An industrial robot grinding system for an arc striking plate and method of use

Abstract

The application discloses an industrial robot polishing system for an arc striking plate and a use method, belongs to the technical field of industrial robots, and comprises a six-axis mechanical arm and a polishing suction mechanism arranged at the end of the six-axis mechanical arm; a feeding station, a calibration station, a determination station, a polishing station and a discharging station are sequentially arranged along the horizontal rotation direction of the six-axis mechanical arm; the polishing suction mechanism comprises a connecting block fixedly connected with the end motor output shaft of the six-axis mechanical arm, and the side wall of the connecting block is sequentially provided with a radial vacuum suction disc, an axial vacuum suction disc and a negative pressure polishing head. Through the cooperation of the six-axis mechanical arm and the polishing suction mechanism, the feeding, determination, calibration, polishing and discharging of the arc striking plate can be automatically completed in sequence, so that the polishing work of the arc striking plate is automatically completed, the work efficiency is improved compared with manual polishing, and meanwhile, the surface consistency of the polished arc striking plate is improved.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, specifically relating to an industrial robot grinding system and its usage method for arc-inducing plates. Background Technology

[0002] Industrial robots are commonly used for welding, painting, grinding, loading and unloading, and handling, replacing humans in harsh environments such as dangerous, harmful, toxic, low-temperature, and high-heat conditions.

[0003] Electroslag remelting is a refining method that uses electric current to pass through electroslag, which acts as a resistive element, to convert electrical energy into heat energy in order to melt metals. Its purpose is to improve the purity of metals and the crystallization quality of steel.

[0004] In the electroslag remelting process, arc-starting plates (made of Q235 steel plate, 200mm*200mm*16mm in size) are required as the "fire starter" for the smelting process. Due to their small size, the arc-starting plates need to be manually picked out and stacked, and each one needs to be manually ground with an angle grinder before stacking. The number of arc-starting plates used per furnace varies from 3 to 6, with about 35 used per day. From cutting to usability, it takes an average of about 10 minutes per furnace. The operation is cumbersome, inefficient, labor-intensive, and somewhat dangerous. Moreover, the surface uniformity after manual grinding is poor. Summary of the Invention

[0005] To address the low efficiency of manual polishing of arc-starting plates in existing technologies, and to resolve the issue of poor surface uniformity of arc-starting plates after manual polishing, this invention provides an industrial robot polishing system and method for arc-starting plates. Through the coordinated operation of a six-axis robotic arm and a polishing and suction mechanism, the system can automatically complete the actions of loading, judging, calibrating, polishing, and unloading of arc-starting plates sequentially. Compared to manual polishing, this system improves work efficiency and enhances the surface uniformity of the polished arc-starting plates.

[0006] The technical solution adopted by the present invention, which is an industrial robot grinding system and method for arc-inducing plates, is as follows:

[0007] An industrial robot grinding system for arc-inducing plates includes a six-axis robotic arm and a grinding and suction mechanism disposed at the end of the six-axis robotic arm. Along the horizontal rotation direction of the six-axis robotic arm, there are sequentially arranged a loading station, a calibration station, a judgment station, a grinding station, and an unloading station. The grinding and suction mechanism includes a connecting block fixedly connected to the output shaft of the end motor of the six-axis robotic arm. The side wall of the connecting block is sequentially provided with a radial vacuum suction cup, an axial vacuum suction cup, and a negative pressure grinding head.

[0008] The calibration station is equipped with an inclined calibration platform with a square cross-section. One corner of the calibration platform is located at the low point, the corner opposite the low point is located at the high point, and the other two corners are located in the middle. Both sides of the calibration platform corresponding to the low point corner are equipped with baffles perpendicular to the calibration platform.

[0009] A further improvement of the technical solution of the present invention is that: one side wall of the connecting block is fixedly connected to the output shaft of the end motor of the six-axis robotic arm; an axial vacuum suction cup is set on the side wall of the connecting block opposite to the end motor of the six-axis robotic arm; and a radial vacuum suction cup and a negative pressure grinding head are respectively set on the other two side walls of the connecting block.

[0010] A further improvement of the technical solution of the present invention is that the angle between the calibration platform and the ground is greater than 45° and less than 90°, and the calibration platform is set on the ground by a column.

[0011] A further improvement of the technical solution of the present invention is that a limit switch is set on the corresponding position of the determination station via a support rod to detect whether the grinding and suction mechanism has successfully picked up the arc-starting plate.

[0012] A further improvement of the technical solution of the present invention is that: two sets of suction cups are set at the corresponding positions of the grinding station, each set of suction cups includes multiple grinding suction cups, and a spring bracket is set below each grinding suction cup; wherein, the two sets of suction cups are spaced a certain distance apart, and a flipping space is set below the two sets of suction cups.

[0013] A further improvement of the technical solution of the present invention is that: a plate-picking workbench is provided at the position corresponding to the loading station, and a plate-laying workbench is provided at the position corresponding to the unloading station; wherein, the plate-picking workbench has six plate-picking slots, and six unpolished arc-drawing plates can be stacked in each plate-picking slot, and six plate-laying points are provided on the plate-laying workbench, and six polished arc-drawing plates can be stacked in each plate-laying point.

[0014] A method of using an industrial robot grinding system for arc-inducing plates, comprising the following steps:

[0015] S1. The six-axis robotic arm performs a self-inspection.

[0016] S2, the six-axis robotic arm and the grinding and suction mechanism are positioned at the loading station and pick up the un-grinded arc-starting plate;

[0017] S3. The six-axis robotic arm and the grinding and suction mechanism move to the judgment station to determine whether the grinding and suction mechanism has successfully picked up the ungrinded arc-starting plate. If yes, proceed to the next step; otherwise, repeat S2.

[0018] S4. The grinding and suction mechanism moves the suctioned un-grinded arc-starting plate to the calibration station for suction position calibration.

[0019] S5. The grinding and suction mechanism drives the calibrated arc-starting plate to the grinding station for grinding.

[0020] S6. The grinding and suction mechanism moves the ground arc-starting plate to the unloading station and unloads it.

[0021] S7. Repeat steps S2, S3, S4, S5 and S6 until all the arc-starting plates at the loading station are polished.

[0022] A further improvement of the above technical solution of the present invention is that: step S2 picks up the unpolished arc-starting plate, specifically, the axial vacuum suction cup of the polishing and picking mechanism picks up the unpolished arc-starting plate.

[0023] A further improvement of the above technical solution of the present invention is that step S4 specifically includes the following steps:

[0024] S4.1 The grinding and suction mechanism places the ungrinded arc-starting plate onto the calibration table, and the arc-starting plate slides down and locks onto the lowest corner of the calibration table under its own weight.

[0025] S4.2 The grinding and suction mechanism re-suctions the arc-starting plate on the calibration table to complete the calibration of the arc-starting plate.

[0026] A further improvement to the above technical solution of the present invention is that step S5 specifically includes the following steps:

[0027] S5.1 The axial vacuum suction cup of the grinding and suction mechanism places the suction-induced arc plate onto the suction cup assembly;

[0028] S5.2 The negative pressure grinding head of the grinding and suction mechanism grinds the side of the arc-starting plate facing upwards;

[0029] S5.3 The radial vacuum suction cup of the grinding and suction mechanism adsorbs the side of the arc-initiating plate that has been ground. Then the grinding and suction mechanism drives the arc-initiating plate to flip so that the unground side of the arc-initiating plate faces upward, and then the arc-initiating plate is placed back on the suction cup assembly.

[0030] S5.4 The negative pressure grinding head of the grinding and suction mechanism grinds the un-grinded side of the arc-starting plate.

[0031] S5.5 The axial vacuum suction cup of the grinding and suction mechanism is adsorbed together with the ground arc-starting plate.

[0032] Due to the adoption of the above technical solution, the technical progress achieved by this invention includes:

[0033] This invention, through the cooperation of a six-axis robotic arm and a grinding and suction mechanism, can automatically complete the actions of loading, judging, calibrating, grinding and unloading of the arc-starting plate in sequence, thereby automatically completing the grinding work of the arc-starting plate. Compared with manual grinding, it improves work efficiency and enhances the surface consistency of the arc-starting plate after grinding.

[0034] In this invention, by setting a judgment station and a limit switch, it is possible to quickly determine whether the arc-initiating plate has been successfully picked up from the loading station. This avoids the situation where the invention still completes the above-mentioned series of processes such as loading, judgment, calibration, grinding and unloading even if the grinding and picking mechanism fails to pick up the un-grinded arc-initiating plate, which would otherwise waste time and reduce grinding efficiency.

[0035] Meanwhile, the calibration station and calibration table set in this invention enable the grinding suction mechanism to adhere to the same position on the arc-starting plate each time, preventing the grinding suction mechanism from adhering to different positions on the arc-starting plate due to different sizes of the arc-starting plate, which would lead to subsequent grinding operation failure.

[0036] In this invention, the radial vacuum suction cup in the grinding and suction mechanism can flip the arc-initiating plate for grinding, thereby grinding the arc-initiating plate from all sides. At the same time, since the two sets of suction cups are a certain distance apart and there is a flipping space below the two sets of suction cups, the grinding and suction mechanism can easily enter the flipping space through the gap between the two sets of suction cups, thus facilitating the flipping of the arc-initiating plate.

[0037] At the same time, compared with manual grinding, the present invention does not need to consider how to deal with the metal dust generated during grinding, nor does it need to consider the health hazards of metal dust to workers. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of an industrial robot grinding system and its usage method for an arc-inducing plate according to the present invention.

[0039] Figure 2 This is a side view of an industrial robot grinding system and its usage method for an arc-inducing plate according to the present invention.

[0040] Figure 3 This is a top view schematic diagram of an industrial robot grinding system and its usage method for an arc-inducing plate according to the present invention.

[0041] Figure 4 This is a diagram showing the air circuit control connection of the grinding suction mechanism in an industrial robot grinding system and method for use of an arc-inducing plate according to the present invention.

[0042] Figure 5 This is a schematic diagram of the calibration table of an industrial robot grinding system and its usage method for an arc-inducing plate according to the present invention.

[0043] Figure 6 This is a flowchart illustrating the process of an industrial robot grinding system and its usage method for an arc-inducing plate according to the present invention.

[0044] In the attached diagram: 1. Six-axis robotic arm; 2. Grinding and suction mechanism; 21. Connecting block; 22. Radial vacuum suction cup; 23. Axial vacuum suction cup; 24. Negative pressure grinding head;

[0045] 3. Loading station; 31. Plate picking workbench; 32. Plate picking slot;

[0046] 4. Calibration station; 41. Calibration table; 42. Baffle;

[0047] 5. Determine the workstation; 51. Limit switch;

[0048] 6. Grinding station; 61. Suction cup assembly; 62. Grinding suction cup; 63. Spring bracket; 64. Tilting space; 65. Connecting plate; 66. Mounting plate;

[0049] 7. Unloading station; 71. Plate unloading workbench. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings. In the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concept of this invention.

[0051] First refer to Figure 1 ,according to Figure 1 The present invention's grinding system includes a horizontally rotatable six-axis robotic arm 1 mounted on the ground. A grinding suction mechanism 2 is connected to the end of the robotic arm 1 furthest from the ground. Simultaneously, a loading station 3, a calibration station 4, a judgment station 5, a grinding station 6, and an unloading station 7 are sequentially arranged on the ground along the clockwise horizontal rotation direction of the six-axis robotic arm 1. The grinding suction mechanism 2 of the present invention picks up the arc-initiating plate to be ground at the loading station 3, calibrates the adsorption position between the arc-initiating plate and the grinding suction mechanism 2 at the calibration station 4, detects whether the grinding suction mechanism 2 has successfully picked up the arc-initiating plate at the judgment station 5, grinds the arc-initiating plate at the grinding station 6, and lowers the ground arc-initiating plate at the unloading station 7.

[0052] The grinding and suction mechanism 2 in this invention can be specifically configured as follows: Figure 2 ,according to Figure 2It is understood that the grinding and suction mechanism 2 includes a connecting block 21 fixedly connected to the motor output shaft of the six-axis robotic arm 1 at the end away from the ground. The motor of the six-axis robotic arm 1 at the end away from the ground is connected to one side wall of the connecting block 21. Simultaneously, an axial vacuum suction cup 23 is provided on the other side wall opposite to the aforementioned side wall. Radial vacuum suction cups 22 and negative pressure grinding heads 24 are respectively provided on the other two side walls of the connecting block 21. The negative pressure grinding head 24 has sandpaper adsorbed on it for grinding the arc-starting plate. The aforementioned negative pressure grinding head 24 can be a commonly used automated oscillating negative pressure grinding head 24 in the prior art. Meanwhile, the control air paths of the aforementioned axial vacuum suction cup 23, radial vacuum suction cup 22, and negative pressure grinding head 24 are as follows... Figure 4 As shown, the axial vacuum chuck 23 and the radial vacuum chuck 22 in this invention are both connected to the connecting block 21 via spring rods.

[0053] Continue to refer to Figure 1 In this invention, a plate-retrieving workbench 31 is placed on the ground at the position corresponding to the loading station 3. The table surface of the plate-retrieving workbench 31 has six plate-retrieving slots 32 for placing arc-guiding plates, and each plate-retrieving slot 32 can hold six arc-guiding plates. Preferably, the height of the plate-retrieving workbench 31 is 54cm. (Continue to refer to...) Figure 1 A square-section calibration platform 41 is installed on the ground at the location corresponding to calibration station 4. The specific installation of this calibration platform 41 can be referenced from [reference needed]. Figure 5 ,according to Figure 5 As can be seen, the calibration platform 41 is inclinedly set on the ground by a column, and the angle between the calibration platform 41 and the ground is greater than 45° and less than 90°. Specifically, one corner of the calibration platform 41 is located at the lowest point, the corner opposite the lowest point is located at the highest point, and the other two corners are in the middle position. At the same time, baffles 42 perpendicular to the calibration platform 41 are provided on both sides of the lowest corner. In this invention, since the angle between the calibration platform 41 and the ground is greater than 45° and less than 90°, when the arc-inducing plate is placed on the calibration platform 41, the arc-inducing plate can automatically slide down and lock to the lowest corner of the calibration platform 41 under its own gravity.

[0054] Continue to refer to Figure 1 In this invention, a limit switch 51 is installed at the position of the judgment station 5 on the ground. This limit switch 51 is a self-resetting limit switch commonly used in the prior art, and the limit switch 51 is fixedly connected to the judgment station 5 on the ground by a vertical support rod; Continuing to refer to Figure 1In this invention, two sets of suction cups 61 are provided on the ground corresponding to the grinding station 6. Each set of suction cups 61 includes multiple grinding suction cups 62, and a spring bracket 63 is provided below each grinding suction cup 62. The two sets of suction cups 61 are spaced a certain distance apart, and a flipping space 64 is provided below the two sets of suction cups 61. Specifically, a vertical column is fixedly connected to the ground corresponding to the grinding station 6. Two vertical connecting plates 65 corresponding to the two sets of suction cups 61 are fixedly connected to the top of the column. A horizontal mounting plate 66 is fixedly connected to the opposite side of the two connecting plates 65. The suction cups in each set of suction cups 61 are mounted on the connecting plate 65 through the spring bracket 63 that vertically penetrates the corresponding mounting plate 66. Preferably, the height of the suction cup set 61 is 80cm.

[0055] Continue to refer to Figure 1 In this invention, a plate-laying workbench 71 is placed on the ground at the location corresponding to the unloading station 7. The workbench 71 has six plate-laying points on its surface, each corresponding to one of the six plate-retrieving slots 32 on the plate-retrieving workbench 31. Each plate-laying point can hold six pre-polished arc-drawing plates. (Reference) Figure 3 Based on the analysis of the optimal working range and optimal force angle of the robotic arm, the plate-laying worktable 71 is located at 90° to the right of the robotic arm, and the height of the plate-laying worktable 71 is 42cm.

[0056] refer to Figure 6 It is understood that, before using the above-mentioned grinding system in this invention, six arc-starting plates to be ground are first stacked in each plate-taking slot of the plate-taking worktable. Then, the method of using the above-mentioned grinding system of this invention includes the following steps:

[0057] S1, the six-axis robotic arm performs a self-check.

[0058] Specifically, after powering on, in order to ensure the availability of each mechanism and device in the grinding system of this invention, the robotic arm will enter a "self-check" program before operation. The robotic arm will perform six-axis motion operation, tool motion operation, and motor operation in place to check availability.

[0059] S2, the six-axis robotic arm and the grinding and suction mechanism are positioned at the loading station and pick up the un-grinded arc-starting plate.

[0060] Specifically, before on-site use, the robotic arm is in the retracted position. In this invention, the robotic arm is set with an automatic positioning action during initial installation, eliminating the need for additional manual operation by the operator. This automatically ensures that the robotic arm can avoid collision positions and other dead zones of the robotic arm when it starts running. When the grinding system of this invention is needed, the robotic arm drives the axial vacuum suction cup in the grinding and suction mechanism to align with the arc-starting plate on the plate-taking worktable, and the axial vacuum suction cup on the grinding and suction mechanism picks up the aligned arc-starting plate.

[0061] Meanwhile, this invention employs a positioning-based plate-picking method. It establishes a 6x6 three-dimensional coordinate system, facilitating the programming of positioning procedures when the robotic arm picks up 36 plates. Since the auxiliary points of the robotic arm are limited, this invention fully utilizes the characteristics of the suction cup spring rod, enabling plate picking to be repeated twice using a single point. This minimizes the need for 18 auxiliary points and significantly improves programming efficiency.

[0062] S3. The six-axis robotic arm and the grinding and suction mechanism move to the judgment station to determine whether the grinding and suction mechanism has successfully picked up the ungrinded arc-starting plate. If yes, proceed to the next step; otherwise, repeat S2.

[0063] Specifically, because the robotic arm of this invention lacks a vision recognition system, it cannot determine whether the arc-initiating plate has been successfully picked up each time. Therefore, a self-resetting mechanical limit switch is installed between the calibration station and the grinding station. After each plate-picking action, the robotic arm will drive the grinding and picking mechanism and the picked-up arc-initiating plate to this position for limit contact. If the limit switch is touched, it indicates that the plate picking was successful, and the next action continues; otherwise, the robotic arm repeats S2.

[0064] S4. The grinding and suction mechanism moves the ungrinded arc-starting plate to the calibration station for position calibration, including the following steps: S4.1. The grinding and suction mechanism places the ungrinded arc-starting plate on the calibration table, and the arc-starting plate slides down to the lowest corner of the calibration table under its own weight; S4.2. The grinding and suction mechanism re-grabs the arc-starting plate on the calibration table to complete the calibration of the arc-starting plate.

[0065] Specifically, in actual use, the dimensions of the arc-initiating plates are not completely uniform, resulting in a deviation of ±10mm. This causes the robotic arm to experience center offset when picking up the arc-initiating plates during the positioning process due to the inconsistent sizes. Since the robotic arm lacks a vision recognition system, after experimentation, a calibration platform was chosen to be built between the plate-picking worktable and the grinding table.

[0066] After the robotic arm picks up the plate, it places the arc-initiating plate on the calibration platform. The plate slides down to its lowest point using its own weight, and then the robotic arm picks it up again. This device ensures that the relative position of the arc-initiating plate remains constant each time the robot picks it up, stabilizing subsequent operation steps. Simultaneously, the calibration platform serves as an intermediate position, utilizing "label jump" and JUMP statements to achieve jumps during the grinding operation, reducing repetitive code writing, avoiding redundancy, and greatly improving programming efficiency.

[0067] S5. The grinding and suction mechanism moves the calibrated arc-starting plate to the grinding station for grinding, including the following steps: S5.1. The axial vacuum suction cup of the grinding and suction mechanism places the collected arc-starting plate on the suction cup assembly; S5.2. The negative pressure grinding head of the grinding and suction mechanism grinds the upward-facing side of the arc-starting plate; S5.3. The radial vacuum suction cup of the grinding and suction mechanism adsorbs the ground side of the arc-starting plate, then the grinding and suction mechanism moves the arc-starting plate upward, then the grinding and suction mechanism flips the arc-starting plate so that the unground side of the arc-starting plate faces upward, then the arc-starting plate is aligned with the suction cup assembly and moves downward. At this time, the grinding and suction mechanism enters the flipping space through the gap between the two suction cup assemblies until the arc-starting plate is placed back on the suction cup assembly; S5.4. The grinding and suction mechanism moves out of the flipping space and the negative pressure grinding head of the grinding and suction mechanism grinds the unground side of the arc-starting plate; S5.5. The axial vacuum suction cup of the grinding and suction mechanism adsorbs the ground arc-starting plate together.

[0068] Specifically, using the output Y-point and coordinate positioning of the output board inside the robotic arm chassis, the robotic arm is programmed to place the arc-initiating plate onto the grinding table, then convert the suction head into a grinding head for multi-directional grinding. Simultaneously, an adjustable grinding trajectory is set, allowing for adjustments to the horizontal and vertical grinding cycles based on the degree of corrosion on the arc-initiating plate.

[0069] Since the arc-starting plate needs to be ground on both sides, it needs to be flipped after the front side is ground. The difficulty lies in the small gap under the grinding table, and the coordinate positioning of the grinding head must be precise and error-free, otherwise the grinding head will collide with the grinding table and be damaged. This invention uses a combination of "posture straight line" and "free path" coordinate paths for precise positioning and has programmed the arc-starting plate flipping action.

[0070] S6. The grinding and suction mechanism moves the ground arc-starting plate to the unloading station and unloads it.

[0071] Specifically, after completing the double-sided grinding of the arc-guiding plate, the robotic arm will automatically stack the arc-guiding plates in sequence into 6 stacks, 6 layers high, for easy access by employees.

[0072] S7. Repeat steps S2, S3, S4, S5, and S6 until all the arc-starting plates at the loading station are ground. After completing one grinding operation, the robotic arm automatically cycles into the next operation. Cyclic operation jumps are achieved through the auxiliary intermediate variable M and JUMP statements, reducing the writing of repetitive statements, avoiding redundancy, and decreasing repetitive statement writing by 30%, thus improving robot operating efficiency.

[0073] In the above embodiments, the present invention provides an industrial robot grinding system and method for arc-initiating plates. Through the cooperation of a six-axis robotic arm and a grinding and suction mechanism, the present invention can automatically complete the loading, judgment, calibration, grinding, and unloading of the arc-initiating plate sequentially, thereby automatically completing the grinding work. Compared with manual grinding, this improves work efficiency and enhances the surface consistency of the ground arc-initiating plate. Furthermore, the present invention, through the setting of a judgment station and limit switches, can quickly determine whether the arc-initiating plate has been successfully picked up from the loading station. This avoids the present invention still completing the above-mentioned loading, judgment, calibration, grinding, and unloading processes even if the grinding and suction mechanism has not successfully picked up the unground arc-initiating plate, thus preventing wasted time and reduced grinding efficiency.

[0074] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the inventive concept should fall within the protection scope of the present invention. All technical contents for which protection is sought in this invention are fully described in the claims.

Claims

1. An industrial robot grinding system for arc-inducing plates, comprising a six-axis robotic arm (1) and a grinding and suction mechanism (2) disposed at the end of the six-axis robotic arm (1), characterized in that: Along the horizontal rotation direction of the six-axis robotic arm (1), there are sequentially arranged a loading station (3), a calibration station (4), a judgment station (5), a grinding station (6), and a unloading station (7). The grinding and suction mechanism (2) includes a connecting block (21) fixedly connected to the output shaft of the end motor of the six-axis robotic arm (1). The side wall of the connecting block (21) is sequentially provided with a radial vacuum suction cup (22), an axial vacuum suction cup (23), and a negative pressure grinding head (24). Among them, the calibration station (4) is equipped with an inclined calibration platform (41) with a square cross-section. One corner of the calibration platform (41) is located at the low point, the corner of the calibration platform (41) opposite to the low point is located at the high point, and the other two corners are located in the middle position. Both sides of the calibration platform (41) corresponding to the low point are equipped with baffles (42) perpendicular to the calibration platform (41). The corresponding position of the judgment station (5) is equipped with a limit switch (51) for detecting whether the grinding and suction mechanism (2) has successfully sucked up the arc-starting plate. The grinding station (6) is equipped with two sets of suction cups (61) on the left and right sides. Each set of suction cups (61) includes multiple grinding suction cups (62), and each grinding suction cup (62) is provided with a spring bracket (63) below it. The two sets of suction cups (61) are separated by a certain distance, and a flipping space (64) is provided below the two sets of suction cups (61). The loading station (3) is equipped with a plate-retrieving workbench (31), and the unloading station (7) is equipped with a plate-laying workbench (71). The plate-retrieving workbench (31) has six plate-retrieving slots (32), and each plate-retrieving slot (32) can hold six unpolished arc-drawing plates. The plate-laying workbench (71) has six plate-laying points, and each plate-laying point can hold six polished arc-drawing plates.

2. The industrial robot grinding system for arc-inducing plates according to claim 1, characterized in that: One side wall of the connecting block (21) is fixedly connected to the output shaft of the end motor of the six-axis robotic arm (1). The axial vacuum suction cup (23) is set on the side wall of the connecting block (21) opposite to the end motor of the six-axis robotic arm (1). The radial vacuum suction cup (22) and the negative pressure grinding head (24) are respectively set on the other two side walls of the connecting block (21).

3. The industrial robot grinding system for arc-inducing plates according to claim 1, characterized in that: The angle between the calibration platform (41) and the ground is greater than 45° and less than 90°, and the calibration platform (41) is set on the ground by a column.

4. A method of using an industrial robot grinding system for arc-initiating plates, characterized in that: The industrial robot grinding system for arc-inducing plates according to any one of claims 1-3 includes the following steps: S1. The six-axis robotic arm performs a self-inspection. S2, the six-axis robotic arm and the grinding and suction mechanism are positioned at the loading station and pick up the un-grinded arc-starting plate; S3. The six-axis robotic arm and the grinding and suction mechanism move to the judgment station to determine whether the grinding and suction mechanism has successfully picked up the ungrinded arc-starting plate. If yes, proceed to the next step; otherwise, repeat S2. S4. The grinding and suction mechanism moves the suctioned un-grinded arc-starting plate to the calibration station for suction position calibration. S5. The grinding and suction mechanism drives the calibrated arc-starting plate to the grinding station for grinding. S6. The grinding and suction mechanism moves the ground arc-starting plate to the unloading station and unloads it. S7. Repeat steps S2, S3, S4, S5 and S6 until all the arc-starting plates at the loading station are polished.

5. The method of using an industrial robot grinding system for arc-inducing plates according to claim 4, characterized in that: Step S2 involves picking up the unpolished arc-starting plate, specifically by using the axial vacuum suction cup of the polishing and picking mechanism to pick up the unpolished arc-starting plate.

6. The method of using an industrial robot grinding system for an arc-initiating plate according to claim 4, characterized in that: Step S4 in detail Includes the following steps, S4.1 The grinding and suction mechanism places the suctioned un-grinded arc-starting plate on the calibration table. Under its own weight, the arc-starting plate slides down and is locked to the lowest corner of the calibration table. S4.2 The grinding and suction mechanism re-suctions the arc-starting plate on the calibration table to complete the calibration of the arc-starting plate.

7. The method of using an industrial robot grinding system for an arc-initiating plate according to claim 4, characterized in that: Step S5 specifically includes the following steps: S5.1 The axial vacuum suction cup of the grinding and suction mechanism places the suction-induced arc plate onto the suction cup assembly; S5.2 The negative pressure grinding head of the grinding and suction mechanism grinds the side of the arc-starting plate facing upwards; S5.3 The radial vacuum suction cup of the grinding and suction mechanism is adsorbed to the side of the arc-initiating plate that has been ground. Then the grinding and suction mechanism drives the arc-initiating plate to flip so that the unground side of the arc-initiating plate faces upward, and the arc-initiating plate is placed back on the suction cup assembly. S5.4 The negative pressure grinding head of the grinding and suction mechanism grinds the un-grinded side of the arc-starting plate. S5.5 The axial vacuum suction cup of the grinding and suction mechanism is adsorbed together with the ground arc-starting plate.

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