Paint reciprocating grinding and polishing sandpaper system

Abstract

The present invention provides a reciprocating polishing sandpaper system for paint surfaces, belonging to the field of polishing. Specifically, it includes a robotic arm; a polishing part, connected to the head end of the robotic arm body, for polishing the paint surface of a workpiece driven by the robotic arm body to control the removal depth of the paint surface. The polishing part includes a polishing component and a driving mechanism for driving the polishing component; a sandpaper automatic replacement part for replacing the sandpaper used to polish the paint surface of the workpiece in the polishing component. Among them, the polishing component includes the sandpaper installed on the bottom surface of the driving mechanism and a polishing force control unit penetrating the driving mechanism. The force control motor of the polishing force control unit is installed in a flange connected to the robotic arm body. The polishing force control unit can perform flexible polishing on the paint surface according to the surface complexity of the workpiece. Through the processing solution of this application, the process parameters of polishing can be accurately controlled to achieve precise polishing of the paint surface.

Description

Technical Field

[0001] The present invention relates to the field of grinding and polishing, and particularly to a reciprocating grinding and polishing sandpaper system for paint surfaces. Background Art

[0002] With the development of lightweight in the automotive and aviation industries, carbon fiber materials are increasingly widely used in the automotive and aviation fields due to their light weight and high strength. Since most carbon fiber components are exterior parts, the surface requirements for the components are getting higher and higher. The current production and manufacturing process mainly relies on manual grinding and polishing of the paint surfaces of carbon fiber components, which is difficult, has a harsh environment, and poor product consistency. For existing reciprocating grinding and polishing sandpaper equipment, its main implementation method is to install a pneumatic manual reciprocating polishing machine under a floating cylinder. Since the rotation speed of pneumatic tools is difficult to control and generally has a small power, it is extremely easy to stall. For scenarios such as paint surfaces where strict requirements are imposed on grinding and polishing quality, the current equipment is difficult to handle. Summary of the Invention

[0003] Therefore, in order to overcome the above-mentioned disadvantages of the prior art, the present invention provides a reciprocating grinding and polishing sandpaper system for paint surfaces that can accurately control the process parameters of grinding and polishing and achieve precise grinding and polishing of paint surfaces.

[0004] To achieve the above object, the present invention provides a reciprocating grinding and polishing sandpaper system for paint surfaces, including: a robotic arm having a numerical control base and a robotic arm body disposed on the numerical control base, and the tail end of the robotic arm body is connected to the numerical control base; a grinding part connected to the head end of the robotic arm body for grinding the paint surface of a workpiece under the drive of the robotic arm body to control the removal depth of the paint surface, the grinding part including a grinding assembly and a driving mechanism for driving the grinding assembly; a sandpaper automatic replacement part for replacing the sandpaper for grinding the paint surface of the workpiece in the grinding assembly. Among them, the grinding assembly includes sandpaper installed on the bottom surface of the driving mechanism and a grinding force control unit penetrating the driving mechanism, and the force control motor of the grinding force control unit is installed in a flange connected to the robotic arm body, and the grinding force control unit can perform flexible grinding on the paint surface according to the surface complexity of the workpiece.

[0005] In one embodiment, the driving mechanism includes: a reciprocating yaw assembly for driving the grinding assembly to reciprocally grind the paint surface of the workpiece; a follow-up lifting assembly for floatingly lifting the grinding assembly; a power transmission assembly for driving the reciprocating yaw assembly and the follow-up lifting assembly.

[0006] In one embodiment, the follow-up lifting assembly includes a transmission sleeve for receiving the rotational power transmitted by the power transmission assembly, a transmission shaft coaxially rotating with the transmission sleeve, and a needle roller guide bearing for driving the transmission shaft to slide up and down, and the needle roller guide bearing has a cavity for accommodating the transmission shaft.

[0007] In one embodiment, the reciprocating yaw assembly includes a yaw wheel, a yaw rod, a reciprocating plate, and a micro guide rail. The yaw wheel receives the rotational power transmitted by the transmission shaft of the follower lifting assembly. One end of the yaw rod is connected to the yaw wheel, and the other end is fixed to the reciprocating plate. The reciprocating plate reciprocates along the micro guide rail. The grinding assembly includes sandpaper mounted on the bottom surface of the reciprocating plate and a grinding force control unit provided on the other side surface of the reciprocating plate.

[0008] In one embodiment, the sandpaper automatic replacement unit includes: a workbench; a sandpaper peeling mechanism provided on the upper surface of the workbench and located on one side of the workbench, having a belt that can contact the sandpaper of the grinding assembly and a peeling assembly that peels the sandpaper on the belt from one side of the grinding assembly; a sandpaper mounting mechanism located on the other side of the workbench, including a positioning assembly located on the upper surface of the workbench for positioning the grinding assembly and a sandpaper mounting assembly located inside the workbench for mounting the sandpaper; and a pneumatic control mechanism provided inside the workbench for driving the sandpaper peeling mechanism and the sandpaper mounting mechanism.

[0009] In one embodiment, the sandpaper peeling mechanism includes: a belt sliding assembly having a belt that abuts against the lower surface of the sandpaper, a support plate located below the belt for supporting the downward pressure of the grinding assembly, a tensioning roller and a guiding roller provided at both ends of the support plate for cooperating to tension the belt; a peeling assembly provided above the belt and close to one side of the tensioning roller, having a sandpaper peeling plate that contacts the upper surface of the sandpaper.

[0010] In one embodiment, the tensioning roller includes a tensioning wheel central shaft fixed to the workbench, a tensioning roller sleeve sleeved on the tensioning wheel central shaft, and a tensioning wheel bearing for supporting the rotation of the tensioning roller sleeve. The outer surface of the tensioning roller sleeve is provided with a slope.

[0011] In one embodiment, the peeling assembly includes: a sandpaper peeling plate fixed to the workbench and in contact with the upper surface of the sandpaper, having barbs for peeling the sandpaper; a cleaning nozzle for cleaning the peeled sandpaper.

[0012] In one embodiment, the positioning assembly includes a positioning vertical rod that can slide on the upper surface of the workbench, a telescopic cylinder provided near the edge of the workbench for driving the movement of the positioning vertical rod, and a stopper and a stopper block for cooperating to limit the positioning vertical rod.

[0013] In one of the embodiments, the sandpaper mounting assembly includes a lifting plate for replacing the sandpaper, a lifting cylinder fixed inside the workbench for driving the lifting plate, guide rods and guide sleeves for guiding the lifting of the lifting plate, and a support rod for fixing the lifting plate inside the workbench.

[0014] Compared with the prior art, the advantages of the present invention are as follows: The reciprocating frequency is accurately controlled by means of motor drive, and the motor is arranged in the flange connected to the robot hand body, without occupying the flexible force control end load, solving the limitation of the weight of the flexible force control end tool and making the flexible force control end load light. It can accurately control the force output below 10N without distortion, and can be well qualified for scenarios with high requirements for the depth of paint removal. Moreover, the required motor power can be selected according to the actual application conditions without considering the limitation of the motor weight by the flexible force control. It can be equipped with flexible force control, accurately control the grinding and polishing process parameters, achieve precise grinding and polishing of the paint surface, and ensure the stability and consistency of the product. In addition, the system is also provided with an automatic sandpaper replacement part, which can automatically replace the sandpaper. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 It is a schematic structural diagram of the paint surface reciprocating grinding and polishing sandpaper system in the embodiment of the present invention;

[0017] Figure 2 It is a schematic structural diagram of the grinding part in the embodiment of the present invention;

[0018] Figure 3 It is a schematic structural diagram of the grinding part in the embodiment of the present invention;

[0019] Figure 4 It is a schematic structural diagram of the follow-up lifting assembly in the embodiment of the present invention;

[0020] Figure 5 It is a schematic structural diagram of the reciprocating yaw assembly in the embodiment of the present invention;

[0021] Figure 6 It is a schematic structural diagram of the automatic sandpaper replacement part in the embodiment of the present invention;

[0022] Figure 7 It is a schematic structural diagram of the sandpaper peeling mechanism in the embodiment of the present invention;

[0023] Figure 8It is a schematic diagram of the sandpaper peeling mechanism peeling the sandpaper in the embodiment of the present invention;

[0024] Figure 9 It is a schematic diagram of the structure of the belt sliding assembly in the embodiment of the present invention;

[0025] Figure 10 It is a schematic diagram of the structure of the belt sliding assembly after removing the belt in the embodiment of the present invention;

[0026] Figure 11 It is a schematic diagram of the structure of the peeling assembly in the embodiment of the present invention;

[0027] Figure 12 It is a schematic diagram of the structure of the sandpaper mounting mechanism in the embodiment of the present invention;

[0028] Figure 13 It is a schematic diagram of the structure of the positioning assembly in the embodiment of the present invention;

[0029] Figure 14 It is a schematic diagram of the structure of the sandpaper mounting assembly in the embodiment of the present invention. Detailed implementation manners

[0030] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0031] The following uses specific specific examples to illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0032] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It should be obvious that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present application, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects described herein can be used to implement the device and / or practice the method. In addition, this device and / or this method can be implemented using other structures and / or functions in addition to one or more of the aspects described herein.

[0033] It should also be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. The diagrams only show the mechanisms related to the present application, rather than being drawn according to the number, shape, and size of the mechanisms in actual implementation. The type, quantity, and proportion of each mechanism in actual implementation can be arbitrarily changed, and the layout type of the mechanisms may also be more complex.

[0034] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the aspects can be practiced without these specific details.

[0035] As Figure 1 shown, an embodiment of the present application provides a reciprocating polishing sandpaper system for paint surfaces, including a robotic arm 1, a grinding section 2, and an automatic sandpaper replacement section 3.

[0036] The robotic arm 1 is located above the grinding section 2, and the function of the robotic arm 1 is to drive the grinding section 2 to move freely. The robotic arm 1 has a numerical control base and a robotic arm body disposed on the numerical control base, and the tail end of the robotic arm body is connected to the numerical control base. The numerical control base is communicatively connected to the drive mechanism in the grinding section 2. The numerical control base can be communicatively connected to the drive mechanism through a wireless module or through a wire disposed inside the robotic arm body. The wireless module can be a Bluetooth module, an infrared module, a wifi module, a zigbee module, etc. The numerical control base drives the grinding section 2 to move freely and controls the drive mechanism to move the grinding assembly, thereby ensuring that the grinding section 2 corresponds to the paint surface of the workpiece to be ground and polished in real time.

[0037] The function of the grinding section 2 is to grind the paint surface of the workpiece. The grinding section 2 is connected to the head end of the robotic arm body and is used to grind the paint surface of the workpiece under the drive of the robotic arm body, thereby controlling the depth of paint removal. The grinding section includes a grinding assembly and a drive mechanism for driving the grinding assembly. The grinding assembly includes a sandpaper 19 mounted on the bottom surface of the drive mechanism and a grinding force control unit 21 penetrating the drive mechanism. The force control motor of the grinding force control unit 21 is mounted in a flange connected to the robotic arm body, and the grinding force control unit 21 can perform flexible grinding on the paint surface according to the surface complexity of the workpiece.

[0038] As Figure 2 shown, in one of the embodiments, the drive mechanism includes a power transmission assembly 300, a follow-up lifting assembly 400, and a reciprocating yawing assembly 500.

[0039] The reciprocating yawing assembly 500 is used to drive the grinding assembly to reciprocally grind the paint surface of the workpiece.

[0040] The follow-up lifting assembly 400 is used to perform floating lifting on the grinding assembly.

[0041] The power transmission assembly 300 is used to drive the reciprocating yawing assembly and the follower lifting assembly. As Figure 3 shown, in one embodiment, the power transmission assembly 300 includes a transmission motor 6, a driving wheel 7, a driven wheel 8, and a transmission belt 10. The output shaft of the transmission motor 6 is connected to the driving wheel 7, the driving wheel 7 and the driven wheel 8 are connected by the transmission belt 10. The transmission motor 6 drives the driving wheel 7 and the transmission belt 10 to rotate, and transmits the power to the driven wheel 8. The driven wheel 8 is connected to the follower lifting assembly 400. In one embodiment, the power transmission assembly 300 further includes an idler wheel assembly 9. The main function of the idler wheel assembly 9 is to press the transmission belt 10, so that the transmission belt 10 is always in a tightened state, making the kinetic energy transmission more stable. The idler wheel assembly 9 can be a bump or a strip fixed on the end face or other components. In one of the embodiments, the follower lifting assembly 400 includes a transmission sleeve 12 that receives the rotational power transmitted by the power transmission assembly, a transmission shaft 14 that rotates coaxially with the transmission sleeve, and a needle roller guide bearing 13 that drives the transmission shaft to slide up and down. The needle roller guide bearing 13 has a cavity for accommodating the transmission shaft.

[0042] In another embodiment, as Figure 4 shown, the follower lifting assembly 400 includes a pillow block bearing 11, a transmission sleeve 12, a needle roller guide bearing 13, a transmission shaft 14, and a needle roller thrust bearing seat 15. The rotational power is transmitted from the driven wheel 8 to the transmission sleeve 12, and then transmitted to the transmission shaft 14. The up and down sliding of the transmission shaft 14 is achieved by installing a needle roller guide bearing 13 at the lower end of the transmission sleeve 12. The inner cavity of the needle roller guide bearing 13 is a polygon. In one example, needle rollers are provided between the inner wall of the needle roller guide bearing 13 and the transmission shaft 14, and the needle rollers can reduce the friction force of the up and down sliding. The transmission shaft 14 is also a polygon structure corresponding to the inner cavity of the needle roller guide bearing 13, so as to effectively transmit the power. In one embodiment, two deep groove ball bearings can be embedded inside the pillow block bearing 11, and a plain bearing and a needle roller bearing are embedded inside the needle roller thrust bearing seat 15, so as to effectively control the yawing force in the rotational direction and make the assembly operate stably.

[0043] As Figure 5As shown, in one embodiment, the reciprocating yaw assembly 500 includes a yaw wheel 16, a yaw rod 17, a reciprocating plate 18, and a micro guide rail 20. The yaw wheel 16 receives the rotational power transmitted by the transmission shaft 14 of the follower lifting assembly 400. One end of the yaw rod 17 is connected to the yaw wheel 16, and the other end is fixed to the reciprocating plate 18. The reciprocating plate 18 reciprocates along the micro guide rail 20. One end of the yaw rod 17 is fixed to the yaw wheel 16 and the other end is fixed to the reciprocating plate 18, and micro guide rails 20 are installed on both the left and right sides of the reciprocating plate 18, thus forming a three-link assembly to ensure the reciprocating swing of the reciprocating plate 18 back and forth. The polishing assembly includes sandpaper installed on the bottom surface of the reciprocating plate and a polishing force control unit provided on the other side surface of the reciprocating plate.

[0044] The function of the sandpaper automatic replacement unit 3 is to automatically replace the sandpaper on the polishing unit 2, reduce manual participation, and improve work efficiency. The sandpaper automatic replacement unit 3 is used to replace the sandpaper for polishing the workpiece paint surface in the polishing assembly.

[0045] For the above-mentioned reciprocating grinding and polishing sandpaper system for paint surface, the reciprocating frequency is precisely controlled by means of motor drive, and the motor is arranged in the flange connected to the robot body, without occupying the flexible force control end load, solving the limitation of the weight of the flexible force control end tool and making the flexible force control end load light. It can accurately control the force output below 10N without distortion, and is well-suited for scenarios with high requirements for the depth of paint surface removal. Moreover, the required motor power can be selected according to the actual application working conditions without considering the limitation of the flexible force control on the motor weight. It can be equipped with flexible force control, accurately control the grinding and polishing process parameters, achieve precise grinding and polishing of the paint surface, and ensure the stability and consistency of the product. Furthermore, the system is also provided with a sandpaper automatic replacement unit, which can automatically replace the sandpaper.

[0046] As Figure 6 shown, in one embodiment, the sandpaper automatic replacement unit includes a workbench 22, a sandpaper peeling mechanism 23, a sandpaper installation mechanism 24, and a pneumatic control mechanism 25.

[0047] The workbench 22 is used to fix the sandpaper peeling mechanism 23, the sandpaper installation mechanism 24, and the pneumatic control mechanism 25.

[0048] The sandpaper peeling mechanism 23 is arranged on the upper surface of the workbench and is located on one side of the workbench. It has a belt that can contact the sandpaper of the polishing assembly and a peeling assembly that peels the sandpaper on the belt from one side of the polishing assembly.

[0049] As Figure 7 and Figure 8As shown, in one embodiment, the sandpaper stripping mechanism includes a belt sliding assembly 26 and a stripping assembly 27. When replacing the grinding sandpaper 19, since the grinding force control unit 21 of the grinding part 2 applies a force to the sandpaper 19, the grinding sandpaper 19 is closely attached to the belt sliding assembly 26. When the grinding part 2 moves in the Figure 8 right direction, the stripping assembly 27 can hook the root of the grinding sandpaper 19 and strip the used grinding sandpaper 19 from the grinding part 2.

[0050] In one embodiment, as Figure 9 and Figure 10 shown, the belt sliding assembly 26 has a belt 31 that abuts against the lower surface of the sandpaper, a support plate 30 located below the belt 31 for supporting the downward pressure of the grinding assembly, a tensioning roller 28 and an idler roller 29 arranged at both ends of the support plate 30 to cooperate in tensioning the belt. The tensioning roller 28 and the idler roller 29 at the front and rear ends of the sliding belt 31 can keep the sliding belt 31 always in a tensioned state and slide linearly in opposite directions. The support plate 30 is located between the tensioning roller 28 and the idler roller 29, and it can play a role in supporting the downward pressure of the grinding part 2. In one embodiment, a grease is provided between the sliding belt 31 and the support plate 30, so as to better reduce the friction force.

[0051] In one embodiment, the tensioning roller 28 includes a tensioning wheel shaft 33, a tensioning roller sleeve 34, and a tensioning wheel bearing 35. The outer surface of the tensioning roller sleeve 34 has a certain slope, so that it can automatically center when the sliding belt 31 makes a translational movement. In one embodiment, fine-tuning screws are installed on both sides of the tensioning roller 28, which is convenient for the debugging personnel to install and debug. The shape of the tensioning roller sleeve 34 can be a constant-width figure or other irregular circles, such as a Reuleaux triangle, etc. The idler roller 29 includes an idler wheel shaft 32 and an idler wheel bearing 36. In this way, when the sliding belt 31 makes a translational movement, the idler roller 29 can make a follow-up rotational movement.

[0052] The stripping assembly 27 is arranged above the belt and close to one side of the tensioning roller, and has a sandpaper stripping plate 37 that contacts the upper surface of the sandpaper. In one embodiment, the stripping assembly 27 includes a sandpaper stripping plate 37 and a cleaning nozzle 39. The sandpaper stripping plate 37 is fixed on the workbench and contacts the upper surface of the sandpaper, and has barbs for stripping the sandpaper. The cleaning nozzle 39 is used to clean the stripped sandpaper. In one embodiment, as Figure 11As shown, the automatic sandpaper replacement unit 3 can also be provided with a photoelectric sensor 38 and a color sensor 40. The sandpaper stripping plate 37 can strip the abrasive sandpaper 19 that has been translated. The photoelectric sensor 38 can detect whether there is any waste abrasive sandpaper 19 falling off. If not, it indicates that the stripping was not successful. The grinding unit 2 repeats the translation action until the stripping is successful, or the device alarms to remind the staff. The function of the cleaning nozzle 39 is to blow the stripped abrasive sandpaper 19 to the lower part of the device, so as not to let the waste abrasive sandpaper 19 jam the feeding port area (i.e., the sandpaper installation area). The color sensor 40 is used to detect whether the abrasive sandpaper 19 is successfully attached to the grinding unit 2 after the new sandpaper is installed. If the detection shows that the attachment is not successful, the grinding unit 2 repeats the sandpaper attachment action until it is successful.

[0053] In one embodiment, as Figure 12 shown, the sandpaper installation mechanism 24 is located on the other side of the workbench, and includes a positioning component 41 located on the upper surface of the workbench for positioning the grinding assembly and a sandpaper installation component 42 for installing sandpaper located inside the workbench.

[0054] The pneumatic control mechanism 25 is arranged inside the workbench and is used to drive the sandpaper stripping mechanism and the sandpaper installation mechanism.

[0055] As Figure 13 shown, in one of the embodiments, the positioning component 41 includes a positioning vertical rod 46 that can slide on the upper surface of the workbench, a telescopic cylinder 43 arranged near the edge of the workbench for driving the movement of the positioning vertical rod, and a stopper 44 and a stopper block 45 that cooperate to limit the positioning vertical rod. When the telescopic shaft of the telescopic cylinder 43 extends out, since the stopper 44 abuts against the stopper block 45, the telescopic cylinder 43 stops operating, thereby ensuring that the positioning vertical rod 46 moves to the relative position. The position of the stopper 44 is not fixed and can be locked as needed. During the debugging of the device, the front and rear positions of the stopper 44 can be finely adjusted to position the grinding unit 2.

[0056] As Figure 14 shown, in one of the embodiments, the sandpaper installation component 42 includes a lifting plate 50 for replacing the sandpaper, a lifting cylinder 47 fixed inside the workbench for driving the lifting plate, a guide rod 48 and a guide sleeve 49 for guiding the lifting of the lifting plate, and a support rod 51 for fixing the lifting plate inside the workbench. The lifting cylinder 47 is connected to the lifting plate 50 and gives the lifting plate 50 a pushing and pulling force for up and down telescoping. The guide sleeve 49 and the guide rod 48 play a role in guiding the linear lifting. The support rod 51 connects the entire sandpaper installation component 42 on the one hand, and on the other hand, it can also provide peripheral limits for the abrasive sandpaper 19 in the four directions of front, rear, left, and right, so as not to let the abrasive sandpaper 19 fall out of the sandpaper installation component 42.

[0057] The pneumatic control mechanism 25 is located inside the workbench 22. Separating out the pneumatic control mechanism 25 can facilitate the debugging personnel to debug and maintain the equipment.

[0058] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the technical field of the present application within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A reciprocating grinding and polishing sandpaper system for paint surfaces, characterized in that, it includes: A robotic arm, having a numerically controlled base and a robotic arm body disposed on the numerically controlled base, and the tail end of the robotic arm body is connected to the numerically controlled base; A grinding part, connected to the head end of the robotic arm body, for grinding the paint surface of a workpiece under the drive of the robotic arm body, so as to control the removal depth of the paint surface. The grinding part includes a grinding assembly and a drive mechanism for driving the grinding assembly to reciprocate; An automatic sandpaper replacement part, for replacing the sandpaper for grinding the paint surface of the workpiece in the grinding assembly, wherein, the grinding assembly includes sandpaper installed on the bottom surface of the drive mechanism and a grinding force control unit penetrating the drive mechanism. The force control motor of the grinding force control unit is installed in a flange connected to the robotic arm body. The grinding force control unit can perform flexible grinding on the paint surface according to the surface complexity of the workpiece, The numerically controlled base is communicatively connected to the drive mechanism in the grinding part. The numerically controlled base drives the grinding part to move freely and controls the drive mechanism to move the grinding assembly, thereby ensuring that the grinding part corresponds to the paint surface of the workpiece to be ground and polished in real time, The drive mechanism includes: A reciprocating yaw assembly, for driving the grinding assembly to reciprocate and grind the paint surface of the workpiece; A follow-up lifting assembly, for floatingly lifting the grinding assembly; A power transmission assembly, for driving the reciprocating yaw assembly and the follow-up lifting assembly, The follow-up lifting assembly includes a transmission sleeve receiving the rotational power transmitted by the power transmission assembly, a transmission shaft coaxially rotating with the transmission sleeve, and a needle roller guide bearing for driving the transmission shaft to slide up and down. The needle roller guide bearing has a cavity for accommodating the transmission shaft; The reciprocating yaw assembly includes a yaw wheel, a yaw rod, a reciprocating plate, and a micro guide rail, The yaw wheel receives the rotational power transmitted by the transmission shaft of the follow-up lifting assembly; one end of the yaw rod is connected to the yaw wheel, and the other end is fixed on the reciprocating plate; the reciprocating plate reciprocates along the micro guide rail; The grinding assembly includes sandpaper installed on the bottom surface of the reciprocating plate and a grinding force control unit provided on the other side surface of the reciprocating plate.

2. The reciprocating grinding and polishing sandpaper system for paint surfaces according to claim 1, characterized in that, The automatic sandpaper replacement part includes: A workbench; A sandpaper peeling mechanism, disposed on the upper surface of the workbench and located on one side of the workbench, having a belt that can contact the sandpaper of the grinding assembly and a peeling assembly for peeling the sandpaper on the belt from one side of the grinding assembly; A sandpaper installation mechanism, located on the other side of the workbench, including a positioning assembly located on the upper surface of the workbench for positioning the grinding assembly and a sandpaper installation assembly for installing the sandpaper located inside the workbench; and A pneumatic control mechanism, disposed inside the workbench, for driving the sandpaper peeling mechanism and the sandpaper installation mechanism.

3. The reciprocating grinding and polishing sandpaper system for paint surfaces according to claim 2, characterized in that, The sandpaper peeling mechanism includes: The belt sliding assembly has a belt that abuts against the lower surface of the sandpaper, a support plate located below the belt for supporting the downward pressure of the grinding assembly, a tensioning roller and a guiding roller arranged at both ends of the support plate for cooperating to tension the belt; The peeling assembly is arranged above the belt and on one side close to the tensioning roller, and has a sandpaper peeling plate that contacts the upper surface of the sandpaper.

4. The reciprocating grinding and polishing sandpaper system for paint surface according to claim 3, characterized in that the tensioning roller includes a tensioning wheel shaft fixed on the workbench, a tensioning roller sleeve sleeved on the tensioning wheel shaft, and a tensioning wheel bearing for supporting the rotation of the tensioning roller sleeve, and the outer surface of the tensioning roller sleeve is provided with an inclination.

5. The reciprocating grinding and polishing sandpaper system for paint surface according to claim 3, characterized in that the peeling assembly includes: a sandpaper peeling plate fixed on the workbench and contacting the upper surface of the sandpaper, and having barbs for peeling the sandpaper; a cleaning nozzle for cleaning the peeled sandpaper.

6. The reciprocating grinding and polishing sandpaper system for paint surface according to claim 3, characterized in that the positioning assembly includes a positioning vertical rod that can slide on the upper surface of the workbench, a telescopic cylinder arranged close to the edge of the workbench for driving the movement of the positioning vertical rod, and a stopper and a stopper block for cooperating to limit the positioning vertical rod.

7. The reciprocating grinding and polishing sandpaper system for paint surface according to claim 3, characterized in that the sandpaper mounting assembly includes a lifting plate for replacing the sandpaper, a lifting cylinder fixed inside the workbench for driving the lifting plate, a guide rod and a guide sleeve for guiding the lifting of the lifting plate, and a support rod for fixing the lifting plate inside the workbench.

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