Automatic polishing process method for whole helicopter

Abstract

The invention belongs to the technical field of paint spraying and polishing, and relates to an automatic polishing process method for a whole helicopter. An automatic fine grinding method model suitable for aviation aircrafts such as helicopters is designed on the basis of the complex appearance structure and multiple types of base materials of the helicopters by means of robot automatic control and a sensor feedback system, and precise grinding of surface coatings of the helicopters is achieved by means of the model. The technology can adapt to curved surfaces and structures of helicopters of different models, the polishing path and strength are automatically adjusted, the uniformity of coating removal and the consistency of surface treatment are ensured, and the efficiency and quality of coating, maintaining and renovating of the helicopters are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of spray painting and polishing, and relates to an automatic polishing process method for a complete helicopter. Background Art

[0002] A document discloses a method for grinding a curved surface with obstacles, providing a method for grinding a curved surface with obstacles with high precision and efficiency, and can be applied to the grinding process of a certain type of tank bottom insulation layer with a variety of raised obstacles and short shell edges.

[0003] A patent discloses an equipment and method suitable for grinding and polishing the surface of a rotating body. The equipment and method use a robot as an actuator for grinding. The equipment consists of a robot, a flexible device, a rotary pneumatic clamp, a horizontal grinder, and a clamp changing device. It can be used for surface grinding of rotating bodies such as metal water cups, cylindrical containers, and barrel segments.

[0004] A document discloses a grinding method, in which the grinding area is divided into multiple grinding sub-areas according to the length of the grinding arm of the robot grinding system. The grinding route planned for each sub-area includes an arc-shaped turning section. When entering the turning section, one side of the grinding head is lifted up at a predetermined angle α and leaves the grinding surface. After the path turns, it is reset at the same angle and re-enters the grinding surface.

[0005] The polishing objects applicable to the disclosed patent-related systems, structures, and methods are simple structures or simple, large curvature shapes, and do not involve complex shapes or situations with many obstacles on the outer surface. In addition, there is a lack of fine control over the polishing parameters, which are the key factors affecting the polishing quality. Helicopters have the characteristics of high quality requirements, high added value, and high difficulty in repair, and higher requirements are placed on fine polishing methods and accuracy.

[0006] In order to increase the bonding strength of the paint layer, the base structure of the helicopter must be polished as a whole before painting. Currently, manual polishing is used, which has problems such as high labor intensity, working in a dusty environment, and working at high altitudes. The polishing process relies on the operator's personal experience, and the polishing results are difficult to quantify. Summary of the invention

[0007] Purpose of the Invention

[0008] The present invention aims to provide a model of automatic grinding method for the whole helicopter matrix structure, which uses robot automation control and sensor feedback system to achieve accurate, efficient and uniform grinding of helicopter surface coating. This technology can adapt to the curved surface and structure of different models of helicopters, automatically adjust the grinding path and strength, ensure the uniformity of coating removal and the consistency of surface treatment, and significantly improve the efficiency and quality of helicopter maintenance and renovation.

[0009] Technical Solution

[0010] An automatic grinding process method for the whole helicopter is designed based on the complex shape structure and multi-type base materials of the helicopter, using robot automation control and sensor feedback system, and the model is used to achieve precise grinding of the helicopter surface coating. The whole machine grinding process parameters are developed, including contact force, grinder speed, sandpaper mesh and grinding speed. The grinding system adopts a mobile grinding robot system according to the shape characteristics of the helicopter, and a constant force actuator is installed at the end. The system automatically plans the grinding path in combination with the three-dimensional model of the helicopter to adapt to the surface changes and obstacle avoidance requirements of different parts, and implements and obtains uniform and consistent grinding quality.

[0011] Further, including the following:

[0012] First, the relationship model between grinding parameters is derived to determine the grinding parameter combination that meets the 3 micron removal rate:

[0013] (4) Pressure parameter P:

[0014]

[0015] By predetermining or experimentally measuring the K value, setting a reasonable grinding time t and grinding speed V, the required pressure P can be calculated.

[0016] (5) Grinding speed V:

[0017]

[0018] Similarly, when K, t, and P are known, the relative speed V between the grinding tool and the workpiece can be determined.

[0019] (6) Grinding time parameter t:

[0020]

[0021] By predetermining or experimentally measuring the K value, setting a reasonable grinding pressure P and grinding speed V, the required grinding time t can be calculated.

[0022] Further, the specific steps are as follows:

[0023] 1) Initial preparation: Clean the entire outer surface of the machine by hand and dry it.

[0024] 2) 3D scanning: Use a high-precision 3D scanner to comprehensively scan the helicopter surface and obtain surface data.

[0025] 3) Digital modeling: Import the scan data into CAD software to build an accurate digital model of the helicopter.

[0026] 4) Grinding path planning: Use CAM software to automatically plan the grinding path based on the digital model to ensure that all primer coating areas of the helicopter are covered.

[0027] 5) Grinding path simulation: Since grinding beyond the expected path may cause wear of external objects, finished components, etc., path verification is required before grinding. The grinding path is simulated by laser projection, and visual identification is performed for situations where the grinding path blocks or covers external objects, fasteners, sealing strips, etc., and the trajectory is adjusted;

[0028] Furthermore, the K value is determined by the combination of material and abrasive.

[0029] Furthermore, in the above 1), since primer already exists on each part of the whole machine in the component state, the substrate to be cleaned in this process is the primer layer.

[0030] Furthermore, the 4) is specifically: determining the position and posture of each path point of the desired path;

[0031] e) Convert the pose information on the path points into the desired angles of the robot joints through inverse kinematics;

[0032] f) after obtaining the expected joint angles of each path point, interpolating the joint angles;

[0033] g) Add consideration constraints to ensure that the robot does not exceed its physical limits during movement, thereby achieving safe and stable movement:

[0034] h) Solve the function expression of joint angle value and time.

[0035] Use a cubic polynomial to interpolate the initial and final positions of the robot arm, and use the cubic polynomial function θ(t) to represent the joint angle and time. Make the function pass through each path point in turn. The expression is:

[0036] θ(t)=a0+a1t+a2t 2 +a3t 3

[0037] In order to make the trajectory curve more continuous, the robot’s initial time t0 and key time t f The speed is 0, and the construction constraints are:

[0038]

[0039] The joint velocity and acceleration on the motion trajectory are:

[0040]

[0041] Combining the above formulas, the cubic polynomial interpolation function is expressed as:

[0042]

[0043] When acceleration constraints are required, cubic polynomial interpolation can no longer meet the requirements, so the quintic polynomial interpolation expression is used as follows:

[0044]

[0045] The constraints are:

[0046]

[0047] Furthermore, it also includes 6) automatic polishing: starting the automatic polishing robot to polish according to the planned path and preset parameters to remove unevenness and defects on the primer surface.

[0048] Furthermore, it also includes 7) process monitoring and adjustment: real-time monitoring of the grinding status, dynamic adjustment of grinding parameters according to sensor feedback, and ensuring grinding uniformity.

[0049] A virtual monitoring system is constructed to achieve synchronous movement of the physical robot and the robot in the virtual environment and display the polishing parameters in real time by real-time mapping of human data. Four mutually collaborative hierarchical structures are constructed: acquisition layer, processing layer, control layer and user interface layer. They work together to ensure that the virtual system can accurately reflect the real-time status and polishing parameters of the physical robot, and monitor the progress of the polishing work through the user interface layer of the virtual system.

[0050] Furthermore, the acquisition layer: collects data about the machine's operating status and grinding process parameters through sensors and devices. In this system, Modbus TCP / P is used to collect the grinding robot's operating parameters, force control equipment parameters and grinding spindle speed parameters, and then transmits the data to the processing layer.

[0051] Furthermore, the processing layer organizes and preliminarily analyzes the raw data collected by the acquisition layer. First, the data is classified according to the operating parameters of the polishing robot and the polishing process parameters. Second, the processed data is fed back to the logic layer. Third, the data is written into the database so that the historical status can be reproduced and queried later.

[0052] Control layer: connects the processing layer and the application layer. On the one hand, it initiates data requests to the processing layer based on the data requirements of the user interface layer through the scripts written. On the other hand, it further processes the data according to the logic of the printing process and decides how to map the processing results to the user interface layer.

[0053] User interface layer: The user interface is designed through Python to display the robot's operating data and polishing process parameters. The robot twin model is updated in real time in frames through the data provided by the control layer.

[0054] Furthermore, it also includes 8) primer spraying: spraying primer on the polished surface and drying. The beneficial effects of the present application are:

[0055] 1) Improve efficiency: Automated grinding significantly improves the efficiency of helicopter maintenance and refurbishment;

[0056] 2) Quality assurance: precise control of grinding parameters to ensure uniformity of coating removal and consistency of surface treatment;

[0057] 3) Reduce costs: reduce reliance on labor, reduce labor costs, and improve the economic efficiency of maintenance and renovation;

[0058] 4) Improve the working environment: Replace manual grinding and avoid workers working in dusty and high-altitude environments for long periods of time;

[0059] 5) Strong adaptability: It can adapt to helicopters of different models and structures and has a wide range of applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 Helicopter automatic grinding process flow chart. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail in combination with the embodiment of the present invention. In the example, the same or similar reference numerals throughout represent the same or similar originals or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below by reference are exemplary and intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present invention. The following is a detailed description in combination with the embodiments of the present invention.

[0062] The present invention aims to provide a model of automatic polishing method for the whole base structure of a helicopter. Based on the complex shape structure and multi-type base materials of the helicopter, a model of automatic fine polishing method suitable for helicopters and other aircraft is designed by using robot automation control and sensor feedback system, and the model is used to realize the precise polishing of the surface coating of the helicopter. This technology can adapt to the curved surfaces and structures of helicopters of different models, automatically adjust the polishing path and force, ensure the uniformity of coating removal and the consistency of surface treatment, and significantly improve the efficiency and quality of helicopter painting, maintenance and renovation. The present invention develops the polishing process parameters of the whole machine, including contact force, grinder speed, sandpaper mesh number and polishing speed. The polishing system adopts a mobile polishing robot system according to the shape characteristics of the helicopter, and a constant force actuator is installed at the end. The system automatically plans the polishing path in combination with the three-dimensional model of the helicopter to adapt to the curved surface changes and obstacle avoidance requirements of different parts, and implements and obtains uniform and consistent polishing quality.

[0063] The automatic grinding parameters involved in the present invention include but are not limited to:

[0064] According to Preston theory, a material removal rate model of the body structure surface during grinding is established. The material removal rate h(x,y) of the body structure surface is related to the processing parameters during grinding and can be expressed as:

[0065]

[0066] In the formula, h0(x,y) is the material removal rate at a grinding point on the surface of the machine body structure.

[0067] h(x,y)—the amount of workpiece material removed

[0068] k—Preston coefficient

[0069] v(x,y)—Relative speed between the grinding tool and the grinding point on the surface of the machine structure

[0070] P n (x,y)—Contact force between the grinding tool and the surface of the machine structure

[0071] From the above formula, we can see that to ensure uniform removal of material from the surface of the machine body structure, it is not only necessary to maintain the contact force p between the punching tool and the workpiece during the punching process. n (x, y) is a constant force, and its relative velocity v(x, y) must also be controlled.

[0072] Therefore, in the implementation process, according to the characteristics of helicopter coating materials, manual grinding is simulated and compared, and the removal amount is about 3μm. The grinding time is set to t, and the material removal volume Q can be expressed as:

[0073] Q = 3 × 10-3 ×S

[0074] In the formula, Q is the volume of the material removed.

[0075] S—grinding area

[0076] The material removal rate of the grinding area is expressed as:

[0077]

[0078] Where k is the Preston coefficient

[0079] V—grinding speed

[0080] P—Grinding contact force

[0081] From this, the relationship model between the grinding parameters can be derived to determine the grinding parameter combination that meets the 3 micron removal rate:

[0082] (7) Pressure parameter P:

[0083]

[0084] By predetermining or experimentally measuring the K value (for a specific material and abrasive combination), setting a reasonable grinding time t and grinding speed V, the required pressure P can be calculated.

[0085] (8) Grinding speed V:

[0086]

[0087] Similarly, when K, t, and P are known, the relative speed V between the grinding tool and the workpiece can be determined.

[0088] (9) Grinding time parameter t:

[0089]

[0090] By predetermining or experimentally measuring the K value (for a specific material and abrasive combination), setting a reasonable grinding pressure P and grinding speed V, the required grinding time t can be calculated.

[0091] The above model is used as a logic program for trajectory planning parameter setting to assist in automatic polishing trajectory planning.

[0092] The embodiments of the present invention will describe in detail the processes of whole-machine primer grinding, whole-machine topcoat grinding and local grinding to ensure accurate grinding and high-quality maintenance of helicopter surface coating.

[0093] 1. Implementation process of surface polishing of the whole machine structure

[0094] Typical process flow of automatic grinding of helicopter complete machine Figure 1 ,It is worth noting that the above process is an overview of a basic process, and more detailed ,sub-steps and parameter settings may be required for specific implementation.

[0095] 1) Initial preparation: Clean the outer surface of the whole machine manually and dry it. Since the parts of the whole machine already have primer in the component state, the base to be cleaned in this process is the primer layer.

[0096] 2) 3D scanning: Use a high-precision 3D scanner to comprehensively scan the helicopter surface and obtain surface data.

[0097] 3) Digital modeling: Import the scan data into CAD software to build an accurate digital model of the helicopter.

[0098] 4) Grinding path planning: Use CAM software to automatically plan the grinding path based on the digital model to ensure that all primer coating areas of the helicopter are covered.

[0099] i) determining the position and posture of each path point of the desired path;

[0100] j) Convert the pose information on the path points into the desired angles of the robot joints through inverse kinematics;

[0101] k) after obtaining the expected joint angles of each path point, interpolating the joint angles;

[0102] l) Add consideration constraints to ensure that the robot does not exceed its physical limits during movement, thereby achieving safe and stable movement:

[0103] m) Solve the function expression of joint angle value and time.

[0104] Use a cubic polynomial to interpolate the initial and final positions of the robot arm, and use the cubic polynomial function θ(t) to represent the joint angle and time. Make the function pass through each path point in turn. The expression is:

[0105] θ(t)=a0+a1t+a2t 2 +a3t 3

[0106] In order to make the trajectory curve more continuous, the robot’s initial time t0 and key time t f The speed is 0, and the construction constraints are:

[0107]

[0108] The joint velocity and acceleration on the motion trajectory are:

[0109]

[0110] Combining the above formulas, the cubic polynomial interpolation function is expressed as:

[0111]

[0112] When acceleration constraints are required, cubic polynomial interpolation can no longer meet the requirements, so the quintic polynomial interpolation expression is used as follows:

[0113]

[0114] The constraints are:

[0115]

[0116] 5) Grinding path simulation: Since grinding beyond the expected path may cause wear of external objects, finished components, etc., path verification is required before grinding. The grinding path is simulated by laser projection, and visual identification is performed for situations where the grinding path blocks or covers external objects, fasteners, sealing strips, etc., and the trajectory is adjusted;

[0117] 6) Automated grinding: Start the automatic grinding robot to perform grinding according to the planned path and preset parameters (contact force, grinder speed, etc.) to remove unevenness and defects on the primer surface.

[0118] 7) Process monitoring and adjustment: Monitor the grinding status in real time, and dynamically adjust the grinding parameters according to sensor feedback to ensure grinding uniformity.

[0119] A virtual monitoring system is constructed to achieve synchronous movement of the physical robot and the robot in the virtual environment and display the polishing parameters in real time by real-time mapping of human data. Four mutually collaborative hierarchical structures are constructed: acquisition layer, processing layer, control layer and user interface layer. They work together to ensure that the virtual system can accurately reflect the real-time status and polishing parameters of the physical robot, and monitor the progress of the polishing work through the user interface layer of the virtual system.

[0120] Acquisition layer: Collect data about the machine's operating status and grinding process parameters through sensors and devices. In this system, Modbus TCP / P is used to collect the grinding robot's operating parameters, force control equipment parameters, and grinding spindle speed parameters, and then transmit the data to the processing layer.

[0121] Processing layer: organizes and preliminarily analyzes the raw data collected by the acquisition layer. First, the data is classified according to the operating parameters of the polishing robot and the polishing process parameters. Second, the processed data is fed back to the logic layer. Third, the data is written into the database so that the historical status can be reproduced and queried later.

[0122] Control layer: connects the processing layer and the application layer. On the one hand, it initiates data requests to the processing layer based on the data requirements of the user interface layer through the scripts written. On the other hand, it further processes the data according to the logic of the printing process and decides how to map the processing results to the user interface layer.

[0123] User interface layer: The user interface is designed through Python to display the robot's operating data and polishing process parameters. The robot twin model is updated in real time in frames through the data provided by the control layer.

[0124] 8) Primer spraying: Spray primer on the polished surface and let it dry.

[0125] 2. Polishing parameter model application example

[0126] The application of the grinding parameter model of the present invention is described below with reference to specific examples:

[0127] Assume that the grinding area of ​​the whole machine is S = 100 square millimeters, the Preston coefficient K of the combination of coating and abrasive used is known to be 0.01, and the grinding time is set to t = 60 seconds.

[0128] a) Calculate the pressure parameter P:

[0129] According to the above pressure parameter formula Assuming the relative speed V = 50 mm / s, then:

[0130]

[0131] P=0.01N

[0132] b) Calculate the relative velocity parameter V:

[0133] If the pressure P = 0.01 Newton, and other conditions remain unchanged, according to the relative speed parameter formula but:

[0134]

[0135] V = 50 mm / s

[0136] c) Calculate the grinding time parameter t:

[0137] If the pressure P = 0.01 Newton and the relative speed V = 50 mm / s are known, according to the grinding time parameter formula, then:

[0138]

[0139] t = 60 seconds

[0140] It can be seen from the above specific implementation methods that the grinding parameter model of the present invention can accurately calculate various grinding parameters according to given conditions, thereby achieving effective control of the 3-micron removal amount.

[0141] Please note that in actual applications, the Preston coefficient K and other related parameters must be accurately measured or reasonably set according to different materials, abrasives, equipment, etc. to ensure the accurate application of the model and the achievement of the grinding effect.

[0142] Through the above-mentioned specific implementation methods, the automatic polishing technology of the present invention can achieve efficient and precise polishing of the primer and topcoat of the entire helicopter, as well as rapid repair of local damage, which significantly improves the efficiency and quality of helicopter maintenance and refurbishment.

[0143] 3. Combined with the experience parameters of manual grinding operation, grinding parameter model application case

[0144] The application of the grinding parameter model of the present invention is described below with reference to specific examples:

[0145] According to manual polishing experience, when using abrasives to polish the paint layer, the polishing contact force is 10N, the polishing speed is 0.01m / s, the removal thickness is 3 microns, and the polishing is 0.01m 2 The time required for the area is 30s, then:

[0146] a) Calculate the amount of material removed:

[0147] Material removal = area × thickness = 0.01 × 3 × 10 -6 =3×10 -8 m 3 .

[0148] b) Calculate the material removal rate:

[0149] Grinding takes 30 seconds, material removal rate = material removal amount / time = 3 × 10 -8 ÷30=1×10 -9 m 3 / s.

[0150] c) Calculate the Preston coefficient according to the Preston equation:

[0151] Material removal rate = Preston coefficient × pressure × speed.

[0152] It can be obtained that: Preston coefficient K = 1 × 10 -9 ÷(1000×0.01)=1×10 -10 .

[0153] Therefore, under the premise of unchanged abrasive, when automatic grinding is used to simulate manual grinding of the surface coating of the whole machine body structure, the Preston coefficient in the grinding parameter model is 1×10-10 .

[0154] It can be seen from the above specific implementation methods that the grinding parameter model of the present invention can accurately calculate various grinding parameters according to given conditions, thereby achieving effective control of the 3-micron removal amount.

[0155] Please note that in actual applications, the Preston coefficient K and other related parameters must be accurately measured or reasonably set according to different materials, abrasives, equipment, etc. to ensure the accurate application of the model and the achievement of the grinding effect.

[0156] It is understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and unless defined as here, will not be interpreted with idealized or overly formal meanings. The specific implementation methods described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Within the spirit and principle of the present invention, any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment of equivalent changes for application in other fields, but any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the technical solution content of the present invention, any modification, equivalent replacement, improvement, etc., made according to the technical essence of the present invention, should be included in the protection scope of the present invention.

Claims

1. A helicopter complete machine automatic grinding process method, characterized in that: Based on the complex shape structure and multi-type base materials of the helicopter, an automatic fine grinding method model was designed using robot automation control and sensor feedback system, and the model was used to achieve precise grinding of the helicopter surface coating; the grinding process parameters of the whole machine were developed, including contact force, grinder speed, sandpaper mesh size and grinding speed. The grinding system adopts a mobile grinding robot system according to the shape characteristics of the helicopter, and is equipped with a constant force actuator at the end. The system automatically plans the grinding path in combination with the three-dimensional model of the helicopter to adapt to the surface changes and obstacle avoidance requirements of different parts, and implements and obtains uniform and consistent grinding quality.

2. The method according to claim 1, characterized in that These include: First, the relationship model between grinding parameters is derived to determine the grinding parameter combination that meets the 3 micron removal rate: (1) Pressure parameter P: By predetermining or experimentally measuring the K value, setting a reasonable grinding time t and grinding speed V, the required pressure P can be calculated; (2) Grinding speed V: Similarly, when K, t, and P are known, the relative speed V between the abrasive tool and the workpiece can be determined; (3) Grinding time parameter t: By predetermining or experimentally measuring the K value, setting a reasonable grinding pressure P and grinding speed V, the required grinding time t can be calculated.

3. The method according to claim 2, characterized in that The specific steps are as follows: 1) Initial preparation: manually clean the outer surface of the entire machine and dry it; 2) 3D scanning: Use a high-precision 3D scanner to fully scan the helicopter surface and obtain surface data; 3) Digital modeling: Import the scanned data into CAD software to build an accurate digital model of the helicopter; 4) Grinding path planning: Use CAM software to automatically plan the grinding path based on the digital model to ensure that all primer coating areas of the helicopter are covered; 5) Grinding path simulation: Since grinding beyond the expected path may cause wear of external objects and finished components, path verification is required before grinding. The grinding path is simulated by laser projection, and visual identification is performed on the grinding path to see if it blocks or covers external objects, fasteners, and sealing strips, and the trajectory is adjusted.

4. The method according to claim 2, characterized in that The K value is determined by the combination of material and abrasive.

5. The method according to claim 3, characterized in that In the above 1), since primer already exists on each part of the whole machine in the component state, the substrate to be cleaned in this process is the primer layer.

6. The method according to claim 3, characterized in that The 4) is specifically: determining the position and posture of each path point of the desired path; a) Through inverse kinematics, the pose information on the path points is converted into the desired angles of the robot joints; b) after obtaining the expected joint angles of each path point, interpolating the joint angles; c) Add consideration constraints to ensure that the robot does not exceed its physical limits during movement, thereby achieving safe and stable movement: d) Solve the function expression of joint angle value and time; Use a cubic polynomial to interpolate the initial and final positions of the robot arm, and use the cubic polynomial function θ(t) to represent the joint angle and time. Make the function pass through each path point in turn. The expression is: θ(t)=a0+a1t+a2t 2 +a3t 3 In order to make the trajectory curve more continuous, the robot’s initial time t0 and key time t f The speed is 0, and the construction constraints are: The joint velocity and acceleration on the motion trajectory are: Combining the above formulas, the cubic polynomial interpolation function is expressed as: When acceleration constraints are required, cubic polynomial interpolation can no longer meet the requirements, so the quintic polynomial interpolation expression is used as follows: The constraints are:

7. The method according to claim 3, characterized in that Also includes 6) automated polishing: starting the automatic polishing robot to perform polishing according to the planned path and preset parameters to remove unevenness and blemishes on the primer surface.

8. The method according to claim 3, characterized in that It also includes 7) process monitoring and adjustment: real-time monitoring of the grinding status, dynamic adjustment of grinding parameters according to sensor feedback, to ensure grinding uniformity; A virtual monitoring system is constructed to achieve synchronous movement of the physical robot and the robot in the virtual environment and display the polishing parameters in real time by real-time mapping of human data. Four mutually collaborative hierarchical structures are constructed: acquisition layer, processing layer, control layer and user interface layer. They work together to ensure that the virtual system can accurately reflect the real-time status and polishing parameters of the physical robot, and monitor the progress of the polishing work through the user interface layer of the virtual system.

9. The method according to claim 3, characterized in that Acquisition layer: collects data about the machine's operating status and grinding process parameters through sensors and devices. In this system, Modbus TCP / P is used to collect the grinding robot's operating parameters, force control equipment parameters, and grinding spindle speed parameters, and then transmits the data to the processing layer; Processing layer: organizes and preliminarily analyzes the raw data collected by the acquisition layer; first, classifies the data according to the operating parameters of the polishing robot and the polishing process parameters; second, feeds the processed data back to the logic layer; third, writes the data into the database so that the historical status can be reproduced in the later stage to query the data; Control layer: connects the processing layer and the application layer; on the one hand, through the script, it initiates data requests to the processing layer according to the data requirements of the user interface layer; on the other hand, it further processes the data according to the logic of the printing process and decides how to map the processing results to the user interface layer; User interface layer: The user interface is designed through Python to display the robot's operating data and polishing process parameters; the robot twin model is updated in real time in frames through the data provided by the control layer.

10. The method according to claim 3, characterized in that Also includes 8) Primer spraying: spraying primer on the polished surface and drying it.

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