TWI763112B - Grinding and polishing simulation method, system and grinding and polishing process transferring method - Google Patents

Abstract

A grinding and polishing simulation method, a grinding and polishing simulation system and a grinding and polishing process transferring method are provided. Sensing information of a grinding and polishing apparatus when grinding or polishing a workpiece is obtained. A plurality of model parameters are identified based on the sensing information. At least one quality parameter is calculated based on a grinding and polishing path, a plurality of process parameters and the plurality of model parameters.

Description

Grinding and polishing simulation method, system and grinding and polishing process transfer method

The present invention relates to a simulation method, system and process transfer method, and in particular to a grinding and polishing simulation method, system and grinding and polishing process transfer method.

With the development of the industry, many processing procedures have been automated, especially in the grinding and polishing procedures, which used to be performed by a large number of manual workers, but are now replaced by robotic arms or robots. Although the grinding and polishing procedures have been gradually automated, according to different products, processing requirements and different hardware equipment configurations, cumbersome and lengthy manual labor is still required to adjust various parameters of the equipment to ensure the processing quality. On the other hand, the current technology also has the disadvantage that the grinding and polishing process cannot be transferred across production lines.

Therefore, there is a need for a simulation system and method for simulating a grinding and polishing process to overcome the shortcomings of requiring a lot of manpower and time to adjust various parameters of the equipment, and a process transfer method is needed to overcome the problem that the grinding and polishing process cannot be transferred across production lines.

The present invention relates to a grinding and polishing simulation method, a system and a grinding and polishing process transfer method, which use the method of simulating grinding and polishing operations to reduce the time for manually adjusting equipment parameters. The grinding and polishing process can be transferred between different production lines according to the commonality and difference information between different production lines.

According to an embodiment of the present invention, a grinding and polishing simulation method is provided. Sensing information of a grinding and polishing equipment for grinding or polishing a workpiece is obtained. A plurality of model parameters are identified according to the sensing information. At least one quality parameter is calculated according to a machining path, a plurality of process parameters and the model parameters.

According to another embodiment of the present disclosure, a grinding and polishing simulation system is provided. The grinding and polishing simulation system includes a sensing unit, an identification unit and a simulation unit. The sensing unit is used for obtaining sensing information of a grinding and polishing equipment for grinding or polishing a workpiece. The identification unit is used for identifying a plurality of model parameters according to the sensing information. The simulation unit is used for calculating at least one quality parameter according to a machining path, a plurality of process parameters and the model parameters.

According to an embodiment of the present disclosure, a method for transferring a grinding and polishing process is provided. A first simulation environment is established, the first simulation environment corresponds to a first real environment with a first grinding and polishing equipment and a first robot, and the first simulation environment includes a physical model of the first grinding and polishing equipment and a first Artifact physical model. A first sensing information of the first grinding and polishing equipment and the first robot for grinding or polishing a first workpiece is obtained. A plurality of first model parameters are identified according to the first sensing information. At least one first quality parameter is calculated by inputting a first machining path, a plurality of first process parameters and the first model parameters into the first physical model of the grinding and polishing equipment and the first physical model of the workpiece. A second simulation environment is established, the second simulation environment corresponds to a second real environment with a second grinding and polishing equipment and a second robot, and the second simulation environment includes a physical model of the second grinding and polishing equipment and a second Artifact physical model. Obtain first calibration information associated with the first grinding and polishing equipment and the first robot, obtain second calibration information associated with the second grinding and polishing equipment and the second robot, and calibrate the first calibration information according to the first calibration information and the second calibration information respectively. A simulation environment and a second simulation environment. A difference information is obtained by analyzing the first simulation environment and the second simulation environment. According to the difference information, at least a part of the first processing path, the first process parameters and the first model parameters are input into the second grinding and polishing equipment physical model and the second workpiece physical model to simulate the second grinding and polishing equipment and The second robot performs a grinding or polishing operation on a second workpiece, and calculates at least one second quality parameter.

In order to have a better understanding of the above-mentioned and other aspects of the present invention, the following specific examples are given and described in detail in conjunction with the accompanying drawings as follows:

Please refer to FIG. 1 , which shows a schematic diagram of a grinding and polishing simulation system 100 , a grinding and polishing apparatus 200 , a robot 300 , and a workpiece 400 . The grinding and polishing simulation system 100 includes a sensing unit 110 , an identification unit 120 , a simulation unit 130 , a processing path generation unit 140 and an input interface 150 . The sensing unit 110 is, for example, a force sensor, a displacement sensor, a surface roughness meter or a visual sensor, and is used to sense various types of grinding or polishing operations performed by a grinding and polishing apparatus 200 and a robot 300 on a workpiece 400 . Sensing information SI. The identification unit 120 , the simulation unit 130 and the processing path generation unit 140 are, for example, a circuit, a chip or a circuit board. The input interface 150 is, for example, a touch screen or a keyboard.

Please refer to Figures 1 and 2. FIG. 2 shows a flowchart of a grinding and polishing simulation method according to an embodiment of the present invention. In step S110 , the sensing unit 110 obtains the sensing information SI of the grinding or polishing operation of the workpiece 400 performed by the grinding and polishing apparatus 200 . Although in FIG. 1, the robot 300 grabs the workpiece 400 to contact the grinding and polishing equipment 200 to perform grinding or polishing operations. However, in one embodiment, the robot 300 can also grab the grinding and polishing equipment 200 to contact the workpiece 400 to perform grinding or polishing operations (not shown). The method described in this case can be applied to the above two configurations, but is not limited thereto. In this step, the sensing unit 110 only needs to obtain the sensing information SI of the grinding and polishing equipment 200 and the workpiece 400 , without obtaining the sensing information of the robot 300 . The sensing information SI includes, for example, six-axis force information, workpiece geometric variation, surface roughness, or workpiece surface state.

In step S120, the identifying unit 120 identifies a plurality of model parameters MP according to the sensing information SI. Please also refer to FIG. 3 , which illustrates a flowchart of sub-steps of steps S110 and S120 according to an embodiment of the present invention. Steps S110 and S120 include steps S121 to S127.

In step S121, the identification unit 120 defines a range R. Please refer to FIG. 4 , which is a schematic diagram of the range R defined by the identification unit 120 according to an embodiment of the present invention. Furthermore, the identification unit 120 sets a range R including the contact position or the vicinity of the contact position based on the contact position between the workpiece 400 and the grinding and polishing apparatus 200 . The range R can be a cube, a sphere, or other shapes. After the recognition unit 120 defines the range R, the robot 300 guides the workpiece 400 to move relative to the grinding and polishing apparatus 200 on a plurality of contact points TP in the range R. Please note here that the robot 300 guides the workpiece 400 to move relative to the grinding and polishing apparatus 200. It can be that the robot 300 holds the workpiece 400 and moves on the grinding and polishing apparatus 200 (ie, "part in hand"), or the robot 300 holds the grinding and polishing apparatus 200 and moves on the workpiece 400 (ie, "the tool is in hand"). (tool in hand)”).

In step S122, the identification unit 120 receives from the sensing unit 110 the sensing information SI of the plurality of contact points TP of the grinding and polishing apparatus 200 in the range R guided by the robot 300 to guide the workpiece 400. Further, the sensing unit 110 obtains the sensing information SI on each contact point TP, and the identifying unit 120 receives the sensing information SI.

In step S123, the identification unit 120 calculates the predicted value of the corresponding quality parameter according to the set value of the model parameter. The identification unit 120 must first calculate the predicted value of the corresponding quality parameter according to a preset value of a model parameter arbitrarily set. The set values of the model parameters are, for example, the set values of the geometric parameters of the grinding and polishing equipment 200 and the workpiece 400 , the set values of the belt tension, the set values of the deformation correction parameters, or the set values of the wear correction parameters. The predicted value of the quality parameter is, for example, the predicted value of the forward/tangential force distribution, the predicted value of the material removal rate, the predicted value of the surface roughness, or the predicted value of the coverage ratio. Since the predicted value of the quality parameter is associated with the set value of the model parameter, the predicted value of the corresponding quality parameter can be calculated according to the set value of the model parameter.

In step S124, the identification unit 120 calculates whether the error between the predicted value of the quality parameter and the actual sensing information SI is lower than a threshold value. If yes, go to step S127; if not, go to step S125. More specifically, the identification unit 120 first analyzes the quality parameters corresponding to the actual sensing information SI. For example, the identification unit 120 analyzes the forward/tangential force distribution corresponding to the six-axis force information, and analyzes the workpiece geometric variation corresponding to the quality parameter. The material removal rate, the coverage rate corresponding to the analysis of the surface state of the workpiece. Next, the identifying unit 120 calculates whether the error between the predicted value of the quality parameter and the quality parameter corresponding to the actual sensing information SI is lower than the threshold value. For example, the identifying unit 120 calculates the predicted value of the quality parameter and the actual sensing information. Whether the root mean square error (RMSE), mean square error (MSE), mean absolute error (MAE), mean absolute percentage error (MAPE) or symmetric mean absolute percentage error (SMAPE) between the quality parameters corresponding to SI is lower than Threshold value. The threshold value can be set according to different situations.

If the error between the predicted value of the quality parameter and the actual sensing information SI is lower than the threshold value, it means that the set value of the model parameter in step S123 is appropriate. Next, step S127 is executed, and the identification unit 120 defines the set value of the model parameter as the model parameter MP that is finally adopted. Then step S130 is performed.

If the error between the predicted value of the quality parameter and the actual sensing information SI is not lower than the threshold value, it means that the set value of the model parameter in step S123 is inappropriate. Next, step S125 is performed.

In step S125, the identification unit 120 determines whether the number of times of updating the set value of the model parameter is greater than a preset number of times. The preset number of times can be set according to different situations. If so, it means that the error between the predicted value of the quality parameter and the actual sensing information SI cannot be made lower than the threshold value within the preset number of times. Therefore, the process returns to step S122 to obtain another sensing information SI and execute the subsequent steps; if No, it means that the number of times of updating the set value of the model parameter is still within the preset number of times, and then step S126 is executed.

In step S126, the identification unit 120 updates the set values of the model parameters. For example, the identification unit 120 updates the set values of the geometric parameters of the grinding and polishing apparatus 200 and the workpiece 400 , the set values of the belt tension, the set values of the deformation correction parameters, or the set values of the wear correction parameters. Next, returning to step S123, the identification unit 120 calculates the corresponding predicted value of the updated quality parameter according to the updated set value of the model parameter. Next, step S124 is executed, and the identification unit 120 calculates whether the error between the updated predicted value of the quality parameter and the actual sensing information SI is lower than a threshold value. That is to say, steps S123 to S126 are a recursive process, which is repeatedly executed until the error between the predicted value of the corresponding quality parameter calculated from the set value of the model parameter and the actual sensing information SI is lower than the threshold value ( Step S124 ), or until the number of times of updating the set value of the model parameter is greater than the preset number of times (step S125 ).

In step S125, when the identification unit 120 judges that the number of times of updating the set value of the model parameter is greater than the preset number of times, it means that the initial set value of the model parameter is not selected well, and the set value of the model parameter may not be converged no matter how many times the set value of the model parameter is updated. (Meaning that the number of repeating steps S123 to S126 exceeds the preset number of times and still cannot make the error lower than the threshold value), at this time, it is necessary to return to step S122 of obtaining the sensing information SI, and select an initial setting value process to restart. Begins the calculation process of the error of the next recursive comparison.

Please refer back to FIGS. 1 and 2. In step S130, the simulation unit 130 calculates at least one quality parameter QP according to the machining path PT, the process parameter PP and the model parameter MP. In this embodiment, the machining path generating unit 140 generates the machining path PT according to the workpiece 400 , which is the machining path PT generated by offline programming. The process parameter PP is input by a field person through the input interface 150 . In another embodiment, the processing path PT can also be input by a field person through the input interface 150 . The process parameters PP are, for example, grinding and polishing contact points, belt number, workpiece speed, belt/polishing machine speed, feed depth, workpiece material, or original surface quality of the workpiece. The model parameters MP are, for example, geometric parameters of the grinding and polishing equipment 200 and the workpiece 400, belt tension, deformation correction parameters, or wear correction parameters. The at least one quality parameter QP is, for example, normal/tangential force distribution, material removal rate, surface roughness, or coverage. In another embodiment, the grinding and polishing simulation system 100 further includes an external sensing unit (not shown), and the grinding and polishing simulation system 100 can directly obtain the model parameter MP from the grinding and polishing apparatus 200 and the workpiece 400 through the external sensing unit. Next, the simulation unit 130 calculates at least one quality parameter QP according to the machining path PT, the process parameter PP and the model parameter MP, as shown in FIG. 1 .

Next, please refer to FIG. 5 , which shows a flowchart of sub-steps of step S130 according to an embodiment of the present invention. Step S130 includes steps S131 to S133.

In step S131 , the simulation unit 130 establishes a physical model of the grinding and polishing equipment according to the grinding and polishing equipment 200 . In step S132 , the simulation unit 130 establishes a workpiece physical model according to the workpiece 400 . Please note that the sequence before and after the execution of step S131 and step S132 may be both at the same time, or any one of the steps may be preceded. As shown in FIG. 5, step S131 precedes step S132 and step S132 follows. example. Please refer to FIG. 6 , which shows a schematic diagram of a physical model 210 of a grinding and polishing apparatus and a physical model 410 of a workpiece according to an embodiment of the present invention. The physical model 210 of the grinding and polishing equipment and the physical model 410 of the workpiece contain known parameters: O ₁ , O ₂ : the center points of the two grinding wheels R ₁ , R ₂ : the radius of the grinding wheel of the grinding and polishing equipment r: the workpiece at the contact point Local radius of curvature of the local surface (not marked) A, B: The contact point between the abrasive belt and the two grinding wheels at the first time C: The contact point between the workpiece and the abrasive belt at the first time P: The first time The center point of the workpiece at one time D, E: the contact point between the grinding belt and the two grinding wheels at the second time F, G: the contact point between the workpiece and the grinding belt at the second time P': the workpiece at the second time The center point m ₀ : the length of O ₁ to P n ₀ : the length of O ₂ to P m: the length of O ₁ to P' n: the length of O ₂ to P' a: the connecting line between O ₁ and D and O The angle between the line connecting ₁ and P' b: the angle between the line connecting O ₂ and E and the line connecting O ₂ and P' c: the line connecting O ₁ and P' and the line connecting O ₁ and O ₂ The angle d between the connecting lines: the angle between the connecting line of O ₂ and P' and the connecting line of O ₁ and O ₂ L: the distance between the two grinding wheels (the length of O ₁ to O ₂ ) L _m0 : Length L _th0 of A to C:

(式一)

(式二) 其中T為砂帶張力（模型參數MP）、δ為研磨深度（加工路徑PT）。Next, in step S133, the simulation unit 130 inputs the machining path PT, process parameters PP and model parameters MP to the physical model 210 of the grinding and polishing equipment and the physical model 410 of the workpiece to calculate at least one quality parameter QP. Taking the quality parameter QP as the positive/tangential force distribution as an example, the two-dimensional positive/tangential force distribution F _2D and the three-dimensional positive/tangential force distribution F _3D can be obtained from the following equations 1 and 2 respectively:

(Formula 1)

(Formula 2) where T is the belt tension (model parameter MP), and δ is the grinding depth (processing path PT).

(式三) 其中C_A 為校正用之固定參數（模型參數MP）、K_A 為與工件材料與砂帶番號相關之參數（模型參數MP）、K_t 為磨耗校正參數（模型參數MP）、V_b 為砂帶/拋光機速度（製程參數PP）、V_w 為工件速度（製程參數PP）、α、β、γ為校正因子（模型參數MP）。In addition, taking the quality parameter QP as the material removal rate γ _ij as an example, the material removal rate γ _ij can be obtained from the following formula 3:

(Formula 3) where C _A is a fixed parameter for calibration (model parameter MP), K _A is a parameter related to workpiece material and abrasive belt number (model parameter MP), and K _t is a wear correction parameter (model parameter MP) , V _b is the belt/polishing machine speed (process parameter PP), V _w is the workpiece speed (process parameter PP), α, β, γ are correction factors (model parameter MP).

Although the positive/tangential force distribution and material removal rate are used as examples above, this case is not limited to this.

Through the grinding and polishing simulation method and system of the present invention, model parameters can be identified in real time during the execution of grinding and polishing operations, and at least one quality parameter can be calculated. In this way, this case does not need to spend a lot of manpower and time to adjust various parameters of the equipment.

Please refer to Figures 7 and 8. FIG. 7 is a flowchart illustrating a method for transferring a grinding and polishing process according to an embodiment of the present invention. FIG. 8 is a schematic diagram illustrating the transfer of the grinding and polishing process according to an embodiment of the present invention.

Step S210, establishing a first simulated environment EV1. The first simulated environment EV1 corresponds to a first real environment with a first grinding and polishing equipment 2001 and a first robot 3001, and the first simulated environment EV1 includes a first grinding and polishing equipment physical model GMD1 and a first workpiece physical model WMD1.

Step S220, the grinding and polishing simulation method is executed in the first simulation environment EV1. The grinding and polishing simulation method of this step is similar to the grinding and polishing simulation method described in Figures 2 to 4. That is, obtaining first sensing information of the first grinding and polishing equipment 2001 and the first robot 3001 for grinding or polishing a first workpiece 4001, identifying a plurality of first model parameters according to the first sensing information, and At least one first quality parameter is calculated by inputting a first machining path, a plurality of first process parameters and these first model parameters into the first grinding and polishing equipment physical model GMD1 and the first workpiece physical model WMD1.

Step S230, establishing a second simulated environment EV2. The second simulated environment EV2 corresponds to a second real environment with a second grinding and polishing equipment 2002 and a second robot 3002, and the second simulated environment EV2 includes a second grinding and polishing equipment physical model GMD2 and a second workpiece physical model WMD2.

Step S240, calibrating the first simulation environment EV1 and the second simulation environment EV2. First, obtain the first calibration information associated with the first grinding and polishing equipment 2001 and the first robot 3001, obtain the second calibration information associated with the second polishing and polishing equipment 2002 and the second robot 3002, and obtain the first calibration information and the second calibration information according to the first calibration information and the second calibration information. The two calibration information respectively calibrate the first simulation environment EV1 and the second simulation environment EV2. The first calibration information is, for example, the position calibration of the first robot 3001 and the first grinding and polishing equipment 2001 , the size calibration of the gripper and fixture unit of the first robot 3001 , the variation correction of the first workpiece 4001 , or the first grinding and polishing equipment 2001 additional rotation axis calibration. The second calibration information is, for example, the position calibration of the second robot 3002 and the second grinding and polishing equipment 2002 , the size calibration of the gripper and fixture unit of the second robot 3002 , the variation correction of the second workpiece 4002 , or the second grinding and polishing equipment 2002 additional rotation axis calibration.

Step S250, analyzing the first simulation environment EV1 and the second simulation environment EV2 to obtain difference information. The difference information is, for example, the geometric difference between the first workpiece 4001 and the second workpiece 4002 , and the configuration difference between the configuration of the first robot 3001 and the first grinding and polishing apparatus 2001 and the configuration of the second robot 3002 and the second grinding and polishing apparatus 2002 .

Step S260 , transferring the grinding and polishing process from the first simulation environment EV1 to the second simulation environment EV2 according to the difference information. Furthermore, according to the difference information, at least a part of the first processing path, the first process parameters and the first model parameters are input into the second grinding and polishing equipment physical GMD2 model and the second workpiece physical model WMD2, so as to The second grinding and polishing equipment 2002 and the second robot 3002 are simulated to perform the grinding or polishing operation of the second workpiece 4002, and at least one second quality parameter is calculated. In this step, the first machining path is, for example, the machining path on the workpiece or the machining path of the robot, and the machining path on the workpiece has a corresponding relationship with the machining path of the robot, and the machining path of the workpiece can be converted into corresponding ones according to different types of robots robot processing path. The following is a detailed description of the different situations of the difference information.

When the difference information is that the first workpiece 4001 and the second workpiece 4002 are the same, and the configuration of the first robot 3001 and the first grinding and polishing equipment 2001 is the same as that of the second robot 3002 and the second grinding and polishing equipment 2002, the first processing The path, the first process parameters and the first model parameters are input into the second grinding and polishing equipment physical model GMD2 and the second workpiece physical model WMD2 to simulate the second grinding and polishing equipment 2002 and the second robot 3002 grinding the second workpiece 4002 or polishing operation, and at least one second quality parameter is calculated.

When the difference information is that the first workpiece 4002 and the second workpiece 4002 are the same, but the configuration of the first robot 3001 and the first grinding and polishing equipment 2001 is different from the configuration of the second robot 3002 and the second grinding and polishing equipment 2002, in the second simulation A plurality of second model parameters are identified in the environment EV2, and then the first processing path, the first process parameters and these second model parameters are input into the second grinding and polishing equipment physical model GMD2 and the second workpiece physical model WMD2 to simulate The second grinding and polishing equipment 2002 and the second robot 3002 perform the grinding or polishing operation of the second workpiece 4002, and calculate at least one second quality parameter.

When the difference information is that the first workpiece 4001 and the second workpiece 4002 are different, and the configurations of the first robot 3001 and the first grinding and polishing equipment 2001 are different from those of the second robot 3002 and the second grinding and polishing equipment 2002, in the second simulation A plurality of second model parameters are identified in the environment EV2, and then the first workpiece 4001 and the second workpiece 4002 are compared to obtain an identical part of the first workpiece 4001 and the second workpiece 4002, and the first machining path corresponding to the same part is obtained , The first process parameters and these second model parameters corresponding to this same part are input into the second grinding and polishing equipment physical model GMD2 and the second workpiece physical model WMD2 to simulate the second grinding and polishing equipment 2002 and the second robot 3002. Grinding or polishing of the second workpiece 4002 and calculating at least one second quality parameter. The same parts of the first workpiece 4001 and the second workpiece 4002 are described below.

Please refer to FIG. 9, which shows a schematic diagram of a first workpiece 4001 and a second workpiece 4002 according to an embodiment of the present invention. The first workpiece 4001 includes a first portion 4001-1 and a second portion 4001-2. The second workpiece 4002 includes a first portion 4002-1 and a second portion 4002-2. The same parts of the first workpiece 4001 and the second workpiece 4002 are the first part 4001-1 and the first part 4002-1, which are both cylindrical. Therefore, after the same parts are compared, the first machining path corresponding to the first part 4001-1 of the first workpiece 4001 and the first process parameters corresponding to the first part 4001-1 of the first workpiece 4001 are input into the second grinding and polishing equipment physical model GMD2 and the second workpiece physical model WMD2.

In this way, through the method for transferring the grinding and polishing process of the present invention, the grinding and polishing process can be transferred between different production lines according to the commonality and difference information between different production lines.

To sum up, although the present invention has been disclosed by the above embodiments, it is not intended to limit the present invention. Those skilled in the art to which the present invention pertains can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the scope of the appended patent application.

100: Grinding and polishing simulation system 110: Sensing unit 120: Identification unit 130: Analog Unit 140: Processing path generation unit 150: Input interface 200: Grinding and polishing equipment 300: Robot 400: Workpiece SI: Sensing Information MP: model parameters QP: quality parameter PP: Process parameters PT: machining path S110, S120, S121, S122, S123, S124, S125, S126, S127, S130, S131, S132, S133, S210, S220, S230, S240, S250, S260: Steps R: range TP: touch point 210: Physical model of grinding and polishing equipment 410: Workpiece Physical Model 2001: The first grinding and polishing equipment 2002: Second grinding and polishing equipment 3001: First Robot 3002: Second Robot 4001: The first workpiece 4002: Second workpiece EV1: The first simulation environment EV2: Second Simulation Environment GMD1: Physical Model of the First Grinding and Polishing Equipment GMD2: Physical Model of the Second Grinding and Polishing Equipment WMD1: Physical model of the first workpiece WMD2: Second Workpiece Physical Model 4001-1, 4002-1: Part 1 4001-2, 4002-2: Part II

Figure 1 shows a schematic diagram of a grinding and polishing simulation system, a grinding and polishing equipment, a robot, and a workpiece. FIG. 2 shows a flowchart of a grinding and polishing simulation method according to an embodiment of the present invention. FIG. 3 is a flowchart illustrating sub-steps of steps S110 and S120 according to an embodiment of the present invention. FIG. 4 is a schematic diagram illustrating a range defined by an identification unit according to an embodiment of the present invention. FIG. 5 is a flowchart illustrating sub-steps of step S130 according to an embodiment of the present invention. FIG. 6 is a schematic diagram of a physical model of a grinding and polishing equipment and a physical model of a workpiece according to an embodiment of the present invention. FIG. 7 is a flowchart illustrating a method for transferring a grinding and polishing process according to an embodiment of the present invention. FIG. 8 is a schematic diagram illustrating the transfer of the grinding and polishing process according to an embodiment of the present invention. FIG. 9 is a schematic diagram of a first workpiece and a second workpiece according to an embodiment of the present invention.

S110, S120, S130: Steps

Claims (23)

A grinding and polishing simulation system, comprising: a sensing unit for obtaining sensing information of a grinding and polishing equipment for grinding or polishing a workpiece; an identification unit for identifying a plurality of model parameters according to the sensing information; and a simulation unit for calculating at least one quality parameter according to a machining path, a plurality of process parameters and the model parameters. The grinding and polishing simulation system according to claim 1, further comprising: a machining path generating unit for generating the machining path according to the workpiece. The grinding and polishing simulation system of claim 1, wherein the identification unit defines a range, and receives from the sensing unit the sensing information of a robot guiding the workpiece in the range with a plurality of contact points of the grinding and polishing equipment , receiving the at least one quality parameter from the simulation unit, and calculating an error between the sensing information and the at least one quality parameter, and obtaining the at least one quality parameter corresponding to the at least one quality parameter when the error is lower than a threshold value model parameters to identify those model parameters. The grinding and polishing simulation system according to claim 1, wherein the simulation unit establishes a physical model of the grinding and polishing equipment according to the grinding and polishing equipment, establishes a physical model of the workpiece according to the workpiece, and the processing path, the process parameters and the Some model parameters are input into the physical model of the grinding and polishing equipment and the physical model of the workpiece to calculate the at least one quality parameter. The grinding and polishing simulation system of claim 1, wherein the process parameters include grinding and polishing contact points, abrasive belt number, workpiece speed, belt/polishing machine speed, feed depth, workpiece material, or workpiece original surface quality . The grinding and polishing simulation system according to claim 1, wherein the model parameters include geometric parameters of grinding and polishing equipment and workpieces, belt tension, deformation correction parameters, or wear correction parameters. The grinding and polishing simulation system of claim 1, wherein the at least one quality parameter includes normal/tangential force distribution, material removal rate, surface roughness, or coverage. The grinding and polishing simulation system of claim 1, wherein the sensing information includes six-axis force information, workpiece geometric variation, surface roughness, or workpiece surface state. The grinding and polishing simulation system according to claim 1, further comprising: An external sensing unit for obtaining the model parameters from the grinding and polishing equipment and the workpiece. A grinding and polishing simulation method, comprising: Acquiring sensing information of a grinding and polishing equipment for grinding or polishing a workpiece; identifying a plurality of model parameters according to the sensing information; and At least one quality parameter is calculated according to a machining path, a plurality of process parameters and the model parameters. The grinding and polishing simulation method according to claim 10, further comprising: The machining path is generated according to the workpiece. The grinding and polishing simulation method according to claim 10, wherein the step of identifying the model parameters according to the sensing information includes: define a scope; receiving the sensing information of a plurality of contact points of a robot guiding the workpiece in the range with the grinding and polishing equipment; receiving the at least one quality parameter, and calculating an error between the sensing information and the at least one quality parameter; and Obtaining the model parameters corresponding to the at least one quality parameter when the error is lower than a threshold value to identify the model parameters. The grinding and polishing simulation method according to claim 10, wherein the step of calculating the at least one quality parameter according to the processing path, the process parameters and the model parameters includes: Establish a physical model of grinding and polishing equipment according to the grinding and polishing equipment; establishing a physical model of the workpiece from the workpiece; and The processing path, the process parameters and the model parameters are input into the physical model of the grinding and polishing equipment and the physical model of the workpiece to calculate the at least one quality parameter. The grinding and polishing simulation method of claim 10, wherein the process parameters include grinding and polishing contact points, abrasive belt number, workpiece speed, belt/polishing machine speed, feed depth, workpiece material, or workpiece original surface quality . The grinding and polishing simulation method according to claim 10, wherein the model parameters include geometric parameters of grinding and polishing equipment and workpieces, belt tension, deformation correction parameters, or wear correction parameters. The grinding and polishing simulation method of claim 10, wherein the at least one quality parameter includes normal/tangential force distribution, material removal rate, surface roughness, or coverage. The grinding and polishing simulation method of claim 10, wherein the sensing information includes six-axis force information, workpiece geometric variation, surface roughness, or workpiece surface state. The grinding and polishing simulation method according to claim 10, further comprising: The model parameters are obtained from the grinding and polishing equipment and the workpiece. A method for transferring a grinding and polishing process, comprising: A first simulation environment is established, the first simulation environment corresponds to a first real environment with a first grinding and polishing equipment and a first robot, and the first simulated environment includes a physical model of the first grinding and polishing equipment and a Physical model of the first workpiece; obtaining first sensing information of the first grinding and polishing equipment and the first robot for grinding or polishing a first workpiece; identifying a plurality of first model parameters according to the first sensing information; inputting a first machining path, a plurality of first process parameters and the first model parameters into the physical model of the first grinding and polishing equipment and the physical model of the first workpiece to calculate at least one first quality parameter; A second simulation environment is established, the second simulation environment corresponds to a second real environment with a second grinding and polishing equipment and a second robot, and the second simulated environment includes a physical model of the second grinding and polishing equipment and a The second workpiece physical model; Obtain first calibration information associated with the first grinding and polishing equipment and the first robot, obtain second calibration information associated with the second grinding and polishing equipment and the second robot, and obtain the first calibration information according to the first calibration information and the first calibration information. two calibration information to respectively calibrate the first simulation environment and the second simulation environment; Analyzing the first simulated environment and the second simulated environment to obtain a difference information; and According to the difference information, at least a part of the first processing path, the first process parameters and the first model parameters are input into the second grinding and polishing equipment physical model and the second workpiece physical model to simulate the first Two grinding and polishing equipment and the second robot perform grinding or polishing operations on a second workpiece, and calculate at least one second quality parameter. The grinding and polishing process transfer method according to claim 19, wherein the first calibration information includes the position calibration of the first robot and the first grinding and polishing equipment, the size calibration of the gripper and fixture unit of the first robot, the The variation correction of the first workpiece, or the calibration of the additional rotation axis of the first grinding and polishing equipment, and the second calibration information includes the position calibration of the second robot and the second grinding and polishing equipment, and the gripper control of the second robot. Dimensional calibration of the tool unit, variation correction of the second workpiece, or calibration of an additional axis of rotation of the second grinding and polishing equipment. The grinding and polishing process transfer method according to claim 19, wherein at least a part of the first processing path, the first process parameters and the first model parameters are input to the second grinding and polishing equipment according to the difference information The steps of the physical model and the physical model of the second workpiece include: When the first workpiece is the same as the second workpiece, and the configuration of the first robot and the first grinding and polishing equipment is the same as the configuration of the second robot and the second grinding and polishing equipment, The first processing path, the first process parameters and the first model parameters are input into the second grinding and polishing equipment physical model and the second workpiece physical model. The grinding and polishing process transfer method as described in claim 19, wherein at least a part of the first processing path, the first process parameters and the first model parameters are input to the second according to the difference information The steps of the physical model of the grinding and polishing equipment and the physical model of the second workpiece include: When the first workpiece is the same as the second workpiece, but the configuration of the first robot and the first grinding and polishing equipment is different from the configuration of the second robot and the second grinding and polishing equipment, identifying a plurality of second model parameters, and The first processing path, the first process parameters and the second model parameters are input into the second grinding and polishing equipment physical model and the second workpiece physical model. The grinding and polishing process transfer method as described in claim 19, wherein at least a part of the first processing path, the first process parameters and the first model parameters are input to the second according to the difference information The steps of the physical model of the grinding and polishing equipment and the physical model of the second workpiece include: When the first workpiece is different from the second workpiece, and the configuration of the first robot and the first grinding and polishing equipment is different from the configuration of the second robot and the second grinding and polishing equipment, identifying a plurality of second model parameters, comparing the first workpiece and the second workpiece to obtain an identical portion of the first workpiece and the second workpiece, and The first processing path corresponding to the same part, the first process parameters and the second model parameters corresponding to the same part are input into the second grinding and polishing equipment physical model and the second workpiece physical model.

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