Polishing system

Abstract

The invention relates to the technical field of locomotives, and provides a polishing system which comprises a polishing room, a robot ground rail, a polishing robot, a positioner, one or more polishing tools, one or more polishing executing mechanisms and a control unit, and the robot ground rail is laid on the ground in the polishing room; the grinding robot is arranged on the robot ground rail and can move in the extending direction of the robot ground rail; the position changing machine is located in the polishing room, is used for bearing a to-be-polished object and can drive the to-be-polished object to move; the polishing tool is used for polishing a to-be-polished object; the grinding executing mechanism is detachably connected with the grinding tool, and the grinding executing mechanism is further detachably connected with the grinding robot; the control unit is connected with the grinding robot and the positioner and used for controlling the positioner to drive the to-be-ground object to the to-be-ground position according to the instruction and controlling the grinding robot to drive the grinding executing mechanism to grind the to-be-ground object at the same time. The grinding system is high in efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of locomotives, and in particular to a grinding system. Background Art

[0002] In the prior art, locomotive parts need to be polished after welding, and locomotive parts are generally polished manually. However, manual polishing is costly and inefficient.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The present invention provides a grinding system, characterized in that the grinding system comprises:

[0005] grinding room;

[0006] A robot ground track, wherein the robot ground track is laid on the ground inside the polishing room;

[0007] A polishing robot, arranged on the robot rail, and capable of moving in the extension direction of the robot rail;

[0008] A positioner is located in the grinding room, the positioner is used to carry the object to be grinded, and the positioner can drive the object to be grinded to move;

[0009] One or more grinding tools, used for grinding the object to be ground;

[0010] One or more grinding actuators are detachably connected to the grinding tool, the grinding actuators are used to drive the grinding tool to grind the object to be grinded, and the grinding actuators are also detachably connected to the grinding robot, and the grinding robot can drive the grinding actuators to move;

[0011] A control unit is connected to the grinding robot, the positioner and the host system. The control unit is used to control the positioner to drive the object to be ground to the position to be ground according to the instructions of the host system, and at the same time control the grinding robot to drive the grinding actuator to grind the object to be ground.

[0012] In an exemplary embodiment of the present disclosure, the grinding system includes two positioners:

[0013] First positioner;

[0014] A tail positioner, wherein the head positioner and the tail positioner are spaced apart and distributed along the extension direction of the robot ground rail;

[0015] The positioner comprises:

[0016] A supporting body, wherein the supporting body is movable on the floor of the polishing room;

[0017] The rotating shaft is used to fix the object to be polished, the axial direction of the rotating shaft extends along the distribution direction of the head positioner and the tail positioner, the supporting body can drive the rotating shaft to rotate along its circumferential direction, and the supporting body can drive the rotating shaft to move along the vertical direction.

[0018] In an exemplary embodiment of the present disclosure, the grinding system further includes:

[0019] A probe sensor is detachably connected to the polishing robot, and the probe sensor can release voltage when contacting an obstacle to sense the position of the obstacle.

[0020] In an exemplary embodiment of the present disclosure, the polishing room comprises:

[0021] Steel structure skeleton;

[0022] Rock wool board, filled in the gap of the steel structure frame;

[0023] A void sound insulation board is arranged on the inner side of the rock wool board;

[0024] A safety door is arranged on the steel structure frame;

[0025] A detection unit, used to detect whether the safety door is closed, the detection unit is connected to the control unit, and the control unit is used to control the grinding robot and the positioner to not work when the detection unit detects that the safety door is open;

[0026] The electric rolling door is arranged on the steel structure frame, and the control unit is connected to the rolling door. The control unit can be used to open or close the rolling door under the control of a control signal.

[0027] In an exemplary embodiment of the present disclosure, the grinding system further includes:

[0028] An operating platform, which is arranged on the floor of the polishing room, and the extending direction of the operating platform is parallel to the extending direction of the robot ground rail;

[0029] The operating platform comprises a shielding side wall extending along its extending direction, and the operating platform is arranged between the robot ground rail and the positioner.

[0030] In an exemplary embodiment of the present disclosure, the grinding system further includes: a dust removal mechanism, the dust removal mechanism including:

[0031] An air supply pipe, a first end of which is connected to the interior of the polishing room;

[0032] A dust suction pipe, a first end of which is connected to the interior of the polishing room;

[0033] A filter screen is arranged at the first end of the dust suction pipe;

[0034] The dust removal host is connected to the second end of the dust suction pipe and the second end of the air supply pipe. The dust suction pipe is used to provide negative pressure to the second end of the dust suction pipe, to provide positive pressure to the second end of the air supply pipe, and to separate and collect dust in the air.

[0035] In an exemplary embodiment of the present disclosure, the grinding system further includes:

[0036] A monitoring system, the monitoring system includes a camera, a storage hard disk, and a display. The camera is arranged inside the polishing room, and the camera is used to monitor the polishing work of the polishing robot. The storage hard disk is used to store image data taken by the camera. The display is arranged outside the polishing room, and the display is used to display the image data taken by the camera.

[0037] In an exemplary embodiment of the present disclosure, the robot track comprises:

[0038] A ground rail frame structure, used to support the polishing robot, the ground rail frame structure forms a moving track for the polishing robot;

[0039] The AC servo motor comprises a power output shaft, on which a driving gear is arranged, and the power output shaft can drive the driving gear to rotate;

[0040] The grinding robot comprises an external linkage shaft, on which a passive gear is arranged, and the active gear drives the passive gear to rotate via a rack, so that the grinding robot moves in the extension direction of the ground rail frame structure.

[0041] In an exemplary embodiment of the present disclosure, the polishing robot comprises:

[0042] A force actuator is connected to the control unit, and the force actuator can control the size of the abutment force between the grinding tool and the workpiece to be ground in response to a control signal from the control unit.

[0043] In an exemplary embodiment of the present disclosure, the grinding system further includes:

[0044] A tool support is located at one end of the robot ground rail, and the tool support is used to support the grinding tool and the grinding actuator.

[0045] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to better understand the present disclosure, reference may be made to the embodiments shown in the following drawings. The components in the drawings are not necessarily to scale, and related elements may be omitted in order to emphasize and clearly illustrate the technical features of the present disclosure. In addition, related elements or components may have different arrangements as known in the art. In addition, in the drawings, the same reference numerals represent the same or similar components in each drawing.

[0047] in:

[0048] Figure 1 It is a front view of the grinding system disclosed in the present invention;

[0049] Figure 2 for Figure 1 A cross-sectional view of the grinding system shown along the cutting line AA;

[0050] Figure 3 for Figure 1 The grinding system is shown in a cross-sectional view along the section line BB. DETAILED DESCRIPTION

[0051] The following will be combined with the accompanying drawings in the exemplary embodiments of the present disclosure to clearly and completely describe the technical solutions in the exemplary embodiments of the present disclosure. The exemplary embodiments described herein are only for illustrative purposes and are not intended to limit the scope of protection of the present disclosure. Therefore, it should be understood that various modifications and changes can be made to the exemplary embodiments without departing from the scope of protection of the present disclosure.

[0052] In the description of the present disclosure, unless otherwise clearly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance; the term "plurality" refers to two or more; the term "and / or" includes any and all combinations of one or more associated listed items. In particular, reference to "the / the" object or "an" object is also intended to indicate one of a possible plurality of such objects.

[0053] Unless otherwise specified or explained, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, an integral connection, an electrical connection, or a signal connection; "connection" can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances.

[0054] Further, in the description of the present disclosure, it should be understood that the directional words such as "upper", "lower", "inner", "outer" and the like described in the exemplary embodiments of the present disclosure are described at the angles shown in the accompanying drawings and should not be understood as limitations on the exemplary embodiments of the present disclosure. It should also be understood that, in the context, when it is mentioned that an element or feature is connected to one or more "upper", "lower", or "inner", "outer" of another element, it can not only be directly connected to the "upper", "lower", "inner", "outer" of another element or elements, but can also be indirectly connected to the "upper", "lower", "inner", "outer" of another element or elements through an intermediate element.

[0055] This exemplary embodiment provides a grinding system, such as Figure 1 , 2 , 3, Figure 1 is a front view of the grinding system disclosed in the present invention, Figure 2 for Figure 1 A cross-sectional view of the grinding system shown along the cutting line AA, Figure 3 for Figure 1 The grinding system is shown in a cross-sectional view along the section line BB.

[0056] The grinding system includes: a grinding room 1, a robot ground rail 6, a grinding robot 9, a positioner 3, grinding tools 11, 12, one or more grinding actuators 16, 17, 18, and a control unit 4, wherein the robot ground rail 6 is laid on the ground inside the grinding room 1; the grinding robot 9 is arranged on the robot ground rail 6, and the grinding robot 9 can move in the extension direction of the robot ground rail 6; the positioner 3 is located in the grinding room 1, and the positioner 3 is used to carry the object to be polished, and the positioner 3 can drive the object to be polished to move; the grinding tools 11, 12 are used to polish the object to be polished; the grinding actuator 16 , 17, 18 are detachably connected to the grinding tools, the grinding actuator is used to drive the grinding tools 11, 12 to grind the object to be polished, the grinding actuator 16, 17, 18 are also detachably connected to the grinding robot, and the grinding robot 9 can drive the grinding actuator 16, 17, 18 to move; the control unit 4 is connected to the grinding robot, the positioner, and the host system, and the control unit 4 is used to control the positioner 3 to drive the object to be polished to the position to be polished according to the instructions of the host system, and at the same time control the grinding robot 9 to drive the grinding actuator 16, 17, 18 to grind the object to be polished.

[0057] This exemplary embodiment controls the control unit 4 to control the positioner 3 to drive the object to be polished to the position to be polished according to the instructions of the upper system, and controls the polishing robot 9 to drive the polishing actuators 16, 17, and 18 to polish the object to be polished. Therefore, this exemplary embodiment can realize the automated processing of polishing and avoid the problems of poor quality and high cost of manual polishing.

[0058] In this exemplary embodiment, Figure 1-3 As shown, the grinding system includes two positioners: a head positioner 31 and a tail positioner 32; the head positioner 31 and the tail positioner 32 are spaced apart along the extension direction of the robot ground rail; the positioner 3 includes: a support body 34 and a rotating shaft 35, and the support body 34 can move on the floor of the grinding room; the rotating shaft 35 is used to fix the object to be ground, and the axial direction of the rotating shaft 35 extends along the distribution direction of the head positioner 31 and the tail positioner 32, and the support body 34 can drive the rotating shaft 35 to rotate along its circumference, and the support body 34 can drive the rotating shaft 35 to move in the vertical direction. This setting can enable the positioner 3 to drive the object to be ground to a specific position and angle, so as to facilitate the grinding robot to grind different positions of the object to be ground. Specifically, the supporting body 34 may include a moving part, a rotating driving part, and a lifting driving part. The moving part may move on the floor of the polishing room 1 via rollers or tracks, the rotating driving part may drive the rotating shaft 35 to rotate along its circumference via a motor, and the lifting driving part may be connected to the rotating shaft via a cylinder drive and move in a vertical direction.

[0059] In this exemplary embodiment, Figure 1-3 As shown, the polishing system also includes: a probe sensor 13, the probe sensor 13 and the polishing robot 9 are detachably connected, and the probe sensor 13 can release voltage when it contacts an obstacle to sense the position of the obstacle. When the object to be polished needs to be polished, the polishing robot 9 is first connected to the probe sensor 13. During the movement of the probe sensor 13 driven by the polishing robot 9, the probe sensor 13 continuously discharges. When the probe sensor 13 contacts the obstacle, the probe sensor 13 releases the charge, so that the position of the obstacle is recorded by the control unit. The polishing robot 9 can obtain the specific position of the object to be polished and other obstacles in advance through the probe sensor 13 for subsequent polishing work.

[0060] In this exemplary embodiment, Figure 1-3As shown, the polishing room 1 includes: a steel structure frame 101, a rock wool board 102, a gap sound insulation board 103, a safety door 104, a detection unit, and an electric rolling door 5, wherein the rock wool board 102 is filled in the gap of the steel structure frame 101; the gap sound insulation board 103 is arranged on the inner side of the rock wool board 102; the safety door 104 is arranged on the steel structure frame 101; the detection unit is used to detect whether the safety door 104 is closed, and the detection unit is connected to the control unit 4, and the control unit 4 is used to control the polishing robot 9 and the positioner 3 not to work when the detection unit detects that the safety door 104 is open; the electric rolling door 5 is arranged on the steel structure frame 101, and the control unit is connected to the rolling door 5, and the control unit can be used to turn on or off the rolling door under the control of a control signal.

[0061] In this exemplary embodiment, the grinding room 1 may also be provided with a plurality of vents and observation windows. The plurality of vents facilitates air circulation in the grinding room, and the observation windows facilitate workers outside the grinding room to observe the grinding work inside the grinding room.

[0062] In this exemplary embodiment, the control unit 4 is disposed in a control cabinet, and the control cabinet may be located outside the polishing room.

[0063] In this exemplary embodiment, the steel structure skeleton 101 mainly plays a supporting role, and the rock wool board 102 and the gap sound insulation board 103 can isolate the noise in the grinding room 1. The safety door 104 can ensure that the space of the grinding room 1 is closed to achieve human-machine isolation. The detection unit can detect whether the safety door is closed. When the safety door is not closed, the control unit 4 can control the equipment in the grinding room not to work, thereby improving the safety of the grinding system. In addition, the grinding room 1 can also include a reset signal generating unit, which can provide a reset signal to the control unit 4. The control unit 4 will only start the equipment in the grinding room when it receives the reset signal, that is, when the safety door is not closed, or the safety door is closed but the staff does not send a reset signal to the control unit 4 through the reset signal generating unit, the equipment in the grinding room will not be turned on.

[0064] In this exemplary embodiment, the rolling door can be a turbo fast rolling door, and the control unit can be used to open or close the rolling door under the control of a control signal. For example, when the transport device (AGV / RGV) transports the object to be polished to the outside of the rolling door 5, the host computer can issue a command to the control unit 4, and the control unit 4 can control the rolling door to open so that the transport device transfers the object to be polished to the positioner 3; when the object to be polished is polished, the positioner 3 transports the object to be polished to the position of the rolling door 5, and the host computer can issue a command to the control unit 4, and the control unit 4 can control the rolling door to open so that the positioner 3 transfers the object to be polished to the transport device.

[0065] In this exemplary embodiment, Figure 1-3 As shown, the grinding system further includes: an operating platform 7, the operating platform 7 is arranged on the floor of the grinding room 1, and the extension direction of the operating platform 7 is parallel to the extension direction of the robot ground rail 6; the operating platform 7 includes a shielding side wall 71 extending along its extension direction, and the operating platform 7 is arranged between the robot ground rail 6 and the positioner 3. The operating platform 7 can be used for staff to assist programming, and the operating platform 7 can play a role in isolating grinding iron filings.

[0066] In this exemplary embodiment, Figure 1-3 As shown, the grinding system also includes: a dust removal mechanism, which includes: a dust removal host 8, a fan, an air supply pipe 14, a dust suction pipe 15, and a filter. The first end of the air supply pipe 14 is connected to the interior of the grinding room 1; the first end of the dust suction pipe 15 is connected to the interior of the grinding room; the filter is arranged at the first end of the dust suction pipe, the dust removal host 8 is connected to the second end of the dust suction pipe 15 and the second end of the air supply pipe 14, the dust suction pipe 15 can provide negative pressure to the second end of the dust suction pipe 15 to suck out the dust-containing air inside the grinding room 1, and the dust removal host 8 can also provide positive pressure to the second end of the air supply pipe 14 to send fresh air into the grinding room. In addition, the dust removal host 8 can also remove dust and filter the dust-containing air. The dust removal host 8 can provide positive pressure or negative pressure through the fan, and the dust removal host 8 can filter dust through the filter. The filter can preliminarily screen the dust at the first end of the dust suction pipe.

[0067] In this exemplary embodiment, the dust removal host 8 can be arranged outside the grinding room 1. When the dust removal host 8 is turned on, the air supply pipe 14 supplies fresh air into the grinding room 1, and the dust-containing air in the grinding room 1 enters the dust removal host 8 through the dust suction pipe 15 for dust removal. Among them, the dust removal host 8 can adopt the inverter control method. During the operation of the equipment, the frequency can be adjusted according to the load size to meet the air volume required by the system, so as to save energy. The filter in the dust removal host 8 is equipped with a pulse automatic cleaning device, a built-in general program, and the cleaning program can also be edited according to the working conditions to accurately meet the various requirements of users. The dust removal host 8 can also come with a 7-inch PLC touch control screen, which can display various working conditions of the system, such as: pressure difference, cleaning status, temperature, working time, maintenance prompts, fault alarms, etc.

[0068] In this exemplary embodiment, the polishing system further includes: a monitoring system, the monitoring system includes a camera 2, a storage hard disk, and a display, the camera 2 is arranged inside the polishing room, the camera 2 is used to monitor the polishing work of the polishing robot, the storage hard disk is used to store the image data captured by the camera, the display is arranged outside the polishing room, and the display is used to display the image data captured by the camera. The storage hard disk and the control unit can be located in the same control cabinet.

[0069] In this exemplary embodiment, the monitoring system can be used to monitor the grinding situation inside the grinding room 1. A protective cover is provided outside the camera 2, and the protective cover has good protection against metal dust. The installation position of the camera 2 is located outside the range of the grinding robot to prevent the camera 2 from affecting the normal operation of the grinding robot 9. The camera 2 is a wide-angle monitoring camera component. The camera 2 has a high adaptability to arc light and a high anti-interference ability, and has automatic white balance and aperture adjustment functions, which effectively ensures the clarity and reliability of the picture.

[0070] In this exemplary embodiment, the robot ground rail 6 includes: a ground rail frame structure, an AC servo motor, the ground rail frame structure is used to support the polishing robot, and the ground rail frame structure forms a moving track for the polishing robot; the AC servo motor includes a power output shaft, and a driving gear is provided on the power output shaft, and the power output shaft can drive the driving gear to rotate; the polishing robot includes an external linkage shaft, and a passive gear is provided on the external linkage shaft, and the active gear drives the passive gear to rotate through a rack, so that the polishing robot moves in the extension direction of the ground rail frame structure. The AC servo motor can drive the polishing robot to move in the extension direction of the ground rail frame structure. The racks are all quenched, and all connecting cables to the control cabinet are plug-in and arranged in the cable chain.

[0071] In this exemplary embodiment, the grinding robot includes: a force position actuator, which is connected to the control unit 4, and the force position actuator can respond to the control signal of the control unit to control the size of the contact force between the grinding tool and the workpiece to be polished. The grinding actuator uses the force position actuator technology to automatically adapt to the grinding high point. While automatically lifting, due to the constant force, the pressure increases, and then the grinding is enhanced, and adaptive avoidance and constant pressure are quickly achieved, and then the high point is polished according to the area variable pressure. The control accuracy of the grinding pressure by the force position actuator can reach 1 Newton. In addition, the grinding robot is equipped with an adaptive position adjustment mechanism, and the position adjustment mechanism can control the accuracy to 0.1mm. The system is configured with an adaptive position adjustment mechanism with a fast response time, and the response time is less than or equal to 16 milliseconds. The grinding actuator can set the contact force, and then gradually transition to the set grinding force within the set time. That is, the process parameters such as contact force, grinding force, and transition time can be directly input on the teaching pendant. In normal working state, real-time online detection can be performed, and the grinding force and compensation position can be modified in real time.

[0072] In this exemplary embodiment, the grinding system further includes: a tool support 10, the tool support 10 is located at one end of the robot ground rail 6, and the tool support 10 is used to support the grinding tool, the grinding actuator, and the probe sensor 13. The grinding robot 9 can complete automatic loading and unloading with the grinding actuator and the probe sensor 13, and the grinding robot can control the grinding actuator and the grinding tool to complete loading and unloading. The grinding robot 9 can select any grinding actuator and any grinding tool for assembly and use as needed.

[0073] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing what is disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and embodiments are to be considered merely as exemplary, and the true scope and spirit of the present disclosure are indicated by the claims.

[0074] The drawings in the present disclosure only relate to the structures involved in the present disclosure, and other structures may refer to the usual design. In the absence of conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other to obtain new embodiments. It should be understood by those of ordinary skill in the art that the technical solutions of the present disclosure may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present disclosure, and should be included in the scope of the claims of the present disclosure.

[0075] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A grinding system, characterized in that: The grinding system comprises: grinding room; A robot ground track, wherein the robot ground track is laid on the ground inside the polishing room; A polishing robot, arranged on the robot rail, and capable of moving in the extension direction of the robot rail; A positioner is located in the grinding room, the positioner is used to carry the object to be grinded, and the positioner can drive the object to be grinded to move; One or more grinding tools, used for grinding the object to be ground; One or more grinding actuators are detachably connected to the grinding tool, the grinding actuators are used to drive the grinding tool to grind the object to be grinded, and the grinding actuators are also detachably connected to the grinding robot, and the grinding robot can drive the grinding actuators to move; A control unit is connected to the grinding robot, the positioner and the host system. The control unit is used to control the positioner to drive the object to be ground to the position to be ground according to the instructions of the host system, and at the same time control the grinding robot to drive the grinding actuator to grind the object to be ground.

2. The grinding system according to claim 1, characterized in that: The grinding system includes two positioners: First positioner; A tail positioner, wherein the head positioner and the tail positioner are spaced apart and distributed along the extension direction of the robot ground rail; The positioner comprises: A supporting body, wherein the supporting body is movable on the floor of the polishing room; The rotating shaft is used to fix the object to be polished, the axial direction of the rotating shaft extends along the distribution direction of the head positioner and the tail positioner, the supporting body can drive the rotating shaft to rotate along its circumferential direction, and the supporting body can drive the rotating shaft to move along the vertical direction.

3. The grinding system according to claim 1, characterized in that: The grinding system also includes: A probe sensor is detachably connected to the polishing robot, and the probe sensor can release voltage when contacting an obstacle to sense the position of the obstacle.

4. The grinding system according to claim 1, characterized in that: The polishing room comprises: Steel structure skeleton; Rock wool board, filled in the gap of the steel structure frame; A void sound insulation board is arranged on the inner side of the rock wool board; A safety door is arranged on the steel structure frame; A detection unit, used to detect whether the safety door is closed, the detection unit is connected to the control unit, and the control unit is used to control the grinding robot and the positioner to not work when the detection unit detects that the safety door is open; The electric rolling door is arranged on the steel structure frame, and the control unit is connected to the rolling door. The control unit can be used to open or close the rolling door under the control of a control signal.

5. The grinding system according to claim 1, characterized in that: The grinding system also includes: An operating platform, which is arranged on the floor of the polishing room, and the extending direction of the operating platform is parallel to the extending direction of the robot ground rail; The operating platform comprises a shielding side wall extending along its extending direction, and the operating platform is arranged between the robot ground rail and the positioner.

6. The grinding system according to claim 1, characterized in that: The grinding system further comprises: a dust removal mechanism, wherein the dust removal mechanism comprises: An air supply pipe, a first end of which is connected to the interior of the polishing room; A dust suction pipe, a first end of which is connected to the interior of the polishing room; A filter screen is arranged at the first end of the dust suction pipe; The dust removal host is connected to the second end of the dust suction pipe and the second end of the air supply pipe. The dust suction pipe is used to provide negative pressure to the second end of the dust suction pipe, to provide positive pressure to the second end of the air supply pipe, and to separate and collect dust in the air.

7. The grinding system according to claim 1, characterized in that: The grinding system also includes: A monitoring system, the monitoring system includes a camera, a storage hard disk, and a display. The camera is arranged inside the polishing room, and the camera is used to monitor the polishing work of the polishing robot. The storage hard disk is used to store image data taken by the camera. The display is arranged outside the polishing room, and the display is used to display the image data taken by the camera.

8. The grinding system according to claim 1, characterized in that: The robot ground track comprises: A ground rail frame structure, used to support the polishing robot, the ground rail frame structure forms a moving track for the polishing robot; The AC servo motor comprises a power output shaft, on which a driving gear is arranged, and the power output shaft can drive the driving gear to rotate; The grinding robot comprises an external linkage shaft, on which a passive gear is arranged, and the active gear drives the passive gear to rotate via a rack, so that the grinding robot moves in the extension direction of the ground rail frame structure.

9. The grinding system according to claim 1, characterized in that: The polishing robot comprises: A force actuator is connected to the control unit, and the force actuator can control the size of the abutment force between the grinding tool and the workpiece to be ground in response to a control signal from the control unit.

10. The grinding system according to claim 1, characterized in that: The grinding system also includes: A tool support is located at one end of the robot ground rail, and the tool support is used to support the grinding tool and the grinding actuator.

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