A pneumatic polishing end effector with spindle vibration isolation function and control method

Abstract

The application provides a pneumatic polishing end effector with spindle vibration isolation function and a control method, wherein the pneumatic polishing end effector comprises a support assembly, the support assembly comprising an upper bottom plate and a lower bottom plate, a connecting flange being mounted on the upper bottom plate and used for connecting a robot; a propulsion assembly connected to the upper bottom plate and the lower bottom plate, the propulsion assembly being used for adjusting the distance between the upper bottom plate and the lower bottom plate; a polishing assembly comprising a pneumatic motor and a polishing cutter, the pneumatic motor being mounted on the lower bottom plate and used for driving the polishing cutter; and a vibration isolation assembly comprising a vibration isolation frame and a plurality of phononic crystal unit cells mounted on the vibration isolation frame, the vibration isolation frame being connected to the output shaft of the pneumatic motor and the polishing cutter, and the plurality of phononic crystal unit cells being arranged around the outer circumferential side of the vibration isolation frame. The pneumatic polishing end effector provided by the application effectively solves the influence of spindle vibration on polishing quality during the polishing process of the end effector.

Description

Technical Field

[0001] This disclosure generally relates to the field of automated grinding equipment technology, and specifically to a pneumatic grinding end effector and control method with spindle vibration isolation function. Background Technology

[0002] With technological advancements, robotic machining, characterized by its flexibility and efficiency, is gradually replacing manual labor, especially in high-precision industries such as automotive, aerospace, and electronics manufacturing. In these fields, grinding end effectors have become common tools in automated equipment due to their lightweight and high efficiency, excelling at precision machining on small or complex surfaces. However, spindle vibration has become a key factor affecting grinding accuracy and surface quality. Traditional pneumatic grinding end effectors are simple in design and rely on motor power, but system fluctuations and spindle rotation vibration reduce tool stability, leading to uneven machined surfaces. Long-term vibration further accelerates equipment wear and shortens its lifespan.

[0003] To address the vibration problem, existing technologies attempt to add vibration damping pads or simple vibration isolation structures to the spindle. However, these methods have limited effectiveness under complex working conditions and cannot completely eliminate the impact of vibration on machining accuracy, making it difficult to guarantee grinding precision and consistency. Therefore, developing a simple end effector that can effectively isolate pneumatic spindle vibration and improve workpiece grinding quality has become a current technical challenge. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a pneumatic grinding end effector and control method with spindle vibration isolation function to solve the above problems.

[0005] The first aspect of this application provides a pneumatic grinding end effector with spindle vibration isolation function, comprising: A support assembly, comprising an upper base plate and a lower base plate, wherein a connecting flange is mounted on the upper base plate for connecting the robot; A propulsion assembly, which connects the upper base plate and the lower base plate, is used to adjust the distance between the upper base plate and the lower base plate; A grinding assembly, comprising a pneumatic motor and a grinding tool, wherein the pneumatic motor is mounted on the lower base plate and is used to drive the grinding tool; A vibration isolation assembly includes a vibration isolation frame and a plurality of phonon crystal units mounted on the vibration isolation frame. The vibration isolation frame is connected to the output shaft of the pneumatic motor and the grinding tool. The plurality of phonon crystal units are arranged around the outer periphery of the vibration isolation frame.

[0006] According to the technical solution provided in the embodiments of this application, the propulsion component includes: Multiple guide rods are fixedly installed on the upper base plate. A telescopic rod is slidably connected to each guide rod, and the sliding direction is parallel to the extension direction of the output shaft. The end of the telescopic rod is fixedly connected to the lower base plate. A drive device is mounted on the upper base plate and has a retractable free end that is fixedly connected to the lower base plate. The retraction direction of the free end is parallel to the axis of the output shaft of the pneumatic motor.

[0007] According to the technical solution provided in the embodiments of this application, the phononic crystal unit cell includes a substrate and a scatterer, wherein the substrate includes: A frame area, which is rectangular and has a central through-hole forming an accommodating space; A receiving area is located at the center of the receiving space, and the scatterer is installed on the receiving area; A transition zone is provided between the frame area and the receiving area. The transition zone surrounds the receiving area and is connected to the frame area at one end and the receiving area at the other end.

[0008] According to the technical solution provided in the embodiments of this application, the vibration isolation frame includes an upper connecting plate and a lower connecting plate. The upper connecting plate is connected to the output end of the pneumatic motor, and the lower connecting plate is used to connect the grinding tool. A plurality of phonon crystal groups are provided between the upper connecting plate and the lower connecting plate. The plurality of phonon crystal groups are connected to the outer periphery of the upper connecting plate and the lower connecting plate. Each phonon crystal group includes the same number of phonon crystal units.

[0009] According to the technical solution provided in the embodiments of this application, the central axis of the substrate is perpendicular to the axis of the output shaft of the pneumatic motor.

[0010] According to the technical solution provided in the embodiments of this application, the substrate is made of resin and the scatterer is made of tungsten metal.

[0011] According to the technical solution provided in the embodiments of this application, a tilt sensor is installed on the lower base plate, and the tilt sensor is used to detect the tilt angle and tilt direction of the grinding tool.

[0012] According to the technical solution provided in the embodiments of this application, a bushing is installed on the side of the lower connecting plate away from the upper connecting plate. The tightness of the bushing is adjustable, and the grinding tool is connected to the lower connecting plate through the bushing.

[0013] According to the technical solution provided in the embodiments of this application, a bushing is installed on the side of the lower connecting plate away from the upper connecting plate. The tightness of the bushing is adjustable, and the grinding tool is connected to the lower connecting plate through the bushing.

[0014] A second aspect of this application provides a control method for a pneumatic grinding end effector, based on the pneumatic grinding end effector with spindle vibration isolation function as described above, the method comprising: The tilt sensor and the acceleration sensor are calibrated; The tilt angle, tilt direction, and propulsion acceleration are acquired in real time. The current posture of the grinding tool is determined based on the tilt angle and the tilt direction, and the current posture is compared with the target posture. When the deviation between the current posture and the target posture is determined to be greater than a first preset threshold, a posture correction command is generated based on the deviation and sent to the robot; When the difference between the current posture and the target posture is less than or equal to a first preset threshold, the propulsion acceleration is compared with the preset acceleration. When the difference between the propulsion acceleration and the preset acceleration is greater than a second preset threshold, a propulsion correction command is generated based on the difference and sent to the drive device.

[0015] Compared with existing technologies, the beneficial effects of this application are as follows: By setting a propulsion component and a grinding component on the support assembly, the grinding component can grind the workpiece. The propulsion component can control the advancement of the grinding tool by adjusting the distance between the upper and lower base plates of the support assembly, and the propulsion component can also ensure a constant grinding force, thereby improving the processing quality of the workpiece. By setting a vibration isolation component, which is connected to the pneumatic motor and grinding tool of the grinding component, the phononic crystal unit cell on the vibration isolation component has a phononic crystal bandgap. Within the bandgap range, the vibrating elastic wave is confined within the phononic crystal unit cell and cannot continue to propagate forward, thereby achieving a vibration reduction effect and further improving the grinding quality of the workpiece. The end effector provided by this application has a simple structure, can effectively isolate spindle vibration, reduce wear and maintenance costs, and extend service life. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A schematic diagram of the pneumatic grinding end effector with spindle vibration isolation function provided in this application; Figure 2 for Figure 1 The image shows a side view of a pneumatic grinding end effector with spindle vibration isolation function. Figure 3 This is a schematic diagram of the vibration isolation assembly. Figure 4 This is a schematic diagram of the structure of a phononic crystal unit cell; Figure 5 This is a bandgap diagram of a phononic crystal unit cell; Figure 6 This is a graph showing the relationship between the vibration frequency and the vibration transmissibility of a vibration isolation component.

[0017] Reference numerals: 1. Upper base plate; 2. Lower base plate; 3. Connecting flange; 4. Pneumatic motor; 5. Grinding tool; 6. Vibration isolation frame; 7. Phononic crystal unit cell; 8. Guide rod; 9. Telescopic rod; 10. Drive device; 11. Upper connecting plate; 12. Lower connecting plate; 13. Matrix; 14. Scatterer; 15. Frame area; 16. Receiving area; 17. Transition area; 18. Tilt sensor; 19. Accelerometer; 20. Bushing; 21. Motor clamp; 22. Quick connector; 23. Fixture. Detailed Implementation

[0018] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] Example 1 Please refer to Figures 1-4 This embodiment provides a pneumatic grinding end effector with spindle vibration isolation function, comprising: A support assembly, comprising an upper base plate 1 and a lower base plate 2, wherein a connecting flange 3 is mounted on the upper base plate 1, and the connecting flange 3 is used to connect the robot. A propulsion assembly is provided, which connects the upper base plate 1 and the lower base plate 2, and is used to adjust the distance between the upper base plate 1 and the lower base plate 2. A grinding assembly, comprising a pneumatic motor 4 and a grinding tool 5, wherein the pneumatic motor 4 is mounted on the lower base plate 2 and is used to drive the grinding tool 5; The vibration isolation assembly includes a vibration isolation frame 6 and a plurality of phonon crystal units 7 mounted on the vibration isolation frame 6. The vibration isolation frame 6 is connected to the output shaft of the pneumatic motor 4 and the grinding tool 5. The plurality of phonon crystal units 7 are arranged around the outer periphery of the vibration isolation frame 6.

[0021] Specifically, the upper base plate 1 and the lower base plate 2 are parallel to each other. A connecting flange 3 is fixedly installed on the side of the upper base plate 1 away from the lower base plate 2. The connecting flange 3 is used to connect with the robot. The robot drives the end effector to move through the connecting flange 3 and adjusts the tilt angle and tilt direction of the end effector. The grinding assembly, as the core part of the end effector, is installed on the lower base plate 2. The grinding assembly mainly includes a pneumatic motor 4 and a grinding tool 5. The pneumatic motor 4 is installed on the side of the lower base plate 2 near the upper base plate 1 through a motor clamp 21. The pneumatic motor 4 is connected to a quick connector 22, which allows the pneumatic motor 4 to be quickly connected to an external air supply device. The output shaft of the pneumatic motor 4 passes through the lower base plate 2 and is used to drive the grinding tool 5 to rotate. The output shaft of the drive motor 4 is perpendicular to the lower base plate 2. The upper base plate 1 and the lower base plate 2 are connected by a push assembly. In addition to connecting the upper base plate 1 and the lower base plate 2, the push assembly also pushes the grinding tool 5 by adjusting the distance between the upper base plate 1 and the lower base plate 2, thereby ensuring a balanced grinding force.

[0022] Specifically, to address the impact of spindle vibration on grinding quality, this embodiment incorporates a vibration isolation component between the pneumatic motor 4 and the grinding tool 5. The vibration isolation component includes a vibration isolation frame 6 and multiple phononic crystal units 7. The vibration isolation frame 6 connects the output shaft of the pneumatic motor 4 and the grinding tool 5. The multiple phononic crystal units 7 are arranged on the outer periphery of the vibration isolation frame 6. Through a local resonance mechanism, the phononic crystal units 7 form a bandgap in the low-frequency range that inhibits the propagation of elastic waves, thereby effectively reducing the vibration of the grinding tool 5 during operation. The multiple phononic crystal units 7 work together to effectively suppress vibration, thus improving grinding quality.

[0023] Furthermore, the propulsion component includes: Multiple guide rods 8 are fixedly installed on the upper base plate 1. A telescopic rod 9 is slidably connected to the guide rod 8. The sliding direction is parallel to the extension direction of the output shaft. The end of the telescopic rod 9 is fixedly connected to the lower base plate 2. A drive device 10 is mounted on the upper base plate 1. The drive device 10 has a retractable free end, which is fixedly connected to the lower base plate 2. The retraction direction of the free end is parallel to the axis of the output shaft of the pneumatic motor.

[0024] Specifically, the propulsion assembly consists of a drive device 10 and multiple guide rods 8, which are evenly arranged between the upper base plate 1 and the lower base plate 2. The drive device 10 is fixedly installed on the side of the upper base plate 1 near the lower base plate 2. The drive device 10 has a freely extendable end, which is fixedly connected to the side of the lower base plate 2 near the upper base plate 1. By driving the extension and retraction of the free end, the drive device 10 can adjust the distance between the upper base plate 1 and the lower base plate 2, thereby controlling the lower base plate 2 to advance while the position of the upper base plate 1 is relatively fixed, thus advancing the grinding tool 5 and providing grinding force for the workpiece. Optionally, the drive device 10 is a drive cylinder, and the drive device 10 is electrically connected to the robot's control module. The guide rod 8 is fixed to the side of the upper base plate 1 near the lower base plate 2. The guide rod 8 is hollow inside and open at one end near the lower base plate 2. A telescopic rod 9 is slidably installed inside the guide rod 8. The telescopic rod 9 can slide relative to the guide rod 8 along an axis parallel to the output shaft of the pneumatic motor 4. One end of the telescopic rod 9 extends out of the guide rod 8 and is fixedly connected to the lower base plate 2. The distance by which the telescopic rod 9 extends out of the guide rod 8 is limited to ensure that the telescopic rod 9 will not detach from the guide rod 8. In this embodiment, there are three guide rods 8, and the three guide rods 8 and one drive device 10 are respectively set at the four corners of the lower base plate 2. The guide rod 8 is fixed by a fixing clamp 23 on the upper base plate 1, and the telescopic rod 9 is fixed by a fixing clamp 23 on the lower base plate 2.

[0025] The guide rod 8 and the telescopic rod 9 work together to guide the movement of the lower base plate 2, constrain the free end of the lower base plate 2 to ensure that the lower base plate 2 moves in a specific direction, and improve the stability of the grinding tool 5 during the grinding process. In addition, the guide rod 8 and the telescopic rod 9 can also limit the stroke range of the lower base plate 2, thereby preventing the drive device 10 from being damaged due to excessive stroke, and also preventing the grinding tool 5 from being damaged.

[0026] Furthermore, the phonon crystal unit cell 7 includes a substrate 13 and a scatterer 14, wherein the substrate 13 includes: Frame area 15, which is rectangular and has a central through-hole to form an accommodating space; The accommodating area 16 is located at the center of the accommodating space, and the scatterer 14 is installed on the accommodating area 16; A transition zone 17 is provided between the frame zone 15 and the receiving zone 16. The transition zone 17 surrounds the receiving zone 16 and is connected to the frame zone 15 at one end and to the receiving zone 16 at the other end.

[0027] Specifically, the phononic crystal unit cell 7 comprises a substrate 13 and a scatterer 14. The scatterer 14 has a cubic structure. The substrate 13 consists of a frame region 15, a receiving region 16, and a transition region 17. The frame region 15 is a cuboid with two opposite sides penetrating through it, forming a hollow receiving space. The receiving region 16 is located at the center of the receiving space and is connected to the frame region 15 via the transition region 17 to be fixed within the receiving space. The scatterer 14 is fixed at the center of the receiving region 16. The transition region 17 is located between the frame region 15 and the receiving region 16. One end of the transition region 17 is connected to the inner wall of the frame region 15, and the other end of the transition region 17 is connected to the outer wall of the receiving region 16. The transition region 17 surrounds the receiving region 16. The frame region 15, the receiving region 16, and the transition region 17 are integrally formed and have the same thickness.

[0028] A phononic crystal unit cell model was established in COMSOL, and finite element simulation of the phononic crystal unit cell structure was performed using the solid mechanics module. Resin material was used as the matrix 13, and a tungsten block was used as the scatterer 14. After meshing, the bandgap of the phononic crystal was obtained by solving for its characteristic frequencies. Figure 5 As shown, where , , The three vertices of the Brillouin zone are represented by the band gap of the phonon crystal unit cell 7, which ranges from 288 to 394 Hz. Within this band gap, the vibrating elastic wave is confined within the phonon crystal unit cell 7 and cannot continue to propagate forward, thereby achieving a vibration reduction effect and improving the grinding quality of the workpiece.

[0029] The phononic crystal unit cell 7 can be simplified as a "spring-mass" system. The natural frequencies of the phononic crystal unit cell 7 are determined by its equivalent mass and equivalent stiffness, satisfying:

[0030] in, Indicates the natural frequency. This represents the angular frequency of the phononic crystal unit cell 7. Indicates equivalent mass. It represents the equivalent stiffness.

[0031] Furthermore, the substrate 13 is made of resin, and the diffuser 14 is made of tungsten metal.

[0032] In this embodiment, the substrate 13 is made of resin, while the scatterer 14 is made of tungsten metal. By setting a large mass difference between the substrate 13 and the scatterer 14, it is easier to generate a wider and lower frequency bandgap.

[0033] Furthermore, the vibration isolation frame 6 includes an upper connecting plate 11 and a lower connecting plate 12. The upper connecting plate 11 is connected to the output end of the pneumatic motor 4, and the lower connecting plate 12 is used to connect the grinding tool 5. A plurality of phonon crystal groups are provided between the upper connecting plate 11 and the lower connecting plate 12. The plurality of phonon crystal groups are connected to the outer periphery of the upper connecting plate 11 and the lower connecting plate 12. Each phonon crystal group includes the same number of phonon crystal units 7.

[0034] Specifically, the vibration isolation frame 6 consists of an upper connecting plate 11 and a lower connecting plate 12. The upper connecting plate 11 and the lower connecting plate 12 are parallel to each other. The upper connecting plate 11 is fixedly connected to the output shaft of the pneumatic motor 4, which passes through the lower base plate 2. The lower connecting plate 12 and the upper connecting plate 11 are connected by multiple phonon crystal groups. Each phonon crystal group includes multiple phonon crystal units 7, which are arranged in a square array. In this embodiment, preferably, both the upper connecting plate 11 and the lower connecting plate 12 are set as regular hexagonal structures, and six phonon crystal groups are provided accordingly. The six phonon crystal groups are respectively connected to one side edge of the upper base plate 1 and the lower base plate 2. Preferably, in this embodiment, each phonon crystal group includes nine phonon crystal units 7, which are arranged in three rows and three columns. Figure 6 As shown in the figure, after experimental verification, the vibration transmission rate of the vibration isolation component provided in this embodiment is significantly less than 0 in the frequency band between 288-394Hz, and it is adapted to the vibration frequency when the grinding tool 5 is working, indicating that the vibration isolation component has a good vibration isolation effect.

[0035] Furthermore, the central axis of the base 13 is perpendicular to the axis of the output shaft of the pneumatic motor 4.

[0036] Specifically, each of the substrates 13 is arranged parallel to the axis of the output shaft of the pneumatic motor 4, and the diffuser 14 is located on the side of the substrate 13 away from the axis of the output shaft of the pneumatic motor 4. When the pneumatic motor 4 drives the output shaft to rotate, centrifugal force is generated at the position of the diffuser 14, and the substrate 13 and the diffuser 14 work together to achieve vibration reduction.

[0037] Furthermore, an inclination sensor 18 is installed on the lower base plate 2, which is used to detect the tilt angle and tilt direction of the grinding tool 5.

[0038] Specifically, the tilt sensor 18 is installed on the side of the lower base plate 2 near the upper base plate 1. The tilt sensor 18 is electrically connected to the robot's control module. After detecting the tilt angle and tilt direction of the grinding tool 5, the tilt sensor 18 sends the information to the control module. The control module then determines the current posture of the grinding tool 5 based on the tilt angle and tilt direction. If the current posture of the grinding tool 5 does not meet the requirements, it is adjusted to ensure that the grinding tool 5 maintains a constant angle with the workpiece surface, thereby further improving the grinding quality.

[0039] Furthermore, an acceleration sensor 19 is also installed on the lower base plate 2, which is used to detect the advancing acceleration of the grinding tool 5.

[0040] Specifically, the accelerometer 19 is installed on the side of the lower base plate 2 near the upper base plate 1. The accelerometer 19 is electrically connected to the robot's control module. After detecting the advancing acceleration of the grinding tool 5, the accelerometer 19 sends it to the control module. The control module then determines whether the advancing acceleration of the grinding tool 5 meets the requirements. If the advancing acceleration of the grinding tool 5 does not meet the requirements, the control drive device 10 is used to adjust the advancing acceleration to ensure that the grinding tool 5 maintains a constant grinding force on the workpiece surface, thereby further improving the grinding quality.

[0041] Furthermore, a bushing 20 is installed on the side of the lower connecting plate 12 away from the upper connecting plate 11. The tightness of the bushing 20 is adjustable, and the grinding tool 5 is connected to the lower connecting plate 12 through the bushing 20.

[0042] Specifically, the grinding tool 5 is detachably connected to the lower connecting plate 12 by cooperating with the bushing 20. An adjusting bolt is threaded on the bushing 20. After the grinding tool 5 is inserted into the bushing 20, the grinding tool 5 can be locked by rotating the adjusting bolt. The bushing 20 allows for convenient and flexible replacement of different grinding tools 5, thus adapting to different workpieces.

[0043] Example 2 This embodiment provides a control method for a pneumatic grinding end effector, based on the pneumatic grinding end effector with spindle vibration isolation function as described in Embodiment 1. The method includes: The tilt sensor 18 and the acceleration sensor 19 are calibrated; The tilt angle, tilt direction, and propulsion acceleration are acquired in real time. The current posture of the grinding tool 5 is determined based on the tilt angle and the tilt direction, and the current posture is compared with the target posture. When the deviation between the current posture and the target posture is determined to be greater than a first preset threshold, a posture correction command is generated based on the deviation and sent to the robot; When the difference between the current posture and the target posture is less than or equal to a first preset threshold, the propulsion acceleration is compared with the preset acceleration. When the difference between the propulsion acceleration and the preset acceleration is greater than a second preset threshold, a propulsion correction command is generated based on the difference and sent to the drive device 10.

[0044] Specifically, after the robot adjusts the position of the end effector, the control module calibrates the tilt sensor 18 and the accelerometer 19 to avoid inaccurate data acquisition during the subsequent grinding process. After calibration, the pneumatic motor 4 is turned on to start grinding. During the grinding process, the tilt sensor 18 acquires the tilt angle and tilt direction of the grinding tool 5 in real time. After acquisition, the tilt sensor 18 sends the data to the control module. The control module can determine the current posture of the grinding tool 5 based on the tilt angle and tilt direction. The control module has a preset target posture. By comparing the current posture with the target posture, if the deviation between the current posture and the target posture is less than a first preset threshold, it is considered to be within the error range. At this time, the control module does not intervene in the grinding process. If the deviation between the current posture and the target posture is greater than the first preset threshold, it is considered that the grinding tool 5 has deviated during the grinding process. At this time, the control module generates a posture correction command based on the deviation and sends it to the robot so that the robot can adjust the end effector. The position adjustment mechanism adjusts the tilt angle of the grinding tool 5. Simultaneously, during the grinding process, the acceleration sensor 19 acquires the real-time propulsion acceleration of the grinding tool 5. After acquisition, the acceleration sensor 19 sends the data to the control module. The control module has a preset acceleration. If the deviation between the current posture and the target posture is less than a first preset threshold, the control module receives the propulsion acceleration, compares it with the preset acceleration, calculates the difference between the propulsion acceleration and the preset acceleration, and generates a propulsion correction command based on the comparison result and the calculated difference. This command is then sent to the drive device 10 to adjust the propulsion acceleration of the grinding tool 5. The purpose of the comparison is to determine whether the propulsion speed is too fast or too slow. If the deviation between the current posture and the target posture is greater than or equal to the first preset threshold, the control module sends a stop command to the drive device 10 along with the robot posture correction command, causing the drive device 10 to stop driving and preventing the grinding tool 5 from continuing to propel under posture deviation, thus affecting the grinding quality.

[0045] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A pneumatic grinding end effector with spindle vibration isolation function, characterized in that, include: The support assembly includes an upper base plate (1) and a lower base plate (2), and a connecting flange (3) is installed on the upper base plate (1) for connecting the robot; A propulsion assembly is provided, which connects the upper base plate (1) and the lower base plate (2), and is used to adjust the distance between the upper base plate (1) and the lower base plate (2); A grinding assembly, comprising a pneumatic motor (4) and a grinding tool (5), wherein the pneumatic motor (4) is mounted on the lower base plate (2) and the pneumatic motor (4) is used to drive the grinding tool (5). The vibration isolation assembly includes a vibration isolation frame (6) and a plurality of phononic crystal units (7) mounted on the vibration isolation frame (6). The vibration isolation frame (6) is connected to the output shaft of the pneumatic motor (4) and the grinding tool (5). The plurality of phononic crystal units (7) are arranged around the outer periphery of the vibration isolation frame (6). The propulsion component includes: Multiple guide rods (8) are fixedly installed on the upper base plate (1). A telescopic rod (9) is slidably connected to the guide rod (8). The sliding direction is parallel to the extension direction of the output shaft. The end of the telescopic rod (9) is fixedly connected to the lower base plate (2). The drive device (10) is mounted on the upper base plate (1). The drive device (10) has a retractable free end, which is fixedly connected to the lower base plate (2). The retraction direction of the free end is parallel to the axis of the output shaft of the pneumatic motor. The phononic crystal unit cell (7) includes a substrate (13) and a scatterer (14), wherein the substrate (13) includes: The frame area (15) is rectangular and has a central through-hole to form an accommodating space; The accommodating area (16) is located at the center of the accommodating space, and the scatterer (14) is installed on the accommodating area (16). A transition area (17) is provided between the frame area (15) and the receiving area (16). The transition area (17) surrounds the receiving area (16) and is connected to the frame area (15) at one end and to the receiving area (16) at the other end. The vibration isolation frame (6) includes an upper connecting plate (11) and a lower connecting plate (12). The upper connecting plate (11) is connected to the output end of the pneumatic motor (4), and the lower connecting plate (12) is used to connect the grinding tool (5). Multiple phonon crystal groups are provided between the upper connecting plate (11) and the lower connecting plate (12). The multiple phonon crystal groups are connected to the outer periphery of the upper connecting plate (11) and the lower connecting plate (12). Each phonon crystal group includes the same number of phonon crystal units (7). The central axis of the base (13) is perpendicular to the axis of the output shaft of the pneumatic motor (4).

2. The pneumatic grinding end effector with spindle vibration isolation function according to claim 1, characterized in that, The substrate (13) is made of resin, and the scatterer (14) is made of tungsten metal.

3. The pneumatic grinding end effector with spindle vibration isolation function according to claim 2, characterized in that, An inclination sensor (18) is installed on the lower base plate (2). The inclination sensor (18) is used to detect the tilt angle and tilt direction of the grinding tool (5).

4. The pneumatic grinding end effector with spindle vibration isolation function according to claim 3, characterized in that, An acceleration sensor (19) is also installed on the lower base plate (2), which is used to detect the advancing acceleration of the grinding tool (5).

5. The pneumatic grinding end effector with spindle vibration isolation function according to claim 4, characterized in that, A bushing (20) is installed on the side of the lower connecting plate (12) away from the upper connecting plate (11). The tightness of the bushing (20) is adjustable. The grinding tool (5) is connected to the lower connecting plate (12) through the bushing (20).

6. A control method for a pneumatic grinding end effector, characterized in that, Based on the pneumatic grinding end effector with spindle vibration isolation function as described in claim 5, the method includes: The tilt sensor (18) and the acceleration sensor (19) are calibrated; The tilt angle, tilt direction, and propulsion acceleration are acquired in real time. The current posture of the grinding tool (5) is determined based on the tilt angle and the tilt direction, and the current posture is compared with the target posture. When the deviation between the current posture and the target posture is determined to be greater than a first preset threshold, a posture correction command is generated based on the deviation and sent to the robot; When the deviation between the current posture and the target posture is less than or equal to a first preset threshold, the propulsion acceleration is compared with the preset acceleration; When the difference between the propulsion acceleration and the preset acceleration is greater than a second preset threshold, a propulsion correction command is generated based on the difference and sent to the drive device (10).

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