A control method for polishing a spherical surface based on a polishing pad

Abstract

The application discloses a camber polishing control method based on a polishing disc, which is used for polishing the camber part of a structural component with a camber region to be processed by an industrial mechanical arm; the camber region to be processed is modeled, defects are repaired and defect points are recorded by using a three-dimensional scanning technology, then the region is divided by using a honeycomb grid composed of honeycomb holes, and the divided region is positioned and path set by using the mechanical arm with the polishing disc; when the path is set, the central point is processed first and then the outer edge point is processed in a clockwise or counterclockwise manner in the honeycomb hole, and the central point honeycomb hole is processed first and then the outer edge honeycomb hole is processed in a gradual spiral line manner on the whole honeycomb grid; then the defect point position is polished and processed again. The method can be used for high-precision surface polishing of the camber by the mechanical arm, is stable in performance, and can realize intelligent and automatic operation in real time.

Description

Technical Field

[0001] This invention relates to surface finishing technology in the field of machining, specifically to a method for controlling arc surface polishing based on a polishing pad. Background Technology

[0002] In the field of machining, after structural components are manufactured, whether by forging, stamping, casting or other methods, their surfaces usually have a certain degree of roughness. In actual use, considering the performance, it is usually necessary to perform surface processing on structural components. Unlike grinding in traditional surface processing, polishing is mainly used to improve the smoothness of the surface of structural components so that they have better appearance and / or performance.

[0003] Traditional polishing processes typically involve manual polishing of rotating surfaces using polishing equipment. However, this method suffers from high labor costs, high labor intensity, long polishing times, low efficiency, and unstable production quality. For these reasons, polishing equipment is also used to polish structural components. The most common type of existing polishing equipment is the polishing disc. This type of disc uses a soft, velvety surface as the polishing surface, combined with the high rotation speed of the disc, to achieve the polishing operation. It has high polishing efficiency and good results. However, this type of polishing disc only achieves surface polishing through the relative linear motion between the disc and the structural component, resulting in low degree of freedom. Therefore, it is usually only used for flat surface polishing.

[0004] However, with the changes in production and living needs and the renewal of design concepts under modern process conditions, more and more equipment begins to use arc surface structural components for structural combination. The part that needs to be polished on the arc surface structural component includes an arc surface that is not suitable for polishing disc operation and still needs to be manually polished. However, as mentioned above, this manual operation method is too low in efficiency and has limitations for large-sized structural components. Considering that an industrial robot simulating manual operation has better replaceability for manual operation, in the prior art, a robot can be used to replace manual operation on a modern production line. A small number of six-axis robots are used in the polishing process in the prior art, which can meet the high-precision polishing processing requirements. However, the polishing structure of the polishing head used is mostly a pen-shaped or rod-shaped polishing head. The polishing head structure is small in size, and the processing part at the top of the polishing head is mostly cylindrical or mushroom-shaped. The processing form is close to point processing, and the single processing area is limited. Although it can be automatically operated by writing software, the processing efficiency is still low. When the polishing head is processed by a robot, the arc surface track is usually complex when the polishing head is operated by simulating the path. The polishing head is also prone to leave fine strip-shaped polishing marks on the surface at the intersection of the path during polishing processing, thereby affecting the polishing effect and quality.

[0005] Based on the above reasons, a reasonable robot control method needs to be designed to optimize the polishing path on the arc surface, which can effectively improve the polishing efficiency and effect of structural components with arc surfaces, especially large-sized structural components with arc surfaces, and has practical industrial application prospects. SUMMARY

[0006] The technical problem solved by the present application is to provide an arc polishing control method based on a polishing disc, which can use a standardized industrial robot to polish the arc surface part of a structural component with a to-be-processed arc surface region. The method has high automation and can automatically correct the robot during polishing to achieve high-precision arc polishing.

[0007] The technical problem solved by the present application is solved by the following technical solution:

[0008] An arc polishing control method based on a polishing disc is used to polish the arc surface part of a structural component with a to-be-processed arc surface region by an industrial robot.

[0009] The arc surface polishing control method is based on intelligent hardware, and the hardware part includes a fixing part capable of positioning and clamping a structural component to be machined, and an industrial robot provided on the side of the fixing part and used for polishing the structural component; the industrial robot is a programmable robot driven and controlled by an industrial control terminal, has more than six degrees of freedom, and is provided with a polishing disc as a machining element on the arm head of the industrial robot; the method specifically includes the following operation steps:

[0010] S1, a three-dimensional scanning device is used to scan the structural component to be machined, the surface profile data modeling of the arc surface region to be machined is obtained, the modeling data is compared with the design data, and the surface repair of the machining defect is performed through the comparison, the modeling data close to the design data after the surface repair and the structural component after the surface repair are obtained; the defect point positions of the modeling data and the design data are recorded by the device;

[0011] S2, the structural component processed by step S1 is divided and processed in the arc surface region to be machined based on the design data, a plurality of regular hexagonal honeycomb holes with the same size are virtually formed in the arc surface region to be machined during the division and processing, and the honeycomb holes collectively form a honeycomb grid capable of covering the surface of the arc surface region to be machined; the side length of a single honeycomb hole is recorded by the device;

[0012] S3, a usable polishing disc is selected, the center position of the polishing surface of the usable polishing disc is formed with a concave arc portion, the corresponding arc surface of the arc portion is a spherical surface, the spherical surface has a minimum arc greater than the corresponding arc surface region to be machined on the structural component to be machined, so that the polishing disc can be wrapped around any position of the arc surface region to be machined and keep the center point adhered during polishing machining; the orthogonal projection radius of the concave arc portion is controlled to be 2 / 3-1 times the side length of a single honeycomb hole;

[0013] S4, the polishing disc selected by step S3 is fixed and assembled on the arm head of the industrial robot, and polishing operation is directly performed on the arc surface region to be machined after correction, and the following conditions are followed during the polishing operation:

[0014] ① the industrial robot takes the arc surface center point of the arc portion on the polishing disc as the positioning point;

[0015] ② find the honeycomb hole corresponding to the center point of the arc surface region to be machined in the virtually formed honeycomb grid, take the center point of the honeycomb hole as the reference point, and start the polishing operation after positioning the positioning point to the reference point, and the feeding path of the polishing operation follows:

[0016] In a single honeycomb hole: first polish the center point of the honeycomb hole, then move the positioning point to the first corner point on the hexagonal contour of the honeycomb hole, and sequentially process the remaining five corner points on the hexagonal contour of the honeycomb hole in a clockwise or counterclockwise manner, that is, complete the polishing process on a single honeycomb hole;

[0017] On the entire honeycomb grid: after the polishing process on a single honeycomb hole is completed, the positioning point is sequentially processed in a gradual spiral line manner to the reference point corresponding to the other honeycomb holes outside the honeycomb hole, until the entire to-be-processed curved surface area is processed, that is, a processing cycle is completed; the processing cycle of S4 is repeated until the surface finish requirement of the to-be-processed curved surface area except the defect point position is met;

[0018] ③The polishing time of the polishing disc at the center point of the honeycomb hole is 2-4 times the polishing time of the corresponding corner points of the hexagonal contour of the honeycomb hole;

[0019] S5, in the defect point position, a virtual honeycomb hole with the same honeycomb hole in step S2 is formed with the defect point as the center point, and a repair honeycomb grid is virtually formed on the outer edge of the honeycomb hole to cover the defect area, and the repair honeycomb grid is polished according to the method of step S4, until the defect point position meets the surface finish requirement, that is, the curved surface machining process is completed.

[0020] As a further limitation, the arm head of the industrial robot arm is provided with a stabilizing frame, and the polishing disc is assembled as a machining element through the stabilizing frame.

[0021] As a further limitation, after the to-be-processed structure is positioned and clamped by the fixing member, the corresponding reference point on the structure is the position point closest to the side of the industrial robot arm.

[0022] As a further limitation, in step S1, the surface repair of the machining defect of the to-be-processed structure is performed by sheet metal and polishing.

[0023] As a further limitation, in step S4, in the machining step corresponding to the entire honeycomb grid, the gradual spiral line is opposite in rotation direction to the machining robot arm sequentially machining different corner points of the honeycomb hole.

[0024] As a further limitation, in step S2, when the to-be-processed curved surface area is divided, the polishing operation mode for the edge region of the to-be-processed curved surface area which does not meet one complete honeycomb hole is: a complete honeycomb hole is virtually formed to cover the region, and the center point and the overlapping parts of the six corner points of the honeycomb hole in the region are polished.

[0025] As a further limitation, the industrial robot arm has an industrial PC or PLC or DCS as an industrial control end device, and the industrial control end device has a readable data interface through which the executable polishing disc-based camber polishing control method running software is directly read from the readable storage medium.

[0026] A camber batch processing method of a structural component, which is based on the polishing disc-based camber polishing control method, processes the first structural component in the batch-processed structural components according to the polishing disc-based camber polishing control method, and stores the running data of steps S2 and S4 during the processing, and the stored data includes:

[0027] The side length of the honeycomb hole in step S2 and the position of the corresponding honeycomb grid on the structural component;

[0028] The running parameters, running path and processing cycle number of the industrial robot arm in step S4;

[0029] Then, other structural components in the batch-processed structural components are processed according to the polishing disc-based camber polishing control method, the above-mentioned stored data is directly called in steps S2 and S4 during the processing, and the processing of a single structural component is completed after step S5 is completed.

[0030] The method of the present application corrects the misaligned position by performing secondary polishing work on the misaligned position through the peripheral misalignment repair of the center point of the camber, to compensate for the defect that the polishing repair force of the polishing disc is inconsistent at different contact points on the polishing disc surface during the polishing process, so that the machining performance is more stable, the consistency of the processed products is higher, and batch operation is facilitated, thereby reducing operating costs. BRIEF DESCRIPTION OF DRAWINGS

[0031] 1 is a schematic diagram of the fitting state of the polishing disc surface and the to-be-processed camber region in the polishing state.

[0032] Figure 2It is an effect diagram of the outer edge dislocation repair of the polishing disc in the polishing operation state of the polishing disc surface.

[0033] Figure 3 It is a running track diagram of the mechanical arm positioning point on a single honeycomb hole in the application.

[0034] Figure 4 It is a running track diagram of the mechanical arm positioning point on a honeycomb grid in the application.

[0035] 1, structure component to be processed; 2, polishing disc polishing surface; 3, polishing disc body; 4, polishing disc connecting part. DETAILED DESCRIPTION

[0036] In order to make the technical means, creative features, purposes and effects realized by the application easy to understand, the application is further described below in combination with specific diagrams.

[0037] In the following examples, those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as that generally understood by those skilled in the art to which the present application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the prior art, and should not be interpreted with idealized or overly formal meanings unless defined as such.

[0038] The arc surface polishing control method based on the polishing disc in the embodiment is used for polishing the arc surface part of a stainless steel structure component with an arc surface. The polishing disc with a specific structure is used to realize the polishing operation by cooperating with the industrial robot arm during the processing. The corresponding industrial robot arm is a six-axis industrial robot arm produced by Hebei Angtai Robot Technology Co., Ltd. The arm head of the industrial robot arm is provided with a turntable and a stabilizing frame. The polishing disc is installed on the stabilizing frame and can be rotated at high speed by the turntable to realize surface polishing operation.

[0039] The industrial robot arm in the embodiment is a programmable robot arm. The industrial PC is used as the industrial control terminal device. The software program is installed on the industrial PC. The working mode and the spatial running path of the industrial robot arm can be controlled by programming in the software program. The industrial PC also has a readable data interface. The readable data group matched with the software program is plugged into the readable data interface. The software program can directly control the industrial robot arm according to the readable data group after the readable data group is imported.

[0040] The structure of the polishing disc is as follows: Figure 1As shown, it includes a polishing disc connecting part 4 assembled with the industrial mechanical arm upper stabilizer, the polishing disc connecting part 4 is fixedly connected with the polishing disc body 3, and the polishing disc polishing surface 2 is formed on the disc surface of the polishing disc body 3 as a polishing working surface, and in other embodiments, the polishing disc polishing surface 2 can also be replaced with other consumable materials on the market that can be used for polishing disc polishing surfaces. The polishing disc polishing surface 2 is a customized structure, which has an inner concave arc part as shown, which is formed at the center position of the polishing surface of the polishing disc, is a spherical arc, and has a minimum arc greater than the minimum arc of the arc surface area to be processed on the structural component 1 to be processed. Under this structure, the polishing disc polishing surface 2 can be kept in the center point according to the Figure 1 As shown, it includes a polishing disc connecting part 4 assembled with the industrial mechanical arm upper stabilizer, the polishing disc connecting part 4 is fixedly connected with the polishing disc body 3, and the polishing disc polishing surface 2 is formed on the disc surface of the polishing disc body 3 as a polishing working surface, and in other embodiments, the polishing disc polishing surface 2 can also be replaced with other consumable materials on the market that can be used for polishing disc polishing surfaces. The polishing disc polishing surface 2 is a customized structure, which has an inner concave arc part as shown, which is formed at the center position of the polishing surface of the polishing disc, is a spherical arc, and has a minimum arc greater than the minimum arc of the arc surface area to be processed on the structural component 1 to be processed. Under this structure, the polishing disc polishing surface 2 can be kept in the center point according to the

[0041] The method of the present embodiment is used in operation, first using a 3D scanning instrument to perform three-dimensional scanning of the surface profile of the structural component 1 to be processed, taking the arc surface area to be processed to model the surface profile data, obtaining the surface modeling data, comparing the surface modeling data with the design data of the structural component 1 to be processed, finding the processing defect position, and repairing the concave position using sheet metal process and the convex position using a grinding machine. After surface repair, the modeling data close to the design data and the structural component 1 to be processed after surface repair are obtained. The structural component 1 to be processed obtained after repair is scanned again, and the defect position of the modeling data and the design data is recorded.

[0042] In another embodiment, the three-dimensional scanning and modeling can be performed again after one repair, and the above steps are repeated until a structural component 1 to be processed with better surface parameters is obtained. This operation method is suitable for products with higher machining accuracy and higher surface finish requirements.

[0043] Then use three-dimensional software to model the arc surface area to be processed on the structural component 1 to be processed, and use a honeycomb grid to cover the modeling surface of the arc surface area to be processed. The honeycomb grid is an arc surface consistent with the arc surface area to be processed, and the modeling state as shown in Figure 4 As shown, Figure 4 The corresponding dashed area in the middle is the arc surface area to be processed. The single side length of the regular hexagonal honeycomb hole in the honeycomb grid is consistent with the radius of the arc part on the polishing disc body 3.

[0044] After the surface repair of the structural component 1 is completed, it is positioned and fixed using fasteners. During fixing, the center point of the corresponding curved surface area to be processed on the structural component 1 is kept as close as possible to one side of the industrial robotic arm. Simultaneously, the polishing disc is assembled on the industrial robotic arm and its position is fully calibrated. After calibration, the industrial PC controls the industrial robotic arm to directly perform polishing operations on the curved surface area. During polishing, the honeycomb hole corresponding to the center point of the curved surface area is located in the virtual honeycomb grid. Using the center point of this honeycomb hole as a reference point, the center point of the curved surface on the polishing disc is used as the positioning point on the industrial robotic arm. After positioning it to the reference point, the polishing operation begins. Polishing fluid is used during the polishing process. The feed path of the industrial robotic arm during the polishing operation is as follows:

[0045] On a single honeycomb cell, according to... Figure 3 The process proceeds along the path indicated by the arrows, starting from the reference point A0. After polishing at A0, the process moves sequentially along the six corner points of the outer contour of the honeycomb holes (i.e., sequentially feeds to the corresponding A1, A2, A3, A4, A5, and A6). Once the polishing at point A6 is completed, the polishing of a single honeycomb hole is finished. During this process, because the center point of the concave arc surface of the polishing pad 2 is in contact with the surface of the arc area to be processed on the structural component 1, the polishing process is completed. Figure 1 In this state, although the polishing pad 2 has a certain degree of elasticity, there is still a noticeable reduction in the polishing effect at the center and outer edges. The polishing effect in the outermost area decreases from the center outwards. However, the hexagonal path with honeycomb holes can repair the reduced polishing effect in these areas during the edge and center polishing processes. The repair method is as follows: Figure 2 As shown, when the polishing pad is at position one corresponding to the center point, when the polishing pad moves to the corresponding corner point for polishing, it corresponds to positions two and three as shown in the figure. This allows for restorative polishing by utilizing the edge of the concave arc surface of the polishing pad, thus compensating for the reduced polishing effect. At the same time, by utilizing the positional relationship of the corresponding corner points on the honeycomb holes in conjunction with the size relationship of the polishing surface 2 of the polishing pad, the honeycomb hole area can be fully covered, avoiding the appearance of fine striped grinding marks that are prone to appear on the edges of polished parts, thereby improving the polishing effect and polishing quality of the polished surface.

[0046] The polishing pad 2 travels along the entire honeycomb grid as follows: Figure 4 As shown, it starts from the honeycomb hole corresponding to the reference point and feeds outward in an involute pattern in the same direction, that is, according to... Figure 4 The corresponding B0, B1, B2, B3...B62 The order feeding is continued until the entire arc surface area to be processed is processed, and a processing cycle is completed. In this process, the corresponding honeycomb grid should be regarded as a spatial grid structure that can be extended infinitely in space, and the effective honeycomb holes are selected as the effective processing points for polishing processing when the corresponding arc surface area to be processed is processed. Figure 4 When the edge position of the arc surface area to be processed is reached, all the honeycomb holes that coincide with the dashed line are selected as the effective honeycomb holes, and the corner points that coincide with the dashed line on the effective honeycomb holes that overlap the edge are selected as the effective processing points for polishing processing. In another embodiment, the rotation direction of the polishing disc polishing surface 2 on the entire honeycomb grid corresponding to the involute spiral line can also be opposite to the rotation direction selected when the processing mechanical arm sequentially processes the different corner points of the single honeycomb hole, so that a better processing effect can be obtained, but the processing efficiency will be correspondingly reduced.

[0047] The positioning point on the polishing disc polishing surface 2 moves on different honeycomb holes according to the pattern shown in the figure, that is, after all the polishing processing points (i.e., the center point and the six corner points) on the previous honeycomb hole are completed, the positioning point is directly moved from the last corner point to the center point on the next honeycomb hole, and then moves according to the movement path of the positioning point on a single honeycomb hole in the foregoing operation steps. Figure 3

[0048] In this embodiment, the polishing disc polishing surface 2 has the same polishing processing time for any corner point position. Since in an ideal case, a single corner point position in any honeycomb hole will undergo three polishing operations, in order to ensure the synchronization of the polishing processing time of the center point of the honeycomb hole, the polishing processing time of the center point of the honeycomb hole is controlled to be 2-4 times the polishing processing time of the corner points corresponding to the hexagonal outline of the honeycomb hole. In this embodiment, the polishing processing time of the center point of the honeycomb hole is 3 times the polishing processing time of the corner points.

[0049] In different embodiments, the above operation steps can be repeated multiple times to meet the surface finish requirements of positions other than the defect point positions on the arc surface area to be processed. When the polishing operation is completed, the same honeycomb hole with reference points is virtually generated in the same way with the defect point as the center point at the defect point position, and a repair honeycomb grid is virtually generated on the outer edge of the honeycomb hole to cover the defect area. The repair honeycomb grid is polished according to the polishing operation process described above, and the defect point position meets the surface finish requirements, that is, the arc surface processing process is completed.

[0050] ​In the embodiment, the running software capable of independently completing the above process can be stored in a storage medium (such as a U disk, a hard disk), and then inserted into a corresponding other industrial control terminal device, and the industrial control terminal device is connected with the industrial robot, so that the industrial robot is automatically operated according to the running software after the running software is run.

[0051] When the structure parts need to be processed in batches, the following data can also be stored and matched with the corresponding structure parts and polishing discs:

[0052] ①the side length of the honeycomb hole, ②the position data of the honeycomb grid on the structure part, ③the operation parameters of the industrial robot, ④the operation path of the industrial robot on a single honeycomb hole and the entire honeycomb grid, and ⑤the processing cycle number.

[0053] Then, when other structure parts in the batch-processed structure parts are processed, the industrial PC runs the automatic software, and the corresponding data is written into the software for direct calling, so that the same batch of structure parts with the same structure can be continuously processed in an industrial automatic processing manner.

[0054] The above shows and describes the basic principles, main features and advantages of the present application. It should be understood by those skilled in the art that the present application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A method for controlling the polishing of curved surfaces based on a polishing pad, used to polish the curved portion of a structural component with a region to be processed using an industrial robotic arm; characterized in that, The arc surface polishing control method is based on smart hardware; Its hardware includes a fixing component that can position and clamp the structural component to be processed, and an industrial robotic arm set on the side of the fixing component for polishing the structural component; the industrial robotic arm is a programmable robotic arm that is driven and controlled by an industrial control terminal device. The industrial robotic arm has more than six degrees of freedom, and a polishing disc is mounted on the arm head as a processing element. The arc surface polishing control method specifically includes the following steps: S1. Use a 3D scanning device to perform a three-dimensional scan of the structural component to be processed, take the surface contour data of the arc area to be processed and model it, compare the modeling data with the design data, and repair the surface defects through comparison. After surface repair, the modeling data close to the design data and the structural component with the surface repair completed are obtained. The equipment records the location of defects in the modeling and design data. S2. Based on the design data, the structural component processed in step S1 is divided into areas to be processed. During the division process, several regular hexagonal honeycomb holes of the same size are virtually created in the area to be processed. The honeycomb holes together form a honeycomb grid that can cover the surface of the area to be processed. The side length of a single honeycomb hole is recorded by the device. S3. Select a usable polishing pad. The polishing surface of the usable polishing pad has a concave arc-shaped part formed at the center position. The arc surface corresponding to the arc-shaped part is a spherical surface. The spherical surface has a curvature greater than the minimum curvature of the corresponding arc-shaped area on the structural component to be processed, so that the polishing pad can wrap around any position of the arc-shaped area to be processed during polishing and keep the center point in contact. Control the orthographic projection radius of the concave arc-shaped part to be 2 / 3 to 1 times the side length of a single honeycomb hole. S4. The polishing disc selected in step S3 is fixedly assembled on the head of the industrial robotic arm, and after calibration, polishing is performed directly on the curved surface area to be processed. The following conditions are followed when performing the polishing operation: ①The industrial robotic arm uses the center point of the arc surface of the arc-shaped part on the polishing disc as the positioning point; ② Locate the honeycomb hole corresponding to the center point of the curved surface area to be processed in the virtual honeycomb grid. Use the center point of this honeycomb hole as the reference point, and start the polishing operation after positioning the positioning point to the reference point. The feed path of the polishing operation follows: On a single honeycomb hole: First, polish the center point of the honeycomb hole. Then, move the positioning point to the first corner point on the hexagonal outline of the honeycomb hole. Process the remaining five corner points on the hexagonal outline of the honeycomb hole in a clockwise or counterclockwise manner to complete the polishing process on a single honeycomb hole. On the entire honeycomb grid: After polishing of a single honeycomb hole is completed, other honeycomb holes on the outside of the reference point are processed in an involute spiral pattern at the positioning point until the entire arc surface area to be processed is completed, which completes one processing cycle; repeat the S4 processing cycle until the surface finish requirements are met at all positions on the arc surface area to be processed except for the defect points. ③ The polishing time at the center point of the honeycomb hole is 2 to 4 times the polishing time at the corresponding corner point of the hexagonal outline of the honeycomb hole; S5. At the defect point, virtual honeycomb holes with the same as those in step S2 are drawn around the defect point. A repair honeycomb mesh is drawn around the outer edge of the honeycomb holes to cover the defect area. The repair honeycomb mesh is polished in the manner of step S4 until the defect point meets the surface finish requirements, thus completing the arc surface processing procedure.

2. The arc surface polishing control method based on a polishing pad according to claim 1, characterized in that, The industrial robotic arm has a stabilizer at its head, and a polishing disc is mounted on the stabilizer as a processing element.

3. The arc surface polishing control method based on a polishing pad according to claim 1, characterized in that, After the structural component to be processed is positioned and clamped using a fixing component, the corresponding reference point on the structural component is the position point on the structural component closest to the side of the industrial robotic arm.

4. The arc surface polishing control method based on a polishing pad according to claim 1, characterized in that, In step S1, the surface repair method used for the machining defects of the structural component to be machined is sheet metal work and grinding.

5. The arc surface polishing control method based on a polishing pad according to claim 1, characterized in that, In step S4, which corresponds to the processing step of the entire honeycomb grid, the involute spiral is opposite to the direction of rotation selected by the robotic arm when processing different corners of the honeycomb holes sequentially on a single honeycomb hole.

6. The arc surface polishing control method based on a polishing pad according to claim 1, characterized in that, In step S2, when dividing the arc surface area to be processed, the polishing operation method for the edge area of ​​the arc surface area to be processed that is not a complete honeycomb hole is as follows: a virtual complete honeycomb hole is created to cover the area, and the overlapping parts of the center point and six corner points of the honeycomb hole in the area are polished.

7. The arc surface polishing control method based on a polishing pad according to claim 1, characterized in that, The industrial robotic arm uses an industrial PC, PLC, or DCS as its industrial control terminal device, and the industrial control terminal device has a readable data interface.

8. A readable storage medium, characterized in that, The storage medium stores operating software that can run the arc surface polishing control method based on the polishing disc as described in claim 1. The operating software can be applied to the industrial control terminal equipment to automate the control of the industrial robotic arm.

9. A method for batch processing of curved surfaces of structural components, the method being based on the curved surface polishing control method based on a polishing pad as described in claim 1, wherein the batch processing method processes the first structural component in the batch processing according to the curved surface polishing control method based on a polishing pad, and stores the running data of steps S2 and S4 during the processing, the stored data including: The side length of the honeycomb holes and the position of the corresponding honeycomb mesh on the structural component in step S2; The operating parameters, operating path, and number of processing cycles of the industrial robotic arm in step S4; Then, other structural components in the batch processing are processed according to the arc surface polishing control method based on the polishing pad, and the stored data is directly called in steps S2 and S4 of the processing process. Then, the processing of a single structural component is completed after step S5.

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