AI multi-axial force sensing abrasive drilling robot

Abstract

The invention is suitable for the technical field of abrasive drilling robots, and provides an AI multi-axial force sensing abrasive drilling robot. The AI control system is mounted at the top in the rack; the monitoring unit is arranged on the side wall in the rack; the main shaft machining assembly is mounted in the rack through a track adjusting mechanism; the bearing plate is arranged in the rack; the elastic telescopic rod is fixed in the rack and is fixedly connected with the bearing plate; the annular supporting frame is fixed in the rack and located on the outer side of the bearing plate; the clamping plates are uniformly distributed between the bearing plate and the annular support frame; the clamping plate is connected with the elastic telescopic rod through a connecting mechanism, so that when the elastic telescopic rod contracts downwards, the clamping plate moves towards the bearing plate; the annular supporting frame is fixedly connected with a one-way limiting mechanism, and the one-way limiting mechanism is connected with the clamping plate so as to limit one-way movement of the clamping plate. The workpiece clamping device can automatically clamp a workpiece, and clamping is firm and reliable.

Description

Technical Field

[0001] The invention belongs to the technical field of grinding and drilling robots, and in particular relates to an AI multi-axis force sensing grinding and drilling robot. Background Art

[0002] The AI ​​Multi-axis Force Sensing Grinding and Drilling Robot is an advanced robotics technology that combines artificial intelligence (AI) and multi-axis force sensing technology to perform precise grinding and drilling tasks.

[0003] In the prior art, although traditional multi-axis machine tools can realize complex processing functions, their fixtures generally do not have self-use functions and need to be manually positioned and fixed. They have a low degree of intelligence, which reduces the processing efficiency of the equipment.

[0004] Therefore, how to provide an AI multi-axis force sensing grinding and drilling robot is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide an AI multi-axis force sensing grinding and drilling robot, aiming to solve the problems mentioned in the background technology.

[0006] The present invention is implemented in this way: an AI multi-axis force sensing grinding and drilling robot comprises:

[0007] frame;

[0008] An AI control system, wherein the AI ​​control system is installed on the top of the rack;

[0009] A monitoring unit, wherein the monitoring unit is arranged on a side wall in the frame;

[0010] A spindle machining assembly, wherein the spindle machining assembly is installed in the frame through a trajectory adjustment mechanism;

[0011] A bearing plate, the bearing plate is arranged in the frame, and the bearing plate is used to bear the workpiece;

[0012] An elastic telescopic rod, which is fixed in the frame and fixedly connected to the bearing plate;

[0013] An annular support frame, the annular support frame is fixed in the frame and located outside the bearing plate;

[0014] A clamping plate, the clamping plate is evenly arranged between the bearing plate and the annular support frame, and the clamping plate is used to clamp the workpiece;

[0015] The clamping plate is connected to the elastic telescopic rod through a connecting mechanism, so that when the elastic telescopic rod is retracted downward, the clamping plate moves toward the bearing plate;

[0016] A one-way limiting mechanism is fixedly connected to the annular support frame, and the one-way limiting mechanism is connected to the clamping plate to limit the one-way movement of the clamping plate.

[0017] Preferably, a pressure sensor is provided on the spindle machining component, and the pressure sensor is used to detect the pressure exerted on the spindle machining component.

[0018] Preferably, the connecting mechanism comprises:

[0019] A first sliding rod, which is slidably disposed on the annular support frame and fixedly connected to the clamping plate;

[0020] A first connecting rod, wherein the first connecting rod is fixed to a first sliding rod on a side of the annular support frame away from the clamping plate;

[0021] A second sliding rod, the second sliding rod is fixedly connected to the first connecting rod, and the second sliding rod is slidably connected to the annular support frame;

[0022] A fixing rod, the fixing rod being fixed to one end of the elastic telescopic rod close to the bearing plate;

[0023] The second connecting rod has two ends hinged to the second sliding rod and the fixed rod respectively.

[0024] Preferably, the one-way limiting mechanism comprises:

[0025] A mounting shell, wherein the mounting shell is fixedly connected to the annular support frame;

[0026] An inclined wedge block, the inclined wedge block is slidably connected to an inner wall of one side of the mounting shell;

[0027] A third sliding rod, one end of which is fixedly connected to the clamping plate, and the other end of which passes through the mounting shell and is fixedly connected to the inclined wedge block;

[0028] A first elastic member, the first elastic member is arranged on a side of the inclined wedge block away from the third sliding rod, and two ends of the first elastic member are respectively fixedly connected to the inner wall of the mounting shell and the inclined wedge block;

[0029] The side of the inclined wedge block close to the third slide rod is provided with a first inclined surface away from the inner wall of the mounting shell;

[0030] The first inclined surface is connected to a telescopic limiting component for limiting the position of the first inclined surface.

[0031] Preferably, the telescopic limiting assembly comprises:

[0032] A movable plate, wherein evenly distributed elastic limiting units are arranged in the movable plate, and the elastic limiting units are used to limit the inclined wedge blocks;

[0033] An adjusting component is used to adjust the position of the moving plate.

[0034] Preferably, the adjustment component comprises:

[0035] a third connecting rod, the third connecting rod being arranged outside the mounting shell;

[0036] A fourth sliding rod, two ends of which are fixedly connected to the third connecting rod and the movable plate respectively, and the fourth sliding rod is slidably connected to the mounting shell;

[0037] A lifting member is fixed on the outer wall of the mounting shell, and an output end of the lifting member is fixedly connected to the third connecting rod.

[0038] Preferably, the elastic limiting unit comprises:

[0039] A limiting slide groove, wherein the limiting slide groove is arranged in the movable plate;

[0040] A slider, wherein the slider is slidably matched with the limiting sliding groove;

[0041] A second elastic member, wherein two ends of the second elastic member are respectively fixedly connected to the inner wall of the limiting sliding groove and the sliding block;

[0042] An inclined wedge slider, one end of which is fixedly connected to the slider, the inclined wedge slider is slidably connected to the moving plate, and the inclined wedge slider is provided with a second inclined surface that matches the first inclined surface.

[0043] Preferably, the trajectory adjustment mechanism comprises:

[0044] An X-axis component, the X-axis component is used to drive the spindle processing component to move in the lateral direction;

[0045] A Y-direction component, the Y-direction component is used to drive the X-direction component to move longitudinally;

[0046] The Z-direction component is used to drive the Y-direction component to move vertically.

[0047] Preferably, the X-axis component includes a second slide rail, a third slide seat, a third screw and a second motor, the second slide rail is fixed on the Y-axis component, the third slide seat is slidably connected to the second slide rail, the third screw is rotatably arranged on the Y-axis component, the third screw is driven to rotate by the second motor, the third screw is threadedly connected to the third slide seat, and the third slide seat is fixedly connected to the spindle machining component.

[0048] Preferably, the Y-axis component includes a second slide, a fixed plate, a second screw and a third motor, the second slide is slidably arranged on the Z-axis component, the fixed plate is fixedly connected to the Z-axis component, the second screw is threadedly connected to the second slide, and the second screw is driven to rotate by the third motor.

[0049] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting a frame, an AI control system, a monitoring unit, a spindle processing assembly, a load-bearing plate, an elastic telescopic rod, an annular support frame, a clamping plate, a connecting mechanism, a one-way limiting mechanism and a trajectory adjustment mechanism, when in use, by placing the workpiece on the load-bearing plate, the workpiece drives the load-bearing plate to move downward by its gravity, and the load-bearing plate drives the elastic telescopic rod to contract, at which time the elastic telescopic rod drives the clamping plate to move toward the load-bearing plate through the connecting mechanism until the clamping plate clamps the workpiece on the elastic telescopic rod, at which time the workpiece cannot move, and the fixing work is completed; since the one-way limiting mechanism limits the moving direction of the clamping plate, the clamping plate cannot be reset, so there is no need to worry about the phenomenon of loose clamping; finally, the working condition of the workpiece is detected by the monitoring unit, and the working condition is fed back to the AI ​​control system; the AI ​​control system controls the operation of the trajectory adjustment mechanism, and the trajectory adjustment mechanism drives the spindle processing assembly to process the workpiece; during the process, the processing data of the spindle processing assembly is monitored by the AI ​​control system and the monitoring unit to monitor the processing quality problem; the structure is simple and the degree of intelligence is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0051] Figure 1 A schematic structural diagram of an AI multi-axis force sensing drilling and grinding robot provided in an embodiment of the present invention.

[0052] Figure 2 This is one of the top view schematic diagrams of a workpiece being clamped in the AI ​​multi-axis force sensing drilling and grinding robot provided in an embodiment of the present invention.

[0053] Figure 3 The second schematic top view of a workpiece being clamped in the AI ​​multi-axis force sensing drilling and grinding robot provided in an embodiment of the present invention.

[0054] Figure 4 A schematic structural diagram of a one-way limiting mechanism in an AI multi-axis force sensing drilling and grinding robot provided in an embodiment of the present invention.

[0055] In the attached figure: 1-frame; 2-AI control system; 3-monitoring unit; 4-spindle processing assembly; 5-carrying plate; 6-elastic telescopic rod; 7-annular support frame; 8-clamping plate; 9-first slide bar; 10-first connecting rod; 11-second slide bar; 12-second connecting rod; 13-fixed rod; 14-mounting shell; 15-oblique wedge block; 16-third slide bar; 17-first elastic member; 18-first inclined plane; 19-movable plate; 20-third connecting rod; 21-fourth slide bar; 22-lifting member ; 23-limiting slide groove; 24-slider; 25-wedge slider; 26-second elastic member; 27-first slide rail; 28-second slide seat; 29-fixed plate; 30-second slide seat; 31-second slide rail; 32-third slide seat; 33-first motor; 34-first screw; 35-second screw; 36-third screw; 37-second motor; 100-connecting mechanism; 200-one-way limiting mechanism; 300-telescopic limiting assembly; 400-elastic limiting unit; 500-trajectory adjustment mechanism. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0057] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0058] like Figure 1 FIG. 1 is a schematic diagram of the structure of an AI multi-axis force sensing drilling and grinding robot provided by an embodiment of the present invention, including:

[0059] Rack 1;

[0060] AI control system 2, the AI ​​control system 2 is installed on the top of the rack 1;

[0061] A monitoring unit 3, wherein the monitoring unit 3 is arranged on a side wall inside the frame 1;

[0062] A spindle machining assembly 4, wherein the spindle machining assembly 4 is installed in the frame 1 through a trajectory adjustment mechanism 500;

[0063] A carrying plate 5, wherein the carrying plate 5 is disposed in the frame 1 and is used to carry a workpiece 600;

[0064] An elastic telescopic rod 6, wherein the elastic telescopic rod 6 is fixed in the frame 1 and is fixedly connected to the bearing plate 5;

[0065] An annular support frame 7, wherein the annular support frame 7 is fixed in the frame 1 and is located outside the bearing plate 5;

[0066] A clamping plate 8, wherein the clamping plate 8 is evenly arranged between the bearing plate 5 and the annular support frame 7, and the clamping plate 8 is used to clamp the workpiece 600;

[0067] The clamping plate 8 is connected to the elastic telescopic rod 6 via a connecting mechanism 100, so that when the elastic telescopic rod 6 contracts downward, the clamping plate 8 moves toward the bearing plate 5;

[0068] A one-way limiting mechanism 200 is fixedly connected to the annular support frame 7 , and the one-way limiting mechanism 200 is connected to the clamping plate 8 to limit the one-way movement of the clamping plate 8 .

[0069] In the embodiment of the present invention, when in use, by placing the workpiece 600 on the carrying plate 5, the workpiece 600 drives the carrying plate 5 to move downward by its gravity, and the carrying plate 5 drives the elastic telescopic rod 6 to contract. At this time, the elastic telescopic rod 6 drives the clamping plate 8 to move toward the carrying plate 5 through the connecting mechanism 100 until the clamping plate 8 clamps the workpiece 600 on the elastic telescopic rod 6. At this time, the workpiece 600 cannot move, and the fixing work is completed. Since the one-way limit mechanism 200 limits the moving direction of the clamping plate 8, the clamping plate 8 cannot be reset, so there is no need to worry about the phenomenon of loose clamping. Finally, the working condition of the workpiece 600 is detected by the monitoring unit 3, and the working condition is fed back to the AI ​​control system 2. The AI ​​control system 2 controls the operation of the trajectory adjustment mechanism 500, and the trajectory adjustment mechanism 500 drives the spindle processing assembly 4 to process the workpiece 600. During the process, the processing data of the spindle processing assembly 4 is monitored by the AI ​​control system 2 and the monitoring unit 3 to achieve the monitoring of processing quality problems. The structure is simple and the degree of intelligence is high.

[0070] In one case of this embodiment, a pressure sensor is provided on the spindle machining component 4 for detecting the pressure exerted on the spindle machining component 4, thereby detecting abnormalities and feeding back to the system to implement system self-test or manual inspection, thereby reducing the abnormality rate and damage rate of the equipment.

[0071] like Figure 1 As shown, as a preferred embodiment of the present invention, the connecting mechanism 100 includes:

[0072] A first sliding rod 9, which is slidably disposed on the annular support frame 7 and fixedly connected to the clamping plate 8;

[0073] A first connecting rod 10, wherein the first connecting rod 10 is fixed to a first sliding rod 9 on a side of the annular support frame 7 away from the clamping plate 8;

[0074] A second sliding rod 11, wherein the second sliding rod 11 is fixedly connected to the first connecting rod 10, and the second sliding rod 11 is slidably connected to the annular support frame 7;

[0075] A fixing rod 13, wherein the fixing rod 13 is fixed to one end of the elastic telescopic rod 6 close to the bearing plate 5;

[0076] The second connecting rod 12 has two ends hinged to the second sliding rod 11 and the fixing rod 13 respectively.

[0077] In the embodiment of the present invention, when in use, by placing the workpiece 600 on the carrying plate 5, the workpiece 600 drives the carrying plate 5 to move downward by its gravity, and the carrying plate 5 drives the elastic telescopic rod 6 to contract. At this time, the elastic telescopic rod 6 drives the fixed rod 13 to move downward, and the fixed rod 13 drives the second connecting rod 12 to move. The second connecting rod 12 pulls the second slide bar 11 to slide along the annular support frame 7. The second slide bar 11 drives the first slide bar 9 to move toward the elastic telescopic rod 6 through the first connecting rod 10. The first slide bar 9 slides along the annular support frame 7 and drives the clamping plate 8 to move toward the workpiece 600 until the clamping plate 8 clamps the workpiece 600 on the elastic telescopic rod 6. At this time, the workpiece 600 cannot move, and the fixing work is completed. Since the one-way limit mechanism 200 restricts the moving direction of the clamping plate 8, the clamping plate 8 cannot be reset, so there is no need to worry about the phenomenon of loose clamping.

[0078] like Figure 2 , Figure 3 As shown, the number of the clamping plates 8 is not less than four. By virtue of the large number and small area, the sides of various shapes of workpieces 600 can be clamped and fixed, including but not limited to cylindrical, rectangular, etc.

[0079] like Figure 4 As shown, as another preferred embodiment of the present invention, the one-way limiting mechanism 200 includes:

[0080] A mounting shell 14, wherein the mounting shell 14 is fixedly connected to the annular support frame 7;

[0081] An inclined wedge block 15, wherein the inclined wedge block 15 is slidably connected to an inner wall of one side of the mounting shell 14;

[0082] A third slide bar 16, one end of which is fixedly connected to the clamping plate 8, and the other end of which passes through the mounting shell 14 and is fixedly connected to the inclined wedge block 15;

[0083] A first elastic member 17, wherein the first elastic member 17 is disposed on a side of the oblique wedge block 15 away from the third slide bar 16, and two ends of the first elastic member 17 are respectively fixedly connected to the inner wall of the mounting shell 14 and the oblique wedge block 15;

[0084] The side of the inclined wedge block 15 close to the third slide rod 16 is provided with a first inclined surface 18 away from the inner wall of the mounting shell 14;

[0085] The first inclined surface 18 is connected to a telescopic limiting assembly 300 for limiting the position thereof.

[0086] In the embodiment of the present invention, when in use, the third slide bar 16 is driven to move by the clamping plate 8, and the third slide bar 16 drives the inclined wedge block 15 to move. The inclined wedge block 15 passes through the inclined surface of the first inclined surface 18 to squeeze the telescopic limit assembly 300. When the first inclined surface 18 passes over the telescopic limit assembly 300, the telescopic limit assembly 300 limits the end surface on the other side of the inclined wedge block 15 to prevent it from resetting and moving, thereby achieving a firm clamping function. Subsequently, after the telescopic limit assembly 300 releases the limit on the inclined wedge block 15, the pulling force of the first elastic member 17 can drive the inclined wedge block 15 and the third slide bar 16 to reset.

[0087] like Figure 4 As shown, as another preferred embodiment of the present invention, the telescopic limiting assembly 300 includes:

[0088] A movable plate 19, wherein uniformly distributed elastic limiting units 400 are arranged in the movable plate 19, and the elastic limiting units 400 are used to limit the inclined wedge block 15;

[0089] An adjusting component, the adjusting component is used to adjust the position of the moving plate 19;

[0090] The adjustment component comprises:

[0091] A third connecting rod 20, wherein the third connecting rod 20 is disposed outside the mounting shell 14;

[0092] A fourth sliding rod 21, both ends of which are fixedly connected to the third connecting rod 20 and the movable plate 19, respectively, and the fourth sliding rod 21 is slidably connected to the mounting shell 14;

[0093] The lifting member 22 is fixed on the outer wall of the mounting shell 14 , and the output end of the lifting member 22 is fixedly connected to the third connecting rod 20 .

[0094] In an embodiment of the present invention, in the initial state, the lifting member 22 is in a normally closed state. At this time, the elastic limiting unit 400 in the movable plate 19 is in contact with the inclined wedge block 15, realizing one-way limiting thereof. When it needs to be released, the lifting member 22 drives the third connecting rod 20 away from the mounting shell 14. At this time, the third connecting rod 20 drives the fourth sliding rod 21 and the movable plate 19 to move, and the movable plate 19 thereby drives the elastic limiting unit 400 away from the inclined wedge block 15, realizing the release of the one-way limiting of the inclined wedge block 15.

[0095] like Figure 4 As shown, as another preferred embodiment of the present invention, the elastic limiting unit 400 includes:

[0096] A limiting slide groove 23, wherein the limiting slide groove 23 is arranged in the movable plate 19;

[0097] A slider 24, wherein the slider 24 is slidably matched with the limiting slide groove 23;

[0098] A second elastic member 26, two ends of which are fixedly connected to the inner wall of the limiting slide groove 23 and the slider 24 respectively;

[0099] The inclined wedge slider 25 has one end fixedly connected to the slider 24 , and the inclined wedge slider 25 is slidably connected to the moving plate 19 . The inclined wedge slider 25 is provided with a second inclined surface that matches the first inclined surface 18 .

[0100] In the embodiment of the present invention, when in use, the inclined wedge block 15 squeezes the second inclined surface of the inclined wedge slider 25 through the first inclined surface 18, so that the inclined wedge slider 25 drives the slider 24 to shrink toward the inside along the limiting slide groove 23. When the inclined wedge block 15 moves to the point where it does not disengage, the elastic force of the second elastic member 26 drives the slider 24 and the inclined wedge slider 25 to reset. The inclined wedge slider 25 limits the end surface of the inclined wedge block 15 through its end surface away from the second inclined surface, so that it cannot reset and move.

[0101] like Figure 1 As shown, as another preferred embodiment of the present invention, the trajectory adjustment mechanism 500 includes:

[0102] An X-direction component, the X-direction component is used to drive the spindle processing component 4 to move in the lateral direction;

[0103] A Y-direction component, the Y-direction component is used to drive the X-direction component to move longitudinally;

[0104] The Z-direction component is used to drive the Y-direction component to move vertically.

[0105] In the embodiment of the present invention, the X-axis component, the Y-axis component and the Z-axis component are used to drive the spindle processing component 4 to move in multiple directions in a three-dimensional space, thereby accurately processing the workpiece 600.

[0106] In one case of the present embodiment, the X-axis component includes a second slide rail 31, a third slide seat 32, a third screw rod 36 and a second motor 37, the second slide rail 31 is fixed on the Y-axis component, the third slide seat 32 is slidably connected to the second slide rail 31, the third screw rod 36 is rotatably arranged on the Y-axis component, the third screw rod 36 is driven to rotate by the second motor 37, the third screw rod 36 is threadedly connected to the third slide seat 32, the third slide seat 32 is fixedly connected to the spindle machining component 4, the third screw rod 36 is driven to rotate by the second motor 37, the third screw rod 36 drives the third slide seat 32 to move, and the third slide seat 32 slides along the second slide rail 31, thereby realizing lateral movement.

[0107] In one case of the present embodiment, the Y-axis component includes a second slide 30, a fixed plate 29, a second screw 35 and a third motor. The second slide 30 is slidably set on the Z-axis component. The fixed plate 29 is fixedly connected to the Z-axis component. The second screw 35 is threadedly connected to the second slide 30. The second screw 35 is driven to rotate by the third motor. By starting the third motor, the third motor drives the second screw 35 to rotate. The second screw 35 drives the second slide 30 to move longitudinally along the Z-axis component, and the second slide 30 thereby drives the X-axis component to move.

[0108] In one case of the present embodiment, the Z-axis component includes a first slide rail 27, a second slide seat 28, a first motor 33 and a first screw 34, the first slide rail 27 is fixed on the frame 1, the second slide seat 28 is slidably connected to the first slide rail 27, the output end of the first motor 33 is fixedly connected to the first screw 34, and the first screw 34 is threadedly connected to the second slide seat 28. By starting the first motor 33, the first motor 33 drives the first screw 34 to rotate, and the first screw 34 drives the second slide seat 28 to move vertically along the first slide rail 27, thereby driving the Y-axis component to move.

[0109] The above-mentioned embodiment of the present invention provides an AI multi-axis force sensing grinding and drilling robot, which is provided with a frame 1, an AI control system 2, a monitoring unit 3, a spindle processing assembly 4, a load-bearing plate 5, an elastic telescopic rod 6, an annular support frame 7, a clamping plate 8, a connecting mechanism 100, a one-way limiting mechanism 200 and a trajectory adjustment mechanism 500. When in use, by placing a workpiece 600 on the load-bearing plate 5, the workpiece 600 drives the load-bearing plate 5 to move downward by its gravity, and the load-bearing plate 5 drives the elastic telescopic rod 6 to contract. At this time, the elastic telescopic rod 6 drives the clamping plate 8 to move toward the load-bearing plate 5 through the connecting mechanism 100 until the clamping plate 8 clamps the workpiece 600 on the elastic telescopic rod 6. At this time The workpiece 600 cannot move, and the fixing work is completed. Since the one-way limit mechanism 200 limits the moving direction of the clamping plate 8, the clamping plate 8 cannot be reset. Therefore, there is no need to worry about the phenomenon of loose clamping. Finally, the working condition of the workpiece 600 is detected by the monitoring unit 3, and the working condition is fed back to the AI ​​control system 2. The AI ​​control system 2 controls the operation of the trajectory adjustment mechanism 500, and the trajectory adjustment mechanism 500 drives the spindle processing assembly 4 to process the workpiece 600. During the process, the processing data of the spindle processing assembly 4 is monitored by the AI ​​control system 2 and the monitoring unit 3 to monitor the processing quality problems. The structure is simple and the degree of intelligence is high.

[0110] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. AI multi-axis force sensing grinding and drilling robot, characterized by: include: frame; An AI control system, wherein the AI ​​control system is installed on the top of the rack; A monitoring unit, wherein the monitoring unit is arranged on a side wall in the frame; A spindle machining assembly, wherein the spindle machining assembly is installed in the frame through a trajectory adjustment mechanism; A bearing plate, the bearing plate is arranged in the frame, and the bearing plate is used to bear the workpiece; An elastic telescopic rod, which is fixed in the frame and fixedly connected to the bearing plate; An annular support frame, the annular support frame is fixed in the frame and located outside the bearing plate; A clamping plate, the clamping plate is evenly arranged between the bearing plate and the annular support frame, and the clamping plate is used to clamp the workpiece; The clamping plate is connected to the elastic telescopic rod through a connecting mechanism, so that when the elastic telescopic rod is retracted downward, the clamping plate moves toward the bearing plate; A one-way limiting mechanism is fixedly connected to the annular support frame, and the one-way limiting mechanism is connected to the clamping plate to limit the one-way movement of the clamping plate.

2. The AI ​​multi-axis force sensing drilling and grinding robot according to claim 1, characterized in that: The spindle processing assembly is provided with a pressure sensor, and the pressure sensor is used to detect the pressure exerted on the spindle processing assembly.

3. The AI ​​multi-axis force sensing drilling and grinding robot according to claim 1, characterized in that: The connecting mechanism comprises: A first sliding rod, which is slidably disposed on the annular support frame and fixedly connected to the clamping plate; A first connecting rod, wherein the first connecting rod is fixed to a first sliding rod on a side of the annular support frame away from the clamping plate; A second sliding rod, the second sliding rod is fixedly connected to the first connecting rod, and the second sliding rod is slidably connected to the annular support frame; A fixing rod, the fixing rod being fixed to one end of the elastic telescopic rod close to the bearing plate; The second connecting rod has two ends hinged to the second sliding rod and the fixed rod respectively.

4. The AI ​​multi-axis force sensing drilling and grinding robot according to any one of claims 1 to 3, characterized in that: The one-way limiting mechanism comprises: A mounting shell, wherein the mounting shell is fixedly connected to the annular support frame; An inclined wedge block, the inclined wedge block is slidably connected to an inner wall of one side of the mounting shell; A third sliding rod, one end of which is fixedly connected to the clamping plate, and the other end of which passes through the mounting shell and is fixedly connected to the inclined wedge block; A first elastic member, the first elastic member is arranged on a side of the inclined wedge block away from the third sliding rod, and two ends of the first elastic member are respectively fixedly connected to the inner wall of the mounting shell and the inclined wedge block; The side of the inclined wedge block close to the third slide rod is provided with a first inclined surface away from the inner wall of the mounting shell; The first inclined surface is connected to a telescopic limiting component for limiting the position of the first inclined surface.

5. The AI ​​multi-axis force sensing drilling and grinding robot according to claim 4, characterized in that: The telescopic limiting assembly comprises: A movable plate, wherein evenly distributed elastic limiting units are arranged in the movable plate, and the elastic limiting units are used to limit the inclined wedge blocks; An adjusting component is used to adjust the position of the moving plate.

6. The AI ​​multi-axis force sensing drilling and grinding robot according to claim 5, characterized in that: The adjustment component comprises: a third connecting rod, the third connecting rod being arranged outside the mounting shell; A fourth sliding rod, two ends of which are fixedly connected to the third connecting rod and the movable plate respectively, and the fourth sliding rod is slidably connected to the mounting shell; A lifting member is fixed on the outer wall of the mounting shell, and an output end of the lifting member is fixedly connected to the third connecting rod.

7. The AI ​​multi-axis force sensing drilling and grinding robot according to claim 6, characterized in that: The elastic limiting unit comprises: A limiting slide groove, wherein the limiting slide groove is arranged in the movable plate; A slider, wherein the slider is slidably matched with the limiting sliding groove; A second elastic member, wherein two ends of the second elastic member are respectively fixedly connected to the inner wall of the limiting sliding groove and the sliding block; An inclined wedge slider, one end of which is fixedly connected to the slider, the inclined wedge slider is slidably connected to the moving plate, and the inclined wedge slider is provided with a second inclined surface that matches the first inclined surface.

8. The AI ​​multi-axis force sensing drilling and grinding robot according to claim 1, characterized in that: The trajectory adjustment mechanism comprises: An X-axis component, the X-axis component is used to drive the spindle processing component to move in the lateral direction; A Y-direction component, the Y-direction component is used to drive the X-direction component to move longitudinally; The Z-direction component is used to drive the Y-direction component to move vertically.

9. The AI ​​multi-axis force sensing drilling and grinding robot according to any one of claims 1 to 3, characterized in that: The X-axis component includes a second slide rail, a third slide seat, a third screw and a second motor. The second slide rail is fixed on the Y-axis component. The third slide seat is slidably connected to the second slide rail. The third screw is rotatably arranged on the Y-axis component. The third screw is driven to rotate by the second motor. The third screw is threadedly connected to the third slide seat. The third slide seat is fixedly connected to the spindle processing component.

10. The AI ​​multi-axis force sensing drilling and grinding robot according to claim 8, characterized in that: The Y-axis component includes a second slide, a fixed plate, a second screw and a third motor. The second slide is slidably arranged on the Z-axis component. The fixed plate is fixedly connected to the Z-axis component. The second screw is threadedly connected to the second slide. The second screw is driven to rotate by the third motor.

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