Robotic flexible force-controlled sanding apparatus and method

Abstract

The application discloses a robot flexible floating force control polishing device and method, which comprises a flexible air plug, a posture adjusting assembly, a polishing assembly, an automatic clamping assembly, a posture sensor body and a pressure sensor body, and a top cover is arranged on the top of the flexible air plug. The application adjusts the position of the polishing assembly by the posture adjusting assembly, expands the operation freedom degree of the polishing assembly, meets the complex actual machining requirement, improves the practicability of the device, clamps and fixes the polishing assembly by the automatic clamping assembly, reduces the labor intensity of replacing the polishing assembly, and improves the machining efficiency of the device. In the polishing process, the air pressure in the flexible air plug is controlled by the adjusting pump in combination with the inclination angle of the device and the pressure data of the polishing disc, so as to offset the gravity influence of the device, float and control the polishing intensity of the device, keep the pressure value of the polishing disc constant, avoid the change of the polishing force on the surface of the workpiece, and guarantee the surface machining quality of the device.

Description

Technical Field

[0001] This invention relates to the field of grinding and processing technology, specifically to a robotic flexible floating force-controlled grinding device and method. Background Technology

[0002] Grinding is a surface modification technology, generally referring to a processing method that uses rough objects or sandpaper containing high-hardness particles to change the physical properties of a material surface through friction. Its main purpose is to obtain a specific surface roughness. Existing grinding equipment has the grinding structure mounted at the end of a robotic arm, which controls the equipment's operation. However, the equipment's trajectory is limited by the robotic arm's axis, making it difficult to fine-tune the position of the grinding disc during grinding. This makes it difficult to meet complex actual processing needs, affecting the equipment's practicality. Furthermore, the grinding mechanism requires manual clamping and fixing, increasing the labor cost of changing the grinding disc and reducing the equipment's processing efficiency. Moreover, it is difficult to maintain a constant grinding force during grinding. Tilting the grinding disc during grinding causes its own weight to be added to the grinding end, resulting in changes in the grinding force on the workpiece surface and affecting the surface processing quality. Therefore, designing a robotic flexible floating force-controlled grinding equipment and method is essential. Summary of the Invention

[0003] The purpose of this invention is to provide a robotic flexible floating force-controlled grinding device and method to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a robotic flexible floating force-controlled grinding device, comprising a flexible air plug, a top cover, an air inlet pipe, a connecting pipe, an attitude adjustment component, a grinding component, an automatic clamping component, an adjusting pump, a fixing block, a sealed shell, a docking flange, a bottom cover, a fixing flange, a connecting flange, a support frame, an attitude sensor body, and a pressure sensor body. The top of the flexible air plug is provided with a top cover, and an air inlet pipe is provided on the top cover. The air inlet pipe is interconnected with the flexible air plug, and a connecting pipe is sleeved in the air inlet pipe. One end of the connecting pipe is sleeved on the adjusting pump, and the adjusting pump is fixed to the top of the grinding bracket in the attitude adjustment component. A fixing block is provided at the bottom of the grinding bracket, and the fixing block is fixed to the top of the top cover.

[0005] Preferably, the attitude adjustment component consists of a grinding bracket, a limiting slide rail, a limiting block, a connecting block, an adjusting screw, a first motor, a rotating disk, a second motor, and a screw support. A limiting slide rail is symmetrically arranged on one side of the grinding bracket, and a limiting block is slidably connected on the limiting slide rail.

[0006] Preferably, the limiting blocks are symmetrically installed on one side of the rotating disk, and the output end of the second motor is fixedly connected to the other side of the rotating disk. The second motor is fixed inside the enclosed shell, and the rotating disk is rotatably connected to the enclosed shell. A docking flange is provided on one side of the enclosed shell.

[0007] Preferably, the rotating disk is provided with a lead screw bracket, and an adjusting lead screw is connected to the lead screw bracket through a bearing. The bottom end of the adjusting lead screw is fixedly connected to the output end of the first motor, and the first motor is fixed at the bottom of the lead screw bracket. A connecting block is provided on the adjusting lead screw, and a ball nut embedded in the connecting block is connected to the adjusting lead screw in mutual cooperation. The connecting block is fixed on the grinding bracket.

[0008] Preferably, the bottom of the flexible air plug is provided with a bottom cover, and the bottom of the bottom cover is provided with a fixed flange. The top of the fixed flange is uniformly provided with adjusting cylinders from the automatic clamping assembly. The automatic clamping assembly consists of adjusting cylinders, connecting frames, fastening motors, connecting bolts, clamping cylinders, connecting parts, clamping brackets, and fixing nuts. The output end of the adjusting cylinder is provided with a connecting frame, and the connecting frame is provided with a fastening motor. The output end of the fastening motor is provided with a connecting bolt, and the connecting bolt is slidably connected to the through hole on the fixed flange.

[0009] Preferably, clamping cylinders are evenly arranged on the fixed flange, and a connector is provided at the output end of the clamping cylinder. A clamping bracket is provided on the connector, and the clamping bracket is attached to the connecting flange. The connecting flange is attached to the bottom of the fixed flange, and the bottom end of the connecting bolt is slidably connected to the through hole on the fixed flange.

[0010] Preferably, a fixing nut is fixedly sleeved in the clamping bracket, and the fixing nut and the connecting bolt are connected to each other. The fixing nut is attached to the bottom of the connecting flange. A grinding motor in the grinding assembly is provided at the bottom of the connecting flange. The grinding assembly consists of a grinding motor and a grinding disc. A pressure sensor body is provided at the output end of the grinding motor. A grinding disc is provided at the bottom of the pressure sensor body. A support frame is provided on one side of the grinding motor, and an attitude sensor body is provided on the support frame.

[0011] The robotic flexible floating force-controlled grinding method includes the following steps: Step 1, equipment installation; Step 2, trajectory planning; Step 3, processing and grinding; Step 4, floating force control adjustment.

[0012] In step one above, the equipment is fixed to the robot's robotic arm by the docking flange. Then, the robotic arm moves the equipment to the grinding disc magazine and makes the fixed flange fit with the connecting flange containing the corresponding grinding disc. Then, the clamping cylinder drives the clamping bracket to approach the connecting flange through the connecting parts. The clamping bracket is used to fix the connecting flange to the bottom of the fixed flange. Then, the adjusting cylinder drives the fastening motor downward through the connecting frame. At the same time, the fastening motor drives the connecting bolt to rotate, so that the connecting bolt is engaged with the fixing nut in the clamping bracket, and the clamping and fixing of the grinding component is automatically completed.

[0013] In step two above, the robot detects the position of the workpiece to be polished and determines the trajectory of the polishing components during the polishing process based on the position.

[0014] In step three above, a robotic arm drives the equipment to run along a preset trajectory. At the same time, the grinding motor in the grinding assembly drives the grinding disc to rotate. The grinding disc grinds the workpiece. During the grinding process, a second motor drives the rotating disc and the grinding bracket to rotate. Meanwhile, the first motor drives the adjusting screw to rotate. Through the cooperation between the adjusting screw and the connecting block, the grinding bracket slides along the direction of the adjusting screw, and the position of the grinding assembly is finely adjusted.

[0015] In step four above, during the grinding process, the tilt angle of the equipment is detected by the attitude sensor and the gravity influence value of the equipment is calculated based on the tilt angle. At the same time, the pressure sensor detects the pressure on the grinding disc. Then, the pump is adjusted to supply air to the flexible air plug through the connecting pipe. The air pressure in the flexible air plug is used to counteract the gravity influence value of the equipment, so that the pressure on the grinding disc is equal to the preset grinding force, and the grinding intensity of the equipment is adjusted by floating control.

[0016] Compared with the prior art, the beneficial effects of this invention are as follows: This robotic flexible floating force-controlled grinding equipment and method utilizes a second motor to drive the rotating disk and grinding bracket to rotate, while the first motor drives the adjusting screw to rotate. Through the cooperation of the adjusting screw and the connecting block, the grinding bracket is driven to slide along the direction of the adjusting screw, allowing for fine adjustment of the position of the grinding components. This expands the operating freedom of the grinding components, meets complex actual processing needs, and improves the practicality of the equipment. A clamping cylinder drives the connecting parts and clamping bracket close to the connecting flange, and the clamping bracket fixes the connecting flange to the bottom of the fixed flange. Then, the adjusting cylinder drives the fastening motor downwards through the connecting frame, while the fastening motor drives the connecting bolts to rotate, causing the connecting bolts to engage with the clamping bracket. The grinding components are automatically clamped and fixed in the fixing nut, eliminating the need for manual intervention in the installation process. This reduces the labor intensity of replacing grinding components and improves the processing efficiency of the equipment. During the grinding process, the attitude sensor detects the tilt angle of the equipment and calculates the influence of gravity based on the tilt angle. At the same time, the pressure sensor detects the pressure on the grinding disc. Then, the pump is adjusted to supply air to the flexible air plug through the connecting pipe. The air pressure in the flexible air plug is used to counteract the influence of gravity, making the pressure on the grinding disc equal to the preset grinding force. The grinding force of the equipment is adjusted by floating, avoiding changes in the grinding disc position that could cause gravity to be added to the grinding end and thus change the grinding force on the workpiece surface, thereby ensuring the surface processing quality of the equipment. Attached Figure Description

[0017] Figure 1 This is a three-dimensional diagram of the overall structure of the present invention;

[0018] Figure 2 for Figure 1 A magnified view of a portion of region A in the middle;

[0019] Figure 3 This is a front view of the overall structure of the present invention;

[0020] Figure 4 This is an exploded view of the overall structure of the present invention;

[0021] Figure 5 for Figure 4 A magnified view of a portion of region B in the middle;

[0022] Figure 6 This is a three-dimensional diagram of a partial structure of the present invention;

[0023] Figure 7 This is a flowchart of the method of the present invention;

[0024] In the diagram: 1. Flexible air plug; 2. Top cover; 3. Air inlet pipe; 4. Connecting pipe; 5. Attitude adjustment assembly; 6. Grinding assembly; 7. Automatic clamping assembly; 8. Adjusting pump; 9. Fixing block; 10. Enclosed shell; 11. Docking flange; 12. Bottom cover; 13. Fixing flange; 14. Connecting flange; 15. Support frame; 16. Attitude sensor body; 17. Pressure sensor body; 51. Grinding bracket; 52. Limiting slide rail; 53. Limiting block; 54. Connecting block; 55. Adjusting screw; 56. First motor; 57. Rotating disk; 58. Second motor; 59. Screw bracket; 71. Adjusting cylinder; 72. Connecting frame; 73. Fastening motor; 74. Connecting bolt; 75. Clamping cylinder; 76. Connecting piece; 77. Clamping bracket; 78. Fixing nut. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figure 1-6An embodiment of the present invention provides a robotic flexible floating force-controlled grinding device, comprising a flexible air plug 1, a top cover 2, an air inlet pipe 3, a connecting pipe 4, an attitude adjustment component 5, a grinding component 6, an automatic clamping component 7, an adjusting pump 8, a fixing block 9, a sealed shell 10, a docking flange 11, a bottom cover 12, a fixing flange 13, a connecting flange 14, a support frame 15, an attitude sensor body 16, and a pressure sensor body 17. The top of the flexible air plug 1 is provided with a top cover 2, and an air inlet pipe 3 is provided on the top cover 2. The air inlet pipe 3 is interconnected with the flexible air plug 1, and a connecting pipe 4 is sleeved in the air inlet pipe 3. One end of the connecting pipe 4 is sleeved on the adjusting pump 8, and the adjusting pump 8 is fixed to the top of the grinding bracket 51 in the attitude adjustment component 5. The grinding bracket 51 has a fixing block 9 at its bottom, which is fixed to the top of the top cover 2. The attitude adjustment assembly 5 consists of the grinding bracket 51, a limiting slide rail 52, a limiting block 53, a connecting block 54, an adjusting screw 55, a first motor 56, a rotating disk 57, a second motor 58, and a screw support 59. The grinding bracket 51 has a symmetrically arranged limiting slide rail 52 on one side, and a limiting block 53 is slidably connected to the limiting slide rail 52. The limiting block 53 is symmetrically installed on one side of the rotating disk 57, and the output end of the second motor 58 is fixedly connected to the other side of the rotating disk 57. The second motor 58 is fixed inside the closed shell 10, and the rotating disk 57 is rotatably connected to the closed shell 10. A docking flange 11 is provided on one side of the closed shell 10. A lead screw bracket 59 is provided on the 7, and an adjusting lead screw 55 is connected to the lead screw bracket 59 through bearings. The bottom end of the adjusting lead screw 55 is fixedly connected to the output end of the first motor 56, and the first motor 56 is fixed to the bottom of the lead screw bracket 59. A connecting block 54 is provided on the adjusting lead screw 55, and a ball nut is embedded in the connecting block 54 and is connected to the adjusting lead screw 55. The connecting block 54 is fixed on the grinding bracket 51. A bottom cover 12 is provided at the bottom of the flexible air plug 1, and a fixing flange 13 is provided at the bottom of the bottom cover 12. Adjusting cylinders 71 from the automatic clamping assembly 7 are evenly arranged on the top of the fixing flange 13. The automatic clamping assembly 7 consists of adjusting cylinders 71, a connecting bracket 72, a fastening motor 73, and connecting bolts 74. The system comprises a clamping cylinder 75, a connecting piece 76, a clamping bracket 77, and a fixing nut 78. The output end of the adjusting cylinder 71 is equipped with a connecting frame 72, and a fastening motor 73 is mounted on the connecting frame 72. The output end of the fastening motor 73 is equipped with a connecting bolt 74, which is slidably connected to a through hole in the fixing flange 13. Clamping cylinders 75 are evenly distributed on the fixing flange 13, and the output end of each clamping cylinder 75 is equipped with a connecting piece 76. The connecting piece 76 is equipped with a clamping bracket 77, which fits against the connecting flange 14. The connecting flange 14 fits against the bottom of the fixing flange 13, and the bottom end of the connecting bolt 74 is slidably connected to a through hole in the fixing flange 13. A fixing nut 78 is fixedly sleeved within the clamping bracket 77.The fixing nut 78 and the connecting bolt 74 are connected in a cooperative manner. The fixing nut 78 is fitted to the bottom of the connecting flange 14. The bottom of the connecting flange 14 is equipped with a grinding motor from the grinding assembly 6. The grinding assembly 6 consists of a grinding motor and a grinding disc. A pressure sensor body 17 is installed at the output end of the grinding motor. The grinding disc is installed at the bottom of the pressure sensor body 17. A support frame 15 is installed on one side of the grinding motor, and an attitude sensor body 16 is installed on the support frame 15. The support frame 15 facilitates the fixing and support of the attitude sensor body 16.

[0027] Please see Figure 7 The present invention provides an embodiment of a robot flexible floating force-controlled grinding method, comprising the following steps: Step 1, equipment installation; Step 2, trajectory planning; Step 3, processing and grinding; Step 4, floating force control adjustment;

[0028] In step one above, the equipment is fixed to the robot's robotic arm via the docking flange 11. Then, the robotic arm moves the equipment to the grinding disc storage and makes the fixed flange 13 fit with the connecting flange 14 which is equipped with the corresponding grinding disc. Subsequently, the clamping cylinder 75 drives the clamping bracket 77 to approach the connecting flange 14 via the connector 76. The clamping bracket 77 fixes the connecting flange 14 to the bottom of the fixed flange 13. Then, the adjusting cylinder 71 drives the fastening motor 73 downward via the connecting frame 72. At the same time, the fastening motor 73 drives the connecting bolt 74 to rotate, so that the connecting bolt 74 is engaged with the fixing nut 78 in the clamping bracket 77, thus automatically completing the clamping and fixing of the grinding component 6.

[0029] In step two above, the robot detects the position of the workpiece to be polished and determines the travel trajectory of the polishing component 6 during the polishing process based on the position.

[0030] In step three above, a robotic arm drives the equipment to run along a preset trajectory. At the same time, the grinding motor in the grinding assembly 6 drives the grinding disc to rotate. The grinding disc grinds the workpiece. During the grinding process, the second motor 58 drives the rotating disc 57 and the grinding bracket 51 to rotate. At the same time, the first motor 56 drives the adjusting screw 55 to rotate. Through the cooperation between the adjusting screw 55 and the connecting block 54, the grinding bracket 51 is driven to slide along the direction of the adjusting screw 55, and the position of the grinding assembly 6 is finely adjusted.

[0031] In step four above, during the grinding process, the attitude sensor body 16 detects the tilt angle of the equipment and calculates the gravity influence value of the equipment based on the tilt angle. At the same time, the pressure sensor body 17 detects the pressure on the grinding disc. Then, the pump 8 is adjusted to supply air to the flexible air plug 1 through the connecting pipe 4. The air pressure in the flexible air plug 1 is used to counteract the gravity influence value of the equipment, so that the pressure on the grinding disc is equal to the preset grinding force, and the grinding intensity of the equipment is adjusted by floating control.

[0032] Based on the above, the advantages of the present invention are as follows: The present invention utilizes a second motor 58 to drive the rotating disk 57 and the grinding bracket 51 to rotate, while the first motor 56 drives the adjusting screw 55 to rotate. Through the cooperation of the adjusting screw 55 and the connecting block 54, the grinding bracket 51 is driven to slide along the direction of the adjusting screw 55, allowing for fine adjustment of the position of the grinding assembly 6. This expands the operating freedom of the grinding assembly 6, meets complex actual processing requirements, and improves the practicality of the equipment. The clamping cylinder 75 drives the connecting piece 76 and the clamping bracket 77 to approach the connecting flange 14. The clamping bracket 77 fixes the connecting flange 14 to the bottom of the fixed flange 13. Then, the adjusting cylinder 71 drives the fastening motor 73 downwards through the connecting frame 72, while the fastening motor 73 drives the connecting bolt 74 to rotate, causing the connecting bolt 74 to engage and connect. The grinding component 6 is automatically clamped and fixed in the fixing nut 78 of the clamping bracket 77, eliminating the need for manual intervention in the installation process. This reduces the labor intensity of replacing the grinding component 6 and improves the processing efficiency of the equipment. During the grinding process, the attitude sensor body 16 detects the tilt angle of the equipment and calculates the gravity influence value based on the tilt angle. At the same time, the pressure sensor body 17 detects the pressure on the grinding disc. Then, the pump 8 is adjusted to supply air to the flexible air plug 1 through the connecting pipe 4. The air pressure in the flexible air plug 1 is used to counteract the gravity influence value of the equipment, so that the pressure on the grinding disc is equal to the preset grinding force. The grinding force of the equipment is adjusted by floating, avoiding the change of the grinding disc position causing the gravity to be added to the grinding end and causing the grinding force on the workpiece surface to change, thereby ensuring the surface processing quality of the equipment.

[0033] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A robotic flexible floating force-controlled grinding device, comprising a flexible air plug (1), a top cover (2), an air inlet pipe (3), a connecting pipe (4), an attitude adjustment assembly (5), a grinding assembly (6), an automatic clamping assembly (7), an adjusting pump (8), a fixing block (9), a sealed shell (10), a docking flange (11), a bottom cover (12), a fixing flange (13), a connecting flange (14), a support frame (15), an attitude sensor body (16), and a pressure sensor body (17), characterized in that: The flexible air plug (1) is provided with a top cover (2) and an air inlet pipe (3) is provided on the top cover (2). The air inlet pipe (3) is connected to the flexible air plug (1), and a connecting pipe (4) is sleeved in the air inlet pipe (3). One end of the connecting pipe (4) is sleeved on the regulating pump (8), and the regulating pump (8) is fixed on the top of the grinding bracket (51) in the attitude adjustment assembly (5). A fixing block (9) is provided at the bottom of the grinding bracket (51), and the fixing block (9) is fixed on the top of the top cover (2). The flexible air plug (1) is provided with a bottom cover (12). Furthermore, a fixed flange (13) is provided at the bottom of the bottom cover (12), and an adjusting cylinder (71) of the automatic clamping assembly (7) is evenly provided on the top of the fixed flange (13). The automatic clamping assembly (7) consists of an adjusting cylinder (71), a connecting frame (72), a fastening motor (73), a connecting bolt (74), a clamping cylinder (75), a connecting piece (76), a clamping bracket (77), and a fixing nut (78). The output end of the adjusting cylinder (71) is provided with a connecting frame (72), and a fastening motor (73) is provided on the connecting frame (72). The output of the fastening motor (73) is... A connecting bolt (74) is provided at the outlet end, and the connecting bolt (74) is slidably connected in the through hole on the fixed flange (13). Clamping cylinders (75) are evenly arranged on the fixed flange (13), and a connector (76) is provided at the output end of the clamping cylinder (75). A clamping bracket (77) is provided on the connector (76), and the clamping bracket (77) is attached to the connecting flange (14). The connecting flange (14) is attached to the bottom of the fixed flange (13), and the bottom end of the connecting bolt (74) is slidably connected in the through hole on the fixed flange (13). The clamping bracket (77) contains... A fixing nut (78) is fixedly fitted, and the fixing nut (78) and the connecting bolt (74) are connected to each other. The fixing nut (78) is attached to the bottom of the connecting flange (14). The bottom of the connecting flange (14) is provided with a grinding motor in the grinding assembly (6). The grinding assembly (6) consists of a grinding motor and a grinding disc. The output end of the grinding motor is provided with a pressure sensor body (17). The bottom of the pressure sensor body (17) is provided with a grinding disc. A support frame (15) is provided on one side of the grinding motor. An attitude sensor body (16) is provided on the support frame (15).

2. The robotic flexible floating force-controlled grinding equipment according to claim 1, characterized in that: The attitude adjustment component (5) consists of a grinding bracket (51), a limiting slide rail (52), a limiting block (53), a connecting block (54), an adjusting screw (55), a first motor (56), a rotating disk (57), a second motor (58), and a screw bracket (59). A limiting slide rail (52) is symmetrically arranged on one side of the grinding bracket (51), and a limiting block (53) is slidably connected on the limiting slide rail (52).

3. The robotic flexible floating force-controlled grinding equipment according to claim 2, characterized in that: The limiting block (53) is symmetrically installed on one side of the rotating disk (57), and the output end of the second motor (58) is fixedly connected to the other side of the rotating disk (57). The second motor (58) is fixed inside the closed shell (10), and the rotating disk (57) is rotatably connected to the closed shell (10). A docking flange (11) is provided on one side of the closed shell (10).

4. The robotic flexible floating force-controlled grinding equipment according to claim 3, characterized in that: The rotating disk (57) is provided with a lead screw bracket (59), and an adjusting lead screw (55) is connected to the lead screw bracket (59) through a bearing. The bottom end of the adjusting lead screw (55) is fixedly connected to the output end of the first motor (56), and the first motor (56) is fixed at the bottom of the lead screw bracket (59). A connecting block (54) is provided on the adjusting lead screw (55), and a ball nut is embedded in the connecting block (54) and connected to the adjusting lead screw (55). The connecting block (54) is fixed on the grinding bracket (51).

5. A robotic flexible floating force-controlled grinding method, comprising the following steps: Step 1, equipment installation; Step 2, trajectory planning; Step 3, processing and polishing; Step 4, floating force control adjustment; Its features are: In step one above, the equipment is fixed on the robot's robotic arm by the docking flange (11). Then the robotic arm moves the equipment to the grinding disc storage and makes the fixed flange (13) fit with the connecting flange (14) with the corresponding grinding disc. Then the clamping cylinder (75) drives the clamping bracket (77) to approach the connecting flange (14) through the connector (76). The clamping bracket (77) fixes the connecting flange (14) to the bottom of the fixed flange (13). Then the adjusting cylinder (71) drives the fastening motor (73) downward through the connecting frame (72). At the same time, the fastening motor (73) drives the connecting bolt (74) to rotate, so that the connecting bolt (74) is connected to the fixing nut (78) in the clamping bracket (77), and the clamping and fixing of the grinding component (6) is automatically completed. In step two above, the robot detects the position of the workpiece to be polished and determines the trajectory of the polishing component (6) during the polishing process based on the position. In step three above, the robotic arm drives the equipment to run along the preset travel trajectory. At the same time, the grinding motor in the grinding assembly (6) drives the grinding disc to rotate. The grinding disc grinds the workpiece. During the grinding process, the second motor (58) drives the rotating disc (57) and the grinding bracket (51) to rotate. At the same time, the first motor (56) drives the adjusting screw (55) to rotate. Through the cooperation between the adjusting screw (55) and the connecting block (54), the grinding bracket (51) slides along the direction of the adjusting screw (55) to finely adjust the position of the grinding assembly (6). In step four above, during the grinding process, the tilt angle of the equipment is detected by the attitude sensor body (16), and the gravity influence value of the equipment is calculated based on the tilt angle. At the same time, the pressure sensor body (17) is used to detect the pressure on the grinding disc. Then, the pump (8) is adjusted to supply air to the flexible air plug (1) through the connecting pipe (4). The air pressure in the flexible air plug (1) is used to offset the gravity influence value of the equipment, so that the pressure on the grinding disc is equal to the preset grinding force, and the grinding force of the equipment is adjusted by floating.

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