Multi-specification metal round bar surface defect detection and force control robot polishing workstation

Abstract

The invention belongs to the technical field of metal processing equipment, particularly relates to a multi-specification metal round bar surface defect detection and force-controlled robot polishing workstation, and aims to solve the problems that a clamping mechanism needs to be manually and repeatedly adjusted to adapt to metal round bars with different diameter specifications, the operation is time-consuming and the compatibility is poor. And the adaptive operation module comprises two mounting seats, the two mounting seats are symmetrical to each other, and the inner walls of the two mounting seats are rotationally connected with rotating ring frames. According to the multi-specification metal round bar surface defect detection and force control robot polishing workstation, the multiple clamping wheels synchronously contract towards the center in the radial direction, the workstation can automatically adapt to the outer contours of metal round bars with different diameters and stably and evenly clamp the metal round bars, meanwhile, the conveying wheels are tightly pressed against the surfaces of the round bars to facilitate conveying, and the working efficiency is greatly improved. The clamping compatibility and stability are remarkably improved, and the link of manual repeated adjustment is eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of metal processing equipment, and in particular to a surface defect detection and force-controlled robot polishing workstation for metal round bars of multiple specifications. Background Art

[0002] Surface quality is crucial in the manufacturing process of metal round bars. Any tiny defects, such as scratches, cracks, and pinholes, can pose serious safety risks during subsequent use or affect product performance and service life. Traditional methods for detecting and polishing surface defects in metal round bars rely primarily on manual labor.

[0003] In the existing technology, when faced with metal round bars of different diameters, it is necessary to manually adjust the clamping mechanism repeatedly to adapt to them. The operation is time-consuming and has poor compatibility. At the same time, after manual debugging, uneven clamping may cause the round bars to slip or deviate during transportation, reducing processing efficiency and grinding accuracy. Summary of the Invention

[0004] The present invention discloses a surface defect detection and force-controlled robot polishing workstation for metal round bars of various specifications, aiming to solve the technical problems in the background technology of requiring manual repeated adjustment of the clamping mechanism to adapt to metal round bars of different diameters, which is time-consuming and has poor compatibility.

[0005] The surface defect detection workstation for metal round bars of multiple specifications proposed in the present invention includes an adaptive operation module, which includes two mounting seats. The two mounting seats are symmetrical to each other. The inner walls of the two mounting seats are rotatably connected to a rotating ring frame. A plurality of sliding slots are opened on the two rotating ring frames at equal distances around the circumference. Sliding blocks are slidably connected in the plurality of sliding slots. One side of the plurality of sliding blocks is fixedly connected to a mounting rod frame. The ends of the plurality of mounting rod frames away from the sliding blocks are rotatably connected to clamping wheels. The adaptive operation module adaptively clamps and conveys metal round bars of different specifications.

[0006] In a preferred solution, the adaptive operation module also includes two movable rings, both of which are movably connected to the corresponding rotating ring frames, and multiple arc grooves are opened on the two movable rings at equal intervals around the circumference, and sliding members are slidably connected in the multiple arc grooves, one end of the multiple sliding members is fixedly connected to the corresponding sliding blocks, and one side of the two mounting seats is fixedly connected to a drive motor, the outside of the two drive motors and the two rotating ring frames are fixedly connected to pulleys, and the outsides of the two pulleys on the same side are both connected to the same belt for transmission.

[0007] In a preferred embodiment, the exteriors of the two movable rings are fixedly connected to gear rings, and fixing holes are provided on the two rotating ring frames, and universal motors are fixedly connected in the two fixing holes, and the output ends of the two universal motors are fixedly connected to gears, and the two gears are meshed with the corresponding gear rings.

[0008] In a preferred solution, two symmetrical mounting brackets are fixedly connected to opposite sides of the two rotating ring brackets, two sliding holes are provided on the multiple mounting brackets, sliding rods are slidably connected in the multiple sliding holes, one end of the two sliding rods located on the same mounting bracket is fixedly connected to the same mounting platform, springs are wrapped around the outside of the multiple sliding rods, and winding rings are fixedly connected to the outside of the two movable rings.

[0009] In a preferred embodiment, two winding ropes are wrapped around the outside of the two winding rings, and the ends of the multiple winding ropes away from the winding rings are fixedly connected to the corresponding mounting platforms, and the multiple mounting frames are fixedly connected to guide members, and the multiple winding ropes slide on the inner walls of the corresponding guide members.

[0010] In a preferred solution, multiple mounting platforms are rotatably connected to rotating shafts, multiple rotating shafts are fixedly connected to conveying wheels on their exteriors, and multiple mounting platforms are provided with mounting holes, multiple mounting holes are fixedly connected to servo motors, the driving ends of multiple servo motors and the upper ends of multiple rotating shafts are fixedly connected to transmission wheels, and the exteriors of two transmission wheels located above the same mounting platform are both transmission-connected to the same transmission belt.

[0011] A force-controlled robot polishing workstation includes the multi-specification metal round bar surface defect detection workstation described above, and also includes a workbench;

[0012] A force-controlled collaborative robot, the force-controlled collaborative robot being fixedly connected to the top of the workbench;

[0013] A fixing frame, the fixing frame being fixedly connected to the top of the workbench;

[0014] A 3D vision camera, wherein the 3D vision camera is fixedly connected to a fixing frame;

[0015] A liquid storage tank, the liquid storage tank is fixedly connected to the top of the workbench;

[0016] A spray pipe, the spray pipe being fixedly connected to one side of the liquid storage tank;

[0017] The grinding auxiliary module is located on the top of the workbench. The grinding auxiliary module includes a base, which is fixedly connected to the top of the workbench. The top of the base is fixedly connected to two mutually symmetrical fixed ring frames. The grinding auxiliary module fixes metal round rods of different specifications during grinding, cleans the grinding residue and reduces the temperature at the grinding point.

[0018] In a preferred embodiment, the grinding auxiliary module also includes two blowing parts, both of which are fixedly connected to the corresponding fixed ring frames, and the two fixed ring frames are fixedly connected to fixing parts on the sides away from each other, and the two fixing parts are fixedly connected to air pumps, and the output ends of the two air pumps are fixedly connected to connecting pipes, and the ends of the two connecting pipes away from the air pumps are connected to the corresponding blowing parts.

[0019] In a preferred embodiment, a plurality of slots are provided on the two fixed ring frames at equal intervals around the circumference, and rotating rods are movably connected in the plurality of slots, and a clamp is movably connected to one end of the plurality of rotating rods away from the fixed ring frames, and a plurality of mounting parts are fixedly connected to one side of the two fixed ring frames away from each other at equal intervals around the circumference, and a hydraulic rod is movably connected to the plurality of mounting parts, and the driving ends of the plurality of hydraulic rods are movably connected to one end of the corresponding rotating rod.

[0020] In a preferred embodiment, a delivery pump is fixedly connected to one side of the liquid storage tank, and the input end of the delivery pump is connected to the liquid storage tank, the output end of the delivery pump is fixedly connected to a delivery pipe, and the end of the delivery pipe away from the delivery pump is connected to the spray pipe.

[0021] From the above, it can be seen that the multi-specification metal round bar surface defect detection and force-controlled robot polishing workstation provided by the present invention can automatically adapt to the outer contours of metal round bars of different diameters and form a stable and uniform clamping of them through the adaptive operation module and multiple clamping wheels that synchronously shrink radially toward the center. While the clamping wheels are tightly attached, the conveying wheels are also tightly pressed against the surface of the round bar for conveying, which significantly improves the compatibility and stability of the clamping, eliminates the manual repeated adjustment process, and ensures the continuity and efficiency of the processing flow. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of the surface defect detection workstation for metal round bars of multiple specifications proposed by the present invention;

[0023] Figure 2 This is a structural diagram of the movable ring of the adaptive operation module of the multi-specification metal round bar surface defect detection workstation proposed by the present invention;

[0024] Figure 3 This is a structural diagram of the rotating ring frame of the adaptive operation module of the multi-specification metal round bar surface defect detection workstation proposed by the present invention;

[0025] Figure 4 This is a structural diagram of the adaptive operation module mounting frame of the multi-specification metal round bar surface defect detection workstation proposed by the present invention;

[0026] Figure 5This is a schematic diagram of the overall structure of the force-controlled robot polishing workstation proposed in the present invention;

[0027] Figure 6 This is a structural diagram of the grinding auxiliary module of the force-controlled robot grinding workstation proposed in the present invention;

[0028] Figure 7 This is a schematic diagram of the fixed ring frame structure of the grinding auxiliary module of the force-controlled robot grinding workstation proposed by the present invention.

[0029] In the figure: 1. Workbench; 2. Force-controlled collaborative robot; 3. Fixed frame; 4. 3D vision camera; 5. Adaptive operation module; 501. Mounting seat; 502. Rotating ring frame; 503. Driving motor; 504. Pulley; 505. Belt; 506. Movable ring; 507. Arc groove; 508. Sliding member; 509. Sliding block; 510. Mounting rod frame; 511. Clamping wheel; 512. Universal motor; 513. Gear; 514. Gear ring; 515. Winding ring; 516. Mounting frame; 517. Winding rope; 518. 8. Guide member; 519. Sliding rod; 520. Mounting table; 521. Spring; 522. Rotating shaft; 523. Conveying wheel; 524. Servo motor; 525. Transmission wheel; 526. Transmission belt; 6. Grinding auxiliary module; 601. Base; 602. Fixed ring frame; 603. Blowing member; 604. Fixing member; 605. Air pump; 606. Connecting pipe; 607. Mounting member; 608. Hydraulic rod; 609. Rotating rod; 610. Clamping member; 7. Liquid storage tank; 8. Spray pipe; 9. Conveying pump; 10. Conveying pipe. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] The multi-specification metal round bar surface defect detection and force-controlled robot polishing workstation disclosed in the present invention is mainly used in scenarios where manual repeated adjustment of the clamping mechanism is required to adapt to metal round bars of different diameters, which is time-consuming and has poor compatibility.

[0032] Reference Figure 1-Figure 7The surface defect detection workstation for metal round bars of multiple specifications includes an adaptive operation module 5. The adaptive operation module 5 includes two mounting seats 501. The two mounting seats 501 are symmetrical to each other. The inner walls of the two mounting seats 501 are rotatably connected to a rotating ring frame 502. A plurality of sliding slots are equidistantly provided on the two rotating ring frames 502. Sliding blocks 509 are slidably connected in the plurality of sliding slots. One side of the plurality of sliding blocks 509 is fixedly connected to a mounting rod frame 510. The ends of the plurality of mounting rod frames 510 away from the sliding block 509 are rotatably connected to a clamping wheel 511. The adaptive operation module 5 adaptively clamps and conveys metal round bars of different specifications.

[0033] Reference Figure 1 、 Figure 2 and Figure 3 The adaptive operation module 5 also includes two movable rings 506, and the two movable rings 506 are movably connected to the corresponding rotating ring frames 502. A plurality of arc grooves 507 are equidistantly spaced around the two movable rings 506, and sliding members 508 are slidably connected in the plurality of arc grooves 507. One end of the plurality of sliding members 508 is fixedly connected to the corresponding sliding block 509, and one side of the two mounting seats 501 is fixedly connected to a drive motor 503, and the outside of the two drive motors 503 and the two rotating ring frames 502 are fixedly connected to pulleys 504, and the outsides of the two pulleys 504 on the same side are both transmission-connected to the same belt 505.

[0034] Reference Figure 1 、 Figure 2 and Figure 3 The outside of the two movable ring members 506 are fixedly connected with a gear ring 514, and the two rotating ring frames 502 are provided with fixing holes, and the two fixing holes are fixedly connected with a universal motor 512. The output ends of the two universal motors 512 are fixedly connected with a gear 513, and the two gears 513 are meshed with the corresponding gear ring 514.

[0035] Reference Figure 1 、 Figure 2 and Figure 4 Two symmetrical mounting brackets 516 are fixedly connected to the opposite sides of the two rotating ring frames 502. Two sliding holes are provided on the multiple mounting brackets 516. Sliding rods 519 are slidably connected in the multiple sliding holes. One end of the two sliding rods 519 located on the same mounting bracket 516 is fixedly connected to the same mounting platform 520. The outside of the multiple sliding rods 519 is surrounded by a spring 521, and the outside of the two movable ring members 506 is fixedly connected to a winding ring 515.

[0036] Reference Figure 1 、 Figure 2 and Figure 4Two winding ropes 517 are wrapped around the outside of the two winding rings 515, and the ends of the multiple winding ropes 517 away from the winding rings 515 are fixedly connected to the corresponding mounting platforms 520, and the multiple mounting frames 516 are fixedly connected to guide members 518, and the multiple winding ropes 517 slide on the inner walls of the corresponding guide members 518.

[0037] Reference Figure 1 、 Figure 2 and Figure 4 , multiple mounting platforms 520 are rotatably connected to rotating shafts 522, and the outsides of multiple rotating shafts 522 are fixedly connected to conveying wheels 523, and multiple mounting platforms 520 are provided with mounting holes, and servo motors 524 are fixedly connected in multiple mounting holes. The driving ends of multiple servo motors 524 and the upper ends of multiple rotating shafts 522 are fixedly connected to transmission wheels 525, and the outsides of two transmission wheels 525 located above the same mounting platform 520 are both transmission-connected to the same transmission belt 526.

[0038] In a specific application scenario, the universal motor 512 rotates the movable ring 506 through the gear 513, forcing multiple sliding members 508 to slide in the corresponding arc groove 507, and the sliding members 508 drive multiple sliding blocks 509 and the mounting rod frame 510 to move synchronously toward the center, so that the clamping wheel 511 is close to the outer wall of the metal round bar and adaptively clamps it. At the same time, when the movable ring 506 rotates, it will drive the winding ring 515 to rotate, and the winding ring 515 relaxes the winding rope 517. At this time, the spring 521 elastically recovers and pushes the mounting platform 520 and the sliding rod 519 toward the metal round bar. The conveying wheel 523 slides in the direction until it is in close contact with the outer wall of the metal round bar, and the servo motor 524 is started to rotate the transmission wheel 525, which drives the rotating shaft 522 and the conveying wheel 523 to rotate through the transmission belt 526 to convey the metal round bar; the multiple clamping wheels are synchronously contracted radially toward the center, which can automatically adapt to the outer contour of metal round bars of different diameters and form a stable and uniform clamping for them. While the clamping wheels are in close contact, the conveying wheels are also pressed tightly against the surface of the round bar for conveying, which significantly improves the compatibility and stability of the clamping, eliminates the link of repeated manual adjustment, and ensures the continuity and efficiency of the processing flow.

[0039] Reference Figure 5 、 Figure 6 and Figure 7 , a force-controlled robot polishing workstation, including the multi-specification metal round bar surface defect detection workstation as described above, and also including a workbench 1;

[0040] The force-controlled collaborative robot 2 is fixedly connected to the top of the workbench 1;

[0041] A fixing frame 3, the fixing frame 3 is fixedly connected to the top of the workbench 1;

[0042] 3D vision camera 4, the 3D vision camera 4 is fixedly connected to the fixing frame 3;

[0043] A liquid storage tank 7 is fixedly connected to the top of the workbench 1;

[0044] A spray pipe 8 is fixedly connected to one side of the liquid storage tank 7;

[0045] Grinding auxiliary module 6, grinding auxiliary module 6 is located on the top of the workbench 1, and the grinding auxiliary module 6 includes a base 601, the base 601 is fixedly connected to the top of the workbench 1, and the top of the base 601 is fixedly connected to two mutually symmetrical fixed ring frames 602. The grinding auxiliary module 6 fixes metal round rods of different specifications during grinding, cleans the grinding residue and reduces the temperature at the grinding location.

[0046] Reference Figure 5 、 Figure 6 and Figure 7 The grinding auxiliary module 6 also includes two blowing parts 603, and the two blowing parts 603 are fixedly connected to the corresponding fixed ring frames 602, and the two fixed ring frames 602 are fixedly connected to a fixing part 604 on the side away from each other, and the two fixing parts 604 are fixedly connected to an air pump 605, and the output ends of the two air pumps 605 are fixedly connected to a connecting pipe 606, and the ends of the two connecting pipes 606 away from the air pump 605 are connected to the corresponding blowing parts 603.

[0047] Reference Figure 5 、 Figure 6 and Figure 7 A plurality of slots are provided on the two fixed ring frames 602 at equal intervals around the circumference, and a rotating rod 609 is movably connected in each of the slots. A clamping piece 610 is movably connected to one end of the plurality of rotating rods 609 away from the fixed ring frame 602, and a plurality of mounting pieces 607 are fixedly connected at equal intervals around the circumference on one side of the two fixed ring frames 602 away from each other. A hydraulic rod 608 is movably connected to the plurality of mounting pieces 607, and the driving ends of the plurality of hydraulic rods 608 are movably connected to one end of the corresponding rotating rod 609.

[0048] Reference Figure 5 A delivery pump 9 is fixedly connected to one side of the liquid storage tank 7, and the input end of the delivery pump 9 is connected to the liquid storage tank 7. The output end of the delivery pump 9 is fixedly connected to a delivery pipe 10, and the end of the delivery pipe 10 away from the delivery pump 9 is connected to the spray pipe 8.

[0049] In a specific application scenario, multiple hydraulic rods 608 push the rotating rod 609 to rotate synchronously, and this section of metal round rod is fixed and clamped by the clamping piece 610. The air pump 605 pumps air into the blowing piece 603 through the connecting pipe 606 to blow the grinding area to blow away the generated grinding slag and cool the grinding area at the same time; it can effectively suppress grinding vibration, ensure processing stability, cooperate with real-time air blowing dust removal and cooling, avoid secondary adhesion of grinding slag, and ensure surface treatment quality and tool life.

[0050] Working principle: When the device is used, the universal motor 512 is started to rotate the gear 513. The gear 513 and the gear ring 514 are meshed with each other, driving the movable ring 506 to rotate, forcing multiple sliding members 508 to slide in the corresponding arc grooves 507. The sliding members 508 drive multiple sliding blocks 509 and the mounting rod 510 to move synchronously toward the center, so that the clamping wheel 511 is close to the outer wall of the metal round bar and adaptively clamps it. At the same time, when the movable ring 506 rotates, it will drive the winding ring 515 to rotate. The winding ring 515 The winding rope 517 is loosened, and the spring 521 elastically recovers and pushes the mounting platform 520 and the sliding rod 519 to slide toward the metal round bar until the conveying wheel 523 is close to the outer wall of the metal round bar. The servo motor 524 is started to rotate the transmission wheel 525, and the transmission belt 526 drives the rotating shaft 522 and the conveying wheel 523 to rotate, so as to convey the metal round bar. The conveying pump 9 is started to start the driving motor 503 to rotate the pulley 504, and the rotating ring frame 502 is driven to rotate through the belt 505, thereby driving the metal round bar to rotate. The metal round bar is rotated. When passing under the spray pipe 8, the delivery pump 9 is started to pump the fluorescent magnetic suspension in the liquid storage tank 7 into the spray pipe 8 through the delivery pipe 10, and the fluorescent magnetic suspension is evenly adhered to the surface of the metal round rod in conjunction with the rotation of the metal round rod, so that the surface defects of the metal round rod are more obvious under the action of the fluorescent magnetic suspension; when the metal round rod continues to move forward and enters the detection range of the 3D vision camera 4, the 3D vision camera 4 scans and detects the metal round rod, obtains the coordinates of the defect position, and sends the coordinate data to the force-controlled collaborative robot 2. At this time, the conveyor line is suspended and started at the same time. Multiple hydraulic rods 608 are driven to push the rotating rod 609 to rotate synchronously, and this section of metal round bar is fixedly clamped by the clamping piece 610 to avoid large vibrations during grinding that affect the grinding effect. The force-controlled collaborative robot 2 grinds the defective part of the metal round bar according to the received defect position coordinates, and starts the air pump 605 to pump air into the blowing part 603 through the connecting pipe 606 to spray the grinding area to blow away the generated grinding slag to prevent it from adhering to the metal round bar again. At the same time, the grinding area is cooled down. After grinding is completed, the conveyor line resumes operation.

[0051] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. Multi-specification metal round bar surface defect detection workstation, characterized by: The invention comprises an adaptive operation module (5), wherein the adaptive operation module (5) comprises two mounting seats (501), the two mounting seats (501) are symmetrical to each other, the inner walls of the two mounting seats (501) are rotatably connected to a rotating ring frame (502), the two rotating ring frames (502) are both provided with a plurality of sliding slots equidistantly around the circumference, the plurality of sliding slots are slidably connected to a sliding block (509), one side of the plurality of sliding blocks (509) is fixedly connected to a mounting rod frame (510), and one end of the plurality of mounting rod frames (510) away from the sliding block (509) is rotatably connected to a clamping wheel (511), and the adaptive operation module (5) performs adaptive clamping and conveying on metal round bars of different specifications.

2. The multi-specification metal round bar surface defect detection workstation according to claim 1 is characterized in that: The adaptive operation module (5) further comprises two movable rings (506), both movable rings (506) are movably connected to corresponding rotating ring frames (502), a plurality of arc grooves (507) are equidistantly provided on the two movable rings (506), a plurality of sliding members (508) are slidably connected in the plurality of arc grooves (507), one end of the plurality of sliding members (508) is fixedly connected to a corresponding sliding block (509), and one side of the two mounting seats (501) is fixedly connected to a driving motor (503), the outsides of the two driving motors (503) and the two rotating ring frames (502) are fixedly connected to pulleys (504), and the outsides of the two pulleys (504) on the same side are both transmission-connected to the same belt (505).

3. The multi-specification metal round bar surface defect detection workstation according to claim 2 is characterized in that: The exteriors of the two movable ring members (506) are fixedly connected to gear rings (514), and the two rotating ring frames (502) are provided with fixing holes, and universal motors (512) are fixedly connected in the two fixing holes. The output ends of the two universal motors (512) are fixedly connected to gears (513), and the two gears (513) are meshed with the corresponding gear rings (514).

4. The multi-specification metal round bar surface defect detection workstation according to claim 3 is characterized in that: Two symmetrical mounting frames (516) are fixedly connected to opposite sides of the two rotating ring frames (502), two sliding holes are provided on the multiple mounting frames (516), and sliding rods (519) are slidably connected in the multiple sliding holes. One end of the two sliding rods (519) located on the same mounting frame (516) is fixedly connected to the same mounting platform (520), the outside of the multiple sliding rods (519) is surrounded by a spring (521), and the outside of the two movable ring members (506) is fixedly connected to a winding ring (515).

5. The surface defect detection workstation for metal round bars of multiple specifications according to claim 4 is characterized in that: Two winding ropes (517) are respectively wrapped around the outside of the two winding rings (515), and one end of the plurality of winding ropes (517) away from the winding rings (515) is fixedly connected to the corresponding mounting platform (520), and a guide member (518) is fixedly connected to the plurality of mounting frames (516), and the plurality of winding ropes (517) slide on the inner wall of the corresponding guide member (518).

6. The multi-specification metal round bar surface defect detection workstation according to claim 5 is characterized in that: The plurality of mounting platforms (520) are all rotatably connected to rotating shafts (522), and the exteriors of the plurality of rotating shafts (522) are all fixedly connected to conveying wheels (523). The plurality of mounting platforms (520) are all provided with mounting holes, and the plurality of mounting holes are all fixedly connected to servo motors (524). The driving ends of the plurality of servo motors (524) and the upper ends of the plurality of rotating shafts (522) are all fixedly connected to transmission wheels (525), and the exteriors of the two transmission wheels (525) located above the same mounting platform (520) are both transmission-connected to the same transmission belt (526).

7. A force-controlled robot polishing workstation, comprising the multi-specification metal round bar surface defect detection workstation according to claims 1 to 6, characterized in that: Also included is a workbench (1); A force-controlled collaborative robot (2), wherein the force-controlled collaborative robot (2) is fixedly connected to the top of the workbench (1); A fixing frame (3), wherein the fixing frame (3) is fixedly connected to the top of the workbench (1); A 3D vision camera (4), wherein the 3D vision camera (4) is fixedly connected to the fixing frame (3); A liquid storage tank (7), wherein the liquid storage tank (7) is fixedly connected to the top of the workbench (1); A spray pipe (8), wherein the spray pipe (8) is fixedly connected to one side of the liquid storage tank (7); A grinding auxiliary module (6) is located on the top of the workbench (1). The grinding auxiliary module (6) includes a base (601) fixedly connected to the top of the workbench (1). Two mutually symmetrical fixed ring frames (602) are fixedly connected to the top of the base (601). The grinding auxiliary module (6) fixes metal round bars of different specifications during grinding, cleans grinding residues, and reduces the temperature at the grinding location.

8. The force-controlled robot polishing workstation according to claim 7, characterized in that: The polishing auxiliary module (6) further comprises two blowing members (603), both of which are fixedly connected to corresponding fixed ring frames (602), and both sides of the two fixed ring frames (602) away from each other are fixedly connected to fixing members (604), both fixing members (604) are fixedly connected to air pumps (605), and both output ends of the two air pumps (605) are fixedly connected to connecting pipes (606), and both ends of the two connecting pipes (606) away from the air pumps (605) are in communication with the corresponding blowing members (603).

9. The force-controlled robot polishing workstation according to claim 8, characterized in that: The two fixed ring frames (602) are provided with a plurality of slots at equal intervals around the circumference, and the plurality of slots are movably connected to rotating rods (609), and the ends of the plurality of rotating rods (609) away from the fixed ring frame (602) are movably connected to clamping members (610), and the sides of the two fixed ring frames (602) away from each other are fixedly connected with a plurality of mounting members (607) at equal intervals around the circumference, and the plurality of mounting members (607) are movably connected to hydraulic rods (608), and the driving ends of the plurality of hydraulic rods (608) are movably connected to one end of the corresponding rotating rod (609).

10. The force-controlled robot polishing workstation according to claim 7, characterized in that: A delivery pump (9) is fixedly connected to one side of the liquid storage tank (7), and the input end of the delivery pump (9) is connected to the liquid storage tank (7). The output end of the delivery pump (9) is fixedly connected to a delivery pipe (10), and the end of the delivery pipe (10) away from the delivery pump (9) is connected to the spray pipe (8).

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