Axle sample piece robot automatic grinding and polishing machining system and method

Abstract

The invention relates to the field of machining equipment, and provides an axle sample piece robot automatic grinding and polishing machining system and method. The machining system comprises a clamping assembly and a machining assembly, wherein the clamping assembly is suitable for clamping axle samples; the displacement assembly is laid on at least one side of the clamping assembly at least in the length direction of the axle sample piece. The robot is assembled on the displacement assembly and can move and displace along the displacement assembly; the constant-force grinding and polishing assembly is connected to the tail end of the robot through a force position controller and is suitable for grinding and polishing an axle sample piece; the force-position controller can construct a three-dimensional contact force field dynamic model and drive the constant-force grinding and polishing assembly to adaptively stretch out and draw back along the outer contour of the axle sample piece; the constant-force grinding and polishing assembly can execute full-characteristic constant-force grinding and polishing operation on the axle sample piece under the driving action of the robot, so that the grinding and polishing force can be guaranteed to be accurate and controllable during machining, and the constant-force grinding and polishing assembly has the floating characteristic to adapt to the actual surface type requirement of a component. And the automatic grinding and polishing machining requirements of stable machining, high grinding and polishing flexibility, high machining precision and higher integration degree of the axle sample piece are met.

Description

Technical Field

[0001] The present invention relates to the field of mechanical processing equipment, and provides a robot automatic grinding and polishing processing system and method for an axle sample. Background Art

[0002] In the fields of special vehicles, rail transit, high-speed railways, etc., large axles are one of the key components of the vehicle, and achieving high-precision and efficient manufacturing is of great significance. The surface finish and accuracy of the axle directly affect the operating efficiency and stability of the EMU. After long-term operation, the axle will be affected by factors such as wear and vibration, and the surface will be worn and uneven. Polishing can make the axle surface smoother and flatter, reduce friction between the wheel and rail, improve the operating efficiency of the EMU, extend the service life of the axle, and eliminate potential risks such as cracks and fatigue. Axle samples have problems such as stress concentration at the shoulder and burrs on the outer cylindrical surface of the axle, which makes the shoulder prone to fatigue due to repeated stress. In addition, because the shoulder needs to mate with the locomotive wheel hub, the presence of burrs on the outer cylindrical surface of the axle can seriously affect the assembly performance of the axle.

[0003] In response to the above problems, the existing technology usually adopts manual grinding to grind and polish axle samples. However, there are a series of problems such as high labor intensity for operators, low processing efficiency, difficult to ensure processing results, and a dusty and noisy working environment. The existing automated grinding and polishing methods and equipment mainly include two processing methods: CNC grinding machines and industrial robots. CNC grinding machine processing equipment is expensive and has poor flexibility, making it difficult to adapt to the research and processing needs of axles of different sizes. Although the existing industrial robots have high processing efficiency, a wide processing range, and a high degree of spatial freedom, they still cannot effectively solve the problem of poor surface grinding and polishing quality of workpieces due to fluctuations in grinding and polishing forces, as well as the problem of waste of consumables caused by uneven surface wear of grinding and polishing tool consumables. Summary of the Invention

[0004] The present invention provides a robot-assisted automatic grinding and polishing system and method for axle sample, which is used to solve the defect of poor surface grinding and polishing quality of workpieces caused by fluctuations in grinding and polishing forces in related technologies, ensure that the grinding and polishing forces are precisely controllable during processing, and have floating characteristics to adapt to the actual surface shape requirements of the components, thereby meeting the needs of automated grinding and polishing for axle sample processing with stable processing, high grinding and polishing flexibility, high processing accuracy, and higher integration.

[0005] The present invention provides a robot-assisted automatic grinding and polishing system for an axle sample, comprising: a clamping component suitable for clamping the axle sample; a displacement component paved on at least one side of the clamping component at least along the length direction of the axle sample; a robot assembled on the displacement component and capable of moving and displacing along the displacement component; a constant-force grinding and polishing component connected to the end of the robot through a force-position controller, suitable for grinding and polishing the axle sample; the constant-force grinding and polishing component is used to perform full-feature constant-force grinding and polishing operations on the axle sample under the driving action of the robot; the force-position controller is used to construct a three-dimensional contact force field dynamic model, and drive the constant-force grinding and polishing component to adaptively extend and retract along the outer contour of the axle sample to perform the full-feature constant-force grinding and polishing operations.

[0006] According to a robot automatic grinding and polishing system for an axle sample provided by the present invention, the force controller includes: an elastic base, connected to the constant force grinding and polishing component, for providing normal contact force compensation and displacement compensation for the constant force grinding and polishing component relative to the axle sample; a multimodal sensor group, embedded and connected inside the elastic base; the multimodal sensor group is used to collect the contact force space vector and tool posture angle of the constant force grinding and polishing component relative to the axle sample, so as to construct the three-dimensional contact force field dynamic model.

[0007] According to a robot automatic grinding and polishing system for axle sample provided by the present invention, the multimodal sensor group includes: a plurality of six-dimensional force sensors, which are embedded in a ring array inside the elastic matrix; a laser displacement meter, which is connected to the constant force grinding and polishing component and is used to collect the displacement of the constant force grinding and polishing component in real time; and an inertial measurement unit, which is connected to the constant force grinding and polishing component and is used to collect the motion state and posture changes of the constant force grinding and polishing component in real time.

[0008] According to the robot automatic grinding and polishing system for axle sample provided by the present invention, the elastic matrix includes: a plurality of piezoelectric ceramic drivers arranged in a three-dimensional orthogonal manner and connected to the constant force grinding and polishing component.

[0009] According to a robot automatic grinding and polishing system for axle sample provided by the present invention, the constant force grinding and polishing component includes: a floating electric spindle, which is assembled at the end of the sixth axis of the robot through the force position controller; a grinding tool, which is detachably installed at the end of the floating electric spindle; the robot is an N-axis robot, N≥6.

[0010] According to the present invention, a robot automatic grinding and polishing system for axle sample parts further includes: a tool changing component, which is arranged at the end of the displacement component; the tool changing component is used to replace consumables for the grinding tool after the robot moves along the displacement component to the tool changing component.

[0011] According to a robot automatic grinding and polishing system for axle sample provided by the present invention, the tool changing component includes: a tool holder, which is arranged at the end of the displacement component, and the tool holder is provided with multiple tool positions, each tool position is equipped with the consumables; a filter oil pool, which is arranged on the tool holder and is located next to the tool position.

[0012] According to a robot automatic grinding and polishing system for axle sample provided by the present invention, the displacement component includes: a guide rail, which is paved on at least one side of the clamping component at least along the length direction of the axle sample; a plurality of groups of ground rail brackets, which are arranged at intervals along the length direction of the guide rail, and the guide rail is fixed to the ground through each of the ground rail brackets; a buffer block, which is installed at at least one end of the guide rail; a walking trolley, which is movably assembled on the guide rail, and the base of the robot is fixed to the walking trolley; a drag chain, which is paved between the guide rail and each of the ground rail brackets, one end of the drag chain is connected to the walking trolley, and the other end of the drag chain is fixed to any of the ground rail brackets.

[0013] According to a robot automatic grinding and polishing system for axle samples provided by the present invention, the clamping component includes: a clamping platform, with support seats respectively installed at both ends of the clamping platform in the length direction; a chuck, rotatably connected to a support seat, the claws of the chuck are suitable for clamping one end of the axle sample; a thimble, connected to the other support seat, the thimble is suitable for tightening the other end of the axle sample; and a plurality of control handles, respectively installed on a pair of support seats.

[0014] According to the present invention, a robot automatic grinding and polishing system for axle sample parts further includes a control component; the control component includes: a control cabinet, which is connected to the clamping component, the displacement component, the robot and the constant-force grinding and polishing component by signal; a host computer, which is installed and connected to the control cabinet by signal; the host computer has a built-in trajectory program, and the host computer can calculate the posture and motion trajectory of the robot and the constant-force grinding and polishing component based on the three-dimensional contact force field dynamic model, and drive the force position controller and the constant-force grinding and polishing component to perform the full-feature constant-force grinding and polishing operation.

[0015] The present invention also provides a method for automatically grinding and polishing axle sample parts by a robot, which is performed by the above-mentioned automatic grinding and polishing system for axle sample parts by a robot; the method for automatically grinding and polishing axle sample parts by a robot includes the following process.

[0016] The axle sample is positioned and clamped on the clamping assembly.

[0017] The clamping assembly drives the axle sample to rotate, and utilizes the constant force grinding and polishing assembly to perform a full-feature constant force grinding and polishing operation on the rotating axle sample.

[0018] During the execution of the full-feature constant-force grinding and polishing operation, the robot drives the constant-force grinding and polishing component to move and displace along the axle sample.

[0019] During the execution of the full-feature constant-force grinding and polishing operation, the constant-force grinding and polishing component uses a force-position controller to construct a three-dimensional contact force field dynamic model, and outputs contact force compensation and displacement compensation based on the three-dimensional contact force field dynamic model, thereby driving the constant-force grinding and polishing component to adaptively expand and contract along the outer contour of the axle sample.

[0020] According to a method for automatic grinding and polishing of an axle sample by a robot provided by the present invention, during the execution of the full-feature constant-force grinding and polishing operation, the constant-force grinding and polishing component uses a force-position controller to construct a three-dimensional contact force field dynamic model, and outputs contact force compensation and displacement compensation based on the three-dimensional contact force field dynamic model, thereby driving the constant-force grinding and polishing component to adaptively extend and retract along the outer contour of the axle sample, further including the following process.

[0021] The multimodal sensor group of the force position controller is used to collect the contact force space vector and tool posture angle of the constant force grinding and polishing component relative to the axle sample to construct the three-dimensional contact force field dynamic model.

[0022] Based on the three-dimensional contact force field dynamic model, the elastic matrix of the force position controller is used to provide normal contact force compensation and displacement compensation relative to the axle sample for the constant force grinding and polishing component.

[0023] According to a method for automatic robot grinding and polishing of an axle sample provided by the present invention, the process of providing normal contact force compensation and displacement compensation relative to the axle sample for the constant force grinding and polishing component based on the three-dimensional contact force field dynamic model and utilizing the elastic matrix of the force position controller further includes the following process.

[0024] Based on the contact force space vector and the tool posture angle, the gravity component of the grinding tool is calculated, and the gravity compensation of the grinding tool and the correction value of the target grinding and polishing force are obtained by measuring, thereby measuring the normal contact force compensation and the displacement compensation.

[0025] Based on the gravity compensation and the normal contact force compensation, a dynamic balance equation of the polishing force is established, and the real contact force is solved in real time through a Kalman filter and fed back to the elastic matrix.

[0026] According to the present invention, a method for automatic grinding and polishing of an axle sample by a robot is provided, and the method also includes the following process.

[0027] After completing any one set of the full-feature constant-force grinding and polishing operations, the robot is driven to move and displace to the end of the displacement component, and then the constant-force grinding and polishing component is driven to replace the grinding tool in the tool changing component.

[0028] After the constant force grinding and polishing assembly replaces the grinding tool in the tool changing assembly, the constant force grinding and polishing assembly is driven to dip the replaced grinding tool into the oil filter pool of the tool changing assembly.

[0029] The robot is driven to move the constant force grinding and polishing component to the side of the clamping component, so as to use the oil-dipped grinding tool to perform the next set of full-feature constant force grinding and polishing operations on the axle sample.

[0030] The present invention provides a robotic automatic grinding and polishing system for axle samples (referred to as the "processing system" in the present invention), which includes a clamping component, a displacement component, a robot, a constant-force grinding and polishing component, and a force-position controller. The clamping component is suitable for clamping axle samples to achieve precise positioning and clamping of the axle samples. The displacement component is laid on at least one side of the clamping component at least along the length direction of the axle sample. The robot is assembled on the displacement component and can move and displace along the displacement component. The constant-force grinding and polishing component is connected to the end of the robot through the force-position controller and is suitable for grinding and polishing axle samples. The combined layout of the displacement component, the robot, and the constant-force grinding and polishing component can achieve high-precision and efficient automatic grinding of axle samples, and ensure that the constant-force grinding and polishing component performs full-range grinding and polishing operations on the axle samples, so that the processing system has greater flexibility, high spatial freedom, and good accessibility. Among them, the force-position controller can construct a three-dimensional contact force field dynamic model and drive the constant-force grinding and polishing component to adaptively extend and retract along the outer contour of the axle sample. Driven by a robot, the constant-force grinding and polishing system performs full-feature constant-force grinding and polishing operations on axle prototypes. The combined connection of the robot, constant-force grinding and polishing system, and force position controller effectively ensures precise and controllable grinding and polishing force during machining. The constant-force grinding and polishing system also features a floating characteristic to adapt to the actual surface shape of the axle prototype, meeting the demands for stable machining, high grinding and polishing flexibility, high machining precision, and a higher level of integration for automated grinding and polishing. This system significantly improves grinding and polishing efficiency and reliability, and has broad application prospects in the field of automated grinding and polishing.

[0031] The present invention provides a method for automated robotic grinding and polishing of axle samples (hereinafter referred to as the "processing method"), which is performed by the aforementioned automated robotic grinding and polishing system for axle samples. This method possesses all the features and advantages of the aforementioned processing system, and its detailed description is omitted here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 It is a structural schematic diagram of the axle sample robot automatic grinding and polishing processing system provided by the present invention.

[0034] Figure 2 It is a structural schematic diagram of the displacement composition provided by the present invention.

[0035] Figure 3 It is a structural schematic diagram of the clamping composition provided by the present invention.

[0036] Figure 4 It is a structural schematic diagram of the constant force grinding and polishing composition provided by the present invention.

[0037] Figure 5 It is a structural diagram of the control component provided by the present invention.

[0038] Figure 6 It is a structural schematic diagram of the tool changing assembly provided by the present invention.

[0039] Reference numerals: 1. Robot; 2. Positioning components; 21. Buffer block; 22. Ground rail bracket; 23. Gear rack; 24. Drag chain; 25. Dust cover; 26. Guide rail; 3. Clamping components; 31. Clamping platform; 32. Chuck; 33. Axle sample; 34. Ejector pin; 4. Constant force grinding and polishing components; 41. Floating electric spindle; 42. Force position controller; 43. Grinding tool; 5. Control components; 51. Control cabinet; 52. Host computer; 6. Tool changing components; 61. Consumables; 62. Tool holder; 63. Oil filter pool. DETAILED DESCRIPTION

[0040] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0041] The following combination Figures 1 to 6 The processing system and processing method according to the embodiments of the present invention are described.

[0042] like Figure 1As shown, the processing system of the embodiment of the present invention includes a clamping component 3, a displacement component 2, a robot 1, a constant force grinding and polishing component 4 and a force position controller 42. The clamping component 3 is suitable for clamping the axle sample 33 to achieve precise positioning and clamping of the axle sample 33. The displacement component 2 is paved on at least one side of the clamping component 3 at least along the length direction of the axle sample 33. The robot 1 is assembled on the displacement component 2 and can move and displace along the displacement component 2. The constant force grinding and polishing component 4 is connected to the end of the robot 1 through the force position controller 42. The constant force grinding and polishing component 4 is suitable for grinding and polishing the axle sample 33. The combined layout of the displacement component 2, the robot 1 and the constant force grinding and polishing component 4 can realize high-precision and efficient automatic grinding of the axle sample 33, and the displacement component 2 can increase the operating range of the constant force grinding and polishing component 4. The robot 1 can not only increase the operating range of the constant force grinding and polishing component 4, but also improve the flexibility of the constant force grinding and polishing component 4 and its adaptability to the working space and component characteristics, thereby ensuring the full range of grinding and polishing operations of the constant force grinding and polishing component 4 on the axle sample 33, so that the processing system has greater flexibility, high spatial freedom and good accessibility.

[0043] In an embodiment of the present invention, the force-position controller 42 is capable of constructing a three-dimensional dynamic model of the contact force field and driving the constant-force grinding and polishing component 4 to adaptively extend and retract along the outer contour of the axle sample 33. The constant-force grinding and polishing component 4 is used to perform full-feature constant-force grinding and polishing operations on the axle sample 33 under the drive of the robot 1. The combined connection of the robot 1, the constant-force grinding and polishing component 4, and the force-position controller 42 can effectively ensure that the grinding and polishing force during processing is precisely controllable, and the constant-force grinding and polishing component 4 has floating characteristics to adapt to the actual surface shape requirements of the axle sample 33, thereby meeting the requirements of the automated grinding and polishing processing of the axle sample 33 with stable processing, high grinding and polishing flexibility, high processing precision, and higher integration.

[0044] In some embodiments, as Figure 2As shown, the displacement component 2 includes a guide rail 26, several groups of ground rail brackets 22, a buffer block 21, a trolley and a drag chain 24. The guide rail 26 is paved on at least one side of the clamping component 3 along the length direction of the axle sample 33. The trolley is movably assembled on the guide rail 26, and the base of the robot 1 is fixed to the trolley. The trolley can drive the robot 1 to move and displace along the guide rail 26, thereby effectively increasing the movement range of the constant force grinding and polishing component 4 connected to the end of the robot 1, ensuring that the operating range of the constant force grinding and polishing component 4 covers all positions along the length direction of the axle sample 33, and ensuring full-size grinding and polishing of large axle samples 33. Multiple groups of ground rail brackets 22 are arranged at intervals along the length direction of the guide rail 26. The guide rail 26 is fixed to the ground through each ground rail bracket 22. The ground rail bracket 22 provides reliable support and fixation for the paving of the guide rail 26. A buffer block 21 is mounted on at least one end of the guide rail 26, providing a reliable stop for the trolley during its movement and displacement on the guide rail 26, preventing the trolley from derailing or sliding off the guide rail 26 during displacement. Furthermore, the buffer block 21 provides a certain degree of cushioning for the trolley, ensuring that the trolley can decelerate and stop promptly when it reaches the end of the guide rail 26, thereby improving displacement accuracy and safety. A drag chain 24 is installed between the guide rail 26 and each ground rail bracket 22. One end of the drag chain 24 is connected to the trolley, and the other end is fixed to any ground rail bracket 22, providing reliable guidance and protection for the trolley's displacement and displacement.

[0045] In some specific embodiments, Figure 2 As shown, the displacement component 2 preferably also includes at least one of a gear rack 23 and a dust cover 25. Preferably, the guide rail 26 is fixed to the ground rail bracket 22 by screws, and cooperates with the ground rail bracket 22 through the guide rail 26 preload to ensure that the guide rail 26 cannot move left or right. Buffer blocks 21 are installed at the front and rear positions of the guide rail 26 to prevent the trolley from leaving the track when an accident occurs. The drag chain 24 can prevent the robot 1 from being worn during the displacement movement route. The ground rail bracket 22 preferably adopts a welded steel structure to ensure sufficient support for the guide rail 26 and the robot 1. The gear rack 23 is installed on the upper side of the guide rail 26 and cooperates with the guide rail 26 to ensure the stable operation of the trolley. The guide rail 26 can effectively prevent the guide rail 26 from being contaminated by dust and oil by installing a dust cover 25.

[0046] In some embodiments, as Figure 3As shown, the clamping assembly 3 includes a clamping platform 31, a chuck 32, an ejector pin 34 and a number of control handles. The clamping platform 31 can be fixed to the factory floor as a base. Support bases are installed at both ends of the length direction of the clamping platform 31. The support bases are vertically higher than the clamping platform 31 and are arranged opposite to each other so that the axle sample 33 can be horizontally clamped between a pair of support bases. The chuck 32 is rotatably connected to a support base, and the claws of the chuck 32 are suitable for clamping one end of the axle sample 33. The chuck 32 is equipped with at least three claws, each of which is arranged axially around the chuck 32, and each claw is closed toward the axis to achieve centering clamping of the end of the axle sample 33. The ejector pin 34 is connected to another support base. The ejector pin 34 is suitable for tightening against the other end of the axle sample 33 to achieve center positioning of the other end of the axle sample 33. Furthermore, the chuck 32 and the ejector pin 34 press the axle sample 33 against each other from both ends of the axle sample 33, achieving positioning and clamping of the axle sample 33, ensuring the overall stability of the axle sample 33 and the horizontal axis. Preferably, at least one of the pair of support seats can be moved along the length of the clamping platform 31 to facilitate adjustment of the clamping force and positioning of the axle sample 33. Alternatively, the pair of support seats can be fixed to the clamping platform 31, and the ejector pin 34 can be movably mounted on the support seats. The axle sample 33 can be tightened and fixed by simply driving the ejector pin 34 to move telescopically. A number of control handles are mounted on the pair of support seats, respectively, to facilitate control of the opening and closing of the jaws on the chuck 32, as well as the movement of the support seat and ejector pin 34.

[0047] In some embodiments, a pair of support blocks, each housing a chuck 32, is equipped with a rotating rocker as a control handle. Rotating the rocker controls the forward and backward movement of the three jaws of the chuck 32. The centers of the chuck 32 and the ejector pin 34 are co-located, clamping the axle sample 33 inwardly.

[0048] In some embodiments, as Figure 4 As shown, the constant-force grinding and polishing assembly 4 comprises a floating electric spindle 41 and a grinding tool 43. The floating electric spindle 41 is mounted to the end of the sixth axis of the robot 1 via a force position controller 42. The grinding tool 43 is removably mounted on the end of the floating electric spindle 41. The multi-axis industrial robot 1 offers high processing efficiency and a wide range of machining operations, along with high flexibility, a high degree of spatial freedom, and excellent accessibility. By changing the grinding tool 43 at the end, different types of machining can be performed, resulting in high processing flexibility and low cost, enabling a higher degree of automation.

[0049] In some specific embodiments, the robot 1 is preferably an N-axis robot 1, where N is greater than or equal to 6. Furthermore, the robot 1 preferably has a repeatability accuracy of no greater than ±0.05 mm, a maximum motion radius of no less than 2701 mm, and a rated load of 210 kg, which meets the grinding processing requirements of the axle sample 33.

[0050] In some specific embodiments, the floating electric spindle 41 is preferably installed outside the end of the force controller 42, and a grinding tool 43 is installed at the end of the floating electric spindle 41 to perform constant force grinding and polishing.

[0051] In some specific embodiments, the floating electric spindle 41 is preferably an automatic tool-changing electric spindle.

[0052] In some specific embodiments, the floating electric spindle 41 preferably includes an electric spindle body, a drive mechanism and a floating compensation mechanism. The drive mechanism is integrated inside the electric spindle body to provide a speed-adjustable device for the operation of the floating electric spindle 41. The floating compensation mechanism is integrated on the electric spindle body and connected to the mechanical controller. The floating compensation mechanism preferably further includes a floating frame, an axial floating member and a radial floating member. The axial floating member and the radial floating member are respectively connected to the floating frame. The axial floating member is used to drive the electric spindle body to perform a certain range of linear motion along its axial direction relative to the floating frame. The radial floating member is used to drive the electric spindle body to perform a certain range of small-angle tilt or translation motion within a plane perpendicular to the axis relative to the floating frame.

[0053] In some specific embodiments, the axial floating member is preferably a spring, or it can be a pneumatic or hydraulic preload structure. Further preferably, the electric spindle body is connected to a floating frame, and one or more groups of axial floating members are connected to the floating frame to provide a preset, constant axial preload for the electric spindle body. When the grinding tool 43 contacts the axle sample 33 and begins the grinding and polishing operation, the contact force overcomes the preload and causes the electric spindle body to "float" backward in the axial direction until the contact force and the preload are balanced. This achieves a constant axial cutting force, prevents the grinding tool 43 from being overloaded or under-polished, ensures a consistent degree of grinding and polishing on the surface of the axle sample 33, and compensates for axial positioning errors.

[0054] In some specific embodiments, the radially floating member is preferably a thin-walled flexible element, such as a parallel-plate flexure hinge or a cross-shaped flexure hinge, which utilizes elastic deformation to provide radial compliance. This element, combined with piezoelectric ceramic actuators arranged in parallel or series around the motorized spindle body, enables active precision micro-motion of the motorized spindle body in multiple degrees of freedom (e.g., translational and rotational) within the radial plane.

[0055] It is understood that within the machining system of the embodiment of the present invention, within a certain autonomous floating range, the constant-force grinding and polishing component 4 can establish its own closed-loop control based on the data collected by the aforementioned floating compensation mechanism through its own force sensor and displacement sensor, achieving autonomous, self-driven axial force control, radial force control, and position compensation within a certain range. During control processes outside the autonomous floating range, the constant-force grinding and polishing component 4, by connecting to the force position controller 42 described in the embodiment of the present invention, performs a full-featured constant-force grinding and polishing operation based on a three-dimensional contact force field dynamic model. The specific operation method is described below and will not be repeated here.

[0056] In some embodiments, as Figure 4 As shown, the force position controller 42 includes an elastic matrix and a multimodal sensor group. The elastic matrix is connected to the constant force grinding and polishing component 4 and is used to provide normal contact force compensation and displacement compensation for the constant force grinding and polishing component 4 relative to the axle sample 33. The multimodal sensor group is embedded and connected inside the elastic matrix. The multimodal sensor group is used to collect the contact force space vector and tool posture angle of the constant force grinding and polishing component 4 relative to the axle sample 33 to construct a three-dimensional contact force field dynamic model. Using this three-dimensional contact force field dynamic model as the basis for measuring contact force and displacement, the elastic matrix can form a more accurate compensation for the normal contact force and displacement of the constant force grinding and polishing component 4 in closed-loop control. It can be understood that the force position controller 42 is a further compensation for the normal contact force and displacement of the constant force grinding and polishing component 4 as a whole, in addition to the autonomous floating closed-loop control of the constant force grinding and polishing component 4.

[0057] In this embodiment of the present invention, the force controller 42 integrates the sensing, control, and execution systems. It can compensate for gravity on the constant-force polishing element 4 at the end of the robot 1 according to operational requirements and accurately output a normal contact force parallel to the end of the robot 1. Furthermore, the force controller 42 can adaptively adjust and retract based on the contour features of the arc and shoulder of the axle sample 33. This solves the automation challenge of balancing sensitive contact surface features with rapid contact movement during axle polishing, and avoids the problem of poor surface quality caused by fluctuations in the polishing force.

[0058] In some specific embodiments, the multimodal sensor group includes a plurality of six-dimensional force sensors, a laser displacement meter, and an inertial measurement unit. The plurality of six-dimensional force sensors are embedded in an annular array inside the elastic matrix. Preferably, the six-dimensional force sensors form a sensor group and are embedded in an annular array at an angle of 120 degrees inside the elastic matrix. The laser displacement meter is connected to the constant force grinding and polishing component 4, and the laser displacement meter is used to collect the displacement of the constant force grinding and polishing component 4 in real time, and to verify whether the displacement of the constant force grinding and polishing component 4 after compensation is in place. The inertial measurement unit is connected to the constant force grinding and polishing component 4, and the inertial measurement unit is used to collect the motion state and posture changes of the constant force grinding and polishing component 4 in real time, such as real-time collection and measurement of the angular velocity, linear acceleration and posture changes of the grinding tool 43 in three-dimensional space. Preferably, the elastic matrix includes a plurality of piezoelectric ceramic drivers, and the plurality of piezoelectric ceramic drivers are arranged in a three-dimensional orthogonal manner and connected to the constant force grinding and polishing component 4, providing flexibility through elastic deformation.

[0059] Based on the above content, the processing system of the embodiment of the present invention couples the constant force grinding and polishing component 4 with the force and position controller 42, adds real-time data acquisition and three-dimensional model construction of the force and position controller 42, and thus further increases the fine compensation of the normal contact force and displacement of the constant force grinding and polishing component 4 through double closed-loop control on the basis of the original autonomous floating closed-loop control of the constant force grinding and polishing component 4. Compared with the existing technology, it can effectively avoid the problem of unstable grinding and polishing operation caused by uneven surface wear of the axle sample 33 and excessive fluctuation of the grinding and polishing force, improve the surface quality of the grinding and polishing object, and greatly reduce the waste of consumables 61 of the grinding and polishing tool caused by uneven surface wear, thereby significantly improving the grinding and polishing efficiency and reliability.

[0060] In a specific embodiment of the present invention, the force controller 42 is preferably a normal force-position compliance compensator. The force controller 42, in conjunction with an electromagnetic servo valve, achieves real-time pressure control and real-time detection of the floating amount of the floating electric spindle 41. When polishing the convex edge of the axle sample 33, the force controller 42 activates a high-frequency compensation mode greater than 200 Hz in the convex curved area at the shoulder of the axle sample 33, generating reverse displacement through the piezoelectric ceramic drive to suppress force oscillations caused by sudden changes in the material removal rate. When arc polishing the concave curved area of the axle sample 33, the force controller 42 switches to a large-stroke compensation mode (maximum compensation amount ±2.5 mm) and, in conjunction with the axial floating member of the floating electric spindle 41, performs axial servo feed to maintain a constant contact angle between the polishing tool and the workpiece being polished.

[0061] In some embodiments, as Figure 1 As shown, the processing system also includes a control component 5. Preferably, the control component 5 is installed on the edge of the displacement component 2 to control the automatic grinding and polishing operation on the periphery of the entire processing system. Figure 5As shown, the preferred control component 5 includes a control cabinet 51 and a host computer 52. The control cabinet 51 is signal-connected to the clamping component 3, the displacement component 2, the robot 1 and the constant-force grinding and polishing component 4. The host computer 52 is installed and connected to the control cabinet 51 through signals. The host computer 52 has a built-in trajectory program. The host computer 52 can calculate the posture and motion trajectory of the robot 1 and the constant-force grinding and polishing component 4 based on the three-dimensional contact force field dynamic model, and drive the force position controller 42 and the constant-force grinding and polishing component 4 to perform full-feature constant-force grinding and polishing operations. The processing system of the embodiment of the present invention adopts the control cabinet 51 to comprehensively control the robot 1 to perform grinding and polishing motion according to the high-rigidity trajectory designed by the host computer 52, and control the constant-force grinding and polishing component 4 at the end of the robot 1 to automatically change tools at the tool changing component 6.

[0062] In some specific embodiments, the control cabinet 51 preferably establishes a good communication relationship with external devices via an Ethernet IP bus system. The host computer 52 preferably uses a Windows system. The robot 1 preferably communicates with other devices via Profinet, and an integrated algorithm achieves real-time control.

[0063] In some embodiments, as Figure 1 As shown, the processing system further includes a tool changing assembly 6. The tool changing assembly 6 is preferably arranged at the end of the displacement assembly 2. The tool changing assembly 6 is used to replace the consumables 61 for the grinding tool 43 after the robot 1 moves along the displacement assembly 2 to the tool changing assembly 6. Figure 6 As shown, the tool changing assembly 6 includes a tool holder 62 and an oil filter pool 63. The tool holder 62 is arranged at the end of the displacement assembly 2. A plurality of tool positions are provided on the tool holder 62, and each tool position is equipped with consumables 61. Preferably, the plurality of tool positions are arranged in a stepped manner on the tool holder 62 to form a multi-layer structure. The oil filter pool 63 is provided on the tool holder 62 and is located next to the tool position. This arrangement enables the processing system to meet multiple functions such as automatic tool changing, floating force control and equipment integration. Among them, the tool changing assembly 6 can realize functions such as automatic storage and switching of grinding and polishing tools, recording prompts of tool quantity, and automatic oil dipping and polishing of tools. Therefore, the processing system can meet the high stability and high flexibility of the automated grinding and polishing processing requirements of the axle sample 33, and at the same time realize important functions such as full coverage of the axial characteristics of the axle during the grinding and polishing process, high-finish grinding and polishing, and automated displacement tool changing, thereby improving processing rigidity and ensuring consistency in batch processing, thereby greatly improving processing efficiency and reliability.

[0064] In some specific embodiments, the spare consumables 61 involved in the tool change assembly 6 are all hung on the tool holder 62 via the tool handle. Preferably, the consumables 61 primarily include tools such as grinding discs, grinding heads, grinding wheels, and milling cutters. Preferably, the oil reservoir is filled with polishing oil, so that the polishing tool consumables 61 can be oiled and polished simultaneously during the tool change.

[0065] Based on the above-mentioned processing system, the processing method provided by the embodiment of the present invention is described in detail below.

[0066] The processing method described in the embodiment of the present invention is executed by the automatic grinding and polishing processing system of the axle sample 33 by the robot 1 as described above. The automatic grinding and polishing processing method of the axle sample 33 by the robot 1 at least includes the following processes.

[0067] Process 1: Positioning and clamping the axle sample 33. This specifically involves the following steps: positioning and clamping the axle sample 33 on the clamping assembly 3; using the clamping assembly 3 to rotate the axle sample 33, and performing a full-feature constant-force polishing operation on the rotating axle sample 33 using the constant-force polishing assembly 4; during this full-feature constant-force polishing operation, the robot 1 drives the constant-force polishing assembly 4 to move and shift along the axle sample 33.

[0068] In some specific embodiments, during the clamping process of the axle sample 33, the axle sample 33 is moved to the chuck 32 and the end face is fitted into the chuck 32 to ensure that the axle sample 33 is horizontally aligned with the center line of the chuck 32, and the end of the axle sample 33 is inserted between the three jaws of the chuck 32. The three-jaw chuck 32 on the drive chuck 32 is closed inward to achieve centering clamping of one end of the axle sample 33. The other end of the axle sample 33 is centered and clamped by the ejector pin 34 to ensure the overall stability of the axle sample 33 and the horizontal axis of the axle sample 33. After the clamping of the axle sample 33 is completed, it is ensured that the center lines of the chuck 32, ejector pin 34 and axle sample 33 are horizontal and located on the same straight line. After starting the processing system, the servo motor drives the chuck 32 to drive the axle sample 33 to rotate at a certain speed; during the rotation of the axle sample 33, the constant force grinding and polishing component at the end of the robot 1 is used to form 4 pairs of axle samples 33 for grinding and polishing, and the robot 1 is used to adjust the grinding and polishing positions of the 4 pairs of axle samples 33 by the constant force grinding and polishing component along the movement of the displacement component 2 until the processing is completed and the spindle rotation is stopped.

[0069] Process 2: Perform constant force grinding and polishing on the axle sample 33. Specifically, the following process is involved: During the aforementioned full-feature constant force grinding and polishing process, the constant force grinding and polishing component 4 utilizes the force position controller 42 to construct a three-dimensional contact force field dynamic model. Based on this dynamic model, the constant force grinding and polishing component 4 outputs contact force compensation and displacement compensation, thereby driving the constant force grinding and polishing component 4 to adaptively extend and retract along the outer contour of the axle sample 33.

[0070] In some embodiments, the above process 2 further includes the following process.

[0071] The multimodal sensor group of the force position controller 42 is used to collect the contact force space vector and tool posture angle of the constant force grinding and polishing component 4 relative to the axle sample 33 to construct a three-dimensional contact force field dynamic model.

[0072] Based on the three-dimensional contact force field dynamic model, the elastic matrix of the force position controller 42 is used to provide normal contact force compensation and displacement compensation relative to the axle sample 33 for the constant force grinding and polishing component 4.

[0073] In some specific embodiments, the above-mentioned process based on the three-dimensional contact force field dynamic model, using the elastic matrix of the force position controller 42 to provide normal contact force compensation and displacement compensation for the constant force grinding and polishing component 4 relative to the axle sample 33, further includes the following process.

[0074] Based on the contact force space vector and the tool posture angle, the gravity component of the grinding tool 43 is calculated, and the gravity compensation of the grinding tool 43 and the correction value of the target grinding and polishing force are measured, thereby measuring the normal contact force compensation and displacement compensation.

[0075] Based on gravity compensation and normal contact force compensation, the dynamic balance equation of the grinding and polishing force is established. The real contact force is solved in real time through the Kalman filter and fed back to the elastic matrix.

[0076] In some specific embodiments, the specific process of step 2 described above is preferably as follows: First, the polishing force and the motor speed of the floating electric spindle 41 are set in the control component 5. The force controller 42 preferably utilizes an elastomer-sensor composite structure, internally equipped with a multimodal sensor assembly comprising a six-axis force sensor, a laser displacement meter, and an inertial measurement unit. This assembly utilizes a three-dimensional orthogonal arrangement of piezoelectric ceramic actuators to achieve micron-level displacement compensation, effectively isolating lateral vibrations caused by axle rotation. A sensor assembly comprising multiple six-axis force sensors is embedded in the force controller 42 in a 120-degree annular array, synchronously acquiring the contact force space vectors (Fx, Fy, Fz) and the tool attitude angles (α, β), thereby constructing the three-dimensional contact force field dynamic model.

[0077] During the polishing constant force control process, the processing system first calculates the gravity component G = G0 sinθ of the polishing tool 43 based on the surface contact angle θ (0°≤θ≤90°) between the polishing tool 43 and the axle sample 33, and then calculates the target polishing force F t Corrected to F' t =F t -G, eliminates the normal force deviation caused by gravity; establishes the dynamic balance equation of the grinding and polishing force, and solves the real contact force in real time through the Kalman filter.

[0078] Next, a suitable grinding tool 43 is selected for processing planning, and the grinding tool 43 is calibrated to improve the constant force control accuracy; the grinding and polishing force parameters and the speed of the floating electric spindle 41 are set in the control component 5, and finally the grinding and polishing force value is controlled in real time based on the feedback on the touch screen interface of the force position controller 42.

[0079] Process 3: Oil dipping and tool changing process. Specifically includes the following processes.

[0080] After completing any set of full-feature constant-force grinding and polishing operations, the robot 1 is driven to move and shift to the end of the shifting component 2 , and then the constant-force grinding and polishing component 4 is driven to replace the grinding tool 43 in the tool changing component 6 .

[0081] After the constant force grinding and polishing assembly 4 replaces the grinding tool 43 in the tool changing assembly 6 , the constant force grinding and polishing assembly 4 is driven to dip the replaced grinding tool 43 into the oil filter pool 63 of the tool changing assembly 6 .

[0082] The driving robot 1 drives the constant force grinding and polishing component 4 to move and displace to the side of the clamping component 3, so as to use the oil-soaked grinding tool 43 to perform the next set of full-feature constant force grinding and polishing operations on the axle sample 33.

[0083] In some specific embodiments, the constant force grinding and polishing component 4 described in the above process three preferably drives the constant force grinding and polishing component 4 to dip the replaced grinding tool 43 in the filtered oil pool 63 of the tool changing component 6 after replacing the grinding tool 43 in the tool changing component 6, and the following process is further preferred.

[0084] Based on high-rigidity posture research, control component 5 is used to program the corresponding trajectory in the host computer 52, which then transmits signals to the control cabinet 51 via communication. Upon receiving the motion control signal from the control cabinet 51, robot 1 initiates the corresponding control process: robot 1 returns to its initial posture and automatically resets to zero. It then rotates along a predetermined trajectory to the center of the tool holder 62. It then moves to the consumable 61 selected in the programming built into the host computer 52, and controls the grinding tool 43 at the end of robot 1 to reach the tool axis vector corresponding to the consumable 61 to be replaced. Robot 1 drives the end of robot 1 to translate along its axis until the front end of the rotary chuck contacts the bottom surface of the sleeve and stops. The rotary chuck clamps the tool axis and then retracts along the tool axis, completing the tool loading operation. Then, according to the motion signal transmitted from the control cabinet 51, robot 1 controls the end of robot 1 to reach the filtered oil reservoir 63 for oiling. After completing the oiling operation, robot 1 drives the grinding tool 43 to the surface of the axle sample 33 to be polished, and then transforms its posture according to the predetermined high-rigidity trajectory, completing the high-rigidity posture tool loading and oiling process.

[0085] In some specific embodiments, the driving robot 1 described in the above-mentioned process three is preferably used to drive the constant force grinding and polishing component 4 to move and reposition to the side of the clamping component 3, so as to use the oil-dipped grinding tool 43 to perform the next set of full-feature constant force grinding and polishing operations on the axle sample 33, and the following process is further preferred.

[0086] When the grinding tool 43 of the constant force grinding and polishing component 4 is consumed greatly and needs to be changed, the control component 5 is first used to switch to the automatic tool change mode at the control end of the upper computer 52, and the corresponding control process is started: the robot 1 returns to the initial posture from the current posture, the robot 1 automatically returns to zero, and rotates to the center of the tool magazine according to the shortest distance. After the robot 1 arrives directly opposite the tool holder 62, the "release tool" button is pressed on the control cabinet 51, and the tool number is selected. The robot 1 starts to reach the tool axis vector corresponding to the target tool. The robot 1 drives the end to translate along the axis until the front end face of the rotary chuck contacts the bottom surface of the sleeve. The rotary chuck releases the tool axis and then retreats along the tool axis. The tool release action is completed, and the robot 1's mechanical arm is controlled to translate and retreat to a safe position. When the operator presses the "Take Tool" button on the control cabinet 51 and selects the number of consumable 61, the end of the robot 1 is controlled to reach the tool axis vector corresponding to the consumable 61. The origin of the tool axis vector is a certain distance away from the bottom surface of the end sleeve of the grinding tool 43. The robot 1 then drives the end to translate along the axis until the front end of the rotary chuck contacts the bottom surface of the sleeve and stops. The rotary chuck clamps the tool axis and then retreats along the tool axis, completing the tool taking action. Manually pressing the "Return" button on the control cabinet 51 will start the homing operation. In the return to zero state, the various joints of the robot 1 are controlled to return to the initial tool change operation state. The rotary support rotates 180 degrees to the other side, and the automatic tool change is completed, waiting for the processing operation.

[0087] Process 4: Workstation recovery process of the machining system. This process is as follows: After the grinding and polishing operation of the axle sample 33 is completed, the control cabinet 51 transmits a return-to-zero motion control signal to the robot 1, and the robot 1 returns from its current posture to its initial posture to recover the workstation. The robot 1 remains in the initial state and waits for the next machining.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A robot automatic grinding and polishing system for axle sample, characterized in that: include: Clamping component, suitable for clamping axle samples; a displacement component, paved on at least one side of the clamping component at least along the length direction of the axle sample; A robot, mounted on the displacement component and capable of moving and displacing along the displacement component; A constant force grinding and polishing component is connected to the end of the robot through a force position controller and is suitable for grinding and polishing the axle sample; The constant force grinding and polishing component is used to perform full-feature constant force grinding and polishing operations on the axle sample under the driving action of the robot; The force position controller is used to construct a three-dimensional contact force field dynamic model and drive the constant force grinding and polishing component to adaptively expand and contract along the outer contour of the axle sample to perform the full-feature constant force grinding and polishing operation.

2. The axle sample automatic grinding and polishing processing system according to claim 1 is characterized in that: The force position controller comprises: an elastic base connected to the constant force grinding and polishing component, and configured to provide normal contact force compensation and displacement compensation for the constant force grinding and polishing component relative to the axle sample; A multimodal sensor group, embedded and connected inside the elastic matrix; The multimodal sensor group is used to collect the contact force space vector and tool posture angle of the constant force grinding and polishing component relative to the axle sample, so as to construct the three-dimensional contact force field dynamic model.

3. The axle sample automatic grinding and polishing processing system according to claim 2 is characterized in that: The multimodal sensor group includes: A plurality of six-dimensional force sensors are embedded in the elastic matrix in a ring array; a laser displacement meter connected to the constant-force grinding and polishing component for real-time acquisition of the displacement of the constant-force grinding and polishing component; The inertial measurement unit is connected to the constant force grinding and polishing component and is used to collect the motion state and posture changes of the constant force grinding and polishing component in real time.

4. The axle sample automatic grinding and polishing system according to claim 2, characterized in that: The elastic matrix comprises: A plurality of piezoelectric ceramic drivers are arranged in a three-dimensional orthogonal pattern and connected to the constant force grinding and polishing component.

5. The axle sample automatic grinding and polishing processing system according to any one of claims 1 to 4, characterized in that: The constant force grinding and polishing composition comprises: A floating electric spindle is assembled at the end of the sixth axis of the robot through the force position controller; a grinding tool, detachably mounted on the end of the floating electric spindle; The robot is an N-axis robot, where N is greater than or equal to 6.

6. The axle sample automatic grinding and polishing processing system according to claim 5, characterized in that: Also includes: A tool changing component is provided at the end of the displacement component; The tool changing assembly is used to replace consumables for the grinding tool after the robot moves along the displacement assembly to the tool changing assembly.

7. The axle sample automatic grinding and polishing processing system according to claim 6, characterized in that: The tool changing components include: A tool holder is provided at the end of the displacement component, and the tool holder is provided with a plurality of tool positions, each of which is equipped with the consumable material; The oil filter pool is arranged on the tool holder and is located next to the tool position.

8. The axle sample automatic grinding and polishing processing system according to any one of claims 1 to 4, characterized in that: The displacement composition includes: A guide rail is paved on at least one side of the clamping component at least along the length direction of the axle sample; A plurality of groups of ground rail brackets are arranged at intervals along the length direction of the guide rail, and the guide rail is fixed to the ground through each of the ground rail brackets; a buffer block mounted on at least one end of the guide rail; A traveling trolley is movably mounted on the guide rail, and the base of the robot is fixedly connected to the traveling trolley; A drag chain is installed between the guide rail and each of the ground rail brackets, one end of the drag chain is connected to the walking trolley, and the other end of the drag chain is fixed to any of the ground rail brackets.

9. The axle sample automatic grinding and polishing processing system according to any one of claims 1 to 4, characterized in that: The clamping composition comprises: A clamping platform, with support seats installed at both ends of the clamping platform in the longitudinal direction; a chuck rotatably connected to a support base, wherein the jaws of the chuck are adapted to clamp one end of the axle sample; an ejector pin connected to the other support seat, wherein the ejector pin is adapted to be tightened against the other end of the axle sample; A plurality of control handles are respectively installed on a pair of the support seats.

10. The axle sample automatic grinding and polishing processing system according to any one of claims 1 to 4, characterized in that: Also included are control components; The control components include: A control cabinet, signal-connected to the clamping component, the displacement component, the robot, and the constant-force grinding and polishing component; A host computer is installed and connected to the control cabinet through signals; the host computer has a built-in trajectory program, and the host computer can calculate the posture and motion trajectory of the robot and the constant force grinding and polishing component based on the three-dimensional contact force field dynamic model, and drive the force position controller and the constant force grinding and polishing component to perform the full-feature constant force grinding and polishing operation.

11. A method for automatic grinding and polishing of axle sample by a robot, characterized in that: The method is performed by the axle sample robot automatic grinding and polishing system according to any one of claims 1 to 10; The axle sample robot automatic grinding and polishing processing method includes the following process: Positioning and clamping the axle sample on the clamping assembly; The clamping assembly drives the axle sample to rotate, and utilizes the constant force grinding and polishing assembly to perform full-feature constant force grinding and polishing operations on the rotating axle sample; During the execution of the full-feature constant-force grinding and polishing operation, the robot drives the constant-force grinding and polishing component to move and displace along the axle sample; During the execution of the full-feature constant-force grinding and polishing operation, the constant-force grinding and polishing component uses a force-position controller to construct a three-dimensional contact force field dynamic model, and outputs contact force compensation and displacement compensation based on the three-dimensional contact force field dynamic model, thereby driving the constant-force grinding and polishing component to adaptively expand and contract along the outer contour of the axle sample.

12. The method for automatic grinding and polishing of axle sample by robot according to claim 11, characterized in that: During the execution of the full-feature constant-force grinding and polishing operation, the constant-force grinding and polishing component utilizes a force position controller to construct a three-dimensional contact force field dynamic model, and outputs contact force compensation and displacement compensation based on the three-dimensional contact force field dynamic model, thereby driving the constant-force grinding and polishing component to adaptively extend and retract along the outer contour of the axle sample, further comprising the following process: Using the multimodal sensor group of the force position controller to collect the contact force space vector and tool posture angle of the constant force grinding and polishing component relative to the axle sample, so as to construct the three-dimensional contact force field dynamic model; Based on the three-dimensional contact force field dynamic model, the elastic matrix of the force position controller is used to provide normal contact force compensation and displacement compensation relative to the axle sample for the constant force grinding and polishing component.

13. The method for automatic grinding and polishing of axle sample by robot according to claim 12, characterized in that: The process of providing normal contact force compensation and displacement compensation relative to the axle sample for the constant force grinding and polishing component based on the three-dimensional contact force field dynamic model and utilizing the elastic matrix of the force position controller further comprises: The following processes are included: Based on the contact force space vector and the tool posture angle, the gravity component of the grinding tool is calculated, and the gravity compensation of the grinding tool and the correction value of the target grinding and polishing force are obtained by measuring, thereby obtaining the normal contact force compensation and the displacement compensation; Based on the gravity compensation and the normal contact force compensation, a dynamic balance equation of the polishing force is established, and the real contact force is solved in real time through a Kalman filter and fed back to the elastic matrix.

14. The method for automatic grinding and polishing of axle sample by robot according to claim 11, characterized in that: The axle sample robot automatic grinding and polishing processing method also The following processes are included: After completing any set of the full-feature constant-force grinding and polishing operations, driving the robot to move and shift to the end of the shifting component, and then driving the constant-force grinding and polishing component to replace the grinding tool in the tool changing component; After the constant force grinding and polishing component replaces the grinding tool in the tool changing component, the constant force grinding and polishing component is driven to dip the replaced grinding tool into the oil filter pool of the tool changing component; The robot is driven to move the constant force grinding and polishing component to the side of the clamping component, so as to use the oil-dipped grinding tool to perform the next set of full-feature constant force grinding and polishing operations on the axle sample.

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