Curved surface grinding device for wood carving

Abstract

The invention relates to the technical field of wood carving processing equipment, in particular to a curved surface grinding device for wood carving, which comprises a mechanical arm, an adjusting module is arranged at one end of the mechanical arm, a grinding module is arranged on one side of the adjusting module, a controller is arranged on the outer side of the mechanical arm, and a pressure sensing module is integrated in the grinding module. A visual detection module is arranged above the adjusting module, the controller is used for receiving data fed back by the pressure sensing module and the visual detection module and issuing a control instruction to the mechanical arm, the grinding module and the adjusting module, and the mechanical arm is used for adjusting the position of the grinding module. The adjusting module is used for adjusting the feeding speed of the grinding module and the rotating speed of the grinding module. The pressure sensing module is used for measuring the normal contact pressure between a grinding head of the grinding module and the surface of the woodcarving workpiece. The grinding force is intelligently adjusted by sensing the contact pressure between the grinding head and the wood surface, the force control problem is solved, and the conditions of excessive grinding and insufficient grinding during grinding are prevented.

Description

Technical Field

[0001] This invention relates to the field of wood carving equipment technology, and in particular to a curved surface grinding device for wood carving. Background Technology

[0002] In wood carving, the polishing quality of complex curved surfaces (such as human figure sculptures and art pieces) directly affects the aesthetics and artistic value of the finished product. Traditional wood carving surface polishing devices mainly rely on manual operation or CNC machine tools with fixed programs: manual polishing depends on the craftsman's experience, resulting in low efficiency and poor consistency; while fixed-program CNC machine tools can achieve automation, they can only execute preset paths and parameters and cannot adapt to the dynamic changes of complex curved surfaces. The core problem with existing technologies is that the varying depths of wrinkles and rapid changes in curvature of complex curved surfaces make it difficult to precisely control the contact pressure between the grinding head and the workpiece surface during polishing. Specifically, in the valley areas (such as clothing folds and gaps between hairs), a fixed feed speed can easily lead to insufficient polishing and residual burrs; in the peak areas (such as the bridge of the nose and fingertips), excessive contact pressure may cause excessive wear or even breakage of thin-walled structures. Currently, existing wood carving surface grinding devices often encounter problems such as over-grinding and under-grinding when grinding wood carvings with complex curved surfaces, such as human figure wood carvings. This is because the depth of the wrinkles on the complex curved surfaces varies and the curvature changes are complex. Summary of the Invention

[0003] To address the aforementioned issues, this invention proposes a curved surface grinding device for wood carving, which integrates pressure sensing and visual detection. By sensing the contact pressure between the grinding head and the wood surface in real time, it intelligently adjusts the grinding force, directly solving the problem of force control, significantly reducing reliance on operator experience, protecting thin-walled areas, improving the grinding effect of grooves, and preventing over-grinding and under-grinding during grinding.

[0004] The technical solution of the present invention is: a curved surface grinding device for wood carving, including a robotic arm, wherein the end effector of the robotic arm is provided with an adjustable module that can be linearly fed. The output end of the adjustment module is equipped with a grinding module, which is used to perform adaptive grinding on the curved surface of the wood carving workpiece. One side of the grinding module is integrated with a pressure sensing module for real-time detection of the normal contact pressure between the grinding head and the workpiece surface. The adjustment module is also equipped with a visual detection module for identifying the features of wrinkles, turns, valleys, and peaks on the surface of the workpiece. The device also includes a controller, which is communicatively connected to the robotic arm, adjustment module, grinding module, pressure sensing module and vision inspection module, respectively, and is used to receive sensing data and output control commands to form a closed-loop control system.

[0005] Preferably, the position of the grinding module is adjusted by a robotic arm, the feed speed and rotation speed of the grinding module are adjusted by an adjustment module, the normal contact pressure between the grinding head and the surface of the wood carving workpiece is measured by a pressure sensing module, the wrinkles, valleys and peaks on the workpiece surface are detected by a vision inspection module, and the feed speed and rotation speed of the grinding structure are dynamically adjusted by a controller based on the real-time pressure feedback from the pressure sensing module. By sensing the contact pressure between the grinding head and the wood surface in real time, the grinding force is intelligently adjusted, directly solving the problem of force control, significantly reducing the dependence on operator experience, protecting thin-walled areas, improving the grinding effect of grooves, and preventing over-grinding and under-grinding during grinding.

[0006] Preferably, the adjustment module includes: A connecting base for fixed connection with the end effector of the robotic arm; At least one adjusting limit rod, the fixed end of which is connected to the connecting seat; The movable seat is slidably sleeved on the adjusting limit rod via a linear bearing; Adjust the motor and fix it on the connecting seat; A lead screw, one end of which is connected to the output shaft of the regulating motor, and the lead screw is rotatably connected to the connecting seat, and the lead screw and the moving seat form a threaded transmission pair; The grinding module is mounted on the movable base, and the movable base is driven by the adjusting motor to move axially along the adjusting limit rod, thereby controlling the linear feed of the grinding module.

[0007] Preferably, the grinding module includes: The fixed frame is fixedly connected to the movable base; The grinding motor is fixedly installed on one side of the mounting bracket; The grinding guide rod is connected to the output shaft of the grinding motor via a coupling and is driven to rotate by the grinding motor. The grinding connecting bracket is slidably sleeved on the grinding guide rod via a linear bearing and can float along its axial direction; A grinding wheel is connected to the end of the grinding connecting frame.

[0008] Preferably, the pressure sensing module includes: The pressure sensor is fixedly mounted on the mounting bracket. The first pressure plate is fixedly connected to the pressure sensing end of the pressure sensor; The second pressure plate is fixedly installed on the grinding connection frame and is arranged opposite to the first pressure plate; At least one rigid spring, with its two ends abutting against the first pressure plate and the second pressure plate, respectively; The telescopic rod has its two ends connected to the first pressure plate and the second pressure plate respectively, and passes through the central hole of the rigid spring to prevent the spring from becoming unstable and to provide guidance; When the grinding wheel contacts the workpiece surface, the generated normal contact force is transmitted to the second pressure plate through the grinding connecting frame. After being converted into elastic force by the rigid spring, it is transmitted to the pressure sensor by the first pressure plate for real-time measurement.

[0009] Preferably, the visual detection module includes: The mounting bracket is fixedly installed above the movable base; An industrial camera, mounted on the mounting bracket, has its lens facing the workpiece processing area; The industrial camera is a monocular USB industrial camera, whose field of view covers the working area of ​​the grinding wheel and the surface to be processed.

[0010] Preferably, the industrial camera is configured to perform the following visual tasks: Identify the position and orientation of the wood carving workpiece on the processing table; Acquire multi-view images of the workpiece surface and reconstruct a 3D point cloud model of the workpiece based on the SfM algorithm; The surface features of folds, valleys, and peaks are automatically identified and labeled in the three-dimensional point cloud model.

[0011] Preferably, the controller integrates a pressure closed-loop control unit, which is configured as follows: Receive the real-time normal contact pressure signal acquired by the pressure sensor at a frequency of 100Hz; The real-time pressure is compared with a target pressure value preset based on visual characteristics to calculate the pressure deviation. A PID control algorithm is used to dynamically generate control commands based on the pressure deviation, and to synchronously adjust the feed speed of the regulating motor and the grinding wheel rotation speed of the grinding motor.

[0012] Preferably, the controller performs the following steps during operation: S1: Start self-test, perform sensor calibration and return the robotic arm to zero; S2: The visual inspection module performs 3D scanning and feature recognition on the workpiece to generate a 3D processing path with feature markings; S3: Match the corresponding process parameters according to different feature regions; S4: During the grinding process, real-time pressure closed-loop control is executed to maintain constant force grinding; S5: When the boundary of the feature region is detected, the parameters are gradually adjusted in advance and the position compensation of the robotic arm is triggered. S6: After the area grinding is completed, the surface roughness is tested. If it is not up to standard, the pressure is reduced and a second fine grinding is performed. S7: When pressure overload, feature loss, or abnormal speed is detected, the corresponding safety protocol is executed; S8: After processing is completed, control each module to stop in an orderly manner.

[0013] Preferably, the spring constant of the rigid spring is selected such that the natural frequency of the floating system formed by the grinding connection is much lower than the main excitation frequency during the grinding process.

[0014] Preferably, the linear feed resolution of the adjustment module is ≤0.01mm.

[0015] The beneficial effects of this invention are: This invention provides a curved surface grinding device for wood carving. A robotic arm adjusts the position of the grinding module, an adjustment module regulates the feed and rotation speed of the grinding module, a pressure sensor module measures the normal contact pressure between the grinding head and the surface of the wood carving workpiece, a visual inspection module detects wrinkles, valleys, and peaks on the workpiece surface, and a controller dynamically adjusts the feed and rotation speeds of the grinding structure based on real-time pressure feedback from the pressure sensor module. By sensing the contact pressure between the grinding head and the wood surface in real time, the device intelligently adjusts the grinding force, directly solving the problem of force control, significantly reducing reliance on operator experience, protecting thin-walled areas, improving the grinding effect of grooves, and preventing over- or under-grinding. Attached Figure Description

[0016] Figure 1 Yes: A first three-dimensional structural schematic diagram of the curved surface grinding device for wood carving of the present invention; Figure 2 Yes: A second three-dimensional structural schematic diagram of the curved surface grinding device for wood carving of the present invention; Figure 3 Yes: A schematic diagram of the third-dimensional structure of the curved surface grinding device for wood carving of the present invention; Figure 4 Yes: A fourth three-dimensional structural schematic diagram of the curved surface grinding device for wood carving of the present invention; Figure 5 Yes: A schematic diagram of the first partial structure of the curved surface grinding device for wood carving of the present invention; Figure 6 Yes: A schematic diagram of the second partial structure of the curved surface grinding device for wood carving of the present invention; Figure 7 Yes: A schematic diagram of the third part of the curved surface grinding device for wood carving of the present invention; Figure 8Yes: A partial cross-sectional schematic diagram of the curved surface grinding device for wood carving of the present invention; In the diagram: 1. Robotic arm; 2. Grinding module; 201. Fixing frame; 202. Grinding motor; 203. Grinding guide rod; 204. Grinding connecting frame; 205. Grinding wheel; 3. Adjustment module; 301. Connecting seat; 302. Adjustment limit rod; 303. Moving seat; 304. Adjustment motor; 305. Lead screw; 4. Controller; 5. Pressure sensing module; 501. Pressure sensor; 502. First pressure plate; 503. Rigid spring; 504. Second pressure plate; 505. Telescopic rod; 6. Vision inspection module; 601. Mounting bracket; 602. Industrial camera. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Please see Figure 1 and Figure 2 This invention provides an embodiment of a curved surface grinding device for wood carving, comprising a robotic arm 1, an adjustment module 3 at one end of the robotic arm 1, a grinding module 2 on one side of the adjustment module 3, a controller 4 on the outer side of the robotic arm 1, a pressure sensing module 5 integrated within the grinding module 2, and a vision detection module 6 above the adjustment module 3. The controller 4 receives data from the pressure sensing module 5 and the vision detection module 6 and issues control commands to the robotic arm 1, the grinding module 2, and the adjustment module 3. The robotic arm 1 adjusts the position of the grinding module 2, and the adjustment module 3 adjusts the feed speed and rotation speed of the grinding module 2. The pressure sensing module 5 is used to measure the normal contact pressure between the grinding head of the grinding module 2 and the surface of the wood carving workpiece. The vision inspection module 6 is used to detect the wrinkles, valleys, and peaks on the workpiece surface. The position of the grinding module 2 is adjusted by the robotic arm 1, and the feed speed and rotation speed of the grinding module 2 are adjusted by the adjustment module 3. The pressure sensing module 5 measures the normal contact pressure between the grinding head of the grinding module 2 and the surface of the wood carving workpiece. The vision inspection module 6 detects the wrinkles, valleys, and peaks on the workpiece surface. The controller 4 dynamically adjusts the feed speed and rotation speed of the grinding structure based on the real-time pressure feedback from the pressure sensing module 5.

[0019] Please see Figure 3 and Figure 4In this embodiment, the adjustment module 3 includes a connecting seat 301, an adjustment limit rod 302, and a movable seat 303. One end of the robotic arm 1 is provided with the connecting seat 301, and one side of the connecting seat 301 is provided with the adjustment limit rod 302. The movable seat 303 is slidably connected to the outer side of the adjustment limit rod 302. The adjustment module 3 also includes an adjustment motor 304 and a lead screw 305. One side of the connecting seat 301 is provided with the adjustment motor 304, and the output end of the adjustment motor 304 is provided with the lead screw 305. The lead screw 305 and the movable seat 303 are threadedly connected. In use, the adjustment motor 304 is started to drive the lead screw 305 to rotate. The rotation of the lead screw 305 drives the connecting seat 301 to move linearly along the adjustment limit rod 302, thereby adjusting the position of the grinding module 2. The grinding module 2 includes a fixed frame 2. 01. Grinding motor 202 and grinding guide rod 203. A fixed frame 201 is provided on one side of the movable seat 303, and the grinding motor 202 is provided on one side of the fixed frame 201. The grinding guide rod 203 is provided on the other side of the fixed frame 201. The grinding guide rod 203 and the grinding motor 202 are connected by a rotating shaft. The grinding module 2 also includes a grinding connecting frame 204 and a grinding wheel 205. The grinding connecting frame 204 is slidably connected to the outside of the grinding guide rod 203. The grinding wheel 205 is rotatably connected to one end of the grinding connecting frame 204. In use, the grinding motor 202 is started to drive the grinding guide rod 203 to rotate. The rotation of the grinding guide rod 203 drives the grinding connecting frame 204 and the grinding wheel 205 to rotate. The grinding wheel 205 rotates to perform grinding processing on the wood carving workpiece.

[0020] The connecting seat 301 is a steel metal structure with a perforated connection structure. It can be connected to the actuator mechanism at the end of the robotic arm 1 via bolt fixing. The connecting seat 301 is divided into a circular plate-shaped part for connecting the actuator at the end of the robotic arm 1 and a protruding part for rotatably connecting to the lead screw 305. The side of the protruding part has a connection structure for connecting and fixing the adjusting motor. The moving seat 303 is a metal block structure. The inner side of the moving seat 303 has a groove structure that matches the side profile of the adjusting limit rod 302. The side profile of the adjusting limit rod 302 is a non-circular polygonal structure, which keeps it in a state where it can only perform linear displacement or remain stationary during the linear movement of the moving seat 301. The fixing frame 201 is a metal block structure set on one side of the moving seat 303. It has a slot for the output shaft of the grinding motor 202 to pass through; the grinding guide rod 203 is a smooth metal rod structure with plate-shaped connectors at both ends, and the plate-shaped connector at one end of the grinding guide rod 203 is fixed to the shaft end of the grinding motor 202, so that the grinding guide rod 203 can rotate at the rotation speed of the shaft of the grinding motor 202 when the grinding motor 202 is started; the grinding connecting frame 204 is a metal structure that is slidably connected to the grinding guide rod 203; the grinding connecting frame 204 is divided into a plate-shaped part with holes that is slidably connected to the grinding guide rod 203 and a section of metal frame structure that is hollow inside and can be passed through by the grinding guide rod 203 and limits its maximum stroke when the grinding connecting frame 204 slides; the grinding wheel 205 is a grinding disc made of silicon carbide and synthetic resin.

[0021] Please see Figure 5 , Figure 6 , Figure 7 and Figure 8In this embodiment, the pressure sensing module 5 includes a pressure sensor 501, a first pressure plate 502, a rigid spring 503, a second pressure plate 504, and a telescopic rod 505. The pressure sensor 501 is located on one side of the fixing frame 201. The pressure sensing end of the pressure sensor 501 is connected to the first pressure plate 502. A rigid spring 503 is located on one side of the first pressure plate 502. The second pressure plate 504 is located on one side of the grinding connecting frame 204. The two ends of the rigid spring 503 are respectively connected to the first pressure plate 502 and the second pressure plate 504. A telescopic rod 505 connecting the first pressure plate 502 and the second pressure plate 504 is located on one side of the first pressure plate 502. When the grinding wheel 205 contacts the surface of the wood carving workpiece, the normal contact force between the grinding wheel 205 and the surface of the wood carving workpiece is converted into the elastic force of the rigid spring 503. This elastic force is transmitted to the pressure sensor via the first pressure plate 502 in the form of pressure. The pressure sensor 501 measures the total pressure vector of the grinding wheel 205 on the wood carving workpiece in real time and transmits the pressure signal to the controller 4. The vision inspection module 6 includes a mounting bracket 601 and an industrial camera 602. The mounting bracket 601 is set above the moving base 303, and the industrial camera 602 is set above the mounting bracket 601. The industrial camera 602 is a monocular USB industrial camera 602, which is used to identify the position and orientation of the wood carving workpiece on the processing table, and at the same time identify the surface wrinkles, valleys and peaks of the wood carving workpiece. The controller 4 integrates a pressure closed-loop control unit, which is used to dynamically adjust the feed speed and rotation speed of the grinding wheel 205 according to the real-time pressure feedback of the pressure sensor module 5. In use, the controller 4 dynamically adjusts and controls the start and stop of the speed of the regulating motor 304 and the grinding motor 202 according to the real-time pressure feedback of the pressure sensor module 5.

[0022] The controller 4 operates by including the following steps: S1: Power on the device is started. Controller 4 loads the preset process parameter library and executes the following self-test procedure: The initial state of the sensor is confirmed by zero-point calibration of pressure sensing module 5. The visual inspection module 6 calibrates the focal length of the reference calibration board; Robotic arm 1 performs a joint return-to-zero action and sends a position ready signal back; S2: The industrial camera 602 in the vision inspection module 6 performs: Image acquisition from multiple orthogonal perspectives around the wood carving workpiece; Generating a workpiece point cloud model based on the SfM algorithm; Identify and label key feature regions, including fold transition areas, valley areas, and peak areas; generate a 3D processing path planning map with feature labels; S3: Controller 4 matches process parameters based on the characteristics of the region, specifically:

[0023] S4: During the grinding process, real-time pressure closed-loop control is performed, specifically as follows: Pressure sensing module 5 acquires normal contact pressure at a frequency of 100Hz. ; Controller 4 calculates pressure deviation in real time ; The parameters are dynamically adjusted using a PID algorithm, specifically as follows: Feed rate correction:

[0024] Grinding wheel speed correction:

[0025] Parameter definition: K p =0.8, K i =0.05, K d =0.2, α=50; S5: When the vision module detects a region boundary: Start adjusting gradient parameters 20ms in advance; The feed rate gradual change formula is: ; Where τ = 50ms, τ is the exponential decay time constant; The robotic arm 1 is triggered to perform Z-axis position compensation of 0.5-2mm to prevent overcutting of feature edges; in Calculated using the backward difference method: ; Where the sampling period T s =10ms; The specific formula for integral phase discretization is as follows: ; When t=3τ=150ms, the speed completes 95% of the transition, ensuring a smooth connection of feature boundaries; S6: After each area of ​​grinding is completed: Industrial camera 602 captures surface texture images; Surface roughness parameters are calculated using the gray-level co-occurrence matrix. If the surface roughness index is greater than 3.2μm, reduce the target pressure by 30% and perform a second fine grinding. S7: Immediately execute the following security protocol when the following conditions are detected: If the pressure value remains above 20N for more than 200ms, the robotic arm 1 will be triggered to retract 10mm in an emergency. When the vision system loses feature tracking, the feed is paused and a region rescan is initiated. When the grinding wheel speed fluctuation exceeds 15%, the power supply to the grinding motor 202 is cut off and an alarm is triggered. S8: When processing is terminated, control the robotic arm 1 to return to the safe position, and each module executes the stop sequence.

[0026] During operation, the base of the robotic arm 1 is fixed to the processing table. The connecting seat 301 of the adjustment module 3 is aligned and locked with the end effector of the robotic arm 1 via a flange connection. In the adjustment module 3, the adjustment limit rod 302 and the moving seat 303 form a linear guide pair. One end of the lead screw 305 is connected to the output shaft of the adjustment motor 304 via a coupling, and the other end is fixed to the connecting seat 301 via a bearing seat. The fixing frame 201 of the grinding module 2 is connected to the moving seat 303 via bolts. The grinding guide rod 203 and the output shaft of the grinding motor 202 transmit torque via a flat key. The grinding connecting frame 204 slides with the grinding guide rod 203 via a linear bearing. The grinding wheel 205... The pressure sensor 501 is fixed to the end of the grinding connection frame 204 by a nut; in the pressure sensing module 5, the pressure sensor 501 is fixed to the fixed frame 201 by a threaded connection, the first pressure plate 502 is in contact with the sensing end face of the sensor, the two ends of the rigid spring 503 are respectively welded to the first pressure plate 502 and the second pressure plate 504, and the telescopic rod 505 passes through the center of the spring to prevent instability; the mounting bracket 601 of the vision inspection module 6 is fixed to the top of the moving base 303 by a clamp, and the lens of the industrial camera 602 faces the processing area; the controller 4 establishes a communication link with the robotic arm 1, the adjusting motor 304, the grinding motor 202, the pressure sensor 501 and the industrial camera 602 through the Ethernet protocol; After the device is started, the controller 4 performs a self-test process: the motor 304 drives the lead screw 305 to move the moving seat 303 to the zero position, the pressure sensor 501 performs zero-point calibration, and the industrial camera 602 adjusts the focus of the calibration plate; during processing, the industrial camera 602 acquires multi-view images around the workpiece, reconstructs the point cloud model based on the SfM algorithm, and marks the fold transition area, valley area, and peak area; the controller 4 matches the process parameters according to the radius of curvature of the feature area: for the peak area with a radius of curvature < 5mm, the target pressure is set to 8N and the feed speed is set to 2mm / s; for the valley area with a radius of curvature > 15mm, the target pressure is set to 8N and the feed speed is set to 2mm / s. The pressure is 15N and the feed rate is 5mm / s. During the grinding process, the pressure sensor 501 collects the normal contact pressure at a frequency of 100Hz. The controller 4 calculates the feed rate correction and grinding wheel speed correction through a PID algorithm. When the industrial camera 602 detects the feature boundary, the controller 4 starts the gradual parameter adjustment 20ms in advance. The Z-axis compensation of the robotic arm 1 is calculated according to the exponential decay formula to ensure a smooth transition. After each area of ​​grinding is completed, the industrial camera 602 collects the surface texture and calculates the roughness through the gray-scale co-occurrence matrix. If it is >3.2μm, the target pressure is reduced by 30% to perform a second fine grinding. During the processing, when the pressure value is continuously >20N for more than 200ms, the controller 4 triggers the robotic arm 1 to retract 10mm in an emergency and suspend the feed; when the vision system loses feature tracking, the area rescanning process is started; when the grinding wheel speed fluctuates >15%, the power supply to the grinding motor 202 is cut off and an alarm is triggered.

[0027] Through the above steps, the position of the grinding module 2 is adjusted by the robotic arm 1, the feed speed and rotation speed of the grinding module 2 are adjusted by the adjustment module 3, the normal contact pressure between the grinding head of the grinding module 2 and the surface of the wood carving workpiece is measured by the pressure sensing module 5, the wrinkles, valleys and peaks on the workpiece surface are detected by the vision inspection module 6, and the feed speed and rotation speed of the grinding structure are dynamically adjusted by the controller 4 based on the real-time pressure feedback from the pressure sensing module 5. By sensing the contact pressure between the grinding head and the wood surface in real time, the grinding force is intelligently adjusted, directly solving the problem of force control, significantly reducing the dependence on operator experience, protecting thin-walled areas, improving the grinding effect of grooves, and preventing over-grinding and under-grinding during grinding.

[0028] It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention. Furthermore, it should be understood that after reading the technical description of this invention, those skilled in the art can make various modifications, alterations, and / or variations to the invention, and all such equivalent forms also fall within the scope of protection defined by the appended claims. As is known from common technical knowledge, the invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the embodiments disclosed above are merely illustrative in all respects and are not exhaustive. All changes within the scope of this invention or equivalent to the scope of this invention are included in this invention.

Claims

1. A curved surface grinding device for wood carving, comprising a robotic arm (1), characterized in that: The end effector of the robotic arm (1) is equipped with a linearly feedable adjustment module (3). The output end of the adjustment module (3) is equipped with a grinding module (2) for adaptive grinding of the curved surface of the wood carving workpiece; The grinding module (2) has a pressure sensing module (5) integrated on one side for real-time detection of the normal contact pressure between the grinding head and the workpiece surface. The adjustment module (3) is also equipped with a visual detection module (6) for identifying the features of wrinkles, valleys and peaks on the surface of the workpiece. The device also includes a controller (4), which is communicatively connected to the robotic arm (1), adjustment module (3), grinding module (2), pressure sensing module (5) and vision inspection module (6) respectively, and is used to receive sensing data and output control commands to form a closed-loop control system.

2. The curved surface grinding device for wood carving according to claim 1, characterized in that: The adjustment module (3) includes: A connecting seat (301) is used for fixed connection with the end effector of the robotic arm (1); At least one adjusting limit rod (302) has its fixed end connected to the connecting seat (301); The movable seat (303) is slidably sleeved on the adjusting limit rod (302) via a linear bearing; The adjusting motor (304) is fixedly installed on the connecting seat (301); A lead screw (305) is connected at one end to the output shaft of the regulating motor (304), and the lead screw (305) is rotatably connected to the connecting seat (301), and the lead screw (305) and the moving seat (303) form a threaded transmission pair. The grinding module (2) is mounted on the movable seat (303), and the movable seat (303) is driven to move axially along the adjusting limit rod (302) by the adjusting motor (304) to control the linear feed of the grinding module (2).

3. The curved surface grinding device for wood carving according to claim 2, characterized in that: The grinding module (2) includes: The fixed frame (201) is fixedly connected to the movable seat (303); The grinding motor (202) is fixedly installed on one side of the fixing frame (201); The grinding guide rod (203) is connected to the output shaft of the grinding motor (202) via a coupling and is driven to rotate by the grinding motor (202); The grinding connecting frame (204) is slidably sleeved on the grinding guide rod (203) via a linear bearing and can float along its axial direction; The grinding wheel (205) is connected to the end of the grinding connector (204).

4. The curved surface grinding device for wood carving according to claim 3, characterized in that: The pressure sensing module (5) includes: The pressure sensor (501) is fixedly mounted on the mounting bracket (201); The first pressure plate (502) is fixedly connected to the pressure sensing end of the pressure sensor (501); The second pressure plate (504) is fixedly installed on the grinding connecting frame (204) and is arranged opposite to the first pressure plate (502); At least one rigid spring (503) has its two ends abutting against the first pressure plate (502) and the second pressure plate (504), respectively. The telescopic rod (505) is connected at both ends to the first pressure plate (502) and the second pressure plate (504) respectively, and passes through the center hole of the rigid spring (503) to prevent the spring from becoming unstable and to provide guidance; When the grinding wheel (205) contacts the workpiece surface, the generated normal contact force is transmitted to the second pressure plate (504) through the grinding connecting frame (204), and after being converted into elastic force by the rigid spring (503), it is transmitted to the pressure sensor (501) by the first pressure plate (502) for real-time measurement.

5. A curved surface grinding device for wood carving according to claim 2, characterized in that: The visual detection module (6) includes: The mounting bracket (601) is fixedly disposed above the movable base (303); An industrial camera (602) is mounted on the mounting bracket (601) with its lens facing the workpiece processing area; The industrial camera (602) is a monocular USB industrial camera (602), whose field of view covers the working area of ​​the grinding wheel (205) and the surface to be processed.

6. A curved surface grinding device for wood carving according to claim 5, characterized in that: The industrial camera (602) is configured to perform the following vision tasks: Identify the position and orientation of the wood carving workpiece on the processing table; Acquire multi-view images of the workpiece surface and reconstruct a 3D point cloud model of the workpiece based on the SfM algorithm; The surface features of folds, valleys, and peaks are automatically identified and labeled in the three-dimensional point cloud model.

7. A curved surface grinding device for wood carving according to claim 3, characterized in that: The controller (4) integrates a pressure closed-loop control unit, which is configured as follows: Receive the real-time normal contact pressure signal acquired by the pressure sensor (501) at a frequency of 100Hz; The real-time pressure is compared with a target pressure value preset based on visual characteristics to calculate the pressure deviation. A PID control algorithm is used to dynamically generate control commands based on the pressure deviation, and to synchronously adjust the feed speed of the regulating motor (304) and the grinding wheel rotation speed of the grinding motor (202).

8. A curved surface grinding device for wood carving according to claim 1, characterized in that: The controller (4) performs the following steps during operation: S1: Start self-test, perform sensor calibration and return the robotic arm (1) to zero; S2: The workpiece is scanned and its features are identified by the vision inspection module (6) to generate a three-dimensional processing path with feature markings; S3: Match the corresponding process parameters according to different feature regions; S4: During the grinding process, real-time pressure closed-loop control is executed to maintain constant force grinding; S5: When the boundary of the feature region is detected, the parameter gradual adjustment is performed in advance and the position compensation of the robotic arm (1) is triggered. S6: After the area grinding is completed, the surface roughness is tested. If it is not up to standard, the pressure is reduced and a second fine grinding is performed. S7: When pressure overload, feature loss, or abnormal speed is detected, the corresponding safety protocol is executed; S8: After processing is completed, control each module to stop in an orderly manner.

9. A curved surface grinding device for wood carving according to claim 4, characterized in that: The elastic coefficient of the rigid spring (503) is selected such that the natural frequency of the floating system formed by the grinding connector (204) is much lower than the main excitation frequency during the grinding process.

10. A curved surface grinding device for wood carving according to claim 2, characterized in that: The linear feed resolution of the adjustment module (3) is ≤0.01mm.

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