Double-robot collaborative polishing and grinding machining system and method

Abstract

The invention relates to the technical field of industrial robot polishing and grinding machining, in particular to a double-robot collaborative polishing and grinding machining system and method, and solves the technical problems that according to an existing method, double-face collaborative control is difficult to achieve, and machining of any face can directly affect machining deformation of the other face. The device comprises a base, a rotary table, a driving mechanism and a master / slave six-degree-of-freedom industrial robot, the driving mechanism is used for driving the rotary table to rotate around a Z axis, the rotary table is fixedly connected with a clamp used for clamping a blade to be polished and ground, the master / slave six-degree-of-freedom industrial robot is connected with a master / slave polishing and grinding assembly, and the master / slave polishing and grinding assembly is connected with a master / slave flap wheel used for double-sided collaborative polishing and grinding of the blade. According to the double-robot collaborative polishing and grinding machining method, online programming track planning of the robots is achieved through the polar coordinate system, the track planning difficulty is lowered, the motion tracks of the robots are simplified, the motion precision and the feedback speed of the robots are effectively improved, and the control precision of double-robot collaborative polishing and grinding machining is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot polishing and machining, and particularly relates to a dual-robot collaborative polishing and machining system and method. Background Art

[0002] As a typical thin-walled part, a blade is prone to part deformation error during the machining process due to factors such as mechanical and cutting forces, which seriously affects the working performance of the part. Existing deformation control methods mainly rely on optimizing machining parameters. However, the optimized machining parameters are often relatively conservative, inevitably increasing the machining time. Existing real-time compensation methods based on sensors and offline compensation methods based on prediction have both studied how to reduce and control workpiece deformation. These methods require precise measuring instruments or accurate error prediction models. Therefore, the machining system is both expensive and complex. In recent years, with the rapid development of intelligent manufacturing technology, robots with low cost, large operating range, and high machining flexibility have gradually replaced machine tools and become the first choice for high-efficiency machining of large parts.

[0003] In traditional robot machining methods, thin-walled parts such as blades usually need to be alternately machined on the front and back sides. Existing machining deformation control methods are mainly for single-sided machining. Limited by the machining clamping method, it is very difficult to achieve double-sided collaborative control of machining deformation during the machining process, and the machining of any side of the blade will directly affect the machining deformation of the other side. Therefore, there is an urgent need for a machining method that can achieve collaborative control of deformation on both the front and back sides of thin-walled parts such as blades. Summary of the Invention

[0004] To overcome the technical defect that it is difficult to achieve double-sided collaborative control in existing blade machining deformation control methods, and the machining of any side will directly affect the machining deformation of the other side, the present invention provides a dual-robot collaborative polishing and machining system and method to achieve double-sided collaborative machining of thin-walled parts such as blades and reduce part machining deformation.

[0005] The present invention provides a dual-robot collaborative polishing and grinding processing system, which includes a base, a turntable, a driving mechanism, a main six-degree-of-freedom industrial robot, and a slave six-degree-of-freedom industrial robot. The turntable is rotatably installed on the base, and the driving mechanism is used to drive the turntable to rotate around the Z-axis of the turntable coordinate system. A fixture for clamping the blade to be polished and ground is fixedly connected to the top of the turntable. The Z-axis is parallel to the length direction of the blade and penetrates through the blade. The movable ends of the main six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot are respectively connected with a main polishing and grinding assembly and a slave polishing and grinding assembly. The output ends of the main polishing and grinding assembly and the slave polishing and grinding assembly are respectively connected with a main hundred-leaf wheel and a slave hundred-leaf wheel for double-sided collaborative polishing and grinding of the blade. The structural dimensions of the main hundred-leaf wheel and the slave hundred-leaf wheel are equal, but the mesh numbers are different. The driving mechanism is electrically connected to the control system of the main six-degree-of-freedom industrial robot, and the driving mechanism is controlled by the control system of the main six-degree-of-freedom industrial robot, so that the Z-axis of the turntable coordinate system serves as the seventh rotation axis of the main six-degree-of-freedom industrial robot.

[0006] The turntable clamps the blade and rotates slowly around the Z-axis. The main six-degree-of-freedom industrial robot, the slave six-degree-of-freedom industrial robot, together with the main polishing and grinding assembly and the slave polishing and grinding assembly, drive the main hundred-leaf wheel and the slave hundred-leaf wheel to achieve collaborative motion in the polar coordinate system, ensuring that the main hundred-leaf wheel and the slave hundred-leaf wheel keep in contact with the front and back surfaces of the blade with a certain pressure, and realizing the collaborative polishing and grinding processing of the front and back surfaces of the blade.

[0007] The present invention also provides a dual-robot collaborative polishing and grinding processing method, which is realized based on the dual-robot collaborative polishing and grinding processing system described in the present invention, and includes the following steps: Step 1, solve the motion trajectories of the top center of the main hundred-leaf wheel and the top center of the slave hundred-leaf wheel relative to the blade surface in the two-dimensional plane; Take the first cross-sectional contour of the blade at height. The coordinates of the points on the first cross-sectional contour are , and calculate the straight-line equations between adjacent points in turn: When , , When , ; Translate the straight line corresponding to the straight-line equation by unit lengths, and the translation direction is perpendicular to the straight line, then: When , If , the translated straight-line equation is: , If , the translated straight-line equation is: , When When If , the equation of the translated line is: , If , the equation of the translated line is: , where is the angle between the line corresponding to the line equation and the horizontal direction, represents the radius of the main hundred impellers, represents the abrasive polishing compression; Denote all the line equations between adjacent points obtained as . Solve the equations of any two adjacent line equations simultaneously. The obtained points are the center points of the top surfaces of the main hundred impellers and the control points of the movement trajectories of the center points of the top surfaces of the secondary hundred impellers relative to the blade surface. Store the abscissas and ordinates of all control points as two columns to obtain matrix. Import the matrix data into the maltlab software and use Bezier curve fitting to obtain the movement trajectories of the center points of the top surfaces of the main hundred impellers and the center points of the top surfaces of the secondary hundred impellers relative to the blade surface; Take the second cross-sectional profile of the blade at the height, where is the height of the main hundred impeller. Since the top surfaces of the main hundred impeller and the secondary hundred impeller are both flush with the first cross-sectional profile, the second cross-sectional profile is respectively flush with the middle plane of the main hundred impeller and the middle plane of the secondary hundred impeller. The first cross-sectional profile and the second cross-sectional profile are only located at different height positions of the main hundred impeller and the secondary hundred impeller. Therefore, the movement trajectories of the center points of the middle planes of the main hundred impeller and the secondary hundred impeller relative to the blade surface can be obtained simultaneously through the above method; Step 2: Establish the end poses of the main six-degree-of-freedom industrial robot and the secondary six-degree-of-freedom industrial robot relative to the blade surface; Assume the turntable is stationary and the main polishing assembly moves around the blade. On the blade surface, respectively take the first cross-sectional profile of the blade at the height and the second cross-sectional profile of the blade at the height; Convert the movement trajectory of the center of the main hundred impeller cross-section relative to the blade surface directly into the movement trajectory points in the polar coordinate system. In the formula is the polar radius, is the polar angle. Then the profile points of the center of the top surface of the main hundred impeller corresponding to the first cross-sectional profile of the blade are expressed as: , The profile points of the center of the middle plane of the main hundred impeller corresponding to the second cross-sectional profile of the blade are expressed as: , Among them, , The value range of is , and the corresponding polar radii of the polar angle and are respectively Convert the center contour points and of the main impeller corresponding to the first cross-section contour and the second cross-section contour into coordinate points A and B based on the turntable coordinate system respectively. Then A is ( ), B is ( ). Connect AB, and AB is the axis of the main impeller. Then according to the formula: , , , Obtain the direction vector of the straight line AB. Then combined with the coordinates of point A ( ), the end pose ( ) of the main six-degree-of-freedom industrial robot relative to the blade surface in the turntable coordinate system can be obtained. Thus, the end pose of the main six-degree-of-freedom industrial robot relative to the blade surface is established. Since the main six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot have the same structure, the calculation method of the end pose of the slave six-degree-of-freedom industrial robot relative to the blade surface is the same as the above; Step 3: Establish the cooperative motion relationship between the main six-degree-of-freedom industrial robot and the turntable; Taking the point set on the motion trajectory of the center of the top surface of the main impeller relative to the first cross-section contour of the blade as the control points, establish the cooperative motion relationship between the turntable and the main six-degree-of-freedom industrial robot based on the polar coordinate system. Suppose the coordinates of two adjacent points C on the motion trajectory of the center of the top surface of the main impeller relative to the first cross-section contour of the blade are ( ), and the coordinates of point D are ( ). Decompose the process of point C moving to point D. The turntable needs to rotate an angle ( ), and the main six-degree-of-freedom industrial robot moves linearly a unit length at point C in cooperation with the turntable. Thus, the cooperative motion relationship between the main six-degree-of-freedom industrial robot and the turntable is established based on the control points of the motion trajectory of the center of the top surface of the main impeller relative to the first cross-section contour of the blade; Since the machining methods at different cross-sections of the blade body part are the same, therefore, similarly, the cooperative motion relationship between the main six-degree-of-freedom industrial robot and the turntable on the other cross-section contours of the blade body part can be obtained; Step 4: Establish the cooperative motion relationship between the master six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot; Taking the point sets on the motion trajectories of the center of the top surface of the master hundred-leaf wheel and the center of the top surface of the slave hundred-leaf wheel relative to the first cross-sectional profile of the blade surface as control points, and based on the principle that the line connecting the center of the top surface of the master hundred-leaf wheel and the center of the top surface of the slave hundred-leaf wheel must pass through the pole of the polar coordinate system during the machining process, establish the cooperative motion of the master six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot to complete the cooperative polishing and grinding of the front and back sides of the blade.

[0008] The linkage between the master six-degree-of-freedom industrial robot and the turntable is realized through the control points on the motion trajectory of the center of the top surface of the master hundred-leaf wheel relative to the first cross-sectional profile. The contour points on the motion trajectory of the center of the top surface of the master hundred-leaf wheel relative to the first cross-sectional profile are used as control points to control the end position of the master six-degree-of-freedom industrial robot; the direction vector is calculated by combining the contour points on the motion trajectory of the center of the middle plane of the master hundred-leaf wheel relative to the second cross-sectional profile to control the end attitude of the master six-degree-of-freedom industrial robot; the master six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot then achieve cooperative motion through geometric constraints. Based on the control points on the corresponding center trajectories, following the principle that the line connecting the center of the top surface of the master hundred-leaf wheel and the center of the top surface of the slave hundred-leaf wheel passes through the pole of the polar coordinate system during the motion process, establish the cooperative motion between the master six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot.

[0009] The technical solution provided by the present invention has the following technical effects compared with the prior art: The motion degrees of freedom of the dual-robot cooperative polishing and grinding processing system of the present invention are relatively high, which can effectively realize the cooperative polishing and grinding of the front and back sides of parts, improve the uniformity of material removal on the workpiece surface, reduce machining deformation, and improve the polishing efficiency of parts; compared with the traditional robot polishing method, the dual-robot cooperative polishing and grinding method of the present invention realizes the online programming trajectory planning of the robot through the polar coordinate system, reduces the difficulty of trajectory planning, simplifies the robot motion trajectory, effectively improves the motion accuracy and the robot feedback speed, and improves the control accuracy of the dual-robot cooperative polishing and grinding. Description of the Drawings

[0010] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments in line with the present invention, and are used together with the specification to explain the principles of the present invention.

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0012] Figure 1Schematic structural diagram of a dual-robot collaborative polishing and grinding processing system described in an embodiment of the present invention; Figure 2 Schematic diagram for solving the motion trajectories of the centers of the main hundred-impeller and the slave hundred-impeller relative to the blade surface in a two-dimensional plane in an embodiment of the present invention; Figure 3 Schematic diagram when the radii of the main hundred-impeller and the slave hundred-impeller are the same, and the connecting line between the centers of the top surfaces of the main hundred-impeller and the slave hundred-impeller passes through the pole of the polar coordinate system during the motion process.

[0013] In the figure: 1. Main six-degree-of-freedom industrial robot; 2. Main polishing and grinding assembly; 3. Slave polishing and grinding assembly; 4. Slave six-degree-of-freedom industrial robot; 5. Main hundred-impeller; 6. Blade; 7. Fixture; 8. Base; 9. Slave hundred-impeller; 10. Driving mechanism; 11. Turntable; 14. First cross-sectional profile; 15. Second cross-sectional profile. Specific embodiments

[0014] In order to be able to more clearly understand the above-mentioned objects, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0015] Many specific details are set forth in the following description in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present invention, rather than all the embodiments.

[0016] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0017] In one embodiment, as Figure 1 shown, a dual-robot collaborative polishing and grinding processing system is disclosed, including a base 8, a turntable 11, a driving mechanism 10, a main six-degree-of-freedom industrial robot 1, and a slave six-degree-of-freedom industrial robot 4. The turntable 11 is rotatably installed on the base 8. The driving mechanism 10 is used to drive the turntable 11 to rotate around the Z-axis of the turntable coordinate system. A fixture 7 for clamping the blade 6 to be polished and ground is fixedly connected to the top of the turntable 11. The Z-axis is parallel to the length direction of the blade 6 and penetrates the blade 6. The movable ends of the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 are respectively connected with a main polishing and grinding assembly 2 and a slave polishing and grinding assembly 3. The output ends of the main polishing and grinding assembly 2 and the slave polishing and grinding assembly 3 are respectively connected with a main hundred-impeller 5 and a slave hundred-impeller 9 for double-sided collaborative polishing and grinding of the blade 6. The structural dimensions of the main hundred-impeller 5 and the slave hundred-impeller 9 are equal and the mesh numbers are different; the driving mechanism 10 is electrically connected to the control system of the main six-degree-of-freedom industrial robot 1, and the driving mechanism 10 is controlled by the control system of the main six-degree-of-freedom industrial robot 1, so that the Z-axis of the turntable coordinate system serves as the seventh rotation axis of the main six-degree-of-freedom industrial robot 1.

[0018] The turntable 11 clamps the blade 6 and rotates slowly around the Z-axis. The main six-degree-of-freedom industrial robot 1, the slave six-degree-of-freedom industrial robot 4, together with the main polishing assembly 2 and the slave polishing assembly 3, drive the main hundred-leaf wheel 5 and the slave hundred-leaf wheel 9 to achieve coordinated movement in the polar coordinate system, ensuring that the main hundred-leaf wheel 5 and the slave hundred-leaf wheel 9 keep in contact with both sides of the blade 6 with a certain pressure, so as to realize the coordinated polishing process of both sides of the blade 6.

[0019] In this embodiment, a double-robot coordinated polishing method is also disclosed, which is realized based on the double-robot coordinated polishing system described in the present invention, and includes the following steps: Step 1: Solve the movement trajectories of the top surface centers of the main hundred-leaf wheel 5 and the slave hundred-leaf wheel 9 relative to the surface of the blade 6 in the two-dimensional plane; Take the first cross-sectional profile 14 of the blade 6 at height. The coordinates of the points on the first cross-sectional profile 14 are , and calculate the linear equations between adjacent points in turn: When , , When , ; Translate the straight line corresponding to the linear equation by unit lengths, and the translation direction is perpendicular to the straight line, then: When , If , the translated linear equation is: , If , the translated linear equation is: , When , If , the translated linear equation is: , If , the translated linear equation is: , Among them, is the angle between the straight line corresponding to the linear equation and the horizontal direction, represents the radius of the main hundred-leaf wheel 5, represents the polishing compression amount; Record all the linear equations between adjacent points obtained as , solve any two adjacent straight line equations simultaneously, the point to be found is the control point of the top center of the main louver wheel 5 and the top center of the secondary louver wheel 9 relative to the movement trajectory of the blade 6 surface, store the horizontal and vertical coordinates of all control points into two columns, and get The matrix is ​​imported into the MaltLab software, and the motion trajectory of the top center of the main louver wheel 5 and the top center of the secondary louver wheel 9 relative to the surface of the blade 6 is obtained by using Bezier curve fitting; Take blade 6 A second cross-sectional profile 15 in height, wherein is the height of the main louver wheel 5. Since the top surface of the main louver wheel 5 and the top surface of the secondary louver wheel 9 are both flush with the first cross-sectional profile 14, the second cross-sectional profile 15 is respectively flush with the middle plane of the main louver wheel 5 and the middle plane of the secondary louver wheel 9. The first cross-sectional profile 14 and the second cross-sectional profile 15 are only located at different height positions of the main louver wheel 5 and the secondary louver wheel 9. Therefore, the above method can simultaneously obtain the movement trajectory of the middle plane center of the main louver wheel 5 and the middle plane center of the secondary louver wheel 9 relative to the surface of the blade 6; Step 2, establishing the terminal positions of the master six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 relative to the surface of the blade 6; Assume that the turntable 11 is stationary, the main polishing assembly 2 moves around the blade 6, and the blade 6 is taken on the surface of the blade 6. The first cross-sectional profile 14 and the blade 6 at the height A second cross-sectional profile 15 in height; The motion trajectory of the center of the cross section of the main louver wheel 5 relative to the surface of the blade 6 is calculated based on Directly converted into the motion trajectory point in the polar coordinate system, the formula is the polar diameter, is the polar angle, then the contour points of the top center of the main louver wheel 5 and the top center of the secondary louver wheel 9 corresponding to the first cross-sectional contour 14 of the blade 6 are expressed as: , The contour points of the center of the middle plane of the main louver wheel 5 and the center of the middle plane of the secondary louver wheel 9 corresponding to the second cross-sectional contour 15 of the blade 6 are expressed as: , in, , The value range is , at this time the polar angle The corresponding polar diameters are and ; The center contour point of the main shutter wheel 5 corresponding to the first cross-sectional contour 14 and the second cross-sectional contour 15 is and They are respectively transformed into coordinate points A and B in the turntable coordinate system. Then A is ( ), and B is ( ). Connect AB. AB is the axis of the main impeller 5. Then, according to the formula: , , , The direction vector of the straight line AB is obtained as . Then, combined with the coordinates of point A ( ), the end pose of the main six-degree-of-freedom industrial robot 1 relative to the surface of the blade 6 in the turntable coordinate system can be obtained as ). Thus, the end pose of the main six-degree-of-freedom industrial robot 1 relative to the surface of the blade 6 is established. Since the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 have the same structure, the calculation method of the end pose of the slave six-degree-of-freedom industrial robot 4 relative to the surface of the blade 6 is the same as the above; Step 3: Establish the cooperative motion relationship between the main six-degree-of-freedom industrial robot 1 and the turntable 11; Taking the point set on the motion trajectory of the center of the top surface of the main impeller 5 relative to the first cross-sectional profile 14 of the blade 6 as the control points, the cooperative motion relationship between the turntable 11 and the main six-degree-of-freedom industrial robot 1 is established based on the polar coordinate system. Let the coordinates of two adjacent points C on the motion trajectory of the center of the top surface of the main impeller 5 relative to the first cross-sectional profile 14 of the blade 6 be ( ), and the coordinates of point D be ( ). When decomposing the process of point C moving to point D, the turntable 11 needs to be rotated by an angle ( ), and the main six-degree-of-freedom industrial robot 1 moves linearly with the turntable 11 by a unit length of at point C. Thus, the cooperative motion relationship between the main six-degree-of-freedom industrial robot 1 and the turntable 11 is established based on the control points on the motion trajectory of the center of the top surface of the main impeller 5 relative to the first cross-sectional profile 14 of the blade 6; Since the machining methods at different cross-sections of the blade body part of the blade 6 are the same, similarly, the cooperative motion relationship between the main six-degree-of-freedom industrial robot 1 and the turntable 11 on other cross-sectional profiles of the blade body part of the blade 6 can be obtained; Step 4: Establish the cooperative motion relationship between the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4; Taking the set of points on the movement trajectories of the center of the top surface of the main impeller 5 and the center of the top surface of the slave impeller 9 relative to the first cross-sectional profile 14 of the blade 6 as control points, and based on the principle that the line connecting the center of the top surface of the main impeller 5 and the center of the top surface of the slave impeller 9 must pass through the pole of the polar coordinate system during the machining process, the collaborative movement of the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 is established to complete the collaborative polishing of the front and back sides of the blade 6.

[0020] The linkage between the main six-degree-of-freedom industrial robot 1 and the turntable 11 is realized through the control points on the movement trajectory of the center of the top surface of the main impeller 5 relative to the first cross-sectional profile 14. The contour points on the movement trajectory of the center of the top surface of the main impeller 5 relative to the first cross-sectional profile 14 are used as control points to control the end position of the main six-degree-of-freedom industrial robot 1; the direction vector is calculated by combining the contour points on the movement trajectory of the center of the middle plane of the main impeller 5 relative to the second cross-sectional profile 15 to control the end attitude of the main six-degree-of-freedom industrial robot 1; the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 then realize collaborative movement through geometric constraints. Based on the control points on the corresponding center trajectory and following the principle that the line connecting the center of the top surface of the main impeller 5 and the center of the top surface of the slave impeller 9 passes through the pole of the polar coordinate system during the movement process, the collaborative movement between the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 is established.

[0021] According to the above steps, the pose matrices of the ends of the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 relative to the turntable coordinate system can be accurately calculated. According to the pose transformation matrix between the base coordinate system and the turntable coordinate system, the end pose matrices of the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 relative to the base coordinate system can be obtained, realizing the online programming of the collaborative movement of the dual robots and the dual-sided collaborative machining of thin-walled parts such as the blade 6.

[0022] Specifically, the processes of obtaining the accurate digital model of the component, fitting with Bessel curves, and coordinate transformation are all well-known technologies to those skilled in the art, so no detailed description is given.

[0023] The above are only specific implementation manners of the present invention, enabling those skilled in the art to understand or implement the present invention. Although the above-described embodiments have been described in detail, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the above embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the above embodiments, and they should all be covered by the protection scope of the claims.

Claims

1. A dual-robot collaborative polishing and grinding processing system, characterized in that, It includes a base (8), a turntable (11), a driving mechanism (10), a main six-degree-of-freedom industrial robot (1) and a slave six-degree-of-freedom industrial robot (4). The turntable (11) is rotatably mounted on the base (8). The driving mechanism (10) is used to drive the turntable (11) to rotate around the Z-axis of the turntable coordinate system. A fixture (7) for clamping the blade (6) to be polished is fixedly connected to the top of the turntable (11). The Z-axis is parallel to the length direction of the blade (6) and penetrates through the blade (6). The movable ends of the main six-degree-of-freedom industrial robot (1) and the slave six-degree-of-freedom industrial robot (4) are respectively connected with a main polishing assembly (2) and a slave polishing assembly (3). The output ends of the main polishing assembly (2) and the slave polishing assembly (3) are respectively connected with a main hundred-leaf wheel (5) and a slave hundred-leaf wheel (9) for double-sided collaborative polishing of the blade (6). The structural dimensions of the main hundred-leaf wheel (5) and the slave hundred-leaf wheel (9) are equal but the mesh numbers are different. The driving mechanism (10) is electrically connected to the control system of the main six-degree-of-freedom industrial robot (1), and the driving mechanism (10) is controlled by the control system of the main six-degree-of-freedom industrial robot (1) to make the Z-axis of the turntable coordinate system serve as the seventh rotation axis of the main six-degree-of-freedom industrial robot (1).

2. A dual-robot collaborative polishing and grinding processing method, characterized in that, It is realized based on the dual-robot collaborative polishing processing system described in claim 1, and includes the following steps: Step 1: Solve the motion trajectories of the center of the top surface of the main hundred-leaf wheel (5) and the center of the top surface of the slave hundred-leaf wheel (9) in the two-dimensional plane relative to the surface of the blade (6). Take the first cross-sectional profile (14) of the blade (6) at the height. The coordinates of the points on the first cross-sectional profile (14) are , and calculate the straight-line equations between adjacent points in sequence: When then and When then ; Translate the straight line corresponding to the straight line equation by When then If , the equation of the translated line is: ， If , then the equation of the translated line is: ， When , If , the equation of the translated line is: ， If , the equation of the translated straight line is: ， Among them, is the angle between the straight line corresponding to the straight line equation and the horizontal direction, represents the radius of the main hundred impellers (5), represents the polishing and compression amount; The equation of the straight line between all two adjacent points is recorded as , solve any two adjacent straight line equations simultaneously, the point to be found is the control point of the top center of the main louver wheel (5) and the top center of the secondary louver wheel (9) relative to the movement trajectory of the blade (6) surface, store the horizontal and vertical coordinates of all control points in two columns, and get The matrix is ​​imported into the MaltLab software, and the motion trajectory of the top surface center of the main louver wheel (5) and the top surface center of the slave louver wheel (9) relative to the surface of the blade (6) is obtained by using Bezier curve fitting; Take the second sectional profile (15) of the blade (6) at the height, where is the height of the main impeller (5). Since the top surfaces of the main impeller (5) and the secondary impeller (9) are both flush with the first sectional profile (14), the second sectional profile (15) is flush with the middle plane of the main impeller (5) and the middle plane of the secondary impeller (9) respectively. The first sectional profile (14) and the second sectional profile (15) are only located at different height positions of the main impeller (5) and the secondary impeller (9). Therefore, the movement trajectories of the centers of the middle planes of the main impeller (5) and the secondary impeller (9) relative to the surface of the blade (6) can be obtained simultaneously by the above method; Step 2: Establish the end poses of the main six-degree-of-freedom industrial robot (1) and the slave six-degree-of-freedom industrial robot (4) relative to the surface of the blade (6). Assume that the turntable (11) is stationary and the main polishing component (2) moves around the blade (6). On the surface of the blade (6), the first cross-sectional profile (14) of the blade (6) at the height and the second cross-sectional profile (15) of the blade (6) at the height are respectively taken; The movement locus of the center of the cross-section of the main hundred-leaf impeller (5) relative to the surface of the blade (6) is directly converted into the movement locus points in the polar coordinate system. In the formula, is the polar radius, and is the polar angle. Then, the contour points of the center of the top surface of the main hundred-leaf impeller (5) corresponding to the first cross-section contour (14) of the blade (6) are expressed as: ， The contour points of the center of the middle plane of the main hundred-leaf wheel (5) corresponding to the second cross-sectional contour (15) of the blade (6) are expressed as: ， Among them, , The value range of is , and the corresponding polar radii of the polar angle and are respectively The center contour points of the main hundred impellers (5) corresponding to the first cross-sectional contour (14) and the second cross-sectional contour (15) and are respectively transformed into coordinate points A and B based on the turntable coordinate system. Then A is ( ), B is ([[]] ). Connect AB, and AB is the axis of the main hundred impeller (5). Then according to the formula:​ ， ， ， Obtain the direction vector of line AB , and then combined with the coordinates of point A ( ), the end pose of the main six-degree-of-freedom industrial robot (1) relative to the surface of the blade (6) in the turntable coordinate system can be obtained ( ), thus establishing the end pose of the main six-degree-of-freedom industrial robot (1) relative to the surface of the blade (6); since the main six-degree-of-freedom industrial robot (1) and the slave six-degree-of-freedom industrial robot (4) have the same structure, the calculation method of the end pose of the slave six-degree-of-freedom industrial robot (4) relative to the surface of the blade (6) is the same as the above; Step 3: Establish the collaborative motion relationship between the main six-degree-of-freedom industrial robot (1) and the turntable (11). The set of points on the movement trajectory of the center of the top surface of the main hundred - blade wheel (5) relative to the first - section contour (14) of the blade (6) is used as the control points. Based on the polar coordinate system, the cooperative motion relationship between the turntable (11) and the main six - degree - of - freedom industrial robot (1) is established. Let the coordinates of two adjacent points C on the movement trajectory of the center of the top surface of the main hundred - blade wheel (5) relative to the first - section contour (14) be ( ), and the coordinates of point D be ( ). When decomposing the process of point C moving to point D, the turntable (11) needs to rotate an angle ( ), and the main six - degree - of - freedom industrial robot (1) cooperates with the turntable (11) to move linearly by a unit length . Thus, based on the control points on the movement trajectory of the center of the top surface of the main hundred - blade wheel (5) relative to the first - section contour (14) of the blade (6), the cooperative motion relationship between the main six - degree - of - freedom industrial robot (1) and the turntable (11) is established; Since the processing methods at different cross-sections of the blade body part of the blade (6) are the same, the collaborative motion relationship between the main six-degree-of-freedom industrial robot (1) and the turntable (11) on other cross-sectional contours of the blade body part of the blade (6) can be obtained similarly. Step 4: Establish the collaborative motion relationship between the main six-degree-of-freedom industrial robot (1) and the slave six-degree-of-freedom industrial robot (4). Taking the point sets on the motion trajectories of the center of the top surface of the main hundred-leaf wheel (5) and the center of the top surface of the slave hundred-leaf wheel (9) relative to the first cross-sectional contour (14) of the blade (6) as control points, and based on the principle that the line connecting the center of the top surface of the main hundred-leaf wheel (5) and the center of the top surface of the slave hundred-leaf wheel (9) must pass through the pole of the polar coordinate system during the processing, the main six-degree-of-freedom industrial robot (1) and the slave six-degree-of-freedom industrial robot (4) perform collaborative motion to complete the double-sided collaborative polishing processing of the blade (6).

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