A high-precision compliant grinding system based on series elastic actuator

Abstract

The present invention discloses a high-precision compliant grinding system based on a series elastic driver, comprising: the first end of the elastic component is used to connect a grinding head in contact with a workpiece; the compliant component is connected to the second end of the elastic component and provides an adjustable pressure to the elastic component, and the elastic member of the elastic component can produce elastic deformation toward the compliant component; a capacitive displacement sensor is used to obtain the elastic deformation of the elastic component; the control system adjusts the pressure applied by the compliant component to the elastic component according to the elastic deformation produced by the elastic component until the actual contact force between the grinding head and the workpiece reaches the target contact force. By acquiring the displacement of the elastic member detected by the capacitive displacement sensor in real time, the contact force between the grinding head and the workpiece is continuously adjusted so that the actual detection value continuously approaches the pre-stored target contact force, thereby realizing closed-loop control. The use of a capacitive displacement sensor has the characteristics of high precision and fast response speed.

Description

Technical Field

[0001] The invention relates to the technical field of polishing and grinding, and in particular to a high-precision compliant grinding system based on a series elastic driver. Background Art

[0002] Polishing and grinding is an indispensable basic process in the manufacturing industry. It is widely used in high-precision design, such as aerospace, automobile, military, shipbuilding and other high-tech and high-precision fields. It is an important manifestation of a country's high-end manufacturing level. The control accuracy and stability of the grinding force during the grinding process determine the surface roughness and precision of the workpiece.

[0003] However, the current high-precision grinding of robots has core bottleneck problems such as inaccurate measurement, imprecise control, and slow response, which seriously restrict its processing quality and performance.

[0004] Therefore, how to realize a flexible control grinding device with high control accuracy and fast response is a problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] In view of this, the present invention provides a high-precision compliant grinding system based on a series elastic driver to achieve the purpose of high control accuracy and fast response.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A high-precision compliant grinding system based on a series elastic drive, comprising: a compliant component and an elastic component;

[0008] The first end of the elastic component is used to connect to the grinding head in contact with the workpiece and provide the grinding head with a contact force for pressing the workpiece;

[0009] The compliant component is connected to the second end of the elastic component, and provides an adjustable pressure to the grinding head through the elastic component, and the elastic member of the elastic component can produce elastic deformation toward the compliant component;

[0010] A capacitive displacement sensor, wherein the capacitive displacement sensor is used to obtain the elastic deformation of the elastic component;

[0011] A control system, wherein the control system adjusts the pressure applied by the compliant component to the elastic component according to the elastic deformation generated by the elastic component until the actual contact force between the grinding head and the workpiece reaches the target contact force.

[0012] Preferably, in the above-mentioned high-precision compliant grinding system based on the series elastic driver, when the elastic deformation is greater than the preset elastic deformation, the pressure applied by the compliant component to the elastic component is reduced until the actual contact force between the grinding head and the workpiece reaches the target contact force; when the elastic deformation is less than the preset elastic deformation, the pressure applied by the compliant component to the elastic component is increased until the actual contact force between the grinding head and the workpiece reaches the target contact force;

[0013] Or, when the elastic force corresponding to the elastic deformation is greater than the preset elastic force, the pressure applied by the compliant component to the elastic component is reduced until the actual contact force between the grinding head and the workpiece reaches the target contact force; when the elastic force corresponding to the elastic deformation is less than the preset elastic force, the pressure applied by the compliant component to the elastic component is increased until the actual contact force between the grinding head and the workpiece reaches the target contact force.

[0014] Preferably, in the above-mentioned high-precision compliant grinding system based on a series elastic drive, the elastic component comprises:

[0015] An upper end cover, one side of which is used to connect with the grinding head;

[0016] A lower end cover, one side of which is used to be connected to the compliant component;

[0017] An elastic member is located between the upper end cover and the lower end cover, the elastic member connects the other side of the upper end cover and the other side of the lower end cover, the elastic member can produce elastic deformation along the axial direction of the upper end cover, and the capacitive displacement sensor penetrates the lower end cover along the axial direction of the lower end cover, for measuring the elastic deformation of the elastic member.

[0018] Preferably, in the above-mentioned high-precision compliant grinding system based on a series elastic drive, the elastic member comprises:

[0019] an annular plate connecting the other side of the upper end cover and the other side of the lower end cover;

[0020] A connecting block, the connecting block is located at the center of the annular plate;

[0021] The spring sheet connects the annular plate and the connecting block, and the spring sheet can drive the annular plate to generate elastic deformation along the axial direction of the upper end cover.

[0022] Preferably, in the above-mentioned high-precision compliant grinding system based on a series elastic drive, the compliant component comprises:

[0023] A cylinder, a piston guide rod of the cylinder being used to abut against the elastic component;

[0024] A valve assembly is used to adjust the air intake amount and air intake direction of the cylinder, and the valve assembly is connected to the control system.

[0025] Preferably, in the above-mentioned high-precision compliant grinding system based on a series elastic drive, the valve assembly comprises:

[0026] An electromagnetic reversing valve for adjusting the air intake direction of the cylinder, the electromagnetic reversing valve is connected to the air supply channel of the cylinder, and the electromagnetic reversing valve is connected to the control system;

[0027] A proportional pressure regulating valve is used to adjust the air intake of the cylinder, wherein the proportional pressure regulating valve is connected to the air supply channel of the cylinder and is connected to the control system.

[0028] Preferably, in the above-mentioned high-precision compliant grinding system based on the series elastic drive, the cylinder is a bidirectional cylinder and includes a first cavity and a second cavity, and the first cavity and the second cavity are respectively connected to an interface of the electromagnetic reversing valve.

[0029] Preferably, in the above-mentioned high-precision compliant grinding system based on a series elastic drive, the compliant component further comprises:

[0030] A base, on which the cylinder is mounted;

[0031] An upper housing, wherein the piston guide rod abuts against the upper housing;

[0032] A mounting seat, the valve assembly is mounted on the mounting seat, the mounting seat is fixedly connected to the base, and the mounting seat is slidably connected to the upper shell along the telescopic direction of the piston guide rod.

[0033] Preferably, in the above-mentioned high-precision compliant grinding system based on the series elastic drive, the mounting seat and the upper shell are slidably connected via two sliding pairs.

[0034] Preferably, in the above-mentioned high-precision compliant grinding system based on the series elastic drive, the two sliding pairs are located on both sides of the circumference of the mounting seat.

[0035] The present invention provides a high-precision compliant grinding system based on a series elastic driver, wherein a contact force applied to a workpiece is provided to a grinding head through an elastic component, and an adjustable pressure is provided to the grinding head through the connection between the compliant component and the elastic component. Under the action of the compliant component and the grinding head, the elastic component causes the elastic part of the elastic component to produce elastic deformation toward the compliant component; the elastic deformation produced by the elastic part is detected by a capacitive displacement sensor, and the control system adjusts the pressure applied by the compliant component to the elastic component according to the elastic deformation produced by the elastic component until the actual contact force between the grinding head and the workpiece reaches the target contact force.

[0036] The present application realizes closed-loop control by acquiring the displacement of the elastic member detected by the capacitive displacement sensor in real time and continuously adjusting the pressure applied by the compliant component to the elastic component so that the actual detection value continuously approaches the pre-stored target contact force.

[0037] In addition, the capacitive displacement sensor has the characteristics of high precision and fast response speed. At the same time, the above-mentioned flexible component can play a buffering role. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is a structural schematic diagram of a high-precision compliant grinding system based on a series elastic driver disclosed in an embodiment of the present invention on a test platform;

[0040] Figure 2 It is a structural schematic diagram of a high-precision compliant grinding system based on a series elastic drive disclosed in an embodiment of the present invention;

[0041] Figure 3 It is an assembly relationship diagram of the elastic components of the high-precision compliant grinding system based on the series elastic drive disclosed in the embodiment of the present invention;

[0042] Figure 4 It is a schematic diagram of the structure of the flexible component of the high-precision compliant grinding system based on the series elastic drive disclosed in the embodiment of the present invention;

[0043] Figure 5 It is a schematic structural diagram of another direction of the flexible component of the high-precision compliant grinding system based on the series elastic drive disclosed in an embodiment of the present invention;

[0044] Figure 6It is a structural schematic diagram of another direction of the flexible component of the high-precision compliant grinding system based on the series elastic drive disclosed in the embodiment of the present invention;

[0045] Figure 7 It is a cross-sectional view of a high-precision compliant grinding system based on a series elastic drive disclosed in an embodiment of the present invention;

[0046] Figure 8 The electrical schematic diagram of the cylinder adjustment of the high-precision compliant grinding system based on the series elastic drive disclosed in the embodiment of the present invention;

[0047] 1 is the elastic component, 2 is the compliant component, 3 is the grinding head, 4 is the bracket, and 5 is the capacitive displacement sensor;

[0048] 11 is an upper end cover, 12 is an elastic member, and 21 is a lower end cover;

[0049] 111 is a connecting shaft, 121 is an annular plate, 122 is a spring sheet, and 123 is a connecting block;

[0050] 21 is an upper housing, 22 is a base, 23 is a mounting seat, 24 is a cylinder, 25 is a connecting plate, 26 is a piston guide rod, 27 is a guide rail, 28 is a guide member, and 29 is a valve assembly;

[0051] 211 is a slide groove, 212 is an assembly hole, 231 is a slider, 291 is an electromagnetic reversing valve, and 292 is a proportional pressure regulating valve. DETAILED DESCRIPTION

[0052] The invention discloses a high-precision compliant grinding system based on a series elastic driver, which achieves the purpose of high control accuracy and fast response.

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0055] With the increasing application of robots in various fields, robots are required to have the ability to perceive and control contact force in many occasions. For example, in the process of precision assembly, scraping, grinding, polishing and scrubbing of workpiece surfaces, the actuator at the end of the robot is required to maintain a stable contact force with the workpiece.

[0056] Compliant control is to obtain control signals from force sensors and use these signals to control the robot so that it moves in response to the changes.

[0057] Compliance can be divided into active compliance and passive compliance. Among them, the robot relies on some auxiliary compliance mechanisms (such as springs, dampers and other mechanical devices that can absorb or store energy) to make it naturally compliant to external forces when in contact with the environment, which is called passive compliance; the robot uses the feedback information of the force and adopts a certain control strategy to actively control the force, which is called active compliance.

[0058] like Figure 1 and Figure 2 As shown, the present application discloses a high-precision compliant grinding system based on a series elastic driver, including an elastic component 1 and a compliant component 2 connected to one end of the elastic component 1 . Figure 1 The schematic diagram of the structure of the high-precision compliant grinding system based on the series elastic drive on the test platform. It should be noted that the test platform is not limited in this solution, but is only displayed during the test. Specifically, during the test, the high-precision compliant grinding system based on the series elastic drive can be installed on the bracket 4.

[0059] The high-precision compliant grinding system based on a series elastic drive in the present application is equipped with a grinding head 3 at the second end of the elastic component 1, and the contact force between the grinding head 3 and the workpiece is obtained, and then the pressure applied to the grinding head by the compliant component 2 through the elastic component 1 is adjusted, so that the contact force between the grinding head 3 and the workpiece continuously approaches the target contact force.

[0060] like Figure 3 As shown, the elastic component 1 includes an upper end cover 11, an elastic member 12 and a lower end cover 13. Specifically, the upper end cover 11 is used to connect with the grinding head 3, and the contact force between the grinding head 3 and the upper end cover 11 can be transmitted to the elastic member 12, and the elastic member 12 is deformed along the axial direction of the grinding head 3.

[0061] Specifically, the upper end cover 11 is a disc structure, the grinding head 3 can be connected to the side of the upper end cover 11 away from the elastic member 12, and a connecting shaft 111 is fixed at the center position of the side of the upper end cover 11 close to the elastic member 12. The connecting shaft 111 in the embodiment of the present application is a regular hexagonal boss structure protruding from the disc structure.

[0062] It should be noted that the specific shape of the upper end cover 11 includes but is not limited to the above-mentioned disc structure, and the size of the upper end cover 11 is not limited herein.

[0063] The elastic member 12 includes an annular plate 121, a spring sheet 122 and a connecting block 123. The edge of the annular plate 121 is fixedly connected to the upper end cover 11; the connecting block 123 is located at the center of the annular plate 121, and the connecting block 123 has an assembly hole adapted to the connecting shaft 111. When the elastic member 12 is assembled with the upper end cover 11, the connecting block 123 is circumferentially limitedly connected to the connecting shaft 111; one end of the spring sheet 122 is connected to the connecting block, and the other end is connected to the inner ring of the annular plate 121.

[0064] The contact force generated by the grinding head 3 and the upper end cover 11 is transmitted to the connecting block 123 through the connecting shaft 111 . Under the action of the contact force and the elastic force of the spring sheet 122 , the connecting block 123 moves along the axial direction.

[0065] The lower end cover 13 is a circular ring plate, and a connecting beam is connected to the inner circle of the circular ring plate. After the lower end cover 13 and the elastic member 12 are assembled, there is a gap between the connecting beam and the connecting block 123 .

[0066] In some embodiments, the diameter of the upper end cover 11 is set to be larger than the diameter of the elastic member 12 , and the diameter of the elastic member 12 is set to be the same as the diameter of the lower end cover 13 .

[0067] When the elastic component 1 is assembled, the upper end cover 11 , the lower end cover 13 and the annular plate 121 may be connected by bolts. Specifically, a plurality of threaded holes may be provided in the circumferential direction of the upper end cover 11 , the lower end cover 13 and the annular plate 121 .

[0068] A through hole is provided on the connecting beam for assembling the capacitive displacement sensor 5. Figure 7 When the connecting block 123 moves along the axial direction, the distance between the connecting block 123 and the connecting beam will change. In the present application, the capacitive displacement sensor 5 measures the change in the moving distance of the connecting block 123, which is the deformation of the spring 122. Accordingly, the magnitude of the contact force between the grinding head 3 and the upper end cover 11 can be obtained.

[0069] It should be noted that the center line of the through hole coincides with the center line of the connecting shaft 111 and the center line of the connecting block 123 .

[0070] like Figures 4 to 7 As shown, the compliance assembly 2 includes: an upper shell 21, a base 22, a mounting seat 23, a cylinder 24, a guide plate 25, a piston guide rod 26, a guide rail 27, a guide member 28 and a valve assembly 29.

[0071] The upper shell 21 includes an upper top surface and a side surface. In some embodiments, the upper top surface is a disc structure, and the side surface is an arc-shaped plate arranged along the circumference of the upper top surface. The upper top surface is used to be fixedly connected with the lower end cover 13. Specifically, the upper top surface is provided with threaded holes circumferentially for threaded connection with the lower end cover 13. And an assembly hole 212 for the capacitive position sensor 5 to pass through is provided at the center of the top surface. The assembly hole 212 penetrates the upper top surface axially, and the assembly hole 212 coincides with the axis of the through hole on the connecting beam.

[0072] A sliding groove 211 extending along the axial direction of the upper shell 21 is provided on the side surface.

[0073] The base 22 is used as the assembly base of the entire compliant component 2 , and its size is not limited, including but not limited to a disc-shaped structure. The upper shell 21 and the base 22 are the support structures of the entire compliant component 2 .

[0074] One end of the mounting seat 23 is fixedly connected to the base 22, and the other end is connected to the slide groove 211 through a slider 231. The first sliding pair formed by the slider 231 and the slide groove 211 can make the upper shell 21 and the base 22 move relative to each other along the axis direction.

[0075] In order to further ensure the stability of the movement between the base 22 and the upper shell 21 and prevent the occurrence of a jamming problem caused by tilting, the other side of the mounting seat 23 in the present application is also connected to the upper shell 21 through a second sliding pair. Specifically, the second sliding pair includes a guide rail 27 provided on one of the mounting seat 23 and the upper shell 21 and a guide member 28 provided on the other, and the relative movement of the mounting seat 23 and the upper shell 21 is achieved by the movement of the guide member 28 in the guide rail 27.

[0076] One end of the cylinder 24 is fixed on the base 22, and the piston guide rod 26 of the cylinder 24 is used to abut against the upper top surface of the upper shell 21. In order to guide the direction of the piston guide rod 26 when it is extended and retracted, a guide plate 25 is fixed on the mounting seat 23 in the present application, and a guide hole is opened on the guide plate 25, and the piston guide rod 26 passes through the guide hole of the guide plate 25. The axial direction of the above-mentioned guide hole is parallel to the axial direction of the upper top surface.

[0077] It should be noted that the piston guide rod 26 abuts against the outer edge of the upper top surface of the upper shell 21 .

[0078] The number of cylinders 24 can be set according to different needs. In a preferred solution, the cylinders 24 are arranged along the circumference of the upper top surface of the upper shell 21. The cylinders 24 in the present application are bidirectional cylinders, that is, cylinders that can reciprocate.

[0079] In addition, the valve assembly 29 is fixed on the mounting seat 23, and the valve assembly 29 is connected to the air supply passage of the cylinder 24. Figure 8As shown, the valve assembly 29 disclosed in the embodiment of the present application includes an electromagnetic reversing valve 291 and a proportional pressure regulating valve 292. Among them, the proportional pressure regulating valve 292 mainly plays the role of adjusting the size of the air pressure input to the cylinder 24; the electromagnetic reversing valve 291 mainly plays the role of reversing the input air pressure of the cylinder 24 (that is, whether the first cavity A of the cylinder 24 is inlet or the second cavity B of the cylinder 24 is inlet) and then adjusting the direction of the output force of the cylinder 24. The cylinder 24 includes a first cavity A and a second cavity B, and the first cavity A and the second cavity B are respectively connected to an interface of the electromagnetic reversing valve 291. The electromagnetic reversing valve 291 can adjust whether the first cavity A of the cylinder 24 is inlet or the second cavity B is inlet.

[0080] Specifically, when the air supply device of the cylinder 24 is working, the gas generated by the air pump enters the proportional pressure regulating valve 292, which is responsible for adjusting the air pressure; then the gas enters the electromagnetic reversing valve 291, and the function of the electromagnetic reversing valve 291 is to control the direction of the gas entering the bidirectional cylinder 24, and then control the movement direction of the piston of the cylinder 24.

[0081] On the basis of the above structure, the present application also includes a control system. Specifically, the control system is communicatively connected to the capacitive displacement sensor 5 , and the control system is also communicatively connected to both the electromagnetic reversing valve 291 and the proportional pressure regulating valve 292 .

[0082] During operation, the distance between the capacitive displacement sensor 5 and the connecting block 123 is obtained, so as to obtain the contact force between the grinding head 3 and the workpiece transmitted through the upper end cover 11; the capacitive displacement sensor 5 transmits the obtained displacement information to the control system, and the control system calculates the size of the elastic force of the spring piece 122 according to the pre-stored elastic coefficient of the spring piece 122, which is the actual detection value between the grinding head 3 and the workpiece, and compares the actual detection value with the size of the pre-stored target contact force.

[0083] When the actual detected value is less than the target contact force, the pressure applied by the compliance component 2 to the elastic component 1 is increased until the actual contact force between the grinding head 3 and the workpiece reaches the target contact force. Specifically, the control system controls the proportional pressure regulating valve 292 to increase the air intake of the second cavity B of the cylinder 24, thereby increasing the pressure applied by the piston of the cylinder 24 to the upper end cover 11.

[0084] When the actual detected value is greater than the target contact force, the pressure applied by the compliance component 2 to the elastic component 1 is reduced until the actual contact force between the grinding head 3 and the workpiece reaches the target contact force. Specifically, the control system controls the proportional pressure regulating valve 292 to increase the air intake of the first cavity A of the cylinder 24, thereby reducing the pressure applied by the piston of the cylinder 24 to the upper end cover 11.

[0085] Of course, in practice, the elastic deformation of the spring piece 122 can also be used as a judgment condition, specifically:

[0086] When the elastic deformation is greater than the preset elastic deformation, the pressure applied by the flexible component 2 to the elastic component 1 is reduced until the actual contact force between the grinding head 3 and the workpiece reaches the target contact force; when the elastic deformation is less than the preset elastic deformation, the actual pressure applied by the flexible component 2 to the elastic component 1 is increased until the actual contact force between the grinding head 3 and the workpiece reaches the target contact force.

[0087] By acquiring the distance between the capacitive displacement sensor 5 and the connecting block 123 in real time, the size of the proportional pressure regulating valve is continuously adjusted, and then the pressure applied to the upper end cover by the cylinder 24 is continuously adjusted, so that the actual detection value is continuously close to the pre-stored target contact force. That is, the above control process realizes closed-loop control.

[0088] It should be noted that the control system can adjust the air pressure released by the proportional pressure regulating valve 292 by controlling the voltage input to the proportional pressure regulating valve 292, and different air pressures correspond to different cylinder output forces.

[0089] The control process in the present application can avoid the overshoot problem caused by using traditional force sensors, and the control process uses a capacitive displacement sensor 5 with the characteristics of high precision and fast response speed. At the same time, the above-mentioned flexible component 2 can play a buffering role.

[0090] As shown in the present invention and claims, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not specifically refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements. The elements defined by the sentence "includes a..." do not exclude the existence of other identical elements in the process, method, commodity or device that includes the elements.

[0091] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0092] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A high-precision compliant grinding system based on a series elastic drive, characterized in that: include: compliant components and elastic components; The first end of the elastic component is used to connect to the grinding head in contact with the workpiece and provide the grinding head with a contact force for pressing the workpiece; The compliant component is connected to the second end of the elastic component, and provides an adjustable pressure to the grinding head through the elastic component. The elastic member of the elastic component can produce elastic deformation toward the compliant component, and the elastic member produces elastic deformation along the direction of the line connecting the first end and the second end of the elastic component; The elastic component comprises: an upper end cover, one side of which is used to connect with the grinding head; a lower end cover, one side of which is used to connect with the compliance component; an elastic member located between the upper end cover and the lower end cover, the elastic member connecting the other side of the upper end cover and the other side of the lower end cover, the elastic member being capable of generating elastic deformation along the axial direction of the upper end cover, and the capacitive displacement sensor penetrating the lower end cover along the axial direction of the lower end cover, for measuring the elastic deformation amount of the elastic member; The elastic member includes: an annular plate, the annular plate connecting the other side of the upper end cover and the other side of the lower end cover; a connecting block, the connecting block is located at the center of the annular plate; a spring plate, the spring plate connects the annular plate and the connecting block, and the spring plate can drive the annular plate to generate elastic deformation along the axial direction of the upper end cover; A capacitive displacement sensor, wherein the capacitive displacement sensor is used to obtain the elastic deformation of the elastic component; A control system, wherein the control system adjusts the pressure applied by the compliant component to the elastic component according to the elastic deformation generated by the elastic component until the actual contact force between the grinding head and the workpiece reaches the target contact force.

2. The high-precision compliant grinding system based on a series elastic drive according to claim 1, characterized in that: When the elastic deformation is greater than the preset elastic deformation, the pressure applied by the compliant component to the elastic component is reduced until the actual contact force between the grinding head and the workpiece reaches the target contact force; when the elastic deformation is less than the preset elastic deformation, the pressure applied by the compliant component to the elastic component is increased until the actual contact force between the grinding head and the workpiece reaches the target contact force; Or, when the elastic force corresponding to the elastic deformation is greater than the preset elastic force, the pressure applied by the compliant component to the elastic component is reduced until the actual contact force between the grinding head and the workpiece reaches the target contact force; when the elastic force corresponding to the elastic deformation is less than the preset elastic force, the pressure applied by the compliant component to the elastic component is increased until the actual contact force between the grinding head and the workpiece reaches the target contact force.

3. The high-precision compliant grinding system based on a series elastic drive according to claim 1, characterized in that: The compliant component comprises: A cylinder, a piston guide rod of the cylinder being used to abut against the elastic component; A valve assembly is used to adjust the air intake amount and air intake direction of the cylinder, and the valve assembly is connected to the control system.

4. The high-precision compliant grinding system based on a series elastic drive according to claim 3 is characterized in that: The valve assembly comprises: An electromagnetic reversing valve for adjusting the air intake direction of the cylinder, the electromagnetic reversing valve is connected to the air supply channel of the cylinder, and the electromagnetic reversing valve is connected to the control system; A proportional pressure regulating valve is used to adjust the air intake of the cylinder, wherein the proportional pressure regulating valve is connected to the air supply channel of the cylinder and is connected to the control system.

5. The high-precision compliant grinding system based on a series elastic drive according to claim 4, characterized in that: The cylinder is a bidirectional cylinder and includes a first cavity and a second cavity. The first cavity and the second cavity are respectively connected to an interface of the electromagnetic reversing valve.

6. The high-precision compliant grinding system based on a series elastic drive according to claim 3, characterized in that: The compliant component also includes: A base, on which the cylinder is mounted; An upper housing, wherein the piston guide rod abuts against the upper housing; A mounting seat, the valve assembly is mounted on the mounting seat, the mounting seat is fixedly connected to the base, and the mounting seat is slidably connected to the upper shell along the telescopic direction of the piston guide rod.

7. The high-precision compliant grinding system based on a series elastic drive according to claim 6, characterized in that: The mounting seat and the upper shell are slidably connected via two sliding pairs.

8. The high-precision compliant grinding system based on a series elastic drive according to claim 7, characterized in that: The two sliding pairs are located on both sides of the mounting seat in the circumferential direction.

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