Autonomous recognition and trajectory planning grinding system and method for special-shaped space complex component

Abstract

The invention discloses an automatic recognition and track planning grinding system and method for a special-shaped space complex component. The system mainly comprises the steps that a workpiece is fixed through a fixing tool workpiece; the visual scanning and feature extraction system performs automatic scanning and feature extraction on all welding seams on a workpiece, and plans a polishing path and a polishing posture; according to different process treatment requirements of welding seams, the tool magazine system can automatically replace tool bits; according to the task collaborative planning algorithm, effective task distribution of online operation is guaranteed for multiple welding seams, and calculation of the grinding amount, uniform distribution of grinding tasks and interference prevention are achieved. And the robot works cooperatively according to the scanned welding seam position. According to the method, the optimal polishing path is determined through laser vision; according to the shape and size of the welding seam and a planned path, a proper grinding tool bit is configured; and the grinding tools are rapidly and automatically replaced through the tool magazine, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding equipment, and in particular to a system and method for autonomously identifying and trajectory planning grinding of special-shaped spatial complex components. Background Art

[0002] The traditional polishing process for square and round molds relied primarily on manual labor. However, this traditional polishing method has numerous drawbacks. The work site is often filled with large amounts of dust particles and accompanied by high-decibel noise. These environmental conditions can easily distract workers, making it difficult for them to maintain high-precision work standards for extended periods of time.

[0003] More importantly, due to the numerous uncontrollable factors in manual operations, consistent polishing quality is often difficult to maintain. The polishing results can vary from product to product, undoubtedly posing significant challenges in subsequent production processes. Furthermore, workers working in dusty environments for extended periods of time pose a serious threat to their health, and long-term exposure can easily lead to various respiratory illnesses.

[0004] Manual grinding consumes a lot of time and manpower, resulting in low grinding efficiency. At the same time, due to the inconsistency of grinding quality, multiple reworks may be required, further reducing production efficiency.

[0005] Traditional grinding methods are difficult to adapt to the high-precision and high-efficiency production needs. With the continuous development of grinding technology, the requirements for grinding accuracy and efficiency are getting higher and higher, and traditional grinding methods can no longer meet these needs. Summary of the Invention

[0006] The present invention aims to provide a system and method for autonomously identifying and trajectory planning special-shaped spatial complex components, which can improve the level of automation and precision of polishing.

[0007] The technical solutions for achieving the purpose of the present invention are:

[0008] The autonomous identification and trajectory planning grinding system for complex components in special-shaped spaces is characterized by: including a visual scanning and feature extraction system, a robotic grinding platform, an intelligent algorithm unit, a grinding system, a dust removal system, and a fixed tooling for the workpiece; first, the workpiece is placed on the fixed tooling; then, the laser scanning camera installed at the end of one of the six-axis robots follows the base and moves along the workpiece on the ground rail through the slider and bevel gear. The laser camera begins to collect information on the position, length, width and thickness of all welds on the workpiece, and transmits the information to the industrial computer through the bus; finally, the dual-robot task collaborative algorithm calculates the grinding amount based on the collected weld information, and allocates multi-pass weld tasks based on the anti-interference mechanism. The six-axis robot drives the floating electric spindle at the end to complete the grinding operation; the dust cover and dust removal air duct remove dust during the grinding operation.

[0009] Furthermore, the robotic grinding platform is composed of a six-axis robot, a tool, a motor, a base and a slider, a smoke and dust removal bracket and a bevel gear; the six-axis robot is installed on the ground rail through a mounting seat, and is used to complete the scanning of the workpiece to be ground and the axial sliding of different weld positions, and a laser scanning camera and a floating electric spindle are installed at its end; the motor is used to rotate the bevel gear, and there is a rack meshing with it on the ground rail, so that the robotic grinding platform can slide along the slider on the ground rail; the tool magazine is installed next to the six-axis robot, and the tool magazine is equipped with a grinding tool head, and when the tool head is worn to a certain extent, the tool head is automatically replaced; the smoke and dust removal bracket supports the dustproof and dust removal pipes.

[0010] Among them, the tool magazine is an automatic tool changing equipment for adaptive grinding and polishing tools. Two sliding doors are provided on one side of the tool magazine. When the tool wear reaches a preset threshold, or when a tool head of different specifications needs to be replaced according to the specific requirements of the grinding process, the six-axis robot can automatically replace the tool head placed in the tool magazine; the workpiece is scanned according to the visual scanning and feature extraction system, and the different types of welds and different process treatment methods are determined, and different tool heads are automatically replaced through the tool magazine to complete the process treatment process.

[0011] Furthermore, the visual scanning and feature extraction system is used to collect geometric feature information of all welds on the workpiece and provide data for grinding operations. It consists of a large-range laser scanning camera and an industrial computer. The laser scanning camera is installed on the laser mounting plate at the end of the six-axis robot. The six-axis robot can drive the scanning camera to complete the collection of all weld position, length, width and thickness information, transmit it to the industrial computer through the bus, and reconstruct the three-dimensional contour of the weld.

[0012] Furthermore, the intelligent algorithm unit includes a dual-robot task collaborative planning algorithm. The system uses a laser scanning camera to scan and obtain three-dimensional point cloud data of multiple welds, extract geometric parameters, and calculate the grinding amount for each weld. Based on the anti-interference mechanism, the six-axis robot on the left side grinds the welds one by one from the initial position at the left end of the workpiece to the right to the center of the workpiece. The six-axis robot on the right side slides from the right end to the center of the workpiece and then grinds the welds one by one to the right. The motor encoders of the two robot grinding platforms collect the motor torque and speed in real time and convert them into pulse signals. These pulse signals are transmitted to the industrial computer via a bus and converted into the actual position coordinates of the robot grinding platforms on the ground rail. Based on the position coordinates of the two robot grinding platforms, the distance between them is calculated in real time to ensure that the distance between the two machines is ≥3000mm at any time to avoid collisions. When allocating tasks, the total amount of work for each weld is first calculated. Then, based on the principle of equal distribution, the welding tasks are evenly distributed to the two six-axis robots. Finally, dynamic allocation is used to adjust tasks according to real-time conditions. After the grinding is completed, the system will perform a pre-test and effect evaluation.

[0013] process:

[0014] 1. Grinding amount calculation model

[0015] Based on the weld geometry (height a, width b, length l, curvature κ) and material removal rate η, the single-pass weld grinding amount is defined as: Where s is the arc length parameter of the weld

[0016] 2. Anti-interference mechanism

[0017] Robot layout:

[0018] The robot (left) is located at the initial position at the left end of the workpiece.

[0019] The robot (right) is located at the initial position at the right end of the workpiece.

[0020] Direction of movement:

[0021] The robot (left) grinds the weld seam one by one from left to right, with the movement direction being +X.

[0022] The robot (right) first slides from the right end to the center of the workpiece, and then grinds the welds one by one from the center to the right, with the movement direction being -X.

[0023] Principle: The motor encoder will collect the torque and speed of the motor in real time and convert it into pulse signals. These pulse signals are transmitted to the control cabinet through the bus and converted into the actual position coordinates of the robot grinding platform on the floor cabinet. According to the position coordinates of the two robot grinding platforms, the distance between them is calculated in real time. The control system compares the calculated actual distance d with the safety distance of 3000mm. If it is less than 3000mm, emergency braking will be triggered. Ultimately, it ensures that the distance between the two machines is ≥3000mm at any time.

[0024] 3. Task allocation method

[0025] (1) Calculation of total work volume: Calculate the total work volume of each weld based on the weld characteristics.

[0026] The total amount of work Wi can be expressed as:

[0027] W i =k1·L i +k2·a i +k3·b i

[0028] Where li is the weld length, ai is the weld height, bi is the weld width, and k1, k2, and k3 are weight coefficients, which should be adjusted according to actual conditions.

[0029] (2) Task pre-allocation

[0030] Equal distribution principle: Based on the total workload, the welding tasks are equally distributed between the two robots. The goal is to make the total workload of the two robots as balanced as possible.

[0031] Pre-allocation process:

[0032] 1. Sort all welds by total workload Wi from largest to smallest.

[0033] 2. Assign the welds to the robots with the smallest total workload in turn.

[0034] 3. Repeat the above steps until all welds are assigned.

[0035] The goal of pre-allocation is to make the total workloads WR1 and WR2 of the two robots as close as possible:

[0036] |W R1 -W R2 |≤∈

[0037] where ∈ is a small tolerance value.

[0038] (3) Dynamic allocation

[0039] Real-time adjustment: During actual execution, there may be inconsistent robot speeds, deviations in task execution time, etc. The dynamic allocation algorithm will adjust tasks based on real-time conditions.

[0040] Dynamic allocation strategy:

[0041] 1. Monitor the real-time workload of the two robots.

[0042] 2. If a robot completes a task faster, it can take over part of the task from another robot.

[0043] 3. The goal of dynamic adjustment is to keep the workload of the two robots balanced, avoiding one robot being idle while the other is overloaded.

[0044] (4) Residual height detection and effect evaluation

[0045] Online detection: During the grinding process, the weld reinforcement is detected in real time using a laser scanning camera.

[0046] Residual height assessment: The detected residual height is compared with the preset standard value to determine whether it meets the requirements. If the residual height exceeds the standard value, further grinding is required.

[0047] Grinding quality inspection: Use visual or tactile sensors to inspect the surface quality of the weld after grinding to assess whether it meets the preset smoothness and flatness standards.

[0048] Unqualified processing: If the grinding effect is unqualified, the robot will grind again according to the inspection results until the weld quality meets the requirements.

[0049] Furthermore, the grinding system consists of a floating electric spindle and a cutter head; the grinding system is installed at the end of the six-axis robot, and the control system of the floating electric spindle is paired with the overall control system through a bus to achieve data interaction and remote control; a built-in high-precision displacement sensor monitors the gap changes between the grinding tool and the workpiece surface in real time, transmits the collected gap data to the intelligent control system, calculates the error and generates control instructions, optimizes the spindle speed and feed speed, and ensures that the cutter head always maintains the best contact state with the workpiece surface.

[0050] When the grinding operation begins, the floating electric spindle follows the six-axis robot to the part of the workpiece to be ground according to the path planned by the intelligent algorithm unit. When the grinding tool approaches the workpiece surface by about 1 mm, the displacement sensor starts the high-precision detection mode and transmits the gap data between the tool and the workpiece to the intelligent control system in real time. The control system quickly calculates the radial and axial displacements that need to be adjusted for the electric spindle according to the preset process requirements, and drives the floating module to adjust the movement so that the grinding tool fits the workpiece surface precisely. During the grinding process, the operator can monitor the operating status of the floating electric spindle in real time through the host computer, including parameters such as speed, vibration amplitude, and displacement compensation.

[0051] Furthermore, the dust removal system is composed of a dust removal duct, a dust cover and a smoke purification box; the grinding operation is carried out in the dust cover, which is supported by a smoke removal bracket, and the smoke generated by the operation is purified through the dust removal pipe, the dust removal duct and the smoke purification box (4).

[0052] Furthermore, the fixing fixture of the workpiece consists of a V-shaped support roller frame and a cylinder clamping block; the side of the workpiece has straight ribs and semicircular ribs; when the workpiece is placed, the semicircular ribs are supported by the rollers in the V-shaped bracket, and at the same time, the cylinder clamping block next to the bracket fixes the straight ribs located under the workpiece.

[0053] A method for autonomously identifying and trajectory planning a complex component in a special-shaped space comprises the following steps:

[0054] Step 1: Manually select the workpiece model, hoist the workpiece to be polished onto the V-shaped support roller frame through the crane, and place the semicircular ribs on the roller;

[0055] Step 2: Fix the cylinder clamping block on the fixture to press and fix the straight rib plate under the workpiece;

[0056] Step 3: After the workpiece is placed and fixed, the left robot grinding platform uses the motor to drive the helical gear to move along the ground rail along the workpiece. At the same time, the laser scanning camera at the end of the six-axis robot also starts working, scanning the position, length, width and thickness of all welds on the workpiece and transmitting the information to the industrial computer;

[0057] Step 4: After the industrial computer obtains the weld information, the dual-robot task collaboration algorithm first calculates the weld grinding amount to be used, and then allocates the grinding tasks based on the anti-interference mechanism to ensure that all welds are reasonably allocated;

[0058] Step 5: According to the task assignment in step 4, both robot grinding platforms start to move, and the six-axis robot drives the floating electric spindle at the end to perform the grinding operation according to the preset path;

[0059] Step 6: During the grinding operation, the dust removal system also starts working to ensure the safety and cleanliness of the working area;

[0060] Step 7. After the grinding is completed, the system will conduct a preliminary inspection and effect evaluation. If there are no problems, the system devices will return to their initial positions, the six-axis robot will return to its initial position, and the display setting terminal will show that the grinding operation is completed and wait for manual pickup.

[0061] The beneficial effects of the present invention are: determining the optimal grinding path through laser vision; configuring a suitable grinding head according to the shape and size of the weld and the planned path; and realizing rapid and automatic replacement of grinding tools through the tool library, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 This is a schematic diagram of the three-dimensional structure of the autonomous identification and trajectory planning of complex components in special-shaped spaces according to the present invention.

[0063] Figure 2 This is a schematic diagram of the planar structure of the autonomous identification and trajectory planning of complex components in special-shaped spaces according to the present invention.

[0064] Figure 3 Schematic diagram of the three-dimensional structure of the robot polishing platform of the present invention.

[0065] Figure 4 It is a schematic diagram of the three-dimensional structure of the workpiece fixing fixture of the present invention.

[0066] Figure 5 It is a schematic diagram of the three-dimensional structure of the V-shaped roller frame of the present invention.

[0067] Figure 6 A general flow chart is developed for the polishing scheme of the present invention.

[0068] Figure 7 This is a flowchart of the dual-robot task collaborative planning of the present invention. DETAILED DESCRIPTION

[0069] The present invention will be described in detail below with reference to the accompanying drawings.

[0070] The present invention and its embodiments are described below. This description is not restrictive, and the actual embodiments are not limited to this. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the invention, designs structures and embodiments similar to this technical solution without inventiveness, they should all fall within the scope of protection of the present invention. The present invention is further described in detail below with reference to the accompanying drawings.

[0071] like Figure 1-5 As shown, the autonomous recognition and trajectory planning system for complex irregular spatial components includes a visual scanning and feature extraction system, a robotic polishing platform, an intelligent algorithm unit, a polishing system, a dust removal system, and a workpiece fixture.

[0072] The visual scanning and feature extraction system is used to collect geometric feature information of all welds on the workpiece and provide data for grinding operations;

[0073] The workpiece fixing fixture is used to support and fix the workpiece (18) during the grinding process through the V-shaped roller frame (20) and the cylinder clamping block (21);

[0074] In this embodiment, the workpiece fixing fixture is composed of 8 V-shaped roller frames (20) and 4 cylinder clamping blocks (21). The semicircular ribs (19) of the workpiece are placed on the V-shaped roller frames (20), and the straight ribs (22) located below the workpiece (18) are placed on the V-shaped roller frames (20).

[0075] Clamped by the cylinder clamping block (21);

[0076] In this embodiment, the robot polishing platform is composed of a six-axis robot (10), a smoke and dust removal bracket (9), a tool magazine (5), a motor (14), a slider (12) and a bevel gear (13);

[0077] In this embodiment, a six-axis robot (10) is mounted on a ground rail (7) via a mounting base (11) and is used to scan a workpiece (18) to be polished and perform axial sliding at different weld positions. A tool magazine (5) is mounted next to the six-axis robot (10), and a smoke and dust removal bracket (14) is provided on the platform to support a dust removal cover (3). A laser scanning camera (16) and a floating electric spindle (17) are mounted at the end of the six-axis robot (10).

[0078] In this embodiment, the intelligent algorithm unit includes a dual-robot task collaborative planning algorithm. The system obtains three-dimensional point cloud data of multiple welds through laser visual scanning, extracts geometric parameters and calculates the grinding amount of each weld. According to the anti-interference mechanism, the six-axis robot (left) grinds the welds one by one from the initial position at the left end of the workpiece (18) to the right to the center of the workpiece (18), and the six-axis robot (right) slides from the right end to the center of the workpiece (18) and then grinds the welds one by one to the right. The system generates a dual-machine path based on a B-spline curve to ensure that the distance between the two machines is ≥500 mm at any time, and finally realizes efficient collaborative grinding of multiple welds.

[0079] In this embodiment, the dust removal system is composed of a dust removal duct (6), a dust cover (3) and a smoke purification box (4). The dust removal duct (6) is placed above the ground rail (7) and is used to transport smoke generated by grinding; the dust removal hood (3) covers the six-axis robot (10) to prevent the smoke generated by grinding from damaging the surface of the workpiece (18); the smoke purification box (4) is used to purify the smoke transported by the dust removal duct (6);

[0080] In this embodiment, the visual scanning and feature extraction system consists of a laser line scanning camera (16) and an industrial computer (1); the laser scanning camera (16) is installed on the laser mounting plate at the end of the robot, and the robot can drive the scanning camera (16) to complete the collection of information such as the position, length, width and thickness of all welds, and transmit the information to the industrial computer (1) through the bus, so as to reconstruct the three-dimensional contour of the weld.

[0081] In this embodiment, the grinding system consists of a floating electric spindle (17) and a cutter head (15). The grinding system is installed at the end of a six-axis robot (10). The control system of the floating electric spindle (17) is paired with the overall control system through a bus to achieve data interaction and remote control. A high-precision displacement sensor is built in to monitor the gap change between the grinding tool and the workpiece surface in real time and transmit the collected gap data to the intelligent control system.

[0082] Combine Figure 6 and 7 The basic execution process of the autonomous identification and trajectory planning polishing method of special-shaped spatial complex components is as follows:

[0083] The first step is loading, manually selecting the workpiece model, and hoisting the workpiece to be polished (18) onto the V-shaped support roller frame (20) through a crane, and placing the semicircular rib (19) on the roller to ensure the stability of the workpiece's center of gravity;

[0084] The second step is fixing, where the cylinder clamping block (21) on the fixing fixture is used to press and fix the straight rib (22) below the workpiece to ensure that the workpiece (18) does not move during the grinding process;

[0085] In the third step, after the workpiece (18) is placed and fixed, the robot grinding platform (left) drives the bevel gear (13) through the servo motor (14) and moves along the ground rail (7) at a constant speed. At the same time, the laser scanning camera (16) at the end of the robot is started to perform high-precision scanning on the surface of the workpiece (18) to obtain three-dimensional point cloud data of the weld, including information such as the position, length, width, thickness and curvature of the weld, and transmit the data to the control unit in real time;

[0086] In the fourth step, after the robot control unit obtains the weld information, the dual-robot task collaboration algorithm first calculates the grinding amount for each weld based on the weld geometric characteristics (such as height, width, and curvature). Then, combined with the anti-interference mechanism, the grinding task is evenly distributed to the two robots according to the principle of equal distribution. Finally, dynamic allocation is used to adjust the tasks according to real-time conditions.

[0087] In the fifth step, according to the task allocation result, the robot (left) grinds the weld seams one by one from the initial position at the left end of the workpiece (18) to the right to the center of the workpiece (18), and the robot (right) slides from the right end to the center of the workpiece (18) and grinds the weld seams one by one to the right; the motor (14) encoder collects the torque speed of the motor (14) in real time and converts it into a pulse signal, which is transmitted to the industrial control computer (1) through the bus and converted into the actual position coordinates of the robot grinding platform on the ground rail (7). According to the position coordinates of the two robot grinding platforms, the distance between them is calculated in real time to ensure that the distance between the two machines is ≥3000mm at any time to avoid collision;

[0088] Step 6: During the grinding operation, the dust removal system is also started, and the dust generated by grinding is collected through the dust suction device to ensure that the working environment is clean and meets safety standards;

[0089] Step 7. After the grinding is completed, the system will conduct a preliminary inspection and effect evaluation. If there is no problem, the system will automatically reset, the six-axis robot (10) will return to the initial position, the ground rail (7) will stop moving, and the display terminal will prompt that the operation is completed. The operator can view the grinding quality report through the human-machine interface and remove the workpiece (18) for the next round of operation.

Claims

1. Autonomous identification and trajectory planning polishing system for complex components in special-shaped spaces, characterized by: The invention comprises a visual scanning and feature extraction system, a robot grinding platform, an intelligent algorithm unit, a grinding system, a dust removal system, and a fixed fixture for a workpiece; first, a workpiece (18) is placed on the fixed fixture; then, a laser scanning camera (16) installed at the end of one of the six-axis robots (10) follows the base (11) and moves along the workpiece (18) on the ground rail (7) via a slider (12) and a bevel gear (13); the laser camera (16) begins to collect information on the position, length, width and thickness of all welds on the workpiece (18), and transmits the information to an industrial computer (1) via a bus; finally, a dual-robot task collaborative algorithm calculates the grinding amount based on the collected weld information, and allocates multi-pass weld tasks based on an anti-interference mechanism; the six-axis robot (10) drives the floating electric spindle (17) at the end to complete the grinding operation; a dust cover (3) and a dust removal duct (6) remove dust during the grinding operation.

2. The autonomous identification and trajectory planning polishing system for complex irregular spatial components according to claim 1 is characterized by: The robot grinding platform is composed of a six-axis robot (10), a tool magazine (5), a motor (14), a base (11), a slider (12), a smoke and dust removal bracket (9) and a bevel gear (13); the six-axis robot (10) is installed on the ground rail (7) through the mounting seat (11), and is used to complete the scanning of the workpiece (18) to be ground and the axial sliding of different weld positions. The end of the six-axis robot (10) is installed with a laser scanning camera (16) and a floating electric spindle (17); the motor ( 14) is used to rotate the bevel gear (13), and a rack meshing with the bevel gear is provided on the ground rail (7), so that the robot grinding platform can slide along the slider (12) on the ground rail (7); the tool magazine (5) is installed next to the six-axis robot (10), and the tool magazine (5) is equipped with a grinding tool head (15). When the tool head (15) is worn to a certain extent, the tool head (15) is automatically replaced; the smoke and dust removal bracket (9) supports the dust cover (3) and the dust removal pipe (23).

3. The autonomous identification and trajectory planning polishing system for complex irregular spatial components according to claim 2 is characterized by: The tool magazine (5) is an automatic tool changing device for adaptive grinding and polishing tools. Two sliding doors are provided on one side of the tool magazine (5). When the tool wear reaches a preset threshold, or when a tool head (15) of different specifications needs to be replaced according to the specific requirements of the grinding process, the six-axis robot (10) can automatically replace the tool head (15) placed in the tool magazine (5); the workpiece is scanned according to the visual scanning and feature extraction system, and different types of welds and different process treatment methods are determined. Different tool heads (15) are automatically replaced through the tool magazine (5) to complete the process treatment process.

4. The autonomous identification and trajectory planning polishing system for complex irregular spatial components according to claim 1 is characterized by: The visual scanning and feature extraction system is used to collect geometric feature information of all welds on a workpiece (18) and provide data for grinding operations. The system is composed of a large-range laser scanning camera (16) and an industrial computer (1); wherein the laser scanning camera (16) is installed on a laser mounting plate at the end of a six-axis robot (10). The six-axis robot (10) can drive the scanning camera (16) to complete the collection of information on the position, length, width and thickness of all welds, and transmit the information to the industrial computer (1) via a bus to reconstruct the three-dimensional contour of the weld.

5. The autonomous identification and trajectory planning polishing system for complex irregular spatial components according to claim 1 is characterized by: The intelligent algorithm unit includes a dual-robot task collaborative planning algorithm. The system obtains three-dimensional point cloud data of multiple welds through scanning with a laser scanning camera (16), extracts geometric parameters and calculates the grinding amount of each weld. According to the anti-interference mechanism, the six-axis robot (10) on the left side grinds the welds one by one from the initial position at the left end of the workpiece (18) to the right to the center of the workpiece (18), and the six-axis robot (10) on the right side slides from the right end to the center of the workpiece (18) and grinds the welds one by one to the right. The motor (14) encoders of the two robot grinding platforms will collect the torque and speed of the motor (14) in real time and convert it into pulse signals. These pulse signals are transmitted to the industrial control computer (1) through the bus and converted into the actual position coordinates of the robot grinding platform on the ground rail (7). According to the position coordinates of the two robot grinding platforms, the distance between them is calculated in real time to ensure that the distance between the two machines is ≥3000mm at any time to avoid collision. When allocating tasks, the total amount of work for each weld is calculated first, and then the welding tasks are evenly allocated to the two six-axis robots (10) according to the principle of equal distribution. Finally, the tasks are adjusted according to the real-time situation through dynamic allocation. After the grinding is completed, the system will conduct a pre-detection and effect evaluation.

6. The autonomous identification and trajectory planning polishing system for complex irregular spatial components according to claim 1 is characterized by: The grinding system is composed of a floating electric spindle (17) and a cutter head (15); the grinding system is installed at the end of a six-axis robot (10), and the control system of the floating electric spindle (17) is paired with the overall control system through a bus to achieve data interaction and remote control; a built-in high-precision displacement sensor monitors the gap change between the grinding tool and the surface of the workpiece (18) in real time, transmits the collected gap data to the intelligent control system, calculates the error and generates control instructions, optimizes the spindle speed and feed speed, and ensures that the cutter head (15) always maintains the best contact state with the surface of the workpiece (18).

7. The autonomous identification and trajectory planning polishing system for complex irregular spatial components according to claim 6 is characterized by: When the grinding operation begins, the floating electric spindle (17) follows the six-axis robot (10) and moves to the part of the workpiece (18) to be ground according to the path planned by the intelligent algorithm unit; when the grinding tool approaches the surface of the workpiece (18) by about 1 mm, the displacement sensor starts the high-precision detection mode and transmits the gap data between the tool and the workpiece (18) to the intelligent control system in real time; the control system quickly calculates the radial and axial displacements that need to be adjusted for the electric spindle (17) according to the preset process requirements, and drives the floating module to adjust the action so that the grinding tool accurately fits the surface of the workpiece (18); during the grinding process, the operator can monitor the operating status of the floating electric spindle (17) in real time through the host computer, including parameters such as speed, vibration amplitude, and displacement compensation.

8. The autonomous identification and trajectory planning polishing system for complex irregular spatial components according to claim 1 is characterized by: The dust removal system is composed of a dust removal air duct (6), a dust cover (3) and a smoke purification box (4); the grinding operation is carried out in the dust cover (3), the dust cover (3) is supported by a smoke dust removal bracket (9), and the smoke generated by the operation is purified through the dust removal pipe (23), the dust removal air duct (6) and the smoke purification box (4).

9. The autonomous identification and trajectory planning polishing system for complex irregular spatial components according to claim 1 is characterized by: The workpiece fixing fixture is composed of a V-shaped support roller frame (20) and a cylinder clamping block (21); the side of the workpiece (18) is provided with a straight rib (22) and a semicircular rib (19); when the workpiece (18) is placed, the semicircular rib (19) is supported by the roller in the V-shaped bracket (20), and at the same time, the cylinder clamping block (21) next to the bracket fixes the straight rib (22) located below the workpiece (18).

10. A polishing method based on the system according to any one of claims 1 to 9, characterized in that: The steps include: Step 1: Manually select the workpiece model, hoist the workpiece to be polished (18) onto the V-shaped support roller frame (20) through a crane, and place the semicircular rib (19) on the roller; Step 2: The cylinder clamping block (21) on the fixing fixture is used to press and fix the straight rib (22) below the workpiece (18); Step 3: After the workpiece (18) is placed and fixed, the left robot grinding platform drives the bevel gear (13) on the ground rail (6) through the motor (14) to move along the direction of the workpiece (18). At the same time, the laser scanning camera (16) at the end of the six-axis robot (10) also starts working to scan the position, length, width and thickness information of all welds on the workpiece (18) and transmit the information to the industrial computer (1); Step 4: After the industrial computer (1) obtains the weld information, the dual-robot task collaboration algorithm first calculates the weld grinding amount, and then allocates the grinding tasks according to the anti-interference mechanism to ensure that all welds are reasonably allocated; Step 5: According to the task allocation in step 4, both robot grinding platforms start to move, and the six-axis robot (10) drives the floating electric spindle (17) at the end to perform the grinding operation according to the preset path; Step 6: During the grinding operation, the dust removal system also starts working to ensure the safety and cleanliness of the working area; Step 7: After the grinding is completed, the system will conduct a preliminary inspection and effect evaluation. If there is no problem, the system devices will return to their initial positions, the six-axis robot (10) will return to its initial position, and the display setting terminal will show that the grinding operation is completed and wait for manual pickup.

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