 200 to move to the starting waxing position of the frame 100 to be treated, so that the concave arc-shaped working surface of the waxing wheel 200 is precisely engaged with the surface of the frame, and a preset initial pressing pressure is applied. Subsequently, the waxing drive mechanism synchronously controls the waxing wheel 200 to move linearly in a first direction (such as along the positive direction of the frame length), and rotate in a clockwise or counterclockwise direction, while swinging left and right to form a continuous spiral waxing trajectory in the first direction. During this process, the wax on the waxing wheel 200 is evenly coated on the surface of the frame 100 to be treated. As the spiral trajectory continues to cover, a first wax layer of uniform thickness and without obvious defects is formed on the surface of the frame. After the spiral trajectory of the entire frame is completed, the waxing drive mechanism stops working, and the waxing wheel 200 returns to the temporary position. At this time, a first-stage frame with the first wax layer on the surface is obtained.

[0036] A secondary frame is obtained by driving the waxing wheel 200 along the second direction to perform a second waxing on the first frame through the waxing drive mechanism. The first direction is opposite to the second direction (if the first direction is the feeding direction from the first position to the second position along the length direction of the frame 100 to be processed, then the second direction is the feeding direction from the second position to the first position along the length direction of the frame; correspondingly, the rotation direction of the waxing wheel 200 is still the first clockwise direction, only the feeding direction is reversed). The secondary frame has a first wax layer formed by the first waxing and a second wax layer covering the surface of the first wax layer. Due to the characteristics of reverse feeding waxing, reverse waxing wrinkles will be formed on the surface of the second wax layer.

[0037] During the reverse compound motion, the wax material carried in the groove 210 of the waxing wheel 200 is evenly coated on the surface of the first wax layer of the primary frame under the combined action of rotational friction and the second pressure, gradually forming a second wax layer that completely covers and adheres to the first wax layer. Since the feeding direction of this waxing (the second direction) is opposite to the feeding direction of the primary waxing (the first direction), and the second wax layer is directly coated on the surface of the already cured first wax layer, the wax material cannot completely and seamlessly adhere to the surface of the first wax layer under the dual action of the shearing force and rotational friction of the reverse feeding. At the same time, the reverse superposition of the spiral trajectory will cause local wax accumulation and uneven force, thus forming reverse waxing wrinkles distributed along the reverse spiral trajectory on the surface of the second wax layer. These reverse waxing wrinkles appear as slight bulges and uneven textures on the surface of the second wax layer.

[0038] In some optional embodiments, the waxing wheel 200 is provided with a groove 210 formed by a recessed arc-shaped working surface; the step of obtaining a frame by driving the waxing wheel 200 to perform a waxing process on the frame to be processed 100 along a first direction through the waxing driving mechanism includes: S210. Obtain the first position where waxing begins on the border to be processed and the second position where waxing ends. Specifically, the first position is the corresponding position of the starting end of waxing along the length of the frame 100 to be processed (the specific position is determined according to the actual waxing needs and is not limited here), and the second position is the corresponding position of the ending end of waxing along the length of the frame 100 to be processed. The first and second positions together define the movement path and working area of ​​the waxing wheel 200 to ensure that the waxing operation can completely cover the entire waxing area of ​​the frame 100 to be processed.

[0039] S220. The waxing wheel 200 is moved to the first position by the waxing drive mechanism so that the groove 210 fits against the waxing surface of the frame to be treated. Specifically, the waxing drive mechanism drives the waxing wheel 200 to the first position, causing the groove 210 formed by the recessed arc-shaped working surface on the waxing wheel 200 to fit against the waxing surface of the frame 100 to be treated. Because the groove 210 adopts a recessed arc-shaped structure that matches the frame surface, when the waxing wheel 200 reaches the first position, the groove 210 can form a stable fit with the frame surface, ensuring a defined contact area between the waxing wheel 200 and the frame. Simultaneously, the groove 210 also restricts wax from overflowing to both sides during the waxing process, improving the uniformity of the waxing.

[0040] S230. After applying a first pressure to the waxing wheel 200, the waxing wheel 200 is driven by the waxing drive mechanism to move from the first position to the second position along the first direction, rotate in the first clockwise direction, and swing left and right, so that the waxing wheel 200 waxes the frame 100 to be processed once to obtain the first frame.

[0041] Specifically, a first pressure is applied to the waxing wheel 200, causing it to press stably against the waxing surface of the frame 100 to be treated under the preset first pressure. While maintaining the first pressure, the waxing drive mechanism synchronously drives the waxing wheel 200 to perform a compound motion: the waxing wheel 200 is driven to move smoothly from the first position along the length of the frame to the second position, realizing a feed motion along the length of the frame; the waxing wheel 200 itself is driven to rotate in the first clockwise direction (clockwise or counterclockwise), realizing the rotational waxing and compaction of the frame surface; at the same time, the waxing wheel 200 is driven to swing left and right along the width of the frame, forming a continuous and uniform spiral waxing trajectory.

[0042] In some optional embodiments, the step of driving the waxing wheel 200 to perform a second waxing of the primary frame along the second direction via the waxing drive mechanism to obtain a secondary frame includes: S240, Obtain the first thickness of the first wax layer and the target waxing thickness; Specifically, the thickness detection device is used to detect the first wax layer on the edge surface to obtain the actual first thickness of the first wax layer; at the same time, the preset target waxing thickness is retrieved, which is the total wax layer thickness required after the first waxing and the second waxing.

[0043] S250. Apply a second pressure to the waxing wheel 200 according to the first thickness and the target waxing thickness; Specifically, the obtained first thickness is compared with the target waxing thickness to calculate the difference in wax layer thickness required for the second waxing. Based on this difference, the second pressure is adaptively adjusted and determined to match the required wax layer thickness. This ensures the second wax layer adheres stably to the first wax layer while preventing excessive pressure from deforming the first wax layer or causing wax overflow, thus providing suitable pressure for the second waxing. A table mapping the thickness difference to the second pressure can be pre-set, allowing for quick determination of the second pressure based on the thickness difference.

[0044] S260. The waxing drive mechanism drives the waxing wheel 200 to move from the second position to the first position along the second direction, rotate in the second clockwise direction, and swing left and right, so that the waxing wheel 200 waxes the first frame twice to obtain the second frame.

[0045] Specifically, the waxing drive mechanism moves the waxing wheel 200 to the starting position of the second waxing, i.e., the second position after the first waxing, and keeps the recessed arc-shaped working surface groove 210 of the waxing wheel 200 in contact with the waxing surface of the first frame. Under the action of the second pressure, the waxing drive mechanism synchronously drives the waxing wheel 200 to perform three movements: drive the waxing wheel 200 to move from the second position to the first position along the second direction to achieve a reverse feeding movement along the length of the frame; drive the waxing wheel 200 to rotate itself in the second clockwise direction, which is opposite to or the same as the first clockwise direction of the first waxing; and simultaneously drive the waxing wheel 200 to swing left and right along the width of the frame, so that the waxing wheel 200 performs a second waxing treatment on the first frame under the combined movement of reverse feeding, rotation and left and right swinging. The waxing wheel 200 evenly coats the surface of the first wax layer with wax, forming a second wax layer that covers the first wax layer. The first and second wax layers are stacked together to form a wax layer structure close to the target waxing thickness. Since the secondary waxing adopts the opposite feeding direction and / or rotation direction to the primary waxing, the wax layer will form reverse waxing wrinkles on the surface of the second wax layer under the reverse shearing and stacking action. Finally, the secondary waxing process is completed, and a secondary border with a first wax layer, a second wax layer and reverse waxing wrinkles on the surface is obtained.

[0046] Step S300: Perform a second waxing process on the secondary frame. The second waxing process includes driving the waxing wheel 200 to perform a third waxing process on the secondary frame along the first direction through the waxing drive mechanism, so that the reverse waxing wrinkles are removed and the target frame is obtained.

[0047] Specifically, after completing the second waxing and obtaining a second frame with reverse waxing wrinkles on the surface, the second frame is kept fixed on the frame fixing module. The waxing drive mechanism drives the waxing wheel 200 to move back to the starting position of the third waxing, that is, the first position of the first waxing, and keeps the groove 210 formed by the recessed arc working surface on the waxing wheel 200 in stable contact with the waxing surface of the second frame.

[0048] Based on the thickness of the second wax layer and the protrusion of the wrinkles from the reverse waxing, adjust and apply an appropriate third pressure. The third pressure is less than the first pressure during the first waxing and the second pressure during the second waxing. This effectively smooths and compacts the wrinkled areas without over-pressuring the wax layer.

[0049] Under the action of the third pressure, the waxing drive mechanism synchronously drives the waxing wheel 200 to perform a compound motion. During the compound motion along the first direction, the concave arc-shaped working surface of the waxing wheel 200 evenly rolls, flattens, and smooths the reverse waxing wrinkles on the surface of the second wax layer, smoothly filling the raised parts of the wax into the recessed areas, making the surface of the wax layer gradually become smooth and flat. Without significantly increasing the total thickness of the wax layer, the reverse waxing wrinkles on the surface of the second wax layer are eliminated, allowing the first and second wax layers to fully fuse and form a uniform, flat, wrinkle-free, and protrusion-free integral wax layer.

[0050] After the waxing wheel 200 completes its full feed along the first direction and reaches the second position, the three waxing processes are finished. The reverse waxing wrinkles are removed, and the wax layer thickness and surface flatness meet the preset requirements, finally obtaining the target frame with qualified surface quality.

[0051] In some optional embodiments, the step of driving the waxing wheel 200 to perform a third waxing process on the secondary frame along a first direction via the waxing drive mechanism, so as to remove the wrinkles after the reverse waxing and obtain the target frame, includes: S310. Obtain the wrinkle information of the reverse waxing wrinkles, wherein the wrinkle information indicates the wrinkle distribution location information and wrinkle shape information of the reverse waxing wrinkles; Specifically, the second wax layer on the surface of the secondary frame is scanned and detected by a visual inspection device or a contour inspection device (specifically set above the frame fixing module) to obtain the wrinkle information of the reverse waxing wrinkles. The wrinkle information is used to indicate the wrinkle distribution position information of the reverse waxing wrinkles on the secondary frame, as well as the wrinkle shape information including the wrinkle protrusion height, wrinkle extension length, and wrinkle curvature.

[0052] S320. Update the first position and the second position according to the wrinkle distribution position information; Specifically, the first position and the second position are updated based on the wrinkle distribution information. Based on the actual area where the reverse waxing wrinkles are distributed, the initial first position and the initial second position determined during a single waxing process are adaptively adjusted to obtain updated first and second positions. This ensures that the waxing path defined by the updated first and second positions accurately covers all areas where the reverse waxing wrinkles are located, preventing over-sanding of wrinkle-free areas while ensuring that all wrinkled areas are effectively smoothed.

[0053] S330. Apply a third pressure to the waxing wheel 200 according to the wrinkle shape information; Specifically, based on the fold protrusion height and fold size indicated by the fold shape information, the corresponding third pressure is adaptively adjusted and applied: when the fold protrusion height is large, the third pressure is increased accordingly to ensure effective compaction and flattening of the protruding parts; when the fold protrusion height is small, the third pressure is reduced accordingly to avoid excessive compression of the wax layer and the occurrence of new defects, so that the third pressure is adapted to the fold shape, effectively removing folds while maintaining the overall thickness stability of the wax layer.

[0054] S340. The waxing drive mechanism drives the waxing wheel 200 to move from the updated first position to the updated second position along the first direction, rotate in the third clockwise direction and swing left and right, so that the waxing wheel 200 waxes the secondary frame three times to obtain the target frame.

[0055] Specifically, under the action of the third pressure, the waxing drive mechanism synchronously drives the waxing wheel 200 to perform multi-dimensional composite motion: the waxing wheel 200 is driven to move smoothly from the updated first position to the updated second position along the first direction, realizing directional feeding and trimming of the wrinkled area; the waxing wheel 200 is driven to rotate in the third clockwise direction, which is the same as the rotation direction of the first waxing and opposite to the rotation direction of the second waxing, forming a trimming direction that matches the distribution direction of the wrinkles; at the same time, the waxing wheel 200 is driven to swing left and right along the width direction of the frame, so that the waxing wheel 200, under the coordinated motion of feeding, rotating and swinging, evenly rolls, flattens and trims the reverse waxing wrinkles on the surface of the second frame.

[0056] In some optional embodiments, before the waxing process is completed by driving the waxing wheel 200 along the first direction to wax the border 100 to be processed once to obtain a border, the method further includes: S150: Obtain the target waxing thickness of the frame to be processed 100, the first dimension information of the waxing wheel 200, and the second dimension information of the frame to be processed 100; Specifically, the target waxing thickness of the frame to be processed 100, the first dimension information of the waxing wheel 200, and the second dimension information of the frame to be processed 100 are obtained. The target waxing thickness is a pre-set standard thickness of the wax layer that the surface of the frame to be processed 100 should ultimately have. The first dimension information is the structural dimension information of the waxing wheel 200 itself, including the diameter, wheel width, radius of curvature of the recessed arc working surface, and depth of the groove 210. The second dimension information is the external dimension information of the frame to be processed 100, including the length, width, and cross-sectional contour dimensions of the frame.

[0057] S160. Determine the contact area between the waxing wheel 200 and the frame 100 to be processed based on the first size information and the second size information; Specifically, by matching and calculating the contour dimensions of the recessed arc-shaped working surface of the waxing wheel 200 with the cross-sectional contour dimensions of the frame 100 to be treated, the effective contact area between the wheel groove 210 and the waxing surface of the frame is determined when the waxing wheel 200 is in contact with the frame 100 to be treated, thereby obtaining a stable contact area between the waxing wheel 200 and the frame 100 to be treated.

[0058] S170. Determine the linear speed, waxing rotation speed, and left-right oscillation speed of the waxing wheel 200 as it moves along the border 100 to be processed, based on the target waxing thickness, the contact area, and the border size indicated by the second size information.

[0059] Specifically, the target waxing thickness is used as the core constraint for wax layer formation, the contact area is used as the effective area constraint for wax coating and compaction, and the frame size is used as the constraint for waxing path and working range. The three speeds are matched and determined through preset control relationships: the linear speed is matched with the frame length, target waxing thickness and contact area to ensure uniform wax coating on the frame per unit length; the waxing rotation speed is matched with the contact area and target waxing thickness to ensure that the wax layer is fully rolled and compacted; and the left and right swing speed is matched with the linear speed and waxing rotation speed to ensure that the spiral waxing trajectory is continuous and evenly covers the frame surface.

[0060] In some optional embodiments, determining the contact area between the waxing wheel 200 and the frame to be processed 100 based on the first size information and the second size information includes: S161. Determine the wheel surface width of the waxing wheel 200 and the arc radius of the groove 210 based on the first size information; Specifically, the first dimension information is the inherent structural parameters of the waxing wheel 200. By reading or detecting the first dimension information, the wheel surface width of the waxing wheel 200 along the width direction of the frame and the arc radius of the groove 210 formed by the recessed arc working surface on the waxing wheel 200 can be directly determined.

[0061] S162. Determine the border width of the border to be processed 100 based on the second size information; Specifically, the second dimension information is the shape and structural parameters of the frame 100 to be processed. By reading or detecting the second dimension information, the frame width of the frame 100 to be processed in the direction of contact with the groove 210 of the waxing wheel 200 is determined, providing frame side structural parameters for the matching calculation of the contact length.

[0062] S163. Determine the contact length between the groove 210 and the border 100 to be processed based on the border width and the arc radius; Specifically, the width of the border is matched with the radius of the arc of the groove 210. Based on the fit between the arc contour and the outer contour of the border, the effective contact length along the arc extension direction between the arc working surface of the groove 210 and the surface of the border 100 to be processed is determined. This contact length reflects the actual fit length between the groove 210 and the border. The specific formula for calculating the contact length is as follows:

[0063] in, For contact length, The radius of the arc, This represents the border width.

[0064] S164. Determine the contact area based on the contact length and the wheel surface width.

[0065] Specifically, the effective contact length is multiplied by the width of the waxing wheel 200. This product is used as the effective contact area between the waxing wheel 200 and the frame 100 to be processed, thus determining the contact area. The specific formula for calculating the contact area is as follows:

[0066] in, For contact area, This refers to the wheel surface width.

[0067] In some optional embodiments, determining the linear speed, rotational speed, and lateral oscillation speed of the waxing wheel 200 moving along the border 100 to be treated, based on the target waxing thickness, the contact area, and the border size indicated by the second dimensional information, includes: S171. Determine the linear velocity based on the target wax thickness, the contact area, and the frame length indicated by the second dimension information; Specifically, the target waxing thickness is used as the constraint for wax layer forming thickness, the contact area is used as the constraint for the effective wax coating area, and the frame length is used as the constraint for the waxing stroke. A preset control relationship is used to determine the linear speed of the waxing wheel 200 moving along the length of the frame 100 to be treated. This ensures that the linear speed is matched to the target waxing thickness, contact area, and frame length, guaranteeing that the wax layer coating per unit length of the frame is uniform and meets the target waxing thickness requirement throughout the entire waxing stroke. The formula for calculating the linear speed is:

[0068] in, It is a linear velocity. This is the process matching coefficient. To achieve the desired wax thickness, This represents the border length.

[0069] S172. Determine the waxing rotation speed based on the target waxing thickness, the contact area, and the frame width indicated by the second dimension information; Specifically, the wax layer density is constrained by the target wax thickness, the contact area by the effective range between the waxing wheel 200 and the frame, and the frame width by the lateral dimension of the frame. A preset control relationship determines the waxing rotation speed of the waxing wheel 200, ensuring that the rotation speed matches the target wax thickness, contact area, and frame width. This guarantees that the wax is fully compacted under the rotating and rolling action, forming a wax layer with stable thickness and a uniform surface. The formula for calculating the waxing rotation speed is:

[0070] in, The rotation speed for waxing, This represents the process matching coefficient.

[0071] S173. Determine the left and right swing speed based on the linear velocity, the waxing rotation speed, and the contact area.

[0072] Specifically, using linear velocity as the feed reference, waxing rotation speed as the rotational coating reference, and contact area as the effective working area constraint, a preset control relationship is used to coordinate and match the linear velocity and waxing rotation speed. This determines the left-right oscillation speed of the waxing wheel 200 along the width of the frame, ensuring that the left-right oscillation speed is compatible with the linear velocity, waxing rotation speed, and contact area. This guarantees that the waxing wheel 200 forms a continuous, uniform, and non-overlapping spiral waxing trajectory under the combined motion of feed, rotation, and oscillation, thereby ensuring that the wax layer on the frame surface is generally flat, wrinkle-free, and without protrusions. The formula for calculating the left-right oscillation speed is:

[0073] in, The speed of the left and right swing. This represents the process matching coefficient.

[0074] The implementation of this invention has the following beneficial effects: When the frame needs to be waxed, the frame to be processed 100 is fixed in a preset position by the frame fixing module; the waxing drive mechanism drives the waxing wheel 200 to perform a first waxing process on the frame to be processed 100 along a first direction to obtain a first frame, which has a first wax layer; the waxing drive mechanism drives the waxing wheel 200 to perform a second waxing process on the first frame along a second direction to obtain a second frame, where the first direction is opposite to the second direction, and the second frame has a first wax layer and a second wax layer located on the first wax layer, with reverse waxing wrinkles on the second wax layer; the waxing drive mechanism drives the waxing wheel 200 to perform a third waxing process on the second frame along the first direction to remove the reverse waxing wrinkles and obtain the target frame. In the technical solution of this embodiment, the position of the frame to be processed 100 can be fixed and adjusted by the frame fixing module, and the waxing wheel 200 is driven by the waxing drive mechanism to automatically wax the frame to be processed 100 in different directions multiple times. This can eliminate wrinkles on the wax layer while meeting the waxing thickness requirements, resulting in high waxing efficiency and good waxing quality.

[0075] In addition, one embodiment of the present invention provides a frame waxing control device, the device including: a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0076] The processor and memory can be connected via a bus or other means.

[0077] 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 1The 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.

[0078] The non-transient software program and instructions required to implement the uplink co-channel interference cancellation method of the above embodiments are stored in memory. When executed by the processor, the bezel waxing control method of the above embodiments is executed, for example, the method described above is executed. Figure 2 Method steps S100 to S600.

[0079] Furthermore, one embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions, which, when used to execute the aforementioned edge waxing control method of the edge waxing control device, for example, execute the above-described... Figure 2 Method steps S100 to S400.

[0080] 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.

[0081] 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 controlling edge waxing, characterized in that, An application is made to a frame waxing device, the frame waxing device including a frame fixing module and a waxing module, the waxing module including a waxing wheel and a waxing drive mechanism, and the frame waxing control method including: The border to be processed is fixed in a preset position by the border fixing module; The first waxing process involves performing one or more waxing treatments on the frame to be processed. The first waxing treatment includes: driving the waxing wheel along a first direction using the waxing driving mechanism to wax the frame once, resulting in a first frame with a first wax layer; and driving the waxing wheel along a second direction using the waxing driving mechanism to wax the first frame a second time, resulting in a second frame with the first direction opposite to the second direction. The second frame has the first wax layer and a second wax layer on top of the first wax layer, with the second wax layer having reverse waxing wrinkles. Before performing the first waxing treatment, the process further includes: acquiring the target waxing thickness of the frame to be processed, the first size information of the waxing wheel, and the second size information of the frame to be processed; determining the contact area between the waxing wheel and the frame to be processed based on the first and second size information; determining the linear speed, waxing rotation speed, and left-right oscillation speed of the waxing wheel moving along the frame to be processed based on the target waxing thickness, the contact area, and the frame size indicated by the second size information; and performing the first waxing treatment based on the linear speed, waxing rotation speed, and left-right oscillation speed. The secondary frame is subjected to a second waxing process, which includes driving the waxing wheel along a first direction to perform three waxing processes on the secondary frame through the waxing drive mechanism, so that the reverse waxing wrinkles are removed to obtain the target frame.

2. The method for controlling frame waxing according to claim 1, characterized in that, The waxing wheel is provided with a groove formed by a recessed arc-shaped working surface; the process of waxing the frame to be processed once by driving the waxing wheel along the first direction through the waxing drive mechanism to obtain a frame includes: Obtain the first position where waxing begins on the border to be processed and the second position where waxing ends; The waxing drive mechanism drives the waxing wheel to move to the first position so that the groove fits against the waxing surface of the frame to be treated; After applying a first pressure to the waxing wheel, the waxing drive mechanism drives the waxing wheel to move from the first position to the second position along a first direction, rotate in a first clockwise direction, and swing left and right, so that the waxing wheel waxes the frame to be processed once to obtain the first frame. The first clockwise direction represents the clockwise or counterclockwise direction.

3. The frame waxing control method according to claim 2, characterized in that, The process of obtaining a secondary frame by driving the waxing wheel along the second direction using the waxing drive mechanism to perform a second waxing on the primary frame includes: Obtain the first thickness of the first wax layer and the target waxing thickness; A second pressure is applied to the waxing wheel based on the first thickness and the target waxing thickness; The waxing drive mechanism drives the waxing wheel to move from the second position to the first position along the second direction, rotate in the second clockwise direction, and swing left and right, so that the waxing wheel performs a second waxing on the first frame to obtain the second frame. The second clockwise direction is opposite to the first clockwise direction.

4. The method for controlling frame waxing according to claim 2, characterized in that, The step of driving the waxing wheel along a first direction to perform a third waxing process on the secondary frame through the waxing drive mechanism, so as to remove the wrinkles after the reverse waxing and obtain the target frame, includes: Obtain the wrinkle information of the reverse waxing wrinkles, wherein the wrinkle information indicates the wrinkle distribution location information and wrinkle shape information of the reverse waxing wrinkles; Update the first position and the second position according to the fold distribution location information; A third pressure is applied to the waxing wheel based on the wrinkle shape information; The waxing drive mechanism drives the waxing wheel to move from the updated first position to the updated second position along the first direction, rotate in the third clockwise direction, and swing left and right, so that the waxing wheel waxes the secondary frame three times to obtain the target frame. The third clockwise direction is the same as the first clockwise direction.

5. The method for controlling frame waxing according to claim 2, characterized in that, Determining the contact area between the waxing wheel and the edge to be processed based on the first size information and the second size information includes: The width of the waxing wheel and the radius of the groove are determined based on the first size information; The border width of the border to be processed is determined based on the second size information; The contact length between the groove and the border to be processed is determined based on the border width and the arc radius; The contact area is determined based on the contact length and the wheel surface width.

6. The method for controlling frame waxing according to claim 1, characterized in that, The step of determining the linear speed, rotational speed, and lateral oscillation speed of the waxing wheel as it moves along the border to be treated, based on the target waxing thickness, the contact area, and the border dimensions indicated by the second dimensional information, includes: The linear velocity is determined based on the target wax thickness, the contact area, and the border length indicated by the second dimensional information; The waxing rotation speed is determined based on the target waxing thickness, the contact area, and the border width indicated by the second size information; The left-right oscillation speed is determined based on the linear velocity, the waxing rotation speed, and the contact area.

7. The method for controlling frame waxing according to claim 1, characterized in that, The border waxing equipment also includes a border shape detection device and a pose detection device. The step of fixing the border to be processed in a preset position using the border fixing module includes: The border shape information of the border to be processed is obtained by the border shape detection device; The preset pose information of the border is determined based on the border shape information and the preset border waxing position; The pose detection device acquires the real-time pose information of the bounding box to be processed. The border fixing module is adjusted according to the real-time pose information and the preset pose information of the border so that the border to be processed is fixed at the preset position.

8. A frame waxing control device, 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 bezel waxing control method according to any one of claims 1-7.

9. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions, which are used to execute the frame waxing control method according to any one of claims 1-7.

Images