Humanoid polishing robot

Abstract

The invention belongs to the field of machine manufacturing, and particularly relates to a humanoid polishing robot which is suitable for polishing parts such as joint prostheses, orthopedic instruments and metal objects. Comprising a machine body part, arm parts, leg parts and a head part, the arm parts, the head part and the leg parts are arranged on the two sides of the lower portion of the machine body part respectively. The machine body part comprises a machine body, a first shoulder joint steering engine, a waist steering engine, a hip joint motor, a first neck joint steering engine, a driving motor, a detection sensor, a workpiece disc, a telescopic frame and a damping module. The two first shoulder joint steering engines, the two hip joint motors and the two driving motors are arranged on the two sides of the robot body respectively. The waist steering engine is arranged in the middle of the fuselage to support steering of the fuselage; the first neck joint steering engine is arranged on the upper side of the machine body to support transverse steering of the head. The workpiece disc is arranged in the chest on the upper side of the machine body and is connected with the chest through a telescopic frame arranged in the chest; the detection sensor is arranged on one side of the lower half part of the body core part.

Description

Technical Field

[0001] The invention belongs to the field of mechanical manufacturing, in particular to a humanoid polishing robot suitable for polishing parts such as joint prostheses, orthopedic instruments, and metal objects. Background Art

[0002] With the improvement of social productivity, my country's scientific and technological level is increasing day by day. Of course, there is no lack of improvement in medical technology, and the emergence of artificial joint prostheses is a witness to this progress. Artificial joints are used to be placed inside bones, and they have very strict requirements on surface roughness, so it is very necessary to polish their surfaces. In the current polishing technology, manual polishing is inefficient and easily endangers human safety, while mechanical arm polishing is slightly bulky and cannot work flexibly. Therefore, the present invention designs a humanoid robot specifically used for polishing joint prostheses, aiming to provide a humanoid polishing robot with high efficiency and high precision. Summary of the invention

[0003] In order to achieve the above-mentioned purpose, the present invention provides a humanoid polishing robot, which can perform highly efficient polishing work by replicating human actions, and is also equipped with a camera detection device, which can detect products at any time while ensuring efficiency.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a humanoid polishing robot, comprising a body part, an arm part, a leg part and a head part; the body part is the core part of the humanoid polishing robot, the arm parts are arranged on both sides of the upper part of the body part, the head part is arranged on the upper part of the body part, and the leg parts are arranged on both sides of the lower part of the body part; The fuselage part includes a fuselage, a shoulder joint servo, a waist servo, a hip joint motor, a neck joint servo, a drive motor, a detection sensor, a workpiece plate, a telescopic frame and a shock absorbing module.

[0005] The shoulder joint servo, hip joint motor and drive motor are all in two numbers, which are respectively arranged on both sides of the fuselage, wherein the shoulder joint servo is arranged on the upper part of the fuselage, and the hip joint motor and the drive motor are arranged on the lower part of the fuselage; the waist servo is arranged in the middle of the fuselage to support the steering of the fuselage; the neck joint servo is arranged on the upper side of the fuselage to support the lateral steering of the head.

[0006] The workpiece tray is arranged in the chest cavity on the upper side of the fuselage, and is connected through a telescopic frame arranged in the chest cavity. The workpiece tray can be horizontally moved from the chest cavity to the outside through the telescopic frame.

[0007] The detection sensor is arranged on one side of the lower half of the core part of the body and is used for material detection during clamping.

[0008] The shock absorbing module is arranged at the rear side of the driving motor to maintain stability.

[0009] The arm part includes a second shoulder joint servo, a first elbow joint servo, a second elbow joint servo, a first wrist joint servo, a second wrist joint servo, an upper arm, a lower arm, a shoulder joint, an elbow joint, a wrist joint, a clamping fixture and a supporting fixture.

[0010] Among them, the shoulder joint servo 2, elbow joint servo 1, elbow joint servo 2, wrist joint servo 1, wrist joint servo 2, upper arm, lower arm, shoulder joint, elbow joint and wrist joint are all two, which are respectively arranged on the left and right sides of the fuselage.

[0011] The shoulder joint is connected to the fuselage part through shoulder joint servo 1, and is connected to the upper arm through shoulder joint servo 2, the upper arm is connected to the elbow joint through elbow joint servo 1, the elbow joint is connected to the forearm through elbow joint servo 2, the forearm is connected to the wrist joint through wrist joint servo 1, and the wrist joint is connected to the clamping fixture or the supporting fixture through wrist joint servo 2: the arm part on the left hand side is the supporting fixture, and the arm part on the right hand side is the clamping fixture.

[0012] The clamping fixture is used to clamp the cylindrical part at the end of the joint prosthesis, and the supporting fixture is used to support the other side of the joint prosthesis. When working, the clamping fixture first takes the workpiece from the workpiece tray, then places it horizontally, and the supporting fixture clamps it to keep it stable, and then the workpiece is brought close to the polishing wheel in this posture for work. A rubber pad is provided inside the supporting fixture to ensure that the surface of the workpiece will not be damaged.

[0013] The leg part is an ostrich leg structure, including a thigh, a calf one, a calf two, a calf three, an ankle, a toe, a side wheel and a pulley.

[0014] Among them, the thigh, calf one, ankle, toe, side wheel and pulley are each provided with two, respectively arranged on both sides of the fuselage part; the calf two and the calf three are provided with four, respectively arranged in a group of two on both sides of the fuselage part.

[0015] The thigh is connected to the body through a hip joint motor, and the end is connected to calf one through a rotating shaft. Calf one is connected to the middle part of calf three through a rotating shaft. The upper end of calf three is connected to calf two through a rotating shaft, and the end is connected to the ankle through a connecting shaft. The ankle is connected to the toe through a rotating shaft, and the other side of calf two is connected to the middle of the thigh through a rotating shaft.

[0016] The side wheel is arranged at the middle part of the calf 1, and the pulley is arranged at the rotation axis of the calf 1 and the calf 3. A plurality of steel cables are arranged inside the calf 1 and inserted into the driving motor, the thigh, the calf 1, the calf 3, the ankle, the toe and other parts to control the movement of the leg.

[0017] The head part includes a visual recognition module, a camera, a light source and a second neck joint steering gear. The second neck joint steering gear is arranged on the upper side of the first neck joint steering gear to support the vertical steering of the head part. The visual recognition module, the camera and the light source are installed on the head part. The camera is connected to the robot controller through the visual recognition module. The camera and the visual recognition module are used to take pictures and analyze the workpiece after polishing to determine whether its surface meets the standard.

[0018] A humanoid polishing robot is equipped with a robot controller, which is installed in the body and is used to control the polishing work of the humanoid polishing robot. The robot controller can adopt a robot controller such as MRC01, and can easily perform teaching and action confirmation using only a computer through the action program set by the programming program MRC Studio.

[0019] A humanoid polishing robot is also equipped with a power supply to provide control and working power for the humanoid polishing robot.

[0020] A polishing working method of a humanoid polishing robot can utilize machine vision technology to design an initial polishing path in a robot controller, and then the robot controller records the polishing data and optimizes the path and modifies the parameters in the controller according to the subsequent polishing effect fed back by a camera, so as to improve the polishing efficiency and quality of subsequent workpieces.

[0021] Here are the steps: First, in the robot controller, the visual recognition module and camera can be used to take pictures and identify the workpiece. Then, based on the recognition results, the polishing path can be designed in MRC Studio, and the polishing path and polishing parameters can be adjusted as the data for the robot's first polishing.

[0022] Then, the robot controller will monitor the polishing situation in real time and record the data during the polishing process. After a polishing is completed, the camera will take pictures of the workpiece surface and feed the image data back to the robot controller. Finally, according to the data records and analysis results during the polishing process, the data can be analyzed and optimized in MRC Studio through programming software, and the polishing path and polishing parameters can be adjusted to improve polishing efficiency and quality.

[0023] The humanoid polishing robot of the present invention has the following advantages: A humanoid polishing robot has a reasonable design, compact structure and is easy to use. The invention specifically fits the shape of artificial joint prostheses, designs a clamping fixture and a supporting fixture, and is professional in polishing artificial joint prostheses. At the same time, a material detection function is provided as insurance to ensure that there will be almost no mistakes in the polishing process; the invention sets the workpiece tray at the robot's chest, so that it can walk and move with many workpieces, which is more flexible; the invention adopts an ostrich-shaped leg structure, which has low energy consumption and high efficiency.

[0024] A humanoid polishing robot is equipped with a robot controller, which is installed in the body and used to control the polishing work of the humanoid polishing robot. The invention is provided with a camera, which can immediately detect the surface roughness of the workpiece when the polishing is finished.

[0025] The invention discloses a humanoid polishing robot, which is suitable for polishing parts such as joint prostheses, orthopedic instruments, and metal objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of a humanoid polishing robot for joint prosthesis. Figure 2 A schematic diagram of the upper body of a humanoid polishing robot with joint prosthesis Figure 3 Schematic diagram of a humanoid polishing robot leg with joint prosthesis The reference numerals are: 1, body part, 11, shoulder joint servo 1, 12, waist servo, 13, hip joint motor, 14, neck joint servo 1, 15, drive motor, 16, detection sensor, 17, workpiece plate, 18, telescopic frame, 19 shock absorption module, 2, arm part, 21, shoulder joint servo 2, 221, elbow joint servo 1, 222, elbow joint servo 2, 223, elbow joint, 231, Wrist joint servo one, 232, wrist joint servo two, 233, wrist joint, 24, upper arm, 25, forearm, 26, shoulder joint, 27, clamping fixture, 28, supporting fixture, 3, leg part, 31, thigh, 32, calf one, 33, calf two, 34, calf three, 35, ankle, 36, toe, 37, side wheel, 38, pulley, 4, head part, 41, camera, 42, neck joint servo two. DETAILED DESCRIPTION

[0027] The following article will introduce the implementation steps of the specific technical solution of the present invention. This introduction is only a demonstration of one method of the present invention, and other methods of use also belong to the protection scope of the present invention.

[0028] Reference Figure 1 A humanoid polishing robot comprises: a body part 1, an arm part 2, a leg part 3 and a head part 4, wherein the arm part 2 and the leg part 3 are two and are respectively arranged on both sides of the body part 1, and the head part 4 is arranged on the upper side of the body part 1.

[0029] Reference Figure 2The body part 1 includes a shoulder joint servo 11, a waist servo 12, a hip joint motor 13, a neck joint servo 14, a drive motor 15, a detection sensor 16, a workpiece plate 17, a telescopic frame 18 and a shock absorbing module 19.

[0030] The shoulder joint servo 11, the hip joint motor 13 and the drive motor 15 are all two in number and are respectively arranged on both sides of the fuselage part 1, wherein the shoulder joint servo 11 is arranged on the upper part, and the hip joint motor 13 and the drive motor 15 are arranged on the lower part; The waist servo 12 is arranged in the middle of the body core part 1 to support the body turning; the neck joint servo 14 is arranged on the upper side of the fuselage part 1 to support the lateral turning of the head part 4.

[0031] The workpiece tray 17 is disposed in the chest cavity on the upper side of the body core 1 and is connected via a telescopic frame 18 disposed in the chest cavity. The workpiece tray 17 can be horizontally moved from the chest cavity to the outside via the telescopic frame 18 .

[0032] The detection sensor 16 is arranged at one side of the lower half of the body core part 1, and is used for material detection during clamping. The detection sensor 16 is a pressure sensor.

[0033] The damping module 19 is arranged at the rear side of the driving motor to maintain stability. The detection sensor 16 is connected to the robot controller. The damping module 19 adopts a commercially available damping module.

[0034] The arm part 2 includes a shoulder joint servo 21, an elbow joint servo 1 221, an elbow joint servo 2 222, a wrist joint servo 1 231, a wrist joint servo 2 232, an upper arm 24, a lower arm 25, a shoulder joint 26, an elbow joint 223, a wrist joint 233, a clamping fixture 27 and a supporting fixture 28.

[0035] Among them, the shoulder joint servo 21, elbow joint servo 1 221, elbow joint servo 2 222, wrist joint servo 1 231, wrist joint servo 2 232, upper arm 24, lower arm 25, shoulder joint 26, elbow joint 223 and wrist joint 233 are all two, which are respectively arranged on the left and right sides of the fuselage part 1.

[0036] The shoulder joint 26 is connected to the fuselage part 1 through the shoulder joint steering gear 1 11, and is connected to the upper arm 25 through the shoulder joint steering gear 2 21, the upper arm 25 is connected to the elbow joint 223 through the elbow joint steering gear 1 221, the elbow joint 223 is connected to the lower arm 25 through the elbow joint steering gear 222, the lower arm 25 is connected to the wrist joint 233 through the wrist joint steering gear 1 231, and the wrist joint 233 is connected to the clamping fixture 27 or the supporting fixture 28 through the wrist joint steering gear 232; The arm part on the left hand side is a supporting fixture 28 , and the arm part on the right hand side is a clamping fixture 27 .

[0037] The clamping fixture 27 is used to clamp the cylindrical end of the joint prosthesis, and the supporting fixture 28 is used to support the other side of the joint prosthesis. During operation, the clamping fixture 27 first takes out the workpiece from the workpiece tray 17, and then places it horizontally. The supporting fixture 28 clamps it again to keep it stable, and then the workpiece is brought close to the polishing wheel in this posture for operation.

[0038] A rubber pad is provided inside the supporting fixture to ensure that the surface of the workpiece will not be damaged.

[0039] The head part 4 includes a visual recognition module, a camera 41, a light source and a neck joint steering gear 2 42. The neck joint steering gear 2 42 is arranged on the upper side of the neck joint steering gear 1 11 to support the vertical steering of the head part 4. The visual recognition module, the camera 41 and the light source are installed in the head part. The camera 41 is connected to the robot controller through the visual recognition module. The camera 41 and the visual recognition module are used to take pictures and analyze the workpiece after polishing to determine whether its surface meets the standard. The visual recognition module adopts a commercially available visual recognition module.

[0040] Reference Figure 3 The leg part 3 is an ostrich leg structure, including a thigh 31, a calf 1 32, a calf 2 33, a calf 3 34, an ankle 35, a toe 36, a side wheel 37 and a pulley 38. The thigh 31, the calf 1 32, the ankle 35, the toe 36, the side wheel group 37 and the pulley 38 are each provided with two, which are respectively arranged on both sides of the fuselage part 1, and the calf 2 32 and the calf 3 34 are provided with four, which are respectively arranged on both sides of the fuselage part 1. The thigh 31 is connected to the fuselage part 1 through the hip joint motor 13, and the end is connected to the calf 1 32 through a rotating shaft, and the calf 1 32 is connected to the middle of the calf 3 34 through a rotating shaft, and the upper end of the calf 3 34 is connected to the calf 2 33 through a rotating shaft, and the end is connected to the ankle 35 through a connecting shaft, and the ankle 35 is connected to the toe 36 through a rotating shaft, and the other side of the calf 2 33 is connected to the middle of the thigh 31 through a rotating shaft. The side wheel set 37 is arranged at the middle of the calf 1, and the pulley 38 is arranged at the rotation axis of the calf 1 32 and the calf 3 34. There are several steel cables inside, which are inserted through the drive motor 15, the thigh 31, the calf 1 32, the calf 3 34, the ankle 35, the toe 36 and other components to control the operation of the leg part 3.

[0041] The shoulder joint steering gear 1 11, shoulder joint steering gear 2 21, elbow joint steering gear 1 221, elbow joint steering gear 2 222, wrist joint steering gear 1 231, wrist joint steering gear 2 232, neck joint steering gear 1 14 and neck joint steering gear 2 42 are all commercially available small electric steering gears.

[0042] A humanoid polishing robot is equipped with a robot controller, which is installed in the body and is used to control the polishing work of the humanoid polishing robot. The robot controller can adopt a robot controller such as MRC01, and can easily perform teaching and action confirmation using a computer through the action program set by the programming program MRC Studio. A humanoid polishing robot is equipped with a power supply to provide control and working power for the humanoid polishing robot.

[0043] A polishing working method of a humanoid polishing robot can utilize machine vision technology to design an initial polishing path in a robot controller, and then the robot controller records the polishing data and optimizes the path and modifies the parameters in the controller according to the subsequent polishing effect fed back by a camera, so as to improve the polishing efficiency and quality of subsequent workpieces.

[0044] Here are the steps: First, in the robot controller, the visual recognition module and camera 41 can be used to take pictures and identify the workpiece, and then according to the recognition results, the polishing path is designed in MRC Studio, and the polishing path and polishing parameters are adjusted as the data for the robot's first polishing. Then, the robot controller will monitor the polishing situation in real time and record the data during the polishing process. After one polishing is completed, the camera 41 will feed back the image data to the robot controller by photographing the surface of the workpiece. Finally, according to the data recording and analysis results during the polishing process, these data can be analyzed and optimized in MRC Studio through programming software, and the polishing path and polishing parameters can be adjusted to improve the polishing efficiency and quality.

[0045] Embodiment: A polishing working method of a humanoid polishing robot, the specific steps are as follows: When a humanoid polishing robot wants to polish workpieces such as artificial joint prostheses, orthopedic instruments, and metal objects, it first puts the workpiece to be polished in its workpiece tray 17, then the robot walks to the vicinity of the polishing wheel through the leg part 3, then the robot stands up, the workpiece tray 17 extends under the action of the telescopic frame 18, the robot arm part 2 moves, controls the clamping fixture 27 to clamp the cylinder at the end of the artificial joint prosthesis, and takes it out from the workpiece tray 17, then the arm part 2 grabs the workpiece and moves it to the detection sensor 16, so that the workpiece contacts the sensing rod of the detection sensor 16. If the workpiece is clamped normally and the sensing rod is deformed, it continues to run; if the workpiece fails to be clamped, it stops and alarms. When the detection passes, the workpiece tray 17 is retracted, the clamping fixture 27 makes the workpiece horizontal as a whole, and the arm part 2 controls the supporting fixture 28 to clamp the other end of the workpiece. After clamping, the arm part 2 controls the clamping fixture 27 and the supporting fixture 28 to move forward, move the workpiece to contact the polishing wheel, and start the polishing operation.

[0046] After polishing is completed, the arm part 2 controls the clamping fixture 27 and the supporting fixture to move, leave the polishing wheel, and move the workpiece to the camera 41. The camera 41 takes a photo to review the polishing result and records the coordinates of the workpiece on the workpiece disk corresponding to its polishing result information. Then the arm part 2 controls the clamping fixture 27 and the supporting fixture 28 to move to the appropriate position. At this time, the workpiece disk 17 extends, the supporting fixture 27 is released, and the arm part 2 controls the clamping fixture to place the workpiece in its original position in the workpiece disk 17.

[0047] The above steps are repeated until all the workpieces in the workpiece tray 17 are polished, and then the leg part 3 controls the robot to move to the next action point.

Claims

1. A humanoid polishing robot, characterized in that: It includes a body part, an arm part, a leg part and a head part; the body part is the core part of the humanoid polishing robot, the arm part is arranged on both sides of the upper part of the body part, the head part is arranged on the upper part of the body part, and the leg part is arranged on both sides of the lower part of the body part; The fuselage part includes a fuselage, a shoulder joint servo, a waist servo, a hip joint motor, a neck joint servo, a drive motor, a detection sensor, a workpiece plate, a telescopic frame and a shock absorbing module; The shoulder joint servo, hip joint motor and drive motor are both in two parts, which are respectively arranged on both sides of the fuselage, wherein the shoulder joint servo is arranged on the upper part of the fuselage, and the hip joint motor and drive motor are arranged on the lower part of the fuselage; the waist servo is arranged in the middle of the fuselage to support the steering of the fuselage; The neck joint servo is located on the upper side of the fuselage to support the lateral steering of the head; The workpiece tray is arranged in the chest cavity on the upper side of the fuselage, and is connected through a telescopic frame arranged in the chest cavity, and the workpiece tray can be horizontally moved from the chest cavity to the outside through the telescopic frame; The detection sensor is arranged on one side of the lower part of the core part of the body, and is used for material detection during clamping; The shock absorbing module is arranged at the rear side of the driving motor to maintain stability.

2. A humanoid polishing robot according to claim 1, characterized in that: The arm part includes a shoulder joint servo 2, an elbow joint servo 1, an elbow joint servo 2, a wrist joint servo 1, a wrist joint servo 2, an upper arm, a lower arm, a shoulder joint, an elbow joint, a wrist joint, a clamping fixture and a supporting fixture; Among them, the shoulder joint servo 2, elbow joint servo 1, elbow joint servo 2, wrist joint servo 1, wrist joint servo 2, upper arm, lower arm, shoulder joint, elbow joint and wrist joint are all two, which are respectively arranged on the left and right sides of the fuselage; The shoulder joint is connected to the fuselage part through the shoulder joint steering gear 1, and is connected to the upper arm through the shoulder joint steering gear 2. The upper arm is connected to the elbow joint through the elbow joint steering gear 1, the elbow joint is connected to the lower arm through the elbow joint steering gear 2, the lower arm is connected to the wrist joint through the wrist joint steering gear 1, and the wrist joint is connected to the clamping fixture or the supporting fixture through the wrist joint steering gear 2: The arm part on the left hand side is the supporting fixture, and the arm part on the right hand side is the clamping fixture.

3. A humanoid polishing robot according to claim 2, characterized in that: The clamping fixture is used to clamp the cylindrical part at the end of the joint prosthesis, and the supporting fixture is used to support the other side of the joint prosthesis. When working, the clamping fixture first takes out the workpiece from the workpiece tray, then places it horizontally, and the supporting fixture clamps it again to keep it stable, and then the workpiece is brought close to the polishing wheel in this posture for work; A rubber pad is provided inside the supporting fixture to ensure that the surface of the workpiece will not be damaged.

4. The humanoid polishing robot according to claim 1, characterized in that: The leg part includes a thigh, a calf 1, a calf 2, a calf 3, an ankle, a toe, a side wheel and a pulley; The thigh, calf 1, ankle, toe, side wheel and pulley are each provided with two, which are respectively arranged on both sides of the core part of the body, and the calf 2 and calf 3 are provided with four, which are respectively arranged in groups of two on both sides of the fuselage part; The thigh is connected to the body part through a hip joint motor, the end of which is connected to the calf one through a rotating shaft, the calf one is connected to the middle part of the calf three through a rotating shaft, the upper end of the calf three is connected to the calf two through a rotating shaft, the end of which is connected to the ankle through a connecting shaft, the ankle is connected to the toe through a rotating shaft, and the other side of the calf two is connected to the middle of the thigh through a rotating shaft; The side wheels are arranged at the middle part of the calf one, and the pulleys are arranged at the rotation axes of the calf one and the calf three.

5. A humanoid polishing robot according to claim 1 or 4, characterized in that: The leg part is an ostrich leg structure, with a plurality of steel cables arranged inside, which are inserted through a driving motor, a thigh, a calf one, a calf three, an ankle, and a toe part to control the movement of the leg.

6. The humanoid polishing robot according to claim 1, characterized in that: The head part includes a visual recognition module, a camera, a light source and a second neck joint servo; the second neck joint servo is arranged on the upper side of the first neck joint servo to support the vertical steering of the head part, the visual recognition module, the camera and the light source are installed on the head part, the camera is connected to the robot controller through the visual recognition module, and the camera and the visual recognition module are used to take pictures and analyze the workpiece after polishing to determine whether its surface meets the standards.

7. The humanoid polishing robot according to claim 1, characterized in that: A humanoid polishing robot is equipped with a robot controller, which is installed in the robot body and is used to control the polishing work of the humanoid polishing robot.

8. The humanoid polishing robot according to claim 1, characterized in that: The robot controller can use the MRC01 robot controller, which allows easy teaching and motion confirmation using only a computer through the motion program set in the programming program MRC Studio.

9. The polishing working method of a humanoid polishing robot according to claim 1, characterized in that: Using machine vision technology, the initial polishing path is designed in the robot controller, and then the robot controller records the polishing data and optimizes the path and modifies the parameters in the controller according to the subsequent polishing effect fed back by the camera to improve the polishing efficiency and quality of subsequent workpieces; the steps are as follows: First, in the robot controller, the visual recognition module and camera can be used to take pictures and identify the workpiece. Then, based on the recognition results, the polishing path is designed in MRC Studio, and the polishing path and polishing parameters are adjusted as the data for the robot's first polishing. Then, the robot controller will monitor the polishing situation in real time and record the data during the polishing process. After one polishing is completed, the camera will capture the surface of the workpiece and feed the image data back to the robot controller. Finally, based on the data recording and analysis results during the polishing process, the data can be analyzed and optimized in MRC Studio through a programming program, and the polishing path and polishing parameters can be adjusted to improve polishing efficiency and quality.

10. The polishing working method of a humanoid polishing robot according to claim 9, characterized in that: The specific steps are as follows: When a humanoid polishing robot is to polish an artificial joint prosthesis, an orthopedic instrument or a metal object, the workpiece to be polished is first placed in its workpiece tray, and then the robot moves to the vicinity of the polishing wheel through the leg part, and then the robot stands up, the workpiece tray is extended under the action of the telescopic frame, and the arm part of the robot moves, and the clamping fixture is controlled to clamp the cylinder at the end of the artificial joint prosthesis and take it out from the workpiece tray, and then the arm part grabs the workpiece and moves it to the detection sensor, so that the workpiece contacts the sensing rod of the detection sensor. If the workpiece is clamped normally, it continues to run; if the workpiece cannot be clamped, it stops and an alarm is sounded; When the inspection is passed, the workpiece tray is put in, the clamping fixture makes the workpiece horizontal as a whole, and the arm part controls the supporting fixture to clamp the other end of the workpiece. After clamping, the arm part controls the clamping fixture and the supporting fixture to move forward, and moves the workpiece to contact the polishing wheel to start the polishing operation; After polishing is completed, the arm part controls the movement of the clamping fixture and the supporting fixture, leaving the polishing wheel, and moves the workpiece to the camera. The camera takes a photo of the polishing result and records the coordinates of the workpiece on the workpiece tray corresponding to its polishing result information. Then the arm part controls the clamping fixture and the supporting fixture to move to the appropriate position. At this time, the workpiece tray extends out, the supporting fixture is released, and the arm part controls the clamping fixture to put the workpiece into the original position in the workpiece tray. Repeat the above steps until all workpieces in the workpiece tray are polished, and then the leg part controls the robot to move to the next action point.

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