An automobile metal fitting processing equipment

Abstract

The application relates to an automobile metal accessory processing device which comprises an accessory identification assembly for collecting accessory information, a linkage support assembly for bearing the accessory, an accessory polishing assembly for polishing the accessory and a polishing controller, the accessory identification assembly and the linkage support assembly being in communication connection with the accessory polishing assembly; the linkage support assembly comprises a support base, a fixing component installed on the support base for fixing the accessory and a plurality of linkage hydraulic support rods for supporting the accessory, the plurality of hydraulic support rods being arranged in a matrix distribution mode; the accessory polishing assembly comprises a six-axis manipulator and a polishing tool for polishing the accessory, the polishing tool being installed at the output end of the six-axis manipulator; the polishing controller generates an accessory polishing scheme based on the collected accessory information, controls the linkage support assembly and the accessory polishing assembly to link and cooperate and polishes the accessory. The application effectively improves the polishing efficiency and polishing precision of automobile accessories.

Description

Technical Field

[0001] This application relates to the field of automotive metal parts processing equipment. Background Technology

[0002] With the improvement of modern living standards, automobiles are being used more and more widely, leading to a rapid increase in the demand for automobile parts. A car is composed of tens of thousands of parts, of which metal parts make up a large portion.

[0003] The current production method for automotive metal parts is mostly sand casting. The rough blanks obtained from casting typically require stamping to cut off scraps and remove burrs. However, stamping alone can only remove large scraps and burrs, leaving many small burrs on the parts. Therefore, further processing is needed to smooth the surface of the parts and ensure their quality during use. Because burrs appear randomly and existing grinding tools have low precision, current automotive parts grinding typically involves using grinding machinery to grind large areas of the part, followed by manual grinding by workers to smooth smaller areas and corners, often requiring significant manpower and resources. Furthermore, due to the high proportion of irregularly shaped automotive metal parts, many dead corners are easily created by these irregular structures, making grinding difficult and prone to oversights.

[0004] Regarding the aforementioned technologies, the existing grinding and processing procedures for automotive parts are redundant and complex, wasting manpower and resources, and are inefficient when dealing with the difficulty of grinding irregularly shaped parts. Summary of the Invention

[0005] To address the problems of redundant and complex grinding processes for existing automotive parts, which waste manpower and resources, and low efficiency when grinding irregularly shaped parts, this application provides an automotive metal parts processing equipment.

[0006] In a first aspect, this application provides an automotive metal parts processing equipment, which adopts the following technical solution:

[0007] An automotive metal parts processing equipment includes a parts identification component for collecting parts information, a linkage support component for supporting the parts, a parts grinding component for grinding the parts, and a grinding controller. The parts identification component, linkage support component, and parts grinding component are all communicatively connected to the grinding controller. The linkage support component includes a support base, a fixing component mounted on the support base for fixing the parts, and multiple linkage hydraulic support rods for supporting the parts, arranged in a matrix. The parts grinding component includes a six-axis robot and a grinding tool for grinding the parts, with the grinding tool mounted on the output end of the six-axis robot. The grinding controller generates a parts grinding plan based on the collected parts information and controls the linkage support component and the parts grinding component to work together to grind the parts.

[0008] Preferably, the fixing component includes a semi-circular linkage support plate and a drive motor for driving the linkage support plate to rotate. The linkage support plate passes through the support base and has clamping and fixing components for clamping and fixing accessories at both ends. The inner side of the linkage support plate is provided with linkage teeth along its circumference. The drive motor is installed in the support base and a drive gear is sleeved at its output end. The drive gear meshes with the linkage teeth.

[0009] Preferably, the support base is provided with multiple sets of pneumatic grippers for fixing the linkage support plate. The multiple sets of pneumatic grippers are distributed on both sides of the linkage support plate, and one clamping end of the pneumatic gripper is an arc-shaped plate that fits against the outer side of the linkage support plate, and the other clamping end is an arc-shaped rack that fits against the inner side of the linkage support plate.

[0010] Preferably, both clamping and fixing components include a fixing plate with an L-shaped cross-section and a clamping plate for clamping the accessory. Both end faces of the fixing plate and the clamping plate are provided with multiple bolt holes along their length. The clamping plate is attached to either end face of the fixing plate and is fixedly connected by bolts to clamp and fix one end of the accessory.

[0011] Preferably, the telescopic ends of the plurality of linkage hydraulic support rods are provided with hemispherical protective blocks, and the surface of the protective blocks is provided with a plurality of micro elastic columns, which are arranged radially along the protective blocks, and the ends of the plurality of micro elastic columns away from the protective blocks are provided with micro suction cups.

[0012] Preferably, the accessory identification component includes a barcode scanner for collecting accessory barcode information and an image acquisition device for collecting image information on the accessory mounting support base.

[0013] Preferably, the grinding controller generates a grinding plan for the parts based on the collected part information, specifically including the following steps:

[0014] The polishing controller identifies and collects information about the automotive parts fixed on the support base using a parts identification component. The parts information includes barcode information and image information of the parts fixed on the support base.

[0015] The grinding controller obtains the grinding requirements of the parts based on the parts information. The grinding requirements of the parts include a three-dimensional model of the parts, at least one grinding area of ​​the parts marked on the three-dimensional model of the parts, and grinding accuracy.

[0016] Based on the grinding requirements of the parts, a grinding plan is generated by matching the parts using a pre-set plan matching model. The plan matching model is a machine learning model trained on historical data. The grinding plan includes at least one set of grinding tools, grinding control parameters, and grinding process information. The grinding control parameters include the rotation speed, pressure, feed speed, and grinding time of the grinding tools, as well as the parts placement control parameters.

[0017] Preferably, the grinding controller controls the linkage support assembly and the accessory grinding assembly to work together to grind the accessories, specifically including the following steps:

[0018] The grinding controller verifies the installation status of the accessories based on the accessory information to determine whether the accessories are correctly installed on the support base and in the initial state.

[0019] If the verification fails, an alarm message will be sent to the staff, who will then install and calibrate the parts.

[0020] If the test is successful, the grinding controller will send the grinding control parameters to the linkage support component and the accessory grinding component for parameter setting;

[0021] The grinding controller generates grinding control commands based on the grinding process information, and sends the grinding control commands to the linkage support component and the accessory grinding component to control them to coordinate and cooperate in grinding the accessories according to the grinding process.

[0022] Preferably, the grinding controller verifies the installation status of the accessories based on the accessory information, and determines whether the accessories are correctly installed on the support base and in the initial state, specifically including the following steps:

[0023] Based on the image information of the accessory fixed on the support base, point cloud data is extracted and reverse modeling is performed to form the current point cloud model of the accessory.

[0024] Obtain standard image information of accessories correctly installed on the support base from the same image acquisition perspective, extract point cloud data and reverse model to obtain a standard installation point cloud model;

[0025] Select any plane of the standard installation point cloud model as the reference plane, and rotate, translate, and scale the current point cloud model of the accessory and the standard installation point cloud model until they are precisely matched.

[0026] By comparing the current point cloud model of the precisely matched accessory with the standard installation point cloud model, the location where there is a height difference between the two surfaces is calculated. If the height difference exceeds the preset installation threshold, the accessory is considered not to be correctly installed on the support base.

[0027] Preferably, the grinding controller sends grinding control commands to the linkage support assembly and the accessory grinding assembly to control them to coordinate and cooperate in grinding the accessories according to the grinding process, specifically including the following steps:

[0028] S1. The grinding controller sends the grinding control command to the linkage support component. According to the grinding process, it controls the drive motor to drive the linkage support plate to rotate and adjust the placement angle of the parts. After the angle adjustment is completed, it controls multiple sets of pneumatic grippers to clamp and fix the linkage support plate, and simultaneously controls multiple linkage hydraulic support rods to rise to a specified height to support the bottom of the parts.

[0029] S2. The grinding controller sends grinding control commands to the parts grinding assembly. The six-axis robot arm drives the grinding tool to grind the parts grinding area based on the grinding control commands.

[0030] S3. Determine if there are any unpolished parts with polished areas;

[0031] S4. If present, control multiple sets of pneumatic grippers to release the lock on the linkage support plate and jump to step S1.

[0032] S5. If it does not exist, then the polishing is considered complete and the polishing process ends.

[0033] In summary, this application includes at least one of the following beneficial technical effects:

[0034] 1. By setting up the linkage support component and the accessory grinding component, it can adapt to the grinding needs of automotive irregular parts with different shapes. Based on the irregular structure of the accessory, it intelligently makes decisions to generate a grinding plan. The grinding controller sends control commands to the linkage support component and the accessory grinding component based on the grinding plan. The linkage support component places the accessory at different angles according to the control commands and the grinding process. Simultaneously, it controls multiple linkage hydraulic support rods to adjust and stabilize the accessory. This ensures that the six-axis robot can drive the grinding tool to perform precise and efficient grinding on each area of ​​the accessory according to the grinding process. This achieves precise and efficient grinding on automotive irregular parts, realizes linkage grinding, simplifies the grinding process of complex structure accessories, and effectively improves the grinding efficiency and precision of automotive accessories.

[0035] 2. By setting up the drive motor and linkage support plate, the grinding controller sends control commands to the drive motor based on the grinding scheme. The drive motor rotates at a specified angle, causing the linkage support plate to rotate at a specified angle relative to the support base. This adjusts the placement angle of the parts on the support base, making it easier for the six-axis robot to drive the grinding tool to perform precise and efficient grinding on the parts.

[0036] 3. Based on the image information of the accessory fixed on the support base and the standard image information of the accessory correctly installed on the support base from the same image acquisition perspective, the current point cloud model and the standard installation point cloud model are constructed by the reverse modeling method of point cloud data extraction. By comparing the current point cloud model and the standard installation point cloud model, the current installation status of the accessory can be accurately determined, avoiding the failure of the grinding process due to incorrect accessory installation, ensuring the stable progress of subsequent grinding processes, and achieving the effect of improving grinding efficiency and grinding accuracy. Attached Figure Description

[0037] Figure 1 This is a system block diagram of an automotive metal parts processing equipment according to an embodiment of this application;

[0038] Figure 2 This is a schematic diagram of the structure of the linkage support component in the embodiments of this application;

[0039] Figure 3 This is a cross-sectional structural diagram of the support base in an embodiment of this application;

[0040] Figure 4 This is a schematic diagram of the pneumatic gripper structure in an embodiment of this application;

[0041] Figure 5 This is a schematic diagram of the structure in the clamping and fixing member of this application where one end of the clamping plate and the fixing plate are fixedly connected;

[0042] Figure 6 This is a schematic diagram of the structure in the clamping and fixing member of this application where the clamping plate and the other end of the fixing plate are fixedly connected;

[0043] Figure 7 This is a schematic diagram of the protective block structure of the linkage hydraulic support rod in the embodiments of this application;

[0044] Figure 8 This is a cross-sectional structural diagram of the protection block in an embodiment of this application;

[0045] Figure 9 This is a flowchart of the method for generating a polishing scheme for parts in the embodiments of this application;

[0046] Figure 10 This is a flowchart of the method for polishing accessories in the embodiments of this application;

[0047] Figure 11This is a flowchart of the method for determining the installation status of accessories in the embodiments of this application;

[0048] Figure 12 This is a flowchart illustrating the operation of polishing the accessories in this embodiment of the application.

[0049] Explanation of reference numerals in the attached drawings: 1. Accessory identification component; 11. Barcode scanner; 12. Image acquisition device; 2. Linkage support component; 21. Support base; 211. Pneumatic gripper; 212. Arc plate; 213. Arc rack; 22. Fixing component; 221. Linkage support plate; 222. Drive motor; 223. Linkage gear; 224. Drive gear; 225. Clamping fixture; 226. Fixing plate; 227. Clamping plate; 23. Linkage hydraulic support rod; 231. Protective block; 232. Miniature elastic column; 232. Miniature suction cup; 3. Accessory grinding component; 31. Six-axis robot; 32. Grinding tool; 4. Grinding controller. Detailed Implementation

[0050] The following is in conjunction with the appendix Figures 1-12 This application will be described in further detail.

[0051] This application discloses an automotive metal parts processing equipment. (Refer to...) Figure 1 and Figure 2An automotive metal parts processing equipment includes a parts identification component 1 for collecting parts information, a linkage support component 2 for supporting the parts, a parts grinding component 3 for grinding the parts, and a grinding controller 4. The parts identification component 1, linkage support component 2, and parts grinding component 3 are all communicatively connected to the grinding controller 4. The parts identification component 1 includes a barcode scanner 11 for collecting parts barcode information and an image acquisition device 12 for collecting image information from a parts mounting support base 21. The linkage support component 2 includes a support base 21, a fixing component 22 mounted on the support base 21 for fixing the parts, and multiple linkage hydraulic support rods 23 for supporting the parts, arranged in a matrix. The parts grinding component 3 includes a six-axis robot 31 and a grinding tool 32 for grinding the parts, with the output end of the six-axis robot 31 mounted on the grinding tool 32. The grinding tool 32 includes a grinding motor and a grinding head, which can be various types such as grinding wheels, metal grinding heads, etc., selected according to the parts requirements. The grinding controller 4 generates a grinding plan based on the collected part information, and controls the linkage support component 2 and the part grinding component 3 to work together to grind the parts. Through the configuration of the linkage support component 2 and the part grinding component 3, it can adapt to the grinding needs of irregularly shaped automotive parts. Based on the irregular structure of the part, it intelligently makes decisions to generate a grinding plan. Based on the grinding plan, it controls the rotation of the fixed component 22 of the linkage support component 2 to adjust the placement angle of the part, and simultaneously controls multiple hydraulic support rods to rise to a specified height to provide stable support for the part. Finally, it controls the six-axis robot 31 to drive the grinding tool 32 to perform precise and efficient grinding of the part. Based on the grinding plan, it sequentially changes the placement angle of the part, controls the six-axis robot 31 to drive the grinding tool 32 to grind various parts of the part, achieving precise and efficient grinding of irregularly shaped automotive parts, realizing linkage grinding processing, simplifying the grinding process of complex structural parts, and effectively improving the grinding efficiency and precision of automotive parts.

[0052] Reference Figures 1-3 The fixing component 22 includes a semi-circular linkage support plate 221 and a drive motor 222 for driving the linkage support plate 221 to rotate. The linkage support plate 221 passes through the support base 21, and both ends are provided with clamping and fixing parts 225 for clamping and fixing accessories. The inner side of the linkage support plate 221 is provided with linkage teeth 223 along its circumference. The drive motor 222 is installed in the support base 21, and the output end is fitted with a drive gear 224. The drive motor 222 is a stepper motor, and the drive gear 224 meshes with the linkage teeth 223. The grinding controller 4 sends control commands to the drive motor 222 based on the grinding scheme. The drive motor 222 rotates by a specified angle, causing the linkage support plate 221 to rotate by a specified angle relative to the support base 21, adjusting the placement angle of the accessories on the support base 21, so that the six-axis robot 31 can drive the grinding tool 32 to perform precise and efficient grinding on the accessories.

[0053] Reference Figure 3 and Figure 4 The support base 21 is equipped with multiple sets of pneumatic grippers 211 for fixing the linkage support plate 221. These pneumatic grippers 211 are distributed on both sides of the linkage support plate 221, with one gripping end being an arc-shaped plate 212 that fits against the outer surface of the linkage support plate 221, and the other gripping end being an arc-shaped rack 213 that fits against the inner surface of the linkage support plate 221. The pneumatic grippers 211 assist in fixing the linkage support plate 221. After the drive motor 222 rotates the linkage support plate to adjust the placement angle of the parts, the multiple sets of pneumatic grippers 211 clamp and fix the linkage support plate 221. The arc-shaped rack 213 meshes with the linkage teeth 223 of the linkage support plate 221, stably locking the linkage support plate. Combined with the hydraulic support rod, this provides stable support and fixation for the parts, contributing to the stable progress of subsequent grinding processes.

[0054] Reference Figure 5 and Figure 6 Both clamping and fixing components 225 include an L-shaped fixing plate 226 and a clamping plate 227 for clamping the parts. Both end faces of the fixing plate 226 and the clamping plate 227 have multiple bolt holes along their length. The clamping plate 227 is fitted against either end face of the fixing plate 226 and fixed with bolts to clamp and fix one end of the part. The fixing plate 226 and clamping plate 227 allow for the adaptation to parts with different structures, providing stable fixation for various irregularly shaped automotive parts.

[0055] Reference Figure 7 and Figure 8 Each of the telescopic ends of multiple linked hydraulic support rods is equipped with a hemispherical protective block 231, and multiple miniature elastic posts 232 are distributed on the surface of the protective block 231. The multiple miniature elastic posts 232 are arranged radially along the protective block 231, and each of the ends of the multiple miniature elastic posts 232 away from the protective block 231 is equipped with a miniature suction cup 232. The hemispherical protective blocks 231 provide cushioning protection for the automotive parts, preventing direct rigid contact between the hydraulic support rods and the automotive parts, thus avoiding damage to the parts during the grinding process. By setting micro elastic pillars 232 and micro suction cups 232 on the surface of the protective block 231, the contact tightness between the protective block 231 and the irregularly shaped automotive parts is further improved. When the contact surface between the parts and the hydraulic support rods has uneven surfaces such as inclined surfaces, curved surfaces, corrugated surfaces or hole surfaces due to the irregular structure, the micro elastic pillars 232 and micro suction cups 232 can still make full contact with the bottom surface of the parts, ensuring that multiple hydraulic support rods can stably support the automotive parts and ensure that the subsequent grinding process can proceed stably.

[0056] Reference Figure 9The grinding controller 4 generates a grinding plan for the parts based on the collected part information, specifically including the following steps:

[0057] A1. Parts identification: The polishing controller 4 identifies and collects automotive parts fixed on the support base 21 through the parts identification component 1, and obtains the parts information of the automotive parts, including barcode information and image information of the parts fixed on the support base 21.

[0058] A2. Obtaining Requirements: The grinding controller 4 obtains the grinding requirements of the parts based on the parts information. The grinding requirements of the parts include the 3D model of the parts, at least one grinding area of ​​the parts marked on the 3D model of the parts, and the grinding accuracy.

[0059] A3. Solution Generation: Based on the part's grinding requirements, a pre-set solution matching model is used to generate a grinding solution for the part. This model is a machine learning model trained on historical data. The grinding solution includes at least one set of grinding tools 32, grinding control parameters, and grinding process information. The grinding control parameters include the rotation speed, pressure, feed speed, and grinding time of the grinding tools 32, as well as the part placement control parameters. The grinding requirements are obtained based on the part information. The solution matching model intelligently generates a grinding solution that meets these requirements, simplifying the grinding process. This allows the grinding controller 4 to control the linkage support component 2 and the part grinding component 3 to work together to grind various areas of the part. The linkage support component 2 and the part grinding component 3 can adjust the part placement angle according to the area to be ground, thereby controlling the part grinding component 3 to efficiently grind the difficult areas caused by the part's irregular shape. This eliminates the need for repeated disassembly and adjustment of the part placement angle, simplifying the grinding process, saving manpower and resources, and effectively improving the grinding efficiency and precision of irregularly shaped automotive parts.

[0060] Reference Figure 10 The grinding controller 4 controls the linkage support component 2 and the accessory grinding component 3 to work together to grind the accessories, specifically including the following steps:

[0061] B1. The grinding controller 4 verifies the installation status of the accessories based on the accessory information to determine whether the accessories are correctly installed on the support base 21 and are in the initial state.

[0062] B2. If the verification fails, an alarm message will be sent to the staff, who will then install and calibrate the parts.

[0063] In addition, after the staff installs and calibrates the parts, the process jumps back to step B1 for verification.

[0064] B3. If the test is passed, the grinding controller 4 will send the grinding control parameters to the linkage support component 2 and the accessory grinding component 3 for parameter setting.

[0065] B4. The grinding controller 4 controls the linkage support component 2 and the accessory grinding component 3 to grind the accessories: The grinding controller 4 generates grinding control commands based on the grinding process information and sends these commands to the linkage support component 2 and the accessory grinding component 3 to control them to work together in accordance with the grinding process to grind the accessories. Through the linkage support component 2 and the accessory grinding component 3, the placement angle of the accessories can be adjusted according to the area to be ground, thereby controlling the accessory grinding component 3 to efficiently grind the difficult areas caused by irregular shapes of the accessories, achieving automated adjustment of the accessory placement angle and reducing the difficulty of grinding irregularly shaped accessories.

[0066] Reference Figure 11 The grinding controller 4 verifies the installation status of the accessories based on the accessory information, and determines whether the accessories are correctly installed on the support base 21 and in the initial state. This specifically includes the following steps:

[0067] C1. Reverse modeling to form the current point cloud model of the accessory: Based on the image information of the accessory fixed in the support base 21 in the accessory information, the point cloud data is extracted and reverse modeling is used to form the current point cloud model of the accessory.

[0068] C2. Reverse modeling to form a standard installation point cloud model: Obtain standard image information of the accessories being correctly installed on the support base 21 from the same image acquisition perspective, extract the point cloud data and reverse model to obtain a standard installation point cloud model;

[0069] C3. Rotate, translate, and scale the two models until they are precisely matched: Select any plane of the standard installation point cloud model as the reference plane, and rotate, translate, and scale the current point cloud model of the accessory and the standard installation point cloud model until they are precisely matched.

[0070] C4. Compare the two models after precise matching: Compare the current point cloud model of the accessory with the standard installation point cloud model after precise matching, and calculate the location where there is a height difference on the surface of the two. If the height difference exceeds the preset installation threshold, it is considered that the accessory is not correctly installed on the support base 21. Based on the image information of the accessory fixed on the support base 21 in the accessory information and the standard image information of the accessory correctly installed on the support base 21 from the same image acquisition view, the current point cloud model and the standard installation point cloud model are constructed by the reverse modeling method of point cloud data extraction. By comparing the current point cloud model and the standard installation point cloud model, the current installation status of the accessory can be accurately determined, avoiding the failure of the grinding process due to incorrect accessory installation, ensuring the stable progress of subsequent grinding processes, and achieving the effect of improving grinding efficiency and grinding accuracy.

[0071] Reference Figure 12The grinding controller 4 sends grinding control commands to the linkage support assembly 2 and the accessory grinding assembly 3 to control them to work together in accordance with the grinding process to grind the accessories. The specific steps include:

[0072] S1. Adjust the placement angle of the parts and provide support: The grinding controller 4 sends the grinding control command to the linkage support component 2. According to the grinding process, the drive motor 222 drives the linkage support plate 221 to rotate and adjust the placement angle of the parts. After the angle is adjusted, the controller controls multiple sets of pneumatic grippers 211 to clamp and fix the linkage support plate 221. Simultaneously, the controller controls multiple linkage hydraulic support rods 23 to rise to a specified height to support the bottom of the parts.

[0073] S2. Grinding the parts: The grinding controller 4 sends the grinding control command to the parts grinding component 3. The six-axis robot 31 drives the grinding tool 32 to grind the parts grinding area based on the grinding control command.

[0074] S3. Determine if there are any unpolished parts with polished areas;

[0075] S4. If present, control multiple sets of pneumatic grippers 211 to release the lock on the linkage support plate 221, and jump to step S1.

[0076] S5. If not present, the grinding is considered complete, and the grinding process ends. The grinding controller 4 sends control commands to the linkage support component 2 and the accessory grinding component 3 based on the grinding scheme. The linkage support component 2, according to the control commands, places the accessories at different angles in sequence according to the grinding process, and simultaneously controls multiple linkage hydraulic support rods 23 to adjust and stabilize the accessories, ensuring that the six-axis robot 31 can drive the grinding tool 32 to perform precise and efficient grinding processing on each area of ​​the accessory to be ground in sequence according to the grinding process.

[0077] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. A processing equipment for automotive metal parts, characterized in that: The system includes a component identification component (1) for collecting component information, a linkage support component (2) for supporting the component, a component grinding component (3) for grinding the component, and a grinding controller (4). The component identification component (1), linkage support component (2), and component grinding component (3) are all communicatively connected to the grinding controller (4). The linkage support component (2) includes a support base (21), a fixing component (22) installed on the support base (21) for fixing the component, and multiple linkage hydraulic support rods (23) for supporting the component. The multiple linkage hydraulic support rods (23) are arranged in a matrix on the top of the support base (21). The component grinding component (3) includes a six-axis robot (31) and a grinding tool (32) for grinding the component. The grinding tool (32) is installed at the output end of the six-axis robot (31). The grinding controller (4) generates a component grinding scheme based on the collected component information and controls the linkage support component (2) and the component grinding component (3) to work together to grind the component. The fixing component (22) includes a semi-circular linkage support plate (221) and a drive motor (222) for driving the linkage support plate (221) to rotate. The linkage support plate (221) passes through the support base (21) and is provided with clamping and fixing parts (225) at both ends for clamping and fixing accessories. The inner side of the linkage support plate (221) is provided with linkage teeth (223) along its circumference. The drive motor (222) is installed in the support base (21) and the output end is fitted with a drive gear (224). The drive gear (224) meshes with the linkage teeth (223). The support base (21) is provided with multiple sets of pneumatic grippers (211) for fixing the linkage support plate (221). The multiple sets of pneumatic grippers (211) are distributed on both sides of the linkage support plate (221). One clamping end of the pneumatic gripper (211) is an arc-shaped plate (212) that fits against the outer side of the linkage support plate (221), and the other clamping end is an arc-shaped rack (213) that fits against the inner side of the linkage support plate (221). Each of the telescopic ends of the multiple linkage hydraulic support rods (23) is provided with a hemispherical protective block (231). Multiple micro elastic columns (232) are distributed on the surface of the protective block (231). The multiple micro elastic columns (232) are arranged radially along the protective block (231), and a micro suction cup is provided at the end of the multiple micro elastic columns (232) away from the protective block (231).

2. The automotive metal parts processing equipment according to claim 1, characterized in that: Both clamping fasteners (225) include a fixing plate (226) with an L-shaped cross section and a clamping plate (227) for clamping the accessory. Both end faces of the fixing plate (226) and the clamping plate (227) are provided with multiple bolt holes along their length. The clamping plate (227) is attached to any end face of the fixing plate (226) and fixedly connected by bolts to clamp and fix one end of the accessory.

3. The automotive metal parts processing equipment according to claim 1, characterized in that: The accessory identification component (1) includes a barcode scanner (11) for collecting accessory barcode information and an image acquisition device (12) for collecting image information of the accessory mounted on the support base (21).

4. The automotive metal parts processing equipment according to claim 1, characterized in that, The grinding controller (4) generates a grinding plan for the parts based on the collected parts information, specifically including the following steps: The polishing controller (4) identifies and collects information on the automotive parts fixed on the support base (21) through the parts identification component (1), and obtains the parts information of the automotive parts, including barcode information and image information of the parts fixed on the support base (21); The grinding controller (4) obtains the grinding requirements of the parts based on the parts information. The grinding requirements of the parts include the three-dimensional model of the parts, at least one grinding area of ​​the parts marked on the three-dimensional model of the parts, and the grinding accuracy. According to the polishing requirements of the parts, a polishing scheme is generated by matching the pre-set scheme matching model. The scheme matching model is a machine learning model trained with historical data. The polishing scheme includes at least one set of polishing tools (32), polishing control parameters and polishing process information. The polishing control parameters include the rotation speed, pressure, feed speed and polishing time of the polishing tools (32) and the parts placement control parameters.

5. The automotive metal parts processing equipment according to claim 4, characterized in that, The grinding controller (4) controls the linkage support assembly (2) and the accessory grinding assembly (3) to work together to grind the accessories, specifically including the following steps: The grinding controller (4) verifies the installation status of the accessories based on the accessory information, and determines whether the accessories are correctly installed on the support base (21) and in the initial state. If the verification fails, an alarm message will be sent to the staff, who will then install and calibrate the parts. If the verification is successful, the grinding controller (4) will send the grinding control parameters to the linkage support component (2) and the accessory grinding component (3) for parameter setting; The grinding controller (4) generates grinding control instructions based on the grinding process information and sends the grinding control instructions to the linkage support component (2) and the accessory grinding component (3) to control them to grind the accessories in accordance with the grinding process.

6. The automotive metal parts processing equipment according to claim 5, characterized in that, The grinding controller (4) verifies the installation status of the accessories based on the accessory information, and determines whether the accessories are correctly installed on the support base (21) and in the initial state. Specifically, it includes the following steps: Based on the image information of the accessory fixed on the support base (21) in the accessory information, the point cloud data is extracted and reverse modeling is performed to form the current point cloud model of the accessory; Obtain standard image information of accessories correctly installed on the support base (21) from the same image acquisition perspective, extract point cloud data and reverse model to obtain standard installation point cloud model; Select any plane of the standard installation point cloud model as the reference plane, and rotate, translate, and scale the current point cloud model of the accessory and the standard installation point cloud model until they are precisely matched. Compare the current point cloud model of the accessory after precise matching with the standard installation point cloud model, and calculate the position where there is a height difference on the surface of the two. If the height difference exceeds the preset installation threshold, it is considered that the accessory is not correctly installed on the support base (21).

7. The automotive metal parts processing equipment according to claim 5, characterized in that, The polishing controller (4) sends polishing control commands to the linkage support assembly (2) and the accessory polishing assembly (3) to control them to perform linkage and coordination to polish the accessories according to the polishing process. Specifically, the steps include: S1. The grinding controller (4) sends the grinding control command to the linkage support component (2). According to the grinding process, it controls the drive motor (222) to drive the linkage support plate (221) to rotate and adjust the placement angle of the parts. After the angle adjustment is completed, it controls multiple sets of pneumatic grippers (211) to clamp and fix the linkage support plate (221). Simultaneously, it controls multiple linkage hydraulic support rods (23) to rise to a specified height to support the bottom of the parts. S2, The grinding controller (4) sends the grinding control command to the accessory grinding assembly (3), and the six-axis robot (31) drives the grinding tool (32) to grind the accessory grinding area based on the grinding control command; S3. Determine if there are any unpolished parts with polished areas; S4. If present, control multiple sets of pneumatic grippers (211) to release the lock on the linkage support plate (221) and jump to step S1. S5. If it does not exist, then the polishing is considered complete and the polishing process ends.

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