A pressure-sensitive precision mechanical parts polishing brush system and method

Abstract

The present invention relates to the field of mechanical processing and automatic control, and in particular to a pressure-sensitive precision mechanical parts polishing brush system and method. The system comprises: converting and processing pressure data to obtain processed pressure data; based on the processed pressure data, calculating the difference between the current pressure and the target pressure, and mapping the target pressure to the path trajectory; optimizing the path through the path optimization objective function and constraint conditions to obtain the optimized path; based on the optimized path, obtaining the torque change; obtaining the path adjustment amount through the torque change; correcting the optimized path through the gain parameter and the path adjustment amount to obtain the corrected path. The system solves the problem that the relationship between the brush motion trajectory and the contact pressure is not accurately processed, and the problem that the brush motion trajectory is difficult to accurately control.

Description

Technical Field

[0001] The invention relates to the field of mechanical processing and automatic control, and in particular to a pressure-sensitive precision mechanical parts polishing brush system and method. Background Art

[0002] With the increasing requirements for part surface quality in the manufacturing industry, especially in the field of high-end equipment manufacturing, precision part polishing technology has gradually become a key processing step, especially in the aerospace, precision instruments, automobile and electronics industries, where the surface finish and uniformity of parts directly affect their performance, service life and appearance quality. However, existing polishing technologies often rely on manual experience or traditional mechanical control methods, which cannot meet the needs of modern high-precision part processing, especially in terms of pressure distribution, path planning and real-time control.

[0003] Based on the above background, the present invention proposes a pressure-sensitive precision mechanical parts polishing brush system and method, which aims to achieve more efficient, precise and stable surface polishing processing by integrating path planning, pressure feedback and real-time adjustment technology, thereby meeting the stringent requirements of modern manufacturing industry on part surface quality. Summary of the invention

[0004] The present invention provides a pressure-sensitive precision mechanical parts polishing brush system and method to solve the problems of insufficient precision in handling the relationship between the brush motion trajectory and contact pressure, inability to achieve real-time adjustment at different processing stages, inability to maximize processing efficiency and surface quality, inability to respond instantly to pressure changes, and difficulty in accurately controlling the brush motion trajectory due to the lack of systematic path optimization and pressure feedback.

[0005] A pressure-sensitive precision mechanical parts polishing brush system and method of the present invention specifically include the following technical solutions:

[0006] A pressure-sensitive precision mechanical parts polishing brush method comprises the following steps:

[0007] S1. Obtain pressure data, convert and process the pressure data to obtain processed pressure data; based on the processed pressure data, calculate the difference between the current pressure and the target pressure, and map the target pressure to the path trajectory; optimize the path through the path optimization objective function and constraint conditions to obtain the optimized path;

[0008] S2. Based on the optimized path, dynamically adjust the torque to obtain the torque change; deduce the influence of the torque on the path correction through the torque change to obtain the path adjustment; correct the optimized path through the gain parameter and the path adjustment to obtain the corrected path.

[0009] Preferably, the S1 specifically includes:

[0010] According to the geometric shape and surface material of the part, the target pressure value is calculated by the target pressure distribution function. The target pressure value represents the uniform pressure distribution that the brush is expected to achieve when it contacts the part.

[0011] Preferably, the S1 specifically includes:

[0012] The target pressure distribution function is as follows:

[0013]

[0014] in, is At this moment, the surface of the part is at position The target pressure value at is the position of the part surface in the spatial coordinate system; , , is the weight coefficient corresponding to the geometric characteristics of the part surface; is the time decay factor; is the adjustment factor of the vibration amplitude; is the vibration period; is the material coefficient of the surface properties of the part; It is the effective area of ​​contact between the brush and the part.

[0015] Preferably, the S1 specifically includes:

[0016] The target pressure is mapped to the path trajectory. Using the path mapping, the target pressure value is converted into the corresponding pressure value on the path trajectory.

[0017] Preferably, the S1 specifically includes:

[0018] The path optimization objective function contains three goals: the first is to minimize the difference between the target pressure distribution and the actual pressure distribution; the second is to optimize the processing efficiency based on the path speed during the processing; and the third is to ensure the smoothness of the path curve.

[0019] Preferably, the S1 specifically includes:

[0020] The path optimization objective function is as follows:

[0021]

[0022] in, and They are the initial time and the termination time of path optimization; Is the path A certain position on Target pressure value at the moment; Is the path A certain position on The actual pressure value at the moment; , , is the weight parameter in the path optimization process; is the velocity vector of the path point, Indicates the modulus of the velocity at the path point; is the target speed; is the second-order derivative of the curvature of the path.

[0023] Preferably, the S1 specifically includes:

[0024] The constraints of path optimization include: geometric constraints, dynamic constraints, and mechanical constraints; the geometric constraints are to ensure that the path always falls within the allowed range of motion; the dynamic constraints mean that the update rate of the path must be subject to a threshold limit; the mechanical constraints mean that the total force of the contact between the brush and the part should be kept within a predetermined range and cannot exceed the carrying capacity of the equipment.

[0025] Preferably, the S2 specifically includes:

[0026] The torque adjustment formula is:

[0027]

[0028] in, Represents the torque change that the servo motor needs to output; Indicates the initial time of torque adjustment; is the vibration adjustment coefficient; is the vibration frequency; is the optimized path A certain position on Target pressure value at the moment; is the optimized path A certain position on The actual pressure value at the moment; is the optimized path A certain position on Target pressure value at the moment; is the optimized path A certain position on The actual pressure value at the moment; is the time variable; is the damping coefficient; is the nonlinear compensation coefficient.

[0029] Preferably, the S2 specifically includes:

[0030] The specific formula for path correction is:

[0031]

[0032] in, is the corrected path, , , are the proportional, differential and integral gain parameters respectively; Indicates the initial time of path correction; is the path adjustment caused by the torque change.

[0033] A pressure-sensitive precision mechanical parts polishing brush system, comprising the following parts:

[0034] The pressure sensing module is responsible for real-time monitoring of the contact pressure between the brush and the surface of the part, obtaining pressure data, converting the obtained pressure data into a digital signal to obtain converted pressure data, filtering and noise suppression processing the converted pressure data to obtain processed pressure data; and transmitting the processed pressure data to the path optimization module in real time;

[0035] The path optimization module calculates the difference between the current pressure and the target pressure in real time based on the processed pressure data, and constructs the path optimization objective function to optimize the path trajectory while satisfying the constraint conditions of the path optimization to obtain the optimized path; the optimized path is input into the servo motor adjustment module;

[0036] The servo motor adjustment module takes the optimized path as input and drives the brush to move along the optimized path; the servo motor controls the pressure applied by the brush to the surface of the part by dynamically adjusting the torque, and calculates the path adjustment amount caused by the torque change; the servo motor adjustment module transmits the path adjustment amount to the path correction module;

[0037] The path correction module corrects the optimized path through the gain parameter and the path adjustment amount to obtain a corrected path.

[0038] The beneficial effects of the technical solution of the present invention are:

[0039] 1. Through the target pressure distribution function and path mapping, the target pressure is converted into the pressure requirement on the path, so that the path planning can accurately reflect the pressure requirement during processing; the optimized path can ensure that the movement trajectory of the brush always remains consistent with the target pressure, thereby effectively avoiding surface damage and improving processing accuracy and efficiency.

[0040] 2. The path optimization module and servo motor adjustment module can respond to pressure changes in real time and control the pressure applied by the brush on the surface of the part by dynamically adjusting the torque; the fine-tuning and torque adjustment of the servo motor ensure the uniformity and consistency of the contact pressure between the brush and the surface of the part, effectively avoiding the problem of uneven pressure caused by equipment errors and external interference.

[0041] 3. By adjusting the path in real time, the pressure distribution of each part is ensured to match the target pressure, avoiding uneven grinding in traditional path planning; by adjusting the torque in real time, surface damage can be effectively reduced and the processing quality of parts can be improved; through path optimization and dynamic torque adjustment, not only the processing accuracy is improved, but also the system's adaptability to external disturbances and internal errors is enhanced; the fine-tuning of the torque can effectively control the pressure distribution of the brush, ensuring that the brush always maintains stable contact with the surface of the part during the processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a structural diagram of a pressure-sensitive precision mechanical parts polishing brush system according to the present invention;

[0043] Figure 2 The present invention is a flow chart of a pressure-sensitive precision mechanical parts polishing brush method. DETAILED DESCRIPTION

[0044] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Unless defined otherwise, 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 invention belongs.

[0046] The specific scheme of a pressure-sensitive precision mechanical parts polishing brush system and method provided by the present invention is described in detail below with reference to the accompanying drawings.

[0047] Refer to the attached Figure 1 , which shows a structural diagram of a pressure-sensitive precision mechanical parts polishing brush system provided by an embodiment of the present invention, the system includes the following parts:

[0048] Pressure sensing module, path optimization module, servo motor adjustment module, path correction module;

[0049] The pressure sensing module is responsible for real-time monitoring of the contact pressure between the brush and the surface of the part, using multiple piezoelectric sensors to obtain pressure data, converting the obtained pressure data into digital signals through an analog-to-digital converter (ADC) to obtain converted pressure data, filtering and noise suppression processing on the converted pressure data to obtain processed pressure data; and transmitting the processed pressure data to the path optimization module in real time;

[0050] The path optimization module calculates the difference between the current pressure and the target pressure in real time based on the processed pressure data provided by the pressure sensing module, and constructs the path optimization objective function to optimize the path trajectory so that the pressure is distributed as evenly as possible on the surface of the part while satisfying the constraint conditions of the path optimization to obtain the optimized path; the optimized path is input into the servo motor adjustment module;

[0051] The servo motor adjustment module takes the optimized path as input and drives the brush to move along the optimized path; the servo motor controls the pressure applied by the brush to the surface of the part by dynamically adjusting the torque, and calculates the path adjustment amount caused by the torque change; the servo motor adjustment module transmits the path adjustment amount to the path correction module;

[0052] The path correction module further corrects the optimized path through gain parameters and path adjustment amounts to compensate for the impact caused by mechanical errors or external environmental changes, ensuring that the processing accuracy is always maintained at the optimal state, and finally obtaining the corrected path.

[0053] Refer to the attached Figure 2 , which shows a flow chart of a pressure-sensitive precision mechanical parts polishing brush method provided by an embodiment of the present invention, the method comprising the following steps:

[0054] S1. Obtain pressure data, convert and process the pressure data to obtain processed pressure data; based on the processed pressure data, calculate the difference between the current pressure and the target pressure, and map the target pressure to the path trajectory; optimize the path through the path optimization objective function and constraint conditions to obtain the optimized path;

[0055] The contact pressure between the brush and the part surface is monitored in real time through the pressure sensing module, and pressure data is collected at different processing stages. The pressure sensing module consists of multiple piezoelectric sensors distributed on the surface of the brush and its surroundings. The piezoelectric sensor measures the pressure distribution generated by the contact between the brush and the part surface in real time, and transmits the pressure data to the path optimization module at a high frequency (for example, thousands of times per second).

[0056] The collected pressure data is converted into a digital signal through an analog-to-digital converter (ADC) to obtain the converted pressure data, which is further processed by the path optimization module. The path optimization module will filter and suppress noise on the converted pressure data to obtain processed pressure data to ensure the accuracy and stability of the pressure data. The filtering and noise suppression processes can be carried out using existing technologies.

[0057] The path optimization module uses the processed pressure data to calculate the difference between the current pressure and the target pressure and performs path optimization to accurately control the movement trajectory of the brush, avoid excessive surface wear or uneven grinding, and ensure that the pressure applied by the brush always remains within the ideal range, thereby minimizing the impact of pressure fluctuations on the processing effect.

[0058] During the processing, the target pressure value is calculated by the target pressure distribution function according to the geometric shape and surface material of the precision mechanical parts. The target pressure distribution represents the uniform pressure distribution that the brush is expected to achieve when it contacts the parts. The value of the target pressure distribution, that is, the target pressure value, is used to guide subsequent path planning and torque adjustment. The target pressure distribution function is shown below:

[0059]

[0060] in, is At this moment, the surface of the part is at position The target pressure value at is the position of the part surface in the spatial coordinate system; , , It is the weight coefficient corresponding to the geometric characteristics of the part surface. The geometric parameters of the part surface and their relationship with the contact pressure are determined experimentally. is the time decay factor, which is used to control the decay rate of pressure over time. The decay of pressure change over time is modeled experimentally to obtain the corresponding decay rate; is the adjustment coefficient of the vibration amplitude, represents the periodic change of vibration. is the vibration period; It is the material coefficient of the surface characteristics of the part, which is used to adjust the influence intensity of the area where the brush contacts; It is the effective area of ​​contact between the brush and the part.

[0061] In order to ensure that the contact pressure between the brush and the surface of the part is as uniform as possible during the polishing process of mechanical parts, thereby improving the processing quality and efficiency, the path can be optimized to ensure that the pressure distribution of each part matches the target pressure.

[0062] In order to achieve path optimization, the target pressure is mapped to the path trajectory. Using path mapping, the target pressure value in the spatial coordinate is converted into the corresponding pressure value on the path trajectory, so that the path planning can reflect the pressure requirements in the actual processing process. The path mapping formula is:

[0063]

[0064] in, Is the path A certain position on Target pressure value at the moment; For path The position of the upper point, Indicates time, reflecting the evolution of the path over time. In path optimization, the target pressure value at each moment is calculated based on the spatial position of the corresponding point on the path at that moment, thus providing a basis for subsequent path adjustment and optimization.

[0065] The core of the path optimization objective function is to minimize the pressure error, path smoothness, and optimization of processing speed. Multiple factors such as processing accuracy, processing efficiency, and smoothness of the path curve are considered to ensure the accuracy of pressure distribution between the brush and the part surface.

[0066] Specifically, the path optimization objective function contains three main goals: first, minimize the difference between the target pressure distribution and the actual pressure distribution; second, consider the path speed during the processing and optimize the processing efficiency; third, ensure the smoothness of the path curve to prevent excessive vibration or path incoherence, resulting in uneven surface quality. Therefore, the path optimization objective function is as follows:

[0067]

[0068] in, and They are the initial time and the termination time of path optimization; Is the path A certain position on The actual pressure value at the moment; , , It is a weight parameter determined according to actual needs during the path optimization process. It is used to balance various indicators in the path optimization objective function. The specific value is set according to experimental needs and processing requirements. It represents the difference between the target pressure value and the actual pressure value, and tries to minimize the pressure difference to ensure that the pressure between the brush and the surface of the part is as close to the expected target as possible at all times; The deviation between the path speed and the optimized target speed is controlled by a smooth S-shaped function, so that the path speed is as close to the target speed as possible without exceeding the maximum speed limit, thereby improving the processing efficiency; is the velocity vector of the path point, Indicates the modulus of the velocity at the path point; is the target speed; It is a constraint on the path smoothness, which is used to prevent the path from being drastically bent and mutated, and ensure the path is smooth; is the second-order derivative of the curvature of the path, which is used to constrain the smoothness of the path to avoid sudden changes and incoherence of the path. By optimizing the above path optimization objective function, the optimized path is calculated And ensure that the pressure error of the path is kept within the minimum range and the path is smooth throughout the processing process to avoid damage to the part surface.

[0069] When performing path optimization, it is necessary to solve the above path optimization objective function, and add constraints in the solution process to ensure that the results are reasonable and feasible. The constraints of path optimization include: geometric constraints, dynamic constraints, and mechanical constraints of the mechanical system. The geometric constraints ensure that the path always falls within the allowed range of motion, avoiding physical limitations or interference of the machine; the dynamic constraints, that is, the update rate of the path must be limited by a threshold to avoid too fast changes leading to instability of the equipment or oscillation of the system; the mechanical constraints, that is, the total force of the brush in contact with the part should be kept within a predetermined range and cannot exceed the load-bearing capacity of the equipment.

[0070] The solution process of path optimization can adopt numerical optimization methods, such as gradient descent method and Newton method, and the path trajectory can be gradually updated by discretizing the path and using iterative optimization method. Each iteration will dynamically adjust the path according to the difference between the actual pressure and the target pressure of the current path, so that the path optimization objective function is gradually reduced, until the change of the path optimization objective function is less than the threshold value pre-set according to the expert experience method, the optimization process is considered to have converged, that is, the path optimization objective function has reached the optimal solution.

[0071] S2. Based on the optimized path, dynamically adjust the torque to obtain the torque change; deduce the influence of the torque on the path correction through the torque change to obtain the path adjustment; correct the optimized path through the gain parameter and the path adjustment to obtain the corrected path;

[0072] In the actual polishing process, the contact pressure between the brush and the part surface often fluctuates due to multiple factors, such as brush wear, irregularities on the part surface, and dynamic changes in the machine equipment. If the torque is not adjusted in time, the brush may apply too much pressure on the part surface, causing surface damage, or too little pressure, making it impossible to effectively polish. In order to respond to the pressure changes generated during the contact between the brush and the part surface in real time, the servo motor adjusts the torque according to the pressure changes to ensure that the pressure distribution during the processing is always kept within the predetermined target pressure range.

[0073] Specifically, the servo motor can not only adjust the force applied by the brush when it contacts the workpiece, but also make timely fine-tuning according to the pressure feedback signal to ensure that the required uniform pressure on the part surface is always maintained; the servo motor controls the pressure applied by the brush on the part surface by dynamically adjusting the torque, thereby optimizing the processing quality and avoiding the problem of pressure imbalance caused by errors in the machine and tool itself and external interference factors.

[0074] The optimized path The input is sent to the servo motor adjustment module to drive the brush to move along the optimized path. The servo motor adjustment module adjusts the servo motor control signal to update the position of the brush in real time to ensure that the pressure on the surface of the part is evenly distributed during processing. The output torque adjustment formula of the servo motor is:

[0075]

[0076] in, Represents the torque change that the servo motor needs to output, which is used to adjust the pressure when the brush contacts the surface of the part; Indicates the initial time of torque adjustment; It is the vibration adjustment coefficient, which is selected according to the design requirements of the mechanical parts polishing brush system; is the vibration frequency; is the optimized path A certain position on Target pressure value at the moment; is the optimized path A certain position on The actual pressure value at the moment; is the optimized path A certain position on Target pressure value at the moment; is the optimized path A certain position on The actual pressure value at the moment; is the time variable; is the damping coefficient; is the nonlinear compensation coefficient, which is obtained by experimentally fitting the nonlinear contact force characteristics of the part and the brush. By adjusting the torque, the servo motor can respond to the pressure difference in real time, ensuring that the brush pressure is always kept within the set target pressure range during the processing.

[0077] The influence of torque on path correction is derived from the torque change, which is expressed by the following formula:

[0078]

[0079] in, is the path adjustment caused by the torque change; is the torque variation coefficient, which indicates the degree of coupling between torque and path correction; is the velocity vector of the optimized path point; is the Euclidean distance from the optimized path point to the origin, indicating the size of the optimized path; is the normal vector of the optimized path.

[0080] In the actual polishing process, due to various factors, such as mechanical errors, real-time feedback from sensors, external disturbances, changes in material properties, etc., the optimized path does not always accurately reflect the actual processing environment. In order to correct errors in real time and ensure that the brush can always move along the optimal path during the processing, the path correction module further corrects the optimized path through gain parameters and path adjustment amounts to compensate for the effects caused by mechanical errors or changes in the external environment, ensuring that the processing accuracy is always maintained at the optimal state. The specific formula is:

[0081]

[0082] in, is the corrected path, , , are the proportional, differential, and integral gain parameters, respectively, which are used to control the amplitude and response speed of path correction and are determined experimentally; Indicates the initial time of path correction. Through path correction, the mechanical parts polishing brush system can ensure the optimization of mechanical properties during the polishing process, thereby achieving the purpose of improving the surface quality of parts.

[0083] In summary, a pressure-sensitive precision mechanical parts polishing brush system and method are completed.

[0084] The order of the embodiments of the invention is for description only and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0085] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0086] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A pressure-sensitive precision mechanical parts polishing brush method, characterized in that: The following steps are involved: S1. Obtain pressure data, convert and process the pressure data to obtain processed pressure data; based on the processed pressure data, calculate the difference between the current pressure and the target pressure, and perform path optimization; According to the geometric shape and surface material of the part, the target pressure value is calculated by the target pressure distribution function. The target pressure value represents the uniform pressure distribution that the brush is expected to achieve when it contacts the part. The value of the target pressure distribution is the target pressure value. The target pressure distribution function is shown as follows: in, is At this moment, the surface of the part is at position The target pressure value at is the position of the part surface in the spatial coordinate system; , , is the weight coefficient corresponding to the geometric characteristics of the part surface; is the time decay factor; is the adjustment factor of the vibration amplitude; is the vibration period; is the material coefficient of the surface properties of the part; It is the effective area of ​​contact between the brush and the part; The target pressure is mapped to the path trajectory; the path is optimized through the path optimization objective function and constraint conditions to obtain the optimized path; the path optimization objective function contains three goals: one is to minimize the difference between the target pressure distribution and the actual pressure distribution; the second is to optimize the processing efficiency based on the path speed during the processing; the third is to ensure the smoothness of the path curve; The path optimization objective function is as follows: in, and They are the initial time and the termination time of path optimization; Is the path A certain position on Target pressure value at the moment; Is the path A certain position on The actual pressure value at the moment; , , is the weight parameter in the path optimization process; is the velocity vector of the path point, Indicates the modulus of the velocity at the path point; is the target speed; is the second-order derivative of the curvature of the path; S2. Based on the optimized path, dynamically adjust the torque to obtain the torque change; deduce the influence of the torque on the path correction through the torque change to obtain the path adjustment; correct the optimized path through the gain parameter and the path adjustment to obtain the corrected path.

2. The pressure-sensitive precision mechanical parts polishing brush method according to claim 1, characterized in that: The S1 specifically includes: The target pressure is mapped to the path trajectory. Using the path mapping, the target pressure value is converted into the corresponding pressure value on the path trajectory.

3. The pressure-sensitive precision mechanical parts polishing brush method according to claim 1, characterized in that: The S1 specifically includes: The constraints of path optimization include: geometric constraints, dynamic constraints, and mechanical constraints; the geometric constraints are to ensure that the path always falls within the allowed range of motion; the dynamic constraints mean that the update rate of the path must be subject to a threshold limit; the mechanical constraints mean that the total force of the contact between the brush and the part should be kept within a predetermined range and cannot exceed the carrying capacity of the equipment.

4. The pressure-sensitive precision mechanical parts polishing brush method according to claim 1, characterized in that: The S2 specifically includes: The torque adjustment formula is: in, Represents the torque change that the servo motor needs to output; Indicates the initial time of torque adjustment; is the vibration adjustment coefficient; is the vibration frequency; is the optimized path A certain position on Target pressure value at the moment; is the optimized path A certain position on The actual pressure value at the moment; is the optimized path A certain position on Target pressure value at the moment; is the optimized path A certain position on The actual pressure value at the moment; is the time variable; is the damping coefficient; is the nonlinear compensation coefficient.

5. The pressure-sensitive precision mechanical parts polishing brush method according to claim 4, characterized in that: The S2 specifically includes: The specific formula for path correction is: in, is the corrected path, , , are the proportional, differential and integral gain parameters respectively; Indicates the initial time of path correction; is the path adjustment caused by the torque change.

6. A pressure-sensitive precision mechanical parts polishing brush system, applied to the pressure-sensitive precision mechanical parts polishing brush method of claim 1, characterized in that: Includes the following parts: The pressure sensing module is responsible for real-time monitoring of the contact pressure between the brush and the surface of the part, obtaining pressure data, converting the obtained pressure data into a digital signal to obtain converted pressure data, filtering and noise suppression processing the converted pressure data to obtain processed pressure data; and transmitting the processed pressure data to the path optimization module in real time; The path optimization module calculates the difference between the current pressure and the target pressure in real time based on the processed pressure data, and constructs the path optimization objective function to optimize the path trajectory while satisfying the path optimization constraints to obtain the optimized path; Input the optimized path into the servo motor adjustment module; The servo motor adjustment module takes the optimized path as input and drives the brush to move along the optimized path; the servo motor controls the pressure applied by the brush to the surface of the part by dynamically adjusting the torque, and calculates the path adjustment amount caused by the torque change; the servo motor adjustment module transmits the path adjustment amount to the path correction module; The path correction module corrects the optimized path through the gain parameter and the path adjustment amount to obtain a corrected path.

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