A robotic grinding auxiliary device for thin-walled parts with a follow-up dot matrix circulation.

Abstract

This invention discloses a robotic grinding auxiliary device with a follow-up lattice circulation mechanism for thin-walled parts, comprising: a grinding robot mechanism, a thin-walled part, and a follow-up lattice magnetorheological support mechanism. The follow-up lattice magnetorheological support mechanism is positioned directly in front of the grinding robot mechanism. A left positioner and a right positioner are located on either side of the follow-up lattice magnetorheological support mechanism. The left and right positioners are configured to clamp the thin-walled part from both sides, allowing the thin-walled part to be synchronously moved with the left and right positioners. The thin-walled part is positioned vertically above the follow-up lattice magnetorheological support mechanism, and the working end of the grinding robot mechanism is positioned above the thin-walled part. This invention effectively counteracts the cutting force applied by the grinding robot by providing active and adaptive support from below, greatly suppressing workpiece vibration and deformation, and ensuring machining accuracy and surface quality.

Description

Technical Field

[0001] This invention relates to the field of precision machining automation technology, and in particular to a robotic grinding follow-up dot matrix cycle auxiliary device for thin-walled parts. Background Technology

[0002] In high-precision manufacturing fields such as aerospace, robotic automated grinding technology has become a key means to improve the processing efficiency of complex curved thin-walled parts. However, existing grinding systems often cause significant deformation and vibration due to insufficient workpiece rigidity, making it difficult to meet stringent requirements for surface quality and dimensional accuracy.

[0003] Traditional support fixtures mostly use fixed rigid structures or discrete static support points. Their stiffness is not adjustable and cannot adapt to changes in the dynamic trajectory of the robot. During the processing, they are prone to local stress concentration or support lag. Especially for large thin-walled parts such as aero-engine blades or spacecraft shells, continuous grinding operations on complex curved surfaces will exacerbate elastic deformation due to insufficient support, which will lead to vibration ripples and contour errors, seriously limiting the consistency of processing and yield.

[0004] Although magnetorheological technology has been explored for local stiffness control, existing solutions are still limited to single-point static support or finite static arrays, lacking the ability to coordinate with robot motion in real time. This prevents the formation of a continuous dynamic support response and makes it difficult to simultaneously meet the combined requirements of precise local stiffness control and large-scale deformation suppression. Therefore, an innovative auxiliary clamping system is needed to address the problems of existing technologies failing to generate a continuous dynamic support response and struggling to balance precise local stiffness control with large-scale deformation suppression. Summary of the Invention

[0005] The main objective of this invention is to provide a follow-up dot matrix cyclic auxiliary device for robotic grinding of thin-walled parts, which aims to solve the problem that existing technologies cannot form a continuous dynamic support response and are difficult to balance precise control of local stiffness and suppression of large-scale deformation.

[0006] To achieve the above objectives, the technical solution proposed by this invention is: a robotic grinding auxiliary device for thin-walled parts using a follow-up dot matrix circulation, comprising: a grinding robot mechanism and a follow-up dot matrix magnetorheological support mechanism. The follow-up dot matrix magnetorheological support mechanism is positioned directly in front of the grinding robot mechanism. A left positioner and a right positioner are provided on both sides of the follow-up dot matrix magnetorheological support mechanism. The left and right positioners are used to clamp the thin-walled part to be ground so that the thin-walled part can be synchronously moved with the left and right positioners. The thin-walled part is positioned vertically above the follow-up dot matrix magnetorheological support mechanism, and the working end of the grinding robot mechanism is positioned above the thin-walled part.

[0007] The follower-type lattice magnetorheological support mechanism includes: a magnetorheological support component, a follower platform, and a support system moving platform. The follower platform is slidably mounted on the support system moving platform. The follower platform includes: a multi-point support belt, a left servo motor, a right servo motor, a follower base, and a follower plate. The follower base has an L-shaped cross-section and is integrally formed by mutually perpendicular horizontal and vertical parts. The left servo motor and the right servo motor are respectively fixed to the upper left and upper right corners of the vertical part. The multi-point support belt is sleeved on the output mechanism of the left and right servo motors and forms a closed-loop transmission belt. The follower plate is fixed to the upper part of the vertical part and parallel to the horizontal part. The follower plate is placed on the bottom surface of the upper working section of the closed-loop transmission belt. The magnetorheological support component is fixedly connected to the multi-point support belt, and multiple magnetorheological support components are arranged along the extension direction of the multi-point support belt.

[0008] Preferably, the magnetorheological support component includes: a magnetorheological damper, a magnetorheological damper support block, a slide rail, and an electric cylinder. The magnetorheological damper support block includes: a horizontally arranged support portion and a vertically arranged guide portion. The support portion and the guide portion are integrally formed. The support portion has four mounting holes at its four corners. The fixed end of the magnetorheological damper passes through the mounting holes to fix the magnetorheological damper on the support portion. The electric cylinder is placed below the support portion. The output end of the electric cylinder is connected to the center of the bottom surface of the support portion. The slide rail is placed between the electric cylinder and the guide portion. The slide rail is fixedly connected to the electric cylinder and slidably connected to the guide portion. The electric cylinder is used to drive the guide portion to slide vertically along the slide rail.

[0009] Preferably, the magnetorheological damper includes: a magnetorheological support housing, a damper end cap covering the top of the magnetorheological support housing, and a piston ring. The damper end cap has a through hole at its center. The magnetorheological support housing includes an upper cylindrical portion and a lower cylindrical portion, which are integrally formed and coaxial. The upper cylindrical portion is divided into an outer cavity and an inner cavity by a partition. A coil is wound in the outer cavity. The piston ring has a cross-shaped vertical cross section, including a central ring body and an upper wing and a lower wing extending from the central axis of the central ring body. The central ring body and the lower wing are placed in the inner cavity, and the upper wing passes through the through hole of the damper end cap and is exposed to the outside.

[0010] Preferably, the inner cavity is provided with an elastic element, the two ends of which abut against the central ring and the bottom surface of the inner cavity, respectively, and both the inner cavity and the outer cavity are filled with magnetorheological fluid.

[0011] Preferably, the top end of the upper wing is provided with a rolling element support head, the bottom end of the rolling element support head is threadedly connected to the upper wing, the top end of the rolling element support head is provided with a hemispherical groove, and a support ball is rolled in the hemispherical groove.

[0012] Preferably, the rolling element support head is coaxial with the upper cylindrical portion.

[0013] Preferably, the elastic element is a spring.

[0014] Preferably, the support ball is used to abut against the bottom surface of the thin-walled component.

[0015] Preferably, the polishing robot mechanism includes: a robot moving platform, a robot base slidably disposed above the robot moving platform, and a polishing industrial robot fixedly connected to the upper surface of the robot base, wherein the working end of the polishing robot mechanism is placed on the polishing industrial robot.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects:

[0017] This invention effectively counteracts the cutting force applied by the grinding robot by providing active and adaptive support from below, greatly suppressing the vibration and deformation of the workpiece and ensuring processing accuracy and surface quality.

[0018] Compared to traditional fixed supports that can only support a local area, the "cyclic auxiliary" design of this invention allows the support points to move synchronously with the working position of the grinding robot, achieving full-area, uninterrupted support for large-sized thin-walled parts without the need for reclamping midway, significantly improving processing efficiency. It integrates robot grinding, positioner adjustment and intelligent follow-up support into a highly automated flexible manufacturing unit, which is particularly suitable for the precision machining of large and complex curved thin-walled parts in aerospace and other fields. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of the robotic grinding follow-up dot matrix circulation auxiliary device for thin-walled parts proposed in this invention;

[0021] Figure 2 A schematic diagram of the grinding robot mechanism;

[0022] Figure 3This is a schematic diagram of a follower lattice magnetorheological support mechanism;

[0023] Figure 4 Schematic diagram of magnetorheological support component;

[0024] Figure 5 This is a schematic diagram of the follow-up platform;

[0025] Figure 6 This is a schematic diagram of a magnetorheological damper;

[0026] Figure 7 This is a cross-sectional view of a magnetorheological damper.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Grinding robot mechanism; 2. Thin-walled component; 3. Follower-type lattice magnetorheological support mechanism; 4. Right positioner; 5. Left positioner; 6. Grinding industrial robot; 7. Robot base; 8. Robot moving platform; 9. Magnetorheological support component; 10. Follower platform; 11. Support system moving platform; 12. Magnetorheological damper; 13. Magnetorheological damper support block; 131. Support part; 132. Guide part; 133. Slide rail; 14. Electric cylinder; 15. Multi-point support belt; 16. Left servo motor; 17. Follower plate; 18. Right servo motor; 19. Follower base; 20. Support ball; 21. Rolling element support head; 22. Piston ring; 221. Upper wing; 222. Lower wing; 23. Damper end cap; 24. Magnetorheological support housing; 25. Spring; 26. Coil.

[0029] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0032] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0035] This invention proposes a robotic grinding auxiliary device with a follow-up dot matrix circulation.

[0036] As attached Figure 1 -Appendix Figure 5 As shown, the thin-walled part robot grinding follow-up dot matrix cycle auxiliary device proposed in this invention includes: a grinding robot mechanism 1, a thin-walled part 2, and a follow-up dot matrix magnetorheological support mechanism 3. The follow-up dot matrix magnetorheological support mechanism 3 is placed in front of the grinding robot mechanism 1. A left positioner 5 and a right positioner 4 are provided on both sides of the follow-up dot matrix magnetorheological support mechanism 3. The left positioner 5 and the right positioner 4 are used to clamp the thin-walled part 2 to be ground so that the thin-walled part 2 can be synchronously moved with the left positioner 5 and the right positioner 4. The thin-walled part 2 is arranged vertically above the follow-up dot matrix magnetorheological support mechanism 3, and the working end of the grinding robot mechanism 1 is placed above the thin-walled part 2.

[0037] The follower-type lattice magnetorheological support mechanism 3 includes: magnetorheological support component 9, follower platform 10, and support system moving platform 11. The follower platform 10 is slidably mounted on the support system moving platform 11. The follower platform 10 includes: multi-point support belt 15, left servo motor 16, right servo motor 18, follower base 19, and follower plate 17. The follower base 19 has an L-shaped cross-section and is integrally formed by mutually perpendicular horizontal and vertical parts. The left servo motor 16 and right servo motor 18 are respectively fixed to the upper left and upper right corners of the vertical part. The multi-point support belt 15 is sleeved on the output mechanism of the left servo motor 16 and right servo motor 18 and forms a closed-loop transmission belt. The follower plate 17 is fixed to the upper part of the vertical part and parallel to the horizontal part. The follower plate 17 is placed on the bottom surface of the upper working section of the closed-loop transmission belt. The magnetorheological support component 9 is fixedly connected to the multi-point support belt 15, and multiple magnetorheological support components 9 are arranged along the extension direction of the multi-point support belt 15.

[0038] The follower lattice magnetorheological support mechanism 3 in this invention can provide active and adaptive support from below, effectively counteracting the cutting force applied by the grinding industrial robot 6, greatly suppressing the vibration and deformation of the workpiece, and ensuring processing accuracy and surface quality. The follower plate 17 is close to the bottom surface of the upper working section of the closed-loop transmission belt, and provides a certain support force when the upper working section sags, preventing the upper working section from sag too much.

[0039] Traditional fixed supports can only support a local area, while the "cyclic auxiliary" design of this invention uses movable dot matrix supports, which allow the support points to move synchronously with the working position of the grinding industrial robot 6. This achieves full-area, uninterrupted support for large-sized thin-walled parts 2 without the need for re-clamping midway, significantly improving processing efficiency. By integrating robot grinding, positioner adjustment, and intelligent follow-up support into one unit, a highly automated flexible manufacturing unit is formed, which is particularly suitable for the precision machining of large and complex curved thin-walled parts 2 in aerospace and other fields.

[0040] In addition, the magnetorheological support component 9 includes: a magnetorheological damper 12, a magnetorheological damper support block 13, a slide rail 133, and an electric cylinder 14. The magnetorheological damper support block 13 includes: a horizontally arranged support part 131 and a vertically arranged guide part 132. The support part 131 and the guide part 132 are integrally formed. The four corners of the support part 131 are respectively provided with four mounting holes. The fixed end of the magnetorheological damper 12 passes through the mounting holes to fix the magnetorheological damper 12 on the support part 131. The electric cylinder 14 is placed below the support part 131. The output end of the electric cylinder 14 is connected to the center of the bottom surface of the support part 131. The slide rail 133 is placed between the electric cylinder 14 and the guide part 132. The slide rail 133 is fixedly connected to the electric cylinder 14 and slidably connected to the guide part 132. The electric cylinder 14 is used to drive the guide part 132 to slide vertically along the slide rail 133.

[0041] This design enables rapid and precise fine-tuning of the support height. The electric cylinder 14 is installed directly below the support section 131. The electric cylinder 14 integrates a servo motor or stepper motor and is connected to an external control system. The lifting and lowering of the electric cylinder 14 is controlled by electrical signals. The electric cylinder 14 drives the guide section 132 to slide vertically along the slide rail 133 for macroscopic positioning, adapting to workpieces with different curvatures or heights. The magnetorheological damper 12 provides microscopic, adaptive damping force. The combination of these two components allows each support point to independently and intelligently conform to the lower surface of the workpiece, providing optimal support that combines rigidity and flexibility. When the load height needs adjustment, the control system sends a command to the electric cylinder 14, whose output end precisely extends and retracts, smoothly lifting and lowering the entire magnetorheological damper support block 13 to the target position. Simultaneously, the magnetorheological damper 12 is connected to an external adjustable DC power supply. When the thin-walled component 2 is subjected to external vibration disturbance, the current input to the magnetorheological damper 12 is adjusted by the control system, thereby changing the strength of its internal magnetic field, causing the magnetorheological fluid to undergo rheological changes, realizing stepless adjustment of the damping force within milliseconds, rapidly absorbing and dissipating vibration energy, and maintaining the stability of the thin-walled component 2.

[0042] also, Figures 6-7 The core component of this invention, the magnetorheological damper 12, is shown. The magnetorheological damper 12 includes: a magnetorheological support housing 24, a damper end cap 23 covering the top of the magnetorheological support housing 24, and a piston ring 22. The damper end cap 23 has a through hole at its center. The magnetorheological support housing 24 includes: an upper cylindrical portion 241 and a lower cylindrical portion 242, which are integrally formed and coaxial. The upper cylindrical portion is divided into an outer cavity and an inner cavity by a partition. A coil 26 is wound in the outer cavity. The vertical cross section of the piston ring 22 is cross-shaped, including a central ring body 223 and an upper wing 221 and a lower wing 222 extending from the central axis of the central ring body 223. The central ring body 223 and the lower wing 222 are placed in the inner cavity, and the upper wing 221 passes through the through hole of the damper end cap 23 and is exposed to the outside.

[0043] The cross-shaped piston ring 22 provides excellent axial guidance, preventing piston wear, while its structure enhances bending stiffness. The lower wing 222 increases the contact and shear area with the magnetorheological fluid, making the change in damping force more significant and the response more rapid.

[0044] In addition, an elastic element is provided in the inner cavity, with its two ends abutting against the central ring 223 and the bottom surface of the inner cavity, respectively. Both the inner and outer cavities are filled with magnetorheological fluid.

[0045] The elastic element provides a basic, continuous passive preload to counteract part of the weight of the workpiece and the support mechanism, and to ensure that the support head is always in contact with the workpiece.

[0046] Furthermore, by changing the coil current and altering the state of the magnetorheological fluid, the damping force can be adjusted instantaneously and infinitely to actively suppress vibrations of varying intensities and frequencies. The combined effect of these two methods expands the vibration reduction frequency range, far exceeding the effectiveness of any single vibration reduction method.

[0047] In addition, the top of the upper wing 221 is provided with a rolling element support head 21, the bottom of the rolling element support head 21 is threadedly connected to the upper wing 221, the top of the rolling element support head 21 is provided with a hemispherical groove, and a support ball 20 is rolled in the hemispherical groove.

[0048] The support ball 20 is allowed to roll slightly within the groove, automatically adapting to the normal direction of the workpiece surface, ensuring that the support force always acts perpendicularly on the workpiece surface, and avoiding lateral slippage and scratches.

[0049] Furthermore, the rolling element support head 21 is coaxial with the upper cylindrical portion 241 and perpendicular to the support portion 131.

[0050] This ensures that the transmission path of the supporting force is precisely aligned and vertically upward, avoiding additional torque caused by eccentricity or tilt, and ensuring the stability and controllability of the support.

[0051] In addition, the elastic element is spring 25.

[0052] In addition, the support ball 20 is used to abut against the bottom surface of the thin-walled member 2.

[0053] During the processing, the support ball 20 can continuously provide adaptive support force to the thin-walled part 2 to prevent processing deformation and ensure grinding quality.

[0054] In addition, the polishing robot mechanism 1 includes: a robot moving platform 8, a robot base 7 slidably disposed above the robot moving platform 8, and a polishing industrial robot 6 fixedly connected to the upper surface of the robot base 7, with the working end of the polishing robot mechanism 1 placed on the polishing industrial robot 6.

[0055] The grinding industrial robot is given 6 additional degrees of freedom of movement, so that its working range is no longer limited to the fixed base. It can move in coordination with the positioner and the follow-up dot matrix magnetorheological support mechanism 3 to achieve full coverage processing of ultra-large workpieces, further improving the flexibility and processing capability of the entire system.

[0056] Working principle: The right positioner 4 and the left positioner 5 fix the thin-walled part 2, and the grinding industrial robot 6 grinds the surface of the thin-walled part 2. The grinding industrial robot 6 is fixed above the robot base 7 and moves with the robot base 7. The robot base 7 is installed above the robot moving platform 8 and moves left and right within a certain range, driving the grinding industrial robot 6 to grind left and right, completing the grinding of the entire surface of the thin-walled part 2.

[0057] During the grinding process, the grinding industrial robot 6 grinds different points of the thin-walled part 2 in sequence. The follower base 19 moves left and right in a circular motion with the grinding points. At the same time, the multi-point support belt 15 rotates in a circular motion driven by the left servo motor 16 and the right servo motor 18. The follower base 19 and the multi-point support belt 15 work together to enable the magnetorheological support component 9 to provide support force at the bottom of the grinding point in real time. Multiple sets of magnetorheological support components 9 work together to achieve follower quasi-static multi-point support.

[0058] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A robotic grinding auxiliary device for thin-walled parts with a follow-up dot matrix circulation, characterized in that, include: A grinding robot mechanism (1) and a follower lattice magnetorheological support mechanism (3) are provided on both sides of the grinding robot mechanism (1), the follower lattice magnetorheological support mechanism (3) is located in front of the grinding robot mechanism (1), the follower lattice magnetorheological support mechanism (3) is provided with a left positioner (5) and a right positioner (4), the left positioner (5) and the right positioner (4) are used to clamp the thin-walled part (2) to be ground so that the thin-walled part (2) can be moved synchronously with the left positioner (5) and the right positioner (4), the thin-walled part (2) is located vertically above the follower lattice magnetorheological support mechanism (3), and the working end of the grinding robot mechanism (1) is located above the thin-walled part (2); The following lattice magnetorheological support mechanism (3) includes: a magnetorheological support component (9), a following platform (10), and a support system moving platform (11). The following platform (10) is slidably mounted on the support system moving platform (11). The following platform (10) includes: a multi-point support belt (15), a left servo motor (16), a right servo motor (18), a following base (19), and a following plate (17). The following base (19) has an L-shaped cross-section and is integrally formed by mutually perpendicular horizontal and vertical parts. The left servo motor (16) and the right servo motor (18) are connected to each other. The motor (18) is fixed to the upper left and upper right corners of the vertical part respectively. The multi-point support belt (15) is sleeved on the output mechanism of the left servo motor (16) and the right servo motor (18) and forms a closed-loop transmission belt. The follower plate (17) is fixed to the upper part of the vertical part and parallel to the horizontal part. The follower plate (17) is placed on the bottom surface of the upper working section of the closed-loop transmission belt. The magnetorheological support component (9) is fixedly connected to the multi-point support belt (15), and multiple magnetorheological support components (9) are arranged along the extension direction of the multi-point support belt (15). The magnetorheological support component (9) includes: a magnetorheological damper (12), a magnetorheological damper support block (13), a slide rail (133), and an electric cylinder (14). The magnetorheological damper support block (13) includes: a horizontally arranged support part (131) and a vertically arranged guide part (132). The support part (131) and the guide part (132) are integrally formed. The support part (131) has four mounting holes at its four corners. The fixed end of the magnetorheological damper (12) passes through the mounting holes to hold the magnetorheological damper... The damper (12) is fixed on the support (131), and the electric cylinder (14) is placed below the support (131). The output end of the electric cylinder (14) is connected to the center of the bottom surface of the support (131). The slide rail (133) is placed between the electric cylinder (14) and the guide (132). The slide rail (133) is fixedly connected to the electric cylinder (14) and slidably connected to the guide (132). The electric cylinder (14) is used to drive the guide (132) to slide vertically along the slide rail (133). The electric cylinder (14) is installed directly below the support (131). The electric cylinder (14) is equipped with a servo motor and is connected to an external control system. The electric cylinder (14) is raised and lowered by electrical signals. The electric cylinder (14) is responsible for macroscopic positioning by driving the guide (132) to slide vertically along the slide rail (133) to adapt to workpieces with different curvatures. The magnetorheological damper (12) provides damping force.

2. The robotic grinding auxiliary device for thin-walled parts according to claim 1, characterized in that, The magnetorheological damper (12) includes: a magnetorheological support housing (24), a damper end cap (23) covering the top of the magnetorheological support housing (24), and a piston ring (22). The damper end cap (23) has a through hole at its center. The magnetorheological support housing (24) includes: an upper cylindrical part (241) and a lower cylindrical part (242). The upper cylindrical part (241) and the lower cylindrical part (242) are integrally formed and coaxial. The upper cylindrical part contains... The piston ring (22) is divided into an outer cavity and an inner cavity by a partition. A coil (26) is wound in the outer cavity. The vertical cross section of the piston ring (22) is cross-shaped. It includes a central ring body (223) and an upper wing (221) and a lower wing (222) extending from the central axis of the central ring body (223). The central ring body (223) and the lower wing (222) are placed in the inner cavity. The upper wing (221) passes through the through hole of the damper end cap (23) and is exposed to the outside.

3. The robotic grinding auxiliary device for thin-walled parts according to claim 2, characterized in that, The inner cavity is provided with an elastic element, the two ends of which abut against the central ring (223) and the bottom surface of the inner cavity, respectively. Both the inner cavity and the outer cavity are filled with magnetorheological fluid.

4. The robotic grinding auxiliary device for thin-walled parts according to claim 2, characterized in that, The top of the upper wing (221) is provided with a rolling element support head (21), the bottom end of the rolling element support head (21) is threadedly connected to the upper wing (221), the top of the rolling element support head (21) is provided with a hemispherical groove, and a support ball (20) is rolled in the hemispherical groove.

5. The robotic grinding auxiliary device for thin-walled parts according to claim 4, characterized in that, The rolling element support head (21) is coaxial with the upper cylindrical part (241).

6. The robotic grinding auxiliary device for thin-walled parts according to claim 3, characterized in that, The elastic element is a spring (25).

7. The robotic grinding auxiliary device for thin-walled parts according to claim 4, characterized in that, The support ball (20) is used to abut against the bottom surface of the thin-walled part (2).

8. The robotic grinding auxiliary device for thin-walled parts according to claim 1, characterized in that, The polishing robot mechanism (1) includes: a robot moving platform (8), a robot base (7) slidably disposed above the robot moving platform (8), and a polishing industrial robot (6) fixedly connected to the upper surface of the robot base (7). The working end of the polishing robot mechanism (1) is placed on the polishing industrial robot (6).

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