An automatic support-removing and polishing method for a skin-sandwich workpiece

Abstract

The application discloses a kind of automatic support removal polishing methods of skin sandwich workpiece, for skin sandwich workpiece product dot matrix, rib plate and grid different support structure, utilize manipulator, with polishing path travel tool library in the call of corresponding different tools, replacement and corresponding different parameter package are carried out to support removal polishing, and in the polishing process, on-line monitoring surface state, control support removal polishing parameter.Different support type full-path automation is removed and polished, and the operation process is more stable, the quality controllability is high, avoids individual factors and accidental factors to bring processing quality problem, adapts to small batch development and large-scale batch product continuous production, avoids that operating personnel is in dust, noise and other harmful factor conditions work for a long time.

Description

TECHNICAL FIELD

[0001] The application relates to an automatic support-removing polishing method for a skin sandwich workpiece, and belongs to the field of post-processing of additive manufacturing. BACKGROUND

[0002] The skin sandwich workpiece uses deflection in airflow to generate balance force and control force to manipulate flight posture. Based on design requirements such as aerodynamics, the structure of the skin sandwich workpiece is skin + internal honeycomb / lattice / grid structure. The skin is often a combination of free curved surfaces or different inclined surfaces, and the thickness is less than or equal to 1 mm; the internal cavity structure is poor in adaptability to traditional processing. Therefore, metal laser additive manufacturing becomes an advantageous means for processing and preparing skin sandwich workpiece products.

[0003] However, due to the process limitations of metal laser additive manufacturing, it is inevitable to add structures such as rib plates, lattices and other support structures. Block, contour, cone, network and other solid / non-solid supports and other process structures. In order to maintain the size and position accuracy of the design requirements of the skin sandwich workpiece, various support structures have certain strength and solid density, which often cause difficulties in post-processing support removal and polishing of metal laser additive manufacturing. Patent CN113211263A discloses a polishing equipment for additive manufacturing, which relates to a base, a limiting device, an extending device and a reciprocating device, which can realize polishing of the whole surface of the material and improve the polishing efficiency. However, the clamping shape of the workpiece is limited, and it cannot adapt to the support scheme of the skin sandwich workpiece; patent CN110000382B discloses a method for removing support structures of additive manufactured titanium alloy, which relates to high-pressure gas powder cleaning, full-surface pickling and support chemical corrosion, and abrasive flow polishing. Although the adverse effects of H element are eliminated during the final heat treatment process, the material etching condition during pickling and support removal process cannot be accurately controlled, and thus the mechanical properties and skin wall thickness requirements of the product delivery cannot be guaranteed; patent CN218430025U discloses a device for removing support of additive manufactured products, which relates to ultrafast laser focusing and laser cutting of support. The removal efficiency and precision are limited by the material-laser absorption rate and the three-dimensional focusing error in the cooperative motion of the galvanometer-platform. SUMMARY

[0004] The technical problem to be solved by the application is to overcome the shortcomings of the prior art and provide an automatic support-removing polishing method for a skin sandwich workpiece, which improves the limited post-processing efficiency and precision of additive manufactured skin sandwich workpiece products.

[0005] The technical solution of the application is an automatic support-removing polishing method for a skin sandwich workpiece, which comprises the following steps:

[0006] Clamping the skin sandwich workpiece additive blank to the work platform below the mechanical arm, laser three-dimensional scanning of the blank, comparing the point cloud obtained by scanning with the theoretical blank of the product, obtaining the support removal area, dividing the support removal area into K operation areas, each current operation area n includes a trial knife sub-path, an area n cycle support removal sub-path, a tool changing sub-path and a rapid positioning sub-path, wherein 1≤n≤K-1;

[0007] The spindle at the end of the mechanical arm starts rotating, and the trial knife sub-path is first traveled according to the planned path to verify the rationality of the path, and then enters the area n cycle support removal sub-path, and a single pass support removal polishing is performed in the area n, the corresponding parameter package is called, the dot matrix is brushed with a steel wire brush, the rib plate is removed with root milling, and the grid support is removed with a root tooth impact, the surface state is monitored online during polishing, and the support removal polishing parameters are adjusted; judge whether the area n has completed the support removal polishing, if not, continue to cycle, if completed, proceed to the next step;

[0008] After the area n is completed, the spindle pauses and moves to a safe tool changing point m, the tool library sends a new tool to a safe tool changing point m', performs a tool changing operation, and after completion, the spindle quickly moves to the area n+1 cycle support starting point with a rapid positioning sub-path, and starts rotating to enter the area n+1 cycle support removal sub-path;

[0009] Judge whether all areas in the support removal area are completed, if completed, end, if not completed, repeat the area switching polishing step until all areas complete the support removal polishing.

[0010] Preferably, in the tool library:

[0011] The dot matrix is removed using a steel wire brush, the steel wire brush is a cylindrical steel wire brush, and the diameter is 1 / 10-1 / 5 of the horizontal projection length of the dot matrix area;

[0012] The rib plate is removed using a milling cutter, the milling cutter is a T-shaped milling cutter, and the effective cutting radius is 1.2-2 times the thickness of the rib plate and the blank connection;

[0013] The grid structure is removed using a punch, the punch is a sharp punch, the sharp angle is ≤30°, and the rod diameter is 5-15 mm.

[0014] Preferably, in the parameter package:

[0015] When the dot matrix is brushed and removed, the parameters are spindle speed 1000-5000 rpm and feed amount 0.3-0.8 mm;

[0016] When the rib plate is removed by root milling, the parameters are cutting speed 80-120 mm / s, radial cutting width 0.4-2 mm, and feed per tooth 0.3-1 mm / z;

[0017] The parameters are nominal pressure 25-100t and impact frequency 30-70 times / min when the grid support impact root tooth is removed.

[0018] Preferably, the surface state is monitored on line during the grinding process, the line laser measuring instrument is used to capture the surface profile size of the product after the support grinding, and the blank theoretical profile is compared to determine whether the region is completed support grinding, over-grinding or under-grinding.

[0019] Preferably, the mechanical arm includes a main mechanical arm and an end circulating grinding device, wherein:

[0020] The main mechanical arm includes a first joint, a second joint and a third joint, the first joint rotates in the Z direction, the second joint rotates in the X direction, and the third joint rotates in the Y direction.

[0021] The end circulating grinding device is responsible for the feeding, rotation and X and Y movement of the main shaft during grinding.

[0022] Wherein, the X direction represents the long-range direction parallel to the workbench surface, the Y direction represents the short-range direction parallel to the workbench surface, and the Z direction represents the vertical direction perpendicular to the workbench surface.

[0023] Preferably, the end circulating grinding device includes a main shaft 3+1 movement mechanism, a line laser measuring instrument and an atomized cooling device, wherein the main shaft 3+1 movement mechanism includes a main shaft, a pneumatic motor and a mechanical sensor; specifically:

[0024] The main shaft is installed at the end of the pneumatic motor through a floating unit and is driven to rotate by the pneumatic motor; the mechanical sensor is located at the rear end of the floating unit.

[0025] The main shaft 3+1 movement mechanism moves in the grinding area and realizes constant force floating grinding through the pneumatic motor and the mechanical sensor; the line laser measuring instrument is installed behind the main shaft and transmits data to the host computer through a data line; the atomized cooling device is installed beside the main shaft, and the tool is clamped on the main shaft by means of quick-change tool holder.

[0026] Preferably, when the support grinding parameters are adjusted, the end circulating grinding device realizes constant force floating grinding, and the host computer judges whether the current is over-grinding or under-grinding according to the obtained data, and reduces the feeding amount when the current is over-grinding or increases a cycle when the current is under-grinding.

[0027] Preferably, the planned sub-path is specifically:

[0028] The trial tool sub-path: after path planning, the main shaft executes the same path as the formal path parameters at a vertical height of 10-30mm from the overall contour of the blank, only one cycle, to verify the rationality of the path.

[0029] Region n-loop support removal sub-path: Execute the loop to remove support and polish the path until the online monitoring of the surface state determines that the corresponding spatial path has been completed;

[0030] Tool changing path: After completing the support removal in area n, the required spatial path for tool changing is completed; During tool changing: The robotic arm moves the spindle to the safe tool changing point m, waits for the tool library to complete the retrieval and replacement of tools, and then moves the spindle to the starting point of the support removal in area n+1.

[0031] Rapid positioning and sub-path: After the spindle completes a path, it stops rotating, rises to the test tool sub-path height, and is then moved by the robotic arm to the spatial path corresponding to the next area with the shortest straight-line distance.

[0032] Preferably, the safe tool change point m is a point in space outside the horizontal projection area after the additive blank is clamped, at the height of the test tool path, which does not interfere with the existing device. After completing the n-cycle of unsupporting the area, the spindle is moved to this point by the robotic arm.

[0033] Safe tool change point m': Outside the horizontal projection area after the additive blank is clamped, at the test tool path height, ensuring no interference with any device, and within a space where the spatial distance from the safe tool change point m is less than the tool change operation distance of the holding mechanism in the tool magazine. After completing the "area n cycle de-support", the tool magazine will move the new tool to this point.

[0034] Preferably, the area to be removed is divided into K regions, and the regions are divided in the order of dot matrix, rib plate, and grid support.

[0035] Compared with the prior art, the present invention has the following advantages:

[0036] (1) The support removal and grinding path of the present invention can adapt to different types of supports, realize full-path automation, make the operation process more stable, have high quality controllability, and avoid processing quality problems caused by individual factors and accidental factors.

[0037] (2) The present invention can realize the continuous production of small-batch research and development and large-scale batch products, and avoid operators working under harmful conditions such as dust and noise for a long time. Attached Figure Description

[0038] Figure 1 A process for automatic support removal and grinding of skin-laminated workpieces;

[0039] Figure 2 A schematic diagram of the support structure for the skin-laminated workpiece.

[0040] Explanation of reference numerals in the attached drawings: 1-Additive blank body of the skin-layered workpiece; 2-Dot matrix; 3-Rib plate; 4-Grid support. Detailed Implementation

[0041] This invention proposes an automatic support removal and grinding method for skin-laminated workpieces. Targeting different support structure zones of the skin-laminated workpiece product, such as dot matrix, ribs, and mesh, a "3+4" robotic arm is used to move along the grinding path, retrieve and replace different tools from the tool library, and perform support removal and grinding with corresponding parameter packages. During the grinding process, the surface condition is monitored online, and the support removal and grinding parameters are adjusted accordingly.

[0042] The "3+4" robotic arm includes a main robotic arm and an end-effector circular polishing device. The main robotic arm has a first joint that rotates in the Z direction, a second joint that rotates in the X direction, and a third joint that rotates in the Y direction. The end-effector circular polishing device includes spindle rotation, feed, and spindle movement in the X and Y directions, where the X direction represents the long-range direction parallel to the worktable surface, the Y direction represents the short-range direction parallel to the worktable surface, and the Z direction represents the vertical direction perpendicular to the worktable surface.

[0043] The grinding path is obtained by comparing the point cloud obtained by line laser 3D scanning with the theoretical blank of the product to obtain the support area to be removed. The support area to be removed is divided into K regions, each of which is n regions currently being worked on. The division is carried out in the order of "dot matrix - rib plate - grid support". The planned path includes a "test tool" sub-path, a "region n cyclic support removal" sub-path, a "tool change" sub-path and a "rapid positioning" sub-path, where 1≤n≤K-1.

[0044] The aforementioned tool library includes tools for removing dot matrix structures: a cylindrical wire brush with a diameter of 1 / 10 to 1 / 5 of the horizontal projection length of the dot matrix area; a milling cutter (T-shaped) with an effective cutting radius of 1.2 to 2 times the thickness at the connection between the rib and the blank; and a punch with a pointed tip (≤30°) and a diameter of 5-15 mm.

[0045] The retrieval and replacement of different tools are as follows: when the spindle completes the nth cycle of de-support, it stops rotating and quickly positions itself to the safe tool change point m. At this time, the tool magazine sends a new tool to the safe tool change point m'. The spindle and tool magazine release the tool, and the tool magazine holding mechanism changes the tool. The spindle and tool magazine tighten the tool. After tightening the tool, the spindle quickly positions itself to the initial position of the n+1th cycle of de-support, and the spindle starts rotating. The tool magazine is then reset.

[0046] The parameters include: dot matrix brush removal, with parameters of electric spindle speed 1000-5000 rpm and feed rate 0.3-0.8 mm; rib root milling removal, with parameters of cutting speed 80-120 mm / s, radial cutting width 0.4-2 mm, and feed per tooth 0.3-1 mm / z; and mesh support impact root tooth removal, with parameters of nominal pressure 25-100 t and impact frequency 30-70 times / min.

[0047] The aforementioned online surface condition monitoring uses a line laser measuring instrument to capture the surface contour dimensions of the product after support removal and polishing, and compares them with the theoretical surface of the blank to determine whether the area has completed support removal and polishing, or whether it has been over-polished or under-polished.

[0048] The aforementioned adjustment supports the grinding parameters. The spindle is mounted on the pneumatic motor shaft, and constant force floating grinding is achieved using a mechanical sensor. When it is determined that the grinding is over-grinding, the feed rate is reduced, and when it is determined that the grinding is under-grinding, an additional cycle is added.

[0049] The aforementioned end-of-life grinding device includes: a 3+1 spindle motion mechanism, a line laser measuring instrument, and an atomizing cooling device, wherein the 3+1 spindle motion mechanism includes a spindle, a pneumatic motor, and a force sensor; specifically:

[0050] The spindle is mounted on the end of the pneumatic motor via a floating unit and is driven to rotate by the pneumatic motor; the force sensor is located behind the floating unit; the 3+1 motion mechanism of the spindle enables movement within the grinding area and achieves constant force floating grinding through the pneumatic motor and the force sensor; the line laser measuring instrument is mounted behind the spindle and transmits data to the main control computer via a data cable; the atomizing cooling device is mounted on the side of the spindle; and the tool is clamped on the spindle by a quick-change tool holder.

[0051] The aforementioned "test cut" path involves, after path planning, the spindle executing a path with the same parameters as the formal path, but only once, at a vertical height of 10-30mm from the overall outline of the blank, to verify the path's rationality.

[0052] The aforementioned "region n-cycle de-support" sub-path executes a cyclic de-support grinding path within a certain type of support area until the online monitoring of the surface state determines the completion of the corresponding spatial path.

[0053] The "tool change" sub-path, after completing the support removal in region n, completes the spatial path required for tool change; during tool change: the robotic arm moves the spindle to the safe tool change point m, waits for the tool library to complete the retrieval and replacement of tools, and then moves the spindle to the support removal starting point in region n+1.

[0054] The "region n+1 loop to remove support" sub-path is the next region to be removed from support and polished after completing the "region n loop to remove support" and "tool change" sub-paths.

[0055] In the "rapid positioning" sub-path, after the spindle completes one path, the spindle stops rotating, rises to the height of the "test tool" sub-path, and is then moved by the robotic arm to the spatial path corresponding to the next area with the shortest straight-line distance.

[0056] The aforementioned safe tool change point m is located outside the horizontal projection area after the additive blank is clamped, at the height of the "test tool" path, in a space that does not interfere with the existing device. After completing the "region n cycle to remove support", the spindle is moved to this point by the robotic arm.

[0057] The aforementioned safe tool change point m' is located outside the horizontal projection area after the additive blank is clamped, at the "test tool" path height, ensuring no interference with any device, and within a space where the spatial distance from the safe tool change point m is less than the tool change operation distance of the holding mechanism. After completing the "area n-cycle de-support" process, the tool library will move the new tool to this point.

[0058] Example:

[0059] An automatic support removal and grinding method for skin-laminated workpieces, targeting the following... Figure 2 As shown: 1-The additive blank body of the skin sandwich workpiece can be divided into a dot matrix 2, ribs 3 and different grid support structures 4. Using a "3+4" robotic arm, the tool library is retrieved and replaced with different tools and corresponding parameter packages as it moves along the grinding path to perform support removal grinding. The surface condition is monitored online during the grinding process, and the support removal grinding parameters are adjusted.

[0060] The "3+4" robotic arm includes a main robotic arm with Z-axis rotation of the first joint, X-axis rotation of the second joint, and Y-axis rotation of the third joint; and an end-effector circular grinding device including spindle rotation, feed, and spindle X-axis and Y-axis movement, wherein X-axis represents the long-range direction parallel to the worktable surface, Y-axis represents the short-range direction parallel to the worktable surface, and Z-axis represents the vertical direction perpendicular to the worktable surface.

[0061] The grinding path is obtained by comparing the point cloud obtained by line laser 3D scanning with the theoretical blank of the product to obtain the support area to be removed. The path is planned in the order of "dot matrix - rib plate - grid support" and includes the following sub-paths: "test tool", "area 1 cyclic support removal", "tool change 1", "area 2 cyclic support removal", "tool change 2", "area 2 cyclic support removal" and "rapid positioning".

[0062] The aforementioned tool library is used to remove the dot matrix in region 1 using a wire brush. The wire brush is cylindrical and has a diameter of 16mm, which is 1 / 5 of the horizontal projection length of the dot matrix region. The ribs are removed using a milling cutter. The milling cutter is a T-shaped milling cutter with an effective cutting radius of twice the thickness at the connection between the rib and the blank, and an effective cutting radius of 3mm. The mesh structure is removed using a punch. The punch is a pointed punch with a 25° angle and a rod diameter of 10mm.

[0063] The retrieval and replacement of different tools are as follows: When the spindle completes the de-support cycle in area 1, it stops rotating and quickly positions itself to the safe tool change point 1. At this time, the tool magazine sends the T-shaped end mill to the safe tool change point 1'. The spindle releases the wire brush, the tool magazine releases the T-shaped end mill, and the tool magazine holding mechanism changes the tool. The spindle tightens the T-shaped end mill, the tool magazine tightens the wire brush, and the tool tightening completes the spindle's rapid positioning to the initial position of the de-support cycle in area 2. The spindle then begins to rotate, and the tool magazine resets. When the spindle completes the de-support cycle in area 2, it stops rotating and quickly positions itself to the safe tool change point 2. At this time, the tool magazine sends the punch to the safe tool change point 2'. The spindle releases the T-shaped end mill, the tool magazine releases the punch, and the tool magazine holding mechanism changes the tool. The spindle tightens the T-shaped end mill, the tool magazine tightens the punch, and the tool tightening completes the spindle's rapid positioning to the initial position of the de-support cycle in area 3. The spindle then begins to feed, and the tool magazine resets.

[0064] The parameters included are: dot matrix brush removal with an electric spindle speed of 3000 rpm and a feed rate of 0.5 mm; rib root milling removal with a cutting speed of 90 mm / s, a radial cutting width of 0.5 mm, and a feed rate per tooth of 1 mm / z; and mesh support impact tooth removal with a nominal pressure of 25 t and an impact frequency of 50 times / min.

[0065] The aforementioned online surface condition monitoring uses a line laser measuring instrument to capture the surface contour dimensions of the product after support removal and polishing, and compares them with the theoretical surface of the blank to determine whether the area has completed support removal and polishing, or whether it has been over-polished or under-polished.

[0066] The aforementioned adjustment supports the grinding parameters. The spindle is mounted on the pneumatic motor shaft, and constant force floating grinding is achieved using a mechanical sensor. When it is determined that the grinding is over-grinding, the feed rate is reduced, and when it is determined that the grinding is under-grinding, an additional cycle is added.

[0067] The described circulating grinding device has a spindle that moves within the grinding area via an XY motion mechanism and achieves constant force floating grinding via a pneumatic motor and a mechanical sensor. A line laser measuring instrument is installed behind the spindle and transmits data to the main control computer via a data cable. An atomizing cooling device is installed beside the spindle, and the tool is clamped on the spindle by a quick-change tool holder.

[0068] The aforementioned "test cut" path involves, after path planning, the spindle traveling along a path with the same parameters as the formal path, with one cycle of path support, at a vertical height of 10mm from the overall outline of the blank, to verify the rationality of the path.

[0069] The “Region 1 Cyclic De-support” sub-path executes a cyclic de-support grinding path within the dot matrix support area until the online monitoring of the surface condition is completed.

[0070] The "tool change" path involves the following steps: After completing the cycle of de-supporting in area 1, the robotic arm moves the spindle to a safe tool change point 1. After the tool library completes the retrieval and replacement of tools, the robotic arm moves the spindle to the starting point of the cycle of de-supporting in area 2. After completing the cycle of de-supporting in area 2, the robotic arm moves the spindle to a safe tool change point 2. After the tool library completes the retrieval and replacement of tools, the robotic arm moves the spindle to the starting point of the cycle of de-supporting in area 3.

[0071] The "Region 2 Cyclic De-support" sub-path is the next region to be de-supported and polished after completing the "Region 1 Cyclic De-support" and "Tool Change" sub-paths.

[0072] The "Region 3 Cyclic De-support" sub-path is the next region to be de-supported and polished after completing the "Region 2 Cyclic De-support" and "Tool Change" sub-paths.

[0073] In the "rapid positioning" sub-path, after the spindle completes one path, the spindle stops rotating, rises to the height of the "test tool" sub-path, and is then moved to the next area by the robotic arm with the shortest straight-line distance.

[0074] The aforementioned safe tool change point 1 is located outside the horizontal projection area after the additive blank is clamped, at the "test tool" path height, in a space that does not interfere with any device. After completing the "area 1 cycle of de-supporting", the spindle is moved to this point by the robotic arm.

[0075] The aforementioned safe tool change point 1' is located outside the horizontal projection area after the additive blank is clamped, at the "test tool" path height, ensuring no interference with any device, and within a space where the spatial distance from the safe tool change point 1 is less than the tool change operation distance of the holding mechanism. After completing the "area 1 cycle of support removal", the tool library will move the new tool to this point.

[0076] The aforementioned safe tool change point 2 is located outside the horizontal projection area after the additive blank is clamped, at the "test tool" path height, in a space that does not interfere with any device. After completing the "area 2 cycle to remove support", the spindle is moved to this point by the robotic arm.

[0077] The aforementioned safe tool change point 2' is located outside the horizontal projection area after the additive blank is clamped, at the "test tool" path height, ensuring no interference with any device, and within a space where the spatial distance from the safe tool change point 2 is less than the tool change operation distance of the holding mechanism. After completing the "area 2 cycle of support removal", the tool library will move the new tool to this point.

[0078] This invention utilizes flexible floating grinding technology to integrate the advantages of robots, such as high flexibility and high automation, into the field of unsupported grinding. It has advantages such as high productivity, high quality, and high stability, which can shorten the product modification and replacement cycle, reduce the corresponding investment in equipment, and reduce occupational hazards such as noise and dust in the worker's operating environment. It is an effective means to achieve intelligent and green manufacturing.

[0079] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A method for automatically removing supports and grinding a workpiece with a skin-like interlayer, characterized in that: include: The additive blank of the skin-layer workpiece is clamped onto the work platform under the robotic arm and laser 3D scanning of the blank is performed. The point cloud obtained by the scan is compared with the theoretical blank of the product to obtain the support area to be removed. The support area to be removed is divided into K working areas. Each current working area n includes a test tool sub-path, a region n cyclic support removal sub-path, a tool change sub-path, and a rapid positioning sub-path, where 1≤n≤K-1. The spindle at the end of the robotic arm starts rotating and first performs a trial cut along the planned path to verify its rationality. Then, it enters region n and loops to remove the support path. Within region n, it performs a single pass of support removal and grinding, calling the corresponding parameter package. The dot matrix is ​​brushed with a wire brush, the ribs are milled from the root, and the mesh support is impacted with the root teeth. During the grinding process, the surface condition is monitored online, and the support removal and grinding parameters are adjusted accordingly. It is then determined whether the support removal and grinding in region n is complete. If not, the loop continues; if it is complete, the next step is performed. After region n is completed, the spindle pauses rotation and moves to the safe tool change point m. The tool library sends a new tool to the safe tool change point m' to perform the tool change operation. After completion, the spindle quickly moves to the starting point of the region n+1 cycle to support the sub-path using the rapid positioning sub-path, and starts rotation to enter the region n+1 cycle to support the sub-path. Determine if all areas in the support removal area are complete. If complete, end the process; otherwise, repeat the area switching and sanding steps until all areas have been sanded to remove the support.

2. The automatic support removal and grinding method for a skin-laminated workpiece according to claim 1, characterized in that: In the tool library: The dot matrix is ​​removed using a wire brush. The wire brush is cylindrical and its diameter is 1 / 10 to 1 / 5 of the horizontal projection length of the dot matrix area. The ribs are removed using a milling cutter, specifically a T-shaped milling cutter, with an effective cutting radius of 1.2-2 times the thickness at the connection between the rib and the blank. The mesh structure is removed using a punch. The punch is a pointed punch with a sharp angle ≤30° and a rod diameter of 5-15mm.

3. The automatic support removal and grinding method for a skin-laminated workpiece according to claim 1, characterized in that: In the parameter package mentioned above: When removing particles with a dot matrix brush, the parameters are: spindle speed 1000-5000 rpm, feed rate 0.3-0.8 mm; When milling and removing the rib root, the parameters are: cutting speed 80-120 mm / s, radial cutting width 0.4-2 mm, and feed per tooth 0.3-1 mm / z; When removing root teeth by impact with mesh support, the parameters are nominal pressure 25-100t and impact frequency 30-70 times / min.

4. The automatic support removal and grinding method for a skin-laminated workpiece according to claim 1, characterized in that: During the online monitoring of the surface condition during the polishing process, a line laser measuring instrument is used to capture the surface contour dimensions of the product after the support removal polishing, and compare them with the theoretical surface of the blank to determine whether the area has completed the support removal polishing, or whether it has been over-polished or under-polished.

5. The automatic support removal and grinding method for a skin-laminated workpiece according to claim 1, characterized in that: The robotic arm includes a main robotic arm and an end effector for continuous grinding, wherein: The main robotic arm includes a first joint, a second joint, and a third joint. The first joint rotates in the Z-axis, the second joint rotates in the X-axis, and the third joint rotates in the Y-axis. The end-of-line circulating grinding device is responsible for the feed, rotation, and X and Y axis movement of the spindle during grinding. Wherein, X-axis represents the long-range direction parallel to the worktable surface, Y-axis represents the short-range direction parallel to the worktable surface, and Z-axis represents the vertical direction perpendicular to the worktable surface.

6. The automatic support removal and grinding method for a skin-laminated workpiece according to claim 5, characterized in that: The end-of-line grinding device includes: a 3+1 spindle motion mechanism, a line laser measuring instrument, and an atomizing cooling device. The 3+1 spindle motion mechanism comprises a spindle, a pneumatic motor, and a force sensor. Specifically: The spindle is mounted on the end of the pneumatic motor via a floating unit and is driven to rotate by the pneumatic motor; the force sensor is located at the rear end of the floating unit. The 3+1 motion mechanism of the spindle moves within the grinding area and achieves constant force floating grinding through a pneumatic motor and a mechanical sensor; the line laser measuring instrument is installed behind the spindle and transmits data to the main control computer via a data cable; the atomizing cooling device is installed beside the spindle, and the tool is clamped on the spindle by a quick-change tool holder.

7. The automatic support removal and grinding method for a skin-laminated workpiece according to claim 6, characterized in that: When adjusting the grinding parameters, constant force floating grinding is achieved by using the end-of-line circulating grinding device. The main control computer determines the current grinding is over-grinding based on the obtained data and reduces the feed rate when it determines the current grinding is under-grinding, and adds one cycle when it determines the current grinding is under-grinding.

8. The automatic support removal and grinding method for a skin-laminated workpiece according to claim 1, characterized in that: The planned sub-paths are as follows: Trial cutting and path division: After path planning, the spindle executes the same path with the same parameters as the formal path at a vertical height of 10-30mm from the overall outline of the blank, only once, to verify the rationality of the path; Region n-loop support removal sub-path: Execute the loop to remove support and polish the path until the online monitoring of the surface state determines that the corresponding spatial path has been completed; Tool changing path: After completing the support removal in area n, the required spatial path for tool changing is completed; During tool changing: The robotic arm moves the spindle to the safe tool changing point m, waits for the tool library to complete the retrieval and replacement of tools, and then moves the spindle to the starting point of the support removal in area n+1. Rapid positioning and sub-path: After the spindle completes a path, it stops rotating, rises to the test tool sub-path height, and is then moved by the robotic arm to the spatial path corresponding to the next area with the shortest straight-line distance.

9. The automatic support removal and grinding method for a skin-laminated workpiece according to claim 1, characterized in that: Safety tool change point m: A point in space outside the horizontal projection area after the additive blank is clamped, at the height of the test tool path, that does not interfere with the existing device. After completing the n-cycle of unsupporting the area, the spindle is moved to this point by the robotic arm. Safe tool change point m': Outside the horizontal projection area after the additive blank is clamped, at the test tool path height, ensuring no interference with any device, and within a space where the spatial distance from the safe tool change point m is less than the tool change operation distance of the clamping mechanism in the tool magazine. After completing the "area n cycle de-support", the tool magazine will move the new tool to this point.

10. The automatic support removal and grinding method for a skin-laminated workpiece according to claim 1, characterized in that: The area to be removed from the support is divided into K regions, and the regions are divided in the order of dot matrix, rib plate, and grid support.

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