Passive constant-force polishing device with dynamic adjusting capability

Abstract

The invention discloses a passive constant-force polishing device with the dynamic adjusting capacity, and relates to the field of industrial robot polishing machining. The problems that the constant force fluctuation is large, the displacement stroke is small, and the constant force cannot be dynamically adjusted in passive constant force control of an existing robot are solved. The constant-force spring assembly is used for being connected with the grinding head and providing constant axial pressure within a certain displacement stroke, and the constant-force adjusting mechanism assembly is used for dynamically adjusting the constant force of the constant-force spring assembly. When the grinding head is pressed on the surface of a workpiece under the position control of the robot, the needed grinding force is set, and the needed constant force is dynamically adjusted through the constant force adjusting mechanism assembly so as to meet the grinding requirement; and on the other hand, when the grinding angle is changed, due to the fact that the gravity is changed in the direction of the main shaft of the grinding head, the constant force provided by the constant-force spring assembly can be automatically adjusted according to the angle to compensate the gravity component, and therefore the constant grinding force is kept. The device is used in a passive constant-force grinding environment.

Description

Technical Field

[0001] The present invention relates to the field of grinding processing, and in particular to a passive constant force grinding device with dynamic adjustment capability, which is used for grinding processing of industrial robots. Background Art

[0002] At present, the constant force control methods commonly used by industrial robots in the grinding process are divided into two categories: active constant force control and passive constant force control.

[0003] Active constant force control relies on sensors to monitor force feedback in real time and adjusts the robot control system to maintain a constant grinding force. The main problem with this method is that the system is complex, the response speed is limited, and it is easily affected by environmental noise and sensor accuracy, resulting in an unstable grinding process.

[0004] Passive constant force control provides the flexibility of the grinding tool through elastic mechanisms or flexible materials, and uses the elastic deformation of the structure to achieve force adaptation. Although this method is simple in structure and low in cost, the current passive constant force devices generally have large constant force fluctuations, small displacement strokes, and the constant force cannot be dynamically adjusted, resulting in a limited working range of the grinding head and unstable grinding quality. The reason for the above technical problems is that the constant force springs in the existing constant force grinding system generally use a mechanism of superposition of positive and negative stiffness to generate constant force, resulting in its superposition result being dependent on the processing accuracy of the control parameters, and its constant force range is generally small. In addition, the principle of superposition of positive and negative stiffness causes its constant force adjustment to rely on manual pre-tightening to change the size of the constant force, and it cannot cope with the change in grinding conditions during the grinding process, or the change in gravity component caused by the change in the grinding angle. Requirement caused by the change in constant force.

[0005] For example: the authorization announcement number is CN115383545B, the patent name is grinding device and grinding method, the grinding device includes a moving mechanism, a grinding mechanism, a floating mechanism and a displacement detection mechanism; the grinding mechanism is slidably arranged on the moving mechanism along the first direction, and the moving mechanism is used to drive the grinding mechanism to move; the floating mechanism is respectively connected to the grinding mechanism and the moving mechanism, and the floating mechanism is used to adjust the grinding force of the grinding mechanism; the displacement detection mechanism is arranged between the grinding mechanism and the moving mechanism, and the displacement detection mechanism is used to detect the displacement of the grinding mechanism along the first direction, and the displacement detection mechanism is connected to the moving mechanism in communication. The grinding device can control the grinding force of the grinding mechanism by controlling the displacement of the grinding mechanism relative to the moving mechanism in the first direction, and can perform constant force or non-constant force grinding as needed, and can also perform differentiated control on the grinding depth, with high controllability and wide applicability. Although it can flexibly adjust the grinding depth, there is still no way to solve the problem of constant force adjustment.

[0006] Therefore, both methods have problems such as insufficient precision and unstable force control when grinding complex surfaces, which limits their application in high-precision manufacturing.

[0007] In summary, the existing passive constant force control of robots has the problems of large constant force fluctuation, small displacement stroke, and the inability to dynamically adjust the constant force. Summary of the invention

[0008] The purpose of the present invention is to solve the problems of large constant force fluctuation, small displacement stroke and inability to dynamically adjust the constant force in existing passive constant force control of robots, and to provide a passive constant force grinding device with dynamic adjustment capability.

[0009] The technical solution of the present invention is:

[0010] A passive constant force grinding device with dynamic adjustment capability comprises a spindle motor assembly, a cover plate, a constant force spring assembly, a constant force adjustment motor, a base, a constant force adjustment motor gear, a bottom plate, a constant force adjustment mechanism assembly, a grinding head and a guide unit, wherein the spindle motor assembly is mounted on the upper end of the cover plate, the base is parallel to the cover plate and coaxially located directly below the cover plate, the cover plate and the base are connected by a guide unit, the constant force spring assembly is slidably mounted on the guide unit, and the constant force spring assembly realizes axial movement under the limit of the guide unit, the grinding head is connected to the lower end of the spindle of the constant force spring assembly, the upper end of the spindle is connected to the spindle motor assembly, the constant force adjustment motor gear and the bottom plate are sequentially mounted on the lower part of the base from top to bottom, the constant force adjustment mechanism assembly and the constant force adjustment motor are mounted on the base, the constant force adjustment mechanism assembly moves in a ring-shaped radial shape under the action of the constant force adjustment motor and the constant force adjustment motor gear, thereby driving the constant force spring assembly to move, thereby realizing dynamic constant force adjustment of the constant force spring assembly.

[0011] Furthermore, the spindle motor assembly includes a spindle motor, a spindle motor flange, a coupling and a spline sleeve. The fixed end of the spindle motor flange is installed on the spindle motor and is installed on the cover plate through the spindle motor flange. The output shaft of the spindle motor is connected to the spline sleeve through the coupling.

[0012] Furthermore, the constant force spring assembly includes a sleeve, an elastic retaining ring, a bearing, a roller, a plurality of constant force springs, a stop ring and a main shaft. A plurality of through holes are opened on the wall of the roller along its axial direction, and a sleeve is embedded in each through hole. The sleeve is mounted on the guide unit, and the upper end of the main shaft is connected to the spline sleeve. A stop ring is installed between the middle and upper part of the main shaft and the inner wall of the roller, and an elastic retaining ring and a bearing are respectively installed on the middle and lower part of the main shaft. The outer side of the roller is provided with annular radial extension arms, and each extension arm is connected to a side end face of a constant force spring.

[0013] Preferably, the height of the extension arm is lower than the height of the cylinder wall.

[0014] Furthermore, the constant force spring is formed by bending and connecting a long strip of plate, and the plate has trapezoidal holes at the upper and lower parts in the length direction.

[0015] Furthermore, the constant force adjustment mechanism assembly includes a wire coil, a flange bearing and a plurality of sliders. The side end surface of the wire coil is processed with external teeth, the upper end surface of the wire coil is processed with a spiral groove, and the plurality of sliders are installed on the spiral groove. The wire coil is installed on the base through the flange bearing, and the constant force adjustment motor drives the constant force adjustment motor gear to rotate and engage with the external teeth of the wire coil to drive the wire coil to rotate; the rotation of the wire coil will drive the slider embedded in the spiral groove of the wire coil to translate along the guide groove on the base, thereby driving the slider baffle fixed to the slider to translate, and the translation changes the shape of the constant force spring, which is manifested as the distance D between the two parallel surfaces, thereby changing the constant force provided by the constant force spring.

[0016] Furthermore, the guide unit includes multiple guide shafts, multiple pillars and multiple slider baffles. The multiple guide shafts are vertically installed on the base and cooperate with the shaft sleeves. The multiple pillars are supported between the cover plate and the base. A slider baffle is installed on each slider, and the other side end face of the constant force spring is connected to the slider baffle.

[0017] Furthermore, it also includes a linear encoder and a linear encoder base, and the linear encoder is installed on the base through the linear encoder base.

[0018] Furthermore, it also includes a robot connecting plate, which is installed on the upper end of the cover plate.

[0019] Compared with the prior art, the present invention has the following effects:

[0020] The spindle motor assembly 2 of the present invention is used to provide the required speed and torque of the grinding head, the constant force spring assembly 4 is used to connect the grinding head 10 and provide a constant axial pressure within a certain displacement stroke, and the constant force adjustment mechanism assembly 9 is used to dynamically adjust the constant force of the constant force spring assembly 4. When the grinding head 10 is pressed down on the workpiece surface under the position control of the robot, on the one hand, the required grinding force is set, and the required constant force is dynamically adjusted by the constant force adjustment mechanism assembly 9 to meet the grinding requirements; on the other hand, when the grinding angle changes, since the gravity changes along the spindle direction of the grinding head, the constant force provided by the constant force spring assembly 4 can be automatically adjusted according to the angle to compensate for the gravity component, thereby maintaining a constant grinding force.

[0021] The present invention proposes a new type of constant force spring (such as Fig.15 and Fig.16As shown in the figure, the constant force of the conventional constant force mechanism has large fluctuations and small displacement stroke. Since the shape of the deformation part of the proposed constant force spring is almost unchanged, and the area of ​​the deformation part increases linearly with d, the derivative of its strain energy with respect to the displacement d of the roller 4-4 is a constant, and the constant is the constant force Fd, whose magnitude is only related to the material properties and geometric shape of the constant force spring 4-5, and the constant force has very small fluctuations in the entire trapezoidal area, so that a stable constant force with a large displacement range can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention, Figure 2 yes Figure 1 A top view of Figure 3 yes Figure 2 Cross-sectional view along BB, Figure 4 yes Figure 1 The overall isometric view after removing the robot connecting plate 1, the spindle motor assembly 2, the constant force spring assembly 4 and the grinding head 10, Figure 5 is a top view of the spindle motor assembly 2, Figure 6 yes Figure 5 Cross-sectional view along DD, Figure 7 is an isometric view of the constant force spring assembly 4, Figure 8 yes Figure 7 It is a top view. Fig. 9 yes Figure 8 Cross-sectional view along CC, Fig.10 is an isometric view of the constant force adjustment mechanism assembly 9, Fig.11 is a three-dimensional image of the base plate 8, Fig.12 yes Fig.11 A three-dimensional image when looking up. Fig.13 is a three-dimensional diagram of roller 4-4, Fig.14 It is a schematic diagram of the process of the constant force spring 4-5 of the present invention changing from a flat state to a bent state, Fig.15 This is the working principle diagram of the constant force spring. Fig.16 yes Fig.15 Partial working principle diagram. DETAILED DESCRIPTION

[0023] Specific implementation method 1: Combination Figures 1 to 16The present embodiment is described, and the present embodiment includes a spindle motor assembly 2, a cover plate 3, a constant force spring assembly 4, a constant force adjustment motor 5, a base 6, a constant force adjustment motor gear 7, a bottom plate 8, a constant force adjustment mechanism assembly 9, a grinding head 10 and a guide unit. The spindle motor assembly 2 is mounted on the upper end of the cover plate 3, the base 6 is parallel to the cover plate 3 and coaxially located directly below the cover plate 3, the cover plate 3 and the base 6 are connected by a guide unit, the constant force spring assembly 4 is slidably mounted on the guide unit, and the constant force spring assembly 4 is limited by the guide unit to achieve Now it moves axially, the grinding head 10 is connected to the lower end of the main shaft 4-7 of the constant force spring assembly 4, the upper end of the main shaft 4-7 is connected to the main shaft motor assembly 2, the constant force adjustment motor gear 7 and the bottom plate 8 are installed on the lower part of the base 6 from top to bottom, the constant force adjustment mechanism assembly 9 and the constant force adjustment motor 5 are installed on the base 6, and the constant force adjustment mechanism assembly 9 moves in a ring-shaped radial shape under the action of the constant force adjustment motor 5 and the constant force adjustment motor gear 7, thereby driving the constant force spring assembly 4 to move, thereby realizing the dynamic constant force adjustment of the constant force spring assembly 4.

[0024] Specific implementation method 2: Combination Figures 5 and 6 To illustrate this embodiment, the spindle motor assembly 2 of this embodiment includes a spindle motor 2-1, a spindle motor flange 2-1, a coupling 2-3 and a spline sleeve 2-4. The fixed end of the spindle motor flange 2-1 is installed on the spindle motor 2-1 and is installed on the cover plate 3 through the spindle motor flange 2-1. The output shaft of the spindle motor 2-1 is connected to the spline sleeve 2-4 through the coupling 2-3.

[0025] In this configuration, the fixed end of the spindle motor 2-1 is connected to the spindle motor flange 2-2, and the output shaft of the spindle motor 2-1 is connected to the spline sleeve 2-4 through the coupling 2-3. The spindle motor flange 2-2 is fixedly connected to the cover plate 3 to provide rotational power for the rotation of the spindle 4-7. The other components and connection relationships are the same as those in the first embodiment.

[0026] Specific implementation method three: Combination Figures 7 to 9 The present embodiment is described. The constant force spring assembly 4 of the present embodiment includes a sleeve 4-1, an elastic retaining ring 4-2, a bearing 4-3, a roller 4-4, a plurality of constant force springs 4-5, a stop ring 4-6 and a main shaft 4-7. A plurality of through holes are opened on the wall of the roller 4-4 along its axial direction, and a sleeve 4-1 is embedded in each through hole. The sleeve 4-1 is mounted on the guide unit. The upper end of the main shaft 4-7 is connected to the spline sleeve 2-4, and a stop ring 4-6 is installed between the middle and upper part of the main shaft 4-7 and the inner wall of the roller 4-4. The middle and lower parts of the main shaft 4-7 are respectively installed with an elastic retaining ring 4-2 and a bearing 4-3. The outer side of the roller 4-4 is provided with an annular radial extension arm, and each extension arm is connected to a side end face of a constant force spring 4-5.

[0027] In this way, the main shaft 4-7 is connected to the spline sleeve 2-4 through the spline groove thereon, so that the main shaft 4-7 can rotate under the drive of the main shaft motor assembly 2 on the one hand, and on the other hand, since the main shaft 4-7 is connected to the roller 4-3 through the bearing 4-3, the elastic retaining ring 4-2 and the stop ring 4-6, the main shaft 4-7 can also move axially under the restriction of the guide shaft 13 while rotating. Since one end of the constant force spring 4-5 is connected to the roller 4-3 and the other end is fixed on the slider baffle 12, the entire constant force spring assembly 4 provides the main shaft 4-7 with pressure along the main shaft axis. When the grinding device and the bottom surface angle remain unchanged, even if the main shaft 4-7 moves a certain displacement along the axial direction, the pressure remains constant. Other components and connection relationships are the same as those of the specific implementation method one or two.

[0028] The number of constant force springs 4-5 in this embodiment is preferably 6. The middle of the cylinder wall of the drum 4-4 is connected to the main shaft 4-7 through a bearing, and a stop ring 4-6 is installed at the lower part of the bearing. An annular protrusion is processed at the lower part of the cylinder wall of the drum 4-4 to limit the position of the bearing 4-3 in the axial direction.

[0029] Specific implementation method four: Combination Fig.13 This embodiment is described. The height of the extension arm of this embodiment is lower than the height of the cylinder wall. In this way, the thickness of the extension arm becomes thinner toward the outside. A plurality of connection holes are provided in the middle of the extension arm for connecting with the constant force spring 4-5. The height of the extension arm is convenient for providing installation space at the bottom. The other components and connection relationships are the same as any one of the specific embodiments 1 to 3.

[0030] Specific implementation method five: Combination Figures 14 to 16 To describe this embodiment, the constant force spring 4-5 of this embodiment is formed by bending and connecting long strips of plates, and the plates have trapezoidal holes at the upper and lower parts in the length direction.

[0031] In this arrangement, the raw material is a rectangular sheet metal plate (or other non-metallic material), on which two trapezoidal grooves with an angle of α and holes required for fixing are processed, and then the processed metal plate is bent into a capsule shape and fixed between two parallel plates (the parallel plates of the device are the slider baffle 12 and the edge surface of the side of the roller 4-4). When the roller 4-4 slides on the guide shaft 13 and moves d, the energy of the deformed part in the constant force spring 4-5 changes. Since the shape of the deformed part is almost unchanged, and the area of ​​the deformed part increases linearly with d, the derivative of its strain energy to the displacement d of the roller 4-4 is a constant, and this constant is the constant force F d , its size is only related to the material properties and geometric shape of the constant force spring 4-5, and the constant force fluctuates very little in the entire trapezoidal area, so that a constant force with a large displacement range can be obtained. The other structures and components are the same as any one of the specific embodiments 1 to 4.

[0032] Specific implementation method six: Combination Figures 10 to 12 To illustrate this embodiment, the constant force adjustment mechanism assembly 9 of this embodiment includes a wire coil 9-1, a flange bearing 9-3 and a plurality of sliders 9-2. The side end surface of the wire coil 9-1 is processed with external teeth, and the upper end surface of the wire coil 9-1 is processed with a spiral groove. The plurality of sliders 9-2 are installed on the spiral groove. The wire coil 9-1 is installed on the base 6 through the flange bearing 9-3, and the constant force adjustment motor 5 drives the constant force adjustment motor gear 7 to rotate and engage with the external teeth of the wire coil 9-1 to drive the wire coil 9-1 to rotate; the rotation of the wire coil 9-1 will drive the slider 9-2 embedded in the spiral groove of the wire coil 9-1 to translate along the guide groove on the base 8, thereby driving the slider baffle fixed to the slider 9-2 to translate, and the translation changes the shape of the constant force spring 4-5, which is manifested as the distance D between the two parallel surfaces, thereby changing the constant force provided by the constant force spring 4-5.

[0033] With such arrangement, the pressure along the main shaft axis provided by the constant force spring assembly 4 to the main shaft 4-7 can be changed by the constant force adjustment mechanism assembly 9. Since the coil wire 9-1 is mounted on the base 6 through the flange bearing 9-3, and is driven to rotate by the constant force adjustment motor 5 and the constant force adjustment motor gear 7. The rotation of the coil wire 9-1 will drive the slider 9-2 embedded in the spiral groove of the coil wire 9-1 to move along the guide groove on the base 8, thereby driving the slider baffle fixed to the slider 9-2 to move horizontally, and this translation will change the shape of the constant force spring 4-5, which is specifically manifested as the distance D between the two parallel surfaces (such as Fig.14 As shown), the constant force provided by the constant force spring 4-5 is changed to achieve the purpose of adjusting the constant force. The other components and connection relationships are the same as any one of the specific embodiments 1 to 3.

[0034] Specific implementation method seven: Combination Figure 3 to Figure 4 To illustrate this embodiment, the guide unit of this embodiment includes multiple guide shafts 11, multiple pillars 12 and multiple slider baffles 13. The multiple guide shafts 11 are vertically installed on the base 6 and cooperate with the sleeve 4-1. The multiple pillars 12 are supported between the cover plate 3 and the base 6. A slider baffle 13 is installed on each slider 9-2, and the other side end face of the constant force spring 4-5 is connected to the slider baffle 13.

[0035] In this way, the base 6 of this embodiment provides a base for the entire grinding device, on which a guide unit is installed, especially 6 guide shafts 13, and the constant force spring assembly 4 is installed on the guide shaft 13 through a sleeve, thereby limiting its axial movement along the grinding head 10. One end of the three pillars 12 is fixed to the base 6, and the other end is fixedly connected to the cover plate 3 to form the frame of the grinding device. The upper end of the guide shaft 13 is fixedly connected to the cover plate, thereby limiting the movement range of the constant force spring assembly 4 and the grinding head 10 connected thereto to between the base 6 and the cover plate 3. Other components and connection relationships are the same as any one of the specific embodiments one to six.

[0036] Specific implementation method eight: Combination Figure 4 The present embodiment is described. The present embodiment further includes a linear encoder 14 and a linear encoder base 15 . The linear encoder 14 is mounted on the base 6 via the linear encoder base 15 .

[0037] In this arrangement, since the constant force provided by the constant force spring 4-5 corresponds to the distance D between the two parallel surfaces, the constant force can be dynamically adjusted in real time by real-time detection of D by the linear encoder 14 fixed to the base 6 by the linear encoder base 15. The other components and connection relationships are the same as any one of the specific embodiments 1 to 7.

[0038] Specific implementation method nine: Combination Figure 1 and Figure 2 To explain this embodiment, this embodiment further includes a robot connecting plate 1 , which is mounted on the upper end of the cover plate 3 .

[0039] Such arrangement facilitates the connection of the present invention with a robot. Other components and connection relationships are the same as any one of the specific embodiments 1 to 8.

[0040] Combination Figures 1 to 16 The working principle of the present invention is described:

[0041] When the grinding head 10 is pressed down on the surface of the workpiece under the position control of the robot and is driven to rotate by the spindle motor 2-1, by setting the required grinding force, the present invention drives the wire 9-1 to rotate through the constant force adjustment motor 5, so that the displacement of the slider 9-2 changes through the feedback of the linear encoder 14, and the shape of the constant force spring 4-5 is changed to change its constant force to meet the grinding force requirement; on the other hand, when the grinding angle changes, since the gravity changes along the spindle direction of the grinding head, the present invention can automatically adjust the constant force provided by the constant force spring assembly 4 according to the angle between the grinding head provided by the robot arm and the gravity direction to compensate for the gravity component, thereby maintaining a constant grinding force.

[0042] 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 aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these 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.

Claims

1. A passive constant force grinding device with dynamic adjustment capability, characterized in that: It comprises a spindle motor assembly (2), a cover plate (3), a constant force spring assembly (4), a constant force adjustment motor (5), a base (6), a constant force adjustment motor gear (7), a base plate (8), a constant force adjustment mechanism assembly (9), a grinding head (10) and a guide unit. The spindle motor assembly (2) is mounted on the upper end of the cover plate (3), the base (6) is parallel to the cover plate (3) and coaxially located directly below the cover plate (3), the cover plate (3) and the base (6) are connected via a guide unit, the constant force spring assembly (4) is slidably mounted on the guide unit, and the constant force spring assembly (4) is limited by the guide unit to achieve axial movement, the grinding head (10) is connected to the lower end of the spindle (4-7) of the constant force spring assembly (4), and the upper end of the spindle (4-7) is connected to the spindle motor assembly (2), The constant force adjustment motor gear (7) and the bottom plate (8) are sequentially mounted on the lower part of the base (6) from top to bottom, and the constant force adjustment mechanism assembly (9) and the constant force adjustment motor (5) are mounted on the base (6). The constant force adjustment mechanism assembly (9) moves in a circular radial shape under the action of the constant force adjustment motor (5) and the constant force adjustment motor gear (7), thereby driving the constant force spring assembly (4) to move, thereby realizing dynamic constant force adjustment of the constant force spring assembly (4).

2. A passive constant force grinding device with dynamic adjustment capability according to claim 1, characterized in that: The spindle motor assembly (2) comprises a spindle motor (2-1), a spindle motor flange (2-1), a coupling (2-3) and a spline shaft sleeve (2-4). The fixed end of the spindle motor flange (2-1) is mounted on the spindle motor (2-1) and is mounted on the cover plate (3) through the spindle motor flange (2-1); the output shaft of the spindle motor (2-1) is connected to the spline shaft sleeve (2-4) through the coupling (2-3).

3. A passive constant force grinding device with dynamic adjustment capability according to claim 1, characterized in that: The constant force spring assembly (4) comprises a shaft sleeve (4-1), an elastic retaining ring (4-2), a bearing (4-3), a roller (4-4), a plurality of constant force springs (4-5), a stop ring (4-6) and a main shaft (4-7). A plurality of through holes are provided on the cylinder wall of the roller (4-4) along the axial direction thereof, a shaft sleeve (4-1) is embedded in each through hole, the shaft sleeve (4-1) is sleeved on the guide unit, the upper end of the main shaft (4-7) is connected to the spline shaft sleeve (2-4), a stop ring (4-6) is installed between the middle and upper part of the main shaft (4-7) and the inner side wall of the roller (4-4), and an elastic retaining ring (4-2) and a bearing (4-3) are installed at the middle and lower part of the main shaft (4-7), respectively. The outer side of the roller (4-4) is provided with annular radial extension arms, and each extension arm is connected to a side end surface of a constant force spring (4-5).

4. A passive constant force grinding device with dynamic adjustment capability according to claim 3, characterized in that: The height of the extension arm is lower than the height of the cylinder wall.

5. A passive constant force grinding device with dynamic adjustment capability according to claim 4, characterized in that: The constant force spring (4-5) is formed by bending and connecting a long strip of plate, and the plate has trapezoidal holes at the upper and lower parts in the length direction.

6. A passive constant force grinding device with dynamic adjustment capability according to claim 5, characterized in that: The constant force adjustment mechanism assembly (9) comprises a coiled wire (9-1), a flange bearing (9-3) and a plurality of sliders (9-2); the side end surface of the coiled wire (9-1) is processed with external teeth, the upper end surface of the coiled wire (9-1) is processed with a spiral groove, the plurality of sliders (9-2) are mounted on the spiral groove, the coiled wire (9-1) is mounted on a base (6) via a flange bearing (9-3), and the constant force adjustment motor (5) drives the constant force adjustment motor gear (7) to rotate and mesh with the external teeth of the coiled wire (9-1) to drive the coiled wire (9-1) to rotate; The rotation of the coil wire (9-1) drives the slider (9-2) embedded in the spiral groove of the coil wire (9-1) to move along the guide groove on the base (8), thereby driving the slider baffle fixed to the slider (9-2) to move horizontally. This translation changes the shape of the constant force spring (4-5), which is manifested as the distance D between the two parallel surfaces, thereby changing the constant force provided by the constant force spring (4-5).

7. A passive constant force grinding device with dynamic adjustment capability according to claim 6, characterized in that: The guide unit comprises a plurality of guide shafts (11), a plurality of pillars (12) and a plurality of slider baffles (13). A plurality of guide shafts (11) are vertically mounted on the base (6) and cooperate with the shaft sleeve (4-1), a plurality of pillars (12) are supported between the cover plate (3) and the base (6), a slider baffle (13) is mounted on each slider (9-2), and the other side end surface of the constant force spring (4-5) is connected to the slider baffle (13).

8. A passive constant force grinding device with dynamic adjustment capability according to claim 7, characterized in that: It also includes a linear encoder (14) and a linear encoder base (15), and the linear encoder (14) is installed on the base (6) through the linear encoder base (15).

9. A passive constant force grinding device with dynamic adjustment capability according to claim 1 or 8, characterized in that: It also includes a robot connecting plate (1), which is mounted on the upper end of the cover plate (3).

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