CN111482850A - Automatic blade grinding and polishing method and device, electronic equipment and readable storage medium - Google Patents
Automatic blade grinding and polishing method and device, electronic equipment and readable storage medium Download PDFInfo
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- CN111482850A CN111482850A CN202010180511.1A CN202010180511A CN111482850A CN 111482850 A CN111482850 A CN 111482850A CN 202010180511 A CN202010180511 A CN 202010180511A CN 111482850 A CN111482850 A CN 111482850A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
- B24B21/165—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape for vanes or blades of turbines, propellers, impellers, compressors and the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Abstract
The application discloses an automatic blade grinding and polishing method, which applies an input shaping technology introducing negative pulses to the control of an abrasive belt grinding and polishing device, and can realize the grinding and polishing operation of the blade to be ground and polished with smoother force under the control of a processed control signal by means of the characteristic that the shaping of the input shaping technology to the control signal and the alternative positive and negative pulses can be offset mutually more conveniently, so that the damage to the blade is reduced, the adaptability and the robustness of stable transition in the grinding and polishing processing transition process are enhanced, and various performances of the blade are improved. The application also discloses automatic grinding and polishing device of blade, electronic equipment and readable storage medium simultaneously, has above-mentioned beneficial effect.
Description
Technical Field
The present disclosure relates to the field of blade polishing technologies, and in particular, to an automatic blade polishing method and apparatus, an electronic device, and a readable storage medium.
Background
Blades in the industrial field play an important role in providing power, such as large-scale wind power blades, aircraft engine blades, blower blades and the like, and the performance of the blades directly influences the overall working performance and service life. The blades used in the industrial field have the obvious characteristics of streamline structures, large distortion degree, large rigidity difference and the like, are typical complex curved surface structures, and the restriction among the characteristics of the blades makes the blades difficult to ensure to reach the required surface roughness and surface precision, so that the problems of poor surface consistency, surface cracks and the like of the blades are caused. The blade grinding and polishing is the final procedure of blade forming and processing, and plays an important role in improving the surface precision and shape precision of the blade, so that the blade meets the geometric shape and surface quality required by expectation, and the rejection rate of the blade is greatly influenced.
The profile precision and the surface quality of the blade directly influence the aerodynamic performance of an engine, and aiming at the blade grinding and polishing processing technology, more than 90% of the blade edge of the blade in China still adopts manual grinding and polishing, so that the blade grinding and polishing processing technology has poor consistency, the quality cannot be ensured, and the processing efficiency is low. The blade profile is complex, the blade edge characteristics are tiny, the requirements on the profile degree and the surface precision are high, the removal allowance is small, and the distribution is uneven; and the manual grinding and polishing processing operation environment is very severe and has great harm to operators, so the manual grinding and polishing processing faces serious challenges.
The numerical control grinding and polishing equipment has certain advantages for improving the quality and precision of blade grinding and polishing, the multi-axis linkage numerical control machine tool is good in grinding and polishing processing flexibility and high in processing precision, but high-end numerical control equipment in foreign countries is expensive, the functions of domestic substitute products are insufficient, the programming difficulty of the numerical control grinding and polishing processing technology is high, and a self-adaptive closed-loop system of measurement-processing is lacked, so that the method is not widely applied. With the development of the robot technology in recent years, the industrial robot is applied to grinding and polishing processing, particularly the abrasive belt grinding and polishing processing technology of the robot, and the surface quality and the surface precision of the blade after grinding and polishing processing are effectively improved through the complementary advantages of the industrial robot and the abrasive belt grinding and polishing device.
The abrasive belt grinding and polishing of the robot is influenced by modeling errors, controller performance, environment uncertainty and other factors, so that the control of the industrial robot has error influence, and the contact environment information is difficult to accurately acquire. In addition, in the current technical development level, the industrial robot has obvious advantages in providing large-range pose motion, but the defects of complex model, weak rigidity, strong position coupling and the like play a role in limiting the improvement of system performance. The robot clamps the blade at the tail end, and kinetic energy released in the contact transition process with an abrasive belt easily causes contact force overshoot and oscillation, so that the blade vibrates and over-grinds, the quality and the processing efficiency of the processed surface of the blade are seriously affected, and the blade is deformed and damaged.
Therefore, it is an urgent need to solve the above technical problems by those skilled in the art to overcome the above technical drawbacks of the prior art and provide an automatic blade polishing method with better effect.
Disclosure of Invention
The application provides a method and a device for automatically grinding and polishing blades, electronic equipment and a readable storage medium, aiming at applying an input shaping technology introducing negative pulses to the control of an abrasive belt grinding and polishing device, and by means of the characteristic that the input shaping technology can more conveniently and mutually offset the shaping of a control signal and alternate positive and negative pulses, the abrasive belt grinding and polishing device can execute grinding and polishing operation with smoother force on the blades to be ground and polished under the control of the processed control signal, so that the damage to the blades is reduced, and various performances of the blades are improved.
In order to achieve the above object, the present application first provides an automatic blade grinding and polishing method, including:
receiving a transmitted original control signal;
shaping the original control signal by using an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper;
sending the processed control signal to a sanding belt grinding and polishing device;
and controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
Optionally, the improved input shaper is constructed based on at least one pair of positive and negative pulse sequences, and each pair of positive and negative pulse sequences are sequentially sent out in a positive and negative alternating manner.
Optionally, the automatic blade grinding and polishing method further includes:
acquiring a first stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the original control signal;
acquiring a second stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the processed control signal;
comparing the second stress parameter with the first stress parameter, and calculating to obtain a parameter difference;
and adjusting parameters of the improved input shaper according to the parameter difference.
In order to realize the above-mentioned purpose, this application still provides an automatic grinding and polishing device of blade, includes:
the original control signal receiving unit is used for receiving the transmitted original control signal;
the improved input shaper processing unit is used for shaping the original control signal by utilizing an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper;
the processed control signal issuing unit is used for issuing the processed control signal to the abrasive belt grinding and polishing device;
and the grinding and polishing operation control execution unit is used for controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
Optionally, the automatic blade grinding and polishing device further includes:
a first stress parameter obtaining unit, configured to obtain a first stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the original control signal;
a second stress parameter obtaining unit, configured to obtain a second stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the processed control signal;
the parameter difference calculation unit is used for comparing the second stress parameter with the first stress parameter and calculating to obtain a parameter difference;
and the parameter adjusting unit is used for adjusting various parameters of the improved input shaper according to the parameter difference.
To achieve the above object, the present application also provides an electronic device, including:
a memory for storing a computer program;
a processor for implementing the following functions when executing the computer program:
receiving a transmitted original control signal;
shaping the original control signal by using an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper;
sending the processed control signal to a sanding belt grinding and polishing device;
and controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
Optionally, the processor may further implement the following functions:
acquiring a first stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the original control signal;
acquiring a second stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the processed control signal;
comparing the second stress parameter with the first stress parameter, and calculating to obtain a parameter difference;
and adjusting parameters of the improved input shaper according to the parameter difference.
To achieve the above object, the present application further provides a readable storage medium, on which a computer program is stored, where the computer program can implement the following functions after being executed by a processor:
receiving a transmitted original control signal;
shaping the original control signal by using an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper;
sending the processed control signal to a sanding belt grinding and polishing device;
and controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
Optionally, the computer program may further implement the following functions after being executed by the processor:
receiving a transmitted original control signal;
shaping the original control signal by using an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper;
sending the processed control signal to a sanding belt grinding and polishing device;
and controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
The application provides an automatic grinding and polishing method for blades, which comprises the following steps: receiving a transmitted original control signal; shaping the original control signal by using an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper; sending the processed control signal to a sanding belt grinding and polishing device; and controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
According to the automatic blade grinding and polishing method provided by the application, in order to avoid damage to the blade caused by force overshoot and force impact phenomena during grinding and polishing of the blade by means of a machine as much as possible, the application firstly introduces the input shaping technology originally applied to other fields, and on the basis that the traditional input shaping technology only uses positive pulses as pulse sequences, the pulse sequences are adjusted to be alternate positive and negative pulses, so that an improved input shaper is obtained. This application still provides an automatic device, electronic equipment and readable storage medium of throwing that grinds of blade simultaneously, has above-mentioned beneficial effect, no longer gives unnecessary details here.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of a process of making contact with each other when a blade is being machined by abrasive belt polishing;
FIG. 2 is a schematic view of the process of mutual contact when the robot sanders process blades;
FIG. 3 is a flowchart of an automatic blade polishing method according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram illustrating a principle of a two-pulse input shaper for suppressing vibration according to an embodiment of the present application;
fig. 5 is a schematic diagram illustrating an input shaper forming principle according to an embodiment of the present disclosure;
fig. 6 is a flowchart of a method for improving parameter adjustments of an input shaper based on stress parameter differences according to an embodiment of the present application;
fig. 7 is a structural block diagram of an automatic blade grinding and polishing device according to an embodiment of the present application.
Detailed Description
The application provides a method and a device for automatically grinding and polishing blades, electronic equipment and a readable storage medium, aiming at applying an input shaping technology introducing negative pulses to the control of an abrasive belt grinding and polishing device, and by means of the characteristic that the input shaping technology can more conveniently and mutually offset the shaping of a control signal and alternate positive and negative pulses, the abrasive belt grinding and polishing device can execute grinding and polishing operation with smoother force on the blades to be ground and polished under the control of the processed control signal, so that the damage to the blades is reduced, the adaptability and the robustness of stable transition of the grinding and polishing processing transition process are enhanced, and various performances of the blades are improved.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to understand the defects of the prior art, the following description is made in detail with reference to fig. 1 and 2:
as shown in a schematic diagram of a contact process of abrasive belt polishing processing in fig. 1, when a blade is polished, a polishing device and the blade have obvious force impact and force oscillation in a contact transition process, and in order to make the transition process of polishing processing smoothly transition, a certain control method is required to suppress and eliminate the existing force impact and force oscillation. As shown in fig. 2, in the schematic diagram of abrasive belt grinding and polishing process of a robot, during the process of blade grinding and polishing, when the grinding and polishing unit and the blade contact each other from a free state to a constrained state, since the motion of the blade contacts the abrasive belt of the grinding and polishing unit, the approaching speed suddenly approaches zero in a very short time, and the free motion is instantaneously converted into constrained motion, the dynamic characteristic suddenly changes, which easily causes force impact and contact vibration in the transition process, affects the service life of parts, increases the system stability time, and causes the control performance to be poor or even causes the originally stable controller to be unstable.
Referring to fig. 3, fig. 3 is a flowchart of an automatic blade polishing method according to an embodiment of the present application, which includes the following steps:
s101: receiving a transmitted original control signal;
the step aims to receive a control signal sent by a control system to a sanding belt polishing device, and it should be clear that the sanding belt polishing device is a configuration device which is adapted to a robot to complete blade polishing, and the control signal is used for adjusting various parameters (such as position, inclination angle and the like) of the sanding belt polishing device as much as possible to reduce the problem of force overshoot and force impact when the sanding belt polishing device is in contact with the blade, so that the damage to the blade is reduced as much as possible.
Raw control signals that are not processed can have significant steps and thus can lead to the inevitable problems of excessive force and force impulses when in contact with the blade, and thus damage to the blade.
S102: shaping the original control signal by using an improved input shaper to obtain a processed control signal;
the improved input shaper is a special input shaper constructed on the basis of alternating positive and negative pulse sequences, the special input shaper is characterized in that the conventional and traditional input shapers are constructed on the basis of pure positive pulse sequences, a plurality of positive pulse sequences have inevitable delay when force cancellation is realized, and all force cannot be cancelled even though time delay exists.
The applicant actually tests that the conventional and conventional input shaper has poor effect on the automatic blade grinding and polishing aspect aimed by the application, because the high-performance blade is very sensitive to various stresses during processing, when the input shaper constructed based on the single-pass positive pulse sequence is used in other fields, the problem exists in the error allowable range, but the conventional and conventional input shaper cannot meet the automatic blade grinding and polishing aspect aimed by the application.
Based on this, this application combines the requirement under the practical application scene, improved traditional, conventional input shaper, based on the fundamental principle of input shaping technique and the principle of realizing the force when only using positive pulse sequence and offset, introduced the negative pulse sequence newly, namely original pure positive pulse sequence adjustment for alternate positive and negative pulse sequence, and the negative pulse sequence need not delay even can directly offset corresponding positive pulse sequence, and the force offsets more comprehensively, and lower delay has also promoted the efficiency of blade automatic processing.
The traditional input shaping technology is a technology which decomposes input into multistep delay loading and guides output oscillations of components to mutually offset so as to achieve the effect of restraining residual vibration and force overshoot. On the basis of the traditional input shaping technology, the negative pulse input quantity is introduced, the improved input shaping controller is provided, the force oscillation and the force overshoot in the contact process of the grinding and polishing device and the blade are reduced, and a solution with higher adaptability and robustness is provided for realizing the stable transition of the grinding and polishing processing transition process.
Specifically, the input shaping technique is to perform convolution operation on an original control command and a series of pulse sequences to form a new command as the input of the control system, so as to shape the original control command. The pulse sequence is called input shaper, and can be designed according to the frequency and damping ratio of the system, and the principle of vibration suppression of the two-pulse input shaper is shown in fig. 4 (a1 and a2 are quasi-sinusoidal signals with different starting points). The shaped input command causes the control system to generate corresponding output, so that the outputs at certain oscillation periods are mutually offset, and the effect of inhibiting vibration is achieved. The input shapers guide the oscillation generated by the input shapers to mutually cancel without adding external devices, and the shaping principle of the input shapers is shown in fig. 5.
S103: sending the processed control signal to a sand belt grinding and polishing device;
s104: and controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
On the basis of S102, S103 is intended to issue the control signal processed by the improved input shaper to the belt polishing device, and in S104, to control the belt polishing device to perform polishing operation on the blade to be polished according to the processed control signal.
According to the automatic blade grinding and polishing method provided by the application, in order to avoid the damage to the blade caused by the phenomenon of force overshoot and force impact when the blade is ground and polished by a machine as much as possible, the application firstly introduces the input shaping technology originally applied to other fields, and on the basis that the traditional input shaping technology only uses positive pulses as pulse sequences, the pulse sequences are adjusted into alternate positive and negative pulses, so that the improved input shaper is obtained, and on the basis that the alternate positive and negative pulses used by the improved input shaper are compared with single-through positive pulses, a more comprehensive force can be counteracted with a shorter delay, which means a less force overshoot and a less force impact, therefore, the damage to the blade during automatic grinding and polishing is smaller, the adaptability and robustness of stable transition in the grinding and polishing processing transition process are enhanced, and various performances of the blade are improved.
For a more thorough understanding of the above solution of the present application, the following application demonstrates the feasibility of the solution from a theoretical point of view from the combination of equations:
assuming that a single degree of freedom second order damped linear system exists, the transfer function is as follows:
in the formula: omega is the natural angular frequency of the system, zeta is the damping ratio of the system, G(s) is the transfer function of the single-freedom degree second-order damping linear system, and s represents the significance of Laplace transform.
Further, the pulse sequence composed of n pulses is:
wherein A isiAnd tiThe action time of the amplitude pulse of the ith pulse is respectively, and I (t) represents a pulse sequence formed by n pulses and represents a step pulse input signal. When the pulse sequence acts on the control system, after the action of the last pulse time, the residual vibration amplitude of the system is as follows:
wherein:
damped frequency of the system
With a damped vibration period of Td＝2π/ωd. To ensure that the shaped track is the same as the original reference track, and to avoid tracking effect distortion, the sum of the amplitudes of the pulse sequence must be 1 for constraint, that is:
in addition, the shorter the time length of the input shaper, the shorter the time lag brought to the control system, and the response of the system can be improved, and the time constraint of the input shaper is as follows: min (t)n)
Combining the analysis, aiming at the determined control system, the natural angular frequency omega and the damping ratio zeta of the system are obtained through analysis, and the residual vibration amplitude A of the system is obtainedampOr below a certain desired level determines the system pulse amplitude aiAnd time ti. As can be seen from the analysis of fig. 5, when the input shaper has two input pulses, convolving the original reference trajectory with the input shaper in the time domain decomposes the original reference trajectory into sub-trajectories with different amplitudes and loading times, the input shaper of the system being designed according to the damping ratio and the oscillation frequency of the system as a function of:
InS(t)＝A1(t)+A2(t-t2)
wherein: ins (t) represents a function designed according to the damping ratio and the oscillation frequency of the system, the sum of the decomposed sub-tracks is usually slightly deformed from the original reference track, the influence of slight change of the track on the tracking error is usually reduced by a feed-forward compensation mode, and the total shaped track is equal to the sum of the sub-tracks:
rs＝rs,1+rs,2＝A1r(t)+A2r(t-t2)
wherein: r issRepresenting the total trajectory after reshaping, rs,1And rs,2Representing the reshaped individual sub-tracks.
Further, the simplest input shaper is a positive input ZV shaper consisting of two pulses, and at the end of the action of the last pulse, the system vibration disappears, and the residual vibration amplitude is 0, then there are:
meanwhile, according to the constraint conditions of the system, the following constraints can be further obtained:
t1＝0
further, the mathematical expression of the ZV input shaper can be obtained by combining the above constraint analysis as follows:
wherein:
a higher order input shaper can be obtained by satisfying the constraints of the above analysis and including a plurality of pulses in the input shaper. The ZVD shaper adds a differential condition of an oscillation percentage function to frequency on the basis of the ZV shaper to further improve the robustness of the system, and the calculation formula of the ZVD shaper is as follows:
comprehensive analysis shows that the ZV input shaper has fast response and minimum time delay, but is sensitive to modeling errors and has the worst robustness. The ZVDD input shaper is the best robust, but the corresponding speed is the slowest and the delay is the longest. In contrast, the ZVD input shaper has moderate robustness and delay effect, and is generally applied in many cases.
Further, on the basis of the basic input shaper, a negative input shaping pulse sequence is introduced, so that the shaper comprises a pulse sequence alternating positive and negative during a shaking period. According to the above analysis, satisfying the amplitude constraint and the action time constraint of the system can result in an improved pulse action time of:
in the formula: n is the number of pulse sequences contained in the input shaper, and the formula analysis can know that: with the improved input shaper, the system can have shorter delay time and obtain faster system response as the number of pulses increases.
Further existing, the system pulse amplitude of the improved input shaper is:
wherein:
H＝-K+…+(-1)j-1Kj-1+…+(-1)n-1Kn-1
the improved input shaper solution is obtained from the above formula, which can be designed based on the system's vibration angular frequency, the system damping ratio and the number of pulse trains involved. The improved input shaper can obtain faster response and shorter delay time, and the pulse sequence of the input shaper can be flexibly selected. The improved algorithm is simple, and has better stability and robustness.
In some other embodiments of the present application, in order to enhance the effect of improving the input shaper as much as possible, the change and improvement of the parameters may also be guided by a controlled variable method, and one implementation including but not limited to may be seen in the flowchart shown in fig. 6:
s201: acquiring a first stress parameter of a blade to be ground and polished under the control of an abrasive belt grinding and polishing device according to an original control signal;
s202: acquiring a second stress parameter of the blade to be ground and polished under the control of the abrasive belt grinding and polishing device according to the processed control signal;
s203: comparing the second stress parameter with the first stress parameter, and calculating to obtain a parameter difference;
s204: and adjusting and improving various parameters of the input shaper according to the parameter difference.
The difference of the stress parameters is obtained by comparing the stress parameters of the same blade to be polished under the polishing of the original control signal and the processed control signal, so that the difference can be used as a basis for guiding the adjustment parameters to realize further improvement, and the adjustment contents comprise the emission interval, the emission logarithm, the amplitude and the like of positive and negative pulses.
Because the situation is complicated and cannot be illustrated by a list, a person skilled in the art can realize that many examples exist according to the basic method principle provided by the application and the practical situation, and the protection scope of the application should be protected without enough inventive work.
Referring to fig. 7, fig. 7 is a block diagram of an automatic blade grinding and polishing apparatus according to an embodiment of the present disclosure, where the apparatus may include:
an original control signal receiving unit 100, configured to receive an original control signal sent down;
an improved input shaper processing unit 200, configured to perform shaping processing on an original control signal by using an improved input shaper to obtain a processed control signal; the input shaper is improved by constructing an input shaper based on an alternating positive and negative pulse sequence;
a processed control signal issuing unit 300 configured to issue a processed control signal to the abrasive belt polishing device;
and a grinding and polishing operation control execution unit 400 for controlling the abrasive belt grinding and polishing device to perform grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
Further, the automatic blade grinding and polishing device can further comprise:
the first stress parameter acquisition unit is used for acquiring a first stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the original control signal;
the second stress parameter acquisition unit is used for acquiring a second stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the processed control signal;
the parameter difference calculation unit is used for comparing the second stress parameter with the first stress parameter and calculating to obtain a parameter difference;
and the parameter adjusting unit is used for adjusting and improving various parameters of the input shaper according to the parameter difference.
The embodiment exists as an embodiment of a device corresponding to the embodiment of the method, in order to avoid the damage to the blade caused by the phenomenon of force overshoot and force impact when the blade is polished by a machine as much as possible, the embodiment firstly introduces the input shaping technology originally applied to other fields, and on the basis that the traditional input shaping technology only uses positive pulses as pulse sequences, the pulse sequences are also adjusted into alternate positive and negative pulses, so that an improved input shaper is obtained, based on the alternate positive and negative pulses used by the improved input shaper, compared with the single-through positive pulses, more comprehensive force can be counteracted in a shorter delay, more comprehensive force counteraction means that the force overshoot and the force impact are smaller, so that the damage to the blade during automatic polishing is smaller, and the adaptability and the robustness of smooth transition in the polishing process are enhanced, and various performances of the blade are improved.
Based on the foregoing embodiments, the present application further provides an electronic device, where the electronic device may include a memory and a processor, where the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the automatic blade grinding and polishing method provided in the foregoing embodiments may be implemented. Of course, the electronic device may also include various necessary network interfaces, power supplies, other components, and the like.
The present application also provides a readable storage medium, on which a computer program is stored, which when executed by an execution terminal or processor can implement the steps provided by the above-mentioned embodiments. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It will be apparent to those skilled in the art that various changes and modifications can be made in the present invention without departing from the principles of the invention, and these changes and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (9)
1. An automatic blade grinding and polishing method is characterized by comprising the following steps:
receiving a transmitted original control signal;
shaping the original control signal by using an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper;
sending the processed control signal to a sanding belt grinding and polishing device;
and controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
2. The automatic blade burnishing method of claim 1, wherein the modified input shaper is constructed based on at least one pair of positive and negative pulse trains, each pair of positive and negative pulse trains issuing in sequence in an alternating positive and negative manner.
3. The automatic blade grinding and polishing method according to claim 1 or 2, further comprising:
acquiring a first stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the original control signal;
acquiring a second stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the processed control signal;
comparing the second stress parameter with the first stress parameter, and calculating to obtain a parameter difference;
and adjusting parameters of the improved input shaper according to the parameter difference.
4. The utility model provides an automatic grinding and polishing device of blade which characterized in that includes:
the original control signal receiving unit is used for receiving the transmitted original control signal;
the improved input shaper processing unit is used for shaping the original control signal by utilizing an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper;
the processed control signal issuing unit is used for issuing the processed control signal to the abrasive belt grinding and polishing device;
and the grinding and polishing operation control execution unit is used for controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
5. The automatic blade grinding and polishing device according to claim 4, further comprising:
a first stress parameter obtaining unit, configured to obtain a first stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the original control signal;
a second stress parameter obtaining unit, configured to obtain a second stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the processed control signal;
the parameter difference calculation unit is used for comparing the second stress parameter with the first stress parameter and calculating to obtain a parameter difference;
and the parameter adjusting unit is used for adjusting various parameters of the improved input shaper according to the parameter difference.
6. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the following functions when executing the computer program:
receiving a transmitted original control signal;
shaping the original control signal by using an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper;
sending the processed control signal to a sanding belt grinding and polishing device;
and controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
7. The electronic device of claim 6, wherein the processor is further configured to:
acquiring a first stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the original control signal;
acquiring a second stress parameter of the blade to be polished under the control of the abrasive belt polishing device according to the processed control signal;
comparing the second stress parameter with the first stress parameter, and calculating to obtain a parameter difference;
and adjusting parameters of the improved input shaper according to the parameter difference.
8. A readable storage medium having stored thereon a computer program which, when executed by a processor, performs the functions of:
receiving a transmitted original control signal;
shaping the original control signal by using an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper;
sending the processed control signal to a sanding belt grinding and polishing device;
and controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
9. The readable storage medium of claim 8, wherein the computer program, when executed by the processor, further performs the following functions:
receiving a transmitted original control signal;
shaping the original control signal by using an improved input shaper to obtain a processed control signal; the improved input shaper is constructed on the basis of an alternating positive and negative pulse sequence to obtain the input shaper;
sending the processed control signal to a sanding belt grinding and polishing device;
and controlling the abrasive belt grinding and polishing device to carry out grinding and polishing operation on the blade to be ground and polished according to the processed control signal.
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