A grinding and polishing actuator of a curved surface moving adsorption processing robot and its working method

Abstract

The present invention belongs to the technical field of processing equipment, and specifically discloses a grinding and polishing actuator of a curved surface moving adsorption processing robot and its working method. The grinding and polishing actuator includes a floating module, a constant force control module, a dust collection module and a grinding machine. The floating module uses the negative pressure generated by a blower as power to respectively realize the feeding movement of the grinding and polishing actuator and the pose adjustment of the grinding machine. The constant force control module is fixedly connected to the grinding machine, controls the contact state between the grinding machine and the workpiece surface through a voice coil motor, and combines a single-axis force sensor to realize the constant control of the grinding pressure. The dust collection module uses the negative pressure generated by a blower to make the grinding dust flow, and realizes environmental protection through filtration and collection. The present invention is developed for the application of the moving adsorption processing robot in the field of free-form surface grinding and polishing of large and complex components, realizing the functions of curved surface negative pressure adaptive adjustment of the grinding machine pose, force-position decoupling control, constant force control and environmental protection dust collection, with a small volume and light weight.

Description

Technical Field

[0001] The present invention belongs to the technical field of processing equipment, and more specifically, relates to a grinding and polishing actuator for a curved surface moving adsorption processing robot and its working method. Background Art

[0002] In the field of grinding and polishing of large and complex components, manual labor and industrial robots are mainly used. Manual grinding and polishing has low efficiency, and the quality of grinding and polishing is greatly affected by the technical level of workers; industrial robot grinding and polishing is costly, has a limited working space, and has low versatility and flexibility. The curved surface moving adsorption processing robot makes up for the deficiencies of manual labor and industrial robots in the field of grinding and polishing of large and complex components with its own characteristics, breaks through the limitations of the accessibility of grinding and polishing, has great advantages in the grinding and polishing operations of large and complex components, and provides a new direction for the grinding and polishing of large and complex components. Currently, most of the designs of grinding and polishing actuators are for industrial robots, which are large in size, heavy in weight, complex in structure, and single in function, and cannot be well adapted to the curved surface moving adsorption processing robot.

[0003] Therefore, there is an urgent need to design a specific grinding and polishing actuator for the curved surface moving adsorption processing robot to utilize its advantages in the field of grinding and polishing of large and complex components and further improve the high-quality processing ability in this field. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement requirements of the prior art, the present invention provides a grinding and polishing actuator for a curved surface moving adsorption processing robot and its working method, aiming to enable the grinding and polishing actuator to be loaded on the curved surface moving adsorption processing robot, and to achieve passive compliance of the curved surface negative pressure, adaptively adjust the grinding angle of the grinding machine, achieve constant control of the grinding pressure, improve the grinding quality and efficiency, and at the same time be able to collect the dust generated during the grinding process.

[0005] To achieve the above object, according to one aspect of the present invention, a grinding and polishing actuator for a curved surface moving adsorption processing robot is proposed, including a dust collection module, a floating module, a constant force control module, and a grinding machine, wherein:

[0006] The floating module includes a feed motion component and a pose adjustment component. The feed motion component includes a limit ring, a feed guide shaft, and a sliding plate. One end of the feed guide shaft is installed on the limit ring, and the other end is installed on the chassis of the moving adsorption processing robot; the sliding plate is movably sleeved on the feed guide shaft; the pose adjustment component includes a universal joint, an upper connecting plate, a support shaft, a lower connecting plate, and a bull's eye bearing that are fixedly connected in sequence. The upper end of the universal joint is installed on the sliding plate; a sealing component is provided on the pose adjustment component to form a relatively sealed environment inside the pose adjustment component;

[0007] The dust collection module is used to generate negative pressure within the sealed pose adjustment component;

[0008] The grinding machine is installed on the constant force control module; the constant force control module is installed within the pose adjustment component, and this constant force control module is used to control the grinding pressure of the grinding machine.

[0009] As a further preference, the constant force control module includes an upper sliding plate, a force sensor, a lower sliding plate, and a voice coil motor, where:

[0010] The upper sliding plate and the lower sliding plate are sleeved on the support shaft through ball linear bearings, and both ends of the force sensor are connected to the upper sliding plate and the lower sliding plate respectively; the voice coil motor includes a mover and a stator, the mover is installed on the lower sliding plate, and the stator is fixedly connected to the upper connecting plate.

[0011] As a further preference, both the feed guiding shaft and the support shaft are three in number and are evenly distributed circumferentially; the grinding machine is installed at the central position of the upper sliding plate.

[0012] As a further preference, the sealing component includes an annular sealing cover and a flexible lip. The annular sealing cover is hermetically bonded between the upper connecting plate and the lower connecting plate, and the flexible lip is hermetically bonded to the lower side of the lower connecting plate.

[0013] As a further preference, the annular sealing cover includes a nylon cloth and a plurality of steel rings. The steel rings are all bonded and supported inside the nylon cloth, making the annular sealing cover a retractable folding structure.

[0014] As a further preference, the flexible lip includes an annular PVC plate, and vacuum suction cup sponges are bonded to both end faces of this annular PVC plate; the periphery of the flexible lip is wrapped with carpet glue to reduce the friction during movement.

[0015] As a further preference, the dust collection module includes a blower, a dust storage box, and a corrugated hose. The blower is installed on the top of the dust storage box, and the dust storage box is connected to the inside of the pose adjustment component through the corrugated hose; the dust storage box is installed on the adsorption type mobile processing robot.

[0016] As a further preference, a dust filter screen is installed at the blower installation opening of the dust storage box, and the dust filter screen is made of SMS composite non-woven fabric.

[0017] As a further preference, the grinding machine is a pneumatic grinding machine, and the cross joint of the universal joint is a sliding bearing.

[0018] According to another aspect of the present invention, a working method of the grinding and polishing actuator of the above-mentioned curved surface moving adsorption processing robot is provided, wherein a negative pressure is generated in a sealed posture adjustment component through a dust collection module; under the negative pressure environment, the upper connecting plate is driven by the pressure difference between the internal and external atmospheres to move the sliding plate in the direction of the feed guide axis to complete the feed movement; at the same time, a pressure effect is generated on the bull's eye bearing, so that it slides under the constraint of the workpiece curved surface shape to adjust the axis direction of the grinding and polishing actuator, thereby completing the posture adjustment of the grinding and polishing actuator;

[0019] The grinding pressure of the grinder is controlled by the constant force control module, and the grinder grinds the workpiece; the dust generated by grinding is absorbed into the dust collection module under a negative pressure environment.

[0020] In general, the above technical solution conceived by the present invention has the following technical advantages compared with the prior art:

[0021] 1. The grinding and polishing actuator of the present invention can be loaded on a curved surface mobile adsorption processing robot, can passively adapt to the negative pressure of the curved surface, adaptively adjust the grinding angle of the grinder, can perform constant control of the grinding pressure, and can collect dust generated during the grinding process. The grinding and polishing actuator is combined with the curved surface mobile adsorption processing robot to perform grinding and polishing operations on large and complex components, while ensuring the grinding quality and improving the grinding efficiency, achieving environmental protection and improving the processing level. The grinding and polishing actuator is small in size, light in weight, simple in structure, and easy to manufacture, and can promote the application of the curved surface mobile adsorption processing robot in the field of grinding and polishing of large and complex components.

[0022] 2. The grinding and polishing actuator provided by the present invention has the function of passively adjusting the angle of the grinder. The negative pressure generated by the dust collection module is used as the external driving force. The posture adjustment component adjusts the grinding angle of the grinder adaptively to the shape constraint of the grinded surface under the action of the bull's eye bearing. Finally, the axial direction of the grinder can be approximately consistent with the normal direction of the surface, and it is at the optimal grinding angle.

[0023] 3. The grinding and polishing actuator of the present invention adopts a design in which the feed motion module is externally placed and the voice coil motor and the force sensor are arranged in parallel, which effectively reduces the center of gravity and volume of the grinding and polishing actuator, makes it better compatible with the curved surface moving adsorption processing robot, and improves the stability of the movement.

[0024] 4. The grinding and polishing actuator provided by the present invention has the function of force-position decoupling control of the grinding machine. The feed motion component is in the upper layer, the constant force control module is in the lower layer, and the posture adjustment component serves as the connection hub of the above two modules. The upper and lower layered design makes the feed motion process and the posture adjustment process independent of the constant force control process and does not affect each other, so that the control of the posture adjustment process and the constant force control process is simpler and more efficient.

[0025] 5. The polishing actuator provided by the present invention has an environmental protection dust collection function. It has been environmentally designed from the source of dust generation. Using the negative pressure principle, the internal and external pressure difference generated by the fan makes the dust generated by polishing flow with the air flow. Under the action of the filter screen, it is separated from the air and stored in the dust collection tray, effectively collecting most of the dust generated by polishing and avoiding the adverse effects caused by its floating everywhere.

[0026] 6. The polishing actuator provided by the present invention realizes the multi-purpose use of the fan, greatly improving the equipment utilization rate. The polishing actuator uses the fan to generate negative pressure and cleverly utilizes the transmission property of atmospheric pressure to provide power sources for the three parts of the feed motion component, the pose adjustment component, and the dust collection module, reducing the number of power input devices, thereby reducing the volume and mass of the polishing actuator. Description of the Drawings

[0027] Figure 1 It is a schematic structural diagram of the polishing actuator of the curved surface moving adsorption processing robot according to the embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram after half-sectioning the Figure 1 ring-shaped sealing cover in

[0029] Figure 3 It is a schematic structural diagram of the dust collection module in the embodiment of the present invention;

[0030] Figure 4 It is a schematic structural diagram of the floating module (removing the ring-shaped sealing cover and the flexible lip) in the embodiment of the present invention;

[0031] Figure 5(a) is a schematic diagram of the ring-shaped sealing cover in the embodiment of the present invention;

[0032] Figure 5(b) is a sectional view of the ring-shaped sealing cover in the embodiment of the present invention;

[0033] Figure 6 It is a schematic structural diagram of the constant force control module in the embodiment of the present invention;

[0034] Figure 7 It is a parallel layout diagram of the constant force control module in the embodiment of the present invention.

[0035] In all the drawings, the same reference numerals are used to denote the same elements or structures, where: 1 - dust collection module; 2 - floating module; 3 - constant force control module; 4 - pneumatic grinder; 1.1 - fan; 1.2 - dust storage box; 1.3 - corrugated hose; 2.1 - limit ring; 2.2 - feed guiding shaft; 2.3 - ball linear bearing; 2.4 - sliding plate; 2.5 - universal joint; 2.6 - upper connecting plate; 2.7 - annular seal cover; 2.7.1 - nylon cloth; 2.7.2 - steel ring; 2.8 - lower connecting plate; 2.9 - support shaft; 2.10 - flexible lip; 2.11 - ball eye bearing; 3.1 - ball linear bearing; 3.2 - upper sliding plate; 3.3 - force sensor; 3.4 - lower sliding plate; 3.5 - voice coil motor; 3.5.1 - stator; 3.5.2 - rotor; 3.6 - hexagonal copper column. Detailed implementation mode

[0036] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0037] The polishing actuator of a curved surface moving adsorption processing robot provided by an embodiment of the present invention, as Figure 1 shown, includes a dust collection module 1, a floating module 2, a constant force control module 3 and a pneumatic grinder 4. To make the illustration clearer, after removing the peripheral annular seal cover, the structural schematic diagram of the polishing actuator is as Figure 2 shown.

[0038] Generally speaking, the fan 1.1 in the dust collection module 1 generates negative pressure, which serves as the external power source for the feed motion component and the pose adjustment component in the floating module 2 and the power source for its own dust collection. The dust collection module 1 is connected to the floating module 2 through the upper connecting plate 2.6, and the feed motion component of the floating module 2 is connected to the constant force control module 4 through the pose adjustment component of the floating module. The dust collection module 1 generates an atmospheric pressure difference acting on the upper connecting plate 2.6 to drive the pose adjustment component in the floating module 2 to perform a pose adjustment movement, and at the same time transmits the power to the feed motion component of the floating module 2 through the universal joint 2.5 to perform a feed motion. The feed and pose adjustment of the polishing actuator are carried out simultaneously. The constant force control module 3 is controlled by the voice coil motor 3.5 and moves independently. This polishing actuator can perform curved surface adaptive adjustment and perform constant force polishing on the workpiece surface at the best polishing angle to achieve high-quality polishing operations.

[0039] Specifically:

[0040] In this embodiment, the dust collection module 1 utilizes the principle of negative pressure dust collection to achieve the function of collecting and storing grinding dust in real time. A stable air flow is generated by the negative pressure formed by the fan. During the grinding process, the air flow drives the dust to flow, and the dust is transferred from the grinding machine to the dust storage box through the corrugated hose, and the separation of dust and air is realized through the filter screen at the fan installation port of the dust storage box. At the same time, the negative pressure generated by the fan also serves as the power source for the feeding motion component and the pose adjustment component in the floating module, achieving multi-purpose use of one machine, improving the utilization rate of the equipment, and reducing the weight of the grinding and polishing actuator at the same time.

[0041] Specifically, as Figure 3 shown, the dust collection module 1 includes a fan 1.1, a dust storage box 1.2 and a corrugated hose 1.3, where: the fan 1.1 is hermetically bonded to the top of the dust storage box 1.2, the corrugated hose 1.3 is hermetically bonded between the dust storage box 1.2 and the upper connecting plate 2.6, and a dust filter screen is installed at the fan installation port of the dust storage box 1.2; the size and position of the dust storage box are relatively flexible and can be changed according to actual situations.

[0042] Preferably, the corrugated hose is made of soft PVC material, has good flexibility, and will not interfere with the function of the floating module of the grinding and polishing actuator.

[0043] Preferably, the dust filter screen is made of SMS composite non-woven fabric, which can filter and separate air and dust and is an important part of the dust collection function.

[0044] In this embodiment, the floating module 2 includes a feeding motion component and a pose adjustment component. The feeding motion component utilizes the negative pressure generated by the fan as the driving force for the feeding motion of the grinding machine; the pose adjustment component adopts a curved surface passive compliance scheme, and through the atmospheric negative pressure generated by the fan combined with the two rotational degrees of freedom provided by the universal joint, the axis direction of the grinding and polishing actuator is passively adjusted to be consistent with the normal direction of the polished area under the curvature constraint of the curved surface, so that the grinding and polishing actuator performs grinding and polishing operations in the optimal posture.

[0045] Specifically, as Figure 4 shown, the feeding motion component includes a limit ring 2.1, a feeding guide shaft 2.2, a ball linear bearing 2.3, and a sliding plate 2.4. The two ends of the feeding guide shaft 2.2 are respectively installed on the limit ring 2.1 and the mobile adsorption processing robot chassis, and are evenly distributed circumferentially in three; the ball linear bearing 2.3 is installed on the sliding plate 2.4 and sleeved on the feeding guide shaft 2.2. The feeding guide shaft determines the stroke of the feeding motion of the grinding and polishing actuator, and the length of the feeding guide shaft can be changed according to actual requirements to adjust the stroke of the feeding motion.

[0046] The pose adjustment component includes a universal joint 2.5, an upper connecting plate 2.6, an annular seal cover 2.7, a lower connecting plate 2.8, a support shaft 2.9, a flexible lip 2.10, and a ball eye bearing 2.11. The universal joint 2.5 is installed between the center positions of the sliding plate 2.4 and the upper connecting plate 2.6; the support shaft 2.9 connects the upper connecting plate 2.6 and the lower connecting plate 2.8, and three are evenly distributed circumferentially. The annular seal cover 2.7 is hermetically bonded between the upper connecting plate 2.6 and the lower connecting plate 2.8; the flexible lip 2.10 is hermetically bonded to the lower side of the lower connecting plate 2.8, so that a relatively sealed environment is formed inside the grinding and polishing actuator as a whole. Under the action of the fan of the dust collection module, a relatively stable negative pressure environment can be generated inside the grinding and polishing actuator. The ball eye bearing 2.11 is installed on the lower connecting plate 2.8, and three are evenly distributed circumferentially and are in direct contact with the surface of the workpiece to be polished, which is used to reduce the frictional resistance between the grinding and polishing actuator and the curved surface during the movement process, which is beneficial to the stable adsorption and movement of the curved surface moving adsorption processing robot. At the same time, the ball eye bearing realizes the passive compliance adjustment of the pose of the grinding machine under the common constraints of the curved surface shape and the rotational freedom of the universal joint.

[0047] Preferably, the cross joint of the universal joint 2.5 is a sliding bearing, which has better flexibility and is not easily stuck. It is the key structure for the pose adjustment of the grinding and polishing actuator and is also the connecting component of the axial floating (feeding movement) part and the radial floating (pose adjustment) part.

[0048] Preferably, as shown in FIGS. 5(a) and 5(b), the annular seal cover 2.7 is a folding structure composed of a nylon cloth 2.7.1 and a plurality of steel rings 2.7.2. The steel rings are adhesively bonded to the inner side of the nylon cloth at equal intervals, which has certain flexibility and radial anti-deformation ability, and at the same time has good sealing performance.

[0049] Preferably, the flexible lip 2.10 includes three layers of vacuum suction cup sponge - annular PVC plate - vacuum suction cup sponge, which has good flexibility, can conform to the change of the curved surface shape for perfect fitting to maintain good airtightness, and realize stable negative pressure; the vacuum suction cup sponges are respectively bonded to both sides of the annular PVC plate; the periphery of the flexible lip is wrapped with carpet glue, which can reduce the frictional force during the movement process.

[0050] In this embodiment, as Figure 7As shown in the figure, the constant force control module 3 adopts a parallel layout, connecting the force actuator and the force sensing feedback device in parallel. This can not only accurately detect the axial grinding pressure, but also reduce the center of gravity and volume of the grinding and polishing actuator, improving the motion stability of the curved surface adsorption and mobile processing robot. At the same time, a force-position decoupling control scheme is adopted, where force control and position control are independent of each other and do not interfere with each other. The negative pressure provided by the fan is used as the main driving force during the feeding stage of the grinding and polishing actuator, and the voice coil motor is used to provide the grinding pressure during the stage when the grinding machine is in contact with the surface to be ground. The force sensor is combined for force feedback control.

[0051] Specifically, as Figure 6 shown, the constant force control module 3 includes a ball linear bearing 3.1, an upper sliding plate 3.2, a force sensor 3.3, a lower sliding plate 3.4, a voice coil motor 3.5, and a hexagonal copper column 3.6. The voice coil motor 3.5 is a linear voice coil motor, composed of a permanent magnet and a conductive coil, that is, the stator and the mover respectively. By using the Ampere force principle, the output thrust of the voice coil motor can be controlled by controlling the input current. Based on this, constant force control is achieved, which has the characteristics of high precision and high response speed.

[0052] The stator 3.5.1 of the voice coil motor 3.5 is fixedly connected to the upper connecting plate 2.6 through the hexagonal copper column 3.6, and the mover 3.5.2 is fixedly connected to the lower sliding plate 3.4. The mover 3.5.2 and the stator 3.5.1 of the voice coil motor 3.5 are respectively fixedly connected to the constant force control module 3 and the floating module 2, and the mover 3.5.2 and the stator 3.5.1 are independent of each other. Thus, the decoupling of position control and grinding force control can be achieved. Both ends of the force sensor 3.3 are connected to the upper sliding plate 3.2 and the lower sliding plate 3.4 respectively. Ball linear bearings 3.1 are evenly installed circumferentially on both the upper sliding plate 3.2 and the lower sliding plate 3.4, and are sleeved on the support shaft 2.9 to guide the movement.

[0053] Preferably, the grinding machine is a pneumatic grinding machine, which is small in volume, light in weight and easy to maintain.

[0054] In this embodiment, the grinding machine 4 is installed at the center position of the upper sliding plate 3.4. According to the force translation theorem of a rigid body, the force data measured by the force sensor 3.3 is equal to the axial grinding pressure applied by the grinding machine to the workpiece surface, which is used as the force feedback data in constant force control.

[0055] When the above-mentioned grinding and polishing actuator works, it includes the following processes:

[0056] First, the dust collection module starts to work, and the negative pressure generated by the dust collection module creates an atmospheric pressure difference on the upper connecting plate. Then, the axial floating part completes the feeding movement under the drive of the atmospheric pressure difference and stops when the bull's-eye bearing contacts the surface to be polished. Then, the bull's-eye bearing of the radial floating part slides along the surface shape under the action of the atmospheric pressure difference while adjusting the angle of the universal joint. When the axis direction of the grinding machine is approximately the same as the normal direction of the surface, the movement of the pose adjustment module stops, and the pose adjustment of the grinding machine is completed.

[0057] Then, the voice coil motor of the constant force control module is turned on to make the grinding machine output a constant grinding pressure and start grinding. Specifically, after the mover of the voice coil motor outputs a thrust, it is transmitted to the lower sliding plate, and then through the force sensor to the upper sliding plate. Since the upper sliding plate is fixedly connected to the grinding machine, finally, the thrust generated by the voice coil motor is transmitted to the grinding machine, forming a U-shaped force transmission structure. At the same time, according to the force translation theorem on a rigid body, the data measured by the force sensor is the axial grinding pressure of the grinding machine.

[0058] Finally, the dust generated during the grinding process is absorbed and stored in the dust storage box under the action of the dust collection module.

[0059] In summary, the grinding and polishing actuator of the present invention is designed for the robotic grinding and polishing operation of large and complex components. It has the functions of passive compliance adjustment of the grinding machine pose, constant control of the grinding pressure, and environmental protection dust collection. At the same time, it is small in size, light in weight, and simple in structure, and has good adaptability to the curved surface mobile adsorption processing robot, and can realize the efficient and high-quality grinding and polishing operation on the surface of large and complex components. Among them, the pose adjustment component in the floating module realizes the function of continuously adapting and adjusting as the axis direction of the grinding machine changes with the curvature of the free surface during the movement of the robot, so that the grinding machine always maintains a better grinding angle. The constant force control module realizes the constant control of the grinding pressure with high precision and high response speed. The dust collection module realizes the function of filtering and collecting grinding dust, largely avoiding the adverse effects of dust on the environment and human body. When in use, only need to connect the limit ring of the grinding and polishing actuator to the chassis of the curved surface mobile adsorption processing robot with the feeding guide shaft. The realization of its functions depends entirely on the device itself, and the robot is only used as a stable adsorption and moving vehicle.

[0060] It is easy for those skilled in the art to understand that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A grinding and polishing actuator for a curved surface moving adsorption processing robot, characterized in that, It includes a dust collection module (1), a floating module (2), a constant force control module (3) and a grinding machine (4), where: The floating module (2) includes a feeding motion component and a pose adjustment component. The feeding motion component includes a limit ring (2.1), a feeding guide shaft (2.2) and a sliding plate (2.4). One end of the feeding guide shaft (2.2) is installed on the limit ring (2.1), and the other end is installed on the chassis of the mobile adsorption processing robot; the sliding plate (2.4) is movably sleeved on the feeding guide shaft (2.2); the pose adjustment component includes a universal joint (2.5), an upper connecting plate (2.6), a support shaft (2.9), a lower connecting plate (2.8) and a bull's eye bearing (2.11) that are fixedly connected in sequence. The upper end of the universal joint (2.5) is installed on the sliding plate (2.4); a sealing component is arranged on the pose adjustment component to form a relatively sealed environment inside the pose adjustment component; The dust collection module (1) is used to generate negative pressure inside the sealed pose adjustment component; The grinding machine (4) is installed on the constant force control module (3); the constant force control module (3) is installed inside the pose adjustment component, and this constant force control module (3) is used to control the grinding pressure of the grinding machine (4); The constant force control module (3) includes an upper sliding plate (3.2), a force sensor (3.3), a lower sliding plate (3.4) and a voice coil motor (3.5), where: The upper sliding plate (3.2) and the lower sliding plate (3.4) are sleeved on the support shaft (2.9) through a ball linear bearing (3.1). Both ends of the force sensor (3.3) are connected to the upper sliding plate (3.2) and the lower sliding plate (3.4) respectively; the voice coil motor (3.5) includes a mover (3.5.2) and a stator (3.5.1). The mover (3.5.2) is installed on the lower sliding plate (3.4), and the stator (3.5.1) is fixedly connected to the upper connecting plate (2.6).

2. The grinding and polishing actuator for a curved surface moving adsorption processing robot according to claim 1, characterized in that, Both the feeding guide shaft (2.2) and the support shaft (2.9) are three in number and are evenly distributed circumferentially; the grinding machine (4) is installed at the central position of the upper sliding plate (3.2).

3. The grinding and polishing actuator for a curved surface moving adsorption processing robot according to claim 1, characterized in that, The sealing component includes an annular sealing cover (2.7) and a flexible lip (2.10). The annular sealing cover (2.7) is hermetically bonded between the upper connecting plate (2.6) and the lower connecting plate (2.8), and the flexible lip (2.10) is hermetically bonded to the lower side of the lower connecting plate (2.8).

4. The grinding and polishing actuator for a curved surface moving adsorption processing robot according to claim 3, characterized in that, The annular sealing cover (2.7) includes a nylon cloth (2.7.1) and a plurality of steel rings (2.7.2). The steel rings (2.7.2) are all adhesively supported inside the nylon cloth (2.7.1) to make the annular sealing cover (2.7) a retractable folding structure.

5. The grinding and polishing actuator for a curved surface moving adsorption processing robot according to claim 3, characterized in that, The flexible lip (2.10) includes an annular PVC plate, and vacuum suction cup sponges are adhesively bonded to both end faces of the annular PVC plate; the periphery of the flexible lip (2.10) is wrapped with carpet glue to reduce the friction during movement.

6. The grinding and polishing actuator for a curved surface moving adsorption processing robot according to claim 1, characterized in that, The dust collection module (1) includes a fan (1.1), a dust storage box (1.2) and a corrugated hose (1.3). The fan (1.1) is installed on the top of the dust storage box (1.2), and the dust storage box (1.2) is connected to the pose adjustment assembly through the corrugated hose (1.3); the dust storage box (1.2) is installed on the adsorption type mobile processing robot.

7. The grinding and polishing actuator for a curved surface moving adsorption processing robot according to claim 6, characterized in that, A dust filter screen is installed at the fan installation opening of the dust storage box (1.2), and the dust filter screen is made of SMS composite non-woven fabric.

8. The grinding and polishing actuator for a curved surface moving adsorption processing robot according to any one of claims 1-7, characterized in that, The grinding machine (4) is a pneumatic grinding machine, and the cross joint of the universal joint (2.5) is a sliding bearing.

9. A working method of the grinding and polishing actuator for a curved surface moving adsorption processing robot according to any one of claims 1-8, characterized in that, A negative pressure is generated in the sealed pose adjustment assembly by the dust collection module (1); in this negative pressure environment, the upper connecting plate (2.6) drives the sliding plate (2.4) to move along the direction of the feed guiding shaft (2.2) under the action of the internal and external atmospheric pressure difference, completing the feeding movement; at the same time, a pressure effect is generated on the bull's eye bearing (2.11), causing it to slide and adjust the axis direction of the grinding and polishing actuator under the constraint of the workpiece curved surface shape, completing the pose adjustment of the grinding and polishing actuator; The grinding pressure of the grinding machine (4) is controlled by the constant force control module (3), and the grinding machine (4) grinds the workpiece; the dust generated by grinding is absorbed into the dust collection module (1) in the negative pressure environment.

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