A robot-based automated side grinding system for thin-walled special-shaped parts

Abstract

The present invention discloses an automated side grinding system for thin-walled special-shaped parts based on a robot, which includes a laser scanning device, a control device, and a grinding device. The laser scanning device includes a collaborative robotic arm, a 3D scanner, and a conformal detection tooling. The 3D scanner is clamped at the end of the collaborative robotic arm to scan and detect the thin-walled special-shaped workpiece. The grinding device includes an automated rotary grinding tooling, a grinding robotic arm, a grinding head with force feedback, and a grinding sandpaper automatic replacement device. The torque sensing device is installed on the grinding robotic arm, and the grinding tool is installed on the torque sensing device. The control device includes a main control computer, an integrated control circuit, and a robot control cabinet. The main control computer controls the collaborative robotic arm to clamp the 3D scanner to scan the thin-walled special-shaped workpiece, processes the scanned data to obtain machining allowance information, and sends it to the grinding device, and generates a grinding path based on the force-time-grinding amount model according to the machining allowance information for grinding closed-loop control.

Description

Technical Field

[0001] The present invention belongs to the technical field of grinding processing, and particularly relates to an automated side grinding system for thin-walled special-shaped parts based on a robot. Background Art

[0002] Thin-walled special-shaped components are widely used in fields such as aerospace, automobile manufacturing, and precision machinery. In the prior art, the processing of thin-walled components usually relies on manual operation or traditional machining methods. Manual grinding has low efficiency, high labor intensity, and the dust generated during the grinding process seriously harms the physical health of workers. Moreover, due to different levels of proficiency among workers, the production quality is uneven, and it is easy to cause over-grinding resulting in workpiece scrapping. Therefore, there is an urgent need for automated equipment to replace manual operation. However, since the machining allowances of different parts on the side of the workpiece are not the same, over-grinding will occur during the grinding process by the machine, leading to an increase in the scrap rate.

[0003] In the prior art, Patent CN 108161664 B discloses a laser scanning and grinding system and method, Patent CN109551496 B discloses an industrial robot intelligent grinding system and grinding method, and Patent CN 118386236 A discloses a teaching-free robot autonomous welding and grinding method based on the combination of line laser scanning and stereo vision. A laser scanning and grinding system and method first emits laser signals to the part to be ground through the first, second, and third laser scanning and emitting devices, and the reflected signals are received by the laser receiving device; then the control device determines the 3D entity of the part to be ground according to the reflected signals, and compares it with the standard entity of the part to obtain the defective entity; then a defective grinding control signal is generated based on the defective entity; finally, the laser scanning and grinding device, according to this signal, uses the motor drive mechanism and the joint motion mechanism to drive the execution mechanism, and controls the grinding head to grind the defects of the part. During grinding, the pressure sensor and the electromagnetic control valve will protect the grinding head to avoid abnormal collisions. Although the grinding system of this mode protects the grinding head, it does not set corresponding grinding forces for different part defects, which will affect the grinding accuracy, may cause over-grinding and lead to workpiece scrapping, and does not verify whether the grinding accuracy is qualified. An industrial robot intelligent grinding system and grinding method first fixes the workpiece on the two-axis positioner. After completing the teaching of the basic starting point and ending point, the two-axis positioner flips and cooperates with the industrial camera to take pictures and sample. The industrial control computer processes the data to obtain the actual grinding starting and ending points and transmits them to the six-axis industrial robot to generate a running program; then the robot runs according to the program, controls the pressure and grinding force by the torque sensor, keeps the grinding tool in normal contact with the grinding surface, and uploads and saves the trajectory after the first pass of grinding; then the robot makes the laser detection device scan the grinding allowance, compares it with the visual sampling data to correct the grinding trajectory for secondary grinding; during secondary grinding, the pressure is reset and the allowance is processed, and the trajectory is uploaded again after completion; finally, the two-axis positioner moves and cooperates with the vision system to take pictures and compare the grinding completion degree. If the allowance is higher than the requirement, the above steps are repeated. This method can ensure the grinding accuracy, but repeated grinding many times will lead to too long grinding time and low production efficiency. A teaching-free robot autonomous welding and grinding method based on the combination of line laser scanning and stereo vision. This method first builds a teaching-free robot autonomous welding / grinding system, including calibrating the internal parameters of the stereo camera and the industrial camera, the light plane parameters, the relationship between the stereo camera eye-in-hand and the relationship between the line structured light scanning camera and the robot eye-in-hand; then based on the point cloud collected by the stereo camera, through operations such as preprocessing and plane fitting, the pose of the welding or grinding part of the workpiece is solved, and the pose of the robot end is planned to complete large-range positioning; then the robot plans the path and drives the line structured light scanning camera to scan the identified position with high precision; then preprocess the scanned data, extract the sub-pixel position of the center of the light strip and transform it into three-dimensional space, and extract the feature points of the welding or grinding position through algorithms to obtain a high-precision path; finally, convert the feature points to the robot base coordinate system, set the end effector, and generate and operate along the welding or grinding path on the weld seam.This method does not verify the grinding result to form a closed-loop control, and cannot guarantee the final grinding accuracy.

[0004] Therefore, how to provide a fast and accurate grinding method has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The object of the present invention is to solve the above problems and provide an automated side grinding system for thin-walled special-shaped parts based on a robot, which can accurately measure the grinding allowance distribution of each side of the workpiece and perform fast and accurate grinding.

[0006] To solve the above technical problems, the technical solution of the present invention is: an automated side grinding system for thin-walled special-shaped parts based on a robot, including a laser scanning device, a control device and a grinding device. The laser scanning device and the grinding device are both connected to the control device; the laser scanning device includes a collaborative robotic arm, a 3D scanner and a conformal detection tooling. Since the thin-walled special-shaped workpiece will deform during installation, the thin-walled special-shaped workpiece needs to be placed on the conformal detection tooling, and the 3D scanner is clamped at the end of the collaborative robotic arm to scan and detect the thin-walled special-shaped workpiece; the grinding device includes an automated rotary grinding tooling, a grinding robotic arm, a grinding head with force feedback and an automatic grinding sandpaper changing device. The torque sensing device is installed at the end of the grinding robotic arm, and the grinding tool is installed on the torque sensing device. The automated rotary grinding tooling is adjacent to the grinding robotic arm. The grinding amounts of each side of the thin-walled special-shaped workpiece are different. The automated rotary grinding tooling can rotate the side of the thin-walled special-shaped workpiece to be ground to the grinding position, and the grinding robotic arm performs grinding closed-loop control based on the force-time-grinding amount model; the control device includes a main control computer, an integrated control circuit and a robot control cabinet. The main control computer can plan the scanning path according to the size of the detected thin-walled special-shaped workpiece, control the collaborative robotic arm to clamp the 3D scanner to scan the thin-walled special-shaped workpiece, process the obtained point cloud data to obtain the machining allowance information, and send the machining allowance information to the grinding device, and generate a grinding path based on the force-time-grinding amount model for grinding closed-loop control according to the machining allowance information; before grinding, the thin-walled special-shaped workpiece is placed on the automated rotary grinding tooling, and the laser scanning device can scan the automated rotary grinding tooling to obtain the pre-grinding scanned point cloud data. After grinding, the laser scanning device can scan the automated rotary grinding tooling again to obtain the post-grinding point cloud data, and the control device can register and compare the point cloud data before and after grinding to calculate the actual grinding amount.

[0007] Preferably, the automatic grinding sandpaper changing device is provided to ensure that the grinding sandpaper meets the lowest particle size requirement for ensuring grinding accuracy. When the particle size of the grinding sandpaper does not meet the lowest particle size requirement, the sandpaper is automatically replaced in time.

[0008] Preferably, the grinding tool is configured with four grinding heads. In order to achieve different functions, appropriate grinding heads can be set according to actual needs for grinding.

[0009] Preferably, the grinding tool uses pneumatic grinding. The grinding heads are connected to the torque sensing device, and the four grinding heads are perpendicular to each other.

[0010] Preferably, the angle between the designed automated rotary grinding tooling and the horizontal plane is 45°, enabling the grinding robotic arm to grind each side of the thin-walled and abnormally shaped workpiece. A spray pipe is arranged beside the automated rotary grinding tooling to achieve dust reduction during the grinding process.

[0011] Preferably, the cooperation of the laser scanning device and the grinding device enables the automated side grinding system for thin-walled and abnormally shaped parts based on a robot to achieve automated grinding. Among them, the conformal detection tooling can detect the machining allowance for the deformation that will occur when the thin-walled and abnormally shaped workpiece is installed. The automated rotary grinding tooling can rotate the side to be ground to the grinding position, enabling the robotic arm to grind based on the force-time-grinding amount model. The four grinding heads set on the grinding tool can perform grinding in different environments according to the different shapes and different grinding requirements of the thin-walled and abnormally shaped workpiece. The laser scanning device performs secondary detection after grinding to achieve closed-loop control of grinding.

[0012] The present invention also provides a grinding process method for an automated side grinding system for thin-walled and abnormally shaped parts based on a robot, including the following steps:

[0013] S1. Fix the thin-walled and abnormally shaped workpiece on the automated rotary grinding tooling, set the grinding path according to the shape of the thin-walled and abnormally shaped workpiece, and conduct grinding experiments by controlling the grinding time and grinding pressure through the control variable method to obtain the force-time-grinding amount model. Keep the grinding time, grinding pressure, and the rotational speed of the grinding tool unchanged and conduct multiple grinding experiments. As the number of grinding times increases, observe the change in the grinding amount and determine the maximum cumulative grinding amount of a single grinding abrasive paper to ensure that the grinding abrasive paper can meet the minimum particle size requirement for grinding accuracy.

[0014] S2. Install the 3D scanner at the end of the collaborative robotic arm, fix the thin-walled and abnormally shaped workpiece on the conformal detection tooling. After fixation, generate a scanning path according to the position of the conformal detection tooling through the control device, obtain the point cloud data of the thin-walled and abnormally shaped workpiece, and calculate the machining allowance information of each side of the thin-walled and abnormally shaped workpiece through processing the point cloud data.

[0015] S3. After placing the thin-walled and abnormally shaped workpiece on the automated rotary grinding tooling, generate a scanning path according to the position of the automated rotary grinding tooling through the control device, and the 3D scanner scans the thin-walled and abnormally shaped workpiece before grinding to obtain the point cloud data of the thin-walled and abnormally shaped workpiece before grinding.

[0016] S4. The control device sets corresponding grinding pressures and grinding times at corresponding positions based on the machining allowance information of each side of the thin-walled special-shaped workpiece and the force-time-grinding amount model, and generates a grinding path for the grinding robot arm, enabling the grinding robot arm to perform one-time grinding and forming during the grinding process;

[0017] S5. After grinding, the 3D scanner scans the thin-walled special-shaped workpiece again to obtain the point cloud data after grinding. The control device registers and compares the point cloud data before and after grinding to calculate the actual grinding amount, forming a grinding closed-loop control to complete the grinding.

[0018] The beneficial effects of the present invention are:

[0019] 1. The automated side grinding system and grinding process method for thin-walled special-shaped parts based on a robot provided by the present invention. The grinding system in it can perform precise automated grinding according to the special processing requirements of thin-walled special-shaped workpieces, and has the advantages of convenient operation, high production efficiency, high machining accuracy, and good machining quality. The grinding method in it can accurately detect and calculate the distribution of machining allowances of each part of the thin-walled special-shaped workpiece, set corresponding grinding pressures for different machining allowances of each part for precise grinding, and perform secondary scanning detection after grinding to ensure the grinding accuracy, form a grinding closed-loop control, and complete the grinding quickly and efficiently.

[0020] 2. By the combined use of the laser scanning device and the grinding device in the present invention, the automated side grinding system for thin-walled special-shaped parts based on a robot can achieve fast and precise automated grinding, and has the advantages of convenient operation, high production efficiency, high machining accuracy, and good machining quality. The conformal detection tooling in it can accurately detect the machining allowance for the problem of deformation that occurs when the thin-walled special-shaped workpiece is installed. The automated rotary grinding tooling can rotate the side to be ground to the grinding position, enabling the robot arm to perform precise grinding based on the force-time-grinding amount model. The four grinding heads set on the grinding tool can perform grinding in different environments according to the different shapes and different grinding requirements of the thin-walled special-shaped workpiece. The laser scanning device performs secondary detection after grinding to achieve grinding closed-loop control and ensure the grinding accuracy. Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of the automated side grinding system for thin-walled special-shaped parts based on a robot in the present invention;

[0022] Figure 2 is a schematic diagram of the end-of-arm device of the grinding robot arm of the present invention;

[0023] Figure 3 is a block diagram of the system structure of the present invention;

[0024] Figure 4 is a working flow chart of the present invention.

[0025] Description of the reference numerals: 1. Integrated control circuit; 2. Main control computer; 3. Robot control cabinet; 4. Conformal detection tooling; 5. Detection workbench; 6. Collaborative robotic arm; 7. 3D scanner; 8. Automatic rotating grinding tooling; 9. Thin-walled special-shaped workpiece; 10. Grinding robotic arm; 11. Rotating motor; 12. Automatic grinding sandpaper changing device; 13. Force sensor; 14. Grinding tool. Specific embodiments

[0026] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0027] As Figures 1 to 4 shown, an automatic side grinding system for thin-walled special-shaped parts based on a robot provided by the present invention includes a laser scanning device, a control device and a grinding device, and the laser scanning device and the grinding device are both connected to the control device. The laser scanning device includes a collaborative robotic arm 6, a 3D scanner 7 and a conformal detection tooling 4. Since the thin-walled special-shaped workpiece 9 will be deformed during installation, the thin-walled special-shaped workpiece 9 needs to be placed on the conformal detection tooling 4, and the 3D scanner 7 is clamped at the end of the collaborative robotic arm 6 to scan and detect the thin-walled special-shaped workpiece 9. The grinding device includes an automatic rotating grinding tooling 8, a grinding robotic arm 10, a grinding head with force feedback and an automatic grinding sandpaper changing device 12. The torque sensing device is installed at the end of the grinding robotic arm 10, and the grinding tool 14 is installed on the torque sensing device. The automatic rotating grinding tooling 8 is adjacent to the grinding robotic arm 10. The grinding amounts of each side of the thin-walled special-shaped workpiece 9 are different. The automatic rotating grinding tooling 8 can rotate the side to be ground of the thin-walled special-shaped workpiece 9 to the grinding position, and the grinding robotic arm 10 performs grinding closed-loop control based on the force-time-grinding amount model. The control device includes a main control computer 2, an integrated control circuit 1 and a robot control cabinet 3. The main control computer 2 can plan the scanning path according to the size of the detected thin-walled special-shaped workpiece 9, control the collaborative robotic arm 6 to clamp the 3D scanner 7 to scan the thin-walled special-shaped workpiece 9, process the scanned point cloud data to obtain the machining allowance information, send the machining allowance information to the grinding device, and generate a grinding path based on the force-time-grinding amount model according to the machining allowance information for grinding closed-loop control. Before grinding, the thin-walled special-shaped workpiece 9 is placed on the automatic rotating grinding tooling 8. The laser scanning device can scan the automatic rotating grinding tooling to obtain the pre-grinding scanned point cloud data. After grinding, the laser scanning device can scan the automatic rotating grinding tooling again to obtain the post-grinding point cloud data. The control device can register and compare the point cloud data before and after grinding to calculate the actual grinding amount.

[0028] In this embodiment, the force-time-grinding amount model specifically refers to: First, experiments are conducted using the method of controlling variables. Except for the grinding time being different, the experimental parameters such as the grinding force, grinding sandpaper, and workpiece material are all kept the same for the experiments. The shortest grinding time required to meet the grinding accuracy requirements is determined through the final grinding results. Then, with parameters such as the grinding time, grinding sandpaper, and workpiece material remaining unchanged, grinding experiments are carried out by changing the grinding pressure. The grinding pressure is gradually increased in sequence for the grinding experiments. Each group of grinding experiments is carried out three times to prevent contingency. After each grinding, the actual grinding amount is measured. Finally, the corresponding relationship between different grinding pressures and the grinding amount is obtained, thereby establishing the force-time-grinding amount model.

[0029] In this embodiment, the 3D scanner 7 is installed at the end of the collaborative robotic arm 6. The conformal detection tooling 4 and the collaborative robotic arm 6 are jointly installed on the detection workbench 5. The automated rotary grinding tooling 8 is between the grinding robotic arm 10 and the collaborative robotic arm 6. The conformal detection tooling 4 and the automated rotary grinding tooling 8 are used to fix the thin-walled special-shaped workpiece 9. The torque sensing device is the force sensor 13. The force sensor 13 is installed at the end of the grinding robotic arm 10. The grinding tool 14 is installed on the force sensor 13. The collaborative robotic arm 6 and the grinding robotic arm 10 are electrically connected to the robot control cabinet 3. The automated rotary grinding tooling 8 is equipped with a rotary motor 11 and a rotary table. The rotary motor 11 is connected to the rotary table. The rotary table is a turntable structure driven by an existing motor. When the rotary motor 11 operates, it drives the rotary table to rotate. During the grinding operation, the thin-walled special-shaped workpiece 9 is placed on the rotary table and fixed. The robot control cabinet 3, the rotary motor 11, and the 3D scanner 7 are electrically connected to the integrated control circuit 1. The integrated control circuit 1 and the robot control cabinet 3 are electrically connected to the main control computer 2.

[0030] The setting of the grinding sandpaper automatic replacement device 12 is to ensure that the grinding sandpaper meets the lowest particle size requirement that can guarantee the grinding accuracy. When the particle size of the grinding sandpaper does not meet the lowest particle size requirement, the sandpaper is automatically replaced in a timely manner. In this embodiment, the lowest particle size requirement of the grinding sandpaper is 2 mm.

[0031] The grinding tool 14 is configured with four grinding heads. To achieve different functions, appropriate grinding heads can be set according to actual needs for grinding. The grinding tool uses pneumatic grinding. The grinding heads are connected to the torque sensing device, and the four grinding heads are perpendicular to each other.

[0032] The 3D scanner 7 performs laser scanning around the thin-walled special-shaped workpiece 9 above the thin-walled special-shaped workpiece 9. After the scanning is completed, the obtained point cloud data of the thin-walled special-shaped workpiece 9 is transmitted to the main control computer 2 for precise calculation of the machining allowance.

[0033] The automated rotary grinding tooling 8 is designed at an angle of 45° with the horizontal plane, enabling the grinding robotic arm 10 to grind each side of the thin-walled and abnormally shaped workpiece 9, and the automated rotary grinding tooling 8 can rotate the side to be ground to the grinding position. A spray pipeline is arranged beside the automated rotary grinding tooling to achieve dust reduction during the grinding process.

[0034] In this embodiment, the angle between the automated rotary grinding tooling 8 and the horizontal plane is 45°, which enables the collaborative robotic arm 6 to clamp the 3D scanner 7 to scan the thin-walled and abnormally shaped workpiece 9 on the automated rotary grinding tooling 8 more quickly, making the point cloud registration of the final thin-walled and abnormally shaped workpiece 9 more accurate and the calculated actual grinding amount more accurate.

[0035] The combined use of the laser scanning device and the grinding device enables the automated side grinding system for thin-walled and abnormally shaped parts based on a robot to achieve automated grinding. Among them, the conformal detection tooling can detect the machining allowance for the deformation that will occur when the thin-walled and abnormally shaped workpiece 9 is installed. The automated rotary grinding tooling can rotate the side to be ground to the grinding position, enabling the robotic arm to grind based on the force-time-grinding amount model. The four grinding heads set on the grinding tool can perform grinding in different environments according to the different shapes and different grinding requirements of the thin-walled and abnormally shaped workpiece 9; the laser scanning device performs secondary detection after grinding to achieve closed-loop control of grinding.

[0036] The present invention also discloses a grinding process method for an automated side grinding system for thin-walled and abnormally shaped parts based on a robot, including the following steps:

[0037] S1. Fix the thin-walled and abnormally shaped workpiece 9 on the automated rotary grinding tooling 8, set the grinding path according to the shape of the thin-walled and abnormally shaped workpiece 9, and conduct grinding experiments by controlling the grinding time and grinding pressure through the control variable method to obtain the force-time-grinding amount model; keep the grinding time, grinding pressure, and grinding tool rotation speed unchanged and conduct multiple grinding experiments. As the number of grinding times increases, observe the change in the grinding amount and determine the maximum cumulative grinding amount of a single grinding sandpaper to ensure that the grinding sandpaper can meet the minimum particle size requirement for grinding accuracy.

[0038] S2. Install the 3D scanner 7 at the end of the collaborative robotic arm 6, fix the thin-walled and abnormally shaped workpiece 9 on the conformal detection tooling 4. After fixing, generate a scanning path according to the position of the conformal detection tooling 4 through the control device, obtain the point cloud data of the thin-walled and abnormally shaped workpiece 9, and calculate the machining allowance information of each side of the thin-walled and abnormally shaped workpiece 9 through point cloud data processing.

[0039] S3. After placing the thin-walled and abnormally shaped workpiece 9 on the automated rotary grinding tooling 8, generate a scanning path according to the position of the automated rotary grinding tooling 8 through the control device, and the 3D scanner 7 scans the thin-walled and abnormally shaped workpiece 9 before grinding to obtain the point cloud data of the thin-walled and abnormally shaped workpiece 9 before grinding.

[0040] S4. The control device sets corresponding grinding pressures and grinding times at corresponding positions based on the machining allowance information of each side of the thin-walled special-shaped workpiece 9 and then based on the force-time-grinding amount model, and generates a grinding path for the grinding robotic arm, so that the grinding robotic arm 10 can perform one-time grinding and forming during the grinding process.

[0041] S5. After the grinding is completed, the 3D scanner 7 scans the thin-walled special-shaped workpiece 9 on the automatic rotary grinding tooling 8 again to obtain the point cloud data after grinding. The control device registers and compares the point cloud data before and after grinding to calculate the actual grinding amount, forms a grinding closed-loop control, and completes the grinding.

[0042] Those of ordinary skill in the art will realize that the embodiments described herein are for helping the reader understand the principles of the present invention, and it should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those of ordinary skill in the art can make various other specific deformations and combinations that do not depart from the essence of the present invention according to these technical revelations disclosed in the present invention, and these deformations and combinations are still within the protection scope of the present invention.

Claims

1. An automated side grinding system for thin-walled special-shaped parts based on a robot, characterized in that: It includes a laser scanning device, a control device and a grinding device. The laser scanning device and the grinding device are both connected to the control device. The laser scanning device includes a collaborative robotic arm, a 3D scanner and a conformal detection tooling. Since the thin-walled special-shaped workpiece will deform during installation, the thin-walled special-shaped workpiece needs to be placed on the conformal detection tooling. The 3D scanner is clamped at the end of the collaborative robotic arm to scan and detect the thin-walled special-shaped workpiece. The grinding device includes an automated rotating grinding tooling, a grinding robotic arm, a grinding head with force feedback and a grinding sandpaper automatic replacement device. A torque sensing device is installed at the end of the grinding robotic arm, and the grinding tool is installed on the torque sensing device. The automated rotating grinding tooling is adjacent to the grinding robotic arm. The grinding amounts of each side of the thin-walled special-shaped workpiece are different. The automated rotating grinding tooling can rotate the side of the thin-walled special-shaped workpiece to be ground to the grinding position, and the grinding robotic arm performs grinding closed-loop control based on the force-time-grinding amount model. The control device includes a main control computer, an integrated control circuit and a robot control cabinet. The main control computer can detect the size of the thin-walled special-shaped workpiece and plan the scanning path, control the collaborative robotic arm to clamp the 3D scanner to scan the thin-walled special-shaped workpiece, process the scanned point cloud data to obtain the machining allowance information, send the machining allowance information to the grinding device, and generate a grinding path based on the force-time-grinding amount model for grinding closed-loop control according to the machining allowance information. Before grinding, the thin-walled special-shaped workpiece is placed on the automated rotating grinding tooling. The laser scanning device can scan the automated rotating grinding tooling to obtain the pre-grinding scanned point cloud data. After grinding, the laser scanning device can scan the automated rotating grinding tooling again to obtain the post-grinding point cloud data. The control device can register and compare the point cloud data before and after grinding to calculate the actual grinding amount.

2. The automated side grinding system for thin-walled special-shaped parts based on a robot according to claim 1, wherein: The grinding sandpaper automatic replacement device is set to ensure that the grinding sandpaper meets the lowest particle size requirement for ensuring grinding accuracy. When the particle size of the grinding sandpaper does not meet the lowest particle size requirement, the sandpaper is automatically replaced in a timely manner.

3. The automated side grinding system for thin-walled special-shaped parts based on a robot according to claim 1, characterized in that: The grinding tool is configured with four grinding heads. In order to achieve different functions, appropriate grinding heads can be set according to actual needs for grinding.

4. The automated side grinding system for thin-walled special-shaped parts based on a robot according to claim 1, wherein: The grinding tool uses pneumatic grinding. The grinding head is connected to the torque sensing device, and the four grinding heads are perpendicular to each other.

5. The automated side grinding system for thin-walled special-shaped parts based on a robot according to claim 1, wherein: The automated rotating grinding tooling is designed at an angle of 45° with the horizontal plane, so that the grinding robotic arm can grind each side of the thin-walled special-shaped workpiece. A spray pipe is set beside the automated rotating grinding tooling to achieve dust reduction during the grinding process.

6. The automated side grinding system for thin-walled special-shaped parts based on a robot according to claim 1, wherein: The combined use of the laser scanning device and the grinding device enables the automated side grinding system for thin-walled special-shaped parts based on a robot to achieve automated grinding. Among them, the conformal detection tooling can detect the machining allowance for the deformation that occurs during the installation of thin-walled special-shaped workpieces. The automated rotary grinding tooling can rotate the side to be ground to the grinding position, enabling the robotic arm to perform grinding based on the force-time-grinding amount model. The four grinding heads set on the grinding tool can perform grinding in different environments according to the different shapes and different grinding requirements of thin-walled special-shaped workpieces. The laser scanning device performs secondary detection after grinding to achieve closed-loop grinding control.

Images