A robot end adaptive telescopic force control polishing executor and a working method thereof

Abstract

The application provides a robot end self-adapting telescopic force control polishing executor and a working method thereof, and belongs to the field of polishing executor.The robot end self-adapting telescopic force control polishing executor comprises a self-adapting telescopic force control executor, a polishing oil stone clamp and a feeding mechanism and a controller.The self-adapting telescopic force control executor comprises a magnetic steel cylinder, a coil, an inner through hole framework, a linear guide rail and a displacement sensor.The coil is wound on the inner through hole framework and can output force under the magnetic field of the magnetic steel cylinder after being electrified.The magnetic steel cylinder and the inner through hole framework are connected through the linear guide rail.The polishing oil stone clamp and the feeding mechanism are fixed and embedded in the inner through hole framework of the self-adapting telescopic force control executor.The application has the advantages of compact structure, can be used for mold polishing in narrow spaces such as complex curved surfaces and groove type surfaces, can better guarantee polishing quality by using oil stone as polishing material, has the functions of consumption detection and automatic supply of polishing oil stone, and simplifies the overall structure without additional installation of sensors for polishing force control.

Description

Technical Field

[0001] This invention relates to the field of robotic polishing technology, and in particular to an adaptive telescopic force-controlled polishing actuator for a robot end effector. Background Technology

[0002] Currently, mold polishing is still mainly done manually. The quality of polishing depends on the worker's skill level, and manual polishing is often inefficient, with long production cycles. Individual physical strength and energy also affect polishing efficiency. Furthermore, polishing workers face harsh environments harmful to their physical and mental health, including metal dust, noise, and grinding vibrations. Enterprises also face challenges such as a shortage of polishing labor and rising production costs. Simultaneously, with societal transformation and upgrading, industrial development is shifting from resource-intensive to innovation-driven, environmentally friendly, and quality-oriented sustainable development. All of these factors dictate that the mold polishing industry must pursue technological innovation that replaces manual labor with automated machines.

[0003] In recent years, industrial robots have developed rapidly in fields such as grinding, material handling, and 3C assembly, playing a significant role in changing enterprise production models and improving production efficiency. When using industrial robots for automated polishing, controlling the polishing force is a crucial step to ensure both polishing quality and efficiency.

[0004] Currently, end effectors capable of constant force control used for polishing industrial robots are mainly mechanical, pneumatic, and electric. Among them, electric compliant end effectors, based on active force control, have advantages such as fast response speed, high precision, and high integration, and have the greatest development potential. However, the practical application of this polishing solution has not been further improved, especially in polishing scenarios involving complex curved surfaces and narrow grooves, where there are no good solutions. At the same time, most current automatic robot polishing solutions use sandpaper or grinding wheels as polishing materials, supplemented by rotational motion. Although this can ensure the surface quality after polishing, it is lacking in maintaining the overall smoothness of the polished surface lines, and the issue of polishing material consumption and supply is rarely considered. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a robot end effector with adaptive telescopic force control polishing actuator and its working method, so as to solve the problems existing in the prior art that are difficult to face complex and narrow polishing spaces, have low overall smoothness of the polished surface lines, and cannot automatically supply polishing material after it is worn out.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an adaptive telescopic force-controlled polishing actuator for a robot end effector, comprising an adaptive telescopic force-controlled actuator, a polishing stone clamp and feeding mechanism, and a controller; the adaptive telescopic force-controlled actuator includes a magnetic steel cylinder, a coil, an inner through-hole frame, a linear guide rail, and a displacement sensor; the coil is wound on the inner through-hole frame, the magnetic steel cylinder and the inner through-hole frame are connected by the linear guide rail, and the displacement sensor is installed between the magnetic steel cylinder and the inner through-hole frame; the polishing stone clamp and feeding mechanism includes a polishing stone clamping mechanism and a polishing stone feeding mechanism; the polishing stone clamp and feeding mechanism are fixed and embedded in the inner through-hole frame of the adaptive telescopic force-controlled actuator; the controller outputs a settable current to the coil of the adaptive telescopic force-controlled actuator, and after the coil is energized, it outputs force under the action of the magnetic field in the magnetic steel cylinder, and the output force value is proportional to the current.

[0007] In a preferred embodiment, the inner through-hole skeleton, under the fixation and restriction of the linear guide rail, achieves axial extension and retraction relative to the magnetic steel cylinder within a certain range, and the axial position of the inner through-hole skeleton does not affect the output force value.

[0008] In a preferred embodiment, the controller communicates with the robot to obtain the posture of the robot's end effector adaptive telescopic force control polishing actuator during polishing, and performs gravity compensation on the current posture of the actuator after calculation.

[0009] This invention also provides a method for operating a robot end effector with adaptive telescopic force control polishing actuator, characterized by the following steps:

[0010] Step A1: Install the adaptive telescopic force control polishing actuator at the end of the robot to the end of the industrial robot, install the polishing stone on the polishing stone fixture and the feed mechanism and extend it to a specific length, and define the center of the cross section of the extended end of the polishing stone when the inner through hole skeleton in the adaptive telescopic force control actuator is in the middle position of the telescopic stroke as the origin of the tool coordinate system, and perform the corresponding teaching.

[0011] Step A2: Set the relevant parameters for the controller, issue a start polishing command to the robot, and the robot drives the adaptive telescopic force control polishing actuator to perform polishing motion according to the predetermined polishing trajectory;

[0012] Step A3: The controller acquires the actuator posture in real time by communicating with the robot, and performs real-time detection, adjustment and gravity compensation of the output polishing force to achieve a constant output of polishing force;

[0013] Step A4: The controller monitors the consumption of polishing stones in real time, automatically feeds and replaces them;

[0014] Step A5: Inspect the polished surface. If the desired polishing effect is not achieved, repeat steps A2 to A4.

[0015] In a preferred embodiment, the real-time polishing force detection, adjustment, and gravity compensation process includes the following steps:

[0016] Step A31: A sampling resistor is connected in series in the coil loop of the adaptive telescopic force control actuator. During the polishing process, the voltage across the sampling resistor is acquired in real time by the controller.

[0017] Step A32: Based on the voltage across the sampling resistor, the controller automatically calculates the loop current of the coil at this time, and calculates the actual output force at this time accordingly;

[0018] Step A33: The controller communicates with the robot to obtain the current actuator posture information and calculates the current gravity compensation value;

[0019] Step A34: The controller compares the actual output force and gravity compensation value with the set polishing force using the corresponding algorithm, and then adjusts the loop current of the compensation coil to change the actual polishing force to match the set polishing force, thereby achieving constant control of the polishing force.

[0020] In a preferred embodiment, the distance between the magnetic cylinder of the adaptive telescopic force control actuator and the inner through-hole skeleton changes as the polishing oilstone is consumed;

[0021] The polishing stone consumption detection, automatic feeding, and replacement process includes the following steps:

[0022] Step A41: During polishing, the controller acquires the displacement signal from the displacement sensor in real time, which is the distance between the magnetic steel cylinder and the inner through hole skeleton;

[0023] Step A42: If the displacement information does not exceed the set threshold, the polishing process will not change its action; if it exceeds the set threshold, it means that the polishing stone has been consumed to the limit, the controller sends a stop polishing command to the robot, and controls the polishing stone clamping mechanism to release the polishing stone.

[0024] Step A43: After receiving the instruction, the robot stops polishing and lifts a certain distance along the Z-axis of the tool coordinate system from its current position. The controller controls the polishing stone feeding mechanism to feed the polishing stone a specific length. After the feeding is completed, the controller controls the polishing stone clamping mechanism to clamp the polishing stone and sends a continue polishing instruction to the robot, returning to step A41 to continue polishing. If the polishing stone feeding mechanism reaches the limit position when feeding the polishing stone, it means that the polishing stone has been exhausted and needs to be replaced. At this time, the controller sends a replacement polishing stone instruction to the robot.

[0025] Step A44: After receiving the instruction, the robot moves to the designated position to replace the polishing stone. After the polishing stone replacement is completed, it sends a signal to the controller. The controller controls the polishing stone clamping mechanism to clamp the polishing stone and sends a continue polishing instruction to the robot. Then, it returns to step A41 to continue polishing.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The robot end effector with adaptive telescopic force control polishing provided by the present invention has a compact structure and a small polishing head, and can be used for polishing molds in narrow spaces with complex curved surfaces, grooves and other similar features;

[0028] 2. The robot end effector with adaptive telescopic force control provided by the present invention uses polishing oilstone as polishing material, which can ensure the surface roughness of the mold after polishing while also effectively ensuring the smoothness of the overall surface lines; and has the functions of polishing oilstone consumption detection and automatic feed replenishment, which improves the degree of automation of polishing.

[0029] 3. The robot end effector with adaptive telescopic force control polishing provided by the present invention integrates a controller, which can automatically control the polishing process. Moreover, the constant force control part does not require an additional contact force sensor, which greatly simplifies the overall structure and reduces control costs. Attached Figure Description

[0030] Figure 1 This is an overall schematic diagram of an embodiment of the adaptive telescopic force-controlled polishing actuator for robot end effector provided by the present invention;

[0031] Figure 2 This is a cross-sectional view of the adaptive telescopic force control actuator provided by the present invention;

[0032] Figure 3 This is a schematic diagram of the polishing whetstone fixture and feeding mechanism provided by the present invention;

[0033] Figure 4 This is a schematic diagram of the polishing oilstone clamping mechanism provided by the present invention;

[0034] Figure 5 This is a schematic diagram of an embodiment of the polishing oilstone feeding mechanism provided by the present invention;

[0035] Figure 6 This is a schematic diagram of Embodiment 2 of the polishing oilstone feeding mechanism provided by the present invention;

[0036] Figure 7 A partial cross-sectional view of an embodiment of the adaptive telescopic force-controlled polishing actuator for robot end effector provided by the present invention;

[0037] Figure 8The force output principle diagram of the adaptive telescopic force control actuator provided by the present invention;

[0038] Figure 9 This is a schematic diagram of the controller control function provided by the present invention;

[0039] Figure 10 A flowchart of the robot end effector adaptive telescopic force-controlled polishing actuator provided by the present invention;

[0040] Figure 11 Flowchart of the real-time detection, adjustment and gravity compensation process control method for polishing force provided by the present invention;

[0041] Figure 12 The flowchart of the polishing stone consumption detection and automatic feed control method provided by the present invention is shown.

[0042] Figure label:

[0043] 1. Flange plate; 2. Adaptive telescopic force control actuator; 3. Controller; 4. Connecting seat; 5. Polishing whetstone fixture and feed mechanism; 6. Polishing whetstone;

[0044] 21. Motion base plate; 22. Internal through-hole frame; 23. Displacement sensor; 24. Coil; 25. Magnet cylinder; 26. Fixed base plate; 27. Slide rail support; 28. Linear guide rail; 281. Slide rail; 282. Slider; 29. ​​Slider support;

[0045] 51. Polishing whetstone clamping mechanism; 511. Base; 512. Clamping linkage mechanism; 513. Miniature cylinder;

[0046] 52. Polishing stone feed mechanism; 521. Miniature slide table; 522. Push block; 523. Gear motor; 524. Fixed base; 525. Push rod and push block; 526. Miniature electric push rod. Detailed Implementation

[0047] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0048] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0049] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this application; as used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise; furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0050] refer to Figure 1-12 , Figure 1 This is an overall schematic diagram of an embodiment of the adaptive telescopic force-controlled polishing actuator for a robot end effector provided by the present invention. As shown in the figure, the adaptive telescopic force-controlled polishing actuator for a robot end effector includes an adaptive telescopic force-controlled actuator 2, a polishing stone clamp and feeding mechanism 5, a controller 3, a polishing stone 6, a connecting seat 4, and a flange plate 1. One end of the adaptive telescopic force-controlled actuator 2 is connected to the industrial robot through the flange plate 1, and the other end is equipped with the polishing stone clamp and feeding mechanism 5 through the connecting seat 4. The polishing stone clamp and feeding mechanism 5 are embedded in the adaptive telescopic force-controlled actuator 2. The polishing stone clamp and feeding mechanism 5 can clamp the polishing stone 6. The controller 3 is fixed in an empty position in the adaptive telescopic force-controlled actuator 2.

[0051] Furthermore, Figure 2 This is a cross-sectional view of the adaptive telescopic force control actuator provided by the present invention. As shown in the figure, the adaptive telescopic force control actuator 2 consists of a magnetic steel cylinder 25, an inner through-hole frame 22, a coil 24, a slide rail support 27, a linear guide rail 28, a slider support 29, a fixed base plate 26, a moving base plate 21, and a displacement sensor 23. The magnetic steel cylinder 25 is mounted on the fixed base plate 26, the coil 24 is wound around the inner through-hole frame 22, and the inner through-hole frame 22 is mounted on the moving base plate 21. The linear guide rail 28... The slide rail 281 is mounted and fixed to the side of the magnetic steel cylinder 25 via the slide rail support 27, and the slider 282 is fixedly connected to the moving base plate 21 via the slider support 29. The slider 282 is on the slide rail 281 and is restricted by the slide rail 281, so it can realize linear motion, thereby realizing the axial extension and retraction function of the adaptive telescopic force control actuator 2 and achieving the purpose of adaptive extension and retraction. The displacement sensor 23 is fixed between the fixed base plate 26 and the moving base plate 21 and is used to detect the axial extension and retraction position of the adaptive telescopic force control actuator 2.

[0052] Figure 3 The present invention provides a schematic diagram of a polishing oilstone clamp and a feeding mechanism. As shown in the figure, the polishing oilstone clamp and feeding mechanism 5 consists of a polishing oilstone clamping mechanism 51 and a polishing oilstone feeding mechanism 52; wherein, the polishing oilstone clamping mechanism 51 is mounted and fixed on the polishing oilstone feeding mechanism 52.

[0053] Specifically, Figure 4The schematic diagram of the polishing oilstone clamping mechanism provided by the present invention is shown in the figure. The polishing oilstone clamping mechanism 51 consists of a base 511, a clamping linkage mechanism 512, and a miniature cylinder 513. The miniature cylinder 513 drives the clamping linkage mechanism 512 to clamp the polishing oilstone.

[0054] Figure 5 The figure shows a schematic diagram of a first embodiment of the polishing oilstone feeding mechanism provided by the present invention. The polishing oilstone feeding mechanism 52 consists of a miniature slide 521, a push block 522, and a reduction motor 523. The reduction motor 523 drives the miniature slide 521 to achieve linear reciprocating motion, thereby controlling the feeding of the polishing oilstone through the push block 522.

[0055] It should be noted that the polishing oilstone feeding mechanism 52 is used to automatically feed the polishing oilstone 6. It can be any mechanism that provides linear driving force, has self-locking properties, and is small enough to be embedded inside the adaptive telescopic force control actuator 2, and is not limited to the embodiments provided in this invention. Embodiment one provided in this invention uses a miniature slide as the polishing oilstone feeding mechanism, such as... Figure 5 As shown; Embodiment 2 uses a miniature electric actuator as the polishing oilstone feeding mechanism, such as Figure 6 As shown, it includes a miniature electric actuator 524, an actuator push block 525, and a fixed base 526.

[0056] Furthermore, Figure 7 The figure shows a partial cross-sectional view of an embodiment of the adaptive telescopic force-controlled polishing actuator for a robot end effector provided by the present invention. The fixed base plate 26 is connected to the flange plate 1 and can be installed and fixed to the end effector of an industrial robot. The polishing stone fixture and the feeding mechanism 5 are embedded in the through-hole of the inner through-hole frame 22 of the adaptive telescopic force-controlled actuator 2, and are fixed thereto by the connecting seat 4 and the moving base plate 21. The controller 3 outputs a settable current to the coil 24 of the adaptive telescopic force-controlled actuator 2. After the coil 24 is energized, it outputs force under the action of the magnetic field in the magnetic cylinder 25, such as... Figure 8 As shown, the output force is proportional to the current.

[0057] Furthermore, the controller 3 communicates with the robot to obtain the posture of the robot end effector's adaptive telescopic force control polishing actuator during polishing, and performs gravity compensation on the current posture of the actuator after calculation.

[0058] Specifically, the robot end effector adaptive telescopic force-controlled polishing actuator includes the following working steps:

[0059] Step 1: Install the adaptive telescopic force control polishing actuator at the end of the robot to the end of the industrial robot, install the polishing stone 6 on the polishing stone fixture and the feed mechanism 5 and extend it to a specific length, and define the center of the cross section of the extended end of the polishing stone 6 when the inner through hole skeleton 22 in the adaptive telescopic force control actuator 2 is in the middle position of the telescopic stroke as the origin of the tool coordinate system, and perform the corresponding teaching.

[0060] Step 2: Set the relevant parameters for controller 3, issue a start polishing command to the robot, and drive the adaptive telescopic force control actuator 2 to perform polishing motion according to the predetermined polishing trajectory;

[0061] Step 3: Controller 3 acquires the actuator posture in real time by communicating with the robot, and performs real-time detection, adjustment and gravity compensation of the output polishing force to achieve a constant output of polishing force;

[0062] Step 4: Controller 3 monitors the consumption of polishing oilstone 6 in real time, automatically feeds and replaces it;

[0063] Step 5: Inspect the polished surface. If the desired polishing effect is not achieved, repeat Steps 2 to 4.

[0064] Furthermore, the real-time detection, adjustment, and gravity compensation process for polishing force includes the following steps:

[0065] Step 1: The coil 24 in the adaptive telescopic force control actuator 2 is connected in series with a sampling resistor. During the polishing process, the voltage across the sampling resistor is acquired in real time by the controller 3.

[0066] Step 2: Based on the voltage across the sampling resistor, the controller 3 automatically calculates the loop current of the coil 24 at this time, and calculates the actual output force at this time.

[0067] Step 3: Controller 3 communicates with the robot to obtain the current actuator posture information and calculates the current gravity compensation value;

[0068] Step 4: The controller 3 compares the actual output force and gravity compensation value with the set polishing force using the corresponding algorithm, and then compensates the loop current of the compensation coil 24 to change the actual polishing force to match the set polishing force, thereby achieving constant control of the polishing force.

[0069] Furthermore, the distance between the magnetic steel cylinder 25 and the inner through-hole skeleton 22 of the adaptive telescopic force control actuator 2 will change as the polishing oilstone 6 is consumed;

[0070] Specifically, the consumption detection, automatic feeding, and replacement process of polishing oilstone 6 includes the following steps:

[0071] Step 1: During polishing, the controller 3 acquires the displacement signal of the displacement sensor 23 in real time, which is the distance between the magnetic steel cylinder 25 and the inner through hole skeleton 22.

[0072] Step 2: If the displacement information does not exceed the set threshold, the polishing process will not change its action; if it exceeds the set threshold, it means that the polishing stone 6 has been consumed to the limit. The controller 3 sends a stop polishing command to the robot and controls the polishing stone clamping mechanism 51 to release the polishing stone 6.

[0073] Step 3: After receiving the instruction, the robot stops polishing and lifts a certain distance along the Z-axis of the tool coordinate system from its current position. The controller 3 controls the polishing stone feeding mechanism 52 to feed the polishing stone 6 to a specific length. After the feeding is completed, the controller controls the polishing stone clamping mechanism 51 to clamp the polishing stone 6 and sends a continuing polishing instruction to the robot. The robot then returns to Step 1 to continue polishing. If the polishing stone feeding mechanism 52 reaches the limit position when feeding the polishing stone 6, it means that the polishing stone 6 has been exhausted and needs to be replaced. At this time, the controller 3 sends an instruction to the robot to replace the polishing stone 6.

[0074] Step 4: After receiving the instruction, the robot moves to the designated position of the polishing stone 6. After the replacement of the polishing stone 6 is completed, it sends a signal to the controller 3. The controller 3 controls the polishing stone clamping mechanism 51 to clamp the polishing stone 6 and sends a continue polishing instruction to the robot. Then it returns to Step 1 to continue polishing.

[0075] Finally, it should be noted that this patent is not limited to the above-described embodiments. Any other forms of adaptive telescopic force-controlled polishing actuators for robotic ends derived under the guidance of this patent, and any modifications or equivalent substitutions of the technical solutions made in accordance with the scope of this patent application, shall not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of this patent.

Claims

1. A method for operating a robot end effector with adaptive telescopic force control for polishing, characterized in that, An adaptive telescopic force-controlled polishing actuator for a robot end effector is disclosed. The actuator comprises an adaptive telescopic force-controlled actuator, a polishing stone clamp and feeding mechanism, and a controller. The adaptive telescopic force-controlled actuator includes a magnetic cylinder, a coil, an inner through-hole frame, a linear guide rail, and a displacement sensor. The coil is wound around the inner through-hole frame, and the magnetic cylinder and the inner through-hole frame are connected by the linear guide rail. The displacement sensor is installed between the magnetic cylinder and the inner through-hole frame. The polishing stone clamp and feeding mechanism includes a polishing stone clamping mechanism and a polishing stone feeding mechanism. The polishing stone clamp and feeding mechanism are fixed and embedded within the inner through-hole frame of the adaptive telescopic force-controlled actuator. The controller outputs a settable current to the coil of the adaptive telescopic force-controlled actuator. After being energized, the coil outputs force under the influence of the magnetic field in the magnetic cylinder, and the output force value is proportional to the current. The working method includes the following steps: Step A1: Install the adaptive telescopic force control polishing actuator at the end of the robot to the end of the industrial robot, install the polishing stone on the polishing stone fixture and the feed mechanism and extend it to a specific length, and define the center of the cross section of the extended end of the polishing stone when the inner through hole skeleton in the adaptive telescopic force control actuator is in the middle position of the telescopic stroke as the origin of the tool coordinate system, and perform the corresponding teaching. Step A2: Set the relevant parameters for the controller, issue a start polishing command to the robot, and the robot drives the adaptive telescopic force control polishing actuator to perform polishing motion according to the predetermined polishing trajectory; Step A3: The controller acquires the actuator posture in real time by communicating with the robot, and performs real-time detection, adjustment and gravity compensation of the output polishing force to achieve a constant output of polishing force; Step A4: The controller monitors the consumption of polishing stones in real time, automatically feeds and replaces them; Step A5: Inspect the polished surface. If the desired polishing effect is not achieved, repeat steps A2-A4. The real-time detection, adjustment, and gravity compensation process of the polishing force includes the following steps: Step A31: A sampling resistor is connected in series in the coil loop of the adaptive telescopic force control actuator. During the polishing process, the voltage across the sampling resistor is acquired in real time by the controller. Step A32: Based on the voltage across the sampling resistor, the controller automatically calculates the loop current of the coil at this time, and calculates the actual output force at this time accordingly; Step A33: The controller communicates with the robot to obtain the current actuator posture information and calculates the current gravity compensation value; Step A34: The controller compares the actual output force and gravity compensation value with the set polishing force using the corresponding algorithm, and then adjusts the loop current of the compensation coil to change the actual polishing force to match the set polishing force, thereby achieving constant control of the polishing force. The distance between the magnetic steel cylinder and the inner through-hole skeleton of the adaptive telescopic force control actuator will change as the polishing oilstone is consumed; The polishing stone consumption detection, automatic feeding, and replacement process includes the following steps: Step A41: During polishing, the controller acquires the displacement signal from the displacement sensor in real time, which is the distance between the magnetic steel cylinder and the inner through hole skeleton; Step A42: If the displacement information does not exceed the set threshold, the polishing process will not change its action; if it exceeds the set threshold, it means that the polishing stone has been consumed to the limit, the controller sends a stop polishing command to the robot, and controls the polishing stone clamping mechanism to release the polishing stone. Step A43: After receiving the instruction, the robot stops polishing and lifts a certain distance along the Z-axis of the tool coordinate system from its current position. The controller controls the polishing stone feeding mechanism to feed the polishing stone a specific length. After the feeding is completed, the controller controls the polishing stone clamping mechanism to clamp the polishing stone and sends a continue polishing instruction to the robot, returning to step A41 to continue polishing. If the polishing stone feeding mechanism reaches the limit position when feeding the polishing stone, it means that the polishing stone has been exhausted and needs to be replaced. At this time, the controller sends a replacement polishing stone instruction to the robot. Step A44: After receiving the instruction, the robot moves to the designated position to replace the polishing stone. After the polishing stone replacement is completed, it sends a signal to the controller. The controller controls the polishing stone clamping mechanism to clamp the polishing stone and sends a continue polishing instruction to the robot. Then, it returns to step A41 to continue polishing.

2. The working method of the adaptive telescopic force-controlled polishing actuator at the end of a robot according to claim 1, characterized in that, Under the fixation and restriction of the linear guide rail, the inner through-hole skeleton can achieve axial extension and retraction within a certain range relative to the magnetic steel cylinder, and the axial position of the inner through-hole skeleton does not affect the output force value.

3. The working method of the adaptive telescopic force-controlled polishing actuator at the end of a robot according to claim 1, characterized in that, The controller communicates with the robot to obtain the posture of the robot's end effector during polishing, and performs gravity compensation on the current posture of the actuator after calculation.

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