Grinding system

Abstract

The embodiment of the invention discloses a grinding system. The grinding system comprises a main controller, at least two flexible grinding units and at least two first grinding robots. The flexible grinding unit comprises a sub-controller; the first grinding robot and each sub-controller are electrically connected with the main controller; the main controller conveys the workpieces to be polished to the corresponding flexible polishing units; the flexible polishing unit is used for roughly polishing the to-be-polished workpiece under the control of the corresponding sub-controller; the main controller is further used for controlling the first polishing robot to conduct fine polishing on the roughly-polished workpiece to be polished. According to the automatic polishing system, the main line where the main controller is located and the flexible polishing unit can work cooperatively by arranging the distributed decision-making architecture in which the main controller and the multiple sub-controllers work cooperatively, and the technical problems that in the prior art, an automatic polishing system is single in control form, low in flexibility and low in polishing efficiency are solved; the technical effects that the grinding flexibility is improved, and the grinding efficiency is improved are achieved.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of automatic control, in particular to a polishing system. BACKGROUND

[0002] In a modern automobile automatic production line, polishing, as one of key process links, is responsible for completing fine polishing work of parts such as a wheel hub, an engine cylinder, a rear box body, etc. Most of traditional polishing processes adopt manual operation, and a few automatic stations adopt a form of single robot + polishing table or numerical control machine tool polishing.

[0003] For manual polishing, due to space and robot trajectory limitation, a traditional polishing line has low coverage rate for complex curved surfaces of workpieces, cannot enter part of narrow spaces, and has single polishing points; manual polishing quality is uneven, a part unqualified rate is high, and polishing precision is low; a large amount of dust and noise are generated in the manual polishing process, which threatens the health and safety of workers.

[0004] For automatic polishing, although polishing precision problems caused by manual polishing and hidden dangers to the health and safety of workers can be overcome, most of traditional automatic polishing systems control robots to polish by a master station PLC (Programmable Logic Controller), polishing units have no autonomous decision-making ability, which leads to low flexibility of line body control and single control form; and in a single process polishing line body, waiting time between processes is long, which leads to low production line beat and low polishing efficiency. SUMMARY

[0005] The embodiment of the application provides a polishing system, which solves the technical problems of single control form, low flexibility and low polishing efficiency of an automatic polishing system in the prior art.

[0006] The embodiment of the application provides a polishing system, which comprises a main controller, at least two flexible polishing units and at least two first polishing robots; the flexible polishing unit comprises a sub-controller;

[0007] The first polishing robot and each sub-controller are electrically connected with the main controller;

[0008] The main controller transmits a workpiece to be polished to a corresponding flexible polishing unit;

[0009] The flexible polishing unit performs rough polishing on the workpiece to be polished under control of a corresponding sub-controller;

[0010] The main controller is further used for controlling the first polishing robot to perform fine polishing on the workpiece to be polished after rough polishing.

[0011] Further, the main controller is provided with an industrial switch;

[0012] Each of the sub-controllers is connected with the industrial switch;

[0013] The main controller and each of the sub-controllers are connected through an industrial Ethernet.

[0014] Further, the flexible polishing unit further comprises a network switching module;

[0015] Each of the sub-controllers is connected to the industrial switch through the network switching module;

[0016] The network switching module is used for converting the Modbus communication protocol applied by the sub-controllers into the Profinet communication protocol applied by the industrial switch.

[0017] Further, the polishing system further comprises a rotary polishing table, a clamp assembly and a conveying line;

[0018] The main controller is connected with the rotary polishing table, the clamp assembly and the conveying line through a ring network structure;

[0019] The rotary polishing table is used for adjusting the position of the workpiece to be polished;

[0020] The clamp assembly is used for fixing the workpiece to be polished;

[0021] The conveying line is used for conveying the workpiece to be polished.

[0022] Further, the polishing system further comprises an electric energy measuring unit; the electric energy measuring unit is electrically connected with the main controller;

[0023] The electric energy measuring unit, each of the flexible polishing units and the main controller are connected through a star network structure.

[0024] Further, the polishing system further comprises a human-computer interaction unit;

[0025] The human-computer interaction unit is electrically connected with the main controller, and is used for displaying the running state of each device in the polishing system in real time.

[0026] Further, the clamp assembly comprises a clamp body and a clamp valve island;

[0027] The clamp body is used for fixing the workpiece to be polished;

[0028] The clamp valve island is used for controlling the pneumatic execution element, the sensor and the vacuum chuck on the clamp body to perform corresponding actions.

[0029] Further, the flexible polishing unit further comprises a second polishing robot and a tool assembly; the tool assembly comprises a tool quick-change disc and a tool library.

[0030] The second polishing robot realizes switching use of different tools based on the tool quick-change disc and the tool library, and the second polishing robot is used to perform rough polishing on the workpiece to be polished under control of the sub-controller.

[0031] Further, the flexible polishing unit further comprises a rotary table and a rotary table servo drive.

[0032] The rotary table is electrically connected with the rotary table servo drive.

[0033] The rotary table servo drive is used to drive the rotary table to fix the workpiece to be polished under control of the corresponding sub-controller.

[0034] Further, the main controller and the sub-controller are programmable logic controllers.

[0035] The embodiment of the application discloses a polishing system, which comprises a main controller, at least two flexible polishing units and at least two first polishing robots; each flexible polishing unit comprises a sub-controller; the first polishing robots and the sub-controllers are electrically connected with the main controller; the main controller is used to deliver a workpiece to be polished to a corresponding flexible polishing unit; the flexible polishing unit is used to perform rough polishing on the workpiece to be polished under control of the corresponding sub-controller; and the main controller is further used to control the first polishing robot to perform fine polishing on the workpiece to be polished after rough polishing. The distributed decision-making architecture of the main controller and the multiple sub-controllers working cooperatively is arranged, so that the main line where the main controller is located and the flexible polishing units can work cooperatively, the technical problems of single control form, low flexibility and low polishing efficiency of the automatic polishing system in the prior art are solved, and the technical effects of improving polishing flexibility and improving polishing efficiency are achieved. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a structural diagram of a polishing system provided by the embodiment of the application;

[0037] Figure 2 is a power supply interface schematic diagram of the polishing system provided by the embodiment of the application;

[0038] Figure 3 is a network connection schematic diagram of the polishing system provided by the embodiment of the application. DETAILED DESCRIPTION

[0039] The application will be described in further detail below with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not intended to limit the application. In addition, it should be noted that only the parts related to the application are shown in the drawings for ease of description.

[0040] It should be noted that the terms "first", "second", and the like in the specification and claims of the application and the drawings are used to distinguish different objects, and are not intended to limit a specific order. The various embodiments of the application can be executed alone or in combination with each other, and the application embodiments do not specifically limit this.

[0041] Figure 1 is a structural diagram of a polishing system provided by an embodiment of the application.

[0042] As shown in Figure 1 , the polishing system comprises a main controller 10, at least two flexible polishing units 20, and at least two first polishing robots 11; the flexible polishing unit 20 comprises a sub-controller 21; the first polishing robot 11 and each sub-controller 21 are electrically connected to the main controller 10.

[0043] The main controller 10 delivers the workpiece to be polished to the corresponding flexible polishing unit 20; the flexible polishing unit 20 performs rough polishing on the workpiece to be polished under the control of the corresponding sub-controller 21; the main controller 10 is also used to control the first polishing robot 11 to perform fine polishing on the workpiece to be polished after rough polishing.

[0044] Specifically, the main controller 10 is responsible for coordinating the work of the main line process equipment 40 and the flexible polishing unit 20 in the polishing system, ensuring the orderly flow of the workpiece to be polished, avoiding conflicts, and at the same time monitoring the equipment state in real time to ensure normal operation, and timely alarm or shutdown when problems occur. Figure 2 is a power supply interface diagram of the polishing system provided by an embodiment of the application, as shown in Figure 2 , the main controller 10 and the flexible polishing unit 20 are provided with a voltage of 380V by a 400V bus system; the main line process equipment 40 at least includes the first polishing robot 11, the electric spindle 12, the rotary polishing table 13, the clamp assembly 14, and the conveying line 15, wherein the first polishing robot 11 is responsible for fine polishing to ensure that the surface of the workpiece to be polished meets high quality requirements.

[0045] In the embodiment of the application, the main controller 10 is the core controller of the polishing system, which can control the flexible polishing unit 20, the first polishing robot 11, the electric spindle 12, the rotary polishing table 13, the clamp assembly 14, the conveying line 15, and all other process equipment, coordinate the work of each device, ensure the orderly flow of the workpiece to be polished, monitor the equipment state in real time, and ensure the normal operation of the polishing system.

[0046] The flexible polishing unit 20 is used for preliminary polishing of the workpiece to be polished under the control of the sub-controller 21, so as to realize rough machining or pretreatment of the workpiece to be polished, for example, to remove burrs on the surface of the workpiece to be polished, and to prepare for subsequent fine polishing. The flexible polishing unit 20 is composed of a control system (i.e. the above-mentioned sub-controller 21), a transmission system, a clamping system, an abrasive supply system and the like, and these systems work together to realize efficient automatic polishing operation.

[0047] The present application sets up a distributed decision-making architecture in which the main controller and the plurality of sub-controllers work together, so that the main line where the main controller is located and the flexible polishing unit can work together, solving the technical problems of single control form, low flexibility and low polishing efficiency of the automatic polishing system in the prior art, and achieving the technical effects of improving polishing flexibility and improving polishing efficiency.

[0048] Figure 3 is a network connection schematic diagram of the polishing system provided by the embodiment of the present application.

[0049] Optionally, as shown in Figure 3 , the main controller 10 is provided with an industrial switch 101; each sub-controller 21 is connected with the industrial switch 101; the main controller 10 and each sub-controller 21 are communicatively connected based on an industrial Ethernet.

[0050] Optionally, the main controller 10 and the sub-controller 21 are both programmable logic controllers (PLC).

[0051] Specifically, in order to ensure the accessibility of different positions of the workpiece to be polished, so that the workpiece to be polished completes all polishing points in one automatic line body, optimizes the beat, and improves the work efficiency, the embodiment of the present application adopts the form of line body cooperative work controlled by the flexible polishing unit 20 + the main controller 10, which requires that the flexible polishing unit 20 and the main controller 10 satisfy efficient and real-time communication. Therefore, the industrial switch 101 is arranged in the main controller 10, and the main controller 10 and each sub-controller 21 form a communication network based on an industrial Ethernet architecture through the industrial switch 101. The industrial Ethernet is an Ethernet technology specially designed for industrial control environment, which can be strengthened according to the special needs of industrial scenes on the basis of maintaining compatibility with ordinary Ethernet technology. The industrial switch 101 realizes communication based on the Profinet (automation bus standard) protocol, so the main controller 10 and the industrial switch 101 use Profinet copper cable communication.

[0052] Optionally, as shown in Figure 3As shown, the flexible polishing unit 20 further comprises a network conversion module 22; each sub-controller 21 is connected to the industrial switch 101 through the network conversion module 22; the network conversion module 22 is used to convert the Modbus communication protocol applied by the sub-controller 21 into the Profinet communication protocol applied by the industrial switch 101.

[0053] Specifically, the Profinet communication protocol is adopted between the main controller 10 and the industrial switch 101, which has the advantages of high speed, strong real-time performance, high reliability, etc., and can meet the data transmission requirements between the flexible polishing unit 20 and the main controller 10. In the communication process, a specific communication data frame format is defined, including data header, data body and data tail. The data header contains communication address, data length and other information; the data body contains specific data that needs to be transmitted between the flexible polishing unit 20 and the main controller 10, such as polishing parameters, device status, etc.; the data tail contains a check code for ensuring the accuracy of data transmission.

[0054] However, since the communication protocol used in the flexible polishing unit 20 is the Modbus communication protocol, the network conversion module 22 is set to convert the Modbus communication protocol into the Profinet communication protocol to ensure the communication requirements between the flexible polishing unit 20 and the main controller 10.

[0055] Optionally, as shown in Figure 2 and Figure 3 As shown, the polishing system further comprises a rotating polishing table 13, a clamp assembly 14 and a conveying line 15; the main controller 10 is connected with the rotating polishing table 13, the clamp assembly 14 and the conveying line 15 through a ring network structure;

[0056] The rotating polishing table 13 is used to adjust the position of the workpiece to be polished; the clamp assembly 14 is used to fix the workpiece to be polished; and the conveying line 15 is used to convey the workpiece to be polished.

[0057] Specifically, the rotating polishing table 13 is used for vehicle type switching and adjusting the position of the workpiece to be polished in the polishing system. The conveying line 15 is used for conveying the polishing material.

[0058] Optionally, the clamp assembly 14 comprises a clamp body and a clamp valve island; the clamp body is used to fix the workpiece to be polished; and the clamp valve island is used to control the pneumatic actuator, sensor and vacuum chuck on the clamp body to perform corresponding actions.

[0059] Optionally, as shown in Figure 3 The polishing system further comprises an electric energy measurement unit 30; the electric energy measurement unit 30 is electrically connected with the main controller 10; and the electric energy measurement unit 30, each flexible polishing unit 20 and the main controller 10 are connected through a star network structure.

[0060] Optionally, as shown in Figure 3 The polishing system further comprises a human-machine interaction unit 40; the human-machine interaction unit 40 is electrically connected with the main controller 10, and is used for displaying the running states of the devices in the polishing system in real time. The human-machine interaction unit 40 and the main controller 10 are connected in a star network structure.

[0061] Specifically, the network structure of the polishing system provided by the embodiment of the present application adopts a star type + ring type combination form, the main controller 10 is used as a main line controller, adopts a ring type network structure, and is connected with the robot control cabinet 110 of the first polishing robot 11, the rotary polishing table 13, the conveying line 15 and other devices. The flexible polishing unit 20 is used as a slave line controller, adopts a star type structure, is connected to the industrial switch 101 in the main controller 10 through the network switching module 22. The human-machine interaction unit 40 can adopt the form of HMI (Human Machine Interface), and display the running states of the devices in the polishing system in real time, so as to help the operator quickly understand the production situation.

[0062] Specifically, the human-machine interaction unit 40 can display the running states of the devices in the polishing system, such as the flexible polishing unit 20, the first polishing robot 11, the conveying line 15 and the like, in real time, including running, stopping, failure and the like; and intuitively display production data, such as yield, efficiency, failure rate and the like, in the form of charts, animations and the like, so as to help the operator quickly understand the production situation. The operator can also adjust the device parameters, such as polishing speed, pressure, time and the like, through the human-machine interaction unit 40, so as to adapt to different production requirements.

[0063] Optionally, as shown in Figure 3 The flexible polishing unit 20 further comprises a second polishing robot 23 and a tool assembly 24; the tool assembly 24 comprises a tool quick-change disc and a tool library; the second polishing robot 23 realizes switching and use of different tools based on the tool quick-change disc and the tool library, and is used for rough polishing of the workpiece to be polished under the control of the sub-controller 21.

[0064] Optionally, the flexible polishing unit 20 further comprises a rotary table and a rotary table servo drive; the rotary table is electrically connected with the rotary table servo drive; the rotary table servo drive is used for driving the rotary table to fix the workpiece to be polished under the control of the corresponding sub-controller 21.

[0065] Specifically, the rotary table is used for adjusting the position and angle of the workpiece to be polished, so as to facilitate the polishing operation of the second polishing robot 23. The rotary table servo drive is used for driving the rotary table to act under the control of the sub-controller 21.

[0066] In the embodiment of the application, a suitable PLC can be selected as the main controller 10 or the sub-controller 21 according to actual application requirements, then suitable flexible polishing units 20, first polishing robots 11, second polishing robots 23 and other equipment are selected, and finally the process equipment is connected through a network cable, a power cable and the like.

[0067] In actual application, the first polishing robot 11 carries the electric spindle 12 to polish the workpiece, the multi-station positioner is responsible for adjusting the posture of the workpiece, and the clamp valve island controls the pneumatic actuator, sensor, vacuum chuck and the like on the clamp body. The main controller 10 can be selected to be a Siemens 1512F-1PN model and a management type network switch. The sub-controller 21 in the flexible polishing unit 20 is controlled by the main controller 10, and the internal control can be independent, and the main controller 10 forms a 1+N PLC distributed collaborative control architecture. The flexible polishing unit 20 can be configured as a HuiChuan EASY-521 PLC and a network switching module, and the control system, transmission system, clamping system and the like inside are connected with the sub-controller 21 in a star type.

[0068] Specifically, the working process of the polishing system is as follows:

[0069] The initialization stage: after being powered on, the flexible polishing unit 20 and the main controller 10 first perform network initialization and communication parameter configuration. Both sides build a communication connection through an industrial switch 101 based on an industrial Ethernet, and perform handshaking confirmation to ensure the normal establishment of the communication link.

[0070] The data transmission stage: the main controller 10 sends process instructions to the sub-controller 21 in the flexible polishing unit 20 according to the production plan, including polishing process parameters, polishing time and the like. After receiving the instructions, the sub-controller 21 performs polishing work according to the instruction content, and feeds back device status, polishing progress and the like to the main controller 10 in real time. The main controller 10 monitors and adjusts the production process in real time according to the feedback information.

[0071] The fault processing stage: when the flexible polishing unit 20 or the main controller 10 detects a fault, the fault information is immediately sent to the other side through the industrial Ethernet. Both sides take corresponding fault handling measures according to the fault information, such as stopping the equipment running, alarming and the like, to avoid the expansion of the fault and ensure the safety of production.

[0072] By using the polishing system provided in the embodiment of the application, efficient and flexible polishing of workpieces of multiple vehicle types can be realized, the polishing quality and control flexibility are improved, the labor cost is reduced, the production efficiency is improved, the operation difficulty of workers and the equipment maintenance and replacement cost are reduced, and the polishing line body is suitable for polishing of parts such as cylinder bodies of multiple vehicle types.

[0073] In summary, the polishing system provided in the embodiment of the application has the following advantages:

[0074] (1) Control flexibility is improved: a distributed decision-making architecture is adopted, the main controller 10 decomposes global tasks into subtasks, such as turret positioning → flexible polishing unit polishing → first robot polishing, etc., and publishes the task sequence to each device through the field bus. After receiving the instructions, the local controller of each device (such as the robot control cabinet 110) feeds back the preparation state to the main controller 10, and the main controller 10 sends the execution instructions uniformly to ensure that the actions of multiple devices are strictly synchronized.

[0075] The sub-controller 21 in the flexible polishing unit 20 can adjust the control instructions individually according to the production state and process scheme changes, and then feed back the control state of the flexible polishing unit 20 to the main controller 10. The flexible polishing unit 20 adjusts the instructions individually to adapt to various vehicle models and process schemes.

[0076] (2) High efficiency and high rhythm: the main line polishing and the flexible polishing unit polishing cooperate to improve the rhythm by more than 20%, effectively reducing the downtime. At the same time, dynamic priority scheduling is adopted, the main controller 10 allocates a unique node IP for each device, and dynamically adjusts the data frame priority according to the task stage, for example, robot motion instruction > turret position feedback > polishing robot state monitoring, etc.

[0077] It should be noted that the main line polishing and the flexible polishing unit cooperate to work, and the polishing sequence can be adjusted according to production needs. The controller 10 adopts a hybrid mode of "time slice polling + event triggering": 20% of the bandwidth is reserved for emergency (such as emergency stop signal) response in the cycle.

[0078] (3) Improve polishing flexibility and adaptability: the polishing robot adopts a seven-degree-of-freedom cooperative motion form, which can adapt to workpieces of different shapes, sizes and materials, and can be quickly adjusted and switched according to production needs. The second polishing robot 23 performs preliminary polishing, and the turret adjusts the shape of the workpiece to be polished. The first polishing robot then polishes the remaining points, and the flexible polishing unit 20 adopts a double-robot + tool quick-change disc form, supporting multi-process and multi-process processing.

[0079] (4) High precision and consistency: compared with traditional manual polishing, the polishing robot can more accurately control the polishing force, angle and trajectory, ensuring that the polishing quality of each workpiece to be polished is highly consistent. The main line uses a force control floating motorized spindle, and the complex concave-convex surface is adaptively polished, so that the polishing tool and the workpiece to be polished are always in contact, ensuring consistent polishing effect.

[0080] (5) Dual check and redundancy mechanism, security mechanism and fault handling: the main controller 10 can detect device failure and prompt the operator through the human-machine interaction unit 40; when the sub-controller 21 detects a flexible polishing unit failure, it is fed back to the main controller 10 synchronously and is linked with the main line body emergency stop. The fault handling program includes automatic recovery and manual intervention options. The data frame uses CRC32 (A Cyclic Redundancy Check 32, cyclic redundancy check) check + ACK (Acknowledge character, acknowledge character) confirmation mechanism, and the error data is automatically retransmitted.

[0081] (6) Reduce environmental and human hazards: reduce the frequency of manual intervention, and effectively isolate dust with line body fence protection to reduce the incidence of occupational diseases. The flexible polishing unit uses a sheet metal house for protection, the line body uses a safety fence to protect the surrounding environment and personnel safety, and reduce the harm of aluminum scraps flying to the human body.

[0082] In summary, the polishing system provided by the embodiment of the present application realizes real-time collaborative control of the flexible polishing unit and the main controller through an efficient communication protocol and data interaction mode, effectively improving production efficiency and product quality.

[0083] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0084] Finally, it should be noted that the above is only the preferred embodiment of the present application and the technical principle applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A polishing system characterized by, The polishing system comprises a main controller, at least two flexible polishing units and at least two first polishing robots; the flexible polishing unit comprises a sub-controller; The first polishing robot and each sub-controller are electrically connected with the main controller; The main controller transmits a workpiece to be polished to the corresponding flexible polishing unit; The flexible polishing unit performs rough polishing on the workpiece to be polished under the control of the corresponding sub-controller; The main controller is further used for controlling the first polishing robot to perform fine polishing on the workpiece to be polished after rough polishing.

2. The sanding system of claim 1, wherein, An industrial switch is arranged in the main controller; Each sub-controller is connected with the industrial switch; The main controller and each sub-controller are communicatively connected based on an industrial Ethernet.

3. The sanding system of claim 2, wherein, The flexible polishing unit further comprises a network switching module; Each sub-controller is connected to the industrial switch through the network switching module; The network switching module is used for converting a Modbus communication protocol applied by the sub-controller into a Profinet communication protocol applied by the industrial switch.

4. The sanding system of claim 1, wherein, The polishing system further comprises a rotary polishing table, a clamp assembly and a conveying line; The main controller is connected with the rotary polishing table, the clamp assembly and the conveying line in a ring-type network structure; The rotary polishing table is used for adjusting the position of the workpiece to be polished; The clamp assembly is used for fixing the workpiece to be polished; The conveying line is used for transmitting the workpiece to be polished.

5. The sanding system of claim 1, wherein, The polishing system further comprises an electric energy measuring unit; the electric energy measuring unit is electrically connected with the main controller; The electric energy measuring unit, each flexible polishing unit and the main controller are connected in a star-type network structure.

6. The sanding system of claim 1, wherein, The polishing system further comprises a human-computer interaction unit; The human-computer interaction unit is electrically connected with the main controller and is used for displaying the running state of each device in the polishing system in real time.

7. The sanding system of claim 4, wherein, The clamp assembly comprises a clamp body and a clamp valve island; The clamp body is used for fixing the workpiece to be polished; The clamp valve island is used for controlling the pneumatic execution element, sensor and vacuum chuck on the clamp body to perform corresponding actions.

8. The sanding system of claim 1, wherein, The flexible polishing unit further comprises a second polishing robot and a tool assembly; the tool assembly comprises a tool quick-change disc and a tool library; The second polishing robot is used for switching different tools based on the tool quick-change disc and the tool library, and the second polishing robot is used for performing rough polishing on the workpiece to be polished under the control of the sub-controller.

9. The sanding system of claim 1, wherein, The flexible polishing unit further comprises a rotary table and a rotary table servo drive; The rotary table is electrically connected with the rotary table servo drive; The rotary table servo drive is used for driving the rotary table to fix the workpiece to be polished under the control of the corresponding sub-controller.

10. The sanding system of claim 1, wherein, The main controller and the sub-controller are programmable logic controllers.

Images